+ python -m lidar_slam --no-model /working/656bf4ad-117b-411f-8e6d-11390ced8143 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/656bf4ad-117b-411f-8e6d-11390ced8143 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 0.000281693 Adjusted end_distance from 9.223372036854776e+18 to 472.290281693 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000281693 meters Centerline goodness [0,1] 0.6895829241144503 Centerline is valid? [0, False] SLAMing on 0.030281693 meters Centerline goodness [0,1] 0.6181349618849619 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999926e-01 -3.81223663e-04 5.19452517e-05 1.95559977e-04] [ 3.81232219e-04 9.99999914e-01 -1.64791535e-04 7.21675797e-04] [-5.18824248e-05 1.64811326e-04 9.99999985e-01 -4.03129642e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.060281693 meters Centerline goodness [0,1] 0.6352550610801311 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99998609e-01 -1.66731721e-03 4.62286737e-05 1.59962709e-03] [ 1.66732304e-03 9.99998602e-01 -1.26537141e-04 -1.61527252e-03] [-4.60176315e-05 1.26614043e-04 9.99999991e-01 -1.05049264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.090281693 meters Centerline goodness [0,1] 0.6502707187145227 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99981276e-01 -6.11770591e-03 1.45655206e-04 3.21733736e-03] [ 6.11822760e-03 9.99973675e-01 -3.90083037e-03 -3.80946947e-03] [-1.21787238e-04 3.90164848e-03 9.99992381e-01 -1.84033222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.120281693 meters Centerline goodness [0,1] 0.6454674375477256 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99979998e-01 -6.32169095e-03 1.98095341e-04 3.85707600e-03] [ 6.32231894e-03 9.99974408e-01 -3.34850708e-03 -7.71736475e-03] [-1.76922045e-04 3.34969252e-03 9.99994374e-01 -2.64210170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.150281693 meters Centerline goodness [0,1] 0.6052101200686106 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99975617e-01 -6.92633394e-03 8.89143366e-04 4.16199729e-03] [ 6.92863608e-03 9.99972583e-01 -2.61273590e-03 -1.44918487e-02] [-8.71022307e-04 2.61883275e-03 9.99996192e-01 -2.57134387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.180281693 meters Centerline goodness [0,1] 0.5716700545629614 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:-0.00 [[ 0.99997763 -0.00660215 0.00107096 0.00452701] [ 0.00660413 0.99997648 -0.00185012 -0.01978776] [-0.00105872 0.00185715 0.99999772 -0.00335566] [ 0. 0. 0. 1. ]] SLAMing on 0.210281693 meters Centerline goodness [0,1] 0.6056027970820563 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 0.99997991 -0.00621375 0.00125363 0.00477402] [ 0.00621501 0.99998018 -0.00100336 -0.0257522 ] [-0.00124737 0.00101113 0.99999871 -0.00394973] [ 0. 0. 0. 1. ]] SLAMing on 0.240281693 meters Centerline goodness [0,1] 0.5913259251267666 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99981403e-01 -5.70594330e-03 2.15296713e-03 4.39213376e-03] [ 5.70608091e-03 9.99983719e-01 -5.77782556e-05 -3.28247058e-02] [-2.15260240e-03 7.00621858e-05 9.99997681e-01 -4.04864291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27028169300000005 meters Centerline goodness [0,1] 0.6105410047230571 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99982113e-01 -5.38689641e-03 2.59910261e-03 3.89136084e-03] [ 5.38614356e-03 9.99985451e-01 2.96567857e-04 -3.45797090e-02] [-2.60066237e-03 -2.82563412e-04 9.99996578e-01 -3.95053216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.300281693 meters Centerline goodness [0,1] 0.6157798881228047 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.04, Z:-0.00 [[ 9.99983759e-01 -5.00446313e-03 2.72719430e-03 4.18488538e-03] [ 5.00300210e-03 9.99987338e-01 5.42287679e-04 -3.63515232e-02] [-2.72987363e-03 -5.28634712e-04 9.99996134e-01 -4.02545109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.330281693 meters Centerline goodness [0,1] 0.6190744188060089 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 0.99998649 -0.00445025 0.00268604 0.00593622] [ 0.00444749 0.99998958 0.00103262 -0.03964029] [-0.00269061 -0.00102066 0.99999586 -0.00540131] [ 0. 0. 0. 1. ]] SLAMing on 0.360281693 meters Centerline goodness [0,1] 0.588059961273198 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99999147 -0.00329587 0.00249099 0.0107055 ] [ 0.00329112 0.99999276 0.00190937 -0.04593232] [-0.00249727 -0.00190115 0.99999507 -0.00805026] [ 0. 0. 0. 1. ]] SLAMing on 0.39028169300000004 meters Centerline goodness [0,1] 0.6084839751986726 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99999312 -0.00291554 0.00229476 0.01301752] [ 0.00291039 0.99999325 0.00224127 -0.04763559] [-0.00230128 -0.00223458 0.99999486 -0.00991025] [ 0. 0. 0. 1. ]] SLAMing on 0.420281693 meters Centerline goodness [0,1] 0.4705627986421915 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.01 [[ 0.99999769 -0.00120587 0.00178195 0.02092043] [ 0.00119946 0.99999283 0.00359107 -0.05391862] [-0.00178626 -0.00358892 0.99999196 -0.01457136] [ 0. 0. 0. 1. ]] SLAMing on 0.450281693 meters Centerline goodness [0,1] 0.575256666881901 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.02 [[ 9.99998604e-01 -6.87797782e-04 1.52258873e-03 2.37291549e-02] [ 6.81445222e-04 9.99991078e-01 4.16880403e-03 -5.77437790e-02] [-1.52544244e-03 -4.16776065e-03 9.99990151e-01 -1.67947986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.480281693 meters Centerline goodness [0,1] 0.5152725051271981 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.02 [[ 9.99998997e-01 -2.82664842e-04 1.38765622e-03 2.56195902e-02] [ 2.76136652e-04 9.99988905e-01 4.70241224e-03 -6.12284410e-02] [-1.38897003e-03 -4.70202434e-03 9.99987981e-01 -1.86011245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.510281693 meters Centerline goodness [0,1] 0.5580690550925425 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.02 [[ 9.99998820e-01 8.17160944e-04 1.30076189e-03 2.98271522e-02] [-8.24706929e-04 9.99982774e-01 5.81127691e-03 -6.73512607e-02] [-1.29599073e-03 -5.81234280e-03 9.99982268e-01 -2.08462989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5402816930000001 meters Centerline goodness [0,1] 0.3857191957380993 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.02 [[ 0.9999986 0.00120477 0.00115976 0.03196057] [-0.00121199 0.99997979 0.00624123 -0.06984251] [-0.00115221 -0.00624263 0.99997985 -0.02265523] [ 0. 0. 0. 1. ]] SLAMing on 0.570281693 meters Centerline goodness [0,1] 0.44948609758736346 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.02 [[ 9.99998311e-01 1.57140735e-03 9.53592543e-04 3.43752893e-02] [-1.57770804e-03 9.99976691e-01 6.64293443e-03 -7.23370092e-02] [-9.43131559e-04 -6.64442770e-03 9.99977481e-01 -2.46110849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.600281693 meters Centerline goodness [0,1] 0.5739472376466521 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.03 [[ 9.99997750e-01 2.00426895e-03 6.95361154e-04 3.71735331e-02] [-2.00910063e-03 9.99973350e-01 7.01875922e-03 -7.48640849e-02] [-6.81275141e-04 -7.02014048e-03 9.99975126e-01 -2.66085746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.630281693 meters Centerline goodness [0,1] 0.5366685371433504 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.03 [[ 9.99991907e-01 4.02180756e-03 1.02573292e-04 4.59711872e-02] [-4.02250158e-03 9.99959667e-01 8.03013360e-03 -7.87727597e-02] [-7.02735027e-05 -8.03048121e-03 9.99967753e-01 -3.16985826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.660281693 meters Centerline goodness [0,1] 0.5139065155198004 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.03 [[ 9.99990013e-01 4.46164325e-03 -2.59864509e-04 4.92462430e-02] [-4.45941259e-03 9.99957808e-01 8.03090269e-03 -7.79270336e-02] [ 2.95684568e-04 -8.02966365e-03 9.99967718e-01 -3.36269503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.690281693 meters Centerline goodness [0,1] 0.5139065155198004 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.03 [[ 9.99990013e-01 4.46164325e-03 -2.59864509e-04 4.92462430e-02] [-4.45941259e-03 9.99957808e-01 8.03090269e-03 -7.79270336e-02] [ 2.95684568e-04 -8.02966365e-03 9.99967718e-01 -3.36269503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.720281693 meters Centerline goodness [0,1] 0.5186363141270014 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:-0.04 [[ 9.99974337e-01 7.11498334e-03 -8.38638079e-04 5.78194218e-02] [-7.10721370e-03 9.99934873e-01 8.92954977e-03 -7.61430157e-02] [ 9.02117059e-04 -8.92336023e-03 9.99959779e-01 -3.88101510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.750281693 meters Centerline goodness [0,1] 0.39927987332711534 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:-0.04 [[ 0.99997056 0.00756999 -0.00125221 0.06119872] [-0.00755869 0.99993272 0.00879923 -0.07469174] [ 0.00131874 -0.00878951 0.9999605 -0.04068179] [ 0. 0. 0. 1. ]] SLAMing on 0.780281693 meters Centerline goodness [0,1] 0.5535167531649693 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:-0.04 [[ 0.99996782 0.00785527 -0.00163144 0.06429827] [-0.00784082 0.99993159 0.00868019 -0.0735857 ] [ 0.00169951 -0.00866712 0.999961 -0.04253928] [ 0. 0. 0. 1. ]] SLAMing on 0.810281693 meters Centerline goodness [0,1] 0.33927341597796146 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.05 [[ 0.99995404 0.00932549 -0.00222545 0.07229432] [-0.0093052 0.99991657 0.00895942 -0.07186138] [ 0.00230882 -0.0089383 0.99995739 -0.04719358] [ 0. 0. 0. 1. ]] SLAMing on 0.840281693 meters Centerline goodness [0,1] 0.5372048444715518 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.05 [[ 0.99995453 0.00925044 -0.00231692 0.07371775] [-0.00923045 0.99992133 0.00849311 -0.06851579] [ 0.0023953 -0.00847134 0.99996125 -0.04824903] [ 0. 0. 0. 1. ]] SLAMing on 0.870281693 meters Centerline goodness [0,1] 0.5076313311581667 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.05 [[ 0.99995513 0.00918133 -0.00233417 0.07486472] [-0.00916231 0.99992576 0.00803335 -0.06511378] [ 0.00240776 -0.0080116 0.99996501 -0.0489378 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9002816929999999 meters Centerline goodness [0,1] 0.5392852507247003 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.06, Z:-0.05 [[ 0.99995598 0.00923313 -0.00166956 0.07597387] [-0.00922077 0.99993106 0.00726966 -0.05942857] [ 0.00173657 -0.00725395 0.99997218 -0.04899137] [ 0. 0. 0. 1. ]] SLAMing on 0.930281693 meters Centerline goodness [0,1] 0.43694796676869263 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.06, Z:-0.05 [[ 0.99995708 0.00912045 -0.00162904 0.07663694] [-0.00910921 0.99993553 0.00677907 -0.05614382] [ 0.00169076 -0.00676394 0.99997569 -0.04944968] [ 0. 0. 0. 1. ]] SLAMing on 0.960281693 meters Centerline goodness [0,1] 0.522556065460213 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.05 [[ 0.99995795 0.009011 -0.00170484 0.07811653] [-0.00900029 0.99994032 0.00619353 -0.05205307] [ 0.00176055 -0.00617792 0.99997937 -0.05021487] [ 0. 0. 0. 1. ]] SLAMing on 0.990281693 meters Centerline goodness [0,1] 0.5272616641675902 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.04, Z:-0.05 [[ 0.99995389 0.00945531 -0.00167995 0.08151976] [-0.00944653 0.99994207 0.00516014 -0.04281291] [ 0.00172865 -0.00514403 0.99998528 -0.05113108] [ 0. 0. 0. 1. ]] SLAMing on 1.020281693 meters Centerline goodness [0,1] 0.5164945090790476 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.04, Z:-0.05 [[ 0.99995393 0.00940071 -0.00194252 0.08400635] [-0.00939199 0.99994599 0.00445083 -0.037609 ] [ 0.00198425 -0.00443238 0.99998821 -0.05237331] [ 0. 0. 0. 1. ]] SLAMing on 1.050281693 meters Centerline goodness [0,1] 0.4125737166235066 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.05 [[ 0.99994905 0.00986389 -0.00214522 0.08884449] [-0.00985642 0.99994541 0.00346938 -0.02894719] [ 0.00217932 -0.00344806 0.99999168 -0.05431518] [ 0. 0. 0. 1. ]] SLAMing on 1.080281693 meters Centerline goodness [0,1] 0.40034999453133546 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.06 [[ 0.99994998 0.0097227 -0.00234704 0.09092955] [-0.00971564 0.99994829 0.00300265 -0.02549863] [ 0.00237611 -0.0029797 0.99999274 -0.05558755] [ 0. 0. 0. 1. ]] SLAMing on 1.110281693 meters Centerline goodness [0,1] 0.40829017789430344 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.06 [[ 0.99995064 0.00960742 -0.00253162 0.09282637] [-0.00960053 0.99995021 0.00272224 -0.02374557] [ 0.00255765 -0.0026978 0.99999309 -0.05677492] [ 0. 0. 0. 1. ]] SLAMing on 1.140281693 meters Centerline goodness [0,1] 0.39799287514119386 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.06 [[ 9.99971546e-01 6.93000342e-03 -2.98018220e-03 1.00862362e-01] [-6.93278535e-03 9.99975541e-01 -9.24161445e-04 -1.79567408e-02] [ 2.97370487e-03 9.44796113e-04 9.99995132e-01 -6.10638437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.170281693 meters Centerline goodness [0,1] 0.35284110993283846 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.06 [[ 9.99971221e-01 6.83878646e-03 -3.28447164e-03 1.03335515e-01] [-6.84178525e-03 9.99976187e-01 -9.02656345e-04 -1.79745628e-02] [ 3.27822036e-03 9.25102017e-04 9.99994199e-01 -6.25855381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.200281693 meters Centerline goodness [0,1] 0.3234831951113051 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.06 [[ 9.99970998e-01 6.70560246e-03 -3.61083786e-03 1.06389906e-01] [-6.70879236e-03 9.99977116e-01 -8.72036728e-04 -1.82103753e-02] [ 3.60490770e-03 8.96235798e-04 9.99993101e-01 -6.47064898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.230281693 meters Centerline goodness [0,1] 0.392460669537556 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.07 [[ 9.99970250e-01 6.62976229e-03 -3.94276925e-03 1.09310146e-01] [-6.63272930e-03 9.99977729e-01 -7.39920158e-04 -1.90503175e-02] [ 3.93777595e-03 7.66049466e-04 9.99991954e-01 -6.64279495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.260281693 meters Centerline goodness [0,1] 0.40274278703967403 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.07 [[ 9.99969826e-01 6.61642293e-03 -4.07060699e-03 1.12805728e-01] [-6.61928234e-03 9.99977855e-01 -6.89380633e-04 -1.95384628e-02] [ 4.06595561e-03 7.16304329e-04 9.99991477e-01 -6.75078651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.290281693 meters Centerline goodness [0,1] 0.36546656230976604 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.07 [[ 9.99968332e-01 6.67885888e-03 -4.32761139e-03 1.15524498e-01] [-6.68199525e-03 9.99977423e-01 -7.10683139e-04 -1.90483791e-02] [ 4.32276713e-03 7.39577712e-04 9.99990383e-01 -6.93035272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3202816929999999 meters Centerline goodness [0,1] 0.3348262310917912 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.07 [[ 9.99966793e-01 6.67960735e-03 -4.66856655e-03 1.18254524e-01] [-6.68369228e-03 9.99977294e-01 -8.59932316e-04 -1.76840797e-02] [ 4.66271654e-03 8.91107023e-04 9.99988732e-01 -7.08206021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.350281693 meters Centerline goodness [0,1] 0.30646500852384495 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.07 [[ 9.99964269e-01 6.74705685e-03 -5.09289015e-03 1.21869845e-01] [-6.75214470e-03 9.99976721e-01 -9.82476687e-04 -1.62973308e-02] [ 5.08614277e-03 1.01682951e-03 9.99986549e-01 -7.29668022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.380281693 meters Centerline goodness [0,1] 0.3901986870515365 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.08 [[ 9.99955818e-01 7.28957664e-03 -5.93501323e-03 1.32484807e-01] [-7.29537012e-03 9.99972932e-01 -9.55089387e-04 -1.56510481e-02] [ 5.92789038e-03 9.98345307e-04 9.99981932e-01 -7.96935991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.410281693 meters Centerline goodness [0,1] 0.3100111893635227 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.08 [[ 9.99953376e-01 7.42102303e-03 -6.17849943e-03 1.34663863e-01] [-7.42617955e-03 9.99972096e-01 -8.12067215e-04 -1.68432764e-02] [ 6.17230065e-03 8.57911999e-04 9.99980583e-01 -8.09302609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.440281693 meters Centerline goodness [0,1] 0.4041348374489252 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:-0.08 [[ 9.99951845e-01 7.58931564e-03 -6.22170722e-03 1.37680924e-01] [-7.59162536e-03 9.99971123e-01 -3.47702836e-04 -2.06378662e-02] [ 6.21888873e-03 3.94918963e-04 9.99980585e-01 -8.16556067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.470281693 meters Centerline goodness [0,1] 0.38645096498122433 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:-0.11 [[ 0.99997827 0.00593962 0.00286028 0.14415172] [-0.00593577 0.99998147 -0.00135404 -0.02008172] [-0.00286827 0.00133704 0.99999499 -0.10602967] [ 0. 0. 0. 1. ]] SLAMing on 1.500281693 meters Centerline goodness [0,1] 0.32877311071288084 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:-0.11 [[ 0.9999792 0.00590714 0.00258766 0.14649733] [-0.00590431 0.99998196 -0.00110104 -0.02211424] [-0.00259412 0.00108574 0.99999605 -0.10713073] [ 0. 0. 0. 1. ]] SLAMing on 1.530281693 meters Centerline goodness [0,1] 0.342473886750962 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:-0.11 [[ 9.99979302e-01 5.98109892e-03 2.37090509e-03 1.48251925e-01] [-5.97924380e-03 9.99981813e-01 -7.88768910e-04 -2.43054749e-02] [-2.37557968e-03 7.74576365e-04 9.99996878e-01 -1.07781072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.560281693 meters Centerline goodness [0,1] 0.33361851486234506 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.11 [[ 9.99977940e-01 6.14626892e-03 2.51863719e-03 1.50716117e-01] [-6.14558213e-03 9.99981076e-01 -2.80330275e-04 -2.85953378e-02] [-2.52031251e-03 2.64845599e-04 9.99996789e-01 -1.07720859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5902816929999999 meters Centerline goodness [0,1] 0.37531420078249655 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.11 [[ 9.99977411e-01 6.30879100e-03 2.31881436e-03 1.52618007e-01] [-6.30844004e-03 9.99980089e-01 -1.58637314e-04 -2.96585459e-02] [-2.31976900e-03 1.44005629e-04 9.99997299e-01 -1.08357413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.620281693 meters Centerline goodness [0,1] 0.370347503968954 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.11 [[ 9.99976593e-01 6.48514233e-03 2.18069128e-03 1.54041949e-01] [-6.48492886e-03 9.99978967e-01 -1.04951400e-04 -2.99630590e-02] [-2.18132604e-03 9.08073161e-05 9.99997617e-01 -1.08843772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.650281693 meters Centerline goodness [0,1] 0.3460329243264486 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.11 [[ 9.99973516e-01 6.91784902e-03 2.26071942e-03 1.57697529e-01] [-6.91781341e-03 9.99976071e-01 -2.35730046e-05 -3.00454074e-02] [-2.26082840e-03 7.93314512e-06 9.99997444e-01 -1.09763029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.680281693 meters Centerline goodness [0,1] 0.3617072688531072 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.11 [[ 9.99973916e-01 6.94641753e-03 1.97851463e-03 1.60200530e-01] [-6.94636161e-03 9.99975873e-01 -3.51331268e-05 -2.98526366e-02] [-1.97871095e-03 2.13887323e-05 9.99998042e-01 -1.11093585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.710281693 meters Centerline goodness [0,1] 0.34508893367212823 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.11 [[ 9.99974428e-01 6.95190466e-03 1.67742084e-03 1.62930486e-01] [-6.95182045e-03 9.99975834e-01 -5.60254279e-05 -2.95526432e-02] [-1.67776978e-03 4.43628668e-05 9.99998592e-01 -1.12443015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.740281693 meters Centerline goodness [0,1] 0.3720296755619533 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.11 [[ 9.99975045e-01 6.85143471e-03 1.72254596e-03 1.65790076e-01] [-6.85104780e-03 9.99976505e-01 -2.30418391e-04 -2.84361442e-02] [-1.72408418e-03 2.18611397e-04 9.99998490e-01 -1.12506523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.770281693 meters Centerline goodness [0,1] 0.3638715334867916 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.11 [[ 9.99975131e-01 6.89423860e-03 1.48549908e-03 1.68315769e-01] [-6.89391868e-03 9.99976212e-01 -2.20376727e-04 -2.83052721e-02] [-1.48698307e-03 2.10130336e-04 9.99998872e-01 -1.13708338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8002816929999998 meters Centerline goodness [0,1] 0.37622117365587826 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.11 [[ 9.99975521e-01 6.90008580e-03 1.15997752e-03 1.70910482e-01] [-6.89984450e-03 9.99976173e-01 -2.11896786e-04 -2.84270656e-02] [-1.16141198e-03 2.03887934e-04 9.99999305e-01 -1.14683180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8302816929999999 meters Centerline goodness [0,1] 0.3673685137873315 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.12 [[ 9.99979280e-01 6.43117374e-03 2.80869320e-04 1.81629887e-01] [-6.43102089e-03 9.99979174e-01 -5.41767952e-04 -2.68189806e-02] [-2.84347675e-04 5.39950450e-04 9.99999814e-01 -1.20668276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.860281693 meters Centerline goodness [0,1] 0.3876378215836953 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.12 [[ 9.99980122e-01 6.30516067e-03 -2.18129518e-05 1.84309589e-01] [-6.30517378e-03 9.99979901e-01 -6.65120897e-04 -2.58974868e-02] [ 1.76188192e-05 6.65245210e-04 9.99999779e-01 -1.21956311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.890281693 meters Centerline goodness [0,1] 0.3608982592904283 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:-0.12 [[ 9.99980799e-01 6.18310528e-03 -4.12915216e-04 1.87517610e-01] [-6.18344043e-03 9.99980550e-01 -8.15380416e-04 -2.47658164e-02] [ 4.07865602e-04 8.17917997e-04 9.99999582e-01 -1.23252775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.920281693 meters Centerline goodness [0,1] 0.36610989010989015 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.13 [[ 0.99997965 0.00616131 -0.00165376 0.20044072] [-0.00616315 0.99998039 -0.00111125 -0.0217478 ] [ 0.00164688 0.00112142 0.99999802 -0.13063232] [ 0. 0. 0. 1. ]] SLAMing on 1.950281693 meters Centerline goodness [0,1] 0.3636685944736201 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.13 [[ 0.99997977 0.00604442 -0.00198206 0.20327037] [-0.0060473 0.99998066 -0.00145061 -0.01913368] [ 0.00197325 0.00146257 0.99999698 -0.13194939] [ 0. 0. 0. 1. ]] SLAMing on 1.980281693 meters Centerline goodness [0,1] 0.512065647740594 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.13 [[ 0.9999807 0.00579575 -0.00223629 0.20840915] [-0.00580039 0.99998103 -0.00207345 -0.01433313] [ 0.00222423 0.00208638 0.99999535 -0.13361083] [ 0. 0. 0. 1. ]] SLAMing on 2.0102816929999996 meters Centerline goodness [0,1] 0.35911199469847577 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.13 [[ 0.9999803 0.00573763 -0.00254459 0.21111856] [-0.00574313 0.99998118 -0.00215737 -0.01389742] [ 0.00253216 0.00217194 0.99999444 -0.13462345] [ 0. 0. 0. 1. ]] SLAMing on 2.040281693 meters Centerline goodness [0,1] 0.20822473211699966 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.14 [[ 0.99997981 0.0056772 -0.00285429 0.21374552] [-0.00568328 0.99998159 -0.00212769 -0.01447408] [ 0.00284215 0.00214387 0.99999366 -0.13554691] [ 0. 0. 0. 1. ]] SLAMing on 2.0702816929999996 meters SLAMing on 2.100281693 meters Centerline goodness [0,1] 0.49287413566934213 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.14 [[ 0.99998192 0.00471863 -0.00372788 0.22627885] [-0.00472777 0.99998583 -0.00244519 -0.01363758] [ 0.00371629 0.00246277 0.99999006 -0.1408928 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1302816929999997 meters Centerline goodness [0,1] 0.193400102151851 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.14 [[ 0.99998097 0.00472496 -0.00396659 0.22868561] [-0.00473464 0.99998583 -0.00243573 -0.0140156 ] [ 0.00395503 0.00245447 0.99998917 -0.14178457] [ 0. 0. 0. 1. ]] SLAMing on 2.160281693 meters Centerline goodness [0,1] 0.201587479038569 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.14 [[ 0.99997968 0.00478218 -0.00421578 0.23083759] [-0.00479231 0.99998564 -0.00239685 -0.01465166] [ 0.00420426 0.002417 0.99998824 -0.14231478] [ 0. 0. 0. 1. ]] SLAMing on 2.1902816929999998 meters Centerline goodness [0,1] 0.19419868832254938 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.01, Z:-0.15 [[ 0.99998502 0.00487842 0.00248074 0.27272226] [-0.00487411 0.99998661 -0.00174081 -0.01487914] [-0.0024892 0.00172869 0.99999541 -0.14593479] [ 0. 0. 0. 1. ]] SLAMing on 2.2202816929999996 meters Centerline goodness [0,1] 0.19825002204002473 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.01, Z:-0.15 [[ 0.99998561 0.00488215 0.0022228 0.27507998] [-0.00487817 0.99998649 -0.0017946 -0.01437095] [-0.00223153 0.00178373 0.99999592 -0.14671519] [ 0. 0. 0. 1. ]] SLAMing on 2.250281693 meters Centerline goodness [0,1] 0.21256537451460122 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.15 [[ 0.99998548 0.00498025 0.00205719 0.27910068] [-0.0049769 0.99998629 -0.00163015 -0.01606933] [-0.00206528 0.00161989 0.99999656 -0.14784028] [ 0. 0. 0. 1. ]] SLAMing on 2.2802816929999996 meters Centerline goodness [0,1] 0.19955966534566272 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.15 [[ 0.99998586 0.00499969 0.00181391 0.28200879] [-0.00499681 0.99998626 -0.00158711 -0.01664936] [-0.00182182 0.00157803 0.9999971 -0.14905958] [ 0. 0. 0. 1. ]] SLAMing on 2.310281693 meters Centerline goodness [0,1] 0.20790002231644722 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.15 [[ 0.99998622 0.00502749 0.00151099 0.2845336 ] [-0.00502516 0.99998618 -0.00154316 -0.0168982 ] [-0.00151873 0.00153555 0.99999767 -0.14983825] [ 0. 0. 0. 1. ]] SLAMing on 2.3402816929999997 meters Centerline goodness [0,1] 0.2122779905485005 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.15 [[ 0.99998641 0.00508659 0.00114495 0.28956783] [-0.00508481 0.99998586 -0.00155947 -0.01653137] [-0.00115286 0.00155363 0.99999813 -0.15156499] [ 0. 0. 0. 1. ]] SLAMing on 2.370281693 meters Centerline goodness [0,1] 0.26646254980976614 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.15 [[ 9.99986715e-01 5.08301549e-03 8.56146319e-04 2.92090813e-01] [-5.08168245e-03 9.99985884e-01 -1.55206859e-03 -1.70572200e-02] [-8.64023422e-04 1.54769731e-03 9.99998429e-01 -1.52335625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4002816929999997 meters Centerline goodness [0,1] 0.20327273532472712 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.15 [[ 9.99986869e-01 5.09855217e-03 5.16052080e-04 2.95262081e-01] [-5.09777961e-03 9.99985900e-01 -1.48746126e-03 -1.79987995e-02] [-5.23628702e-04 1.48481101e-03 9.99998761e-01 -1.53586716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4302816929999995 meters Centerline goodness [0,1] 0.4883872416891285 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.16 [[ 9.99987798e-01 4.93951685e-03 -7.23687918e-05 3.00918898e-01] [-4.93960376e-03 9.99987013e-01 -1.25444081e-03 -1.98006351e-02] [ 6.61715204e-05 1.25478297e-03 9.99999211e-01 -1.55501134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4602816929999998 meters Centerline goodness [0,1] 0.250474211904977 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.16 [[ 9.99988160e-01 4.85166396e-03 -3.75413565e-04 3.03371017e-01] [-4.85206948e-03 9.99987638e-01 -1.08691683e-03 -2.14386637e-02] [ 3.70135568e-04 1.08872550e-03 9.99999339e-01 -1.56193371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4902816929999996 meters Centerline goodness [0,1] 0.48671473171169954 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.02, Z:-0.16 [[ 9.99988011e-01 4.84595966e-03 -7.02928727e-04 3.06146615e-01] [-4.84654369e-03 9.99987910e-01 -8.31540168e-04 -2.37618501e-02] [ 6.98890618e-04 8.34936973e-04 9.99999407e-01 -1.57032525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.520281693 meters Centerline goodness [0,1] 0.45504087193460485 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.03, Z:-0.16 [[ 9.99989275e-01 4.32783195e-03 -1.64929711e-03 3.16965250e-01] [-4.32944952e-03 9.99990149e-01 -9.78457475e-04 -2.51671202e-02] [ 1.64504627e-03 9.85587530e-04 9.99998161e-01 -1.62545087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5502816929999996 meters Centerline goodness [0,1] 0.2271800730237663 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:-0.16 [[ 0.99998892 0.00431028 -0.00189256 0.31925996] [-0.00431235 0.9999901 -0.00109373 -0.02440009] [ 0.00188783 0.00110188 0.99999761 -0.16337755] [ 0. 0. 0. 1. ]] SLAMing on 2.580281693 meters Centerline goodness [0,1] 0.21076162660076392 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:-0.16 [[ 0.99998834 0.00427882 -0.00223745 0.32205311] [-0.00428171 0.99999 -0.00128871 -0.02278569] [ 0.00223192 0.00129828 0.99999667 -0.16423192] [ 0. 0. 0. 1. ]] SLAMing on 2.6102816929999997 meters Centerline goodness [0,1] 0.21076162660076392 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:-0.16 [[ 0.99998834 0.00427882 -0.00223745 0.32205311] [-0.00428171 0.99999 -0.00128871 -0.02278569] [ 0.00223192 0.00129828 0.99999667 -0.16423192] [ 0. 0. 0. 1. ]] SLAMing on 2.6402816929999995 meters Centerline goodness [0,1] 0.2076182409842643 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.02, Z:-0.17 [[ 0.99998369 0.00459428 -0.00339407 0.33456523] [-0.00459905 0.99998845 -0.00139813 -0.0209602 ] [ 0.00338761 0.00141372 0.99999326 -0.17086262] [ 0. 0. 0. 1. ]] SLAMing on 2.6702816929999997 meters Centerline goodness [0,1] 0.19631129104813316 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.02, Z:-0.17 [[ 0.99998312 0.00456179 -0.00359894 0.33649928] [-0.00456754 0.9999883 -0.00159022 -0.01945681] [ 0.00359164 0.00160663 0.99999226 -0.17132271] [ 0. 0. 0. 1. ]] SLAMing on 2.7002816929999995 meters Centerline goodness [0,1] 0.1955812706639264 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.02, Z:-0.17 [[ 0.99998188 0.0046044 -0.00387836 0.33904195] [-0.00461132 0.99998779 -0.0017775 -0.01772261] [ 0.00387013 0.00179535 0.9999909 -0.17182042] [ 0. 0. 0. 1. ]] SLAMing on 2.730281693 meters Centerline goodness [0,1] 0.1873573154243412 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.01, Z:-0.18 [[ 0.99997312 0.00522679 -0.00514228 0.35209042] [-0.00523729 0.99998422 -0.00203029 -0.01434984] [ 0.00513159 0.00205717 0.99998472 -0.1779821 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7602816929999996 meters Centerline goodness [0,1] 0.19237173717371736 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.01, Z:-0.18 [[ 0.99997152 0.00520003 -0.00546919 0.3549403 ] [-0.005213 0.99998363 -0.00235976 -0.01190377] [ 0.00545683 0.00238821 0.99998226 -0.1791158 ] [ 0. 0. 0. 1. ]] SLAMing on 2.790281693 meters Centerline goodness [0,1] 0.5049820375516845 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.01, Z:-0.18 [[ 0.99996986 0.00512549 -0.00583237 0.35796749] [-0.00514177 0.99998292 -0.00277864 -0.00861247] [ 0.00581802 0.00280855 0.99997913 -0.18020721] [ 0. 0. 0. 1. ]] SLAMing on 2.8202816929999996 meters Centerline goodness [0,1] 0.1916782808074451 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.00, Z:-0.19 [[ 0.99995798 0.00609615 -0.00684681 0.36929255] [-0.006118 0.99997624 -0.00317532 -0.00116425] [ 0.00682729 0.00321708 0.99997152 -0.1850044 ] [ 0. 0. 0. 1. ]] SLAMing on 2.850281693 meters Centerline goodness [0,1] 0.18064748525372598 Centerline is valid? [False, False] Translation: X:0.37, Y:0.00, Z:-0.18 [[ 0.99995658 0.00606465 -0.00707586 0.37118553] [-0.00609175 0.99997417 -0.00381405 0.00401272] [ 0.00705255 0.00385699 0.99996769 -0.18487455] [ 0. 0. 0. 1. ]] SLAMing on 2.8802816929999997 meters Centerline goodness [0,1] 0.19787690570299266 Centerline is valid? [False, False] Translation: X:0.37, Y:0.01, Z:-0.19 [[ 0.99995384 0.0060944 -0.00742826 0.37382107] [-0.00612805 0.99997102 -0.00451667 0.00969704] [ 0.00740052 0.00456198 0.99996221 -0.18507266] [ 0. 0. 0. 1. ]] SLAMing on 2.9102816929999995 meters Centerline goodness [0,1] 0.17927033359366285 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:-0.21 [[ 0.99996982 0.00762689 0.0014801 0.38519648] [-0.00762154 0.99996454 -0.00358307 0.01387189] [-0.00150737 0.00357168 0.99999249 -0.20994342] [ 0. 0. 0. 1. ]] SLAMing on 2.9402816929999998 meters Centerline goodness [0,1] 0.1896591012669766 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 9.99941039e-01 1.08556655e-02 2.71035037e-04 3.97967265e-01] [-1.08555574e-02 9.99940998e-01 -3.97215265e-04 1.92535357e-02] [-2.75331082e-04 3.94249609e-04 9.99999884e-01 -2.17193780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9702816929999996 meters Centerline goodness [0,1] 0.1951970718207383 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 9.99943382e-01 1.06404333e-02 -1.22284635e-04 4.01372339e-01] [-1.06405443e-02 9.99942941e-01 -9.45654084e-04 2.36137380e-02] [ 1.12215488e-04 9.46901718e-04 9.99999545e-01 -2.18292898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.000281693 meters Centerline goodness [0,1] 0.1758492082989035 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:-0.22 [[ 9.99971037e-01 6.51575472e-03 -3.93332420e-03 4.25646658e-01] [-6.51875588e-03 9.99978471e-01 -7.50672625e-04 3.33875100e-02] [ 3.92834832e-03 7.76291263e-04 9.99991983e-01 -2.15575053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0302816929999996 meters Centerline goodness [0,1] 0.17870157916048046 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:-0.22 [[ 0.99997236 0.00612069 -0.00422058 0.4277984 ] [-0.00612569 0.99998055 -0.00117246 0.03610423] [ 0.00421333 0.00119829 0.99999041 -0.21575484] [ 0. 0. 0. 1. ]] SLAMing on 3.060281693 meters Centerline goodness [0,1] 0.17749005784526395 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:-0.22 [[ 0.9999734 0.00572916 -0.00451317 0.43007876] [-0.00573624 0.99998233 -0.00155823 0.03857089] [ 0.00450417 0.00158408 0.9999886 -0.21620996] [ 0. 0. 0. 1. ]] SLAMing on 3.0902816929999997 meters Centerline goodness [0,1] 0.17769987251866692 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:-0.22 [[ 0.99997682 0.00377612 -0.00566497 0.43977455] [-0.00379139 0.99998921 -0.00268559 0.04273107] [ 0.00565477 0.00270701 0.99998035 -0.21942245] [ 0. 0. 0. 1. ]] SLAMing on 3.120281693 meters Centerline goodness [0,1] 0.1748643761301989 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:-0.22 [[ 0.99997585 0.00258442 -0.00645178 0.44691068] [-0.00260621 0.99999092 -0.00337172 0.0439024 ] [ 0.006443 0.00338846 0.9999735 -0.22301666] [ 0. 0. 0. 1. ]] SLAMing on 3.1502816929999997 meters Centerline goodness [0,1] 0.17414116742429386 Centerline is valid? [False, False] Translation: X:0.46, Y:0.04, Z:-0.23 [[ 9.99970684e-01 5.52754090e-04 -7.63714577e-03 4.57762240e-01] [-5.83674052e-04 9.99991641e-01 -4.04699241e-03 4.40987606e-02] [ 7.63484494e-03 4.05133137e-03 9.99962647e-01 -2.28108021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1802816929999995 meters Centerline goodness [0,1] 0.1769597818677573 Centerline is valid? [False, False] Translation: X:0.46, Y:0.04, Z:-0.23 [[ 9.99967392e-01 1.71477793e-04 -8.07378101e-03 4.60923702e-01] [-2.02371432e-04 9.99992661e-01 -3.82575377e-03 4.15502110e-02] [ 8.07306572e-03 3.82726292e-03 9.99960088e-01 -2.29209927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2102816929999998 meters Centerline goodness [0,1] 0.17564535503025636 Centerline is valid? [False, False] Translation: X:0.46, Y:0.04, Z:-0.23 [[ 9.99964001e-01 -1.72786032e-04 -8.48327148e-03 4.63937023e-01] [ 1.43733933e-04 9.99994124e-01 -3.42512414e-03 3.76323878e-02] [ 8.48381344e-03 3.42378151e-03 9.99958150e-01 -2.30272382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2402816929999996 meters Centerline goodness [0,1] 0.17769487978527398 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:-0.23 [[ 0.99995298 -0.00242081 -0.00939 0.47252055] [ 0.00238671 0.99999052 -0.00364056 0.03142221] [ 0.00939872 0.00361798 0.99994929 -0.23403528] [ 0. 0. 0. 1. ]] SLAMing on 3.270281693 meters Centerline goodness [0,1] 0.1766206211628747 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:-0.25 [[ 0.99997781 -0.00658323 -0.00102334 0.49421371] [ 0.00658495 0.99997689 0.00169145 0.02479342] [ 0.00101218 -0.00169815 0.99999805 -0.24566492] [ 0. 0. 0. 1. ]] SLAMing on 3.3002816929999996 meters Centerline goodness [0,1] 0.18473748193683048 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:-0.25 [[ 0.99994278 -0.01059558 -0.00147005 0.4981003 ] [ 0.01059258 0.99994183 -0.00203561 0.0212494 ] [ 0.00149154 0.00201992 0.99999685 -0.24569769] [ 0. 0. 0. 1. ]] SLAMing on 3.330281693 meters Centerline goodness [0,1] 0.17865921031862353 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.25 [[ 0.99993101 -0.01152932 -0.00224636 0.50512297] [ 0.0115245 0.99993129 -0.00214568 0.01776979] [ 0.00227094 0.00211965 0.99999517 -0.24889121] [ 0. 0. 0. 1. ]] SLAMing on 3.3602816929999997 meters Centerline goodness [0,1] 0.1804017483071767 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:-0.25 [[ 0.99993141 -0.01142351 -0.0025859 0.5074628 ] [ 0.01141984 0.99993376 -0.00143292 0.01219303] [ 0.0026021 0.0014033 0.99999563 -0.24927855] [ 0. 0. 0. 1. ]] SLAMing on 3.3902816929999995 meters Centerline goodness [0,1] 0.18645536426861242 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:-0.25 [[ 9.99932596e-01 -1.12369481e-02 -2.92125502e-03 5.09743905e-01] [ 1.12352673e-02 9.99936708e-01 -5.91124408e-04 5.75840582e-03] [ 2.92771256e-03 5.58263483e-04 9.99995558e-01 -2.49604851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4202816929999997 meters Centerline goodness [0,1] 0.18956233604859862 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.00, Z:-0.25 [[ 9.99934191e-01 -1.10120142e-02 -3.21700739e-03 5.11828518e-01] [ 1.10127905e-02 9.99939332e-01 2.23706297e-04 -3.74671795e-04] [ 3.21434876e-03 -2.59119804e-04 9.99994800e-01 -2.50072723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4502816929999995 meters Centerline goodness [0,1] 0.1823409553995925 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.25 [[ 0.99991932 -0.01050528 -0.00714103 0.53989186] [ 0.01047876 0.9999381 -0.00374109 -0.00966895] [ 0.00717989 0.00366596 0.9999675 -0.25024489] [ 0. 0. 0. 1. ]] SLAMing on 3.480281693 meters Centerline goodness [0,1] 0.18677496853906872 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:-0.25 [[ 0.99992127 -0.01008471 -0.00746707 0.54230067] [ 0.01006347 0.99994522 -0.00287693 -0.01552188] [ 0.00749567 0.00280156 0.99996798 -0.2510811 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5102816929999996 meters Centerline goodness [0,1] 0.1847823613734101 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.03, Z:-0.25 [[ 0.99992491 -0.00909067 -0.00821785 0.54895877] [ 0.00907971 0.99995784 -0.00137067 -0.02588021] [ 0.00822996 0.00129595 0.99996529 -0.25363216] [ 0. 0. 0. 1. ]] SLAMing on 3.540281693 meters Centerline goodness [0,1] 0.19184464228054798 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.03, Z:-0.25 [[ 9.99925744e-01 -8.72512155e-03 -8.50755325e-03 5.50730238e-01] [ 8.71734276e-03 9.99961551e-01 -9.50993830e-04 -2.84814610e-02] [ 8.51552368e-03 8.76759956e-04 9.99963358e-01 -2.53648000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5702816929999996 meters Centerline goodness [0,1] 0.1846619346619347 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.26 [[ 9.99987433e-01 -5.01323627e-03 3.08143585e-05 5.70280344e-01] [ 5.01333057e-03 9.99970896e-01 -5.75092233e-03 -2.87359672e-02] [-1.98272929e-06 5.75100454e-03 9.99983463e-01 -2.63226527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6002816929999994 meters Centerline goodness [0,1] 0.18848706797894255 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.26 [[ 9.99999729e-01 -5.15196559e-04 -5.25532968e-04 5.74081404e-01] [ 5.14974494e-04 9.99999778e-01 -4.22599718e-04 -3.76314743e-02] [ 5.25750574e-04 4.22328968e-04 9.99999773e-01 -2.63702118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6302816929999997 meters Centerline goodness [0,1] 0.18760812164253848 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:-0.26 [[ 9.99999627e-01 -1.61169332e-04 -8.48990881e-04 5.76190420e-01] [ 1.61109332e-04 9.99999985e-01 -7.07398231e-05 -3.96586705e-02] [ 8.49002269e-04 7.06030163e-05 9.99999637e-01 -2.64193101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6602816929999995 meters Centerline goodness [0,1] 0.19160684704583109 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:-0.26 [[ 9.99999151e-01 3.67987925e-04 -1.24992186e-03 5.79170253e-01] [-3.67256261e-04 9.99999761e-01 5.85546776e-04 -4.37715172e-02] [ 1.25013704e-03 -5.85087238e-04 9.99999047e-01 -2.64690842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6902816929999998 meters Centerline goodness [0,1] 0.19677692960135706 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:-0.26 [[ 9.99998650e-01 5.95066792e-04 -1.53180900e-03 5.80909902e-01] [-5.93766217e-04 9.99999463e-01 8.49359936e-04 -4.53153223e-02] [ 1.53231360e-03 -8.48449253e-04 9.99998466e-01 -2.64883936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7202816929999996 meters Centerline goodness [0,1] 0.20380697792321523 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:-0.27 [[ 9.99998126e-01 8.04543476e-04 -1.76079771e-03 5.82433267e-01] [-8.02702929e-04 9.99999131e-01 1.04574868e-03 -4.63798735e-02] [ 1.76163753e-03 -1.04433332e-03 9.99997903e-01 -2.65265072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.750281693 meters Centerline goodness [0,1] 0.07758917702184354 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:-0.27 [[ 0.99999724 0.00105116 -0.00209989 0.58458748] [-0.00104867 0.99999874 0.00119019 -0.04693107] [ 0.00210114 -0.00118799 0.99999709 -0.26579402] [ 0. 0. 0. 1. ]] SLAMing on 3.7802816929999996 meters Centerline goodness [0,1] 0.1081861884071369 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.05, Z:-0.27 [[ 0.99999403 0.00217239 -0.00268557 0.58870437] [-0.00216857 0.99999664 0.00142299 -0.04639002] [ 0.00268865 -0.00141716 0.99999538 -0.2668382 ] [ 0. 0. 0. 1. ]] SLAMing on 3.810281693 meters Centerline goodness [0,1] 0.2025972823444987 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:-0.27 [[ 0.9999922 0.0025092 -0.00304913 0.59074489] [-0.00250556 0.99999614 0.00119784 -0.04386457] [ 0.00305213 -0.00119019 0.99999463 -0.26705934] [ 0. 0. 0. 1. ]] SLAMing on 3.8402816929999997 meters Centerline goodness [0,1] 0.06891295813029719 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:-0.27 [[ 9.99990069e-01 2.82832077e-03 -3.44432953e-03 5.92950002e-01] [-2.82555634e-03 9.99995682e-01 8.07206209e-04 -4.01129793e-02] [ 3.44659769e-03 -7.97466045e-04 9.99993742e-01 -2.67351070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8702816929999995 meters Centerline goodness [0,1] 0.06632052613361028 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:-0.27 [[ 9.99987573e-01 3.20817611e-03 -3.81602525e-03 5.95044587e-01] [-3.20641285e-03 9.99994750e-01 4.68093693e-04 -3.65865634e-02] [ 3.81750695e-03 -4.55852123e-04 9.99992609e-01 -2.67661038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9002816929999997 meters Centerline goodness [0,1] 0.1570911271536315 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:-0.27 [[ 0.99997592 0.00527589 -0.00450923 0.6020568 ] [-0.00527093 0.99998549 0.00111295 -0.03311071] [ 0.00451503 -0.00108915 0.99998921 -0.27107984] [ 0. 0. 0. 1. ]] SLAMing on 3.9302816929999995 meters Centerline goodness [0,1] 0.06614939200926462 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:-0.27 [[ 9.99974015e-01 5.37930224e-03 -4.79929215e-03 6.03684761e-01] [-5.37513885e-03 9.99985167e-01 8.79976537e-04 -3.11902081e-02] [ 4.80395462e-03 -8.54156809e-04 9.99988096e-01 -2.71247106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9602816929999998 meters Centerline goodness [0,1] 0.06617511520737329 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.27 [[ 9.99972177e-01 5.45637623e-03 -5.08662331e-03 6.05372739e-01] [-5.45246273e-03 9.99984829e-01 7.82921061e-04 -3.02454711e-02] [ 5.09081805e-03 -7.55164653e-04 9.99986757e-01 -2.71564009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9902816929999996 meters Centerline goodness [0,1] 0.0653976760839936 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.27 [[ 0.99997053 0.00536441 -0.0054928 0.60815104] [-0.00535861 0.99998507 0.00107022 -0.0325516 ] [ 0.00549846 -0.00104076 0.99998434 -0.27229412] [ 0. 0. 0. 1. ]] SLAMing on 4.020281692999999 meters Centerline goodness [0,1] 0.06598938101914631 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.28 [[ 9.99971721e-01 4.18009935e-03 -6.25177037e-03 6.14646566e-01] [-4.17773269e-03 9.99991197e-01 3.91569718e-04 -3.37936848e-02] [ 6.25335213e-03 -3.65440420e-04 9.99980381e-01 -2.75749514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.050281693 meters Centerline goodness [0,1] 0.06676874536005939 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.28 [[ 9.99973011e-01 3.22785009e-03 -6.59992467e-03 6.16934693e-01] [-3.22352029e-03 9.99994582e-01 6.66571245e-04 -3.82004015e-02] [ 6.60204051e-03 -6.45278264e-04 9.99977998e-01 -2.75942382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.080281693 meters Centerline goodness [0,1] 0.06662518436578169 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.28 [[ 9.99970949e-01 3.16734956e-03 -6.93317266e-03 6.18833005e-01] [-3.16177266e-03 9.99994669e-01 8.15192480e-04 -3.91802386e-02] [ 6.93571770e-03 -7.93247683e-04 9.99975633e-01 -2.76306408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.110281692999999 meters Centerline goodness [0,1] 0.06559840917499071 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.28 [[ 9.99969226e-01 3.18566284e-03 -7.16924296e-03 6.20187128e-01] [-3.17931980e-03 9.99994545e-01 8.95979420e-04 -3.97109330e-02] [ 7.17205814e-03 -8.73158531e-04 9.99973899e-01 -2.76595039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1402816929999995 meters Centerline goodness [0,1] 0.06697657207613494 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.28 [[ 0.9999649 0.00354061 -0.00759425 0.6230051 ] [-0.00353076 0.99999291 0.00131051 -0.04205264] [ 0.00759884 -0.00128365 0.9999703 -0.27734942] [ 0. 0. 0. 1. ]] SLAMing on 4.170281693 meters Centerline goodness [0,1] 0.06578005587495095 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.28 [[ 0.99996222 0.00372137 -0.0078556 0.62420082] [-0.00371029 0.9999921 0.00142466 -0.04254896] [ 0.00786084 -0.00139546 0.99996813 -0.27715287] [ 0. 0. 0. 1. ]] SLAMing on 4.200281693 meters Centerline goodness [0,1] 0.06624532915071268 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.28 [[ 0.99996 0.00384277 -0.008077 0.62520584] [-0.00383077 0.99999154 0.00150066 -0.04278877] [ 0.0080827 -0.00146966 0.99996625 -0.27691855] [ 0. 0. 0. 1. ]] SLAMing on 4.230281692999999 meters Centerline goodness [0,1] 0.06569594920985444 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.28 [[ 0.99995573 0.00409994 -0.00846919 0.62725174] [-0.00408486 0.99999004 0.00179617 -0.04436159] [ 0.00847647 -0.00176149 0.99996252 -0.27647031] [ 0. 0. 0. 1. ]] SLAMing on 4.260281693 meters Centerline goodness [0,1] 0.06540293082426551 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.28 [[ 0.9999534 0.00426222 -0.00866208 0.62839322] [-0.00424363 0.99998866 0.0021627 -0.04659547] [ 0.0086712 -0.00212584 0.99996014 -0.27675252] [ 0. 0. 0. 1. ]] SLAMing on 4.290281693 meters Centerline goodness [0,1] 0.06546843200475638 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.28 [[ 0.99995087 0.00438083 -0.0088915 0.62981055] [-0.00435908 0.99998746 0.00246463 -0.04844068] [ 0.00890218 -0.00242575 0.99995743 -0.27718693] [ 0. 0. 0. 1. ]] SLAMing on 4.320281693 meters Centerline goodness [0,1] 0.06623388624497528 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.28 [[ 0.99994883 0.00448155 -0.00906924 0.6307508 ] [-0.00445842 0.99998676 0.00256923 -0.0488951 ] [ 0.00908064 -0.00252867 0.99995557 -0.27726125] [ 0. 0. 0. 1. ]] SLAMing on 4.3502816929999994 meters Centerline goodness [0,1] 0.20179310344827583 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.28 [[ 0.99994252 0.00501764 -0.00947555 0.63302661] [-0.00499392 0.99998434 0.0025259 -0.0472777 ] [ 0.00948808 -0.00247844 0.99995192 -0.27710675] [ 0. 0. 0. 1. ]] SLAMing on 4.380281693 meters Centerline goodness [0,1] 0.20560963232919682 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.28 [[ 0.99993916 0.0051937 -0.00973172 0.63448012] [-0.00517057 0.99998375 0.00239952 -0.04605569] [ 0.00974403 -0.00234906 0.99994977 -0.27767787] [ 0. 0. 0. 1. ]] SLAMing on 4.410281693 meters Centerline goodness [0,1] 0.06597985347985347 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.28 [[ 0.99993491 0.00536916 -0.01006669 0.63645754] [-0.0053471 0.99998325 0.00221673 -0.04435863] [ 0.01007843 -0.00216276 0.99994687 -0.27852956] [ 0. 0. 0. 1. ]] SLAMing on 4.440281692999999 meters Centerline goodness [0,1] 0.06629986244841812 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.28 [[ 0.99992754 0.00606331 -0.01039995 0.6385793 ] [-0.00604364 0.99997989 0.00192181 -0.04038376] [ 0.01041139 -0.00185882 0.99994407 -0.2789971 ] [ 0. 0. 0. 1. ]] SLAMing on 4.470281693 meters Centerline goodness [0,1] 0.18191768327442714 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.29 [[ 9.99969741e-01 7.06136815e-03 3.26395827e-03 6.43150000e-01] [-7.06420172e-03 9.99974681e-01 8.57428720e-04 -3.88005717e-02] [-3.25782101e-03 -8.80460035e-04 9.99994306e-01 -2.85535206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.500281693 meters Centerline goodness [0,1] 0.18191768327442714 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.29 [[ 9.99969741e-01 7.06136815e-03 3.26395827e-03 6.43150000e-01] [-7.06420172e-03 9.99974681e-01 8.57428720e-04 -3.88005717e-02] [-3.25782101e-03 -8.80460035e-04 9.99994306e-01 -2.85535206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.530281693 meters Centerline goodness [0,1] 0.1956946263238909 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.28 [[ 9.99970342e-01 7.07027061e-03 3.05380437e-03 6.44202881e-01] [-7.07209595e-03 9.99974820e-01 5.87339854e-04 -3.70374860e-02] [-3.04957482e-03 -6.08919232e-04 9.99995165e-01 -2.84971399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.560281692999999 meters Centerline goodness [0,1] 0.19561446117549097 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.29 [[ 9.99971876e-01 6.92393067e-03 2.88207436e-03 6.45034225e-01] [-6.92448763e-03 9.99976009e-01 1.83315995e-04 -3.46090458e-02] [-2.88073594e-03 -2.03267727e-04 9.99995830e-01 -2.85163741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.590281693 meters Centerline goodness [0,1] 0.19287452366741653 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:-0.28 [[ 9.99994898e-01 3.15731129e-03 -4.84832998e-04 6.68370870e-01] [-3.15577977e-03 9.99990129e-01 3.12778066e-03 -2.94977982e-02] [ 4.94703590e-04 -3.12623468e-03 9.99994991e-01 -2.83543553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.620281693 meters Centerline goodness [0,1] 0.190864377447855 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:-0.28 [[ 9.99995586e-01 2.87706843e-03 -7.41276657e-04 6.69692817e-01] [-2.87508389e-03 9.99992317e-01 2.66449127e-03 -2.69169784e-02] [ 7.48936885e-04 -2.66234828e-03 9.99996175e-01 -2.83884522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.650281692999999 meters Centerline goodness [0,1] 0.1903622771707878 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:-0.28 [[ 0.99999733 0.00201349 -0.00113231 0.67158029] [-0.00201116 0.99999587 0.00205272 -0.02502196] [ 0.00113643 -0.00205044 0.99999725 -0.28416174] [ 0. 0. 0. 1. ]] SLAMing on 4.6802816929999995 meters Centerline goodness [0,1] 0.19038234134804888 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.28 [[ 0.99999759 0.00165694 -0.00144288 0.67270223] [-0.00165423 0.99999686 0.00188097 -0.02479211] [ 0.00144599 -0.00187858 0.99999719 -0.28404119] [ 0. 0. 0. 1. ]] SLAMing on 4.710281693 meters Centerline goodness [0,1] 0.18785183125999028 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.28 [[ 9.99998608e-01 -9.90391002e-04 -1.34291923e-03 6.69984310e-01] [ 9.90007588e-04 9.99999469e-01 -2.86142631e-04 -2.11031435e-02] [ 1.34320191e-03 2.84812733e-04 9.99999057e-01 -2.80866774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.740281693 meters Centerline goodness [0,1] 0.18582594387055484 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:-0.28 [[ 0.999994 -0.00274831 -0.00210946 0.67618728] [ 0.00274436 0.99999448 -0.00187146 -0.01940828] [ 0.00211459 0.00186566 0.99999602 -0.28440773] [ 0. 0. 0. 1. ]] SLAMing on 4.770281692999999 meters Centerline goodness [0,1] 0.18461044765856005 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:-0.28 [[ 0.99999227 -0.00311325 -0.00240245 0.6775509 ] [ 0.00310886 0.9999935 -0.00182864 -0.02061667] [ 0.00240813 0.00182116 0.99999544 -0.28486078] [ 0. 0. 0. 1. ]] SLAMing on 4.800281693 meters Centerline goodness [0,1] 0.18629383451753379 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:-0.29 [[ 0.99999052 -0.00341569 -0.0027001 0.67899267] [ 0.00341095 0.99999263 -0.00176041 -0.0217734 ] [ 0.00270609 0.00175118 0.99999481 -0.28540526] [ 0. 0. 0. 1. ]] SLAMing on 4.830281693 meters Centerline goodness [0,1] 0.18452995571464625 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:-0.29 [[ 0.99998884 -0.00367119 -0.00297214 0.68028251] [ 0.00366593 0.99999171 -0.00177138 -0.02226466] [ 0.00297862 0.00176047 0.99999401 -0.28576415] [ 0. 0. 0. 1. ]] SLAMing on 4.860281692999999 meters Centerline goodness [0,1] 0.176346918029757 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:-0.29 [[ 0.99998659 -0.0040341 -0.00324654 0.68154607] [ 0.00402754 0.99998984 -0.0020255 -0.02163788] [ 0.00325468 0.0020124 0.99999268 -0.28564 ] [ 0. 0. 0. 1. ]] SLAMing on 4.8902816929999995 meters Centerline goodness [0,1] 0.1727080362482175 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:-0.29 [[ 0.99998536 -0.00408968 -0.00354415 0.68264516] [ 0.00408228 0.99998948 -0.00209178 -0.02133376] [ 0.00355267 0.00207728 0.99999153 -0.28550346] [ 0. 0. 0. 1. ]] SLAMing on 4.920281693 meters Centerline goodness [0,1] 0.18161746295495418 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:-0.29 [[ 0.99998415 -0.00412435 -0.00383343 0.68380943] [ 0.00411614 0.99998923 -0.00214641 -0.02102627] [ 0.00384224 0.00213059 0.99999035 -0.2854045 ] [ 0. 0. 0. 1. ]] SLAMing on 4.950281693 meters Centerline goodness [0,1] 0.1662434516047857 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:-0.29 [[ 0.99998336 -0.00410912 -0.00404844 0.68485488] [ 0.00409995 0.99998902 -0.00227 -0.0201822 ] [ 0.00405772 0.00225336 0.99998923 -0.28529425] [ 0. 0. 0. 1. ]] SLAMing on 4.980281692999999 meters Centerline goodness [0,1] 0.15909039175069994 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.29 [[ 0.99998245 -0.00406681 -0.00430827 0.68610384] [ 0.00405679 0.99998905 -0.00233304 -0.01950512] [ 0.00431771 0.00231552 0.999988 -0.28573667] [ 0. 0. 0. 1. ]] SLAMing on 5.010281693 meters Centerline goodness [0,1] 0.1920263011668828 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.02, Z:-0.29 [[ 9.99993822e-01 -3.49458898e-03 3.79570519e-04 6.37623581e-01] [ 3.49550780e-03 9.99990895e-01 -2.44761610e-03 -1.84635967e-02] [-3.71013651e-04 2.44892777e-03 9.99996933e-01 -2.87924132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.040281693 meters Centerline goodness [0,1] 0.19213057949208956 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.29 [[ 0.99998854 -0.00281506 -0.00387334 0.6866797 ] [ 0.00280887 0.99999477 -0.0016021 -0.01621946] [ 0.00387783 0.0015912 0.99999122 -0.2870242 ] [ 0. 0. 0. 1. ]] SLAMing on 5.070281692999999 meters Centerline goodness [0,1] 0.1914772468455337 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.29 [[ 0.99998741 -0.00284043 -0.00413566 0.68759153] [ 0.00283257 0.99999417 -0.00190437 -0.01426751] [ 0.00414104 0.00189264 0.99998963 -0.28691722] [ 0. 0. 0. 1. ]] SLAMing on 5.1002816929999994 meters Centerline goodness [0,1] 0.19205920087976536 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.29 [[ 0.99998644 -0.00291215 -0.00431766 0.68835159] [ 0.00290215 0.9999931 -0.00232002 -0.01175119] [ 0.00432438 0.00230746 0.99998799 -0.28707635] [ 0. 0. 0. 1. ]] SLAMing on 5.130281693 meters Centerline goodness [0,1] 0.1874446154563686 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.29 [[ 9.99999986e-01 -1.65275059e-04 -2.36175983e-05 6.39119045e-01] [ 1.65252751e-04 9.99999543e-01 -9.41463745e-04 -7.77862927e-03] [ 2.37731880e-05 9.41459829e-04 9.99999557e-01 -2.88220815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.160281693 meters Centerline goodness [0,1] 0.18967442072406648 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.00, Z:-0.29 [[ 9.99994680e-01 4.59837341e-04 -3.22932531e-03 6.86237359e-01] [-4.60654708e-04 9.99999862e-01 -2.52368225e-04 -4.91503237e-03] [ 3.22920882e-03 2.53854487e-04 9.99994754e-01 -2.87303485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.190281692999999 meters Centerline goodness [0,1] 0.1879222486107588 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.00, Z:-0.29 [[ 9.99999002e-01 1.12652669e-03 8.52859240e-04 6.36869207e-01] [-1.12586860e-03 9.99999068e-01 -7.71710022e-04 -2.01933725e-03] [-8.53727798e-04 7.70749044e-04 9.99999339e-01 -2.87708283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.220281693 meters Centerline goodness [0,1] 0.18388928481114508 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.00, Z:-0.29 [[ 9.99999395e-01 8.31379794e-04 7.20915663e-04 6.37410506e-01] [-8.30540622e-04 9.99998978e-01 -1.16355580e-03 -2.86411703e-04] [-7.21882283e-04 1.16295635e-03 9.99999063e-01 -2.87446455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.250281693 meters Centerline goodness [0,1] 0.1810501182358748 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.00, Z:-0.29 [[ 9.99999642e-01 6.79857648e-04 5.04583342e-04 6.38057762e-01] [-6.79272466e-04 9.99999098e-01 -1.15899867e-03 -5.82644107e-04] [-5.05370841e-04 1.15865551e-03 9.99999201e-01 -2.87370225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.280281692999999 meters Centerline goodness [0,1] 0.17967963386727692 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.00, Z:-0.29 [[ 9.99999828e-01 5.38117220e-04 2.33271551e-04 6.39070383e-01] [-5.37861494e-04 9.99999256e-01 -1.09493851e-03 -1.30301041e-03] [-2.33860582e-04 1.09481285e-03 9.99999373e-01 -2.87597894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.310281692999999 meters Centerline goodness [0,1] 0.16005519144532598 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.00, Z:-0.29 [[ 9.99999923e-01 3.91949685e-04 3.59096175e-05 6.39843977e-01] [-3.91910923e-04 9.99999347e-01 -1.07315831e-03 -1.83190678e-03] [-3.63302182e-05 1.07314416e-03 9.99999424e-01 -2.87859661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.340281693 meters Centerline goodness [0,1] 0.16566692614130685 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.00, Z:-0.29 [[ 9.99999931e-01 6.35401524e-05 -3.65835532e-04 6.41472279e-01] [-6.39023216e-05 9.99999508e-01 -9.90051544e-04 -3.12957726e-03] [ 3.65772444e-04 9.90074854e-04 9.99999443e-01 -2.88286101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.370281693 meters Centerline goodness [0,1] 0.46547838086476545 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.00, Z:-0.29 [[ 9.99999881e-01 6.57804621e-05 -4.84193588e-04 6.41928242e-01] [-6.61741587e-05 9.99999667e-01 -8.13126367e-04 -4.22827761e-03] [ 4.84139939e-04 8.13158311e-04 9.99999552e-01 -2.88453997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.400281692999999 meters Centerline goodness [0,1] 0.3847892260861544 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.29 [[ 9.99999802e-01 1.15409609e-04 -6.19174894e-04 6.42482791e-01] [-1.15771340e-04 9.99999823e-01 -5.84211059e-04 -5.46093912e-03] [ 6.19107361e-04 5.84282626e-04 9.99999638e-01 -2.88713231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4302816929999995 meters Centerline goodness [0,1] 0.9732287472812254 Centerline is valid? [False, True] Translation: X:0.64, Y:-0.01, Z:-0.29 [[ 9.99999653e-01 2.24072464e-04 -8.02454191e-04 6.43295014e-01] [-2.24355162e-04 9.99999913e-01 -3.52218620e-04 -6.55932838e-03] [ 8.02375199e-04 3.52398532e-04 9.99999616e-01 -2.89166293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.460281693 meters Centerline goodness [0,1] 0.34184214163940474 Centerline is valid? [True, False] Translation: X:0.64, Y:-0.01, Z:-0.29 [[ 9.99999466e-01 2.82989813e-04 -9.94323272e-04 6.43995486e-01] [-2.83355008e-04 9.99999892e-01 -3.67158008e-04 -6.29717860e-03] [ 9.94219263e-04 3.67439558e-04 9.99999438e-01 -2.89298350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.490281693 meters Centerline goodness [0,1] 0.9758151985784506 Centerline is valid? [False, True] Translation: X:0.64, Y:-0.01, Z:-0.29 [[ 9.99999359e-01 3.23692578e-04 -1.08540896e-03 6.44230786e-01] [-3.24178603e-04 9.99999847e-01 -4.47634007e-04 -5.68652401e-03] [ 1.08526390e-03 4.47985587e-04 9.99999311e-01 -2.89210967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.520281692999999 meters Centerline goodness [0,1] 0.97816684304974 Centerline is valid? [True, True] Translation: X:0.67, Y:0.00, Z:-0.28 [[ 9.99992123e-01 3.40028888e-03 2.04719299e-03 6.73860584e-01] [-3.40023625e-03 9.99994219e-01 -2.91899407e-05 3.14715750e-03] [-2.04728041e-03 2.22287710e-05 9.99997904e-01 -2.81365121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.550281693 meters Centerline goodness [0,1] 0.9781740567336822 Centerline is valid? [True, True] Translation: X:0.71, Y:0.00, Z:-0.28 [[ 9.99984820e-01 4.65680933e-03 2.94510481e-03 7.05375060e-01] [-4.65670644e-03 9.99989157e-01 -4.17948317e-05 1.57285871e-03] [-2.94526751e-03 2.80797087e-05 9.99995662e-01 -2.81060283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.580281693 meters Centerline goodness [0,1] 0.9794468757876407 Centerline is valid? [True, True] Translation: X:0.74, Y:0.01, Z:-0.28 [[ 9.99975776e-01 6.17714289e-03 3.20786713e-03 7.36350218e-01] [-6.17702840e-03 9.99980921e-01 -4.55989074e-05 7.54955664e-03] [-3.20808760e-03 2.57827165e-05 9.99994854e-01 -2.80462168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.610281692999999 meters Centerline goodness [0,1] 0.9828981453886889 Centerline is valid? [True, True] Translation: X:0.77, Y:0.01, Z:-0.28 [[ 9.99957381e-01 8.47984528e-03 3.65077135e-03 7.67880091e-01] [-8.47971200e-03 9.99964045e-01 -5.19838927e-05 1.31603460e-02] [-3.65108090e-03 2.10241876e-05 9.99993335e-01 -2.80399121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6402816929999995 meters Centerline goodness [0,1] 0.981818596067531 Centerline is valid? [True, True] Translation: X:0.80, Y:0.01, Z:-0.28 [[ 9.99953558e-01 9.18040111e-03 2.93291987e-03 7.98742050e-01] [-9.18031874e-03 9.99957859e-01 -4.15483997e-05 1.10610109e-02] [-2.93317771e-03 1.46213308e-05 9.99995698e-01 -2.83319110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.670281693 meters Centerline goodness [0,1] 0.9849381756679542 Centerline is valid? [True, True] Translation: X:0.83, Y:0.01, Z:-0.28 [[ 9.99947486e-01 9.27440622e-03 4.36007503e-03 8.29794474e-01] [-9.27422066e-03 9.99956992e-01 -6.27777553e-05 1.32283320e-02] [-4.36046974e-03 2.23381607e-05 9.99990493e-01 -2.80684193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.700281693 meters Centerline goodness [0,1] 0.9843095281472035 Centerline is valid? [True, True] Translation: X:0.86, Y:0.01, Z:-0.28 [[ 9.99954618e-01 8.48445455e-03 4.33302887e-03 8.61405995e-01] [-8.48426348e-03 9.99964006e-01 -6.24760463e-05 1.18430606e-02] [-4.33340298e-03 2.57106525e-05 9.99990610e-01 -2.80988263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.730281692999999 meters Centerline goodness [0,1] 0.9852084471145094 Centerline is valid? [True, True] Translation: X:0.89, Y:0.01, Z:-0.28 [[ 9.99966406e-01 7.33760869e-03 3.65331303e-03 8.92782787e-01] [-7.33746563e-03 9.99973079e-01 -5.25605584e-05 9.06818199e-03] [-3.65360034e-03 2.57527339e-05 9.99993325e-01 -2.82246043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.760281693 meters Centerline goodness [0,1] 0.9870395169893547 Centerline is valid? [True, True] Translation: X:0.92, Y:0.00, Z:-0.28 [[ 9.99986256e-01 4.06794725e-03 3.30764604e-03 9.24023768e-01] [-4.06781012e-03 9.99991725e-01 -4.81843686e-05 4.36007218e-03] [-3.30781468e-03 3.47288303e-05 9.99994529e-01 -2.84242057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.790281693 meters Centerline goodness [0,1] 0.9879769520439181 Centerline is valid? [True, True] Translation: X:0.96, Y:0.00, Z:-0.28 [[ 9.99986543e-01 2.59322533e-03 4.49331665e-03 9.55470373e-01] [-2.59295697e-03 9.99996636e-01 -6.55500873e-05 1.56626130e-04] [-4.49347152e-03 5.38982284e-05 9.99989903e-01 -2.82483690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.820281692999999 meters Centerline goodness [0,1] 0.9883149527842569 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.00, Z:-0.28 [[ 9.99984669e-01 6.85286684e-04 5.49469748e-03 9.87572403e-01] [-6.84853563e-04 9.99999762e-01 -8.07064272e-05 -3.20365217e-03] [-5.49475148e-03 7.69421268e-05 9.99984901e-01 -2.80193795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8502816929999994 meters Centerline goodness [0,1] 0.9912330509436962 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.01, Z:-0.28 [[ 9.99961778e-01 -2.58040881e-03 8.35371680e-03 1.01926281e+00] [ 2.58153717e-03 9.99996660e-01 -1.24292811e-04 -1.00316592e-02] [-8.35336817e-03 1.45853491e-04 9.99965099e-01 -2.77171907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.880281693 meters Centerline goodness [0,1] 0.9897154223457878 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.01, Z:-0.28 [[ 9.99963201e-01 -3.66593547e-03 7.75609873e-03 1.05014969e+00] [ 3.66694656e-03 9.99993270e-01 -1.16144368e-04 -1.24177541e-02] [-7.75562075e-03 1.44581294e-04 9.99969914e-01 -2.77445353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.910281693 meters Centerline goodness [0,1] 0.9917347886143882 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.01, Z:-0.28 [[ 9.99963313e-01 -3.74626890e-03 7.70311450e-03 1.08273553e+00] [ 3.74727068e-03 9.99992972e-01 -1.15619992e-04 -1.27215190e-02] [-7.70262722e-03 1.44481405e-04 9.99970324e-01 -2.78715251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.940281692999999 meters Centerline goodness [0,1] 0.9930333228119222 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.01, Z:-0.28 [[ 9.99976962e-01 -1.62392139e-03 6.59070360e-03 1.11400332e+00] [ 1.62461017e-03 9.99998675e-01 -9.91550369e-05 -9.80004659e-03] [-6.59053385e-03 1.09860077e-04 9.99978276e-01 -2.80077915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.970281693 meters Centerline goodness [0,1] 0.9938264650879841 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.01, Z:-0.28 [[ 9.99974023e-01 1.63533177e-05 7.20781882e-03 1.14561533e+00] [-1.55702091e-05 9.99999994e-01 -1.08703202e-04 -9.08093630e-03] [-7.20782055e-03 1.08588151e-04 9.99974017e-01 -2.79618994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.000281693 meters Centerline goodness [0,1] 0.9951039010852644 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.00, Z:-0.28 [[ 9.99970828e-01 1.22475244e-03 7.53949550e-03 1.17743012e+00] [-1.22392746e-03 9.99999244e-01 -1.14034429e-04 -3.70605640e-03] [-7.53962946e-03 1.04803307e-04 9.99971571e-01 -2.80613767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.030281692999999 meters Centerline goodness [0,1] 0.9961523749521859 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.01, Z:-0.28 [[ 9.99967492e-01 1.11682876e-03 7.98544041e-03 1.20933970e+00] [-1.11589428e-03 9.99999370e-01 -1.21477516e-04 -5.26200460e-03] [-7.98557105e-03 1.12562660e-04 9.99968108e-01 -2.80967423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.060281692999999 meters Centerline goodness [0,1] 0.9966289862237904 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.01, Z:-0.28 [[ 9.99967716e-01 5.68468726e-04 8.01527752e-03 1.24112397e+00] [-5.67499359e-04 9.99999831e-01 -1.23213753e-04 -7.45719909e-03] [-8.01534621e-03 1.18661111e-04 9.99967870e-01 -2.81959251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.090281693 meters Centerline goodness [0,1] 0.9966176865872234 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.01, Z:-0.28 [[ 9.99968740e-01 -4.91845482e-04 7.89161498e-03 1.27351129e+00] [ 4.92827624e-04 9.99999871e-01 -1.22509743e-04 -1.15909020e-02] [-7.89155371e-03 1.26395119e-04 9.99968853e-01 -2.82471617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.120281693 meters Centerline goodness [0,1] 0.9955984538731372 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.02, Z:-0.28 [[ 9.99952793e-01 -4.47210747e-03 8.62624937e-03 1.30463537e+00] [ 4.47343719e-03 9.99989985e-01 -1.34859175e-04 -1.95665389e-02] [-8.62555987e-03 1.73441793e-04 9.99962784e-01 -2.81992976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.150281692999999 meters Centerline goodness [0,1] 0.9966778900112233 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.03, Z:-0.28 [[ 9.99926583e-01 -6.58501474e-03 1.01718000e-02 1.33600473e+00] [ 6.58697601e-03 9.99978293e-01 -1.59324414e-04 -2.56107763e-02] [-1.01705300e-02 2.26314119e-04 9.99948253e-01 -2.83528805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1802816929999995 meters Centerline goodness [0,1] 0.9943376878148825 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.03, Z:-0.28 [[ 9.99920031e-01 -8.22538926e-03 9.60598871e-03 1.36703760e+00] [ 8.22721701e-03 9.99966145e-01 -1.50770797e-04 -3.27853029e-02] [-9.60442335e-03 2.29789293e-04 9.99953850e-01 -2.81531827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.210281693 meters Centerline goodness [0,1] 0.9950621677528415 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.04, Z:-0.28 [[ 9.99905548e-01 -8.73510453e-03 1.06109492e-02 1.39832508e+00] [ 8.73736727e-03 9.99961815e-01 -1.66906306e-04 -4.17176996e-02] [-1.06090861e-02 2.59602302e-04 9.99943688e-01 -2.81574318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.240281693 meters Centerline goodness [0,1] 0.9966279589102278 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.04, Z:-0.28 [[ 9.99911151e-01 -8.01642638e-03 1.06501873e-02 1.43079778e+00] [ 8.01866949e-03 9.99967836e-01 -1.67931874e-04 -4.11276198e-02] [-1.06484986e-02 2.53317286e-04 9.99943271e-01 -2.84047280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.270281692999999 meters Centerline goodness [0,1] 0.9967137401190159 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.04, Z:-0.29 [[ 9.99931143e-01 -7.18117444e-03 9.28116033e-03 1.46181986e+00] [ 7.18284506e-03 9.99974192e-01 -1.46679969e-04 -4.42852248e-02] [-9.27986747e-03 2.13335006e-04 9.99956918e-01 -2.85149387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.300281693 meters Centerline goodness [0,1] 0.9971031158090268 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.05, Z:-0.29 [[ 9.99945731e-01 -7.07318746e-03 7.64884631e-03 1.49364160e+00] [ 7.07432085e-03 9.99974969e-01 -1.21132154e-04 -5.07423906e-02] [-7.64779807e-03 1.75235973e-04 9.99970740e-01 -2.88547167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.330281693 meters Centerline goodness [0,1] 0.9963977900552486 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.06, Z:-0.29 [[ 9.99944260e-01 -7.06451653e-03 7.84658248e-03 1.52452225e+00] [ 7.06571152e-03 9.99975030e-01 -1.24583185e-04 -5.82719443e-02] [-7.84550642e-03 1.80017929e-04 9.99969207e-01 -2.87508804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.360281692999999 meters Centerline goodness [0,1] 0.9978357846384877 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.06, Z:-0.29 [[ 9.99931416e-01 -7.50897557e-03 8.98768149e-03 1.55690340e+00] [ 7.51056468e-03 9.99971785e-01 -1.43070822e-04 -5.77130082e-02] [-8.98635359e-03 2.10563573e-04 9.99959600e-01 -2.87593969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3902816929999995 meters Centerline goodness [0,1] 0.9980505958973904 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.06, Z:-0.29 [[ 9.99918940e-01 -7.86868491e-03 1.00098485e-02 1.58910834e+00] [ 7.87067897e-03 9.99969013e-01 -1.59831372e-04 -6.36518328e-02] [-1.00082807e-02 2.38602721e-04 9.99949887e-01 -2.86605601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.420281693 meters Centerline goodness [0,1] 0.9980505958973904 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.06, Z:-0.29 [[ 9.99919303e-01 -7.82243322e-03 1.00098411e-02 1.62078430e+00] [ 7.82442958e-03 9.99969376e-01 -1.60293242e-04 -6.42447871e-02] [-1.00082807e-02 2.38601604e-04 9.99949887e-01 -2.86769518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.450281693 meters Centerline goodness [0,1] 0.9979932962864956 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.07, Z:-0.29 [[ 9.99924879e-01 -7.70111058e-03 9.53568085e-03 1.65278952e+00] [ 7.70292086e-03 9.99970320e-01 -1.53129379e-04 -7.27606409e-02] [-9.53421856e-03 2.26570471e-04 9.99954523e-01 -2.88093014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.480281692999999 meters Centerline goodness [0,1] 0.9980603495779056 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.08, Z:-0.29 [[ 9.99936170e-01 -7.02113126e-03 8.85212481e-03 1.68499939e+00] [ 7.02266812e-03 9.99975331e-01 -1.42542588e-04 -7.61912648e-02] [-8.85090563e-03 2.04699025e-04 9.99960809e-01 -2.89127203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.510281693 meters Centerline goodness [0,1] 0.9978521489468954 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.08, Z:-0.29 [[ 9.99952435e-01 -5.68884169e-03 7.92240150e-03 1.71634822e+00] [ 5.69003330e-03 9.99983803e-01 -1.27878030e-04 -8.32292436e-02] [-7.92154571e-03 1.72950675e-04 9.99968609e-01 -2.89438727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.540281693 meters Centerline goodness [0,1] 0.9988571679743302 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.08, Z:-0.29 [[ 9.99961425e-01 -4.06853532e-03 7.78432115e-03 1.74817913e+00] [ 4.06963897e-03 9.99991711e-01 -1.25943346e-04 -7.96543885e-02] [-7.78374422e-03 1.57617865e-04 9.99969694e-01 -2.90094487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.570281692999999 meters Centerline goodness [0,1] 0.9992972593113141 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.08, Z:-0.29 [[ 9.99965634e-01 1.49990917e-03 8.15363025e-03 1.78019047e+00] [-1.49888038e-03 9.99998868e-01 -1.32285766e-04 -7.52855063e-02] [-8.15381943e-03 1.20059904e-04 9.99966750e-01 -2.89502871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6002816929999994 meters Centerline goodness [0,1] 0.9994964532796217 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.07, Z:-0.29 [[ 9.99953370e-01 5.11109788e-03 8.19353596e-03 1.81131968e+00] [-5.11017765e-03 9.99986934e-01 -1.33244340e-04 -7.24107252e-02] [-8.19410993e-03 9.13677026e-05 9.99966424e-01 -2.89525215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.630281693 meters Centerline goodness [0,1] 0.9994978056289439 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.07, Z:-0.29 [[ 9.99934976e-01 8.47694149e-03 7.62793737e-03 1.84231062e+00] [-8.47623970e-03 9.99964068e-01 -1.24327713e-04 -6.91114254e-02] [-7.62871720e-03 5.96634033e-05 9.99970899e-01 -2.90529581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.660281693 meters Centerline goodness [0,1] 0.999478838678856 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.07, Z:-0.29 [[ 9.99894132e-01 1.30073808e-02 6.52170346e-03 1.87353059e+00] [-1.30069620e-02 9.99915400e-01 -1.06625333e-04 -6.50745331e-02] [-6.52253864e-03 2.17864957e-05 9.99978728e-01 -2.92877755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.690281692999999 meters Centerline goodness [0,1] 0.9995643271032109 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.06, Z:-0.29 [[ 9.99869264e-01 1.46238045e-02 6.89919794e-03 1.90630702e+00] [-1.46233687e-02 9.99893066e-01 -1.13616602e-04 -6.46413559e-02] [-6.90012169e-03 1.27122327e-05 9.99976194e-01 -2.92883691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.720281693 meters Centerline goodness [0,1] 0.9993492972410203 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.07, Z:-0.29 [[ 9.99852311e-01 1.56657199e-02 7.06687256e-03 1.93803849e+00] [-1.56652795e-02 9.99877285e-01 -1.17674622e-04 -6.54968590e-02] [-7.06784881e-03 6.95270891e-06 9.99975022e-01 -2.92399202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.750281693 meters Centerline goodness [0,1] 0.9995234897875198 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.07, Z:-0.29 [[ 9.99859082e-01 1.53353198e-02 6.82957898e-03 1.97132270e+00] [-1.53348928e-02 9.99882407e-01 -1.14890450e-04 -6.85049924e-02] [-6.83053775e-03 1.01433989e-05 9.99976672e-01 -2.93534641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.780281692999999 meters Centerline goodness [0,1] 0.9994577006507592 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.07, Z:-0.29 [[ 9.99865877e-01 1.50600746e-02 6.43599154e-03 2.00327377e+00] [-1.50596824e-02 9.99886591e-01 -1.09400229e-04 -7.13099513e-02] [-6.43690921e-03 1.24615675e-05 9.99979283e-01 -2.94534800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.810281692999999 meters Centerline goodness [0,1] 0.99956499989125 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.07, Z:-0.30 [[ 9.99867533e-01 1.51035475e-02 6.06620382e-03 2.03620916e+00] [-1.51031938e-02 9.99885935e-01 -1.04125722e-04 -7.34342884e-02] [-6.06708455e-03 1.24928766e-05 9.99981595e-01 -2.95001975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.840281693 meters Centerline goodness [0,1] 0.9994383721432583 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.08, Z:-0.30 [[ 9.99861729e-01 1.55088351e-02 5.99986569e-03 2.06843071e+00] [-1.55084897e-02 9.99879731e-01 -1.04082196e-04 -7.54302284e-02] [-6.00075829e-03 1.10189487e-05 9.99981995e-01 -2.95188249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.870281693 meters Centerline goodness [0,1] 0.999526280657178 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.07, Z:-0.29 [[ 9.99809713e-01 1.81744594e-02 7.08705090e-03 2.10042080e+00] [-1.81740354e-02 9.99834831e-01 -1.24226832e-04 -7.43336737e-02] [-7.08813809e-03 -4.59712085e-06 9.99974879e-01 -2.92432092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.900281692999999 meters Centerline goodness [0,1] 0.9995258109710098 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.07, Z:-0.29 [[ 9.99772557e-01 1.99853486e-02 7.44448807e-03 2.13342217e+00] [-1.99849232e-02 9.99800273e-01 -1.31534282e-04 -7.32958309e-02] [-7.44562996e-03 -1.72731572e-05 9.99972281e-01 -2.92072846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9302816929999995 meters Centerline goodness [0,1] 0.9995640992110195 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.07, Z:-0.29 [[ 9.99742995e-01 2.13898705e-02 7.51108883e-03 2.16692716e+00] [-2.13894666e-02 9.99771210e-01 -1.34112822e-04 -7.38170416e-02] [-7.51223903e-03 -2.65798290e-05 9.99971782e-01 -2.92276757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.960281693 meters Centerline goodness [0,1] 0.999441616734317 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.08, Z:-0.29 [[ 9.99735261e-01 2.20513758e-02 6.56852800e-03 2.19965804e+00] [-2.20510738e-02 9.99756838e-01 -1.18402535e-04 -7.62306407e-02] [-6.56954172e-03 -2.64719065e-05 9.99978420e-01 -2.94795357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.990281692999999 meters Centerline goodness [0,1] 0.9995451000779828 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.08, Z:-0.30 [[ 9.99735762e-01 2.21069649e-02 6.29993384e-03 2.23123648e+00] [-2.21066810e-02 9.99755611e-01 -1.14701244e-04 -8.14853740e-02] [-6.30092990e-03 -2.45996919e-05 9.99980149e-01 -2.95581858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.020281692999999 meters Centerline goodness [0,1] 0.9993544499913927 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.08, Z:-0.29 [[ 9.99735808e-01 2.18558280e-02 7.11590196e-03 2.26381637e+00] [-2.18554498e-02 9.99761133e-01 -1.30909894e-04 -8.38689293e-02] [-7.11706334e-03 -2.46459291e-05 9.99974673e-01 -2.94545368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.050281693 meters Centerline goodness [0,1] 0.9994189549797711 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.09, Z:-0.29 [[ 9.99753516e-01 2.04896551e-02 8.54881330e-03 2.29619690e+00] [-2.04890457e-02 9.99790065e-01 -1.58871856e-04 -9.03033843e-02] [-8.55027383e-03 -1.63243295e-05 9.99963446e-01 -2.91897054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.080281693 meters Centerline goodness [0,1] 0.9995037649140219 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.10, Z:-0.29 [[ 9.99769246e-01 1.98340165e-02 8.25022264e-03 2.32927341e+00] [-1.98334147e-02 9.99803287e-01 -1.54763219e-04 -9.53226644e-02] [-8.25166929e-03 -8.90258000e-06 9.99965954e-01 -2.92856289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.110281692999999 meters Centerline goodness [0,1] 0.9993793870912515 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.10, Z:-0.29 [[ 9.99783452e-01 1.94327802e-02 7.44425798e-03 2.36081601e+00] [-1.94322697e-02 9.99811166e-01 -1.40908827e-04 -9.89011697e-02] [-7.44559050e-03 -3.78051517e-06 9.99972281e-01 -2.93970158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1402816929999995 meters Centerline goodness [0,1] 0.9995896948625478 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.10, Z:-0.30 [[ 9.99790392e-01 1.93494208e-02 6.69112127e-03 2.39368305e+00] [-1.93489991e-02 9.99812782e-01 -1.27746291e-04 -1.01664807e-01] [-6.69234039e-03 -1.74698560e-06 9.99977606e-01 -2.95123640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.170281693 meters Centerline goodness [0,1] 0.9994880546075086 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.10, Z:-0.29 [[ 9.99774162e-01 2.00888280e-02 6.93287851e-03 2.42548066e+00] [-2.00883840e-02 9.99798199e-01 -1.33679180e-04 -1.04262011e-01] [-6.93416491e-03 -5.62133588e-06 9.99975958e-01 -2.94204805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.200281692999999 meters Centerline goodness [0,1] 0.9993306848605233 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.11, Z:-0.29 [[ 9.99757043e-01 2.06442022e-02 7.72480757e-03 2.45872655e+00] [-2.06436561e-02 9.99786886e-01 -1.50438148e-04 -1.06618116e-01] [-7.72626698e-03 -9.06667291e-06 9.99970152e-01 -2.93116415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.230281692999999 meters Centerline goodness [0,1] 0.9994634962873943 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.11, Z:-0.29 [[ 9.99739525e-01 2.15827485e-02 7.42072334e-03 2.49062828e+00] [-2.15822614e-02 9.99767065e-01 -1.45712366e-04 -1.09861670e-01] [-7.42213967e-03 -1.44815797e-05 9.99972455e-01 -2.94036889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.260281693 meters Centerline goodness [0,1] 0.9995197240596415 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.11, Z:-0.30 [[ 9.99737309e-01 2.19836088e-02 6.48332026e-03 2.52355562e+00] [-2.19832405e-02 9.99758331e-01 -1.28082795e-04 -1.12340382e-01] [-6.48456916e-03 -1.44752397e-05 9.99978975e-01 -2.95674391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.290281693 meters Centerline goodness [0,1] 0.9995015495308064 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.11, Z:-0.30 [[ 9.99727922e-01 2.26877376e-02 5.41740680e-03 2.55593657e+00] [-2.26874861e-02 9.99742600e-01 -1.07886747e-04 -1.13580958e-01] [-5.41846007e-03 -1.50499483e-05 9.99985320e-01 -2.97226099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.320281692999999 meters Centerline goodness [0,1] 0.9995027457084793 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.11, Z:-0.30 [[ 9.99695560e-01 2.40665774e-02 5.43943482e-03 2.58771742e+00] [-2.40663390e-02 9.99710358e-01 -1.09287234e-04 -1.13303711e-01] [-5.44048950e-03 -2.16533199e-05 9.99985200e-01 -2.97675430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3502816929999994 meters Centerline goodness [0,1] 0.9993494665625813 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.11, Z:-0.30 [[ 9.99639539e-01 2.61665170e-02 6.00870226e-03 2.61861865e+00] [-2.61662578e-02 9.99657597e-01 -1.21767774e-04 -1.09806818e-01] [-6.00983110e-03 -3.55013706e-05 9.99981940e-01 -2.95723456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.380281693 meters Centerline goodness [0,1] 0.9994627584132032 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.11, Z:-0.30 [[ 9.99606586e-01 2.73353150e-02 6.28130076e-03 2.65095856e+00] [-2.73350486e-02 9.99626320e-01 -1.28273949e-04 -1.08128624e-01] [-6.28245996e-03 -4.34761774e-05 9.99980264e-01 -2.95591925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.410281693 meters Centerline goodness [0,1] 0.9992091313269493 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.11, Z:-0.30 [[ 9.99582886e-01 2.82282914e-02 6.10063207e-03 2.68273737e+00] [-2.82280509e-02 9.99601501e-01 -1.25543531e-04 -1.07003151e-01] [-6.10174486e-03 -4.67177881e-05 9.99981383e-01 -2.96112219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.440281692999999 meters Centerline goodness [0,1] 0.999350789872322 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.10, Z:-0.30 [[ 9.99530290e-01 3.02138738e-02 5.13040478e-03 2.71425377e+00] [-3.02137261e-02 9.99543456e-01 -1.06312862e-04 -1.02774732e-01] [-5.13127464e-03 -4.87457188e-05 9.99986834e-01 -2.98105795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.470281693 meters Centerline goodness [0,1] 0.9990579772201764 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.10, Z:-0.30 [[ 9.99496960e-01 3.12089297e-02 5.64174676e-03 2.74537107e+00] [-3.12087618e-02 9.99512881e-01 -1.17809783e-04 -1.00725239e-01] [-5.64267528e-03 -5.83214114e-05 9.99984078e-01 -2.97328578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.500281693 meters Centerline goodness [0,1] 0.9990372478124131 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.10, Z:-0.30 [[ 9.99470838e-01 3.18611103e-02 6.55079129e-03 2.77685014e+00] [-3.18608920e-02 9.99492303e-01 -1.37698562e-04 -9.87992744e-02] [-6.55185270e-03 -7.10883569e-05 9.99978534e-01 -2.95581557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.530281692999999 meters Centerline goodness [0,1] 0.9983538214858364 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.10, Z:-0.29 [[ 9.99439520e-01 3.25896491e-02 7.65246424e-03 2.80910059e+00] [-3.25893686e-02 9.99468812e-01 -1.61375241e-04 -9.57899796e-02] [-7.65365851e-03 -8.81041849e-05 9.99970706e-01 -2.94213879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.560281692999999 meters Centerline goodness [0,1] 0.99847706901053 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.09, Z:-0.29 [[ 9.99433336e-01 3.28591548e-02 7.29952134e-03 2.84135921e+00] [-3.28588988e-02 9.99459989e-01 -1.55027293e-04 -9.48299810e-02] [-7.30067358e-03 -8.49147886e-05 9.99973346e-01 -2.94504928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.590281693 meters Centerline goodness [0,1] 0.9984321240364096 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.09, Z:-0.30 [[ 9.99393752e-01 3.41327122e-02 6.86192200e-03 2.87367690e+00] [-3.41325091e-02 9.99417305e-01 -1.46745397e-04 -9.06649738e-02] [-6.86293242e-03 -8.75581818e-05 9.99976446e-01 -2.95158245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.620281693 meters Centerline goodness [0,1] 0.9980428844871713 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.09, Z:-0.30 [[ 9.99357894e-01 3.50907305e-02 7.24163049e-03 2.90442447e+00] [-3.50905221e-02 9.99384126e-01 -1.55864997e-04 -8.82908801e-02] [-7.24263998e-03 -9.83476800e-05 9.99973767e-01 -2.95262252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.650281692999999 meters Centerline goodness [0,1] 0.9976444387339929 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.09, Z:-0.30 [[ 9.99323349e-01 3.60284705e-02 7.40222446e-03 2.93620761e+00] [-3.60282751e-02 9.99350758e-01 -1.59776603e-04 -8.66674496e-02] [-7.40317513e-03 -1.07020890e-04 9.99972590e-01 -2.95086381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6802816929999995 meters Centerline goodness [0,1] 0.9974430597335625 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.08, Z:-0.29 [[ 9.99289140e-01 3.69414769e-02 7.51945683e-03 2.96778147e+00] [-3.69412989e-02 9.99317424e-01 -1.62617325e-04 -8.48527078e-02] [-7.52033155e-03 -1.15276775e-04 9.99971715e-01 -2.94527710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.710281693 meters Centerline goodness [0,1] 0.9964930288255923 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.08, Z:-0.29 [[ 9.99176588e-01 3.98973133e-02 7.37229751e-03 2.99864688e+00] [-3.98972187e-02 9.99203776e-01 -1.59947046e-04 -7.62272909e-02] [-7.37280897e-03 -1.34318823e-04 9.99972811e-01 -2.94704862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.740281692999999 meters Centerline goodness [0,1] 0.9968617672978957 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.07, Z:-0.30 [[ 9.99106106e-01 4.17997431e-02 6.30643973e-03 3.03024069e+00] [-4.17997105e-02 9.99126001e-01 -1.37028860e-04 -7.34600294e-02] [-6.30665568e-03 -1.26700984e-04 9.99980105e-01 -2.97229430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.770281692999999 meters Centerline goodness [0,1] 0.9976117219269747 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.07, Z:-0.30 [[ 9.99027604e-01 4.37794568e-02 5.21585229e-03 3.06102860e+00] [-4.37794610e-02 9.99041213e-01 -1.13428095e-04 -7.06996921e-02] [-5.21581722e-03 -1.15029404e-04 9.99986391e-01 -2.99438083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.800281693 meters Centerline goodness [0,1] 0.9957536244316719 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.06, Z:-0.30 [[ 9.98948376e-01 4.55752482e-02 5.00386635e-03 3.09058541e+00] [-4.55752745e-02 9.98960901e-01 -1.08820049e-04 -5.92105041e-02] [-5.00362634e-03 -1.19346971e-04 9.99987475e-01 -3.00228142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.830281693 meters Centerline goodness [0,1] 0.9966019313073962 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.06, Z:-0.30 [[ 9.98864726e-01 4.73562091e-02 5.16223434e-03 3.12106875e+00] [-4.73562613e-02 9.98878057e-01 -1.12201917e-04 -6.10853213e-02] [-5.16175606e-03 -1.32389580e-04 9.99986669e-01 -2.99184465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.860281692999999 meters Centerline goodness [0,1] 0.9964520707005547 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.06, Z:-0.30 [[ 9.98880506e-01 4.70004910e-02 5.35612576e-03 3.15117381e+00] [-4.70005421e-02 9.98894857e-01 -1.16411859e-04 -5.99362696e-02] [-5.35567789e-03 -1.35459277e-04 9.99985649e-01 -2.99209857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8902816929999995 meters Centerline goodness [0,1] 0.9976806614409964 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.06, Z:-0.30 [[ 9.99001562e-01 4.44980036e-02 3.97584029e-03 3.18105223e+00] [-4.44980122e-02 9.99009469e-01 -8.63218085e-05 -6.04621975e-02] [-3.97574325e-03 -9.06813686e-05 9.99992093e-01 -3.02121133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.920281693 meters Centerline goodness [0,1] 0.9977053891188266 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.06, Z:-0.30 [[ 9.99064828e-01 4.31111348e-02 3.30136881e-03 3.21129122e+00] [-4.31111332e-02 9.99070280e-01 -7.16779611e-05 -6.16372875e-02] [-3.30138958e-03 -7.07148204e-05 9.99994548e-01 -3.03530494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.950281692999999 meters Centerline goodness [0,1] 0.9979163049140476 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.06, Z:-0.30 [[ 9.99107501e-01 4.21168653e-02 3.22043587e-03 3.24081425e+00] [-4.21168584e-02 9.99112689e-01 -6.99670358e-05 -6.25876624e-02] [-3.22052513e-03 -6.57300513e-05 9.99994812e-01 -3.03273202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.980281692999999 meters Centerline goodness [0,1] 0.9976625994467437 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.06, Z:-0.30 [[ 9.99105533e-01 4.20448631e-02 4.51264437e-03 3.26941371e+00] [-4.20448497e-02 9.99115720e-01 -9.78861518e-05 -6.02346481e-02] [-4.51276954e-03 -9.19348583e-05 9.99989813e-01 -3.01357251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.010281693 meters Centerline goodness [0,1] 0.9965866666666666 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.05, Z:-0.30 [[ 9.99056404e-01 4.30065048e-02 6.06152619e-03 3.29797855e+00] [-4.30064994e-02 9.99074784e-01 -1.31280062e-04 -5.37558003e-02] [-6.06156386e-03 -1.29528836e-04 9.99981620e-01 -2.98312624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.040281692999999 meters Centerline goodness [0,1] 0.9965375138074603 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.05, Z:-0.30 [[ 9.99042548e-01 4.33956626e-02 5.55018554e-03 3.32812002e+00] [-4.33956651e-02 9.99057957e-01 -1.20030263e-04 -5.27763811e-02] [-5.55016582e-03 -1.20938653e-04 9.99984590e-01 -2.99545783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.070281693 meters Centerline goodness [0,1] 0.9965998917162967 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.05, Z:-0.30 [[ 9.99045861e-01 4.34009110e-02 4.87115607e-03 3.35759499e+00] [-4.34009135e-02 9.99057731e-01 -1.05247661e-04 -5.15967908e-02] [-4.87113397e-03 -1.06265383e-04 9.99988130e-01 -3.00919590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.100281693 meters Centerline goodness [0,1] 0.9967585089141004 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.05, Z:-0.30 [[ 9.99031081e-01 4.37540112e-02 4.74192545e-03 3.38738775e+00] [-4.37540180e-02 9.99042329e-01 -1.02349633e-04 -5.14112972e-02] [-4.74186246e-03 -1.05227827e-04 9.99988752e-01 -3.01452292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.130281692999999 meters Centerline goodness [0,1] 0.9964898762895424 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.04, Z:-0.30 [[ 9.99027466e-01 4.37809034e-02 5.23010532e-03 3.41607431e+00] [-4.37809128e-02 9.99041150e-01 -1.12748796e-04 -4.47805421e-02] [-5.23002668e-03 -1.16339641e-04 9.99986317e-01 -3.00509389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.160281693 meters Centerline goodness [0,1] 0.9960615749465348 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.04, Z:-0.30 [[ 9.99041779e-01 4.34159220e-02 5.53009828e-03 3.44473431e+00] [-4.34159280e-02 9.99057077e-01 -1.19013628e-04 -4.09603688e-02] [-5.53005091e-03 -1.21194763e-04 9.99984702e-01 -3.00209206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.190281693 meters Centerline goodness [0,1] 0.99667034226287 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.04, Z:-0.30 [[ 9.99078291e-01 4.25445254e-02 5.70372618e-03 3.47491961e+00] [-4.25445184e-02 9.99094565e-01 -1.22607733e-04 -4.18086383e-02] [-5.70377811e-03 -1.20167559e-04 9.99983726e-01 -3.00145491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.220281692999999 meters Centerline goodness [0,1] 0.9978399395183065 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.05, Z:-0.30 [[ 9.99173566e-01 4.01846673e-02 6.11371237e-03 3.50471601e+00] [-4.01846164e-02 9.99192263e-01 -1.31199321e-04 -4.78248929e-02] [-6.11404630e-03 -1.14586293e-04 9.99981302e-01 -2.99551743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.250281693 meters Centerline goodness [0,1] 0.9967824688029915 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.04, Z:-0.30 [[ 9.99227762e-01 3.87051063e-02 6.76710555e-03 3.53465761e+00] [-3.87050112e-02 9.99250670e-01 -1.45057864e-04 -4.44777359e-02] [-6.76764923e-03 -1.16975051e-04 9.99977092e-01 -2.98054842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.280281693 meters Centerline goodness [0,1] 0.996893088185223 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.05, Z:-0.30 [[ 9.99281939e-01 3.71677624e-02 7.35966095e-03 3.56432910e+00] [-3.71676090e-02 9.99309033e-01 -1.57665109e-04 -4.71752769e-02] [-7.36043572e-03 -1.15989104e-04 9.99972905e-01 -2.97120363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.310281693 meters Centerline goodness [0,1] 0.996893088185223 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.05, Z:-0.30 [[ 9.99281939e-01 3.71677621e-02 7.35966219e-03 3.59432562e+00] [-3.71676091e-02 9.99309033e-01 -1.57607125e-04 -4.78176835e-02] [-7.36043481e-03 -1.16047094e-04 9.99972905e-01 -2.97275612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.340281693 meters Centerline goodness [0,1] 0.9973001700680272 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.05, Z:-0.30 [[ 9.99387835e-01 3.40746840e-02 7.92917205e-03 3.62549598e+00] [-3.40744086e-02 9.99419284e-01 -1.69864297e-04 -5.32171339e-02] [-7.93035552e-03 -1.00421536e-04 9.99968549e-01 -2.96505993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.370281692999999 meters Centerline goodness [0,1] 0.9980962974054031 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.06, Z:-0.30 [[ 9.99425422e-01 3.28824885e-02 8.21993330e-03 3.65635683e+00] [-3.28821506e-02 9.99459220e-01 -1.76284106e-04 -5.86848556e-02] [-8.22128479e-03 -9.41062675e-05 9.99966200e-01 -2.97317119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.400281693 meters Centerline goodness [0,1] 0.9979883192731992 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.06, Z:-0.30 [[ 9.99463861e-01 3.17385212e-02 8.04099448e-03 3.68804645e+00] [-3.17381594e-02 9.99496203e-01 -1.72634926e-04 -6.24030051e-02] [-8.04242263e-03 -8.26639946e-05 9.99967656e-01 -2.98196207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.430281693 meters Centerline goodness [0,1] 0.9980048816725035 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.06, Z:-0.30 [[ 9.99512035e-01 3.05147731e-02 6.67391405e-03 3.71943424e+00] [-3.05144943e-02 9.99534314e-01 -1.43620170e-04 -6.43216646e-02] [-6.67518863e-03 -6.01010243e-05 9.99977719e-01 -2.99939331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.460281692999999 meters Centerline goodness [0,1] 0.9986709824012348 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.07, Z:-0.30 [[ 9.99538218e-01 2.99094735e-02 5.36418136e-03 3.75105248e+00] [-2.99092812e-02 9.99552611e-01 -1.16083754e-04 -6.81283693e-02] [-5.36525349e-03 -4.44086597e-05 9.99985606e-01 -3.02295134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.490281693 meters Centerline goodness [0,1] 0.9989878324539679 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.08, Z:-0.31 [[ 9.99569358e-01 2.90790343e-02 3.93803745e-03 3.78186587e+00] [-2.90789239e-02 9.99577115e-01 -8.52890558e-05 -7.68192250e-02] [-3.93885224e-03 -2.92615646e-05 9.99992242e-01 -3.05138581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.520281693 meters Centerline goodness [0,1] 0.9987931144000508 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.08, Z:-0.30 [[ 9.99581216e-01 2.86077037e-02 4.35793127e-03 3.81184040e+00] [-2.86075638e-02 9.99590715e-01 -9.44500821e-05 -7.80086784e-02] [-4.35884963e-03 -3.02592688e-05 9.99990500e-01 -3.04324375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.550281692999999 meters Centerline goodness [0,1] 0.9986076059524845 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.08, Z:-0.30 [[ 9.99584672e-01 2.82623951e-02 5.63212929e-03 3.84241046e+00] [-2.82621560e-02 9.99600538e-01 -1.22065962e-04 -8.23591978e-02] [-5.63332934e-03 -3.71608514e-05 9.99984132e-01 -3.02768791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.580281693 meters Centerline goodness [0,1] 0.9986895810955961 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.08, Z:-0.30 [[ 9.99593501e-01 2.77439154e-02 6.56567429e-03 3.87291837e+00] [-2.77435790e-02 9.99615063e-01 -1.42315292e-04 -8.30201074e-02] [-6.56709530e-03 -3.98978623e-05 9.99978436e-01 -3.00678498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.610281693 meters Centerline goodness [0,1] 0.9989978891708066 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.09, Z:-0.30 [[ 9.99645689e-01 2.59455072e-02 5.94368757e-03 3.90410792e+00] [-2.59451994e-02 9.99663358e-01 -1.28905076e-04 -9.09296167e-02] [-5.94503119e-03 -2.53507558e-05 9.99982328e-01 -3.02755138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.640281693 meters Centerline goodness [0,1] 0.9994669282272165 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.10, Z:-0.31 [[ 9.99681758e-01 2.48238952e-02 4.48975321e-03 3.93491491e+00] [-2.48237079e-02 9.99691840e-01 -9.74396463e-05 -9.64630135e-02] [-4.49078847e-03 -1.40436852e-05 9.99989916e-01 -3.05871925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.670281693 meters Centerline goodness [0,1] 0.9993128918663575 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.10, Z:-0.31 [[ 9.99710624e-01 2.38124249e-02 3.41124768e-03 3.96503559e+00] [-2.38123107e-02 9.99716444e-01 -7.41040892e-05 -1.00347641e-01] [-3.41204500e-03 -7.14704434e-06 9.99994179e-01 -3.07368451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.700281692999999 meters Centerline goodness [0,1] 0.9993823742386165 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.10, Z:-0.31 [[ 9.99710129e-01 2.38628658e-02 3.19725494e-03 3.99537413e+00] [-2.38627656e-02 9.99715241e-01 -6.94887453e-05 -1.02648281e-01] [-3.19800270e-03 -6.82674284e-06 9.99994886e-01 -3.07486757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.730281693 meters Centerline goodness [0,1] 0.9992917999012813 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.10, Z:-0.30 [[ 9.99673843e-01 2.51473758e-02 4.45173149e-03 4.02581615e+00] [-2.51471939e-02 9.99683755e-01 -9.68369898e-05 -1.03908852e-01] [-4.45275885e-03 -1.51431492e-05 9.99990086e-01 -3.04877181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.760281693 meters Centerline goodness [0,1] 0.9991745158217801 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.10, Z:-0.30 [[ 9.99662088e-01 2.55058518e-02 5.01603275e-03 4.05579853e+00] [-2.55056254e-02 9.99674673e-01 -1.09110242e-04 -1.04364807e-01] [-5.01718385e-03 -1.88636802e-05 9.99987414e-01 -3.03965998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.790281692999999 meters Centerline goodness [0,1] 0.998896083218342 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.11, Z:-0.30 [[ 9.99670780e-01 2.46706987e-02 7.04905075e-03 4.08660395e+00] [-2.46702299e-02 9.99695632e-01 -1.53459223e-04 -1.07112499e-01] [-7.05069119e-03 -2.04930012e-05 9.99975143e-01 -3.01486357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.820281693 meters Centerline goodness [0,1] 0.9991058502937921 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.11, Z:-0.30 [[ 9.99663749e-01 2.47322607e-02 7.79134250e-03 4.11889527e+00] [-2.47316854e-02 9.99694111e-01 -1.70195635e-04 -1.08861240e-01] [-7.79316853e-03 -2.25546252e-05 9.99969633e-01 -3.00049015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.850281693 meters Centerline goodness [0,1] 0.9985569985569985 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.11, Z:-0.30 [[ 9.99645063e-01 2.53194344e-02 8.28703308e-03 4.15199495e+00] [-2.53187912e-02 9.99679411e-01 -1.82525415e-04 -1.09840069e-01] [-8.28899779e-03 -2.73570304e-05 9.99965645e-01 -2.99254422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.880281692999999 meters Centerline goodness [0,1] 0.9983190058728403 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.11, Z:-0.30 [[ 9.99592394e-01 2.73925539e-02 8.04325662e-03 4.18414834e+00] [-2.73920039e-02 9.99624753e-01 -1.78549680e-04 -1.07227381e-01] [-8.04512934e-03 -4.18440146e-05 9.99967637e-01 -2.98779305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.910281693 meters Centerline goodness [0,1] 0.9983313366421359 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.11, Z:-0.30 [[ 9.99567694e-01 2.84938375e-02 7.24746853e-03 4.21634913e+00] [-2.84934119e-02 9.99593967e-01 -1.61999062e-04 -1.05442036e-01] [-7.24914180e-03 -4.45760765e-05 9.99973724e-01 -3.00326125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.940281693 meters Centerline goodness [0,1] 0.9986147813485636 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.10, Z:-0.30 [[ 9.99544496e-01 2.95252578e-02 6.24972182e-03 4.24850871e+00] [-2.95249559e-02 9.99564034e-01 -1.40574536e-04 -1.03982326e-01] [-6.25114765e-03 -4.40122576e-05 9.99980460e-01 -3.02505641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.970281692999999 meters Centerline goodness [0,1] 0.9981875067429065 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.10, Z:-0.30 [[ 9.99526902e-01 3.02859885e-02 5.36005157e-03 4.28002231e+00] [-3.02857736e-02 9.99541273e-01 -1.21272042e-04 -1.02283986e-01] [-5.36126561e-03 -4.11186400e-05 9.99985627e-01 -3.04461773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.000281693 meters Centerline goodness [0,1] 0.9981713799702318 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.10, Z:-0.30 [[ 9.99527169e-01 3.02928380e-02 5.27087021e-03 4.31183295e+00] [-3.02926297e-02 9.99541066e-01 -1.19371234e-04 -1.02697080e-01] [-5.27206732e-03 -4.03537281e-05 9.99986102e-01 -3.04662784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.030281693 meters Centerline goodness [0,1] 0.9979576480705149 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.10, Z:-0.30 [[ 9.99535172e-01 2.99082367e-02 5.91070763e-03 4.34211012e+00] [-2.99079672e-02 9.99552648e-01 -1.34001076e-04 -1.02841807e-01] [-5.91207120e-03 -4.28384610e-05 9.99982523e-01 -3.03988693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.060281693 meters Centerline goodness [0,1] 0.9981464911159402 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.10, Z:-0.30 [[ 9.99534455e-01 2.98617674e-02 6.25688408e-03 4.37337797e+00] [-2.98614639e-02 9.99554037e-01 -1.41934927e-04 -1.03012360e-01] [-6.25833217e-03 -4.49708681e-05 9.99980415e-01 -3.03360563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.090281693 meters Centerline goodness [0,1] 0.9979757947668968 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.10, Z:-0.30 [[ 9.99498466e-01 3.10229722e-02 6.35540118e-03 4.40366708e+00] [-3.10226817e-02 9.99518670e-01 -1.44300020e-04 -9.97204892e-02] [-6.35681875e-03 -5.29339391e-05 9.99979794e-01 -3.02952201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.120281692999999 meters Centerline goodness [0,1] 0.9979183040550588 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.10, Z:-0.30 [[ 9.99457529e-01 3.23392564e-02 6.23062078e-03 4.43459600e+00] [-3.23390024e-02 9.99476948e-01 -1.41534779e-04 -9.69173106e-02] [-6.23193897e-03 -6.00340599e-05 9.99980579e-01 -3.03274218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.150281693 meters Centerline goodness [0,1] 0.9972712543702567 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.09, Z:-0.30 [[ 9.99398333e-01 3.41339137e-02 6.15211688e-03 4.46594444e+00] [-3.41336996e-02 9.99417266e-01 -1.39829411e-04 -9.33663360e-02] [-6.15330476e-03 -7.02492296e-05 9.99981066e-01 -3.03815978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.180281693 meters Centerline goodness [0,1] 0.9969089769362125 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.08, Z:-0.31 [[ 9.99237240e-01 3.87030542e-02 5.19729688e-03 4.49656296e+00] [-3.87029626e-02 9.99250753e-01 -1.18223942e-04 -8.34686221e-02] [-5.19797845e-03 -8.30170213e-05 9.99986487e-01 -3.05276606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.210281692999999 meters Centerline goodness [0,1] 0.9964270523181625 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.08, Z:-0.31 [[ 9.99156582e-01 4.08115432e-02 4.53240889e-03 4.52618384e+00] [-4.08114952e-02 9.99166859e-01 -1.03097872e-04 -7.77642663e-02] [-4.53284033e-03 -8.19634667e-05 9.99989723e-01 -3.06646625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.240281693 meters Centerline goodness [0,1] 0.9965223364746796 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.07, Z:-0.31 [[ 9.99059033e-01 4.31760016e-02 4.10867661e-03 4.55627321e+00] [-4.31759821e-02 9.99067478e-01 -9.34956200e-05 -7.26477077e-02] [-4.10888195e-03 -8.39885039e-05 9.99991555e-01 -3.07520090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.270281693 meters Centerline goodness [0,1] 0.9946149589204376 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.06, Z:-0.31 [[ 9.98769090e-01 4.95003757e-02 3.16501286e-03 4.58609455e+00] [-4.95003959e-02 9.98774101e-01 -7.19727582e-05 -5.65037816e-02] [-3.16469555e-03 -8.47852233e-05 9.99994989e-01 -3.09225245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.300281692999999 meters Centerline goodness [0,1] 0.994564865739243 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.06, Z:-0.31 [[ 9.98575520e-01 5.32542244e-02 3.30443508e-03 4.61615315e+00] [-5.32542673e-02 9.98580982e-01 -7.50593404e-05 -5.54400442e-02] [-3.30374326e-03 -1.01022850e-04 9.99994538e-01 -3.08842040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.330281693 meters Centerline goodness [0,1] 0.9900008619946556 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.04, Z:-0.31 [[ 9.98375476e-01 5.68459476e-02 3.86612223e-03 4.64618901e+00] [-5.68460335e-02 9.98382953e-01 -8.77623025e-05 -3.75686692e-02] [-3.86485946e-03 -1.32153983e-04 9.99992523e-01 -3.08007911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.360281693 meters Centerline goodness [0,1] 0.9910070398351648 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.03, Z:-0.31 [[ 9.98027235e-01 6.25354580e-02 5.56376600e-03 4.67630939e+00] [-6.25357246e-02 9.98042718e-01 -1.26208495e-04 -3.41751916e-02] [-5.56076865e-03 -2.21974623e-04 9.99984514e-01 -3.05632978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.390281692999999 meters Centerline goodness [0,1] 0.983654768247203 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.02, Z:-0.30 [[ 9.97911792e-01 6.42855420e-02 6.27887292e-03 4.70558093e+00] [-6.42859168e-02 9.97931511e-01 -1.42322971e-04 -1.66092641e-02] [-6.27503445e-03 -2.61617331e-04 9.99980278e-01 -3.04379988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.420281693 meters Centerline goodness [0,1] 0.9817627884185185 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.01, Z:-0.30 [[ 9.97844217e-01 6.52974588e-02 6.56960600e-03 4.73419869e+00] [-6.52978926e-02 9.97865804e-01 -1.48665285e-04 -1.24232515e-02] [-6.56529264e-03 -2.80636632e-04 9.99978409e-01 -3.04598598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.450281692999999 meters Centerline goodness [0,1] 0.9890899756128867 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.02, Z:-0.31 [[ 9.97790248e-01 6.62871542e-02 4.54248969e-03 4.76252797e+00] [-6.62873724e-02 9.97800568e-01 -1.02671403e-04 -1.71611812e-02] [-4.53930459e-03 -1.98665181e-04 9.99989678e-01 -3.08237323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.480281693 meters Centerline goodness [0,1] 0.9896312382898995 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.01, Z:-0.31 [[ 9.97799504e-01 6.62155978e-02 3.41226819e-03 4.79053318e+00] [-6.62157208e-02 9.97805328e-01 -7.70554882e-05 -1.28127598e-02] [-3.40988165e-03 -1.49059869e-04 9.99994175e-01 -3.10150473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.510281693 meters Centerline goodness [0,1] 0.9895257924704682 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.01, Z:-0.31 [[ 9.97821963e-01 6.58771398e-02 3.39584612e-03 4.81857168e+00] [-6.58772604e-02 9.97827731e-01 -7.64612720e-05 -8.68508409e-03] [-3.39350648e-03 -1.47414303e-04 9.99994231e-01 -3.10448077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.540281692999999 meters Centerline goodness [0,1] 0.9912318497134732 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.01, Z:-0.31 [[ 9.97938737e-01 6.39434617e-02 5.43233155e-03 4.84865642e+00] [-6.39437443e-02 9.97953497e-01 -1.21829266e-04 -7.10131786e-03] [-5.42900445e-03 -2.25785475e-04 9.99985237e-01 -3.07190169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.570281693 meters Centerline goodness [0,1] 0.9913314022100633 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.01, Z:-0.31 [[ 9.98013492e-01 6.27234242e-02 5.90268821e-03 4.87714211e+00] [-6.27237379e-02 9.98030919e-01 -1.32152633e-04 -6.06936808e-03] [-5.89935440e-03 -2.38348557e-04 9.99982570e-01 -3.07232843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.600281693 meters Centerline goodness [0,1] 0.9920524111266245 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.00, Z:-0.31 [[ 9.98132530e-01 6.08199376e-02 5.69096265e-03 4.90634012e+00] [-6.08201997e-02 9.98148730e-01 -1.27155335e-04 -4.98518602e-03] [-5.68816073e-03 -2.19207609e-04 9.99983798e-01 -3.07759880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.630281692999999 meters Centerline goodness [0,1] 0.9944887754016385 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.01, Z:-0.31 [[ 9.98494106e-01 5.46374454e-02 4.92635182e-03 4.93553320e+00] [-5.46375674e-02 9.98506246e-01 -1.09914810e-04 -6.96408021e-03] [-4.92499853e-03 -1.59414590e-04 9.99987859e-01 -3.10184213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.660281693 meters Centerline goodness [0,1] 0.9954031344209019 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.01, Z:-0.31 [[ 9.98724313e-01 5.02208280e-02 5.25507720e-03 4.96499587e+00] [-5.02209061e-02 9.98738127e-01 -1.17169551e-04 -1.16246695e-02] [-5.25433032e-03 -1.46894659e-04 9.99986185e-01 -3.10202223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.690281693 meters Centerline goodness [0,1] 0.9960251178721695 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.01, Z:-0.31 [[ 9.98951575e-01 4.54202815e-02 5.72262262e-03 4.99389821e+00] [-4.54202962e-02 9.98967958e-01 -1.27448600e-04 -1.49465434e-02] [-5.72250538e-03 -1.32608235e-04 9.99983618e-01 -3.09459802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.720281692999999 meters Centerline goodness [0,1] 0.9972745661662941 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.02, Z:-0.31 [[ 9.99147953e-01 4.07891991e-02 6.29364835e-03 5.02412721e+00] [-4.07891260e-02 9.99167767e-01 -1.40019853e-04 -2.23746589e-02] [-6.29412187e-03 -1.16811867e-04 9.99980185e-01 -3.08784424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.750281693 meters Centerline goodness [0,1] 0.9985105749180816 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.03, Z:-0.31 [[ 9.99428614e-01 3.32490114e-02 6.07858917e-03 5.05427855e+00] [-3.32488042e-02 9.99447097e-01 -1.35168439e-04 -3.44113079e-02] [-6.07972251e-03 -6.70146153e-05 9.99981516e-01 -3.08575627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.780281693 meters Centerline goodness [0,1] 0.9988907376594565 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.04, Z:-0.31 [[ 9.99530822e-01 3.01036405e-02 5.64851716e-03 5.08341201e+00] [-3.01034117e-02 9.99546782e-01 -1.25538440e-04 -3.93247467e-02] [-5.64973631e-03 -4.45600973e-05 9.99984039e-01 -3.09768921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.810281693 meters Centerline goodness [0,1] 0.9988536248805859 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.04, Z:-0.31 [[ 9.99611892e-01 2.73226474e-02 5.43493008e-03 5.11281503e+00] [-2.73223952e-02 9.99626666e-01 -1.20671899e-04 -4.29559244e-02] [-5.43619812e-03 -2.78702423e-05 9.99985223e-01 -3.10589639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.840281693 meters Centerline goodness [0,1] 0.9993132605103333 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.05, Z:-0.31 [[ 9.99695309e-01 2.37789311e-02 6.62212205e-03 5.14305918e+00] [-2.37784793e-02 9.99717241e-01 -1.46957982e-04 -4.83884006e-02] [-6.62374409e-03 -1.05507866e-05 9.99978063e-01 -3.09010475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.870281692999999 meters Centerline goodness [0,1] 0.9991835857772049 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.05, Z:-0.31 [[ 9.99702932e-01 2.33146355e-02 7.10461321e-03 5.17363248e+00] [-2.33141038e-02 9.99728177e-01 -1.57665415e-04 -4.98831776e-02] [-7.10635793e-03 -8.01911157e-06 9.99974749e-01 -3.08168647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.900281693 meters Centerline goodness [0,1] 0.9991638975238504 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.05, Z:-0.31 [[ 9.99700604e-01 2.37763925e-02 5.77801088e-03 5.20435905e+00] [-2.37760484e-02 9.99717302e-01 -1.28257860e-04 -5.00502277e-02] [-5.77942695e-03 -9.15880553e-06 9.99983299e-01 -3.10379519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.930281693 meters Centerline goodness [0,1] 0.9991240064951713 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.05, Z:-0.31 [[ 9.99698546e-01 2.41604570e-02 4.36922959e-03 5.23466140e+00] [-2.41602630e-02 9.99708094e-01 -9.71955785e-05 -4.99694855e-02] [-4.37030247e-03 -8.39545732e-06 9.99990450e-01 -3.13108244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.960281692999999 meters Centerline goodness [0,1] 0.9992728983554672 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.05, Z:-0.32 [[ 9.99694558e-01 2.44958872e-02 3.27764829e-03 5.26524632e+00] [-2.44957798e-02 9.99699931e-01 -7.29128363e-05 -4.95014290e-02] [-3.27845084e-03 -7.39798527e-06 9.99994626e-01 -3.15308882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.990281693 meters Centerline goodness [0,1] 0.999108545230717 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.05, Z:-0.31 [[ 9.99690220e-01 2.45842520e-02 3.88312348e-03 5.29466269e+00] [-2.45841019e-02 9.99697762e-01 -8.63965917e-05 -4.89366756e-02] [-3.88407384e-03 -9.09327534e-06 9.99992457e-01 -3.14198362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.020281693 meters Centerline goodness [0,1] 0.9991944032223871 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.05, Z:-0.31 [[ 9.99701828e-01 2.39493318e-02 4.76288627e-03 5.32469641e+00] [-2.39490990e-02 9.99713174e-01 -1.05907659e-04 -5.05796065e-02] [-4.76405656e-03 -8.19075408e-06 9.99988652e-01 -3.13110894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.050281692999999 meters Centerline goodness [0,1] 0.9994264958898872 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.05, Z:-0.31 [[ 9.99721018e-01 2.29976611e-02 5.38459619e-03 5.35433653e+00] [-2.29973505e-02 9.99735519e-01 -1.19603300e-04 -5.29781206e-02] [-5.38592267e-03 -4.26151277e-06 9.99985496e-01 -3.11858752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.080281693 meters Centerline goodness [0,1] 0.9992099250496466 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.06, Z:-0.31 [[ 9.99747974e-01 2.16403666e-02 5.97345633e-03 5.38511975e+00] [-2.16399597e-02 9.99765820e-01 -1.32748242e-04 -5.56683872e-02] [-5.97493019e-03 3.44943201e-06 9.99982150e-01 -3.11236153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.110281693 meters Centerline goodness [0,1] 0.9995489303204743 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.06, Z:-0.31 [[ 9.99819743e-01 1.77100079e-02 6.84379474e-03 5.41532244e+00] [-1.77093817e-02 9.99843165e-01 -1.52089791e-04 -6.26837856e-02] [-6.84541490e-03 3.08630019e-05 9.99976569e-01 -3.10316450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.140281692999999 meters Centerline goodness [0,1] 0.9996830561835739 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.07, Z:-0.31 [[ 9.99849732e-01 1.54737844e-02 7.81510277e-03 5.44594787e+00] [-1.54728978e-02 9.99880272e-01 -1.73903848e-04 -6.97154581e-02] [-7.81685804e-03 5.29554292e-05 9.99969446e-01 -3.09058763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.170281693 meters Centerline goodness [0,1] 0.9997217406194482 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.07, Z:-0.31 [[ 9.99877505e-01 1.32215738e-02 8.37649937e-03 5.47819007e+00] [-1.32204678e-02 9.99912588e-01 -1.87396366e-04 -7.47627012e-02] [-8.37824484e-03 7.66321701e-05 9.99964899e-01 -3.09130975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.200281692999999 meters Centerline goodness [0,1] 0.9998071442346841 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.09, Z:-0.31 [[ 9.99917383e-01 9.66755285e-03 8.47146649e-03 5.50907698e+00] [-9.66628268e-03 9.99953262e-01 -1.90868208e-04 -8.50516052e-02] [-8.47291578e-03 1.08964850e-04 9.99964098e-01 -3.08543354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.230281693 meters Centerline goodness [0,1] 0.9998071442346841 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.09, Z:-0.31 [[ 9.99915635e-01 9.84675111e-03 8.47143542e-03 5.54160297e+00] [-9.84547576e-03 9.99951514e-01 -1.92239185e-04 -8.59728171e-02] [-8.47291760e-03 1.08817655e-04 9.99964098e-01 -3.08711636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.260281693 meters Centerline goodness [0,1] 0.9995533720410897 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.09, Z:-0.31 [[ 9.99931744e-01 9.09290474e-03 7.33661925e-03 5.57406085e+00] [-9.09191954e-03 9.99958654e-01 -1.67628066e-04 -9.02059848e-02] [-7.33784014e-03 1.00912672e-04 9.99973073e-01 -3.10993197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.290281692999999 meters Centerline goodness [0,1] 0.9997883687462965 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.10, Z:-0.32 [[ 9.99946323e-01 9.04634816e-03 5.05125996e-03 5.60654339e+00] [-9.04587785e-03 9.99959078e-01 -1.15945947e-04 -9.80225818e-02] [-5.05210214e-03 7.02466430e-05 9.99987236e-01 -3.15775128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.320281693 meters Centerline goodness [0,1] 0.99972341602485 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.10, Z:-0.32 [[ 9.99942642e-01 9.40378171e-03 5.12648056e-03 5.63766719e+00] [-9.40329722e-03 9.99955781e-01 -1.18601538e-04 -1.01604829e-01] [-5.12736917e-03 7.03889145e-05 9.99986852e-01 -3.15588419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.350281693 meters Centerline goodness [0,1] 0.9997643681854208 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.10, Z:-0.31 [[ 9.99925635e-01 1.04069271e-02 6.35768141e-03 5.66951601e+00] [-1.04061984e-02 9.99945843e-01 -1.47684688e-04 -1.02891991e-01] [-6.35887405e-03 8.15144113e-05 9.99979779e-01 -3.13098742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.380281692999999 meters Centerline goodness [0,1] 0.9996398686579812 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.10, Z:-0.31 [[ 9.99855918e-01 1.56502253e-02 6.57364604e-03 5.70056442e+00] [-1.56495571e-02 9.99877526e-01 -1.53079245e-04 -9.94267824e-02] [-6.57523667e-03 5.01825400e-05 9.99978382e-01 -3.12129352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.410281693 meters Centerline goodness [0,1] 0.9994069806845137 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.09, Z:-0.31 [[ 9.99786650e-01 1.96457664e-02 6.37958913e-03 5.73298856e+00] [-1.96452126e-02 9.99807003e-01 -1.49465910e-04 -9.49339673e-02] [-6.38129426e-03 2.41056365e-05 9.99979639e-01 -3.12636192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.440281693 meters Centerline goodness [0,1] 0.9992001515502326 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.09, Z:-0.31 [[ 9.99689142e-01 2.40979561e-02 6.39587357e-03 5.76345095e+00] [-2.40974854e-02 9.99709602e-01 -1.50667452e-04 -8.85742213e-02] [-6.39764700e-03 -3.50385422e-06 9.99979535e-01 -3.12283239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.470281692999999 meters Centerline goodness [0,1] 0.9986648299247642 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.08, Z:-0.31 [[ 9.99569363e-01 2.86649028e-02 6.27785767e-03 5.79402507e+00] [-2.86645390e-02 9.99589077e-01 -1.47943394e-04 -8.18540059e-02] [-6.27951873e-03 -3.20722116e-05 9.99980283e-01 -3.12636970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.500281693 meters Centerline goodness [0,1] 0.9976772667764686 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.07, Z:-0.31 [[ 9.99321439e-01 3.63693473e-02 5.82513180e-03 5.82353893e+00] [-3.63691648e-02 9.99338414e-01 -1.37289958e-04 -6.86154219e-02] [-5.82627111e-03 -7.46583796e-05 9.99983024e-01 -3.13668469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.530281693 meters Centerline goodness [0,1] 0.9971253434791799 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.06, Z:-0.31 [[ 9.99224397e-01 3.89859096e-02 5.54099806e-03 5.85277335e+00] [-3.89857841e-02 9.99239757e-01 -1.30697228e-04 -6.47827278e-02] [-5.54188090e-03 -8.54242952e-05 9.99984640e-01 -3.14190456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.560281692999999 meters Centerline goodness [0,1] 0.996562913624525 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.06, Z:-0.31 [[ 9.99169507e-01 4.04036201e-02 5.27671081e-03 5.88214484e+00] [-4.04035270e-02 9.99183436e-01 -1.24291272e-04 -6.25084035e-02] [-5.27742386e-03 -8.90096784e-05 9.99986070e-01 -3.14863594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.590281693 meters Centerline goodness [0,1] 0.9960341024770953 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.05, Z:-0.32 [[ 9.99132542e-01 4.13938934e-02 4.55081698e-03 5.91055620e+00] [-4.13938349e-02 9.99142902e-01 -1.07086816e-04 -5.41090447e-02] [-4.55134923e-03 -8.13818438e-05 9.99989639e-01 -3.16475309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.620281692999999 meters Centerline goodness [0,1] 0.9963155888705374 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.06, Z:-0.32 [[ 9.99126317e-01 4.15714094e-02 4.29196208e-03 5.93901219e+00] [-4.15713587e-02 9.99135532e-01 -1.01055250e-04 -5.66422017e-02] [-4.29245283e-03 -7.74557352e-05 9.99990784e-01 -3.15953783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.650281693 meters Centerline goodness [0,1] 0.9966301058189702 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.06, Z:-0.32 [[ 9.99122320e-01 4.16791326e-02 4.17614868e-03 5.96791104e+00] [-4.16790864e-02 9.99131045e-01 -9.81425726e-05 -5.56649205e-02] [-4.17661029e-03 -7.60016270e-05 9.99991275e-01 -3.17036258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.680281693 meters Centerline goodness [0,1] 0.9959208690873738 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.05, Z:-0.32 [[ 9.99108203e-01 4.20457892e-02 3.86660537e-03 5.99620117e+00] [-4.20457529e-02 9.99115682e-01 -9.07219900e-05 -4.66682366e-02] [-3.86700054e-03 -7.19332497e-05 9.99992521e-01 -3.18312366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.710281692999999 meters Centerline goodness [0,1] 0.996515004840271 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.05, Z:-0.32 [[ 9.99119063e-01 4.17983619e-02 3.74108575e-03 6.02524246e+00] [-4.17983270e-02 9.99126064e-01 -8.75557921e-05 -4.88625780e-02] [-3.74147597e-03 -6.88924644e-05 9.99992998e-01 -3.18615374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.740281693 meters Centerline goodness [0,1] 0.9963323879992324 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.05, Z:-0.32 [[ 9.99124434e-01 4.16890398e-02 3.51989519e-03 6.05326707e+00] [-4.16890086e-02 9.99130632e-01 -8.22601008e-05 -4.65741788e-02] [-3.52026445e-03 -6.45528643e-05 9.99993802e-01 -3.19186738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.770281693 meters Centerline goodness [0,1] 0.9968835299933372 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.04, Z:-0.32 [[ 9.99149604e-01 4.11074093e-02 3.20160294e-03 6.08203572e+00] [-4.11073812e-02 9.99154732e-01 -7.46128782e-05 -4.31895762e-02] [-3.20196387e-03 -5.70600848e-05 9.99994872e-01 -3.19645949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.800281692999999 meters Centerline goodness [0,1] 0.9968860732309675 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.04, Z:-0.32 [[ 9.99180204e-01 4.03464641e-02 3.32920029e-03 6.11022845e+00] [-4.03464299e-02 9.99185748e-01 -7.74526973e-05 -4.16309348e-02] [-3.32961443e-03 -5.69321444e-05 9.99994455e-01 -3.19553518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.830281693 meters Centerline goodness [0,1] 0.9972523988671429 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.04, Z:-0.32 [[ 9.99239063e-01 3.88341041e-02 3.63416643e-03 6.13912438e+00] [-3.88340543e-02 9.99245670e-01 -8.42764887e-05 -4.18895611e-02] [-3.63469788e-03 -5.69170572e-05 9.99993393e-01 -3.19755495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.860281693 meters Centerline goodness [0,1] 0.9980082635872444 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.05, Z:-0.32 [[ 9.99423034e-01 3.36701756e-02 4.46301917e-03 6.16744543e+00] [-3.36700504e-02 9.99432998e-01 -1.03220880e-04 -4.64979859e-02] [-4.46396410e-03 -4.71087550e-05 9.99990035e-01 -3.18107527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.890281692999999 meters Centerline goodness [0,1] 0.9987397470950102 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.05, Z:-0.32 [[ 9.99519208e-01 3.06743746e-02 4.52063946e-03 6.19744394e+00] [-3.06742156e-02 9.99529430e-01 -1.04521675e-04 -5.07572687e-02] [-4.52171832e-03 -3.41956478e-05 9.99989776e-01 -3.18324102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.920281693 meters Centerline goodness [0,1] 0.9988657764081493 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.06, Z:-0.32 [[ 9.99615245e-01 2.73787361e-02 4.44592407e-03 6.22561436e+00] [-2.73785502e-02 9.99625132e-01 -1.02662667e-04 -5.54853161e-02] [-4.44706821e-03 -1.90997880e-05 9.99990112e-01 -3.18925794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.950281692999999 meters Centerline goodness [0,1] 0.9992310157000961 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.06, Z:-0.32 [[ 9.99766685e-01 2.08828989e-02 5.52090493e-03 6.25542582e+00] [-2.08825145e-02 9.99781928e-01 -1.27265985e-04 -6.40158297e-02] [-5.52235866e-03 1.19459147e-05 9.99984752e-01 -3.17316839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.980281693 meters Centerline goodness [0,1] 0.9992312127618681 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.07, Z:-0.32 [[ 9.99823131e-01 1.76349067e-02 6.53574363e-03 6.28539047e+00] [-1.76342995e-02 9.99844492e-01 -1.50525719e-04 -6.88686524e-02] [-6.53738177e-03 3.52458349e-05 9.99978630e-01 -3.15847966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.010281693 meters Centerline goodness [0,1] 0.999212229603134 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.08, Z:-0.32 [[ 9.99868861e-01 1.46716330e-02 6.85592652e-03 6.31609424e+00] [-1.46708935e-02 9.99892364e-01 -1.58142291e-04 -7.62415326e-02] [-6.85750878e-03 5.75389851e-05 9.99976485e-01 -3.15781045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.040281692999999 meters Centerline goodness [0,1] 0.9993353059736695 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.09, Z:-0.32 [[ 9.99949638e-01 8.23600880e-03 5.73486843e-03 6.34648994e+00] [-8.23538187e-03 9.99966080e-01 -1.32924854e-04 -9.03106729e-02] [-5.73576867e-03 8.56893284e-05 9.99983547e-01 -3.18410075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.070281693 meters Centerline goodness [0,1] 0.9992693357402274 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.10, Z:-0.32 [[ 9.99975725e-01 5.34574269e-03 4.46906047e-03 6.37729479e+00] [-5.34533298e-03 9.99985708e-01 -1.03616581e-04 -9.82849024e-02] [-4.46955050e-03 7.97254494e-05 9.99990008e-01 -3.20749940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.100281693 meters Centerline goodness [0,1] 0.9990664516676568 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.11, Z:-0.32 [[ 9.99988670e-01 2.95998631e-03 3.72804794e-03 6.40847777e+00] [-2.95968309e-03 9.99995616e-01 -8.68486906e-05 -1.06876354e-01] [-3.72828867e-03 7.58138662e-05 9.99993047e-01 -3.22457442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.130281692999999 meters Centerline goodness [0,1] 0.9989183457051962 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.12, Z:-0.32 [[ 9.99993226e-01 -1.53144395e-03 3.34697935e-03 6.43923075e+00] [ 1.53171562e-03 9.99998824e-01 -7.86072831e-05 -1.21199632e-01] [-3.34685503e-03 8.37333712e-05 9.99994396e-01 -3.23701759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.160281693 meters Centerline goodness [0,1] 0.998528565031028 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.13, Z:-0.32 [[ 9.99986901e-01 -3.22744951e-03 3.97248366e-03 6.47072895e+00] [ 3.22784519e-03 9.99994786e-01 -9.31982552e-05 -1.28823980e-01] [-3.97216216e-03 1.06019597e-04 9.99992105e-01 -3.22901170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.190281693 meters Centerline goodness [0,1] 0.9986294035764001 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.13, Z:-0.32 [[ 9.99977460e-01 -4.99914815e-03 4.48203255e-03 6.50281681e+00] [ 4.99967308e-03 9.99987496e-01 -1.05921287e-04 -1.31531479e-01] [-4.48144699e-03 1.28327597e-04 9.99989950e-01 -3.21279133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.220281692999999 meters Centerline goodness [0,1] 0.9972205720105236 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.15, Z:-0.32 [[ 9.99962323e-01 -7.38455513e-03 4.56298550e-03 6.53370847e+00] [ 7.38512498e-03 9.99972724e-01 -1.08047864e-04 -1.47456323e-01] [-4.56206316e-03 1.41742012e-04 9.99989584e-01 -3.21193330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.250281693 meters Centerline goodness [0,1] 0.9980963381245722 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.15, Z:-0.32 [[ 9.99962126e-01 -7.59037391e-03 4.25831372e-03 6.56611112e+00] [ 7.59087256e-03 9.99971184e-01 -1.00950534e-04 -1.46519898e-01] [-4.25742476e-03 1.33271027e-04 9.99990928e-01 -3.22325726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.280281693 meters Centerline goodness [0,1] 0.9983645554564377 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.15, Z:-0.32 [[ 9.99970447e-01 -6.79875172e-03 3.58916114e-03 6.59825843e+00] [ 6.79910131e-03 9.99976882e-01 -8.52078789e-05 -1.47849904e-01] [-3.58849886e-03 1.09608431e-04 9.99993555e-01 -3.23601551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.310281692999999 meters Centerline goodness [0,1] 0.9991008734372324 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.15, Z:-0.33 [[ 9.99991130e-01 -3.14342570e-03 2.80325847e-03 6.62787074e+00] [ 3.14362512e-03 9.99995057e-01 -6.67327563e-05 -1.49781325e-01] [-2.80303484e-03 7.55445581e-05 9.99996069e-01 -3.25352607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.340281693 meters Centerline goodness [0,1] 0.9991615067079463 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.15, Z:-0.33 [[ 9.99996546e-01 -6.28631418e-04 2.55211496e-03 6.65915810e+00] [ 6.28788366e-04 9.99999800e-01 -6.06952535e-05 -1.48756353e-01] [-2.55207630e-03 6.22997841e-05 9.99996742e-01 -3.25398622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.370281692999999 meters Centerline goodness [0,1] 0.9992207792207792 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.15, Z:-0.33 [[ 9.99996251e-01 1.47233196e-03 2.30886160e-03 6.69087148e+00] [-1.47220908e-03 9.99998915e-01 -5.49189125e-05 -1.47761542e-01] [-2.30893995e-03 5.15195796e-05 9.99997333e-01 -3.25566455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400281693 meters Centerline goodness [0,1] 0.9994926218764534 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.15, Z:-0.33 [[ 9.99985568e-01 4.96098968e-03 2.06236654e-03 6.72130525e+00] [-4.96089880e-03 9.99987693e-01 -4.91763746e-05 -1.50358119e-01] [-2.06258513e-03 3.89444731e-05 9.99997872e-01 -3.26176679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.430281693 meters Centerline goodness [0,1] 0.9996140817289139 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.15, Z:-0.33 [[ 9.99979760e-01 5.64291633e-03 2.93893601e-03 6.75279445e+00] [-5.64273464e-03 9.99984077e-01 -7.01109922e-05 -1.53619174e-01] [-2.93928484e-03 5.35259371e-05 9.99995679e-01 -3.25049567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.460281692999999 meters Centerline goodness [0,1] 0.9993964996982498 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.16, Z:-0.32 [[ 9.99974554e-01 5.01068382e-03 5.07781321e-03 6.78362073e+00] [-5.01013227e-03 9.99987442e-01 -1.21332621e-04 -1.61487836e-01] [-5.07835740e-03 9.58890180e-05 9.99987100e-01 -3.21688931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.490281693 meters Centerline goodness [0,1] 0.9990357831583458 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.17, Z:-0.32 [[ 9.99975342e-01 4.25711974e-03 5.58508655e-03 6.81520131e+00] [-4.25643970e-03 9.99990932e-01 -1.33640364e-04 -1.66753883e-01] [-5.58560483e-03 1.09864484e-04 9.99984394e-01 -3.21375871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.520281693 meters Centerline goodness [0,1] 0.9993215595649501 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.17, Z:-0.32 [[ 9.99980254e-01 3.32608947e-03 5.33189451e-03 6.84757169e+00] [-3.32545252e-03 9.99994462e-01 -1.28321270e-04 -1.73558852e-01] [-5.33229179e-03 1.10587774e-04 9.99985777e-01 -3.22195102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.550281692999999 meters Centerline goodness [0,1] 0.9992279482725342 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.19, Z:-0.33 [[ 9.99992617e-01 7.41133622e-04 3.77046703e-03 6.87863393e+00] [-7.40795362e-04 9.99999721e-01 -9.11088962e-05 -1.88942028e-01] [-3.77053351e-03 8.83150791e-05 9.99992888e-01 -3.26199309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.580281693 meters Centerline goodness [0,1] 0.9992481203007518 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.19, Z:-0.33 [[ 9.99995281e-01 3.13197029e-05 3.07194515e-03 6.91099180e+00] [-3.10909609e-05 9.99999997e-01 -7.45093355e-05 -1.93246014e-01] [-3.07194748e-03 7.44134742e-05 9.99995279e-01 -3.27638829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.610281693 meters Centerline goodness [0,1] 0.9989383837954903 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.20, Z:-0.33 [[ 9.99997424e-01 3.63539661e-04 2.24044671e-03 6.94252568e+00] [-3.63417731e-04 9.99999932e-01 -5.48292866e-05 -1.97678256e-01] [-2.24046649e-03 5.40149273e-05 9.99997489e-01 -3.28315052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.640281692999999 meters Centerline goodness [0,1] 0.9990415131312701 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.20, Z:-0.33 [[ 9.99994210e-01 2.50958709e-03 2.29824776e-03 6.97280880e+00] [-2.50946412e-03 9.99996850e-01 -5.63886326e-05 -2.03225711e-01] [-2.29838203e-03 5.06209358e-05 9.99997357e-01 -3.27834374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.670281693 meters Centerline goodness [0,1] 0.9994678813162488 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.21, Z:-0.33 [[ 9.99990517e-01 3.74811120e-03 2.21774424e-03 7.00465622e+00] [-3.74799983e-03 9.99992975e-01 -5.43704187e-05 -2.05002239e-01] [-2.21793244e-03 4.60577981e-05 9.99997539e-01 -3.27419494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.700281692999999 meters Centerline goodness [0,1] 0.9991337601149353 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.21, Z:-0.33 [[ 9.99973833e-01 6.60984834e-03 2.93993753e-03 7.03517072e+00] [-6.60966440e-03 9.99978153e-01 -7.22778025e-05 -2.09062258e-01] [-2.94035105e-03 5.28439107e-05 9.99995676e-01 -3.26837691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.730281693 meters Centerline goodness [0,1] 0.9993550190269387 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.21, Z:-0.32 [[ 9.99959158e-01 7.92898056e-03 4.33748952e-03 7.06633477e+00] [-7.92859229e-03 9.99968563e-01 -1.06701986e-04 -2.09213279e-01] [-4.33819920e-03 7.23074424e-05 9.99990587e-01 -3.24747960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.760281693 meters Centerline goodness [0,1] 0.9992323439099283 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.21, Z:-0.32 [[ 9.99942621e-01 9.29951081e-03 5.31731236e-03 7.09837273e+00] [-9.29894584e-03 9.99956755e-01 -1.30965652e-04 -2.10806649e-01] [-5.31830033e-03 8.15127373e-05 9.99985854e-01 -3.23210421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.790281692999999 meters Centerline goodness [0,1] 0.999277870993777 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.21, Z:-0.32 [[ 9.99931087e-01 1.04652118e-02 5.31979319e-03 7.12913776e+00] [-1.04646586e-02 9.99945235e-01 -1.31827761e-04 -2.13030094e-01] [-5.32088146e-03 7.61488568e-05 9.99985841e-01 -3.22894756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.820281693 meters Centerline goodness [0,1] 0.9995743594109134 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.22, Z:-0.32 [[ 9.99920436e-01 1.14558553e-02 5.28058418e-03 7.16166549e+00] [-1.14553215e-02 9.99934377e-01 -1.31316871e-04 -2.15331885e-01] [-5.28174200e-03 7.08156331e-05 9.99986049e-01 -3.23544417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.850281693 meters Centerline goodness [0,1] 0.9995994603254912 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.22, Z:-0.33 [[ 9.99912841e-01 1.28125039e-02 3.18580137e-03 7.19303185e+00] [-1.28123156e-02 9.99917916e-01 -7.95235981e-05 -2.20201920e-01] [-3.18655876e-03 3.86991745e-05 9.99994922e-01 -3.27495279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.880281692999999 meters Centerline goodness [0,1] 0.999640051663173 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.22, Z:-0.33 [[ 9.99903595e-01 1.37425231e-02 1.98593760e-03 7.22390299e+00] [-1.37424514e-02 9.99905567e-01 -4.97808968e-05 -2.20299296e-01] [-1.98643418e-03 2.24844467e-05 9.99998027e-01 -3.29319212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.910281693 meters Centerline goodness [0,1] 0.9996150391376877 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.22, Z:-0.33 [[ 9.99869998e-01 1.60850774e-02 1.12146867e-03 7.25451659e+00] [-1.60850560e-02 9.99870627e-01 -2.81309786e-05 -2.23079535e-01] [-1.12177607e-03 1.00884352e-05 9.99999371e-01 -3.32502202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.940281693 meters Centerline goodness [0,1] 0.9996382824801056 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.22, Z:-0.33 [[ 9.99847866e-01 1.73298499e-02 1.98030411e-03 7.28534750e+00] [-1.73297853e-02 9.99849827e-01 -4.97716388e-05 -2.23505623e-01] [-1.98086926e-03 1.54458217e-05 9.99998038e-01 -3.30621389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.970281692999999 meters Centerline goodness [0,1] 0.9996410018161085 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.22, Z:-0.33 [[ 9.99821633e-01 1.85589457e-02 3.50253799e-03 7.31613283e+00] [-1.85587514e-02 9.99827768e-01 -8.79929442e-05 -2.24732510e-01] [-3.50356780e-03 2.29745175e-05 9.99993862e-01 -3.28190197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.000281693 meters Centerline goodness [0,1] 0.9996357012750455 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.22, Z:-0.33 [[ 9.99730954e-01 2.28415684e-02 4.03521902e-03 7.34776817e+00] [-2.28413448e-02 9.99739097e-01 -1.01482717e-04 -2.21654062e-01] [-4.03648424e-03 9.28558384e-06 9.99991853e-01 -3.27215561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.030281693 meters Centerline goodness [0,1] 0.9991088100492276 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.22, Z:-0.33 [[ 9.99637460e-01 2.66758242e-02 3.65349640e-03 7.37938027e+00] [-2.66756670e-02 9.99644137e-01 -9.17630629e-05 -2.18806146e-01] [-3.65464412e-03 -5.72965823e-06 9.99993322e-01 -3.27983395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.060281692999999 meters Centerline goodness [0,1] 0.9986164619739895 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.21, Z:-0.33 [[ 9.99514298e-01 3.09853096e-02 3.32837633e-03 7.40948001e+00] [-3.09852007e-02 9.99519840e-01 -8.42843524e-05 -2.13912522e-01] [-3.32938976e-03 -1.88869934e-05 9.99994457e-01 -3.28808764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.090281693 meters Centerline goodness [0,1] 0.9975475560863261 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.20, Z:-0.33 [[ 9.99171833e-01 4.06084530e-02 2.56938858e-03 7.44003905e+00] [-4.06084198e-02 9.99175136e-01 -6.51399394e-05 -1.99398345e-01] [-2.56991442e-03 -3.92528174e-05 9.99996697e-01 -3.29064642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.120281692999999 meters Centerline goodness [0,1] 0.9975475560863261 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.20, Z:-0.33 [[ 9.99171833e-01 4.06084527e-02 2.56939007e-03 7.47003264e+00] [-4.06084196e-02 9.99175136e-01 -6.50812056e-05 -2.00158098e-01] [-2.56991352e-03 -3.93115625e-05 9.99996697e-01 -3.29219886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.150281693 meters Centerline goodness [0,1] 0.9969644779332616 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.19, Z:-0.33 [[ 9.98960070e-01 4.55307551e-02 2.39355135e-03 7.50029743e+00] [-4.55307404e-02 9.98962936e-01 -6.06598622e-05 -1.93455886e-01] [-2.39383098e-03 -4.83833850e-05 9.99997134e-01 -3.29394411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.180281693 meters Centerline goodness [0,1] 0.9962959809264306 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.19, Z:-0.33 [[ 9.98715826e-01 5.06123278e-02 2.25631792e-03 7.53115234e+00] [-5.06123278e-02 9.98718373e-01 -5.71248331e-05 -1.85221211e-01] [-2.25631738e-03 -5.71460272e-05 9.99997453e-01 -3.29249205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.210281692999999 meters Centerline goodness [0,1] 0.99232045609258 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.17, Z:-0.33 [[ 9.98185421e-01 6.00971024e-02 3.76875748e-03 7.56106211e+00] [-6.00971699e-02 9.98192527e-01 -9.54303298e-05 -1.66868520e-01] [-3.76768064e-03 -1.31234495e-04 9.99992894e-01 -3.27262774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.240281693 meters Centerline goodness [0,1] 0.9898529847900691 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.16, Z:-0.33 [[ 9.97935562e-01 6.40508423e-02 4.70139984e-03 7.59076127e+00] [-6.40509914e-02 9.97946620e-01 -1.18992714e-04 -1.55301845e-01] [-4.69936766e-03 -1.82382259e-04 9.99988941e-01 -3.25459362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.270281693 meters Centerline goodness [0,1] 0.9661243167662388 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.13, Z:-0.32 [[ 9.97704078e-01 6.74947361e-02 5.57084069e-03 7.62057922e+00] [-6.74949999e-02 9.97719602e-01 -1.40849435e-04 -1.33643796e-01] [-5.56764356e-03 -2.35477836e-04 9.99984473e-01 -3.23609328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.300281692999999 meters Centerline goodness [0,1] 0.9847635011712118 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.14, Z:-0.32 [[ 9.97507869e-01 7.03265116e-02 5.67744946e-03 7.65077580e+00] [-7.03268321e-02 9.97523993e-01 -1.43420778e-04 -1.39310562e-01] [-5.67347833e-03 -2.56213680e-04 9.99983873e-01 -3.23697874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.330281693 meters Centerline goodness [0,1] 0.9738610587013208 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.12, Z:-0.33 [[ 9.97240591e-01 7.41559348e-02 3.47867355e-03 7.68093080e+00] [-7.41560785e-02 9.97246644e-01 -8.78288747e-05 -1.23321801e-01] [-3.47560855e-03 -1.70378270e-04 9.99993946e-01 -3.28896877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.360281693 meters Centerline goodness [0,1] 0.9684875289714857 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.12, Z:-0.33 [[ 9.97261575e-01 7.39140337e-02 2.46299330e-03 7.70861127e+00] [-7.39141046e-02 9.97264609e-01 -6.23522296e-05 -1.17585487e-01] [-2.46086475e-03 -1.19868461e-04 9.99996965e-01 -3.31339766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.390281692999999 meters Centerline goodness [0,1] 0.9847647783774596 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.12, Z:-0.33 [[ 9.97609278e-01 6.90533291e-02 2.71414917e-03 7.73892097e+00] [-6.90533981e-02 9.97612963e-01 -6.83833693e-05 -1.17027918e-01] [-2.71239249e-03 -1.19201339e-04 9.99996314e-01 -3.31387126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.420281693 meters Centerline goodness [0,1] 0.9894692054036804 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.12, Z:-0.33 [[ 9.97932662e-01 6.41433905e-02 4.00342457e-03 7.76803289e+00] [-6.41435013e-02 9.97940680e-01 -1.00840009e-04 -1.19438359e-01] [-4.00164846e-03 -1.56162131e-04 9.99991981e-01 -3.29714372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.450281692999999 meters Centerline goodness [0,1] 0.9944379077976254 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.14, Z:-0.33 [[ 9.98685988e-01 5.08828884e-02 6.10163847e-03 7.79842196e+00] [-5.08828990e-02 9.98704614e-01 -1.53595910e-04 -1.37976394e-01] [-6.10154990e-03 -1.57074970e-04 9.99981373e-01 -3.25332290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.480281693 meters Centerline goodness [0,1] 0.9960775999151914 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.15, Z:-0.33 [[ 9.99020425e-01 4.38154070e-02 6.19680136e-03 7.82732235e+00] [-4.38152819e-02 9.99039637e-01 -1.56024235e-04 -1.47823147e-01] [-6.19768645e-03 -1.15643201e-04 9.99980787e-01 -3.25343024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.510281693 meters Centerline goodness [0,1] 0.9979838709677419 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.16, Z:-0.33 [[ 9.99281197e-01 3.74832273e-02 5.66548567e-03 7.85766208e+00] [-3.74830211e-02 9.99297254e-01 -1.42596525e-04 -1.59341883e-01] [-5.66684926e-03 -6.98654931e-05 9.99983941e-01 -3.27109650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540281692999999 meters Centerline goodness [0,1] 0.9988734909029077 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.17, Z:-0.33 [[ 9.99462489e-01 3.24871109e-02 4.39552903e-03 7.88792267e+00] [-3.24869385e-02 9.99472154e-01 -1.10632557e-04 -1.67210874e-01] [-4.39680300e-03 -3.22241908e-05 9.99990333e-01 -3.29818653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.570281693 meters Centerline goodness [0,1] 0.9994284141668607 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.18, Z:-0.33 [[ 9.99656487e-01 2.59883693e-02 3.39295965e-03 7.91786353e+00] [-2.59882292e-02 9.99662245e-01 -8.53776487e-05 -1.77747681e-01] [-3.39403249e-03 -2.82869274e-06 9.99994240e-01 -3.32147737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600281693 meters Centerline goodness [0,1] 0.999246809701091 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.18, Z:-0.33 [[ 9.99701617e-01 2.41982697e-02 3.33488116e-03 7.94781862e+00] [-2.41981243e-02 9.99707179e-01 -8.39541415e-05 -1.82530131e-01] [-3.33593619e-03 3.23122203e-06 9.99994436e-01 -3.31568486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.630281692999999 meters Centerline goodness [0,1] 0.9995322333730227 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.19, Z:-0.33 [[ 9.99742501e-01 2.26168192e-02 1.84712229e-03 7.97831708e+00] [-2.26167719e-02 9.99744207e-01 -4.64950004e-05 -1.88613405e-01] [-1.84770138e-03 4.70708452e-06 9.99998293e-01 -3.33259310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660281693 meters Centerline goodness [0,1] 0.9992672097935256 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.19, Z:-0.33 [[ 9.99751104e-01 2.22552636e-02 1.56014793e-03 8.00810159e+00] [-2.22552293e-02 9.99752321e-01 -3.93653350e-05 -1.91742934e-01] [-1.56063760e-03 4.63408719e-06 9.99998782e-01 -3.34353186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.690281693 meters Centerline goodness [0,1] 0.9995105966465231 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.20, Z:-0.33 [[ 9.99746766e-01 2.24073687e-02 2.07687772e-03 8.03713047e+00] [-2.24073082e-02 9.99748923e-01 -5.23589937e-05 -1.95082207e-01] [-2.07752949e-03 5.80849547e-06 9.99997842e-01 -3.34747823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720281692999999 meters Centerline goodness [0,1] 0.9992330471462962 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.20, Z:-0.33 [[ 9.99716330e-01 2.35924825e-02 3.26399865e-03 8.06747091e+00] [-2.35923399e-02 9.99721659e-01 -8.21924448e-05 -1.96018894e-01] [-3.26502927e-03 5.16376363e-06 9.99994670e-01 -3.32502281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.750281693 meters Centerline goodness [0,1] 0.9991100186472284 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.19, Z:-0.33 [[ 9.99691903e-01 2.46501488e-02 2.91004894e-03 8.09850498e+00] [-2.46500400e-02 9.99696139e-01 -7.32537180e-05 -1.94945014e-01] [-2.91097040e-03 1.49832602e-06 9.99995763e-01 -3.33326463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780281693 meters Centerline goodness [0,1] 0.9990617336603049 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.19, Z:-0.33 [[ 9.99611459e-01 2.76895006e-02 3.19732187e-03 8.12939274e+00] [-2.76893846e-02 9.99616572e-01 -8.05497923e-05 -1.90166979e-01] [-3.19832632e-03 -8.01337968e-06 9.99994885e-01 -3.32899981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.810281692999999 meters Centerline goodness [0,1] 0.9988734430132211 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.19, Z:-0.33 [[ 9.99556354e-01 2.96107747e-02 3.20900812e-03 8.15867393e+00] [-2.96106677e-02 9.99561505e-01 -8.08674394e-05 -1.87449254e-01] [-3.20999553e-03 -1.41893101e-05 9.99994848e-01 -3.32756392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.840281693 meters Centerline goodness [0,1] 0.9986608281608707 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.18, Z:-0.33 [[ 9.99518092e-01 3.08961921e-02 3.00165870e-03 8.18826408e+00] [-3.08961044e-02 9.99522599e-01 -7.55849473e-05 -1.84447361e-01] [-3.00256099e-03 -1.71910386e-05 9.99995492e-01 -3.33694886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.870281692999999 meters Centerline goodness [0,1] 0.9985337866553337 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.18, Z:-0.33 [[ 9.99498596e-01 3.15463980e-02 2.71700108e-03 8.21857230e+00] [-3.15463286e-02 9.99502288e-01 -6.84169666e-05 -1.83588665e-01] [-2.71780711e-03 -1.73287468e-05 9.99996307e-01 -3.34426191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900281693 meters Centerline goodness [0,1] 0.9985679782845662 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.18, Z:-0.33 [[ 9.99499949e-01 3.14327251e-02 3.44030689e-03 8.24930618e+00] [-3.14326132e-02 9.99505870e-01 -8.66305734e-05 -1.83821957e-01] [-3.44132996e-03 -2.15505818e-05 9.99994078e-01 -3.33226960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.930281693 meters Centerline goodness [0,1] 0.9985723113639754 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.18, Z:-0.33 [[ 9.99513746e-01 3.09062001e-02 4.13267723e-03 8.27838611e+00] [-3.09060339e-02 9.99522289e-01 -1.04077243e-04 -1.84907937e-01] [-4.13391964e-03 -2.36980275e-05 9.99991455e-01 -3.32417414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960281692999999 meters Centerline goodness [0,1] 0.9984685412855745 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.19, Z:-0.33 [[ 9.99587251e-01 2.83042000e-02 4.91926176e-03 8.30934648e+00] [-2.83039334e-02 9.99599356e-01 -1.23812292e-04 -1.88375363e-01] [-4.92079530e-03 -1.54732690e-05 9.99987893e-01 -3.31050183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.990281693 meters Centerline goodness [0,1] 0.9987187152985393 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.19, Z:-0.33 [[ 9.99633794e-01 2.66400908e-02 4.75222792e-03 8.33992031e+00] [-2.66398230e-02 9.99645090e-01 -1.19660993e-04 -1.92012194e-01] [-4.75372909e-03 -6.98133852e-06 9.99988701e-01 -3.31830457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020281693 meters Centerline goodness [0,1] 0.9990689604096574 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.20, Z:-0.33 [[ 9.99690247e-01 2.45912815e-02 3.83127254e-03 8.36972047e+00] [-2.45910923e-02 9.99697589e-01 -9.65041057e-05 -1.97052279e-01] [-3.83248708e-03 2.25903674e-06 9.99992656e-01 -3.33755300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.050281692999999 meters Centerline goodness [0,1] 0.9993328024449561 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.20, Z:-0.34 [[ 9.99745011e-01 2.23800661e-02 3.00765699e-03 8.40025803e+00] [-2.23799393e-02 9.99749535e-01 -7.58054867e-05 -2.02964118e-01] [-3.00860020e-03 8.47497631e-06 9.99995474e-01 -3.36064224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080281693 meters Centerline goodness [0,1] 0.999740927049375 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.21, Z:-0.34 [[ 9.99812206e-01 1.92958334e-02 1.79545924e-03 8.43079930e+00] [-1.92957833e-02 9.99813818e-01 -4.52530533e-05 -2.12118229e-01] [-1.79599816e-03 1.05997626e-05 9.99998387e-01 -3.37905529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.110281693 meters Centerline goodness [0,1] 0.9998305264272852 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.22, Z:-0.34 [[ 9.99827507e-01 1.84861822e-02 1.79382200e-03 8.45975518e+00] [-1.84861308e-02 9.99829116e-01 -4.52522222e-05 -2.15849838e-01] [-1.79435200e-03 1.20835885e-05 9.99998390e-01 -3.38096565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140281692999999 meters Centerline goodness [0,1] 0.9996798702407376 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.22, Z:-0.34 [[ 9.99835553e-01 1.79882632e-02 2.30002460e-03 8.49007722e+00] [-1.79881775e-02 9.99838198e-01 -5.79426764e-05 -2.17554993e-01] [-2.30069474e-03 1.65598971e-05 9.99997353e-01 -3.37293996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.170281693 meters Centerline goodness [0,1] 0.9996805315954252 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.22, Z:-0.34 [[ 9.99836838e-01 1.76449334e-02 3.86694757e-03 8.52048725e+00] [-1.76446887e-02 9.99844316e-01 -9.74024220e-05 -2.21326377e-01] [-3.86806421e-03 2.91554437e-05 9.99992519e-01 -3.36015859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200281692999999 meters Centerline goodness [0,1] 0.9996799112287141 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.22, Z:-0.34 [[ 9.99839742e-01 1.74273349e-02 4.09617215e-03 8.55132137e+00] [-1.74270583e-02 9.99848132e-01 -1.03212042e-04 -2.23382972e-01] [-4.09734878e-03 3.18112702e-05 9.99991605e-01 -3.36266453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.230281692999998 meters Centerline goodness [0,1] 0.9998302819441204 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.23, Z:-0.34 [[ 9.99826792e-01 1.83662895e-02 3.01074662e-03 8.58283406e+00] [-1.83661451e-02 9.99831325e-01 -7.56250166e-05 -2.27328176e-01] [-3.01162773e-03 2.03161085e-05 9.99995465e-01 -3.38024278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260281693 meters Centerline goodness [0,1] 0.9996803818371652 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.23, Z:-0.34 [[ 9.99802809e-01 1.96947877e-02 2.54146514e-03 8.61387252e+00] [-1.96946876e-02 9.99806039e-01 -6.44349226e-05 -2.26886339e-01] [-2.54224122e-03 1.43688548e-05 9.99996768e-01 -3.38859819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.290281692999999 meters Centerline goodness [0,1] 0.9996155899626268 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.23, Z:-0.34 [[ 9.99769628e-01 2.13505062e-02 2.20157581e-03 8.64429376e+00] [-2.13504349e-02 9.99772052e-01 -5.58863411e-05 -2.27420935e-01] [-2.20226717e-03 8.86886535e-06 9.99997575e-01 -3.39577682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320281693 meters Centerline goodness [0,1] 0.9990163794209468 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.23, Z:-0.34 [[ 9.99703166e-01 2.41627437e-02 3.12129783e-03 8.67475651e+00] [-2.41626139e-02 9.99708038e-01 -7.93168128e-05 -2.26782781e-01] [-3.12230305e-03 3.87455452e-06 9.99995126e-01 -3.37038313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.350281693 meters Centerline goodness [0,1] 0.9987993911197822 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.23, Z:-0.33 [[ 9.99668805e-01 2.53666336e-02 4.33748321e-03 8.70507439e+00] [-2.53663941e-02 9.99678215e-01 -1.10221889e-04 -2.26819416e-01] [-4.33888343e-03 1.59075633e-07 9.99990587e-01 -3.34874487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.380281692999999 meters Centerline goodness [0,1] 0.9985411482021797 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.23, Z:-0.33 [[ 9.99636968e-01 2.63765513e-02 5.49636519e-03 8.73673197e+00] [-2.63761820e-02 9.99652078e-01 -1.39678381e-04 -2.27027639e-01] [-5.49813712e-03 -5.34545531e-06 9.99984885e-01 -3.32603249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.410281693 meters Centerline goodness [0,1] 0.9985253259243428 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.23, Z:-0.33 [[ 9.99603924e-01 2.74826010e-02 6.05818493e-03 8.76792730e+00] [-2.74821717e-02 9.99622282e-01 -1.54109951e-04 -2.26978420e-01] [-6.06013199e-03 -1.24431667e-05 9.99981637e-01 -3.31947662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440281693 meters Centerline goodness [0,1] 0.9979288190041423 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.23, Z:-0.33 [[ 9.99559293e-01 2.91690649e-02 5.51227787e-03 8.79937396e+00] [-2.91687342e-02 9.99574492e-01 -1.40384264e-04 -2.26795437e-01] [-5.51402723e-03 -2.04637725e-05 9.99984797e-01 -3.33899778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.470281692999999 meters Centerline goodness [0,1] 0.9980816662099206 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.23, Z:-0.34 [[ 9.99549017e-01 2.96275460e-02 4.89608945e-03 8.83073881e+00] [-2.96272873e-02 9.99561008e-01 -1.25377796e-04 -2.29139075e-01] [-4.89765474e-03 -1.97365964e-05 9.99988006e-01 -3.35558398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.500281693 meters Centerline goodness [0,1] 0.9982578397212544 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.23, Z:-0.34 [[ 9.99554598e-01 2.96755176e-02 3.15725831e-03 8.86180853e+00] [-2.96754102e-02 9.99559585e-01 -8.08784591e-05 -2.33625852e-01] [-3.15826792e-03 -1.28504997e-05 9.99995013e-01 -3.38898490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.530281693 meters Centerline goodness [0,1] 0.9986108142765548 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.24, Z:-0.34 [[ 9.99556146e-01 2.97370461e-02 1.79430952e-03 8.89262782e+00] [-2.97370114e-02 9.99557756e-01 -4.60305659e-05 -2.35215104e-01] [-1.79488481e-03 -7.34726758e-06 9.99998389e-01 -3.41464900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560281692999999 meters Centerline goodness [0,1] 0.9986692708892275 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.23, Z:-0.34 [[ 9.99528573e-01 3.07000522e-02 3.71172888e-04 8.92324623e+00] [-3.07000508e-02 9.99528642e-01 -9.52193471e-06 -2.33929253e-01] [-3.71290257e-04 -1.87758071e-06 9.99999931e-01 -3.43779261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.590281693 meters Centerline goodness [0,1] 0.9985017443975942 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.23, Z:-0.34 [[ 9.99525945e-01 3.07865072e-02 2.77533442e-04 8.95243446e+00] [-3.07865064e-02 9.99525983e-01 -7.23489844e-06 -2.34290665e-01] [-2.77624624e-04 -1.31281638e-06 9.99999961e-01 -3.44042379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.620281692999999 meters Centerline goodness [0,1] 0.9985439595734658 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.24, Z:-0.34 [[ 9.99530645e-01 3.06253017e-02 7.62154425e-04 8.98204691e+00] [-3.06252958e-02 9.99530935e-01 -1.94763909e-05 -2.35197103e-01] [-7.62393396e-04 -3.87395514e-06 9.99999709e-01 -3.44233413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.650281693 meters Centerline goodness [0,1] 0.9983982230954873 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.24, Z:-0.34 [[ 9.99529582e-01 3.06266996e-02 1.61858743e-03 9.01140037e+00] [-3.06266725e-02 9.99530893e-01 -4.15457448e-05 -2.36289602e-01] [-1.61910055e-03 -8.04574615e-06 9.99998689e-01 -3.42030045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.680281693 meters Centerline goodness [0,1] 0.997864467702717 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.23, Z:-0.34 [[ 9.99472451e-01 3.22552213e-02 3.79738518e-03 9.04184996e+00] [-3.22550843e-02 9.99479665e-01 -9.73343684e-05 -2.33664810e-01] [-3.79854881e-03 -2.52019596e-05 9.99992785e-01 -3.37201352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.710281692999999 meters Centerline goodness [0,1] 0.9977975923193705 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.23, Z:-0.34 [[ 9.99420823e-01 3.37540571e-02 4.32232589e-03 9.07110315e+00] [-3.37538936e-02 9.99430169e-01 -1.10799383e-04 -2.29844266e-01] [-4.32360282e-03 -3.51601175e-05 9.99990653e-01 -3.36849191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740281693 meters Centerline goodness [0,1] 0.9973971667520055 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.23, Z:-0.34 [[ 9.99378769e-01 3.50084944e-02 4.05963855e-03 9.10293706e+00] [-3.50083608e-02 9.99387014e-01 -1.03985041e-04 -2.26180978e-01] [-4.06079040e-03 -3.82008487e-05 9.99991754e-01 -3.37736072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.770281693 meters Centerline goodness [0,1] 0.9972803392080861 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.23, Z:-0.34 [[ 9.99392562e-01 3.46878590e-02 3.35546003e-03 9.13440588e+00] [-3.46877658e-02 9.99398195e-01 -8.59998267e-05 -2.27953017e-01] [-3.35642385e-03 -3.04458246e-05 9.99994367e-01 -3.38677593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800281692999999 meters Centerline goodness [0,1] 0.9979061618665072 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.23, Z:-0.34 [[ 9.99412053e-01 3.41921938e-02 2.53799533e-03 9.16457997e+00] [-3.41921387e-02 9.99415276e-01 -6.51103076e-05 -2.26877043e-01] [-2.53873756e-03 -2.17074620e-05 9.99996777e-01 -3.40513483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.830281693 meters Centerline goodness [0,1] 0.9979567512344628 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.22, Z:-0.35 [[ 9.99418834e-01 3.40848402e-02 4.67609145e-04 9.19406212e+00] [-3.40848383e-02 9.99418943e-01 -1.19671429e-05 -2.20960664e-01] [-4.67745335e-04 -3.97819405e-06 9.99999891e-01 -3.45371421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.860281693 meters Centerline goodness [0,1] 0.9979074633806092 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.22, Z:-0.35 [[ 9.99381608e-01 3.51621874e-02 -1.47263741e-04 9.22376124e+00] [-3.51621873e-02 9.99381619e-01 3.72520682e-06 -2.17811973e-01] [ 1.47303662e-04 1.45521205e-06 9.99999989e-01 -3.46697951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.890281692999999 meters Centerline goodness [0,1] 0.9975024340684926 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.22, Z:-0.35 [[ 9.99348692e-01 3.60858827e-02 -3.41508104e-05 9.25361741e+00] [-3.60858827e-02 9.99348692e-01 7.59161697e-07 -2.16296418e-01] [ 3.41559627e-05 4.73694889e-07 9.99999999e-01 -3.46288225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.920281693 meters Centerline goodness [0,1] 0.9977955182672346 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.21, Z:-0.34 [[ 9.99302783e-01 3.73131075e-02 1.29621137e-03 9.28250182e+00] [-3.73130955e-02 9.99303623e-01 -3.34292343e-05 -2.08698946e-01] [-1.29655607e-03 -1.49597319e-05 9.99999159e-01 -3.42214041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.950281692999999 meters Centerline goodness [0,1] 0.9977322340673548 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.21, Z:-0.34 [[ 9.99281645e-01 3.78558200e-02 1.76959661e-03 9.31223271e+00] [-3.78557990e-02 9.99283211e-01 -4.53943992e-05 -2.05832232e-01] [-1.77004663e-03 -2.16277038e-05 9.99998433e-01 -3.41400699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980281692999998 meters Centerline goodness [0,1] 0.9975729188843943 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.20, Z:-0.34 [[ 9.99291382e-01 3.76312269e-02 7.89738364e-04 9.34131418e+00] [-3.76312226e-02 9.99291694e-01 -2.03559455e-05 -2.03599317e-01] [-7.89945007e-04 -9.37729927e-06 9.99999688e-01 -3.44808450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.010281693 meters Centerline goodness [0,1] 0.9975458045952693 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.20, Z:-0.35 [[ 9.99327932e-01 3.66561586e-02 1.06327383e-04 9.36995097e+00] [-3.66561585e-02 9.99327937e-01 -2.83246485e-06 -2.04696612e-01] [-1.06359752e-04 -1.06699218e-06 9.99999994e-01 -3.47361987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040281692999999 meters Centerline goodness [0,1] 0.9975458045952693 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.21, Z:-0.35 [[ 9.99329564e-01 3.66116205e-02 1.06324640e-04 9.39827163e+00] [-3.66116204e-02 9.99329570e-01 -2.94014150e-06 -2.05326721e-01] [-1.06361000e-04 -9.54547018e-07 9.99999994e-01 -3.47508568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.070281693 meters Centerline goodness [0,1] 0.997835126677241 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.21, Z:-0.35 [[ 9.99383326e-01 3.51091067e-02 -5.64280821e-04 9.42700845e+00] [-3.51091043e-02 9.99383485e-01 1.41150648e-05 -2.07912193e-01] [ 5.64428501e-04 5.70503375e-06 9.99999841e-01 -3.48779033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100281693 meters Centerline goodness [0,1] 0.9982395859845593 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.21, Z:-0.35 [[ 9.99434255e-01 3.36241589e-02 -7.65225589e-04 9.45544901e+00] [-3.36241540e-02 9.99434548e-01 1.92601042e-05 -2.08392918e-01] [ 7.65440495e-04 6.48085517e-06 9.99999707e-01 -3.49216892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.130281692999999 meters Centerline goodness [0,1] 0.9986325370710654 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.21, Z:-0.34 [[ 9.99519916e-01 3.09591704e-02 1.21142925e-03 9.48479582e+00] [-3.09591557e-02 9.99520650e-01 -3.08647077e-05 -2.12514423e-01] [-1.21180410e-03 -6.65493666e-06 9.99999266e-01 -3.44112205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.160281693 meters Centerline goodness [0,1] 0.9985912486659552 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.22, Z:-0.34 [[ 9.99572365e-01 2.91593706e-02 2.19514355e-03 9.51293983e+00] [-2.91593184e-02 9.99574775e-01 -5.58133482e-05 -2.15403787e-01] [-2.19583760e-03 -8.21940903e-06 9.99997589e-01 -3.42649272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.190281693 meters Centerline goodness [0,1] 0.9993447335602106 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.22, Z:-0.35 [[ 9.99690997e-01 2.48189647e-02 1.38929941e-03 9.54191518e+00] [-2.48189398e-02 9.99691962e-01 -3.51611830e-05 -2.22668654e-01] [-1.38974412e-03 6.69379565e-07 9.99999034e-01 -3.45337985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.220281692999999 meters Centerline goodness [0,1] 0.9994464080398586 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.23, Z:-0.35 [[ 9.99734924e-01 2.29846495e-02 1.33681160e-03 9.57237118e+00] [-2.29846247e-02 9.99735818e-01 -3.38991923e-05 -2.26639967e-01] [-1.33723760e-03 3.16409340e-06 9.99999106e-01 -3.46173178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.250281693 meters Centerline goodness [0,1] 0.9998937232979787 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.24, Z:-0.35 [[ 9.99811164e-01 1.93342424e-02 1.95550959e-03 9.60261188e+00] [-1.93341825e-02 9.99813076e-01 -4.95529131e-05 -2.35744884e-01] [-1.95610212e-03 1.17353765e-05 9.99998087e-01 -3.45916576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.280281693 meters Centerline goodness [0,1] 0.9998721718010993 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.24, Z:-0.34 [[ 9.99832327e-01 1.81339131e-02 2.54559062e-03 9.63258986e+00] [-1.81338074e-02 9.99835567e-01 -6.45796941e-05 -2.39162764e-01] [-2.54634313e-03 1.84076156e-05 9.99996758e-01 -3.44287174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.310281692999999 meters Centerline goodness [0,1] 0.999657988115087 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.24, Z:-0.34 [[ 9.99851059e-01 1.69725219e-02 3.12929674e-03 9.66284653e+00] [-1.69723565e-02 9.99855956e-01 -7.93878734e-05 -2.43246463e-01] [-3.13019340e-03 2.62645093e-05 9.99995101e-01 -3.43161593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.340281693 meters Centerline goodness [0,1] 0.9996617193115988 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.26, Z:-0.34 [[ 9.99891574e-01 1.43231929e-02 3.41854405e-03 9.69250839e+00] [-1.43229802e-02 9.99897417e-01 -8.67062770e-05 -2.55358281e-01] [-3.41943528e-03 3.77331371e-05 9.99994153e-01 -3.42484272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.370281692999999 meters Centerline goodness [0,1] 0.9996192168560005 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.26, Z:-0.34 [[ 9.99910611e-01 1.30006739e-02 3.12290081e-03 9.72408165e+00] [-1.30004899e-02 9.99915487e-01 -7.92152219e-05 -2.59433449e-01] [-3.12366674e-03 3.86089005e-05 9.99995121e-01 -3.43658877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.400281692999998 meters Centerline goodness [0,1] 0.9997040732207403 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.26, Z:-0.34 [[ 9.99917242e-01 1.26410505e-02 2.39014428e-03 9.75502734e+00] [-1.26409416e-02 9.99920098e-01 -6.06544724e-05 -2.63023985e-01] [-2.39072004e-03 3.04357784e-05 9.99997142e-01 -3.44889436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.430281693 meters Centerline goodness [0,1] 0.9996368374954605 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.27, Z:-0.35 [[ 9.99901690e-01 1.37785289e-02 2.60040245e-03 9.78613041e+00] [-1.37784037e-02 9.99905071e-01 -6.60574895e-05 -2.65907890e-01] [-2.60106577e-03 3.02216006e-05 9.99996617e-01 -3.45269940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.460281692999999 meters Centerline goodness [0,1] 0.999808302626254 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.27, Z:-0.34 [[ 9.99887739e-01 1.46452691e-02 3.16631258e-03 9.81749557e+00] [-1.46450876e-02 9.99892752e-01 -8.05255699e-05 -2.66481548e-01] [-3.16715231e-03 3.41456051e-05 9.99994984e-01 -3.43970492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.490281693 meters Centerline goodness [0,1] 0.9997668651844944 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.27, Z:-0.34 [[ 9.99865984e-01 1.58896467e-02 3.94127730e-03 9.84841653e+00] [-1.58893749e-02 9.99873751e-01 -1.00269567e-04 -2.70035246e-01] [-3.94237297e-03 3.76316966e-05 9.99992228e-01 -3.42728590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520281693 meters Centerline goodness [0,1] 0.9997227258184921 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.27, Z:-0.34 [[ 9.99826564e-01 1.78810484e-02 5.20673531e-03 9.87980251e+00] [-1.78805978e-02 9.99840120e-01 -1.33080663e-04 -2.70538097e-01] [-5.20828248e-03 3.99580417e-05 9.99986436e-01 -3.40337264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.550281692999999 meters Centerline goodness [0,1] 0.9997043481933563 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.27, Z:-0.34 [[ 9.99806247e-01 1.90578477e-02 4.92606038e-03 9.91053329e+00] [-1.90574583e-02 9.99818382e-01 -1.25980646e-04 -2.72041438e-01] [-4.92756664e-03 3.20780462e-05 9.99987859e-01 -3.40979699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.580281693 meters Centerline goodness [0,1] 0.9997855089871734 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.27, Z:-0.34 [[ 9.99795657e-01 1.96973287e-02 4.54527999e-03 9.94233379e+00] [-1.96970007e-02 9.99805988e-01 -1.16912754e-04 -2.73795045e-01] [-4.54670102e-03 2.73604808e-05 9.99989663e-01 -3.41927520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.610281693 meters Centerline goodness [0,1] 0.9998094512195121 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.28, Z:-0.35 [[ 9.99777892e-01 2.09368303e-02 2.41139840e-03 9.97352800e+00] [-2.09367420e-02 9.99780800e-01 -6.18769848e-05 -2.77682435e-01] [-2.41216533e-03 1.13764154e-05 9.99997091e-01 -3.46360445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.640281692999999 meters Centerline goodness [0,1] 0.999570833869791 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.28, Z:-0.35 [[ 9.99772206e-01 2.12700992e-02 1.76624234e-03 1.00044902e+01] [-2.12700519e-02 9.99773766e-01 -4.55722675e-05 -2.79903865e-01] [-1.76681208e-03 7.99382019e-06 9.99998439e-01 -3.47234376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.670281693 meters Centerline goodness [0,1] 0.9997672351771129 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.28, Z:-0.35 [[ 9.99749032e-01 2.23454062e-02 1.59853275e-03 1.00352079e+01] [-2.23453687e-02 9.99750310e-01 -4.13123888e-05 -2.82352689e-01] [-1.59905676e-03 5.58221702e-06 9.99998721e-01 -3.47670342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.700281692999999 meters Centerline goodness [0,1] 0.9994210853577478 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.28, Z:-0.35 [[ 9.99632623e-01 2.69863137e-02 2.52142022e-03 1.00660902e+01] [-2.69862350e-02 9.99635803e-01 -6.52577430e-05 -2.77503002e-01] [-2.52226299e-03 -2.80986965e-06 9.99996819e-01 -3.45156692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.730281692999998 meters Centerline goodness [0,1] 0.998983632244267 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.27, Z:-0.35 [[ 9.99526569e-01 3.06427015e-02 2.76800274e-03 1.00960610e+01] [-3.06426205e-02 9.99530402e-01 -7.16667926e-05 -2.72014464e-01] [-2.76889896e-03 -1.31859943e-05 9.99996167e-01 -3.45246240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.760281693 meters Centerline goodness [0,1] 0.9983461261184852 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.27, Z:-0.35 [[ 9.99400019e-01 3.45110429e-02 2.93081792e-03 1.01262848e+01] [-3.45109690e-02 9.99404316e-01 -7.57943469e-05 -2.67661890e-01] [-2.93168782e-03 -2.53964947e-05 9.99995702e-01 -3.45529315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.790281692999999 meters Centerline goodness [0,1] 0.9970640550328954 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.25, Z:-0.35 [[ 9.99175052e-01 4.04398814e-02 3.71915803e-03 1.01557347e+01] [-4.04398031e-02 9.99181972e-01 -9.62918163e-05 -2.54950913e-01] [-3.72000968e-03 -5.41896377e-05 9.99993079e-01 -3.45922071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.820281693 meters Centerline goodness [0,1] 0.9969748894671151 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.25, Z:-0.35 [[ 9.99107694e-01 4.20965276e-02 3.42013643e-03 1.01854882e+01] [-4.20964714e-02 9.99113547e-01 -8.84582081e-05 -2.50841649e-01] [-3.42082842e-03 -5.55963989e-05 9.99994147e-01 -3.46951979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.850281693 meters Centerline goodness [0,1] 0.9972212050061392 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.25, Z:-0.35 [[ 9.99102652e-01 4.23103696e-02 1.92939882e-03 1.02150483e+01] [-4.23103521e-02 9.99104515e-01 -4.99437247e-05 -2.49713121e-01] [-1.92978421e-03 -3.17346355e-05 9.99998137e-01 -3.50158236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.880281692999999 meters Centerline goodness [0,1] 0.9977796754910333 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.25, Z:-0.35 [[ 9.99142166e-01 4.13926091e-02 1.25852640e-03 1.02443118e+01] [-4.13926009e-02 9.99142959e-01 -3.25916141e-05 -2.50838961e-01] [-1.25879684e-03 -1.95300250e-05 9.99999208e-01 -3.50695497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.910281693 meters Centerline goodness [0,1] 0.9978219090326713 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.25, Z:-0.35 [[ 9.99194176e-01 4.01276898e-02 8.76115322e-04 1.02740278e+01] [-4.01276853e-02 9.99194560e-01 -2.27039677e-05 -2.51018974e-01] [-8.76320721e-04 -1.24708077e-05 9.99999616e-01 -3.51425941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.940281693 meters Centerline goodness [0,1] 0.998276999000234 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.25, Z:-0.35 [[ 9.99254123e-01 3.86097354e-02 6.96499776e-04 1.03033641e+01] [-3.86097322e-02 9.99254366e-01 -1.80062109e-05 -2.50223569e-01] [-6.96675658e-04 -8.89888933e-06 9.99999757e-01 -3.52004602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.970281692999999 meters Centerline goodness [0,1] 0.9983154702996357 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.25, Z:-0.35 [[ 9.99345940e-01 3.61230365e-02 1.67859771e-03 1.03336327e+01] [-3.61230148e-02 9.99347350e-01 -4.32928318e-05 -2.48234418e-01] [-1.67906604e-03 -1.73714940e-05 9.99998590e-01 -3.50358329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.000281693 meters Centerline goodness [0,1] 0.9982935153583617 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.25, Z:-0.35 [[ 9.99391532e-01 3.47230232e-02 3.29807654e-03 1.03623012e+01] [-3.47229318e-02 9.99396974e-01 -8.49853538e-05 -2.46745679e-01] [-3.29903866e-03 -2.95852439e-05 9.99994558e-01 -3.48047193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.030281693 meters Centerline goodness [0,1] 0.9985257040297423 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.25, Z:-0.35 [[ 9.99427866e-01 3.35510408e-02 4.27414786e-03 1.03931139e+01] [-3.35508772e-02 9.99437005e-01 -1.09996546e-04 -2.46397107e-01] [-4.27543203e-03 -3.34677963e-05 9.99990860e-01 -3.46174442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.060281692999999 meters Centerline goodness [0,1] 0.9987324389986268 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.25, Z:-0.35 [[ 9.99531445e-01 3.02135714e-02 4.90200072e-03 1.04246992e+01] [-3.02133161e-02 9.99543466e-01 -1.26148457e-04 -2.49719216e-01] [-4.90357418e-03 -2.20163477e-05 9.99987977e-01 -3.45614648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.090281693 meters Centerline goodness [0,1] 0.9990393236838735 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.25, Z:-0.35 [[ 9.99612299e-01 2.74057037e-02 4.91716463e-03 1.04563433e+01] [-2.74054123e-02 9.99624393e-01 -1.26649428e-04 -2.53652554e-01] [-4.91878863e-03 -8.15659829e-06 9.99987903e-01 -3.46363350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.120281692999999 meters Centerline goodness [0,1] 0.9995145528609721 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.26, Z:-0.35 [[ 9.99766363e-01 2.08777994e-02 5.59793155e-03 1.04868550e+01] [-2.08773183e-02 9.99782035e-01 -1.44375463e-04 -2.61052139e-01] [-5.59972564e-03 2.74719332e-05 9.99984321e-01 -3.45844594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.150281692999998 meters Centerline goodness [0,1] 0.9995499164130481 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.27, Z:-0.34 [[ 9.99824294e-01 1.74792169e-02 6.77186558e-03 1.05188849e+01] [-1.74784277e-02 9.99847225e-01 -1.75712194e-04 -2.65350829e-01] [-6.77390232e-03 5.73197569e-05 9.99977055e-01 -3.44318387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.180281693 meters Centerline goodness [0,1] 0.9993697214168663 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.28, Z:-0.34 [[ 9.99884302e-01 1.29845260e-02 7.92371771e-03 1.05494985e+01] [-1.29832948e-02 9.99915692e-01 -2.06804923e-04 -2.75567122e-01] [-7.92573494e-03 1.03905034e-04 9.99968585e-01 -3.42339355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.210281692999999 meters Centerline goodness [0,1] 0.9996609235594549 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.28, Z:-0.34 [[ 9.99900780e-01 1.20103548e-02 7.36077835e-03 1.05818389e+01] [-1.20092604e-02 9.99927868e-01 -1.92861504e-04 -2.75390147e-01] [-7.36256373e-03 1.04444864e-04 9.99972891e-01 -3.43454050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.240281693 meters Centerline goodness [0,1] 0.999216383929517 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.28, Z:-0.35 [[ 9.99907927e-01 1.19214273e-02 6.48202178e-03 1.06141110e+01] [-1.19205711e-02 9.99928933e-01 -1.70715457e-04 -2.81104927e-01] [-6.48359630e-03 9.34303374e-05 9.99978977e-01 -3.45050942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.270281693 meters Centerline goodness [0,1] 0.9994435765189291 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.28, Z:-0.35 [[ 9.99908783e-01 1.23078522e-02 5.56256818e-03 1.06475168e+01] [-1.23072244e-02 9.99924252e-01 -1.47074716e-04 -2.76767443e-01] [-5.56395700e-03 7.86015252e-05 9.99984518e-01 -3.46858505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.300281692999999 meters Centerline goodness [0,1] 0.9995502634171414 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.27, Z:-0.35 [[ 9.99885522e-01 1.42502963e-02 5.08640694e-03 1.06799669e+01] [-1.42497923e-02 9.99898457e-01 -1.35318343e-04 -2.73107264e-01] [-5.08781878e-03 6.28226097e-05 9.99987055e-01 -3.47315916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.330281693 meters Centerline goodness [0,1] 0.9997022353616777 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.27, Z:-0.35 [[ 9.99869900e-01 1.52789726e-02 5.17065066e-03 1.07111979e+01] [-1.52784612e-02 9.99883268e-01 -1.38385086e-04 -2.72839701e-01] [-5.17216146e-03 5.93674963e-05 9.99986623e-01 -3.47481002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.360281693 meters Centerline goodness [0,1] 0.999597133285272 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.27, Z:-0.35 [[ 9.99845230e-01 1.63843347e-02 6.40862992e-03 1.07427170e+01] [-1.63835671e-02 9.99865766e-01 -1.72265551e-04 -2.72119298e-01] [-6.41059211e-03 6.72426717e-05 9.99979450e-01 -3.46027584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.390281692999999 meters Centerline goodness [0,1] 0.9995327995922615 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.27, Z:-0.34 [[ 9.99828415e-01 1.68036803e-02 7.79591421e-03 1.07746930e+01] [-1.68025467e-02 9.99858805e-01 -2.10881964e-04 -2.73599440e-01] [-7.79835705e-03 7.98545677e-05 9.99969589e-01 -3.43350795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.420281693 meters Centerline goodness [0,1] 0.9992508080570243 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.27, Z:-0.34 [[ 9.99800335e-01 1.73920333e-02 9.83907362e-03 1.08076236e+01] [-1.73902373e-02 9.99848742e-01 -2.68068835e-04 -2.71603337e-01] [-9.84224765e-03 9.69114863e-05 9.99951559e-01 -3.41433332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.450281692999999 meters Centerline goodness [0,1] 0.9991522010978996 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.27, Z:-0.34 [[ 9.99781568e-01 1.79975459e-02 1.06256932e-02 1.08399160e+01] [-1.79954646e-02 9.99838026e-01 -2.91456030e-04 -2.73372924e-01] [-1.06292176e-02 1.00178081e-04 9.99943503e-01 -3.40242323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.480281692999998 meters Centerline goodness [0,1] 0.9994497005100853 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.27, Z:-0.34 [[ 9.99769187e-01 1.94129913e-02 9.20377514e-03 1.08709664e+01] [-1.94114773e-02 9.99811547e-01 -2.53805112e-04 -2.74368167e-01] [-9.20696778e-03 7.50876583e-05 9.99957612e-01 -3.42314715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.510281693 meters Centerline goodness [0,1] 0.9994490241369811 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.27, Z:-0.35 [[ 9.99756950e-01 2.06965482e-02 7.59570052e-03 1.09032090e+01] [-2.06955465e-02 9.99785802e-01 -2.10458930e-04 -2.73945681e-01] [-7.59842931e-03 5.32106049e-05 9.99971130e-01 -3.45823894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.540281692999999 meters Centerline goodness [0,1] 0.999249635537261 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.27, Z:-0.35 [[ 9.99687117e-01 2.41593516e-02 6.48020512e-03 1.09359262e+01] [-2.41586895e-02 9.99708120e-01 -1.80454264e-04 -2.70565741e-01] [-6.48267334e-03 2.38445403e-05 9.99978987e-01 -3.47987730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.570281693 meters Centerline goodness [0,1] 0.9991675915649278 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.27, Z:-0.35 [[ 9.99628661e-01 2.63702901e-02 6.86637990e-03 1.09676131e+01] [-2.63695915e-02 9.99652243e-01 -1.92266136e-04 -2.69283130e-01] [-6.86906219e-03 1.11311066e-05 9.99976408e-01 -3.47143514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.600281693 meters Centerline goodness [0,1] 0.998934583422118 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.27, Z:-0.35 [[ 9.99559129e-01 2.88187153e-02 7.14347640e-03 1.09987635e+01] [-2.88180169e-02 9.99584655e-01 -2.00701422e-04 -2.67586893e-01] [-7.14629334e-03 -5.24788480e-06 9.99974465e-01 -3.46513655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.630281692999999 meters Centerline goodness [0,1] 0.9988381349915012 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.26, Z:-0.35 [[ 9.99401921e-01 3.34984907e-02 8.58200751e-03 1.10298954e+01] [-3.34976496e-02 9.99438767e-01 -2.41768228e-04 -2.63178305e-01] [-8.58528987e-03 -4.58534490e-05 9.99963145e-01 -3.45778952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.660281693 meters Centerline goodness [0,1] 0.998323820839787 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.26, Z:-0.35 [[ 9.99308701e-01 3.61650740e-02 8.61438161e-03 1.10607682e+01] [-3.61643218e-02 9.99345827e-01 -2.43127556e-04 -2.59195354e-01] [-8.61753905e-03 -6.85737862e-05 9.99962866e-01 -3.45043800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.690281693 meters Centerline goodness [0,1] 0.9976608940106011 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.25, Z:-0.35 [[ 9.99125963e-01 4.10004766e-02 8.14066417e-03 1.10923682e+01] [-4.09999610e-02 9.99159122e-01 -2.30279619e-04 -2.53171255e-01] [-8.14326044e-03 -1.03688568e-04 9.99966838e-01 -3.47388365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.720281692999999 meters Centerline goodness [0,1] 0.9978983568972105 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.25, Z:-0.35 [[ 9.99039519e-01 4.32543014e-02 7.00751849e-03 1.11238648e+01] [-4.32539738e-02 9.99064089e-01 -1.98370394e-04 -2.51275075e-01] [-7.00954045e-03 -1.04923158e-04 9.99975427e-01 -3.49314217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.750281693 meters Centerline goodness [0,1] 0.9979868386873323 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.25, Z:-0.35 [[ 9.98977283e-01 4.46584862e-02 7.07158842e-03 1.11542010e+01] [-4.46581869e-02 9.99002305e-01 -2.00305862e-04 -2.50699955e-01] [-7.07347849e-03 -1.15703312e-04 9.99974976e-01 -3.49308210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.780281693 meters Centerline goodness [0,1] 0.9977669465140747 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.25, Z:-0.35 [[ 9.98923936e-01 4.58013073e-02 7.29452770e-03 1.11843897e+01] [-4.58010193e-02 9.98950561e-01 -2.06620715e-04 -2.49275893e-01] [-7.29633604e-03 -1.27698426e-04 9.99973373e-01 -3.49006158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.810281692999999 meters Centerline goodness [0,1] 0.9969208399264423 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.24, Z:-0.35 [[ 9.98853433e-01 4.71048882e-02 8.54096782e-03 1.12136717e+01] [-4.71045413e-02 9.98889936e-01 -2.41886171e-04 -2.44950351e-01] [-8.54288081e-03 -1.60709539e-04 9.99963496e-01 -3.46337624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.840281693 meters Centerline goodness [0,1] 0.996812173247758 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.25, Z:-0.35 [[ 9.98804996e-01 4.80881854e-02 8.72385763e-03 1.12441449e+01] [-4.80878615e-02 9.98843079e-01 -2.47002215e-04 -2.45850088e-01] [-8.72564271e-03 -1.72804612e-04 9.99961916e-01 -3.46459940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.870281692999999 meters Centerline goodness [0,1] 0.996470112913858 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.24, Z:-0.35 [[ 9.98648472e-01 5.12427095e-02 8.68417646e-03 1.12741979e+01] [-5.12425081e-02 9.98686209e-01 -2.45837652e-04 -2.41358376e-01] [-8.68536465e-03 -1.99493587e-04 9.99962262e-01 -3.47051544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900281692999998 meters Centerline goodness [0,1] 0.9957414189592028 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.24, Z:-0.35 [[ 9.98547794e-01 5.31155925e-02 9.00208093e-03 1.13045826e+01] [-5.31154528e-02 9.98588345e-01 -2.54774444e-04 -2.37755741e-01] [-9.00290560e-03 -2.23745146e-04 9.99959448e-01 -3.46348647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.930281693 meters Centerline goodness [0,1] 0.9957414189592028 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.24, Z:-0.35 [[ 9.98549033e-01 5.30922960e-02 9.00208346e-03 1.13337433e+01] [-5.30921560e-02 9.98589584e-01 -2.54685088e-04 -2.38535818e-01] [-9.00290859e-03 -2.23624472e-04 9.99959448e-01 -3.46499583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960281692999999 meters Centerline goodness [0,1] 0.9952915997859818 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.24, Z:-0.35 [[ 9.98458842e-01 5.46254877e-02 9.79784821e-03 1.13632785e+01] [-5.46253981e-02 9.98506880e-01 -2.76958059e-04 -2.36778376e-01] [-9.79834782e-03 -2.58680137e-04 9.99951962e-01 -3.45975517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.990281693 meters Centerline goodness [0,1] 0.9950009696395096 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.23, Z:-0.35 [[ 9.98437203e-01 5.49111489e-02 1.03882946e-02 1.13931042e+01] [-5.49110645e-02 9.98491206e-01 -2.93564655e-04 -2.34012307e-01] [-1.03887408e-02 -2.77326443e-04 9.99945997e-01 -3.46056826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020281693 meters Centerline goodness [0,1] 0.9953921988855551 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.24, Z:-0.35 [[ 9.98525539e-01 5.34776618e-02 9.32132628e-03 1.14232028e+01] [-5.34775311e-02 9.98569018e-01 -2.63453724e-04 -2.36307082e-01] [-9.32207653e-03 -2.35416244e-04 9.99956521e-01 -3.48584027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.050281693000002 meters Centerline goodness [0,1] 0.9958036622583927 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.24, Z:-0.35 [[ 9.98639742e-01 5.16329622e-02 7.25960986e-03 1.14530591e+01] [-5.16328341e-02 9.98666115e-01 -2.05182310e-04 -2.39143204e-01] [-7.26052054e-03 -1.69931023e-04 9.99973628e-01 -3.53101501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080281693 meters Centerline goodness [0,1] 0.9968851339819081 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.25, Z:-0.36 [[ 9.98754607e-01 4.95601346e-02 5.74704649e-03 1.14829567e+01] [-4.95600201e-02 9.98771134e-01 -1.62425278e-04 -2.45248787e-01] [-5.74803396e-03 -1.22600745e-04 9.99983472e-01 -3.56512282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.110281693 meters Centerline goodness [0,1] 0.9977509317568436 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.25, Z:-0.36 [[ 9.98925913e-01 4.60614956e-02 5.03577118e-03 1.15118246e+01] [-4.60613634e-02 9.98938602e-01 -1.42273815e-04 -2.51667361e-01] [-5.03697957e-03 -8.98334858e-05 9.99987310e-01 -3.57216868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.140281693000002 meters Centerline goodness [0,1] 0.9979733517312751 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.25, Z:-0.36 [[ 9.98956661e-01 4.52774594e-02 5.96171115e-03 1.15411508e+01] [-4.52772613e-02 9.98974445e-01 -1.68275490e-04 -2.54015070e-01] [-5.96321617e-03 -1.01830032e-04 9.99982215e-01 -3.55550514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.170281693 meters Centerline goodness [0,1] 0.9976733761659801 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.25, Z:-0.35 [[ 9.98948486e-01 4.52014813e-02 7.66481226e-03 1.15704818e+01] [-4.52011531e-02 9.98977882e-01 -2.16136247e-04 -2.54625755e-01] [-7.66674760e-03 -1.30549376e-04 9.99970602e-01 -3.52872437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.200281693 meters Centerline goodness [0,1] 0.9976969826207485 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.25, Z:-0.35 [[ 9.98932861e-01 4.55419157e-02 7.68587144e-03 1.16004409e+01] [-4.55415969e-02 9.98962420e-01 -2.16579935e-04 -2.52588449e-01] [-7.68776020e-03 -1.33678045e-04 9.99970440e-01 -3.52787049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.230281693000002 meters Centerline goodness [0,1] 0.9976212416689882 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.25, Z:-0.35 [[ 9.98931065e-01 4.57352127e-02 6.70958987e-03 1.16300406e+01] [-4.57349747e-02 9.98953591e-01 -1.88981424e-04 -2.53773606e-01] [-6.71121200e-03 -1.18083509e-04 9.99977473e-01 -3.54867765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.260281693 meters Centerline goodness [0,1] 0.9979120504516789 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.25, Z:-0.36 [[ 9.98899911e-01 4.67197389e-02 4.02904906e-03 1.16592894e+01] [-4.67196614e-02 9.98908034e-01 -1.13423049e-04 -2.50146292e-01] [-4.02994857e-03 -7.49375336e-05 9.99991877e-01 -3.59379144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.290281693 meters Centerline goodness [0,1] 0.9978171078819527 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.25, Z:-0.36 [[ 9.98909851e-01 4.65122622e-02 3.96468568e-03 1.16876462e+01] [-4.65121854e-02 9.98917716e-01 -1.11608425e-04 -2.51037207e-01] [-3.96558593e-03 -7.29194401e-05 9.99992134e-01 -3.59580087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320281693000002 meters Centerline goodness [0,1] 0.9980945856258965 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.25, Z:-0.36 [[ 9.98950917e-01 4.55503265e-02 4.71526200e-03 1.17169882e+01] [-4.55502085e-02 9.98962042e-01 -1.32464035e-04 -2.53012189e-01] [-4.71640154e-03 -8.24560983e-05 9.99988874e-01 -3.58338987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.350281693 meters Centerline goodness [0,1] 0.9981102567444285 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.26, Z:-0.35 [[ 9.99129854e-01 4.10384642e-02 7.44167117e-03 1.17466291e+01] [-4.10380470e-02 9.99157563e-01 -2.08815012e-04 -2.59608647e-01] [-7.44397147e-03 -9.67583384e-05 9.99972289e-01 -3.54124891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380281693 meters Centerline goodness [0,1] 0.9983632330454634 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.26, Z:-0.35 [[ 9.99233489e-01 3.82135970e-02 8.49440511e-03 1.17771283e+01] [-3.82129522e-02 9.99269590e-01 -2.38255878e-04 -2.64118201e-01] [-8.49730532e-03 -8.65230442e-05 9.99963894e-01 -3.52271711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.410281693 meters Centerline goodness [0,1] 0.9984811209755055 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.27, Z:-0.35 [[ 9.99310614e-01 3.60247863e-02 8.97283984e-03 1.18079293e+01] [-3.60239730e-02 9.99350894e-01 -2.52302360e-04 -2.67555605e-01] [-8.97610466e-03 -7.11089132e-05 9.99959711e-01 -3.51157321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.440281693 meters Centerline goodness [0,1] 0.9987246524677975 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.27, Z:-0.35 [[ 9.99404213e-01 3.34986971e-02 8.30998304e-03 1.18396242e+01] [-3.34979022e-02 9.99438760e-01 -2.34863355e-04 -2.69593437e-01] [-8.31318676e-03 -4.36435724e-05 9.99965444e-01 -3.52179143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.470281693 meters Centerline goodness [0,1] 0.9986271986271986 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.27, Z:-0.35 [[ 9.99413512e-01 3.30981258e-02 8.78328555e-03 1.18709222e+01] [-3.30972141e-02 9.99452106e-01 -2.49172686e-04 -2.69230910e-01] [-8.78672039e-03 -4.16757337e-05 9.99961395e-01 -3.51878470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500281693 meters Centerline goodness [0,1] 0.9987747205503009 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.27, Z:-0.35 [[ 9.99426097e-01 3.26116519e-02 9.16284291e-03 1.19021408e+01] [-3.26106373e-02 9.99468098e-01 -2.60151809e-04 -2.69931554e-01] [-9.16645315e-03 -3.88036401e-05 9.99957986e-01 -3.51253732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.530281693000003 meters Centerline goodness [0,1] 0.9989031550422608 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.27, Z:-0.35 [[ 9.99449536e-01 3.20595374e-02 8.53297028e-03 1.19335864e+01] [-3.20586323e-02 9.99485960e-01 -2.42876079e-04 -2.70932766e-01] [-8.53637049e-03 -3.08129714e-05 9.99963564e-01 -3.51893199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560281693 meters Centerline goodness [0,1] 0.9987605248536137 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.27, Z:-0.35 [[ 9.99488637e-01 3.09729427e-02 7.94619336e-03 1.19646153e+01] [-3.09721172e-02 9.99520223e-01 -2.26950077e-04 -2.73373841e-01] [-7.94941027e-03 -1.92764095e-05 9.99968403e-01 -3.53447209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.590281693 meters Centerline goodness [0,1] 0.9986393970153122 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.28, Z:-0.35 [[ 9.99541987e-01 2.90672798e-02 8.42075483e-03 1.19955066e+01] [-2.90662835e-02 9.99577457e-01 -2.40705615e-04 -2.77667888e-01] [-8.42419336e-03 -4.16467848e-06 9.99964516e-01 -3.54301628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620281693000003 meters Centerline goodness [0,1] 0.9984616042049486 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.28, Z:-0.35 [[ 9.99569256e-01 2.79461341e-02 8.96194263e-03 1.20263304e+01] [-2.79449541e-02 9.99609431e-01 -2.56890148e-04 -2.81496260e-01] [-8.96562145e-03 6.33841907e-06 9.99959808e-01 -3.53024472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.650281693 meters Centerline goodness [0,1] 0.9981882885797476 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.29, Z:-0.35 [[ 9.99602173e-01 2.65419803e-02 9.54043699e-03 1.20585194e+01] [-2.65405641e-02 9.99647699e-01 -2.75042596e-04 -2.85155703e-01] [-9.54437607e-03 2.17245969e-05 9.99954451e-01 -3.52998107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680281693 meters Centerline goodness [0,1] 0.9982450132694118 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.29, Z:-0.35 [[ 9.99640997e-01 2.53962363e-02 8.53867598e-03 1.20907130e+01] [-2.53950485e-02 9.99677463e-01 -2.47524067e-04 -2.88708402e-01] [-8.54220812e-03 3.05951147e-05 9.99963514e-01 -3.53061967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.710281693000002 meters Centerline goodness [0,1] 0.9985882654916473 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.29, Z:-0.35 [[ 9.99653702e-01 2.51136000e-02 7.86025986e-03 1.21222132e+01] [-2.51125745e-02 9.99684603e-01 -2.29152015e-04 -2.90728363e-01] [-7.86353559e-03 3.16812981e-05 9.99969081e-01 -3.54138667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740281693 meters Centerline goodness [0,1] 0.9981070383754947 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.29, Z:-0.35 [[ 9.99661094e-01 2.46634433e-02 8.33135062e-03 1.21543266e+01] [-2.46622636e-02 9.99695810e-01 -2.44315518e-04 -2.93550786e-01] [-8.33484197e-03 3.87627523e-05 9.99965264e-01 -3.53149727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.770281693 meters Centerline goodness [0,1] 0.9980454067057586 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.30, Z:-0.35 [[ 9.99656445e-01 2.46316184e-02 8.95961760e-03 1.21860165e+01] [-2.46302393e-02 9.99696595e-01 -2.64251774e-04 -2.95622106e-01] [-8.96340815e-03 4.34834641e-05 9.99959827e-01 -3.52728034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800281693000002 meters Centerline goodness [0,1] 0.9977545071790996 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.30, Z:-0.35 [[ 9.99661150e-01 2.43391772e-02 9.22983146e-03 1.22185799e+01] [-2.43376862e-02 9.99703757e-01 -2.73842563e-04 -2.99239314e-01] [-9.23376229e-03 4.91170296e-05 9.99957367e-01 -3.52018685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.830281693 meters Centerline goodness [0,1] 0.9977631522346969 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.30, Z:-0.35 [[ 9.99678019e-01 2.36698811e-02 9.14301459e-03 1.22513671e+01] [-2.36683747e-02 9.99719828e-01 -2.72948157e-04 -3.03250849e-01] [-9.14691362e-03 5.64599783e-05 9.99958165e-01 -3.52164514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.860281693 meters Centerline goodness [0,1] 0.9982734365008313 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.30, Z:-0.35 [[ 9.99684710e-01 2.37681497e-02 8.09664174e-03 1.22835624e+01] [-2.37669607e-02 9.99717496e-01 -2.43060025e-04 -3.04991345e-01] [-8.10013150e-03 5.05508251e-05 9.99967192e-01 -3.54307392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.890281693000002 meters Centerline goodness [0,1] 0.9983951072458739 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.30, Z:-0.36 [[ 9.99647836e-01 2.55525431e-02 7.16045045e-03 1.23153679e+01] [-2.55516524e-02 9.99673480e-01 -2.15857591e-04 -3.02150295e-01] [-7.16362813e-03 3.28202328e-05 9.99974340e-01 -3.55638710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920281693 meters Centerline goodness [0,1] 0.9985934103405651 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.30, Z:-0.36 [[ 9.99582264e-01 2.83195460e-02 5.77063709e-03 1.23471461e+01] [-2.83190117e-02 9.99598921e-01 -1.74296551e-04 -2.98659615e-01] [-5.77325861e-03 1.08050020e-05 9.99983335e-01 -3.58524963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.950281693 meters Centerline goodness [0,1] 0.9991727999660636 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.29, Z:-0.36 [[ 9.99447089e-01 3.30352965e-02 3.76625424e-03 1.23780940e+01] [-3.30351004e-02 9.99454186e-01 -1.14283699e-04 -2.91016213e-01] [-3.76797396e-03 -1.01980773e-05 9.99992901e-01 -3.62914107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980281693000002 meters Centerline goodness [0,1] 0.9989670977598932 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.29, Z:-0.36 [[ 9.99398269e-01 3.44266152e-02 4.23173542e-03 1.24083923e+01] [-3.44263798e-02 9.99407228e-01 -1.28471069e-04 -2.90741608e-01] [-4.23364979e-03 -1.72895669e-05 9.99991038e-01 -3.61781739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.010281693 meters Centerline goodness [0,1] 0.9982068786726581 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.29, Z:-0.35 [[ 9.99404990e-01 3.39267557e-02 6.21627988e-03 1.24390917e+01] [-3.39262381e-02 9.99424322e-01 -1.88719767e-04 -2.93881732e-01] [-6.21910395e-03 -2.22875151e-05 9.99980661e-01 -3.51506634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040281693 meters Centerline goodness [0,1] 0.9988266916972438 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.30, Z:-0.36 [[ 9.99467812e-01 3.18677483e-02 6.96702988e-03 1.24696178e+01] [-3.18670480e-02 9.99492094e-01 -2.11533223e-04 -2.99103607e-01] [-6.97023237e-03 -1.05980282e-05 9.99975708e-01 -3.57868147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.070281693000002 meters Centerline goodness [0,1] 0.9988177382257475 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.31, Z:-0.36 [[ 9.99523801e-01 3.00512815e-02 7.00651009e-03 1.25005784e+01] [-3.00505278e-02 9.99548358e-01 -2.12838510e-04 -3.05375317e-01] [-7.00974172e-03 2.18783079e-06 9.99975431e-01 -3.58760938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.100281693 meters Centerline goodness [0,1] 0.9981370765098345 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.31, Z:-0.36 [[ 9.99592819e-01 2.80552611e-02 5.20563554e-03 1.25312564e+01] [-2.80548175e-02 9.99606374e-01 -1.58231157e-04 -3.12475958e-01] [-5.20802569e-03 1.21235724e-05 9.99986438e-01 -3.56055417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.130281693 meters Centerline goodness [0,1] 0.9984489778333082 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.32, Z:-0.36 [[ 9.99617473e-01 2.72363148e-02 4.80528024e-03 1.25613436e+01] [-2.72359238e-02 9.99629023e-01 -1.46803699e-04 -3.16266147e-01] [-4.80749598e-03 1.58712963e-05 9.99988444e-01 -3.63382146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.160281693 meters Centerline goodness [0,1] 0.9980870499731327 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.32, Z:-0.36 [[ 9.99635051e-01 2.65294301e-02 5.09451388e-03 1.25924249e+01] [-2.65289811e-02 9.99648033e-01 -1.55703469e-04 -3.20492671e-01] [-5.09685151e-03 2.04943822e-05 9.99987011e-01 -3.62925984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.190281693 meters Centerline goodness [0,1] 0.9982440361471583 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.33, Z:-0.36 [[ 9.99649362e-01 2.57637125e-02 6.11434028e-03 1.26233272e+01] [-2.57630504e-02 9.99668060e-01 -1.87038904e-04 -3.25302274e-01] [-6.11712951e-03 2.94492644e-05 9.99981290e-01 -3.61507750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.220281693 meters Centerline goodness [0,1] 0.9983834116480579 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.33, Z:-0.36 [[ 9.99654906e-01 2.54282714e-02 6.59325557e-03 1.26552505e+01] [-2.54274918e-02 9.99676649e-01 -2.02064890e-04 -3.33056489e-01] [-6.59626179e-03 3.43452072e-05 9.99978244e-01 -3.59581844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.250281693 meters Centerline goodness [0,1] 0.9982823403113258 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.34, Z:-0.36 [[ 9.99639641e-01 2.61788622e-02 5.93755128e-03 1.26874526e+01] [-2.61782379e-02 9.99657274e-01 -1.82864139e-04 -3.37465927e-01] [-5.94030350e-03 2.73636128e-05 9.99982356e-01 -3.60463383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.280281693000003 meters Centerline goodness [0,1] 0.9984809259932819 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.34, Z:-0.36 [[ 9.99590277e-01 2.81861542e-02 4.98191813e-03 1.27191880e+01] [-2.81857369e-02 9.99602691e-01 -1.53957069e-04 -3.40727122e-01] [-4.98427823e-03 1.34749548e-05 9.99987578e-01 -3.62205229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.310281693 meters Centerline goodness [0,1] 0.9982628463584112 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.34, Z:-0.36 [[ 9.99519090e-01 3.06126748e-02 4.94500647e-03 1.27494779e+01] [-3.06122925e-02 9.99531322e-01 -1.52991093e-04 -3.40351030e-01] [-4.94737232e-03 1.53953318e-06 9.99987762e-01 -3.62332292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340281693 meters Centerline goodness [0,1] 0.9988064536754833 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.34, Z:-0.36 [[ 9.99429375e-01 3.33921420e-02 5.08824288e-03 1.27806537e+01] [-3.33917730e-02 9.99442327e-01 -1.57481709e-04 -3.38561789e-01] [-5.09066395e-03 -1.25136057e-05 9.99987042e-01 -3.62272420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.370281693000003 meters Centerline goodness [0,1] 0.999124997332309 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.33, Z:-0.36 [[ 9.99204878e-01 3.93067630e-02 6.67754736e-03 1.28106715e+01] [-3.93062584e-02 9.99227189e-01 -2.06827637e-04 -3.31677429e-01] [-6.68051661e-03 -5.58062188e-05 9.99977684e-01 -3.59425032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.400281693 meters Centerline goodness [0,1] 0.9987697222162267 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.33, Z:-0.36 [[ 9.99104355e-01 4.16146887e-02 7.66193443e-03 1.28417781e+01] [-4.16140918e-02 9.99133730e-01 -2.37376290e-04 -3.30174748e-01] [-7.66517546e-03 -8.16807581e-05 9.99970619e-01 -3.58349916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.430281693 meters Centerline goodness [0,1] 0.9987353710292793 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.33, Z:-0.36 [[ 9.99029345e-01 4.33351015e-02 7.90166201e-03 1.28731341e+01] [-4.33345191e-02 9.99060588e-01 -2.44994044e-04 -3.29380744e-01] [-7.90485594e-03 -9.76584830e-05 9.99968751e-01 -3.58185960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.460281693000002 meters Centerline goodness [0,1] 0.9987394592714944 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.33, Z:-0.36 [[ 9.99008233e-01 4.39073016e-02 7.39592852e-03 1.29046491e+01] [-4.39068058e-02 9.99035605e-01 -2.29481788e-04 -3.32596202e-01] [-7.39887185e-03 -9.54774009e-05 9.99972623e-01 -3.60373902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.490281693 meters Centerline goodness [0,1] 0.9986997507855673 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.34, Z:-0.36 [[ 9.99037053e-01 4.34018294e-02 6.42243071e-03 1.29354154e+01] [-4.34014431e-02 9.99057693e-01 -1.99575324e-04 -3.37162032e-01] [-6.42504074e-03 -7.93596170e-05 9.99979356e-01 -3.62349930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520281693 meters Centerline goodness [0,1] 0.9983026033820628 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.34, Z:-0.36 [[ 9.99057258e-01 4.30813041e-02 5.34751227e-03 1.29668337e+01] [-4.30810280e-02 9.99071568e-01 -1.66863038e-04 -3.41059931e-01] [-5.34973615e-03 -6.36705967e-05 9.99985688e-01 -3.63973246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.550281693000002 meters Centerline goodness [0,1] 0.9989399446175147 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.34, Z:-0.37 [[ 9.99067003e-01 4.30416347e-02 3.54135408e-03 1.29976180e+01] [-4.30415117e-02 9.99073279e-01 -1.10989768e-04 -3.44279421e-01] [-3.54284941e-03 -4.15390180e-05 9.99993723e-01 -3.67344927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580281693 meters Centerline goodness [0,1] 0.9989497599451304 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.35, Z:-0.37 [[ 9.99066231e-01 4.30452361e-02 3.71132124e-03 1.30272885e+01] [-4.30451004e-02 9.99073123e-01 -1.16461547e-04 -3.45206565e-01] [-3.71289442e-03 -4.34013965e-05 9.99993106e-01 -3.67532209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.610281693 meters Centerline goodness [0,1] 0.9986462966544188 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.35, Z:-0.36 [[ 9.99005309e-01 4.41743184e-02 6.08461080e-03 1.30575398e+01] [-4.41739753e-02 9.99023835e-01 -1.90836168e-04 -3.47165939e-01] [-6.08710127e-03 -7.81351020e-05 9.99981470e-01 -3.63554557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640281693000002 meters Centerline goodness [0,1] 0.9983659090426774 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.34, Z:-0.36 [[ 9.98949616e-01 4.54173655e-02 6.07673803e-03 1.30876634e+01] [-4.54170459e-02 9.98968095e-01 -1.90637451e-04 -3.44328234e-01] [-6.07912566e-03 -8.55502819e-05 9.99981518e-01 -3.62754367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.670281693 meters Centerline goodness [0,1] 0.9985342849859801 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.34, Z:-0.36 [[ 9.98861540e-01 4.74420322e-02 4.98781167e-03 1.31180063e+01] [-4.74418411e-02 9.98873990e-01 -1.56699926e-04 -3.40079922e-01] [-4.98962950e-03 -8.01094386e-05 9.99987549e-01 -3.64852091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700281693 meters Centerline goodness [0,1] 0.9981601708714869 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.33, Z:-0.37 [[ 9.98614827e-01 5.25846549e-02 1.81172306e-03 1.31487737e+01] [-5.25846381e-02 9.98616469e-01 -5.69398590e-05 -3.30381475e-01] [-1.81221065e-03 -3.84078139e-05 9.99998357e-01 -3.71377006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.730281693000002 meters Centerline goodness [0,1] 0.9977262489542891 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.33, Z:-0.37 [[ 9.98538723e-01 5.40199790e-02 1.50340883e-03 1.31776455e+01] [-5.40199689e-02 9.98539854e-01 -4.73579690e-05 -3.25327931e-01] [-1.50377191e-03 -3.39253322e-05 9.99998869e-01 -3.72034669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760281693 meters Centerline goodness [0,1] 0.9977665752026036 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.33, Z:-0.37 [[ 9.98504421e-01 5.46201318e-02 2.35831740e-03 1.32077740e+01] [-5.46201090e-02 9.98507205e-01 -7.41134838e-05 -3.25695594e-01] [-2.35884500e-03 -5.48089123e-05 9.99997216e-01 -3.70205673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.790281693 meters Centerline goodness [0,1] 0.9977999444646175 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.32, Z:-0.37 [[ 9.98504914e-01 5.45380225e-02 3.67971464e-03 1.32352571e+01] [-5.45379669e-02 9.98511691e-01 -1.15540094e-04 -3.23415924e-01] [-3.68053942e-03 -8.53168034e-05 9.99993223e-01 -3.67283747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.820281693000002 meters Centerline goodness [0,1] 0.9975755235152763 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.32, Z:-0.36 [[ 9.98528974e-01 5.39742813e-02 5.16376555e-03 1.32650731e+01] [-5.39741663e-02 9.98542319e-01 -1.61727400e-04 -3.22273518e-01] [-5.16496755e-03 -1.17220446e-04 9.99986655e-01 -3.64184684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.850281693 meters Centerline goodness [0,1] 0.9975755235152763 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.32, Z:-0.36 [[ 9.98530242e-01 5.39508244e-02 5.16376934e-03 1.32942301e+01] [-5.39507097e-02 9.98543587e-01 -1.61606282e-04 -3.23141076e-01] [-5.16496755e-03 -1.17220261e-04 9.99986655e-01 -3.64335623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880281693 meters Centerline goodness [0,1] 0.9972701301449582 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.32, Z:-0.36 [[ 9.98533356e-01 5.39001778e-02 5.09004990e-03 1.33228164e+01] [-5.39000663e-02 9.98546322e-01 -1.59182136e-04 -3.18020506e-01] [-5.09123055e-03 -1.15405354e-04 9.99987033e-01 -3.64819746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.910281693 meters Centerline goodness [0,1] 0.9964814854066428 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.31, Z:-0.36 [[ 9.98459381e-01 5.52068787e-02 5.57363391e-03 1.33530390e+01] [-5.52067665e-02 9.98474928e-01 -1.74097651e-04 -3.09319130e-01] [-5.57474511e-03 -1.33872873e-04 9.99984452e-01 -3.63531824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940281693 meters Centerline goodness [0,1] 0.9968037502663541 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.31, Z:-0.36 [[ 9.98411307e-01 5.60349082e-02 5.91199494e-03 1.33825521e+01] [-5.60347973e-02 9.98428799e-01 -1.84527014e-04 -3.07798359e-01] [-5.91304597e-03 -1.47043581e-04 9.99982507e-01 -3.63033123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.970281693 meters Centerline goodness [0,1] 0.9955738223205818 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.30, Z:-0.36 [[ 9.98381940e-01 5.65689135e-02 5.78446946e-03 1.34112741e+01] [-5.65688171e-02 9.98398686e-01 -1.80412017e-04 -2.95278779e-01] [-5.78541242e-03 -1.47100495e-04 9.99983254e-01 -3.62463063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000281693 meters Centerline goodness [0,1] 0.9966640840220385 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.30, Z:-0.36 [[ 9.98442730e-01 5.55252432e-02 5.39099469e-03 1.34400165e+01] [-5.55251450e-02 9.98457275e-01 -1.67999618e-04 -2.95053923e-01] [-5.39200609e-03 -1.31597765e-04 9.99985454e-01 -3.63350254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.030281693 meters Centerline goodness [0,1] 0.9971617786187322 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.30, Z:-0.36 [[ 9.98537592e-01 5.38295321e-02 5.00597201e-03 1.34682161e+01] [-5.38294272e-02 9.98550133e-01 -1.55796954e-04 -2.95345552e-01] [-5.00710049e-03 -1.13899491e-04 9.99987458e-01 -3.64138319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.060281693 meters Centerline goodness [0,1] 0.9976937367870337 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.30, Z:-0.37 [[ 9.98640855e-01 5.19153959e-02 4.60802330e-03 1.34974793e+01] [-5.19152875e-02 9.98651482e-01 -1.43216272e-04 -3.01450977e-01] [-4.60924443e-03 -9.62052342e-05 9.99989373e-01 -3.65212972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.090281693 meters Centerline goodness [0,1] 0.9981052138553576 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.30, Z:-0.36 [[ 9.98820153e-01 4.83003337e-02 5.03775173e-03 1.35264287e+01] [-4.83001588e-02 9.98832854e-01 -1.56443491e-04 -2.97063472e-01] [-5.03942821e-03 -8.70652969e-05 9.99987298e-01 -3.64444740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120281693000003 meters Centerline goodness [0,1] 0.998027780723147 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.30, Z:-0.36 [[ 9.98863795e-01 4.71958681e-02 6.60821018e-03 1.35564590e+01] [-4.71955448e-02 9.98885648e-01 -2.04943459e-04 -2.96876263e-01] [-6.61051879e-03 -1.07167478e-04 9.99978145e-01 -3.61589612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.150281693 meters Centerline goodness [0,1] 0.9980752553988028 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.30, Z:-0.36 [[ 9.98872004e-01 4.66194961e-02 9.01904305e-03 1.35861868e+01] [-4.66188725e-02 9.98912710e-01 -2.79469537e-04 -2.97050043e-01] [-9.02226546e-03 -1.41303322e-04 9.99959289e-01 -3.58546236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180281693 meters Centerline goodness [0,1] 0.9980139026812314 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.30, Z:-0.36 [[ 9.98898654e-01 4.61188237e-02 8.63330570e-03 1.36156769e+01] [-4.61182342e-02 9.98935952e-01 -2.67453313e-04 -2.95220652e-01] [-8.63645409e-03 -1.30994061e-04 9.99962697e-01 -3.59740912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.210281693000002 meters Centerline goodness [0,1] 0.9983163906826077 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.30, Z:-0.36 [[ 9.98988790e-01 4.44406437e-02 6.81365721e-03 1.36460491e+01] [-4.44402371e-02 9.99012022e-01 -2.11142357e-04 -2.97179742e-01] [-6.81630877e-03 -9.18716940e-05 9.99976764e-01 -3.63505676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240281693 meters Centerline goodness [0,1] 0.9985827786128408 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.31, Z:-0.37 [[ 9.99287753e-01 3.75070530e-02 4.14829771e-03 1.36762582e+01] [-3.75068426e-02 9.99296363e-01 -1.28547905e-04 -3.06908760e-01] [-4.15020027e-03 -2.71332026e-05 9.99991388e-01 -3.69696730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.270281693 meters Centerline goodness [0,1] 0.9980392156862745 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.31, Z:-0.37 [[ 9.99445787e-01 3.30651696e-02 3.84884551e-03 1.37053825e+01] [-3.30649556e-02 9.99453198e-01 -1.19246239e-04 -3.14569208e-01] [-3.85068385e-03 -8.08175504e-06 9.99992586e-01 -3.70369942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300281693000002 meters Centerline goodness [0,1] 0.997640958068561 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.32, Z:-0.37 [[ 9.99572173e-01 2.89585894e-02 4.10742416e-03 1.37352451e+01] [-2.89583105e-02 9.99580612e-01 -1.27374123e-04 -3.22261889e-01] [-4.10939013e-03 8.37556465e-06 9.99991556e-01 -3.69835301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.330281693 meters Centerline goodness [0,1] 0.996990169330042 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.33, Z:-0.37 [[ 9.99703604e-01 2.40209228e-02 3.96227107e-03 1.37652554e+01] [-2.40206251e-02 9.99711456e-01 -1.22702556e-04 -3.32427109e-01] [-3.96407521e-03 2.74899595e-05 9.99992143e-01 -3.68556352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.360281693 meters Centerline goodness [0,1] 0.9967593089387273 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.34, Z:-0.37 [[ 9.99728050e-01 2.31159912e-02 3.07842017e-03 1.37943454e+01] [-2.31158066e-02 9.99732789e-01 -9.55489055e-05 -3.35120738e-01] [-3.07980629e-03 2.43627559e-05 9.99995257e-01 -3.70356489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.390281693000002 meters Centerline goodness [0,1] 0.9969599006615427 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.33, Z:-0.37 [[ 9.99729937e-01 2.32085420e-02 1.19009281e-03 1.38242474e+01] [-2.32085145e-02 9.99730645e-01 -3.69599546e-05 -3.34315876e-01] [-1.19063004e-03 9.32968691e-06 9.99999291e-01 -3.74206159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420281693 meters Centerline goodness [0,1] 0.9966025641025641 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.33, Z:-0.38 [[ 9.99718301e-01 2.37270745e-02 5.87559393e-04 1.38542374e+01] [-2.37270678e-02 9.99718473e-01 -1.83192110e-05 -3.32606122e-01] [-5.87828640e-04 4.37298889e-06 9.99999827e-01 -3.75171806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.450281693 meters Centerline goodness [0,1] 0.9968303267528931 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.33, Z:-0.38 [[ 9.99695401e-01 2.46778420e-02 3.31457532e-04 1.38841446e+01] [-2.46778399e-02 9.99695456e-01 -1.03788507e-05 -3.30433333e-01] [-3.31612717e-04 2.19603336e-06 9.99999945e-01 -3.75635963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480281693000002 meters Centerline goodness [0,1] 0.997005795923605 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.33, Z:-0.38 [[ 9.99680807e-01 2.52641558e-02 8.53059478e-05 1.39124556e+01] [-2.52641557e-02 9.99680810e-01 -2.81103724e-06 -3.30874164e-01] [-8.53497375e-05 6.54957227e-07 9.99999996e-01 -3.76891449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.510281693 meters Centerline goodness [0,1] 0.996564307206419 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.34, Z:-0.38 [[ 9.99692354e-01 2.47776701e-02 1.12450203e-03 1.39412346e+01] [-2.47776465e-02 9.99692986e-01 -3.49147804e-05 -3.35742499e-01] [-1.12502190e-03 7.04152523e-06 9.99999367e-01 -3.76512541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540281693 meters Centerline goodness [0,1] 0.9968891463388471 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.34, Z:-0.37 [[ 9.99721091e-01 2.35437598e-02 1.85249101e-03 1.39709313e+01] [-2.35436940e-02 9.99722807e-01 -5.73182626e-05 -3.37643138e-01] [-1.85332700e-03 1.36877946e-05 9.99998282e-01 -3.73854979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.570281693000002 meters Centerline goodness [0,1] 0.9963871744693662 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.34, Z:-0.37 [[ 9.99756693e-01 2.19048155e-02 2.59490331e-03 1.40005217e+01] [-2.19046812e-02 9.99760060e-01 -8.01484216e-05 -3.44148318e-01] [-2.59603633e-03 2.32883911e-05 9.99996630e-01 -3.73099076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600281693 meters Centerline goodness [0,1] 0.9963426044058858 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.35, Z:-0.37 [[ 9.99808513e-01 1.93135596e-02 3.15011816e-03 1.40304685e+01] [-1.93133491e-02 9.99813475e-01 -9.72470877e-05 -3.47407564e-01] [-3.15140877e-03 3.63891346e-05 9.99995034e-01 -3.71023279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.630281693 meters Centerline goodness [0,1] 0.996535352239189 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.35, Z:-0.37 [[ 9.99813150e-01 1.90465923e-02 3.30023173e-03 1.40608471e+01] [-1.90463599e-02 9.99818596e-01 -1.01818603e-04 -3.48635438e-01] [-3.30157235e-03 3.89421768e-05 9.99994549e-01 -3.70592719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.660281693 meters Centerline goodness [0,1] 0.9958711105435661 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.35, Z:-0.37 [[ 9.99794024e-01 1.99972681e-02 3.46678514e-03 1.40906846e+01] [-1.99970175e-02 9.99800034e-01 -1.06937279e-04 -3.51130872e-01] [-3.46823035e-03 3.75898895e-05 9.99993985e-01 -3.70895243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.690281693 meters Centerline goodness [0,1] 0.9958845972478244 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.35, Z:-0.37 [[ 9.99762446e-01 2.14376553e-02 3.93421765e-03 1.41211668e+01] [-2.14373435e-02 9.99770186e-01 -1.21424051e-04 -3.45808011e-01] [-3.93591656e-03 3.70560315e-05 9.99992254e-01 -3.69510741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720281693 meters Centerline goodness [0,1] 0.995948481746844 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.34, Z:-0.37 [[ 9.99725201e-01 2.29409862e-02 4.82018173e-03 1.41511325e+01] [-2.29405355e-02 9.99736820e-01 -1.48763956e-04 -3.44542720e-01] [-4.82232595e-03 3.81455257e-05 9.99988372e-01 -3.68535231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.750281693 meters Centerline goodness [0,1] 0.9958745518164932 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.34, Z:-0.37 [[ 9.99694581e-01 2.37356809e-02 6.88207976e-03 1.41813786e+01] [-2.37347805e-02 9.99718268e-01 -2.12486320e-04 -3.44607806e-01] [-6.88518436e-03 4.90767705e-05 9.99976296e-01 -3.65168728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780281693 meters Centerline goodness [0,1] 0.99599922979825 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.35, Z:-0.37 [[ 9.99698800e-01 2.35007226e-02 7.07281706e-03 1.42127985e+01] [-2.34997645e-02 9.99723819e-01 -2.18546862e-04 -3.46493523e-01] [-7.07599968e-03 5.22715004e-05 9.99974963e-01 -3.65001034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.810281693 meters Centerline goodness [0,1] 0.995731191885038 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.35, Z:-0.37 [[ 9.99708156e-01 2.31785913e-02 6.80853863e-03 1.42441463e+01] [-2.31776920e-02 9.99731339e-01 -2.10972827e-04 -3.48953456e-01] [-6.81159950e-03 5.31050448e-05 9.99976799e-01 -3.65084668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.840281693 meters Centerline goodness [0,1] 0.9955489931736963 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.35, Z:-0.37 [[ 9.99731521e-01 2.23929801e-02 5.95320463e-03 1.42767878e+01] [-2.23922755e-02 9.99749244e-01 -1.84992661e-04 -3.47471902e-01] [-5.95585437e-03 5.16371961e-05 9.99982262e-01 -3.68307981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.870281693000003 meters Centerline goodness [0,1] 0.9959858122889366 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.35, Z:-0.37 [[ 9.99741543e-01 2.22073329e-02 4.86630807e-03 1.43076470e+01] [-2.22068567e-02 9.99753386e-01 -1.51866558e-04 -3.50681371e-01] [-4.86848052e-03 4.37619011e-05 9.99988148e-01 -3.70051076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900281693 meters Centerline goodness [0,1] 0.9962540475333855 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.35, Z:-0.37 [[ 9.99752626e-01 2.19096832e-02 3.82777199e-03 1.43390631e+01] [-2.19093841e-02 9.99759953e-01 -1.20042444e-04 -3.52234241e-01] [-3.82948324e-03 3.61486218e-05 9.99992667e-01 -3.71901454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.930281693 meters Centerline goodness [0,1] 0.9957294602211142 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.35, Z:-0.37 [[ 9.99755077e-01 2.19622880e-02 2.72847955e-03 1.43696913e+01] [-2.19621360e-02 9.99758800e-01 -8.56530300e-05 -3.52834916e-01] [-2.72970258e-03 2.57088127e-05 9.99996274e-01 -3.74108462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960281693000002 meters Centerline goodness [0,1] 0.9956594252480329 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.35, Z:-0.38 [[ 9.99751760e-01 2.21540906e-02 2.36967020e-03 1.43995928e+01] [-2.21539766e-02 9.99754568e-01 -7.43523104e-05 -3.54534990e-01] [-2.37073581e-03 2.18362351e-05 9.99997190e-01 -3.75514376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.990281693 meters Centerline goodness [0,1] 0.995874746179331 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.36, Z:-0.38 [[ 9.99736494e-01 2.28432518e-02 2.26475558e-03 1.44287860e+01] [-2.28431493e-02 9.99739059e-01 -7.11591114e-05 -3.57860488e-01] [-2.26579012e-03 1.94062107e-05 9.99997433e-01 -3.76661755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020281693 meters Centerline goodness [0,1] 0.9958246789029714 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.36, Z:-0.38 [[ 9.99719441e-01 2.35796273e-02 2.24488373e-03 1.44589273e+01] [-2.35795285e-02 9.99721962e-01 -7.04755112e-05 -3.58646997e-01] [-2.24592135e-03 1.75224389e-05 9.99997478e-01 -3.76241851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.050281693000002 meters Centerline goodness [0,1] 0.9959969500571865 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.36, Z:-0.38 [[ 9.99705135e-01 2.41526524e-02 2.50838073e-03 1.44881862e+01] [-2.41525309e-02 9.99708282e-01 -7.87164418e-05 -3.59697921e-01] [-2.50955020e-03 1.81094881e-05 9.99996851e-01 -3.76032469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080281693 meters Centerline goodness [0,1] 0.995546748487173 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.36, Z:-0.38 [[ 9.99691163e-01 2.46873664e-02 2.84825949e-03 1.45188668e+01] [-2.46872118e-02 9.99695220e-01 -8.94512139e-05 -3.60256490e-01] [-2.84959972e-03 1.91080028e-05 9.99995940e-01 -3.75448317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.110281693 meters Centerline goodness [0,1] 0.9958831144027332 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.36, Z:-0.38 [[ 9.99659671e-01 2.59882381e-02 2.27000540e-03 1.45479491e+01] [-2.59881431e-02 9.99662249e-01 -7.13237086e-05 -3.62952165e-01] [-2.27109228e-03 1.23062098e-05 9.99997421e-01 -3.77316596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.140281693000002 meters Centerline goodness [0,1] 0.9958117186835616 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.36, Z:-0.38 [[ 9.99627270e-01 2.71949161e-02 2.39943107e-03 1.45780319e+01] [-2.71948136e-02 9.99630150e-01 -7.53282994e-05 -3.62786822e-01] [-2.40059219e-03 1.00481415e-05 9.99997119e-01 -3.77148398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.170281693 meters Centerline goodness [0,1] 0.9967110811266655 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.36, Z:-0.38 [[ 9.99543605e-01 3.01295047e-02 2.18972677e-03 1.46079749e+01] [-3.01294263e-02 9.99546003e-01 -6.87788039e-05 -3.60663673e-01] [-2.19080491e-03 2.77220220e-06 9.99997600e-01 -3.77354973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200281693 meters Centerline goodness [0,1] 0.9970308788598575 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.36, Z:-0.38 [[ 9.99494311e-01 3.17101214e-02 2.36459256e-03 1.46375579e+01] [-3.17100345e-02 9.99497108e-01 -7.42701582e-05 -3.59746611e-01] [-2.36575854e-03 -7.48710853e-07 9.99997202e-01 -3.76781324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.230281693000002 meters Centerline goodness [0,1] 0.9970621803271759 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.36, Z:-0.38 [[ 9.99434836e-01 3.35060894e-02 2.71134576e-03 1.46669791e+01] [-3.35059820e-02 9.99438513e-01 -8.50567592e-05 -3.58491893e-01] [-2.71267330e-03 -5.83761412e-06 9.99996321e-01 -3.76678554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260281693 meters Centerline goodness [0,1] 0.9980213025723067 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.35, Z:-0.38 [[ 9.99319836e-01 3.68257057e-02 1.93179155e-03 1.46960585e+01] [-3.68256572e-02 9.99321704e-01 -6.06690945e-05 -3.53325904e-01] [-1.93271540e-03 -1.05116638e-05 9.99998132e-01 -3.78198341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.290281693 meters Centerline goodness [0,1] 0.9982672273524502 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.35, Z:-0.38 [[ 9.99281403e-01 3.78827188e-02 1.25608510e-03 1.47259863e+01] [-3.78826992e-02 9.99282192e-01 -3.94225073e-05 -3.51784425e-01] [-1.25667690e-03 -8.18971549e-06 9.99999210e-01 -3.79844222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320281693000002 meters Centerline goodness [0,1] 0.9982859682163489 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.35, Z:-0.38 [[ 9.99279605e-01 3.79400501e-02 9.07750057e-04 1.47544874e+01] [-3.79400398e-02 9.99280017e-01 -2.85972810e-05 -3.52339083e-01] [-9.08181475e-04 -5.86339366e-06 9.99999588e-01 -3.81123539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.350281693 meters Centerline goodness [0,1] 0.9975125964666114 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.36, Z:-0.38 [[ 9.99353171e-01 3.58949695e-02 2.18898103e-03 1.47834307e+01] [-3.58949055e-02 9.99355568e-01 -6.85405208e-05 -3.57850093e-01] [-2.19003064e-03 -1.00770803e-05 9.99997602e-01 -3.78189205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380281693 meters Centerline goodness [0,1] 0.9974983569717399 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.36, Z:-0.38 [[ 9.99405069e-01 3.44095704e-02 2.34302960e-03 1.48125207e+01] [-3.44094934e-02 9.99407815e-01 -7.31735555e-05 -3.60736944e-01] [-2.34415997e-03 -7.49243947e-06 9.99997252e-01 -3.76490525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.410281693 meters Centerline goodness [0,1] 0.9971795741793197 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.36, Z:-0.38 [[ 9.99464855e-01 3.26427604e-02 2.11044775e-03 1.48410450e+01] [-3.26426940e-02 9.99467083e-01 -6.59070374e-05 -3.64167790e-01] [-2.11147445e-03 -3.01893255e-06 9.99997771e-01 -3.77193637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.440281693 meters Centerline goodness [0,1] 0.9971020624008461 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.37, Z:-0.38 [[ 9.99482666e-01 3.21205451e-02 1.63445530e-03 1.48711249e+01] [-3.21205047e-02 9.99484002e-01 -5.09862212e-05 -3.66649992e-01] [-1.63524963e-03 -1.53968474e-06 9.99998663e-01 -3.78428496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.470281693 meters Centerline goodness [0,1] 0.9974662697155888 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.37, Z:-0.38 [[ 9.99482361e-01 3.21308969e-02 1.61746595e-03 1.49004852e+01] [-3.21308574e-02 9.99483669e-01 -5.04225662e-05 -3.68484684e-01] [-1.61825093e-03 -1.57410241e-06 9.99998691e-01 -3.78878733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.500281693 meters Centerline goodness [0,1] 0.9976143728756307 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.36, Z:-0.38 [[ 9.99391639e-01 3.47445994e-02 3.02723762e-03 1.49305301e+01] [-3.47444733e-02 9.99396224e-01 -9.42329723e-05 -3.64869523e-01] [-3.02868394e-03 -1.10041321e-05 9.99995413e-01 -3.76008519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.530281693 meters Centerline goodness [0,1] 0.9974870127127592 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.36, Z:-0.37 [[ 9.99287773e-01 3.75107638e-02 4.10973231e-03 1.49595978e+01] [-3.75105559e-02 9.99296223e-01 -1.27689242e-04 -3.60343113e-01] [-4.11162969e-03 -2.65600447e-05 9.99991547e-01 -3.74775695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.560281693 meters Centerline goodness [0,1] 0.9973028649096354 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.36, Z:-0.37 [[ 9.99175145e-01 4.02924775e-02 5.05433983e-03 1.49888657e+01] [-4.02921994e-02 9.99187927e-01 -1.56885911e-04 -3.56497841e-01] [-5.05655666e-03 -4.68939653e-05 9.99987214e-01 -3.72935384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.590281693 meters Centerline goodness [0,1] 0.9971048060220035 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.35, Z:-0.37 [[ 9.98959240e-01 4.52607957e-02 5.64770700e-03 1.50175666e+01] [-4.52605290e-02 9.98975202e-01 -1.75089989e-04 -3.46820526e-01] [-5.64984396e-03 -8.07104445e-05 9.99984036e-01 -3.72744369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620281693000003 meters Centerline goodness [0,1] 0.9966124661246613 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.34, Z:-0.37 [[ 9.98850227e-01 4.76449326e-02 5.30894740e-03 1.50469925e+01] [-4.76447315e-02 9.98864331e-01 -1.64418171e-04 -3.42036290e-01] [-5.31075189e-03 -8.87142462e-05 9.99985894e-01 -3.72943776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.650281693 meters Centerline goodness [0,1] 0.9954248919766161 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.33, Z:-0.37 [[ 9.98603946e-01 5.26419864e-02 4.35666505e-03 1.50771846e+01] [-5.26418990e-02 9.98613445e-01 -1.34810429e-04 -3.31144857e-01] [-4.35772098e-03 -9.47208949e-05 9.99990501e-01 -3.74296131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.680281693 meters Centerline goodness [0,1] 0.9952079048366235 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.33, Z:-0.37 [[ 9.98477608e-01 5.50023544e-02 4.14809906e-03 1.51067373e+01] [-5.50022957e-02 9.98486220e-01 -1.28325822e-04 -3.28625994e-01] [-4.14887797e-03 -1.00024511e-04 9.99991388e-01 -3.74732990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.710281693000002 meters Centerline goodness [0,1] 0.994354511045057 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.32, Z:-0.37 [[ 9.98334485e-01 5.75077680e-02 4.59495264e-03 1.51359206e+01] [-5.75077229e-02 9.98345051e-01 -1.42038626e-04 -3.22171118e-01] [-4.59551656e-03 -1.22443205e-04 9.99989433e-01 -3.74517366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740281693 meters Centerline goodness [0,1] 0.994354511045057 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.32, Z:-0.37 [[ 9.98337069e-01 5.74628766e-02 4.59495725e-03 1.51642429e+01] [-5.74628318e-02 9.98347636e-01 -1.41889446e-04 -3.22951814e-01] [-4.59551809e-03 -1.22385761e-04 9.99989433e-01 -3.74663989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.770281693 meters Centerline goodness [0,1] 0.9926651912741069 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.31, Z:-0.38 [[ 9.98129941e-01 6.09878656e-02 4.13523837e-03 1.51931248e+01] [-6.09878602e-02 9.98138500e-01 -1.27530132e-04 -3.09394510e-01] [-4.13531842e-03 -1.24907697e-04 9.99991442e-01 -3.77548239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.800281693000002 meters Centerline goodness [0,1] 0.9923137522089978 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.31, Z:-0.38 [[ 9.98100018e-01 6.15272115e-02 3.27981994e-03 1.52214815e+01] [-6.15272113e-02 9.98105401e-01 -1.01069422e-04 -3.06959536e-01] [-3.27982451e-03 -1.00920783e-04 9.99994616e-01 -3.80463443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.830281693 meters Centerline goodness [0,1] 0.9935019578791406 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.31, Z:-0.38 [[ 9.98096114e-01 6.16312646e-02 2.39473096e-03 1.52505162e+01] [-6.16312649e-02 9.98098984e-01 -7.37183280e-05 -3.11449790e-01] [-2.39472189e-03 -7.40123214e-05 9.99997130e-01 -3.81842725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.860281693 meters Centerline goodness [0,1] 0.9946520646013551 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.31, Z:-0.38 [[ 9.98190288e-01 6.01101801e-02 1.70765097e-03 1.52789362e+01] [-6.01101781e-02 9.98191747e-01 -5.25568138e-05 -3.08760200e-01] [-1.70772231e-03 -5.01855029e-05 9.99998541e-01 -3.82945036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.890281693000002 meters Centerline goodness [0,1] 0.9947591124857701 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.31, Z:-0.38 [[ 9.98281695e-01 5.85652983e-02 1.94011647e-03 1.53081059e+01] [-5.85652931e-02 9.98283578e-01 -5.95891041e-05 -3.08529246e-01] [-1.94027627e-03 -5.41367777e-05 9.99998116e-01 -3.82863055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920281693 meters Centerline goodness [0,1] 0.9953599223841563 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.31, Z:-0.38 [[ 9.98466249e-01 5.53186235e-02 2.23610509e-03 1.53370209e+01] [-5.53186088e-02 9.98468751e-01 -6.84756705e-05 -3.10116861e-01] [-2.23646903e-03 -5.53275768e-05 9.99997498e-01 -3.83032656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.950281693 meters Centerline goodness [0,1] 0.9961052431047986 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.31, Z:-0.38 [[ 9.98565999e-01 5.35009151e-02 1.89699934e-03 1.53655824e+01] [-5.35009012e-02 9.98567799e-01 -5.81394684e-05 -3.13255970e-01] [-1.89739297e-03 -4.34350780e-05 9.99998199e-01 -3.83632807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.980281693000002 meters Centerline goodness [0,1] 0.9967038376747073 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.32, Z:-0.38 [[ 9.98668433e-01 5.15668219e-02 1.49109151e-03 1.53943422e+01] [-5.15668111e-02 9.98669546e-01 -4.56811529e-05 -3.15305328e-01] [-1.49146331e-03 -3.12705088e-05 9.99998887e-01 -3.84066565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.010281693 meters Centerline goodness [0,1] 0.9972807320441989 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.32, Z:-0.38 [[ 9.98753713e-01 4.98950652e-02 1.22574804e-03 1.54233712e+01] [-4.98950567e-02 9.98754465e-01 -3.75380584e-05 -3.17314881e-01] [-1.22609429e-03 -2.36674926e-05 9.99999248e-01 -3.84810402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.040281693 meters Centerline goodness [0,1] 0.9973569784295336 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.32, Z:-0.38 [[ 9.98875915e-01 4.73506894e-02 2.19522020e-03 1.54523656e+01] [-4.73506566e-02 9.98878326e-01 -6.69455123e-05 -3.20721836e-01] [-2.19592780e-03 -3.70748582e-05 9.99997588e-01 -3.83014793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.070281693000002 meters Centerline goodness [0,1] 0.9971577049528052 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.32, Z:-0.38 [[ 9.98925699e-01 4.62590837e-02 2.74674484e-03 1.54815395e+01] [-4.62590287e-02 9.98929475e-01 -8.35833235e-05 -3.22712861e-01] [-2.74767087e-03 -4.35682185e-05 9.99996224e-01 -3.82224043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.100281693 meters Centerline goodness [0,1] 0.9975781781101292 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.33, Z:-0.38 [[ 9.99073355e-01 4.29633913e-02 2.56482221e-03 1.55090614e+01] [-4.29633327e-02 9.99076647e-01 -7.79699283e-05 -3.26011685e-01] [-2.56580383e-03 -3.22956321e-05 9.99996708e-01 -3.82144817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.130281693 meters Centerline goodness [0,1] 0.9984379346500332 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.33, Z:-0.38 [[ 9.99145474e-01 4.12998000e-02 1.62760778e-03 1.55381369e+01] [-4.12997742e-02 9.99146799e-01 -4.94725003e-05 -3.29581107e-01] [-1.62826231e-03 -1.77896092e-05 9.99998674e-01 -3.82859339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160281693 meters Centerline goodness [0,1] 0.9986225895316805 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.33, Z:-0.38 [[ 9.99200582e-01 3.99543752e-02 1.35801147e-03 1.55663875e+01] [-3.99543559e-02 9.99201505e-01 -4.12981018e-05 -3.28828217e-01] [-1.35857715e-03 -1.29933865e-05 9.99999077e-01 -3.83830312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.190281693 meters Centerline goodness [0,1] 0.9980477867843653 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.33, Z:-0.38 [[ 9.99322342e-01 3.65626346e-02 4.24621747e-03 1.55944732e+01] [-3.65624198e-02 9.99331363e-01 -1.28239459e-04 -3.33434052e-01] [-4.24806706e-03 -2.70994288e-05 9.99990977e-01 -3.78192868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220281693 meters Centerline goodness [0,1] 0.9976939337646531 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.34, Z:-0.38 [[ 9.99385786e-01 3.44956275e-02 6.17276560e-03 1.56243499e+01] [-3.44951367e-02 9.99404848e-01 -1.85996191e-04 -3.38636290e-01] [-6.17550792e-03 -2.70484437e-05 9.99980931e-01 -3.75301376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.250281693 meters Centerline goodness [0,1] 0.9968249264441293 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.34, Z:-0.37 [[ 9.99440009e-01 3.25988995e-02 7.54855163e-03 1.56542083e+01] [-3.25981123e-02 9.99468514e-01 -2.27335556e-04 -3.42153039e-01] [-7.55195057e-03 -1.88602833e-05 9.99971483e-01 -3.73192040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280281693 meters Centerline goodness [0,1] 0.9969810358023642 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.35, Z:-0.37 [[ 9.99563347e-01 2.84811318e-02 7.87025971e-03 1.56850169e+01] [-2.84801473e-02 9.99594330e-01 -2.37156734e-04 -3.53430812e-01] [-7.87382147e-03 1.29070227e-05 9.99969001e-01 -3.73209890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.310281693 meters Centerline goodness [0,1] 0.9971123851277295 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.36, Z:-0.37 [[ 9.99628008e-01 2.62733829e-02 7.31816270e-03 1.57161285e+01] [-2.62724714e-02 9.99654795e-01 -2.20669776e-04 -3.59751601e-01] [-7.32143418e-03 2.83214681e-05 9.99973198e-01 -3.74123902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340281693 meters Centerline goodness [0,1] 0.9968590831918506 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.37, Z:-0.38 [[ 9.99727059e-01 2.27215514e-02 5.43485487e-03 1.57468600e+01] [-2.27209955e-02 9.99741831e-01 -1.64003561e-04 -3.71746345e-01] [-5.43717818e-03 4.04734843e-05 9.99985218e-01 -3.77635898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.370281693000003 meters Centerline goodness [0,1] 0.996737322471958 Centerline is valid? [True, True] Translation: X:15.78, Y:-0.37, Z:-0.38 [[ 9.99754394e-01 2.18293305e-02 3.82517467e-03 1.57776538e+01] [-2.18290467e-02 9.99761711e-01 -1.15933910e-04 -3.73365856e-01] [-3.82679393e-03 3.24055195e-05 9.99992677e-01 -3.80535426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400281693 meters Centerline goodness [0,1] 0.9970352991361843 Centerline is valid? [True, True] Translation: X:15.81, Y:-0.38, Z:-0.38 [[ 9.99755821e-01 2.19170742e-02 2.81799733e-03 1.58084014e+01] [-2.19169204e-02 9.99759792e-01 -8.54521507e-05 -3.75531101e-01] [-2.81919328e-03 2.36694619e-05 9.99996026e-01 -3.82488223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.430281693 meters Centerline goodness [0,1] 0.9972741018378517 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.38, Z:-0.38 [[ 9.99704374e-01 2.41306896e-02 2.97907987e-03 1.58372035e+01] [-2.41305274e-02 9.99708812e-01 -9.03866804e-05 -3.77521410e-01] [-2.98039349e-03 1.84731913e-05 9.99995558e-01 -3.82302643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.460281693000002 meters Centerline goodness [0,1] 0.9976403457965978 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.38, Z:-0.38 [[ 9.99658794e-01 2.59546421e-02 2.94159806e-03 1.58673326e+01] [-2.59544922e-02 9.99663121e-01 -8.91332281e-05 -3.75642253e-01] [-2.94292052e-03 1.27551314e-05 9.99995670e-01 -3.82201597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.490281693 meters Centerline goodness [0,1] 0.9982741354697121 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.38, Z:-0.38 [[ 9.99614174e-01 2.76826891e-02 2.27396054e-03 1.58968701e+01] [-2.76826039e-02 9.99616761e-01 -6.89698495e-05 -3.75018260e-01] [-2.27499834e-03 5.99409025e-06 9.99997412e-01 -3.83424575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520281693 meters Centerline goodness [0,1] 0.9986280520482754 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.37, Z:-0.38 [[ 9.99521152e-01 3.08850885e-02 1.89141661e-03 1.59265083e+01] [-3.08850352e-02 9.99522942e-01 -5.73444422e-05 -3.71325687e-01] [-1.89228539e-03 -1.09948579e-06 9.99998210e-01 -3.84696956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.550281693000002 meters Centerline goodness [0,1] 0.9984973544973546 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.37, Z:-0.39 [[ 9.99465567e-01 3.26401439e-02 1.78924727e-03 1.59548133e+01] [-3.26400991e-02 9.99467169e-01 -5.42501653e-05 -3.68847503e-01] [-1.79006463e-03 -4.18003583e-06 9.99998398e-01 -3.85434944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.580281693 meters Centerline goodness [0,1] 0.9986287575257644 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.37, Z:-0.39 [[ 9.99414638e-01 3.41544434e-02 1.96331677e-03 1.59835723e+01] [-3.41543925e-02 9.99416567e-01 -5.94789095e-05 -3.66333595e-01] [-1.96420277e-03 -7.61179862e-06 9.99998071e-01 -3.85263881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.610281693 meters Centerline goodness [0,1] 0.9983446519524618 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.36, Z:-0.38 [[ 9.99301180e-01 3.73121370e-02 2.22641722e-03 1.60113799e+01] [-3.73120796e-02 9.99303660e-01 -6.73489305e-05 -3.58892648e-01] [-2.22737981e-03 -1.57703907e-05 9.99997519e-01 -3.84045147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640281693000002 meters Centerline goodness [0,1] 0.9982728474561815 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.36, Z:-0.38 [[ 9.99258915e-01 3.84530689e-02 1.72709704e-03 1.60404469e+01] [-3.84530362e-02 9.99260407e-01 -5.21721910e-05 -3.55646123e-01] [-1.72782587e-03 -1.42785982e-05 9.99998507e-01 -3.84618142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.670281693 meters Centerline goodness [0,1] 0.9983963736663174 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.35, Z:-0.39 [[ 9.99210961e-01 3.96873064e-02 1.54047139e-03 1.60688359e+01] [-3.96872818e-02 9.99212148e-01 -4.65303405e-05 -3.51275377e-01] [-1.54110439e-03 -1.46434958e-05 9.99998812e-01 -3.86118116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700281693 meters Centerline goodness [0,1] 0.9980336603518268 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.35, Z:-0.39 [[ 9.99218777e-01 3.94770260e-02 1.84418571e-03 1.60974784e+01] [-3.94769908e-02 9.99220478e-01 -5.55030289e-05 -3.51664648e-01] [-1.84493922e-03 -1.73432335e-05 9.99998298e-01 -3.85837065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.730281693000002 meters Centerline goodness [0,1] 0.998207653105295 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.35, Z:-0.39 [[ 9.99251078e-01 3.86240008e-02 2.33865516e-03 1.61258882e+01] [-3.86239422e-02 9.99253815e-01 -7.02226894e-05 -3.54298617e-01] [-2.33962237e-03 -2.01579835e-05 9.99997263e-01 -3.85229517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760281693 meters Centerline goodness [0,1] 0.9983682637902901 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.35, Z:-0.39 [[ 9.99295520e-01 3.74791351e-02 1.94367391e-03 1.61536013e+01] [-3.74790924e-02 9.99297410e-01 -5.83494490e-05 -3.54755865e-01] [-1.94449520e-03 -1.45387913e-05 9.99998109e-01 -3.86225983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.790281693 meters Centerline goodness [0,1] 0.9983521010711343 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.36, Z:-0.39 [[ 9.99427862e-01 3.37986909e-02 1.26347773e-03 1.61817065e+01] [-3.37986701e-02 9.99428661e-01 -3.78603662e-05 -3.59458078e-01] [-1.26403548e-03 -4.86516201e-06 9.99999201e-01 -3.88413263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.820281693000002 meters Centerline goodness [0,1] 0.9983242023847889 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.36, Z:-0.39 [[ 9.99506454e-01 3.13874380e-02 1.29481140e-03 1.62106746e+01] [-3.13874140e-02 9.99507293e-01 -3.87940161e-05 -3.63990932e-01] [-1.29539108e-03 -1.86591205e-06 9.99999161e-01 -3.89275945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.850281693 meters Centerline goodness [0,1] 0.998476706300512 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.37, Z:-0.39 [[ 9.99571296e-01 2.92364140e-02 1.56729673e-03 1.62395007e+01] [-2.92363766e-02 9.99572525e-01 -4.68009743e-05 -3.68912779e-01] [-1.56799504e-03 9.58833224e-07 9.99998771e-01 -3.89279857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.880281693 meters Centerline goodness [0,1] 0.998257136177177 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.37, Z:-0.39 [[ 9.99623935e-01 2.73102611e-02 2.47756373e-03 1.62686370e+01] [-2.73101622e-02 9.99627005e-01 -7.37706369e-05 -3.74290192e-01] [-2.47865430e-03 6.08022714e-06 9.99996928e-01 -3.87074666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.910281693 meters Centerline goodness [0,1] 0.998100603965256 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.37, Z:-0.39 [[ 9.99620121e-01 2.74824208e-02 2.08112070e-03 1.62983906e+01] [-2.74823514e-02 9.99622287e-01 -6.19415863e-05 -3.74373035e-01] [-2.08203694e-03 4.72396562e-06 9.99997833e-01 -3.87198643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940281693 meters Centerline goodness [0,1] 0.9983253487090347 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.37, Z:-0.39 [[ 9.99597200e-01 2.83626979e-02 9.97151775e-04 1.63271800e+01] [-2.83626823e-02 9.99597698e-01 -2.97642613e-05 -3.72656244e-01] [-9.97594814e-04 1.47037332e-06 9.99999502e-01 -3.89646783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.970281693 meters Centerline goodness [0,1] 0.9983520662553875 Centerline is valid? [True, True] Translation: X:16.36, Y:-0.37, Z:-0.39 [[ 9.99587354e-01 2.87052056e-02 1.06430009e-03 1.63564563e+01] [-2.87051882e-02 9.99587921e-01 -3.16736999e-05 -3.73278574e-01] [-1.06477072e-03 1.10969544e-06 9.99999433e-01 -3.89389229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.000281693 meters Centerline goodness [0,1] 0.9983977828779284 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.37, Z:-0.39 [[ 9.99580463e-01 2.89165897e-02 1.65189122e-03 1.63856799e+01] [-2.89165481e-02 9.99581828e-01 -4.90604487e-05 -3.74690052e-01] [-1.65261911e-03 1.27287414e-06 9.99998634e-01 -3.89606243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.030281693 meters Centerline goodness [0,1] 0.9982410036875344 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.38, Z:-0.39 [[ 9.99553260e-01 2.97681879e-02 2.67125694e-03 1.64144605e+01] [-2.97680824e-02 9.99556829e-01 -7.92296781e-05 -3.76396449e-01] [-2.67243164e-03 -3.23913767e-07 9.99996429e-01 -3.88122573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.060281693 meters Centerline goodness [0,1] 0.9984699407102026 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.38, Z:-0.39 [[ 9.99516540e-01 3.09686434e-02 2.76198049e-03 1.64440741e+01] [-3.09685356e-02 9.99520357e-01 -8.17918049e-05 -3.76499896e-01] [-2.76318871e-03 -3.78222940e-06 9.99996182e-01 -3.87961521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.090281693 meters Centerline goodness [0,1] 0.998479592273759 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.38, Z:-0.39 [[ 9.99481188e-01 3.20647621e-02 3.03417614e-03 1.64732390e+01] [-3.20646372e-02 9.99485793e-01 -8.97973102e-05 -3.76816066e-01] [-3.03549527e-03 -7.53903483e-06 9.99995393e-01 -3.86901690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.120281693 meters Centerline goodness [0,1] 0.9981598206353907 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.38, Z:-0.39 [[ 9.99444327e-01 3.31561440e-02 3.42164576e-03 1.65029937e+01] [-3.31559922e-02 9.99450184e-01 -1.01108061e-04 -3.76986172e-01] [-3.42311683e-03 -1.23961819e-05 9.99994141e-01 -3.85738663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.150281693 meters Centerline goodness [0,1] 0.9978237678685726 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.38, Z:-0.38 [[ 9.99371617e-01 3.52144736e-02 4.03893113e-03 1.65313455e+01] [-3.52142793e-02 9.99379778e-01 -1.19249384e-04 -3.76452765e-01] [-4.04062540e-03 -2.30535986e-05 9.99991836e-01 -3.84652058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.180281693 meters Centerline goodness [0,1] 0.9978501947595837 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.38, Z:-0.39 [[ 9.99325006e-01 3.65590125e-02 3.60141884e-03 1.65608027e+01] [-3.65588671e-02 9.99331496e-01 -1.06212244e-04 -3.75569207e-01] [-3.60289429e-03 -2.55232413e-05 9.99993509e-01 -3.85135561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.210281693000002 meters Centerline goodness [0,1] 0.9980058751634968 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.37, Z:-0.39 [[ 9.99256484e-01 3.84207841e-02 3.21279233e-03 1.65898723e+01] [-3.84206781e-02 9.99261649e-01 -9.47353828e-05 -3.73548206e-01] [-3.21405996e-03 -2.87727142e-05 9.99994834e-01 -3.86496275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240281693 meters Centerline goodness [0,1] 0.9969941600824459 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.37, Z:-0.39 [[ 9.99077753e-01 4.27922132e-02 3.53126338e-03 1.66182026e+01] [-4.27921130e-02 9.99083993e-01 -1.03945566e-04 -3.66823172e-01] [-3.53247678e-03 -4.72605190e-05 9.99993760e-01 -3.85376198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.270281693 meters Centerline goodness [0,1] 0.9961782628081276 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.36, Z:-0.38 [[ 9.98996232e-01 4.45996979e-02 4.17076334e-03 1.66477815e+01] [-4.45995750e-02 9.99004936e-01 -1.22520310e-04 -3.64842618e-01] [-4.17207754e-03 -6.36169449e-05 9.99991295e-01 -3.84646656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300281693000002 meters Centerline goodness [0,1] 0.9961926762491444 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.37, Z:-0.39 [[ 9.98915311e-01 4.64111693e-02 3.76890018e-03 1.66764487e+01] [-4.64110819e-02 9.98922419e-01 -1.10676971e-04 -3.65116684e-01] [-3.76997553e-03 -6.43618139e-05 9.99992892e-01 -3.86307901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.330281693 meters Centerline goodness [0,1] 0.9960848218064844 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.36, Z:-0.39 [[ 9.98918707e-01 4.63756047e-02 3.27411546e-03 1.67047871e+01] [-4.63755389e-02 9.98924071e-01 -9.60485331e-05 -3.61820999e-01] [-3.27504705e-03 -5.58941923e-05 9.99994635e-01 -3.87731518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360281693 meters Centerline goodness [0,1] 0.9961726557516479 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.36, Z:-0.39 [[ 9.98905200e-01 4.66840138e-02 3.00086596e-03 1.67332215e+01] [-4.66839605e-02 9.98909706e-01 -8.78571849e-05 -3.62660082e-01] [-3.00169566e-03 -5.23313090e-05 9.99995494e-01 -3.87306995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.390281693000002 meters Centerline goodness [0,1] 0.9956970371638979 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.36, Z:-0.39 [[ 9.98838312e-01 4.80430637e-02 3.72706006e-03 1.67621466e+01] [-4.80429917e-02 9.98845263e-01 -1.08893028e-04 -3.59400213e-01] [-3.72798784e-03 -7.02925877e-05 9.99993049e-01 -3.85003086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420281693 meters Centerline goodness [0,1] 0.9947401056255212 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.35, Z:-0.38 [[ 9.98804454e-01 4.87163265e-02 4.04754180e-03 1.67897194e+01] [-4.87162479e-02 9.98812652e-01 -1.18062297e-04 -3.54004664e-01] [-4.04848752e-03 -7.92599018e-05 9.99991802e-01 -3.84890189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.450281693 meters Centerline goodness [0,1] 0.9944019169193579 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.35, Z:-0.39 [[ 9.98801822e-01 4.87490926e-02 4.29483487e-03 1.68187572e+01] [-4.87490056e-02 9.98811053e-01 -1.24998836e-04 -3.52930347e-01] [-4.29582212e-03 -8.45198644e-05 9.99990769e-01 -3.85077427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480281693000002 meters Centerline goodness [0,1] 0.9954710531937621 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.35, Z:-0.38 [[ 9.98892364e-01 4.67873598e-02 4.99881329e-03 1.68466028e+01] [-4.67872187e-02 9.98904868e-01 -1.45239085e-04 -3.51668284e-01] [-5.00013428e-03 -8.88023580e-05 9.99987495e-01 -3.83806230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.510281693 meters Centerline goodness [0,1] 0.9957479377498086 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.35, Z:-0.38 [[ 9.98955664e-01 4.53867441e-02 5.25589092e-03 1.68752624e+01] [-4.53865703e-02 9.98969487e-01 -1.52414336e-04 -3.52673087e-01] [-5.25739224e-03 -8.62916978e-05 9.99986176e-01 -3.82692110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.540281693 meters Centerline goodness [0,1] 0.9959716952981797 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.35, Z:-0.38 [[ 9.99017524e-01 4.40084313e-02 5.21963327e-03 1.69042583e+01] [-4.40082422e-02 9.99031157e-01 -1.51143564e-04 -3.54170005e-01] [-5.22122785e-03 -7.87118160e-05 9.99986366e-01 -3.82678092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.570281693000002 meters Centerline goodness [0,1] 0.9965404574284067 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.35, Z:-0.39 [[ 9.99092882e-01 4.23900859e-02 4.06113572e-03 1.69336986e+01] [-4.23899586e-02 9.99101135e-01 -1.17451226e-04 -3.54649331e-01] [-4.06246407e-03 -5.48066905e-05 9.99991747e-01 -3.85400482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600281693 meters Centerline goodness [0,1] 0.9972513313863597 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.36, Z:-0.39 [[ 9.99127402e-01 4.15511433e-02 4.23530471e-03 1.69619831e+01] [-4.15509976e-02 9.99136377e-01 -1.22419486e-04 -3.59685255e-01] [-4.23673367e-03 -5.36684726e-05 9.99991024e-01 -3.85578079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.630281693 meters Centerline goodness [0,1] 0.9972557862491491 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.36, Z:-0.39 [[ 9.99215962e-01 3.93421099e-02 4.43389096e-03 1.69909029e+01] [-3.93419295e-02 9.99225798e-01 -1.27928803e-04 -3.60009250e-01] [-4.43549122e-03 -4.66093235e-05 9.99990162e-01 -3.85421482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.660281693 meters Centerline goodness [0,1] 0.9979381443298969 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.36, Z:-0.39 [[ 9.99300291e-01 3.71730312e-02 4.13454750e-03 1.70189231e+01] [-3.71728563e-02 9.99308843e-01 -1.19185214e-04 -3.61954813e-01] [-4.13612036e-03 -3.45911215e-05 9.99991446e-01 -3.86017128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.690281693 meters Centerline goodness [0,1] 0.9979381443298969 Centerline is valid? [True, True] Translation: X:17.05, Y:-0.36, Z:-0.39 [[ 9.99301983e-01 3.71275123e-02 4.13455519e-03 1.70472373e+01] [-3.71273381e-02 9.99310536e-01 -1.18917940e-04 -3.62679258e-01] [-4.13611969e-03 -3.46700948e-05 9.99991446e-01 -3.86163724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720281693 meters Centerline goodness [0,1] 0.998468150291477 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.37, Z:-0.39 [[ 9.99396914e-01 3.44965063e-02 3.97484363e-03 1.70761525e+01] [-3.44963251e-02 9.99404818e-01 -1.14153344e-04 -3.66761376e-01] [-3.97641577e-03 -2.30329982e-05 9.99992094e-01 -3.86477439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.750281693 meters Centerline goodness [0,1] 0.9981947541679941 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.37, Z:-0.39 [[ 9.99494749e-01 3.15560206e-02 3.80331734e-03 1.71058640e+01] [-3.15558341e-02 9.99501985e-01 -1.09028850e-04 -3.71577778e-01] [-3.80486375e-03 -1.10430882e-05 9.99992761e-01 -3.87784473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.780281693 meters Centerline goodness [0,1] 0.9983266829707813 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.39, Z:-0.39 [[ 9.99681301e-01 2.49732131e-02 3.69258919e-03 1.71344972e+01] [-2.49729927e-02 9.99688121e-01 -1.05789149e-04 -3.85276635e-01] [-3.69407945e-03 1.35404316e-05 9.99993177e-01 -3.89945140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.810281693 meters Centerline goodness [0,1] 0.9986298143826672 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.39, Z:-0.39 [[ 9.99751031e-01 2.20122297e-02 3.65207882e-03 1.71652771e+01] [-2.20119950e-02 9.99757701e-01 -1.04451764e-04 -3.90059920e-01] [-3.65349314e-03 2.40362179e-05 9.99993326e-01 -3.89635754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.840281693 meters Centerline goodness [0,1] 0.9981314761338542 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.40, Z:-0.39 [[ 9.99833923e-01 1.77255242e-02 4.23463610e-03 1.71959389e+01] [-1.77251703e-02 9.99842889e-01 -1.21113270e-04 -3.98442383e-01] [-4.23611759e-03 4.60335105e-05 9.99991027e-01 -3.88652515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.870281693 meters Centerline goodness [0,1] 0.9979145830230034 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.40, Z:-0.39 [[ 9.99860135e-01 1.62455774e-02 3.97374983e-03 1.72259487e+01] [-1.62452540e-02 9.99868031e-01 -1.13651758e-04 -4.02250069e-01] [-3.97507175e-03 4.90812872e-05 9.99992098e-01 -3.89202224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.900281693 meters Centerline goodness [0,1] 0.9975761183874808 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.41, Z:-0.39 [[ 9.99880152e-01 1.52800643e-02 2.49037282e-03 1.72563056e+01] [-1.52799344e-02 9.99883252e-01 -7.11958291e-05 -4.14339140e-01] [-2.49116996e-03 3.31345631e-05 9.99996896e-01 -3.94094279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.930281693 meters Centerline goodness [0,1] 0.9976527825196313 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.41, Z:-0.39 [[ 9.99877934e-01 1.55350525e-02 1.66727861e-03 1.72868674e+01] [-1.55349946e-02 9.99879324e-01 -4.77041292e-05 -4.10335736e-01] [-1.66781850e-03 2.17971419e-05 9.99998609e-01 -3.94070133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960281693000002 meters Centerline goodness [0,1] 0.9980152309451384 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.41, Z:-0.39 [[ 9.99865895e-01 1.63093552e-02 1.48243791e-03 1.73160664e+01] [-1.63093101e-02 9.99866993e-01 -4.25027623e-05 -4.10667134e-01] [-1.48293393e-03 1.83195230e-05 9.99998900e-01 -3.94061757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.990281693 meters Centerline goodness [0,1] 0.998043677036596 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.41, Z:-0.40 [[ 9.99843733e-01 1.76331853e-02 1.25749775e-03 1.73450414e+01] [-1.76331538e-02 9.99844523e-01 -3.60877835e-05 -4.12215732e-01] [-1.25793858e-03 1.39084929e-05 9.99999209e-01 -3.95259284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.020281693 meters Centerline goodness [0,1] 0.9983017385951133 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.41, Z:-0.40 [[ 9.99748871e-01 2.23948439e-02 8.15546338e-04 1.73734653e+01] [-2.23948322e-02 9.99749204e-01 -2.34356342e-05 -4.09872758e-01] [-8.15866639e-04 5.16572547e-06 9.99999667e-01 -3.95803388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.050281693000002 meters Centerline goodness [0,1] 0.9985271516393442 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.41, Z:-0.40 [[ 9.99684058e-01 2.51232479e-02 7.78543498e-04 1.74028327e+01] [-2.51232381e-02 9.99684361e-01 -2.24004191e-05 -4.06953590e-01] [-7.78860531e-04 2.83380820e-06 9.99999697e-01 -3.95858477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.080281693 meters Centerline goodness [0,1] 0.9986365573072007 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.40, Z:-0.40 [[ 9.99611048e-01 2.78881759e-02 4.89974681e-05 1.74321036e+01] [-2.78881758e-02 9.99611049e-01 -1.62848325e-06 -4.03934457e-01] [-4.90238259e-05 2.61399848e-07 9.99999999e-01 -3.96518421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.110281693 meters Centerline goodness [0,1] 0.9988490557994799 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.40, Z:-0.40 [[ 9.99463374e-01 3.27560595e-02 -7.08848960e-05 1.74608421e+01] [-3.27560595e-02 9.99463376e-01 1.77310644e-06 -3.97971286e-01] [ 7.09049375e-05 5.49754922e-07 9.99999997e-01 -3.96648599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140281693000002 meters Centerline goodness [0,1] 0.9984714673913043 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.40, Z:-0.40 [[ 9.99397909e-01 3.46955709e-02 1.91457504e-04 1.74883308e+01] [-3.46955705e-02 9.99397927e-01 -5.72036410e-06 -3.95968648e-01] [-1.91540704e-04 -9.25807401e-07 9.99999982e-01 -3.97074669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.170281693 meters Centerline goodness [0,1] 0.9976441124034299 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.39, Z:-0.39 [[ 9.99264449e-01 3.83340527e-02 1.03033892e-03 1.75171280e+01] [-3.83340428e-02 9.99264980e-01 -2.93737860e-05 -3.91626856e-01] [-1.03070762e-03 -1.01448764e-05 9.99999469e-01 -3.94990685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.200281693 meters Centerline goodness [0,1] 0.9976084217719032 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.39, Z:-0.39 [[ 9.99193342e-01 4.00979977e-02 2.19470909e-03 1.75459919e+01] [-4.00979578e-02 9.99195752e-01 -6.22027026e-05 -3.89194336e-01] [-2.19543820e-03 -2.58508263e-05 9.99997590e-01 -3.93200448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.230281693000002 meters Centerline goodness [0,1] 0.9973040054775761 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.39, Z:-0.39 [[ 9.99128590e-01 4.16345417e-02 2.93698640e-03 1.75750381e+01] [-4.16344775e-02 9.99132906e-01 -8.30215038e-05 -3.86082483e-01] [-2.93789631e-03 -3.93307360e-05 9.99995684e-01 -3.92119973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260281693 meters Centerline goodness [0,1] 0.9965785249640956 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.38, Z:-0.39 [[ 9.99070956e-01 4.29691564e-02 3.29784909e-03 1.76028911e+01] [-4.29690833e-02 9.99076398e-01 -9.30605280e-05 -3.82051098e-01] [-3.29880192e-03 -4.87314816e-05 9.99994558e-01 -3.91377513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.290281693 meters Centerline goodness [0,1] 0.9962602042996965 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.38, Z:-0.39 [[ 9.98979913e-01 4.49146150e-02 4.67011356e-03 1.76320860e+01] [-4.49144915e-02 9.98990826e-01 -1.31383640e-04 -3.79172524e-01] [-4.67130165e-03 -7.85061579e-05 9.99989086e-01 -3.89315673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320281693000002 meters Centerline goodness [0,1] 0.9957489107905757 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.38, Z:-0.39 [[ 9.98949398e-01 4.55838733e-02 4.71291427e-03 1.76599716e+01] [-4.55837559e-02 9.98960512e-01 -1.32366305e-04 -3.76187226e-01] [-4.71404902e-03 -8.26050934e-05 9.99988885e-01 -3.89510453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.350281693 meters Centerline goodness [0,1] 0.9960076857386849 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.37, Z:-0.39 [[ 9.98952228e-01 4.54809439e-02 5.09210579e-03 1.76889548e+01] [-4.54808073e-02 9.98965203e-01 -1.42687601e-04 -3.74753394e-01] [-5.09332606e-03 -8.90549852e-05 9.99987025e-01 -3.89150360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380281693 meters Centerline goodness [0,1] 0.9962948767088284 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.37, Z:-0.39 [[ 9.99036498e-01 4.34397485e-02 6.25010036e-03 1.77171342e+01] [-4.34395050e-02 9.99056044e-01 -1.74771966e-04 -3.73321919e-01] [-6.25179259e-03 -9.68976934e-05 9.99980453e-01 -3.87608626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.410281693 meters Centerline goodness [0,1] 0.9962312887722047 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.37, Z:-0.39 [[ 9.99125599e-01 4.13488901e-02 6.18920111e-03 1.77461537e+01] [-4.13486133e-02 9.99144765e-01 -1.72731473e-04 -3.74683602e-01] [-6.19105014e-03 -8.33344464e-05 9.99980832e-01 -3.87701981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.440281693 meters Centerline goodness [0,1] 0.9967952096818402 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.38, Z:-0.39 [[ 9.99229921e-01 3.87849860e-02 5.94056549e-03 1.77753105e+01] [-3.87846868e-02 9.99247577e-01 -1.65601140e-04 -3.78579235e-01] [-5.94251851e-03 -6.49293576e-05 9.99982341e-01 -3.89112683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.470281693 meters Centerline goodness [0,1] 0.9973461848753769 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.39, Z:-0.39 [[ 9.99423943e-01 3.34246047e-02 5.88036402e-03 1.78042138e+01] [-3.34242196e-02 9.99441241e-01 -1.63790986e-04 -3.86524760e-01] [-5.88255296e-03 -3.28499454e-05 9.99982697e-01 -3.90249824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500281693 meters Centerline goodness [0,1] 0.9976424698343299 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.39, Z:-0.39 [[ 9.99506866e-01 3.08613832e-02 5.79657666e-03 1.78336981e+01] [-3.08609665e-02 9.99523674e-01 -1.61327651e-04 -3.92136693e-01] [-5.79879439e-03 -1.76398637e-05 9.99983187e-01 -3.90842998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.530281693 meters Centerline goodness [0,1] 0.9973901419508159 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.40, Z:-0.39 [[ 9.99570376e-01 2.87517452e-02 5.69210732e-03 1.78628279e+01] [-2.87513100e-02 9.99586583e-01 -1.58291695e-04 -3.96199405e-01] [-5.69430527e-03 -5.43185309e-06 9.99983787e-01 -3.91049935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560281693 meters Centerline goodness [0,1] 0.9977468778164027 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.40, Z:-0.39 [[ 9.99665328e-01 2.53174599e-02 5.31588610e-03 1.78929853e+01] [-2.53170320e-02 9.99679462e-01 -1.47771429e-04 -4.01841354e-01] [-5.31792335e-03 1.31395158e-05 9.99985860e-01 -3.92283613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.590281693 meters Centerline goodness [0,1] 0.9976694960552479 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.40, Z:-0.39 [[ 9.99690753e-01 2.44401163e-02 4.59128948e-03 1.79233489e+01] [-2.44397879e-02 9.99701296e-01 -1.27629034e-04 -4.03585897e-01] [-4.59303731e-03 1.53794244e-05 9.99989452e-01 -3.94090458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.620281693 meters Centerline goodness [0,1] 0.9977048622917375 Centerline is valid? [True, True] Translation: X:17.95, Y:-0.41, Z:-0.40 [[ 9.99707271e-01 2.39487923e-02 3.43900336e-03 1.79528649e+01] [-2.39486051e-02 9.99713186e-01 -9.56178002e-05 -4.05562274e-01] [-3.44030694e-03 1.32304768e-05 9.99994082e-01 -3.95547502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.650281693 meters Centerline goodness [0,1] 0.998241777091642 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.41, Z:-0.40 [[ 9.99701092e-01 2.43528569e-02 2.15968684e-03 1.79822355e+01] [-2.43527840e-02 9.99703425e-01 -6.00798845e-05 -4.07063983e-01] [-2.16050945e-03 7.46753899e-06 9.99997666e-01 -3.97769191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.680281693 meters Centerline goodness [0,1] 0.9981819334925903 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.41, Z:-0.40 [[ 9.99688900e-01 2.48914013e-02 1.58773794e-03 1.80113493e+01] [-2.48913626e-02 9.99690161e-01 -4.41691593e-05 -4.06855353e-01] [-1.58834543e-03 4.63445752e-06 9.99998739e-01 -3.98776166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.710281693000002 meters Centerline goodness [0,1] 0.9982091461464663 Centerline is valid? [True, True] Translation: X:18.04, Y:-0.41, Z:-0.40 [[ 9.99672609e-01 2.55051495e-02 2.04036710e-03 1.80405705e+01] [-2.55050868e-02 9.99674691e-01 -5.67383727e-05 -4.05798532e-01] [-2.04115047e-03 4.68005706e-06 9.99997917e-01 -3.98110708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.740281693 meters Centerline goodness [0,1] 0.997424929238758 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.40, Z:-0.40 [[ 9.99637500e-01 2.66660965e-02 3.71332155e-03 1.80694896e+01] [-2.66658982e-02 9.99644396e-01 -1.02903963e-04 -4.04499847e-01] [-3.71474513e-03 3.84760520e-06 9.99993100e-01 -3.95543381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.770281693 meters Centerline goodness [0,1] 0.9976366956708561 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.40, Z:-0.39 [[ 9.99619624e-01 2.72404330e-02 4.30883756e-03 1.80996283e+01] [-2.72401725e-02 9.99628911e-01 -1.19143894e-04 -4.04645852e-01] [-4.31048412e-03 1.72509663e-06 9.99990710e-01 -3.94879402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800281693000002 meters Centerline goodness [0,1] 0.9977287200169815 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.40, Z:-0.40 [[ 9.99594776e-01 2.82187150e-02 3.74003474e-03 1.81290084e+01] [-2.82185259e-02 9.99601773e-01 -1.03327160e-04 -4.03754130e-01] [-3.74146111e-03 -2.25297780e-06 9.99993001e-01 -3.96024345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.830281693 meters Centerline goodness [0,1] 0.9976058307555404 Centerline is valid? [True, True] Translation: X:18.16, Y:-0.40, Z:-0.40 [[ 9.99569238e-01 2.92315634e-02 2.61796387e-03 1.81574302e+01] [-2.92314741e-02 9.99572667e-01 -7.23455389e-05 -4.01499944e-01] [-2.61895990e-03 -4.21256807e-06 9.99996571e-01 -3.98570046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860281693 meters Centerline goodness [0,1] 0.9976507936507937 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.40, Z:-0.40 [[ 9.99581582e-01 2.88369176e-02 2.25666554e-03 1.81869630e+01] [-2.88368504e-02 9.99584130e-01 -6.23201670e-05 -4.02928686e-01] [-2.25752418e-03 -2.78103544e-06 9.99997452e-01 -3.99621834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.890281693000002 meters Centerline goodness [0,1] 0.9977485687329802 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.41, Z:-0.40 [[ 9.99637429e-01 2.67981800e-02 2.62057410e-03 1.82169963e+01] [-2.67980825e-02 9.99640864e-01 -7.22952073e-05 -4.07346095e-01] [-2.62157034e-03 2.04263418e-06 9.99996564e-01 -3.99363555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920281693 meters Centerline goodness [0,1] 0.9978126061841658 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.41, Z:-0.40 [[ 9.99656141e-01 2.60755885e-02 2.76845240e-03 1.82452691e+01] [-2.60754771e-02 9.99659974e-01 -7.63314948e-05 -4.08824096e-01] [-2.76950144e-03 4.11653037e-06 9.99996165e-01 -3.99562317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.950281693 meters Centerline goodness [0,1] 0.9978527085636534 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.41, Z:-0.40 [[ 9.99678398e-01 2.51980493e-02 2.85625774e-03 1.82745230e+01] [-2.51979276e-02 9.99682479e-01 -7.85950067e-05 -4.10873492e-01] [-2.85733126e-03 6.59795472e-06 9.99995918e-01 -3.99492992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.980281693000002 meters Centerline goodness [0,1] 0.9978449655407856 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.41, Z:-0.40 [[ 9.99704786e-01 2.41729525e-02 2.45149797e-03 1.83044245e+01] [-2.41728597e-02 9.99707791e-01 -6.74713187e-05 -4.12682532e-01] [-2.45241260e-03 8.19168364e-06 9.99996993e-01 -3.99688842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.010281693 meters Centerline goodness [0,1] 0.9982709302822013 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.42, Z:-0.40 [[ 9.99740769e-01 2.26962570e-02 1.80941576e-03 1.83340255e+01] [-2.26962040e-02 9.99742407e-01 -4.97886402e-05 -4.15466443e-01] [-1.81007968e-03 8.70886419e-06 9.99998362e-01 -4.00602903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040281693 meters Centerline goodness [0,1] 0.9981808453718566 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.42, Z:-0.40 [[ 9.99743252e-01 2.25454170e-02 2.26593097e-03 1.83637593e+01] [-2.25453338e-02 9.99745820e-01 -6.22691876e-05 -4.15153125e-01] [-2.26675890e-03 1.11670301e-05 9.99997431e-01 -3.99554123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.070281693000002 meters Centerline goodness [0,1] 0.9979256661391729 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.42, Z:-0.40 [[ 9.99750194e-01 2.18977686e-02 4.47620851e-03 1.83936750e+01] [-2.18974384e-02 9.99760215e-01 -1.22776882e-04 -4.15616924e-01] [-4.47782372e-03 2.47287119e-05 9.99989974e-01 -3.96322451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100281693 meters Centerline goodness [0,1] 0.9976586777914946 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.42, Z:-0.40 [[ 9.99767855e-01 2.09317260e-02 5.10864918e-03 1.84239501e+01] [-2.09312836e-02 9.99780907e-01 -1.40054875e-04 -4.18361406e-01] [-5.11046150e-03 3.30917775e-05 9.99986941e-01 -3.95572703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.130281693 meters Centerline goodness [0,1] 0.9979929111329376 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.42, Z:-0.40 [[ 9.99797001e-01 1.94846901e-02 5.12863226e-03 1.84545822e+01] [-1.94842252e-02 9.99810155e-01 -1.40602716e-04 -4.22407640e-01] [-5.13039821e-03 4.06467480e-05 9.99986839e-01 -3.95924596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.160281693 meters Centerline goodness [0,1] 0.9978814008177793 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.43, Z:-0.40 [[ 9.99872732e-01 1.53778289e-02 4.24762946e-03 1.84849538e+01] [-1.53774730e-02 9.99881753e-01 -1.16439242e-04 -4.29727309e-01] [-4.24891777e-03 5.11066156e-05 9.99990972e-01 -3.97601153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.190281693 meters Centerline goodness [0,1] 0.9974801482265749 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.43, Z:-0.40 [[ 9.99907171e-01 1.30007174e-02 4.07815042e-03 1.85162103e+01] [-1.30003694e-02 9.99915485e-01 -1.11825233e-04 -4.33748822e-01] [-4.07925956e-03 5.87973900e-05 9.99991678e-01 -3.98481937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.220281693 meters Centerline goodness [0,1] 0.9973577105840739 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.44, Z:-0.40 [[ 9.99935643e-01 1.07577022e-02 3.60302193e-03 1.85465404e+01] [-1.07574157e-02 9.99942132e-01 -9.88831102e-05 -4.39502836e-01] [-3.60387718e-03 6.01175418e-05 9.99993504e-01 -3.99579516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.250281693 meters Centerline goodness [0,1] 0.9969518044038965 Centerline is valid? [True, True] Translation: X:18.58, Y:-0.45, Z:-0.40 [[ 9.99980465e-01 5.59859668e-03 2.77933147e-03 1.85771890e+01] [-5.59840624e-03 9.99984326e-01 -7.62952535e-05 -4.51560759e-01] [-2.77971505e-03 6.07339364e-05 9.99996135e-01 -4.01468620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280281693 meters Centerline goodness [0,1] 0.9968136521106882 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.46, Z:-0.40 [[ 9.99992908e-01 2.92695631e-03 2.36986202e-03 1.86080652e+01] [-2.92681038e-03 9.99995715e-01 -6.50415969e-05 -4.58877644e-01] [-2.37004224e-03 5.81049989e-05 9.99997190e-01 -4.02102297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.310281693 meters Centerline goodness [0,1] 0.9964677844922972 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.47, Z:-0.40 [[ 9.99996164e-01 6.91358553e-04 2.68200316e-03 1.86385129e+01] [-6.91163416e-04 9.99999758e-01 -7.36842304e-05 -4.65711428e-01] [-2.68205346e-03 7.18302454e-05 9.99996401e-01 -4.02069379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340281693 meters Centerline goodness [0,1] 0.9955536735125979 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.47, Z:-0.40 [[ 9.99996265e-01 -1.17756107e-03 2.46627490e-03 1.86693552e+01] [ 1.17773106e-03 9.99999304e-01 -6.74723924e-05 -4.74992656e-01] [-2.46619373e-03 7.03767489e-05 9.99996956e-01 -4.02450776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.370281693 meters Centerline goodness [0,1] 0.9945798301395588 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.49, Z:-0.40 [[ 9.99984668e-01 -4.81655599e-03 2.73216977e-03 1.86987968e+01] [ 4.81678014e-03 9.99988396e-01 -7.54671407e-05 -4.90082714e-01] [-2.73177458e-03 8.86262447e-05 9.99996265e-01 -4.03619596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.400281693 meters Centerline goodness [0,1] 0.994153409451988 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.50, Z:-0.40 [[ 9.99976978e-01 -6.32853673e-03 2.44809281e-03 1.87311212e+01] [ 6.32872145e-03 9.99979971e-01 -6.77130437e-05 -4.97643529e-01] [-2.44761526e-03 8.32047823e-05 9.99997001e-01 -4.04415638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.430281693 meters Centerline goodness [0,1] 0.9934266507828454 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.51, Z:-0.40 [[ 9.99967356e-01 -7.88112061e-03 1.78171323e-03 1.87620286e+01] [ 7.88122107e-03 9.99968941e-01 -4.93710187e-05 -5.08462394e-01] [-1.78126880e-03 6.34114829e-05 9.99998412e-01 -4.04976526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460281693000002 meters Centerline goodness [0,1] 0.991994269582438 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.52, Z:-0.41 [[ 9.99971609e-01 -7.43467379e-03 1.22770771e-03 1.87921415e+01] [ 7.43472119e-03 9.99972361e-01 -3.40545235e-05 -5.15555619e-01] [-1.22742059e-03 4.31812212e-05 9.99999246e-01 -4.05245609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.490281693 meters Centerline goodness [0,1] 0.9952104002736915 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.51, Z:-0.40 [[ 9.99977360e-01 -6.65458884e-03 9.98193719e-04 1.88232408e+01] [ 6.65461979e-03 9.99977857e-01 -2.76870600e-05 -5.14787253e-01] [-9.97987371e-04 3.43290328e-05 9.99999501e-01 -4.04708204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520281693 meters Centerline goodness [0,1] 0.9955657883516671 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.52, Z:-0.40 [[ 9.99993270e-01 -3.04015329e-03 2.05348162e-03 1.88524353e+01] [ 3.04027697e-03 9.99995377e-01 -5.71133832e-05 -5.22914743e-01] [-2.05329849e-03 6.33561517e-05 9.99997890e-01 -4.03251644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.550281693000002 meters Centerline goodness [0,1] 0.995865928893977 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.52, Z:-0.40 [[ 9.99993305e-01 -9.21915213e-05 3.65817109e-03 1.88836547e+01] [ 9.25638982e-05 9.99999991e-01 -1.01624012e-04 -5.22488512e-01] [-3.65816169e-03 1.01961946e-04 9.99993304e-01 -4.00466459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580281693 meters Centerline goodness [0,1] 0.995865928893977 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.52, Z:-0.40 [[ 9.99993308e-01 -4.87275195e-05 3.65817137e-03 1.89153245e+01] [ 4.90995698e-05 9.99999994e-01 -1.01614168e-04 -5.23458593e-01] [-3.65816640e-03 1.01793102e-04 9.99993304e-01 -4.00630398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.610281693 meters Centerline goodness [0,1] 0.997059881126129 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.52, Z:-0.40 [[ 9.99970548e-01 5.74520860e-03 5.08877584e-03 1.89462355e+01] [-5.74456204e-03 9.99983490e-01 -1.41664605e-04 -5.22526526e-01] [-5.08950572e-03 1.12427644e-04 9.99987042e-01 -3.97748804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.640281693000002 meters Centerline goodness [0,1] 0.997616536595655 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.52, Z:-0.40 [[ 9.99956769e-01 8.19219887e-03 4.39865556e-03 1.89781077e+01] [-8.19173976e-03 9.99966440e-01 -1.22382590e-04 -5.23202278e-01] [-4.39951052e-03 8.63446574e-05 9.99990318e-01 -3.99101345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.670281693 meters Centerline goodness [0,1] 0.9974111001754461 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.52, Z:-0.40 [[ 9.99944364e-01 1.00507774e-02 3.20161912e-03 1.90104443e+01] [-1.00505429e-02 9.99949488e-01 -8.93273422e-05 -5.20299943e-01] [-3.20235521e-03 5.71443621e-05 9.99994871e-01 -4.01159797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.700281693 meters Centerline goodness [0,1] 0.9978958554729012 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.52, Z:-0.40 [[ 9.99925283e-01 1.21145388e-02 1.63275547e-03 1.90417287e+01] [-1.21144800e-02 9.99926616e-01 -4.58998513e-05 -5.20743345e-01] [-1.63319171e-03 2.61164383e-05 9.99998666e-01 -4.03434139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.730281693000002 meters Centerline goodness [0,1] 0.9980920480803884 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.52, Z:-0.41 [[ 9.99862066e-01 1.66082341e-02 -1.25027070e-04 1.90723352e+01] [-1.66082338e-02 9.99862074e-01 3.58458818e-06 -5.19226007e-01] [ 1.25069359e-04 -1.50761494e-06 9.99999992e-01 -4.07045857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.760281693 meters Centerline goodness [0,1] 0.9983710254077726 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.52, Z:-0.41 [[ 9.99829885e-01 1.84338358e-02 -6.27513285e-04 1.91024517e+01] [-1.84338284e-02 9.99830082e-01 1.75610653e-05 -5.18561150e-01] [ 6.27730377e-04 -5.99060565e-06 9.99999803e-01 -4.08189679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.790281693 meters Centerline goodness [0,1] 0.997676319979345 Centerline is valid? [True, True] Translation: X:19.13, Y:-0.52, Z:-0.41 [[ 9.99797615e-01 2.01105711e-02 -5.42085642e-04 1.91320944e+01] [-2.01105659e-02 9.99797762e-01 1.51413261e-05 -5.17211620e-01] [ 5.42280513e-04 -4.23661272e-06 9.99999853e-01 -4.08334546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820281693000002 meters Centerline goodness [0,1] 0.9969347004856989 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.51, Z:-0.40 [[ 9.99712997e-01 2.39408708e-02 8.70730151e-04 1.91619516e+01] [-2.39408585e-02 9.99713376e-01 -2.46122451e-05 -5.10915365e-01] [-8.71069818e-04 3.75915403e-06 9.99999621e-01 -4.04989326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.850281693 meters Centerline goodness [0,1] 0.9970779567025702 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.51, Z:-0.40 [[ 9.99659397e-01 2.60709824e-02 1.18033959e-03 1.91905000e+01] [-2.60709612e-02 9.99660094e-01 -3.33395018e-05 -5.07161084e-01] [-1.18080758e-03 2.55555855e-06 9.99999303e-01 -4.03714878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.880281693 meters Centerline goodness [0,1] 0.9964912280701754 Centerline is valid? [True, True] Translation: X:19.22, Y:-0.50, Z:-0.40 [[ 9.99540899e-01 3.02698625e-02 1.31423855e-03 1.92198444e+01] [-3.02698400e-02 9.99541763e-01 -3.70531943e-05 -4.97645733e-01] [-1.31475791e-03 -2.74560748e-06 9.99999136e-01 -4.04008042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.910281693 meters Centerline goodness [0,1] 0.995897806495494 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.49, Z:-0.40 [[ 9.99496317e-01 3.17058901e-02 1.35959237e-03 1.92494312e+01] [-3.17058674e-02 9.99497242e-01 -3.82328491e-05 -4.94546726e-01] [-1.36012103e-03 -4.89346364e-06 9.99999075e-01 -4.03993046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.940281693 meters Centerline goodness [0,1] 0.9958178737641281 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.49, Z:-0.40 [[ 9.99475202e-01 3.23347421e-02 1.94576565e-03 1.92791295e+01] [-3.23346970e-02 9.99477095e-01 -5.46223206e-05 -4.92425815e-01] [-1.94651440e-03 -8.32208803e-06 9.99998106e-01 -4.03766910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.970281693 meters Centerline goodness [0,1] 0.995390444117028 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.49, Z:-0.40 [[ 9.99476652e-01 3.22863134e-02 2.00420330e-03 1.93074249e+01] [-3.22862655e-02 9.99478661e-01 -5.62494438e-05 -4.90304308e-01] [-2.00497452e-03 -8.48823412e-06 9.99997990e-01 -4.03288674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.000281693 meters Centerline goodness [0,1] 0.9962877624167946 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.49, Z:-0.40 [[ 9.99524178e-01 3.07546471e-02 2.36011623e-03 1.93372238e+01] [-3.07545767e-02 9.99526964e-01 -6.60980771e-05 -4.86431421e-01] [-2.36103263e-03 -6.51774957e-06 9.99997213e-01 -4.01501012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.030281693 meters Centerline goodness [0,1] 0.9959166221272047 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.48, Z:-0.40 [[ 9.99542335e-01 3.01598642e-02 2.34578501e-03 1.93665129e+01] [-3.01597932e-02 9.99545088e-01 -6.56462384e-05 -4.84311556e-01] [-2.34669777e-03 -5.13219646e-06 9.99997246e-01 -4.01712638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.060281693 meters Centerline goodness [0,1] 0.9959599805402204 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.48, Z:-0.40 [[ 9.99562631e-01 2.95192963e-02 1.77710442e-03 1.93951715e+01] [-2.95192545e-02 9.99564211e-01 -4.97583886e-05 -4.79960889e-01] [-1.77779881e-03 -2.72217198e-06 9.99998420e-01 -4.03462525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.090281693 meters Centerline goodness [0,1] 0.9959862264190802 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.48, Z:-0.40 [[ 9.99562653e-01 2.95427350e-02 1.31536421e-03 1.94248015e+01] [-2.95427122e-02 9.99563518e-01 -3.67834209e-05 -4.77723919e-01] [-1.31587676e-03 -2.09209250e-06 9.99999134e-01 -4.04370957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.120281693 meters Centerline goodness [0,1] 0.9964257767062158 Centerline is valid? [True, True] Translation: X:19.45, Y:-0.47, Z:-0.40 [[ 9.99566933e-01 2.94104588e-02 9.86022637e-04 1.94538074e+01] [-2.94104459e-02 9.99567419e-01 -2.76267978e-05 -4.74901347e-01] [-9.86408619e-04 -1.38453185e-06 9.99999513e-01 -4.04046193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.150281693 meters Centerline goodness [0,1] 0.9969991061167156 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.47, Z:-0.40 [[ 9.99634131e-01 2.70273476e-02 1.06117864e-03 1.94837276e+01] [-2.70273314e-02 9.99634695e-01 -2.96385597e-05 -4.74954036e-01] [-1.06159203e-03 9.46889281e-07 9.99999437e-01 -4.04031540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.180281693 meters Centerline goodness [0,1] 0.9968157662600314 Centerline is valid? [True, True] Translation: X:19.51, Y:-0.48, Z:-0.40 [[ 9.99694178e-01 2.46999823e-02 1.20847294e-03 1.95137568e+01] [-2.46999596e-02 9.99694909e-01 -3.37149239e-05 -4.78423498e-01] [-1.20893700e-03 3.85538035e-06 9.99999269e-01 -4.03185372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.210281693000002 meters Centerline goodness [0,1] 0.9969952691471679 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.48, Z:-0.40 [[ 9.99756046e-01 2.19985217e-02 1.97803109e-03 1.95428206e+01] [-2.19984559e-02 9.99758003e-01 -5.50199550e-05 -4.83735641e-01] [-1.97876277e-03 1.14929030e-05 9.99998042e-01 -4.02976459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.240281693 meters Centerline goodness [0,1] 0.9976835617893954 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.49, Z:-0.40 [[ 9.99836180e-01 1.78028342e-02 3.26699232e-03 1.95718512e+01] [-1.78026325e-02 9.99841516e-01 -9.07923659e-05 -4.89488484e-01] [-3.26809092e-03 3.26164285e-05 9.99994659e-01 -3.99903266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.270281693 meters Centerline goodness [0,1] 0.9973899758095319 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.49, Z:-0.40 [[ 9.99863876e-01 1.61602266e-02 3.32808750e-03 1.96022174e+01] [-1.61600085e-02 9.99869414e-01 -9.24313623e-05 -4.91395065e-01] [-3.32914661e-03 3.86368581e-05 9.99994458e-01 -4.00330855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.300281693000002 meters Centerline goodness [0,1] 0.997696242127066 Centerline is valid? [True, True] Translation: X:19.63, Y:-0.50, Z:-0.40 [[ 9.99890259e-01 1.46039283e-02 2.48900914e-03 1.96326989e+01] [-1.46038015e-02 9.99893356e-01 -6.90970626e-05 -4.96777293e-01] [-2.48975280e-03 3.27404843e-05 9.99996900e-01 -4.03022956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.330281693 meters Centerline goodness [0,1] 0.9982549120992761 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.50, Z:-0.41 [[ 9.99937005e-01 1.12243762e-02 7.50380568e-07 1.96633403e+01] [-1.12243762e-02 9.99937005e-01 -2.08489311e-08 -5.00726248e-01] [-7.50567318e-07 1.24250638e-08 1.00000000e+00 -4.06816089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.360281693 meters Centerline goodness [0,1] 0.9984040176196455 Centerline is valid? [True, True] Translation: X:19.69, Y:-0.51, Z:-0.41 [[ 9.99952159e-01 9.75714830e-03 -6.91724544e-04 1.96924557e+01] [-9.75713738e-03 9.99952398e-01 1.91521439e-05 -5.05057684e-01] [ 6.91878487e-04 -1.24019762e-05 9.99999761e-01 -4.07527653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.390281693000002 meters Centerline goodness [0,1] 0.9978708001533024 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.51, Z:-0.40 [[ 9.99974556e-01 7.11246258e-03 5.47550449e-04 1.97221422e+01] [-7.11245526e-03 9.99974706e-01 -1.53155601e-05 -5.09828634e-01] [-5.47645531e-04 1.14207424e-05 9.99999850e-01 -4.04680393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.420281693 meters Centerline goodness [0,1] 0.9981245071503165 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.52, Z:-0.40 [[ 9.99980274e-01 6.12363299e-03 1.39716280e-03 1.97512591e+01] [-6.12358483e-03 9.99981250e-01 -3.87458065e-05 -5.17276383e-01] [-1.39737387e-03 3.01893972e-05 9.99999023e-01 -4.04193227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.450281693 meters Centerline goodness [0,1] 0.9981217851578341 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.52, Z:-0.40 [[ 9.99983660e-01 5.18847883e-03 2.39993598e-03 1.97813608e+01] [-5.18833397e-03 9.99986538e-01 -6.65819156e-05 -5.23025866e-01] [-2.40024913e-03 5.41291582e-05 9.99997118e-01 -4.03403721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.480281693000002 meters Centerline goodness [0,1] 0.9979821831061501 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.53, Z:-0.40 [[ 9.99991255e-01 3.41113838e-03 2.41971390e-03 1.98128624e+01] [-3.41098593e-03 9.99994180e-01 -6.71255088e-05 -5.26188056e-01] [-2.41992879e-03 5.88713117e-05 9.99997070e-01 -4.02876742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.510281693 meters Centerline goodness [0,1] 0.9978490088570223 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.53, Z:-0.41 [[ 9.99992250e-01 3.66356101e-03 1.44171256e-03 1.98434852e+01] [-3.66350754e-03 9.99993289e-01 -3.97229441e-05 -5.30116682e-01] [-1.44184841e-03 3.44409114e-05 9.99998960e-01 -4.05613332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540281693 meters Centerline goodness [0,1] 0.9977890353325033 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.53, Z:-0.41 [[ 9.99991525e-01 4.11638756e-03 7.13572611e-05 1.98746850e+01] [-4.11638744e-03 9.99991528e-01 -1.87312196e-06 -5.29599428e-01] [-7.13643670e-05 1.57937196e-06 9.99999997e-01 -4.07478755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.570281693000002 meters Centerline goodness [0,1] 0.9983189701032025 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.53, Z:-0.41 [[ 9.99983650e-01 5.71666984e-03 1.38429595e-04 1.99048589e+01] [-5.71666936e-03 9.99983660e-01 -3.86293346e-06 -5.32926595e-01] [-1.38449417e-04 3.07151407e-06 9.99999990e-01 -4.07142709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.600281693 meters Centerline goodness [0,1] 0.9982474513240291 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.53, Z:-0.40 [[ 9.99978945e-01 6.37671688e-03 1.20264208e-03 1.99353975e+01] [-6.37668113e-03 9.99979668e-01 -3.35602103e-05 -5.34506431e-01] [-1.20283163e-03 2.58906386e-05 9.99999276e-01 -4.04677278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.630281693 meters Centerline goodness [0,1] 0.9981821256447112 Centerline is valid? [True, True] Translation: X:19.97, Y:-0.54, Z:-0.40 [[ 9.99961752e-01 8.48053780e-03 2.13874732e-03 1.99658627e+01] [-8.48042996e-03 9.99964039e-01 -5.94826485e-05 -5.40021540e-01] [-2.13917485e-03 4.13428767e-05 9.99997711e-01 -4.04143131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660281693 meters Centerline goodness [0,1] 0.9984751841590963 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.54, Z:-0.40 [[ 9.99949639e-01 9.90744893e-03 1.60028978e-03 1.99970906e+01] [-9.90739011e-03 9.99950920e-01 -4.46781926e-05 -5.37558247e-01] [-1.60065388e-03 2.88212475e-05 9.99998719e-01 -4.04978358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.690281693 meters Centerline goodness [0,1] 0.9983396483460343 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.54, Z:-0.41 [[ 9.99924782e-01 1.22269153e-02 9.66293345e-04 2.00271326e+01] [-1.22268949e-02 9.99925248e-01 -2.70512333e-05 -5.38433254e-01] [-9.66551866e-04 1.52344314e-05 9.99999533e-01 -4.06236296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.720281693 meters Centerline goodness [0,1] 0.9982172418184133 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.54, Z:-0.41 [[ 9.99893764e-01 1.45760563e-02 6.13487911e-07 2.00570639e+01] [-1.45760563e-02 9.99893764e-01 -1.71744998e-08 -5.38674323e-01] [-6.13673076e-07 8.23044073e-09 1.00000000e+00 -4.07800010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.750281693 meters Centerline goodness [0,1] 0.9981988090949545 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.53, Z:-0.41 [[ 9.99799328e-01 1.99944053e-02 -1.23613050e-03 2.00857197e+01] [-1.99943781e-02 9.99800092e-01 3.43879490e-05 -5.33802457e-01] [ 1.23657096e-03 -9.66538763e-06 9.99999235e-01 -4.09595468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.780281693 meters Centerline goodness [0,1] 0.9975848508164487 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.53, Z:-0.41 [[ 9.99736958e-01 2.28889206e-02 -1.45305119e-03 2.01159410e+01] [-2.28888860e-02 9.99738014e-01 4.04745715e-05 -5.29550144e-01] [ 1.45359693e-03 -7.20520203e-06 9.99998944e-01 -4.09533736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.810281693 meters Centerline goodness [0,1] 0.9974141037325929 Centerline is valid? [True, True] Translation: X:20.14, Y:-0.52, Z:-0.41 [[ 9.99589858e-01 2.86303266e-02 -6.47743614e-04 2.01435257e+01] [-2.86303211e-02 9.99590068e-01 1.77582260e-05 -5.22289573e-01] [ 6.47986507e-04 7.94165017e-07 9.99999790e-01 -4.09447430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.840281693 meters Centerline goodness [0,1] 0.9969577893269109 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.52, Z:-0.41 [[ 9.99532523e-01 3.05733841e-02 -5.61691322e-05 2.01727764e+01] [-3.05733841e-02 9.99532525e-01 1.32066469e-06 -5.21566430e-01] [ 5.61832517e-05 3.97233143e-07 9.99999998e-01 -4.07277132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.870281693 meters Centerline goodness [0,1] 0.9968285726448427 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.52, Z:-0.41 [[ 9.99503908e-01 3.14934925e-02 3.13642157e-04 2.02025262e+01] [-3.14934913e-02 9.99503957e-01 -8.84466771e-06 -5.22286789e-01] [-3.13765127e-04 -1.03740662e-06 9.99999951e-01 -4.06362863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.900281693 meters Centerline goodness [0,1] 0.9968569486918111 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.52, Z:-0.41 [[ 9.99522161e-01 3.08937201e-02 -1.01350964e-03 2.02310929e+01] [-3.08937076e-02 9.99522675e-01 2.79661008e-05 -5.24865019e-01] [ 1.01388985e-03 3.35833298e-06 9.99999486e-01 -4.09638750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.930281693 meters Centerline goodness [0,1] 0.997364870562442 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.53, Z:-0.41 [[ 9.99549648e-01 2.99474841e-02 -1.91053974e-03 2.02600173e+01] [-2.99474378e-02 9.99551474e-01 5.28194263e-05 -5.26711087e-01] [ 1.91126462e-03 4.42013098e-06 9.99998174e-01 -4.12743119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.960281693000002 meters Centerline goodness [0,1] 0.9972031528095602 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.53, Z:-0.41 [[ 9.99561830e-01 2.95089884e-02 -2.31691644e-03 2.02892251e+01] [-2.95089195e-02 9.99564515e-01 6.39257778e-05 -5.28597483e-01] [ 2.31779384e-03 4.47193308e-06 9.99997314e-01 -4.12682910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.990281693 meters Centerline goodness [0,1] 0.9972829547866695 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.53, Z:-0.41 [[ 9.99538928e-01 3.03044595e-02 -1.88997926e-03 2.03181464e+01] [-3.03044153e-02 9.99540714e-01 5.20139063e-05 -5.28435185e-01] [ 1.89068747e-03 5.28479228e-06 9.99998213e-01 -4.11185284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.020281693 meters Centerline goodness [0,1] 0.9973333897695287 Centerline is valid? [True, True] Translation: X:20.35, Y:-0.53, Z:-0.41 [[ 9.99510781e-01 3.12023266e-02 -2.14794386e-03 2.03464997e+01] [-3.12022716e-02 9.99513089e-01 5.91327763e-05 -5.27733434e-01] [ 2.14874308e-03 7.91688035e-06 9.99997691e-01 -4.11604768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.050281693000002 meters Centerline goodness [0,1] 0.99699324538929 Centerline is valid? [True, True] Translation: X:20.38, Y:-0.53, Z:-0.41 [[ 9.99468577e-01 3.25119176e-02 -2.35349839e-03 2.03757485e+01] [-3.25118555e-02 9.99471348e-01 6.46427266e-05 -5.26566040e-01] [ 2.35435586e-03 1.19082255e-05 9.99997228e-01 -4.11830174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.080281693 meters Centerline goodness [0,1] 0.9968269622451386 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.53, Z:-0.41 [[ 9.99428683e-01 3.37538124e-02 -1.72861521e-03 2.04047562e+01] [-3.37537810e-02 9.99430178e-01 4.73292350e-05 -5.25053439e-01] [ 1.72922774e-03 1.10451040e-05 9.99998505e-01 -4.10792373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.110281693 meters Centerline goodness [0,1] 0.9968270302718463 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.52, Z:-0.41 [[ 9.99432163e-01 3.36642914e-02 -1.43746944e-03 2.04322890e+01] [-3.36642699e-02 9.99433197e-01 3.91736333e-05 -5.24932806e-01] [ 1.43797343e-03 9.23996995e-06 9.99998966e-01 -4.10767112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.140281693000002 meters Centerline goodness [0,1] 0.9969038278019298 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.53, Z:-0.41 [[ 9.99469203e-01 3.25226610e-02 -1.89443971e-03 2.04611480e+01] [-3.25226214e-02 9.99470998e-01 5.16960424e-05 -5.27543323e-01] [ 1.89511884e-03 9.94354324e-06 9.99998204e-01 -4.12393054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.170281693 meters Centerline goodness [0,1] 0.9972309789554401 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.53, Z:-0.42 [[ 9.99504134e-01 3.13560855e-02 -2.87771543e-03 2.04900393e+01] [-3.13559894e-02 9.99508277e-01 7.85211905e-05 -5.31044613e-01] [ 2.87876251e-03 1.17513601e-05 9.99995856e-01 -4.15068662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.200281693 meters Centerline goodness [0,1] 0.9972883653927633 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.53, Z:-0.42 [[ 9.99555447e-01 2.96214466e-02 -3.38801206e-03 2.05172630e+01] [-2.96213042e-02 9.99561189e-01 9.22344795e-05 -5.34893239e-01] [ 3.38925748e-03 8.16385921e-06 9.99994256e-01 -4.16813031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.230281693000002 meters Centerline goodness [0,1] 0.9973979439491533 Centerline is valid? [True, True] Translation: X:20.55, Y:-0.54, Z:-0.42 [[ 9.99609069e-01 2.76911868e-02 -3.86100622e-03 2.05456653e+01] [-2.76909877e-02 9.99616526e-01 1.05037002e-04 -5.38482173e-01] [ 3.86243422e-03 1.91913609e-06 9.99992541e-01 -4.17341833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.260281693 meters Centerline goodness [0,1] 0.9980650237087755 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.54, Z:-0.41 [[ 9.99683932e-01 2.49412955e-02 -3.15708168e-03 2.05736156e+01] [-2.49411496e-02 9.99688917e-01 8.56066489e-05 -5.44585685e-01] [ 3.15823471e-03 -6.83834502e-06 9.99995013e-01 -4.14866376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.290281693 meters Centerline goodness [0,1] 0.9981834312027376 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.55, Z:-0.41 [[ 9.99706693e-01 2.41377241e-02 -1.97445518e-03 2.06026083e+01] [-2.41376656e-02 9.99708643e-01 5.34815097e-05 -5.47076970e-01] [ 1.97517083e-03 -5.80708440e-06 9.99998049e-01 -4.13070435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.320281693000002 meters Centerline goodness [0,1] 0.9978416809496604 Centerline is valid? [True, True] Translation: X:20.63, Y:-0.55, Z:-0.41 [[ 9.99752592e-01 2.22382761e-02 4.63201660e-04 2.06318449e+01] [-2.22382726e-02 9.99752699e-01 -1.26977533e-05 -5.49195193e-01] [-4.63369486e-04 2.39380692e-06 9.99999893e-01 -4.06865422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.350281693 meters Centerline goodness [0,1] 0.9980754996299038 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.55, Z:-0.41 [[ 9.99776034e-01 2.11233478e-02 1.29843370e-03 2.06608186e+01] [-2.11233198e-02 9.99776877e-01 -3.52995522e-05 -5.51098683e-01] [-1.29888963e-03 7.86441614e-06 9.99999156e-01 -4.06909148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380281693 meters Centerline goodness [0,1] 0.997880720983003 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.55, Z:-0.41 [[ 9.99798506e-01 1.99973327e-02 1.74750571e-03 2.06917127e+01] [-1.99972804e-02 9.99800033e-01 -4.74276905e-05 -5.52341110e-01] [-1.74810470e-03 1.24727725e-05 9.99998472e-01 -4.06067913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.410281693 meters Centerline goodness [0,1] 0.9982614963851846 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.56, Z:-0.41 [[ 9.99837324e-01 1.78825548e-02 2.35355452e-03 2.07211363e+01] [-1.78824539e-02 9.99840094e-01 -6.39083075e-05 -5.57182555e-01] [-2.35432102e-03 2.18105808e-05 9.99997228e-01 -4.05737996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.440281693 meters Centerline goodness [0,1] 0.9983136949052507 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.56, Z:-0.41 [[ 9.99852367e-01 1.71153824e-02 1.51909789e-03 2.07511450e+01] [-1.71153396e-02 9.99853521e-01 -4.11696909e-05 -5.59716243e-01] [-1.51958001e-03 1.51637366e-05 9.99998845e-01 -4.06683192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.470281693 meters Centerline goodness [0,1] 0.9983136949052507 Centerline is valid? [True, True] Translation: X:20.78, Y:-0.56, Z:-0.41 [[ 9.99852367e-01 1.71153827e-02 1.51909630e-03 2.07811353e+01] [-1.71153398e-02 9.99853521e-01 -4.12284659e-05 -5.60530149e-01] [-1.51957942e-03 1.52225299e-05 9.99998845e-01 -4.06838421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500281693 meters Centerline goodness [0,1] 0.9984698106390666 Centerline is valid? [True, True] Translation: X:20.81, Y:-0.56, Z:-0.41 [[ 9.99865214e-01 1.64042873e-02 6.72827412e-04 2.08116661e+01] [-1.64042788e-02 9.99865441e-01 -1.82606212e-05 -5.59153580e-01] [-6.73036429e-04 7.22091148e-06 9.99999773e-01 -4.07366188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.530281693 meters Centerline goodness [0,1] 0.9983857949959645 Centerline is valid? [True, True] Translation: X:20.84, Y:-0.56, Z:-0.41 [[ 9.99859508e-01 1.67380137e-02 -8.95786654e-04 2.08411889e+01] [-1.67379986e-02 9.99859910e-01 2.42426538e-05 -5.56518369e-01] [ 8.96066937e-04 -9.24557208e-06 9.99999598e-01 -4.10832736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.560281693 meters Centerline goodness [0,1] 0.9985984880659136 Centerline is valid? [True, True] Translation: X:20.87, Y:-0.56, Z:-0.41 [[ 9.99841383e-01 1.77613238e-02 -1.32071805e-03 2.08698731e+01] [-1.77612922e-02 9.99842255e-01 3.56107265e-05 -5.56121393e-01] [ 1.32114221e-03 -1.21474188e-05 9.99999127e-01 -4.12731108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.590281693 meters Centerline goodness [0,1] 0.9981818181818182 Centerline is valid? [True, True] Translation: X:20.90, Y:-0.55, Z:-0.41 [[ 9.99824592e-01 1.86400612e-02 -1.82570491e-03 2.08993236e+01] [-1.86400022e-02 9.99826259e-01 4.92986382e-05 -5.51766057e-01] [ 1.82630664e-03 -1.52588472e-05 9.99998332e-01 -4.11935382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.620281693 meters Centerline goodness [0,1] 0.9986168152703594 Centerline is valid? [True, True] Translation: X:20.93, Y:-0.55, Z:-0.41 [[ 9.99792538e-01 2.01669671e-02 -2.85924378e-03 2.09280859e+01] [-2.01668290e-02 9.99796626e-01 7.71126436e-05 -5.47415914e-01] [ 2.86021742e-03 -1.94347651e-05 9.99995909e-01 -4.14412062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.650281693 meters Centerline goodness [0,1] 0.9984974180987048 Centerline is valid? [True, True] Translation: X:20.96, Y:-0.55, Z:-0.42 [[ 9.99783394e-01 2.06326536e-02 -2.73119280e-03 2.09556257e+01] [-2.06325303e-02 9.99787124e-01 7.33420441e-05 -5.47169799e-01] [ 2.73212463e-03 -1.69747397e-05 9.99996268e-01 -4.15711110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680281693 meters Centerline goodness [0,1] 0.9987049932065217 Centerline is valid? [True, True] Translation: X:20.98, Y:-0.55, Z:-0.41 [[ 9.99783419e-01 2.07284322e-02 -1.85689374e-03 2.09844593e+01] [-2.07283755e-02 9.99785143e-01 4.97713210e-05 -5.45985932e-01] [ 1.85752645e-03 -1.12701507e-05 9.99998275e-01 -4.13189719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.710281693 meters Centerline goodness [0,1] 0.9984080151132432 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.55, Z:-0.41 [[ 9.99813806e-01 1.92951938e-02 -2.21497190e-04 2.10130003e+01] [-1.92951930e-02 9.99813830e-01 5.78548897e-06 -5.51224602e-01] [ 2.21567586e-04 -1.51058071e-06 9.99999975e-01 -4.11452565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.740281693 meters Centerline goodness [0,1] 0.9985913989969053 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.55, Z:-0.41 [[ 9.99841699e-01 1.77880831e-02 4.02397210e-04 2.10428883e+01] [-1.77880802e-02 9.99841780e-01 -1.09332168e-05 -5.51626805e-01] [-4.02528023e-04 3.77361223e-06 9.99999919e-01 -4.09252867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.770281693 meters Centerline goodness [0,1] 0.9984305075399266 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.55, Z:-0.41 [[ 9.99859999e-01 1.67239785e-02 5.39708688e-04 2.10717954e+01] [-1.67239730e-02 9.99860144e-01 -1.46242128e-05 -5.54560672e-01] [-5.39877782e-04 5.59609186e-06 9.99999854e-01 -4.09875010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.800281693000002 meters Centerline goodness [0,1] 0.9983934538599949 Centerline is valid? [True, True] Translation: X:21.10, Y:-0.56, Z:-0.41 [[ 9.99868513e-01 1.62111428e-02 -3.94094781e-04 2.11012838e+01] [-1.62111399e-02 9.99868591e-01 1.04526670e-05 -5.57299985e-01] [ 3.94212443e-04 -4.06256699e-06 9.99999922e-01 -4.11650562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.830281693 meters Centerline goodness [0,1] 0.9975778179113991 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.56, Z:-0.41 [[ 9.99862176e-01 1.66019679e-02 -5.79875745e-05 2.11311394e+01] [-1.66019678e-02 9.99862178e-01 1.43346919e-06 -5.58128328e-01] [ 5.80033809e-05 -4.70563776e-07 9.99999998e-01 -4.10712875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860281693 meters Centerline goodness [0,1] 0.9984424673024814 Centerline is valid? [True, True] Translation: X:21.16, Y:-0.56, Z:-0.41 [[ 9.99832054e-01 1.83064025e-02 8.59739547e-04 2.11595581e+01] [-1.83063893e-02 9.99832424e-01 -2.31894211e-05 -5.58661460e-01] [-8.60019990e-04 7.44679970e-06 9.99999630e-01 -4.08646095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.890281693000002 meters Centerline goodness [0,1] 0.9983963736663174 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.56, Z:-0.41 [[ 9.99814523e-01 1.92589582e-02 -1.14355770e-04 2.11895765e+01] [-1.92589580e-02 9.99814529e-01 2.93913449e-06 -5.58363400e-01] [ 1.14391165e-04 -7.36216380e-07 9.99999993e-01 -4.10758286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.920281693 meters Centerline goodness [0,1] 0.9983726258538361 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.56, Z:-0.41 [[ 9.99797792e-01 2.00140091e-02 -1.95328391e-03 2.12194965e+01] [-2.00139456e-02 9.99799700e-01 5.20682889e-05 -5.58589095e-01] [ 1.95393476e-03 -1.29648425e-05 9.99998091e-01 -4.14324601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.950281693 meters Centerline goodness [0,1] 0.9985010661430954 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.56, Z:-0.42 [[ 9.99786027e-01 2.03851180e-02 -3.51396001e-03 2.12484121e+01] [-2.03849150e-02 9.99792202e-01 9.35863794e-05 -5.60616708e-01] [ 3.51513759e-03 -2.19345784e-05 9.99993822e-01 -4.18268609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.980281693000002 meters Centerline goodness [0,1] 0.9984290415030251 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.56, Z:-0.42 [[ 9.99775292e-01 2.08952506e-02 -3.57131044e-03 2.12770078e+01] [-2.08950449e-02 9.99781670e-01 9.48997989e-05 -5.62301497e-01] [ 3.57251367e-03 -2.02557821e-05 9.99993618e-01 -4.18125474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.010281693 meters Centerline goodness [0,1] 0.9982069289388862 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.56, Z:-0.42 [[ 9.99765930e-01 2.15235886e-02 -2.19563547e-03 2.13047613e+01] [-2.15235130e-02 9.99768341e-01 5.80714990e-05 -5.62120892e-01] [ 2.19637674e-03 -1.08001177e-05 9.99997588e-01 -4.15621781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.040281693 meters Centerline goodness [0,1] 0.9976934905176832 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.55, Z:-0.41 [[ 9.99670347e-01 2.56189532e-02 1.69302181e-03 2.13341590e+01] [-2.56189134e-02 9.99671781e-01 -4.51634020e-05 -5.54663215e-01] [-1.69362317e-03 1.77513468e-06 9.99998566e-01 -4.07230751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.070281693000002 meters Centerline goodness [0,1] 0.99717604093679 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.55, Z:-0.41 [[ 9.99597126e-01 2.82914093e-02 2.27615197e-03 2.13634331e+01] [-2.82913450e-02 9.99599718e-01 -6.04327169e-05 -5.49483832e-01] [-2.27695060e-03 -3.98703061e-06 9.99997408e-01 -4.06523220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.100281693 meters Centerline goodness [0,1] 0.996783393734051 Centerline is valid? [True, True] Translation: X:21.39, Y:-0.54, Z:-0.41 [[ 9.99512146e-01 3.11876278e-02 1.67399741e-03 2.13932730e+01] [-3.11875970e-02 9.99513548e-01 -4.44823486e-05 -5.44400410e-01] [-1.67457039e-03 -7.74730892e-06 9.99998598e-01 -4.07797320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.130281693 meters Centerline goodness [0,1] 0.9960865218963354 Centerline is valid? [True, True] Translation: X:21.42, Y:-0.53, Z:-0.41 [[ 9.99336921e-01 3.64030313e-02 -7.32915421e-04 2.14225039e+01] [-3.64030270e-02 9.99337190e-01 1.92202834e-05 -5.32881801e-01] [ 7.33129314e-04 7.47280103e-06 9.99999731e-01 -4.12910097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160281693 meters Centerline goodness [0,1] 0.9962640628316706 Centerline is valid? [True, True] Translation: X:21.45, Y:-0.53, Z:-0.41 [[ 9.99274625e-01 3.80573236e-02 -1.36522115e-03 2.14514593e+01] [-3.80573101e-02 9.99275558e-01 3.58432430e-05 -5.28084233e-01] [ 1.36559622e-03 1.61394015e-05 9.99999067e-01 -4.14456420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.190281693 meters Centerline goodness [0,1] 0.9960449803317941 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.53, Z:-0.41 [[ 9.99234660e-01 3.90803343e-02 -1.67993468e-03 2.14801655e+01] [-3.90803154e-02 9.99236072e-01 4.40764198e-05 -5.25264465e-01] [ 1.68037385e-03 2.16096906e-05 9.99998588e-01 -4.14720609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220281693 meters Centerline goodness [0,1] 0.9962053760705504 Centerline is valid? [True, True] Translation: X:21.51, Y:-0.52, Z:-0.42 [[ 9.99212160e-01 3.96530486e-02 -1.64195182e-03 2.15084827e+01] [-3.96530316e-02 9.99213508e-01 4.29246126e-05 -5.22025307e-01] [ 1.64236253e-03 2.22175725e-05 9.99998651e-01 -4.15401298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.250281693 meters Centerline goodness [0,1] 0.9959221816328264 Centerline is valid? [True, True] Translation: X:21.54, Y:-0.52, Z:-0.41 [[ 9.99249832e-01 3.87146073e-02 -9.75541118e-04 2.15373844e+01] [-3.87146009e-02 9.99250308e-01 2.54001686e-05 -5.24230204e-01] [ 9.75793120e-04 1.23865709e-05 9.99999524e-01 -4.14119456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280281693 meters Centerline goodness [0,1] 0.9958274489664912 Centerline is valid? [True, True] Translation: X:21.57, Y:-0.53, Z:-0.41 [[ 9.99315362e-01 3.69870948e-02 -8.72669416e-04 2.15661084e+01] [-3.69870891e-02 9.99315743e-01 2.26489610e-05 -5.28563576e-01] [ 8.72910005e-04 9.64404682e-06 9.99999619e-01 -4.13163067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.310281693 meters Centerline goodness [0,1] 0.996899456870376 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.53, Z:-0.42 [[ 9.99437825e-01 3.34429447e-02 -2.36695369e-03 2.15938123e+01] [-3.34428925e-02 9.99440628e-01 6.16328547e-05 -5.30552393e-01] [ 2.36769087e-03 1.75595716e-05 9.99997197e-01 -4.15637257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340281693 meters Centerline goodness [0,1] 0.9969108185265669 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.53, Z:-0.42 [[ 9.99469916e-01 3.24408036e-02 -2.73511412e-03 2.16214404e+01] [-3.24407304e-02 9.99473658e-01 7.11298255e-05 -5.29813632e-01] [ 2.73598202e-03 1.76369788e-05 9.99996257e-01 -4.16232154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.370281693 meters Centerline goodness [0,1] 0.9970550576184379 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.53, Z:-0.41 [[ 9.99490122e-01 3.19013272e-02 -1.34214493e-03 2.16503447e+01] [-3.19013093e-02 9.99491023e-01 3.47429865e-05 -5.30415488e-01] [ 1.34257015e-03 8.09090866e-06 9.99999099e-01 -4.13408137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400281693 meters Centerline goodness [0,1] 0.996961897126461 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.53, Z:-0.41 [[ 9.99511493e-01 3.12019685e-02 1.79237861e-03 2.16782807e+01] [-3.12019346e-02 9.99513100e-01 -4.69157636e-05 -5.29203301e-01] [-1.79296976e-03 -9.03283496e-06 9.99998393e-01 -4.07932974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.430281693 meters Centerline goodness [0,1] 0.9973005143901713 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.53, Z:-0.41 [[ 9.99511588e-01 3.11225484e-02 2.82344066e-03 2.17074787e+01] [-3.11224650e-02 9.99515576e-01 -7.34849045e-05 -5.28010200e-01] [-2.82435995e-03 -1.44234194e-05 9.99996011e-01 -4.06922735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460281693 meters Centerline goodness [0,1] 0.9973693778471673 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.53, Z:-0.41 [[ 9.99515583e-01 3.09905166e-02 2.86144642e-03 2.17371002e+01] [-3.09904305e-02 9.99519678e-01 -7.44098604e-05 -5.27212663e-01] [-2.86237801e-03 -1.43036416e-05 9.99995903e-01 -4.06538162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.490281693 meters Centerline goodness [0,1] 0.9977637774958609 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.53, Z:-0.41 [[ 9.99574819e-01 2.89670426e-02 3.33052867e-03 2.17668026e+01] [-2.89669151e-02 9.99580367e-01 -8.65186927e-05 -5.27457301e-01] [-3.33163726e-03 -9.99323452e-06 9.99994450e-01 -4.06549457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.520281693 meters Centerline goodness [0,1] 0.9978266950702559 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.53, Z:-0.41 [[ 9.99636717e-01 2.67919322e-02 2.93715118e-03 2.17965436e+01] [-2.67918239e-02 9.99641032e-01 -7.62445107e-05 -5.30278492e-01] [-2.93813958e-03 -2.47482479e-06 9.99995684e-01 -4.08303571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.550281693000002 meters Centerline goodness [0,1] 0.9979300876544513 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.54, Z:-0.41 [[ 9.99725548e-01 2.33426703e-02 1.98708955e-03 2.18254280e+01] [-2.33426140e-02 9.99727523e-01 -5.15371529e-05 -5.36036661e-01] [-1.98775113e-03 5.13914397e-06 9.99998024e-01 -4.11136752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580281693 meters Centerline goodness [0,1] 0.9983053719708525 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.54, Z:-0.41 [[ 9.99808285e-01 1.95251861e-02 1.47003070e-03 2.18560526e+01] [-1.95251512e-02 9.99809365e-01 -3.80820617e-05 -5.42462154e-01] [-1.47049402e-03 9.37218918e-06 9.99998919e-01 -4.11773767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.610281693 meters Centerline goodness [0,1] 0.9985048166264391 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.55, Z:-0.41 [[ 9.99933821e-01 1.12932327e-02 2.19470098e-03 2.18861680e+01] [-1.12931351e-02 9.99936229e-01 -5.68550971e-05 -5.53843731e-01] [-2.19520310e-03 3.20662798e-05 9.99997590e-01 -4.09806980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640281693000002 meters Centerline goodness [0,1] 0.9984518459586729 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.56, Z:-0.41 [[ 9.99966733e-01 7.80789321e-03 2.35997304e-03 2.19166607e+01] [-7.80777074e-03 9.99969517e-01 -6.11036785e-05 -5.62056674e-01] [-2.36037819e-03 4.26755173e-05 9.99997213e-01 -4.10059466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.670281693 meters Centerline goodness [0,1] 0.9983398250431007 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.57, Z:-0.41 [[ 9.99986243e-01 4.74800969e-03 2.22948473e-03 2.19479570e+01] [-4.74789281e-03 9.99988727e-01 -5.77141089e-05 -5.69431141e-01] [-2.22973363e-03 4.71279604e-05 9.99997513e-01 -4.11038548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700281693 meters Centerline goodness [0,1] 0.9988587178879821 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.58, Z:-0.41 [[ 9.99998657e-01 5.88886479e-04 1.52974361e-03 2.19783553e+01] [-5.88826530e-04 9.99999826e-01 -3.96393494e-05 -5.81325875e-01] [-1.52976668e-03 3.87385425e-05 9.99998829e-01 -4.12505285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.730281693000002 meters Centerline goodness [0,1] 0.9984799503307714 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.59, Z:-0.41 [[ 9.99999576e-01 -2.69253287e-05 9.20528527e-04 2.20088760e+01] [ 2.69472858e-05 9.99999999e-01 -2.38402223e-05 -5.88390904e-01] [-9.20527885e-04 2.38650179e-05 9.99999576e-01 -4.13588703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.760281693 meters Centerline goodness [0,1] 0.9984019772867705 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.59, Z:-0.41 [[ 9.99997931e-01 1.97143210e-03 5.00857744e-04 2.20395016e+01] [-1.97142583e-03 9.99998057e-01 -1.30042348e-05 -5.92886474e-01] [-5.00882407e-04 1.20168040e-05 9.99999874e-01 -4.13942136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.790281693 meters Centerline goodness [0,1] 0.9987389120444587 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.59, Z:-0.41 [[ 9.99990791e-01 4.07223776e-03 1.35432639e-03 2.20699233e+01] [-4.07219386e-03 9.99991708e-01 -3.51636340e-05 -5.94461379e-01] [-1.35445835e-03 2.96482305e-05 9.99999082e-01 -4.13116054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820281693000002 meters Centerline goodness [0,1] 0.9987849331713244 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.60, Z:-0.41 [[ 9.99977680e-01 6.48635316e-03 1.60212465e-03 2.21008021e+01] [-6.48629490e-03 9.99978963e-01 -4.15562172e-05 -5.96405487e-01] [-1.60236050e-03 3.11634368e-05 9.99998716e-01 -4.12461576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.850281693 meters Centerline goodness [0,1] 0.9987934720487691 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.60, Z:-0.41 [[ 9.99937586e-01 1.11201006e-02 1.08072172e-03 2.21308064e+01] [-1.11200769e-02 9.99938170e-01 -2.80246658e-05 -6.01699330e-01] [-1.08096654e-03 1.60052081e-05 9.99999416e-01 -4.13977083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880281693 meters Centerline goodness [0,1] 0.9987850108709554 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.60, Z:-0.41 [[ 9.99908835e-01 1.34878325e-02 6.32244909e-04 2.21616400e+01] [-1.34878248e-02 9.99909035e-01 -1.64302187e-05 -5.97809289e-01] [-6.32409005e-04 7.90111226e-06 9.99999800e-01 -4.13868700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.910281693 meters Centerline goodness [0,1] 0.9986276107561007 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.60, Z:-0.41 [[ 9.99869188e-01 1.61741074e-02 7.43722358e-05 2.21924422e+01] [-1.61741073e-02 9.99869191e-01 -1.93271955e-06 -5.97562654e-01] [-7.43937672e-05 7.29562206e-07 9.99999997e-01 -4.14927659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.940281693 meters Centerline goodness [0,1] 0.9985744377539948 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.60, Z:-0.42 [[ 9.99830923e-01 1.83782603e-02 -6.04271804e-04 2.22216990e+01] [-1.83782542e-02 9.99831106e-01 1.55709060e-05 -5.97538006e-01] [ 6.04455912e-04 -4.46281248e-06 9.99999817e-01 -4.15955824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.970281693 meters Centerline goodness [0,1] 0.9986737967914439 Centerline is valid? [True, True] Translation: X:22.25, Y:-0.60, Z:-0.41 [[ 9.99752504e-01 2.22451760e-02 2.87924832e-04 2.22514869e+01] [-2.22451747e-02 9.99752545e-01 -7.59109550e-06 -5.95081783e-01] [-2.88022449e-04 1.18427854e-06 9.99999959e-01 -4.13865359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000281693 meters Centerline goodness [0,1] 0.9986728180496746 Centerline is valid? [True, True] Translation: X:22.28, Y:-0.59, Z:-0.41 [[ 9.99704854e-01 2.42824358e-02 7.53418458e-04 2.22803737e+01] [-2.42824278e-02 9.99705138e-01 -1.96479848e-05 -5.93369953e-01] [-7.53673405e-04 1.34735645e-06 9.99999716e-01 -4.13598490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.030281693 meters Centerline goodness [0,1] 0.9985078126665388 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.59, Z:-0.41 [[ 9.99662366e-01 2.59282488e-02 1.69725847e-03 2.23095444e+01] [-2.59282114e-02 9.99663806e-01 -4.40271252e-05 -5.91953402e-01] [-1.69782941e-03 5.38352182e-09 9.99998559e-01 -4.12503497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060281693 meters Centerline goodness [0,1] 0.9976608684557479 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.59, Z:-0.41 [[ 9.99606736e-01 2.79550044e-02 2.21157645e-03 2.23404180e+01] [-2.79549460e-02 9.99609182e-01 -5.72926631e-05 -5.92480545e-01] [-2.21231375e-03 -4.55436835e-06 9.99997553e-01 -4.12145346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.090281693 meters Centerline goodness [0,1] 0.9976212416689882 Centerline is valid? [True, True] Translation: X:22.37, Y:-0.59, Z:-0.41 [[ 9.99600440e-01 2.82060727e-02 1.83787532e-03 2.23711753e+01] [-2.82060328e-02 9.99602130e-01 -4.76116355e-05 -5.94180683e-01] [-1.83848702e-03 -4.24655991e-06 9.99998310e-01 -4.13361696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120281693 meters Centerline goodness [0,1] 0.9976541482836544 Centerline is valid? [True, True] Translation: X:22.40, Y:-0.60, Z:-0.42 [[ 9.99612318e-01 2.78268771e-02 9.37323070e-04 2.24013137e+01] [-2.78268665e-02 9.99612757e-01 -2.42821065e-05 -5.96791576e-01] [-9.37635794e-04 -1.81007122e-06 9.99999560e-01 -4.15309826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.150281693 meters Centerline goodness [0,1] 0.9982712992999829 Centerline is valid? [True, True] Translation: X:22.43, Y:-0.60, Z:-0.42 [[ 9.99678774e-01 2.52686117e-02 -1.96094847e-03 2.24306202e+01] [-2.52685605e-02 9.99680698e-01 5.08674179e-05 -6.03859893e-01] [ 1.96160768e-03 -1.30073289e-06 9.99998076e-01 -4.21375685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180281693 meters Centerline goodness [0,1] 0.9985802678420072 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.61, Z:-0.42 [[ 9.99700801e-01 2.42927834e-02 -2.85804403e-03 2.24595039e+01] [-2.42926718e-02 9.99704887e-01 7.37901751e-05 -6.07517363e-01] [ 2.85899315e-03 -4.33857176e-06 9.99995913e-01 -4.23434125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.210281693 meters Centerline goodness [0,1] 0.9985090839385743 Centerline is valid? [True, True] Translation: X:22.49, Y:-0.61, Z:-0.42 [[ 9.99721666e-01 2.34842691e-02 -2.25365265e-03 2.24875702e+01] [-2.34841979e-02 9.99724207e-01 5.80730338e-05 -6.13294411e-01] [ 2.25439491e-03 -5.13164533e-06 9.99997459e-01 -4.22970119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.240281693 meters Centerline goodness [0,1] 0.9983967597671083 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.61, Z:-0.42 [[ 9.99709155e-01 2.40762398e-02 -1.39261930e-03 2.25166700e+01] [-2.40762133e-02 9.99710125e-01 3.57772902e-05 -6.14276797e-01] [ 1.39307699e-03 -2.23788528e-06 9.99999030e-01 -4.21384949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.270281693 meters Centerline goodness [0,1] 0.9983806703172607 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.61, Z:-0.42 [[ 9.99690618e-01 2.48626741e-02 -7.17986833e-04 2.25466270e+01] [-2.48626673e-02 9.99690876e-01 1.83951895e-05 -6.13669288e-01] [ 7.18222239e-04 -5.38430649e-07 9.99999742e-01 -4.19463266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300281693000002 meters Centerline goodness [0,1] 0.9986732007960796 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.61, Z:-0.42 [[ 9.99669735e-01 2.56802715e-02 -9.71810970e-04 2.25758023e+01] [-2.56802592e-02 9.99670207e-01 2.51290088e-05 -6.13116768e-01] [ 9.72135794e-04 -1.64351918e-07 9.99999527e-01 -4.20503676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.330281693 meters Centerline goodness [0,1] 0.9983374187360119 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.61, Z:-0.42 [[ 9.99600564e-01 2.82183541e-02 -1.56088184e-03 2.26051421e+01] [-2.82183259e-02 9.99601783e-01 4.01190130e-05 -6.11739558e-01] [ 1.56139236e-03 3.94248442e-06 9.99998781e-01 -4.21655836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.360281693 meters Centerline goodness [0,1] 0.9983374187360119 Centerline is valid? [True, True] Translation: X:22.63, Y:-0.61, Z:-0.42 [[ 9.99601204e-01 2.81956738e-02 -1.56088275e-03 2.26342975e+01] [-2.81956456e-02 9.99602423e-01 4.00836680e-05 -6.12444849e-01] [ 1.56139236e-03 3.94241405e-06 9.99998781e-01 -4.21806740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.390281693000002 meters Centerline goodness [0,1] 0.9978200341024368 Centerline is valid? [True, True] Translation: X:22.66, Y:-0.61, Z:-0.42 [[ 9.99574573e-01 2.91633150e-02 -4.18405979e-04 2.26635107e+01] [-2.91633131e-02 9.99574660e-01 1.06425078e-05 -6.13543941e-01] [ 4.18538385e-04 1.56412442e-06 9.99999912e-01 -4.19815084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420281693 meters Centerline goodness [0,1] 0.997940202157479 Centerline is valid? [True, True] Translation: X:22.69, Y:-0.61, Z:-0.42 [[ 9.99564930e-01 2.94848340e-02 7.71425629e-04 2.26919141e+01] [-2.94848273e-02 9.99565228e-01 -2.00069064e-05 -6.13688233e-01] [-7.71680134e-04 -2.74714943e-06 9.99999702e-01 -4.18546024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.450281693 meters Centerline goodness [0,1] 0.9978635217707131 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.62, Z:-0.42 [[ 9.99608653e-01 2.78458010e-02 2.67434279e-03 2.27221002e+01] [-2.78457168e-02 9.99612230e-01 -6.87193077e-05 -6.18254025e-01] [-2.67521930e-03 -5.77657729e-06 9.99996422e-01 -4.15740168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480281693000002 meters Centerline goodness [0,1] 0.9981648635383992 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.62, Z:-0.42 [[ 9.99648332e-01 2.64091601e-02 2.40161655e-03 2.27526161e+01] [-2.64090882e-02 9.99651217e-01 -6.16799079e-05 -6.23047909e-01] [-2.40240782e-03 -1.76628615e-06 9.99997114e-01 -4.16414454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.510281693 meters Centerline goodness [0,1] 0.9981932960656364 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.63, Z:-0.42 [[ 9.99693284e-01 2.46812042e-02 2.04356243e-03 2.27832496e+01] [-2.46811483e-02 9.99695373e-01 -5.25341422e-05 -6.27633396e-01] [-2.04423652e-03 2.08056157e-06 9.99997911e-01 -4.16759847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.540281693 meters Centerline goodness [0,1] 0.9988243090143434 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.63, Z:-0.42 [[ 9.99771234e-01 2.13762657e-02 7.30771868e-04 2.28133966e+01] [-2.13762577e-02 9.99771502e-01 -1.87860535e-05 -6.32619083e-01] [-7.31006463e-04 3.16058813e-06 9.99999733e-01 -4.18593635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.570281693000002 meters Centerline goodness [0,1] 0.9986476333583771 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.63, Z:-0.42 [[ 9.99793553e-01 2.03177284e-02 2.03937362e-04 2.28430033e+01] [-2.03177278e-02 9.99793574e-01 -5.19594666e-06 -6.34846493e-01] [-2.04000833e-04 1.05133018e-06 9.99999979e-01 -4.19772216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600281693 meters Centerline goodness [0,1] 0.9988461045343818 Centerline is valid? [True, True] Translation: X:22.87, Y:-0.64, Z:-0.42 [[ 9.99786806e-01 2.06302678e-02 8.56698927e-04 2.28723897e+01] [-2.06302564e-02 9.99787173e-01 -2.21317235e-05 -6.37405936e-01] [-8.56973182e-04 4.45308666e-06 9.99999633e-01 -4.18391838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.630281693 meters Centerline goodness [0,1] 0.9984748347737672 Centerline is valid? [True, True] Translation: X:22.90, Y:-0.64, Z:-0.42 [[ 9.99766585e-01 2.15709379e-02 1.21283121e-03 2.29030427e+01] [-2.15709159e-02 9.99767320e-01 -3.11616058e-05 -6.37757600e-01] [-1.21322120e-03 4.99245214e-06 9.99999264e-01 -4.17414221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660281693 meters Centerline goodness [0,1] 0.9987368330906911 Centerline is valid? [True, True] Translation: X:22.93, Y:-0.64, Z:-0.42 [[ 9.99736601e-01 2.29187728e-02 1.20766026e-03 2.29327599e+01] [-2.29187520e-02 9.99737330e-01 -3.10745767e-05 -6.36270418e-01] [-1.20805524e-03 3.38832553e-06 9.99999270e-01 -4.17975540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.690281693 meters Centerline goodness [0,1] 0.9982969664715274 Centerline is valid? [True, True] Translation: X:22.96, Y:-0.63, Z:-0.42 [[ 9.99624495e-01 2.73855351e-02 9.49974265e-04 2.29623697e+01] [-2.73855243e-02 9.99624946e-01 -2.43412075e-05 -6.27945629e-01] [-9.50284570e-04 -1.68347604e-06 9.99999548e-01 -4.19431095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.720281693 meters Centerline goodness [0,1] 0.9981335678887864 Centerline is valid? [True, True] Translation: X:22.99, Y:-0.62, Z:-0.42 [[ 9.99563173e-01 2.95220005e-02 1.38350241e-03 2.29927336e+01] [-2.95219796e-02 9.99564131e-01 -3.55489862e-05 -6.24422733e-01] [-1.38394886e-03 -5.31027244e-06 9.99999042e-01 -4.18742438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.750281693 meters Centerline goodness [0,1] 0.9977567561847925 Centerline is valid? [True, True] Translation: X:23.02, Y:-0.62, Z:-0.42 [[ 9.99492024e-01 3.18280370e-02 1.63425108e-03 2.30222971e+01] [-3.18280108e-02 9.99493360e-01 -4.20321910e-05 -6.19923339e-01] [-1.63476091e-03 -1.00041214e-05 9.99998664e-01 -4.17819256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780281693 meters Centerline goodness [0,1] 0.9972206187330297 Centerline is valid? [True, True] Translation: X:23.05, Y:-0.62, Z:-0.42 [[ 9.99408611e-01 3.42891229e-02 2.58528891e-03 2.30517667e+01] [-3.42890657e-02 9.99411955e-01 -6.64586150e-05 -6.15801496e-01] [-2.58604746e-03 -2.22278295e-05 9.99996656e-01 -4.15463917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.810281693 meters Centerline goodness [0,1] 0.9960527438764188 Centerline is valid? [True, True] Translation: X:23.08, Y:-0.60, Z:-0.42 [[ 9.99208289e-01 3.97166740e-02 2.31955610e-03 2.30810948e+01] [-3.97166427e-02 9.99210981e-01 -5.95862598e-05 -6.03088383e-01] [-2.32009249e-03 -3.25858959e-05 9.99997308e-01 -4.15999490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840281693 meters Centerline goodness [0,1] 0.9961446395661661 Centerline is valid? [True, True] Translation: X:23.11, Y:-0.60, Z:-0.42 [[ 9.99138239e-01 4.14618850e-02 1.92106566e-03 2.31096531e+01] [-4.14618667e-02 9.99140086e-01 -4.93620347e-05 -5.98393822e-01] [-1.92146035e-03 -3.03314716e-05 9.99998154e-01 -4.17002301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.870281693 meters Centerline goodness [0,1] 0.995194750211685 Centerline is valid? [True, True] Translation: X:23.14, Y:-0.59, Z:-0.42 [[ 9.99068365e-01 4.31016972e-02 2.15547218e-03 2.31390669e+01] [-4.31016783e-02 9.99070689e-01 -5.52566131e-05 -5.93879969e-01] [-2.15585073e-03 -3.76993344e-05 9.99997675e-01 -4.16774890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900281693 meters Centerline goodness [0,1] 0.9937180083759888 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.58, Z:-0.42 [[ 9.98962157e-01 4.54626590e-02 2.78470558e-03 2.31678663e+01] [-4.54626367e-02 9.98966037e-01 -7.13174541e-05 -5.79976846e-01] [-2.78506857e-03 -5.53566202e-05 9.99996120e-01 -4.17060391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.930281693 meters Centerline goodness [0,1] 0.9950007445699577 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.58, Z:-0.42 [[ 9.98946869e-01 4.57230778e-02 3.81491979e-03 2.31966628e+01] [-4.57230386e-02 9.98954150e-01 -9.75264008e-05 -5.82690926e-01] [-3.81538917e-03 -7.70060325e-05 9.99992718e-01 -4.15098350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960281693 meters Centerline goodness [0,1] 0.9942754613807245 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.58, Z:-0.41 [[ 9.98963960e-01 4.52502236e-02 4.83987493e-03 2.32250747e+01] [-4.52501564e-02 9.98975679e-01 -1.23441980e-04 -5.80555582e-01] [-4.84050312e-03 -9.56910083e-05 9.99988280e-01 -4.13187552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.990281693 meters Centerline goodness [0,1] 0.9948688468744677 Centerline is valid? [True, True] Translation: X:23.25, Y:-0.58, Z:-0.41 [[ 9.99044339e-01 4.34087364e-02 5.10787092e-03 2.32546051e+01] [-4.34086387e-02 9.99057392e-01 -1.30029005e-04 -5.82900079e-01] [-5.10870059e-03 -9.18209823e-05 9.99986946e-01 -4.12892898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.020281693 meters Centerline goodness [0,1] 0.9952524634439686 Centerline is valid? [True, True] Translation: X:23.28, Y:-0.58, Z:-0.42 [[ 9.99096048e-01 4.23489678e-02 3.69478609e-03 2.32837811e+01] [-4.23489097e-02 9.99102878e-01 -9.39877058e-05 -5.81479686e-01] [-3.69545170e-03 -6.25674171e-05 9.99993170e-01 -4.15197220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.050281693000002 meters Centerline goodness [0,1] 0.9959992338958524 Centerline is valid? [True, True] Translation: X:23.31, Y:-0.58, Z:-0.42 [[ 9.99133157e-01 4.15716764e-02 2.17514220e-03 2.33124671e+01] [-4.15716543e-02 9.99135524e-01 -5.53618016e-05 -5.77792619e-01] [-2.17556332e-03 -3.51104480e-05 9.99997633e-01 -4.18475204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080281693 meters Centerline goodness [0,1] 0.9961299477542946 Centerline is valid? [True, True] Translation: X:23.34, Y:-0.58, Z:-0.42 [[ 9.99122937e-01 4.17992755e-02 2.48524052e-03 2.33413757e+01] [-4.17992475e-02 9.99126028e-01 -6.32480149e-05 -5.78528818e-01] [-2.48571221e-03 -4.06886412e-05 9.99996910e-01 -4.18297416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.110281693 meters Centerline goodness [0,1] 0.9954053938539129 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.58, Z:-0.42 [[ 9.99124260e-01 4.17161503e-02 3.23656147e-03 2.33690897e+01] [-4.17161029e-02 9.99129501e-01 -8.21714760e-05 -5.76934739e-01] [-3.23717192e-03 -5.29172162e-05 9.99994759e-01 -4.17136774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.140281693000002 meters Centerline goodness [0,1] 0.9951872687215246 Centerline is valid? [True, True] Translation: X:23.40, Y:-0.58, Z:-0.41 [[ 9.99133251e-01 4.13360753e-02 4.90664128e-03 2.33976032e+01] [-4.13359640e-02 9.99145296e-01 -1.24140069e-04 -5.78841496e-01] [-4.90757902e-03 -7.87882766e-05 9.99987955e-01 -4.14519181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.170281693 meters Centerline goodness [0,1] 0.9957637141689784 Centerline is valid? [True, True] Translation: X:23.43, Y:-0.58, Z:-0.42 [[ 9.99176095e-01 4.02756287e-02 5.00056826e-03 2.34272604e+01] [-4.02755010e-02 9.99188605e-01 -1.26280491e-04 -5.79944915e-01] [-5.00159684e-03 -7.52239441e-05 9.99987489e-01 -4.15325444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200281693 meters Centerline goodness [0,1] 0.9966344401809256 Centerline is valid? [True, True] Translation: X:23.46, Y:-0.58, Z:-0.42 [[ 9.99239772e-01 3.87839060e-02 3.96072599e-03 2.34573552e+01] [-3.87838145e-02 9.99247620e-01 -9.99286140e-05 -5.82200311e-01] [-3.96162164e-03 -5.37594167e-05 9.99992151e-01 -4.17547407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.230281693000002 meters Centerline goodness [0,1] 0.9969376688003743 Centerline is valid? [True, True] Translation: X:23.49, Y:-0.59, Z:-0.42 [[ 9.99319533e-01 3.67895264e-02 2.64589535e-03 2.34881214e+01] [-3.67894786e-02 9.99323036e-01 -6.67556038e-05 -5.86039872e-01] [-2.64656008e-03 -3.06309314e-05 9.99996497e-01 -4.20492645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.260281693 meters Centerline goodness [0,1] 0.9975010588733587 Centerline is valid? [True, True] Translation: X:23.52, Y:-0.60, Z:-0.42 [[ 9.99491155e-01 3.18618236e-02 1.50201799e-03 2.35177000e+01] [-3.18618026e-02 9.99492283e-01 -3.78957232e-05 -5.97276141e-01] [-1.50246282e-03 -9.98056058e-06 9.99998871e-01 -4.22439928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.290281693 meters Centerline goodness [0,1] 0.9979852969543691 Centerline is valid? [True, True] Translation: X:23.55, Y:-0.60, Z:-0.42 [[ 9.99569646e-01 2.92020066e-02 2.78678525e-03 2.35472977e+01] [-2.92019239e-02 9.99573530e-01 -7.03673046e-05 -6.03256136e-01] [-2.78765164e-03 -1.10424692e-05 9.99996114e-01 -4.19287295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.320281693000002 meters Centerline goodness [0,1] 0.9984921848453958 Centerline is valid? [True, True] Translation: X:23.58, Y:-0.61, Z:-0.42 [[ 9.99632157e-01 2.68000186e-02 4.16042818e-03 2.35764713e+01] [-2.67998143e-02 9.99640815e-01 -1.04879571e-04 -6.06405701e-01] [-4.16174459e-03 -6.65771010e-06 9.99991340e-01 -4.16634617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.350281693 meters Centerline goodness [0,1] 0.9984506653649425 Centerline is valid? [True, True] Translation: X:23.61, Y:-0.61, Z:-0.41 [[ 9.99665686e-01 2.51742049e-02 5.89701778e-03 2.36064847e+01] [-2.51737665e-02 9.99683079e-01 -1.48577980e-04 -6.10020184e-01] [-5.89888923e-03 7.81603769e-08 9.99982601e-01 -4.13448828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380281693 meters Centerline goodness [0,1] 0.9986230563911367 Centerline is valid? [True, True] Translation: X:23.64, Y:-0.61, Z:-0.41 [[ 9.99671802e-01 2.49350701e-02 5.87629399e-03 2.36372274e+01] [-2.49346300e-02 9.99689073e-01 -1.48148802e-04 -6.12704282e-01] [-5.87816099e-03 1.57696313e-06 9.99982723e-01 -4.14692037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.410281693 meters Centerline goodness [0,1] 0.9984088257133765 Centerline is valid? [True, True] Translation: X:23.67, Y:-0.62, Z:-0.42 [[ 9.99702394e-01 2.38104348e-02 5.30906344e-03 2.36679011e+01] [-2.38100584e-02 9.99716491e-01 -1.34104539e-04 -6.18852464e-01] [-5.31075136e-03 7.65551840e-06 9.99985898e-01 -4.16085426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440281693 meters Centerline goodness [0,1] 0.9987442353909108 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.62, Z:-0.42 [[ 9.99704684e-01 2.36782902e-02 5.46657885e-03 2.36990295e+01] [-2.36778850e-02 9.99719630e-01 -1.38838302e-04 -6.20565218e-01] [-5.46833363e-03 9.36027608e-06 9.99985049e-01 -4.16103931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.470281693 meters Centerline goodness [0,1] 0.9983197566837527 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.62, Z:-0.42 [[ 9.99689604e-01 2.44005373e-02 5.03075588e-03 2.37303125e+01] [-2.44002028e-02 9.99702263e-01 -1.27868479e-04 -6.20431944e-01] [-5.03237809e-03 5.07732596e-06 9.99987337e-01 -4.16775932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.500281693 meters Centerline goodness [0,1] 0.998246651738561 Centerline is valid? [True, True] Translation: X:23.76, Y:-0.62, Z:-0.42 [[ 9.99664357e-01 2.54847769e-02 4.65817147e-03 2.37618594e+01] [-2.54845015e-02 9.99675210e-01 -1.18489970e-04 -6.19795135e-01] [-4.65967824e-03 -2.60977833e-07 9.99989144e-01 -4.17200404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.530281693 meters Centerline goodness [0,1] 0.9976175281854924 Centerline is valid? [True, True] Translation: X:23.79, Y:-0.62, Z:-0.42 [[ 9.99602311e-01 2.80777870e-02 2.61887122e-03 2.37924615e+01] [-2.80777087e-02 9.99605741e-01 -6.66511251e-05 -6.17053083e-01] [-2.61971012e-03 -6.90728471e-06 9.99996569e-01 -4.21659044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560281693 meters Centerline goodness [0,1] 0.9973176758823157 Centerline is valid? [True, True] Translation: X:23.82, Y:-0.62, Z:-0.42 [[ 9.99574290e-01 2.91527645e-02 1.16426450e-03 2.38229199e+01] [-2.91527498e-02 9.99574968e-01 -2.96552674e-05 -6.15743068e-01] [-1.16463419e-03 -4.29886889e-06 9.99999322e-01 -4.24298713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.590281693 meters Centerline goodness [0,1] 0.9969011134619905 Centerline is valid? [True, True] Translation: X:23.85, Y:-0.61, Z:-0.42 [[ 9.99502053e-01 3.15309083e-02 1.20361621e-03 2.38519381e+01] [-3.15308941e-02 9.99502777e-01 -3.07494503e-05 -6.11251705e-01] [-1.20398730e-03 -7.21695659e-06 9.99999275e-01 -4.24380195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620281693 meters Centerline goodness [0,1] 0.9968295733942976 Centerline is valid? [True, True] Translation: X:23.88, Y:-0.61, Z:-0.42 [[ 9.99460701e-01 3.27325859e-02 2.62386510e-03 2.38816890e+01] [-3.27325233e-02 9.99464145e-01 -6.68019659e-05 -6.12068254e-01] [-2.62464569e-03 -1.91197856e-05 9.99996555e-01 -4.21482137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.650281693 meters Centerline goodness [0,1] 0.9962450380860423 Centerline is valid? [True, True] Translation: X:23.91, Y:-0.61, Z:-0.42 [[ 9.99433937e-01 3.34653316e-02 3.44645208e-03 2.39116272e+01] [-3.34652282e-02 9.99439879e-01 -8.76857145e-05 -6.09626672e-01] [-3.44745608e-03 -2.77002262e-05 9.99994057e-01 -4.20731266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.680281693 meters Centerline goodness [0,1] 0.995877829987185 Centerline is valid? [True, True] Translation: X:23.94, Y:-0.61, Z:-0.42 [[ 9.99470141e-01 3.24203800e-02 2.89066786e-03 2.39414271e+01] [-3.24203029e-02 9.99474321e-01 -7.35423807e-05 -6.12390941e-01] [-2.89153257e-03 -2.02129141e-05 9.99995819e-01 -4.22441404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.710281693 meters Centerline goodness [0,1] 0.995717118865775 Centerline is valid? [True, True] Translation: X:23.97, Y:-0.61, Z:-0.42 [[ 9.99484158e-01 3.20257669e-02 2.40175141e-03 2.39705879e+01] [-3.20257126e-02 9.99487043e-01 -6.10719234e-05 -6.13417677e-01] [-2.40247529e-03 -1.58773805e-05 9.99997114e-01 -4.22985806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.740281693 meters Centerline goodness [0,1] 0.9953460696601993 Centerline is valid? [True, True] Translation: X:24.00, Y:-0.61, Z:-0.42 [[ 9.99474055e-01 3.21663633e-02 4.11570812e-03 2.40003177e+01] [-3.21662057e-02 9.99482528e-01 -1.04492080e-04 -6.11976812e-01] [-4.11693949e-03 -2.79495913e-05 9.99991525e-01 -4.19758692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.770281693 meters Centerline goodness [0,1] 0.9950284694484576 Centerline is valid? [True, True] Translation: X:24.03, Y:-0.61, Z:-0.42 [[ 9.99462509e-01 3.24636932e-02 4.56084188e-03 2.40310641e+01] [-3.24635034e-02 9.99472915e-01 -1.15674654e-04 -6.11476890e-01] [-4.56219315e-03 -3.24484260e-05 9.99989593e-01 -4.19285897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800281693 meters Centerline goodness [0,1] 0.9950615700359159 Centerline is valid? [True, True] Translation: X:24.06, Y:-0.61, Z:-0.42 [[ 9.99460402e-01 3.25724870e-02 4.23521150e-03 2.40616948e+01] [-3.25723242e-02 9.99469375e-01 -1.07415832e-04 -6.11943100e-01] [-4.23646300e-03 -3.05928116e-05 9.99991026e-01 -4.20219388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.830281693 meters Centerline goodness [0,1] 0.9949243946283176 Centerline is valid? [True, True] Translation: X:24.09, Y:-0.61, Z:-0.42 [[ 9.99448995e-01 3.30741223e-02 2.79452448e-03 2.40920577e+01] [-3.30740534e-02 9.99452901e-01 -7.08763119e-05 -6.11748679e-01] [-2.79533977e-03 -2.15889932e-05 9.99996093e-01 -4.23689679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860281693 meters Centerline goodness [0,1] 0.9949825246049274 Centerline is valid? [True, True] Translation: X:24.12, Y:-0.61, Z:-0.43 [[ 9.99417669e-01 3.41009762e-02 1.20237785e-03 2.41214311e+01] [-3.41009641e-02 9.99418393e-01 -3.05840336e-05 -6.11624634e-01] [-1.20272148e-03 -1.04360203e-05 9.99999277e-01 -4.26008292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.890281693000002 meters Centerline goodness [0,1] 0.9950370622816733 Centerline is valid? [True, True] Translation: X:24.15, Y:-0.61, Z:-0.42 [[ 9.99408189e-01 3.43536434e-02 1.76036296e-03 2.41508663e+01] [-3.43536180e-02 9.99409739e-01 -4.46844476e-05 -6.11196606e-01] [-1.76085896e-03 -1.58168340e-05 9.99998450e-01 -4.24797265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920281693 meters Centerline goodness [0,1] 0.9942565823438306 Centerline is valid? [True, True] Translation: X:24.18, Y:-0.61, Z:-0.42 [[ 9.99418671e-01 3.39354018e-02 3.27231474e-03 2.41803054e+01] [-3.39353123e-02 9.99424028e-01 -8.28902522e-05 -6.11656466e-01] [-3.27324289e-03 -2.82049571e-05 9.99994643e-01 -4.22524769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.950281693 meters Centerline goodness [0,1] 0.9947360569443556 Centerline is valid? [True, True] Translation: X:24.21, Y:-0.61, Z:-0.42 [[ 9.99484529e-01 3.18644491e-02 3.91567304e-03 2.42100466e+01] [-3.18643055e-02 9.99492199e-01 -9.90631293e-05 -6.13807411e-01] [-3.91684125e-03 -2.57581368e-05 9.99992329e-01 -4.21574931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.980281693000002 meters Centerline goodness [0,1] 0.9950796626054358 Centerline is valid? [True, True] Translation: X:24.24, Y:-0.62, Z:-0.42 [[ 9.99521163e-01 3.07719605e-02 3.24526917e-03 2.42403309e+01] [-3.07718562e-02 9.99526431e-01 -8.20548306e-05 -6.15606732e-01] [-3.24625730e-03 -1.78474166e-05 9.99994731e-01 -4.23152312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.010281693 meters Centerline goodness [0,1] 0.9951470712893108 Centerline is valid? [True, True] Translation: X:24.27, Y:-0.62, Z:-0.42 [[ 9.99549184e-01 2.99047565e-02 2.67085987e-03 2.42702550e+01] [-2.99046827e-02 9.99552753e-01 -6.75586278e-05 -6.15904492e-01] [-2.67168566e-03 -1.23430457e-05 9.99996431e-01 -4.24962432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040281693 meters Centerline goodness [0,1] 0.9950881371068915 Centerline is valid? [True, True] Translation: X:24.30, Y:-0.62, Z:-0.42 [[ 9.99587656e-01 2.85054910e-02 3.45766309e-03 2.43007016e+01] [-2.85053593e-02 9.99593636e-01 -8.73871968e-05 -6.20926404e-01] [-3.45874904e-03 -1.12107657e-05 9.99994018e-01 -4.23542716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.070281693000002 meters Centerline goodness [0,1] 0.9951067994213258 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.62, Z:-0.42 [[ 9.99610025e-01 2.76558786e-02 3.86662043e-03 2.43305592e+01] [-2.76557078e-02 9.99617503e-01 -9.76489126e-05 -6.24444661e-01] [-3.86784203e-03 -9.32329286e-06 9.99992520e-01 -4.22850276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100281693 meters Centerline goodness [0,1] 0.995174548948436 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.63, Z:-0.42 [[ 9.99639204e-01 2.65524559e-02 4.05328234e-03 2.43613736e+01] [-2.65522580e-02 9.99647421e-01 -1.02646080e-04 -6.28598186e-01] [-4.05457874e-03 -5.01475291e-06 9.99991780e-01 -4.22679901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.130281693 meters Centerline goodness [0,1] 0.995190869063395 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.64, Z:-0.42 [[ 9.99691203e-01 2.46276810e-02 3.31287216e-03 2.43914637e+01] [-2.46275379e-02 9.99696693e-01 -8.39677445e-05 -6.35900300e-01] [-3.31393528e-03 2.35393059e-06 9.99994509e-01 -4.23868548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160281693 meters Centerline goodness [0,1] 0.9953668118541293 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.64, Z:-0.43 [[ 9.99699123e-01 2.43799777e-02 2.69820609e-03 2.44220520e+01] [-2.43798818e-02 9.99702764e-01 -6.84340831e-05 -6.39254439e-01] [-2.69907251e-03 2.63154719e-06 9.99996357e-01 -4.25054724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.190281693 meters Centerline goodness [0,1] 0.9953722376716836 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.64, Z:-0.43 [[ 9.99684478e-01 2.49750913e-02 2.68139796e-03 2.44511102e+01] [-2.49749986e-02 9.99688074e-01 -6.80345682e-05 -6.40991525e-01] [-2.68226073e-03 1.04519141e-06 9.99996403e-01 -4.25189372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.220281693 meters Centerline goodness [0,1] 0.9948186528497409 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.64, Z:-0.42 [[ 9.99620177e-01 2.72249162e-02 4.27847243e-03 2.44807748e+01] [-2.72247013e-02 9.99629333e-01 -1.08477472e-04 -6.39924294e-01] [-4.27983984e-03 -8.04386432e-06 9.99990841e-01 -4.22716524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.250281693 meters Centerline goodness [0,1] 0.9948895203358921 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.64, Z:-0.42 [[ 9.99592683e-01 2.82322431e-02 4.17227674e-03 2.45117770e+01] [-2.82320477e-02 9.99601391e-01 -1.05731899e-04 -6.39608407e-01] [-4.17359868e-03 -1.21030833e-05 9.99991290e-01 -4.23255024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280281693 meters Centerline goodness [0,1] 0.9948895203358921 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.64, Z:-0.42 [[ 9.99592683e-01 2.82322431e-02 4.17227674e-03 2.45417671e+01] [-2.82320477e-02 9.99601391e-01 -1.05731899e-04 -6.40368403e-01] [-4.17359868e-03 -1.21030833e-05 9.99991290e-01 -4.23410248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.310281693 meters Centerline goodness [0,1] 0.9946243413224545 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.64, Z:-0.43 [[ 9.99516517e-01 3.09407661e-02 3.06613328e-03 2.45723384e+01] [-3.09406733e-02 9.99521220e-01 -7.77005253e-05 -6.37902313e-01] [-3.06706939e-03 -1.72052699e-05 9.99995296e-01 -4.25681361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.340281693 meters Centerline goodness [0,1] 0.9942726231386025 Centerline is valid? [True, True] Translation: X:24.60, Y:-0.64, Z:-0.43 [[ 9.99458056e-01 3.27761172e-02 3.05280600e-03 2.46017077e+01] [-3.27760337e-02 9.99462718e-01 -7.73863583e-05 -6.35274179e-01] [-3.05370221e-03 -2.27144532e-05 9.99995337e-01 -4.25594129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.370281693 meters Centerline goodness [0,1] 0.9947424435930183 Centerline is valid? [True, True] Translation: X:24.63, Y:-0.63, Z:-0.42 [[ 9.99393589e-01 3.46460155e-02 3.47969685e-03 2.46319169e+01] [-3.46459185e-02 9.99399646e-01 -8.81797160e-05 -6.31783278e-01] [-3.48066288e-03 -3.24310506e-05 9.99993942e-01 -4.24370493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400281693 meters Centerline goodness [0,1] 0.9945045618502015 Centerline is valid? [True, True] Translation: X:24.66, Y:-0.62, Z:-0.42 [[ 9.99264739e-01 3.80350992e-02 4.82837232e-03 2.46618816e+01] [-3.80349527e-02 9.99276402e-01 -1.22205192e-04 -6.23090901e-01] [-4.82952661e-03 -6.15315738e-05 9.99988336e-01 -4.22589608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.430281693 meters Centerline goodness [0,1] 0.9938735007334542 Centerline is valid? [True, True] Translation: X:24.69, Y:-0.62, Z:-0.42 [[ 9.99230989e-01 3.89074559e-02 4.86205194e-03 2.46920012e+01] [-3.89073181e-02 9.99242816e-01 -1.22949915e-04 -6.23232151e-01] [-4.86315414e-03 -6.63140364e-05 9.99988173e-01 -4.23467901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460281693 meters Centerline goodness [0,1] 0.9944155430512793 Centerline is valid? [True, True] Translation: X:24.72, Y:-0.62, Z:-0.43 [[ 9.99215636e-01 3.93836055e-02 4.12855933e-03 2.47214222e+01] [-3.93835107e-02 9.99224163e-01 -1.04310979e-04 -6.19766068e-01] [-4.12946438e-03 -5.83679994e-05 9.99991472e-01 -4.25897362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.490281693 meters Centerline goodness [0,1] 0.994477023136795 Centerline is valid? [True, True] Translation: X:24.75, Y:-0.62, Z:-0.43 [[ 9.99295921e-01 3.74065048e-02 2.90086393e-03 2.47508329e+01] [-3.74064496e-02 9.99300131e-01 -7.33026693e-05 -6.23849578e-01] [-2.90157570e-03 -3.52599619e-05 9.99995790e-01 -4.27957355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520281693 meters Centerline goodness [0,1] 0.9945189825199983 Centerline is valid? [True, True] Translation: X:24.78, Y:-0.63, Z:-0.43 [[ 9.99371767e-01 3.53707440e-02 2.23199430e-03 2.47804141e+01] [-3.53707063e-02 9.99374259e-01 -5.63767200e-05 -6.26996748e-01] [-2.23259174e-03 -2.26059128e-05 9.99997508e-01 -4.29284245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.550281693 meters Centerline goodness [0,1] 0.9947055071231129 Centerline is valid? [True, True] Translation: X:24.81, Y:-0.63, Z:-0.43 [[ 9.99444717e-01 3.32509685e-02 2.15210181e-03 2.48099252e+01] [-3.32509286e-02 9.99447034e-01 -5.43140463e-05 -6.31672857e-01] [-2.15271777e-03 -1.72754972e-05 9.99997683e-01 -4.30638923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580281693 meters Centerline goodness [0,1] 0.994603623281511 Centerline is valid? [True, True] Translation: X:24.84, Y:-0.64, Z:-0.43 [[ 9.99544348e-01 3.00614328e-02 2.72165291e-03 2.48389677e+01] [-3.00613576e-02 9.99548053e-01 -6.85634470e-05 -6.38964275e-01] [-2.72248398e-03 -1.32843753e-05 9.99996294e-01 -4.30374108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.610281693 meters Centerline goodness [0,1] 0.9941633006957514 Centerline is valid? [True, True] Translation: X:24.87, Y:-0.64, Z:-0.43 [[ 9.99572742e-01 2.90520711e-02 3.21115206e-03 2.48679653e+01] [-2.90519613e-02 9.99577899e-01 -8.08466106e-05 -6.40741248e-01] [-3.21214540e-03 -1.24781974e-05 9.99994841e-01 -4.30241692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.640281693000002 meters Centerline goodness [0,1] 0.994923535757345 Centerline is valid? [True, True] Translation: X:24.90, Y:-0.64, Z:-0.43 [[ 9.99596412e-01 2.81981334e-02 3.44638453e-03 2.48985253e+01] [-2.81980020e-02 9.99602354e-01 -8.67052423e-05 -6.42651034e-01] [-3.44745901e-03 -1.05109087e-05 9.99994057e-01 -4.29659669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.670281693 meters Centerline goodness [0,1] 0.9947883155321066 Centerline is valid? [True, True] Translation: X:24.93, Y:-0.65, Z:-0.43 [[ 9.99655316e-01 2.60386506e-02 3.35214869e-03 2.49301382e+01] [-2.60385143e-02 9.99660937e-01 -8.42914468e-05 -6.48338478e-01] [-3.35320693e-03 -3.02257874e-06 9.99994378e-01 -4.29395580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.700281693 meters Centerline goodness [0,1] 0.9947444881216886 Centerline is valid? [True, True] Translation: X:24.96, Y:-0.65, Z:-0.43 [[ 9.99693641e-01 2.45573459e-02 3.09208884e-03 2.49591114e+01] [-2.45572225e-02 9.99698423e-01 -7.78891015e-05 -6.52509781e-01] [-3.09306909e-03 1.93212580e-06 9.99995216e-01 -4.31104131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.730281693000002 meters Centerline goodness [0,1] 0.9951692859403016 Centerline is valid? [True, True] Translation: X:24.99, Y:-0.66, Z:-0.43 [[ 9.99736927e-01 2.27811077e-02 2.66433812e-03 2.49895200e+01] [-2.27810099e-02 9.99740477e-01 -6.70620126e-05 -6.56966175e-01] [-2.66517441e-03 6.34805734e-06 9.99996448e-01 -4.31604898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.760281693 meters Centerline goodness [0,1] 0.9953460822474192 Centerline is valid? [True, True] Translation: X:25.02, Y:-0.66, Z:-0.43 [[ 9.99804836e-01 1.95110802e-02 3.09972741e-03 2.50199711e+01] [-1.95109321e-02 9.99809641e-01 -7.79979563e-05 -6.64991177e-01] [-3.10065917e-03 1.75041626e-05 9.99995193e-01 -4.31117149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.790281693 meters Centerline goodness [0,1] 0.9956076759061834 Centerline is valid? [True, True] Translation: X:25.05, Y:-0.67, Z:-0.43 [[ 9.99828107e-01 1.81738062e-02 3.66996467e-03 2.50507678e+01] [-1.81735895e-02 9.99834842e-01 -9.23972664e-05 -6.66910137e-01] [-3.67103776e-03 2.56849525e-05 9.99993261e-01 -4.29861467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.820281693000002 meters Centerline goodness [0,1] 0.9953305059332562 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.67, Z:-0.43 [[ 9.99868426e-01 1.53450664e-02 5.25927608e-03 2.50817062e+01] [-1.53445817e-02 9.99882256e-01 -1.32497420e-04 -6.74391041e-01] [-5.26069002e-03 5.17785948e-05 9.99986161e-01 -4.27001101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.850281693 meters Centerline goodness [0,1] 0.9953065665400862 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.68, Z:-0.43 [[ 9.99886019e-01 1.40850433e-02 5.43697777e-03 2.51123520e+01] [-1.40845058e-02 9.99900799e-01 -1.37138994e-04 -6.78920277e-01] [-5.43837003e-03 6.05462175e-05 9.99985210e-01 -4.26829594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.880281693 meters Centerline goodness [0,1] 0.9953157084188912 Centerline is valid? [True, True] Translation: X:25.14, Y:-0.68, Z:-0.43 [[ 9.99894580e-01 1.35824702e-02 5.13274760e-03 2.51442774e+01] [-1.35819808e-02 9.99907752e-01 -1.30194474e-04 -6.81240839e-01] [-5.13404248e-03 6.04678695e-05 9.99986819e-01 -4.27702681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.910281693 meters Centerline goodness [0,1] 0.9952547133676639 Centerline is valid? [True, True] Translation: X:25.18, Y:-0.68, Z:-0.43 [[ 9.99885472e-01 1.44816289e-02 4.39606799e-03 2.51754534e+01] [-1.44812760e-02 9.99895135e-01 -1.12109372e-04 -6.84324851e-01] [-4.39723052e-03 4.84358582e-05 9.99990331e-01 -4.29003379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940281693 meters Centerline goodness [0,1] 0.99567053403856 Centerline is valid? [True, True] Translation: X:25.21, Y:-0.68, Z:-0.43 [[ 9.99852454e-01 1.65398992e-02 4.63696692e-03 2.52076076e+01] [-1.65395252e-02 9.99863206e-01 -1.18981180e-04 -6.83466797e-01] [-4.63830055e-03 4.22703929e-05 9.99989242e-01 -4.29008866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.970281693 meters Centerline goodness [0,1] 0.9957194320830685 Centerline is valid? [True, True] Translation: X:25.24, Y:-0.68, Z:-0.43 [[ 9.99812966e-01 1.87989447e-02 4.54232306e-03 2.52391332e+01] [-1.87986059e-02 9.99823284e-01 -1.17274260e-04 -6.84693577e-01] [-4.54372499e-03 3.18629853e-05 9.99989677e-01 -4.28337056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.000281693 meters Centerline goodness [0,1] 0.9953806198910081 Centerline is valid? [True, True] Translation: X:25.27, Y:-0.68, Z:-0.43 [[ 9.99734174e-01 2.26064833e-02 4.53081443e-03 2.52702351e+01] [-2.26061819e-02 9.99744441e-01 -1.17728959e-04 -6.79348872e-01] [-4.53231798e-03 1.52732486e-05 9.99989729e-01 -4.27636378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.030281693 meters Centerline goodness [0,1] 0.9954107878503277 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.68, Z:-0.43 [[ 9.99679288e-01 2.47647555e-02 5.29406843e-03 2.53019757e+01] [-2.47643736e-02 9.99693306e-01 -1.37701535e-04 -6.77436078e-01] [-5.29585492e-03 6.55308414e-06 9.99985977e-01 -4.26146947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060281693 meters Centerline goodness [0,1] 0.9947115587206607 Centerline is valid? [True, True] Translation: X:25.33, Y:-0.68, Z:-0.42 [[ 9.99600648e-01 2.75704528e-02 6.19792741e-03 2.53335350e+01] [-2.75699814e-02 9.99619863e-01 -1.61500490e-04 -6.75527763e-01] [-6.20002399e-03 -9.44074923e-06 9.99980780e-01 -4.24785651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.090281693 meters Centerline goodness [0,1] 0.9939419614488456 Centerline is valid? [True, True] Translation: X:25.37, Y:-0.67, Z:-0.42 [[ 9.99490526e-01 3.12435936e-02 6.52118506e-03 2.53653733e+01] [-3.12431445e-02 9.99511799e-01 -1.70754610e-04 -6.73055451e-01] [-6.52333640e-03 -3.30747128e-05 9.99978722e-01 -4.24980747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.120281693 meters Centerline goodness [0,1] 0.9939586713346427 Centerline is valid? [True, True] Translation: X:25.40, Y:-0.67, Z:-0.43 [[ 9.99475478e-01 3.17132031e-02 6.56060573e-03 2.53967469e+01] [-3.17127577e-02 9.99497009e-01 -1.71934888e-04 -6.73105918e-01] [-6.56275841e-03 -3.62101956e-05 9.99978464e-01 -4.25067178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.150281693 meters Centerline goodness [0,1] 0.9946482043876229 Centerline is valid? [True, True] Translation: X:25.43, Y:-0.67, Z:-0.43 [[ 9.99484054e-01 3.15421095e-02 6.05974425e-03 2.54277729e+01] [-3.15417249e-02 9.99502423e-01 -1.59045543e-04 -6.74885205e-01] [-6.06174570e-03 -3.21713017e-05 9.99981627e-01 -4.26626392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180281693 meters Centerline goodness [0,1] 0.9943128367399299 Centerline is valid? [True, True] Translation: X:25.46, Y:-0.68, Z:-0.43 [[ 9.99500006e-01 3.10543313e-02 5.94691999e-03 2.54588262e+01] [-3.10539478e-02 9.99517698e-01 -1.56842175e-04 -6.78623938e-01] [-5.94892240e-03 -2.79115876e-05 9.99982305e-01 -4.27529611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.210281693 meters Centerline goodness [0,1] 0.9941125209887564 Centerline is valid? [True, True] Translation: X:25.49, Y:-0.68, Z:-0.43 [[ 9.99518213e-01 3.05667360e-02 5.38670690e-03 2.54905462e+01] [-3.05664137e-02 9.99532728e-01 -1.42177031e-04 -6.82816698e-01] [-5.38853573e-03 -2.25437797e-05 9.99985481e-01 -4.28830851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.240281693 meters Centerline goodness [0,1] 0.9946411240980632 Centerline is valid? [True, True] Translation: X:25.52, Y:-0.69, Z:-0.43 [[ 9.99546695e-01 2.98373578e-02 4.01704188e-03 2.55205001e+01] [-2.98371725e-02 9.99554767e-01 -1.06051810e-04 -6.86732536e-01] [-4.01841766e-03 -1.38534350e-05 9.99991926e-01 -4.31777329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.270281693 meters Centerline goodness [0,1] 0.9955697286191251 Centerline is valid? [True, True] Translation: X:25.55, Y:-0.69, Z:-0.43 [[ 9.99611798e-01 2.77213888e-02 2.78881702e-03 2.55511738e+01] [-2.77212909e-02 9.99615688e-01 -7.37603615e-05 -6.93301882e-01] [-2.78978998e-03 -3.57788012e-06 9.99996109e-01 -4.34673549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.300281693 meters Centerline goodness [0,1] 0.9956146823807215 Centerline is valid? [True, True] Translation: X:25.58, Y:-0.70, Z:-0.43 [[ 9.99627970e-01 2.71175487e-02 2.92590991e-03 2.55820885e+01] [-2.71174380e-02 9.99632252e-01 -7.75073244e-05 -6.96070094e-01] [-2.92693572e-03 -1.86469114e-06 9.99995717e-01 -4.34404496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.330281693 meters Centerline goodness [0,1] 0.9958950825193668 Centerline is valid? [True, True] Translation: X:25.61, Y:-0.70, Z:-0.43 [[ 9.99632354e-01 2.69434342e-02 3.03463730e-03 2.56119400e+01] [-2.69433143e-02 9.99636960e-01 -8.03639263e-05 -6.98105373e-01] [-3.03570089e-03 -1.42880594e-06 9.99995392e-01 -4.34378053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360281693 meters Centerline goodness [0,1] 0.9955545255351425 Centerline is valid? [True, True] Translation: X:25.64, Y:-0.70, Z:-0.44 [[ 9.99599005e-01 2.82465859e-02 1.99012148e-03 2.56419603e+01] [-2.82465369e-02 9.99600986e-01 -5.27058897e-05 -6.98638911e-01] [-1.99081615e-03 -3.52928497e-06 9.99998018e-01 -4.36764137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.390281693000002 meters Centerline goodness [0,1] 0.9955509417173365 Centerline is valid? [True, True] Translation: X:25.67, Y:-0.70, Z:-0.44 [[ 9.99580456e-01 2.89414027e-02 1.14299074e-03 2.56726056e+01] [-2.89413870e-02 9.99581110e-01 -3.03027684e-05 -6.98038854e-01] [-1.14338895e-03 -2.78968214e-06 9.99999346e-01 -4.38818525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.420281693 meters Centerline goodness [0,1] 0.9958969343934692 Centerline is valid? [True, True] Translation: X:25.70, Y:-0.70, Z:-0.44 [[ 9.99562567e-01 2.95691000e-02 5.85735559e-04 2.57024507e+01] [-2.95690960e-02 9.99562739e-01 -1.55784404e-05 -6.96412587e-01] [-5.85940080e-04 -1.74804508e-06 9.99999828e-01 -4.40679859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.450281693 meters Centerline goodness [0,1] 0.9959078411730855 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.70, Z:-0.44 [[ 9.99563972e-01 2.95182978e-02 7.31782607e-04 2.57323471e+01] [-2.95182915e-02 9.99564240e-01 -1.94876814e-05 -6.97501054e-01] [-7.32038968e-04 -2.12178810e-06 9.99999732e-01 -4.40488063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.480281693000002 meters Centerline goodness [0,1] 0.9957682361238752 Centerline is valid? [True, True] Translation: X:25.76, Y:-0.70, Z:-0.44 [[ 9.99553133e-01 2.98637618e-02 1.30026185e-03 2.57631180e+01] [-2.98637423e-02 9.99553978e-01 -3.44305451e-05 -6.98692581e-01] [-1.30071013e-03 -4.41552568e-06 9.99999154e-01 -4.39082721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.510281693 meters Centerline goodness [0,1] 0.9956310576657971 Centerline is valid? [True, True] Translation: X:25.79, Y:-0.70, Z:-0.44 [[ 9.99527675e-01 3.06887135e-02 1.62155941e-03 2.57924425e+01] [-3.06886841e-02 9.99528990e-01 -4.29767274e-05 -6.99719835e-01] [-1.62211454e-03 -6.80709598e-06 9.99998684e-01 -4.37924508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540281693 meters Centerline goodness [0,1] 0.9954566986779209 Centerline is valid? [True, True] Translation: X:25.82, Y:-0.70, Z:-0.44 [[ 9.99524060e-01 3.07988492e-02 1.75612985e-03 2.58232694e+01] [-3.07988151e-02 9.99525603e-01 -4.64828411e-05 -7.00786533e-01] [-1.75672836e-03 -7.62600031e-06 9.99998457e-01 -4.38132003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.570281693000002 meters Centerline goodness [0,1] 0.9955967752228202 Centerline is valid? [True, True] Translation: X:25.85, Y:-0.70, Z:-0.44 [[ 9.99530224e-01 3.05892698e-02 1.90454274e-03 2.58531091e+01] [-3.05892293e-02 9.99532039e-01 -5.03761950e-05 -7.02063761e-01] [-1.90519245e-03 -7.90596503e-06 9.99998185e-01 -4.38257256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600281693 meters Centerline goodness [0,1] 0.995228299365894 Centerline is valid? [True, True] Translation: X:25.88, Y:-0.70, Z:-0.44 [[ 9.99540786e-01 3.02014816e-02 2.46748630e-03 2.58832397e+01] [-3.02014124e-02 9.99543831e-01 -6.53380791e-05 -7.03621727e-01] [-2.46833402e-03 -9.21349641e-06 9.99996954e-01 -4.37336951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.630281693 meters Centerline goodness [0,1] 0.9952505697186548 Centerline is valid? [True, True] Translation: X:25.91, Y:-0.71, Z:-0.43 [[ 9.99599899e-01 2.79937389e-02 4.04880125e-03 2.59145476e+01] [-2.79935343e-02 9.99608098e-01 -1.07186918e-04 -7.09950180e-01] [-4.05021508e-03 -6.19622463e-06 9.99991798e-01 -4.34778242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660281693 meters Centerline goodness [0,1] 0.9959421651752344 Centerline is valid? [True, True] Translation: X:25.95, Y:-0.72, Z:-0.43 [[ 9.99658895e-01 2.57726951e-02 4.22632296e-03 2.59454092e+01] [-2.57724520e-02 9.99667829e-01 -1.11980899e-04 -7.16052943e-01] [-4.22780515e-03 3.01999619e-06 9.99991063e-01 -4.34797003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.690281693 meters Centerline goodness [0,1] 0.9964006427423674 Centerline is valid? [True, True] Translation: X:25.98, Y:-0.73, Z:-0.44 [[ 9.99778930e-01 2.07783318e-02 3.21733581e-03 2.59767884e+01] [-2.07781657e-02 9.99784107e-01 -8.50426535e-05 -7.30309540e-01] [-3.21840825e-03 1.81735167e-05 9.99994821e-01 -4.37086027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720281693 meters Centerline goodness [0,1] 0.9966252296125422 Centerline is valid? [True, True] Translation: X:26.01, Y:-0.74, Z:-0.44 [[ 9.99813326e-01 1.91159964e-02 2.80929924e-03 2.60076627e+01] [-1.91158615e-02 9.99817272e-01 -7.48706131e-05 -7.37462923e-01] [-2.81021713e-03 2.11544615e-05 9.99996051e-01 -4.37902472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.750281693 meters Centerline goodness [0,1] 0.9966038376634403 Centerline is valid? [True, True] Translation: X:26.04, Y:-0.74, Z:-0.44 [[ 9.99823500e-01 1.86219656e-02 2.48819589e-03 2.60386502e+01] [-1.86218589e-02 9.99826596e-01 -6.60459374e-05 -7.43512202e-01] [-2.48899433e-03 1.96994475e-05 9.99996902e-01 -4.38633914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780281693 meters Centerline goodness [0,1] 0.9967756989521022 Centerline is valid? [True, True] Translation: X:26.07, Y:-0.75, Z:-0.44 [[ 9.99807618e-01 1.94835447e-02 2.26243000e-03 2.60696025e+01] [-1.94834574e-02 9.99810178e-01 -6.06282338e-05 -7.47204037e-01] [-2.26318179e-03 1.65366115e-05 9.99997439e-01 -4.38505734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.810281693 meters Centerline goodness [0,1] 0.9965481459520129 Centerline is valid? [True, True] Translation: X:26.10, Y:-0.75, Z:-0.44 [[ 9.99785942e-01 2.05402934e-02 2.48324948e-03 2.61006935e+01] [-2.05401913e-02 9.99789026e-01 -6.66077548e-05 -7.46655297e-01] [-2.48409372e-03 1.55870774e-05 9.99996915e-01 -4.38438092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840281693 meters Centerline goodness [0,1] 0.9966674400455591 Centerline is valid? [True, True] Translation: X:26.13, Y:-0.75, Z:-0.44 [[ 9.99753276e-01 2.20515871e-02 2.66730201e-03 2.61322357e+01] [-2.20514746e-02 9.99756834e-01 -7.16076968e-05 -7.45536204e-01] [-2.66823248e-03 1.27720870e-05 9.99996440e-01 -4.38353656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.870281693 meters Centerline goodness [0,1] 0.9969650664289655 Centerline is valid? [True, True] Translation: X:26.16, Y:-0.74, Z:-0.44 [[ 9.99712776e-01 2.38543244e-02 2.30994234e-03 2.61638123e+01] [-2.38542447e-02 9.99715445e-01 -6.20473740e-05 -7.44863403e-01] [-2.31076513e-03 6.92762273e-06 9.99997330e-01 -4.39141158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900281693 meters Centerline goodness [0,1] 0.9968417728181914 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.75, Z:-0.44 [[ 9.99646874e-01 2.65330760e-02 1.45738295e-03 2.61952038e+01] [-2.65330471e-02 9.99647936e-01 -3.91372934e-05 -7.45681936e-01] [-1.45790829e-03 4.54662450e-07 9.99998937e-01 -4.41195430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.930281693 meters Centerline goodness [0,1] 0.9962802363644093 Centerline is valid? [True, True] Translation: X:26.23, Y:-0.75, Z:-0.44 [[ 9.99616777e-01 2.76195526e-02 1.86006537e-03 2.62256458e+01] [-2.76195072e-02 9.99618507e-01 -5.00881176e-05 -7.46532625e-01] [-1.86073918e-03 -1.30516631e-06 9.99998269e-01 -4.40570944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960281693 meters Centerline goodness [0,1] 0.9958135877765263 Centerline is valid? [True, True] Translation: X:26.26, Y:-0.75, Z:-0.44 [[ 9.99557839e-01 2.94220566e-02 4.29767241e-03 2.62561722e+01] [-2.94218310e-02 9.99567078e-01 -1.15728363e-04 -7.46753501e-01] [-4.29921682e-03 -1.07681988e-05 9.99990758e-01 -4.35278259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.990281693 meters Centerline goodness [0,1] 0.9957586065838483 Centerline is valid? [True, True] Translation: X:26.29, Y:-0.75, Z:-0.43 [[ 9.99507316e-01 3.09570272e-02 5.17566594e-03 2.62887133e+01] [-3.09567205e-02 9.99520716e-01 -1.39371674e-04 -7.47875145e-01] [-5.17749986e-03 -2.09186360e-05 9.99986596e-01 -4.32636578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020281693 meters Centerline goodness [0,1] 0.9953988710192779 Centerline is valid? [True, True] Translation: X:26.32, Y:-0.74, Z:-0.43 [[ 9.99452561e-01 3.26302596e-02 5.46299756e-03 2.63199641e+01] [-3.26299377e-02 9.99467491e-01 -1.48061018e-04 -7.44033390e-01] [-5.46491974e-03 -3.02773059e-05 9.99985067e-01 -4.32194600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.050281693 meters Centerline goodness [0,1] 0.9949644109210666 Centerline is valid? [True, True] Translation: X:26.35, Y:-0.74, Z:-0.44 [[ 9.99318962e-01 3.66726161e-02 4.09037723e-03 2.63517622e+01] [-3.66724672e-02 9.99327333e-01 -1.11432388e-04 -7.36191730e-01] [-4.09171229e-03 -3.86477269e-05 9.99991628e-01 -4.35329356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.080281693 meters Centerline goodness [0,1] 0.9951796483479147 Centerline is valid? [True, True] Translation: X:26.38, Y:-0.73, Z:-0.44 [[ 9.99238162e-01 3.88792222e-02 3.39147332e-03 2.63835711e+01] [-3.88791323e-02 9.99243916e-01 -9.24445087e-05 -7.32569312e-01] [-3.39250325e-03 -3.94834589e-05 9.99994245e-01 -4.36984529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.110281693 meters Centerline goodness [0,1] 0.9938848238196656 Centerline is valid? [True, True] Translation: X:26.41, Y:-0.73, Z:-0.44 [[ 9.99088111e-01 4.24898832e-02 4.19013120e-03 2.64145147e+01] [-4.24897773e-02 9.99096895e-01 -1.14337190e-04 -7.26513619e-01] [-4.19120524e-03 -6.38048139e-05 9.99991215e-01 -4.35759272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140281693000002 meters Centerline goodness [0,1] 0.9943915703602991 Centerline is valid? [True, True] Translation: X:26.45, Y:-0.74, Z:-0.43 [[ 9.99051116e-01 4.32860471e-02 4.81509759e-03 2.64456165e+01] [-4.32859162e-02 9.99062717e-01 -1.31444362e-04 -7.35113992e-01] [-4.81627418e-03 -7.71062742e-05 9.99988399e-01 -4.34324989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.170281693 meters Centerline goodness [0,1] 0.9943915703602991 Centerline is valid? [True, True] Translation: X:26.48, Y:-0.74, Z:-0.43 [[ 9.99050115e-01 4.33091504e-02 4.81509454e-03 2.64764432e+01] [-4.33090192e-02 9.99061716e-01 -1.31555882e-04 -7.36001523e-01] [-4.81627419e-03 -7.71061030e-05 9.99988399e-01 -4.34484555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200281693 meters Centerline goodness [0,1] 0.9945386666666667 Centerline is valid? [True, True] Translation: X:26.51, Y:-0.74, Z:-0.43 [[ 9.99042154e-01 4.34889169e-02 4.84660048e-03 2.65074017e+01] [-4.34887855e-02 9.99053906e-01 -1.32529580e-04 -7.38301018e-01] [-4.84777871e-03 -7.83701315e-05 9.99988246e-01 -4.34551534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.230281693000002 meters Centerline goodness [0,1] 0.9950363714163457 Centerline is valid? [True, True] Translation: X:26.54, Y:-0.74, Z:-0.44 [[ 9.99042460e-01 4.35476244e-02 4.21512602e-03 2.65397771e+01] [-4.35475258e-02 9.99051350e-01 -1.15210561e-04 -7.41096471e-01] [-4.21614449e-03 -6.84580671e-05 9.99991110e-01 -4.35625622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260281693 meters Centerline goodness [0,1] 0.9951951823695225 Centerline is valid? [True, True] Translation: X:26.57, Y:-0.74, Z:-0.44 [[ 9.99037479e-01 4.38329813e-02 1.66883822e-03 2.65713009e+01] [-4.38329666e-02 9.99038873e-01 -4.54194684e-05 -7.41050564e-01] [-1.66922512e-03 -2.77743786e-05 9.99998606e-01 -4.39997611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.290281693 meters Centerline goodness [0,1] 0.9954192264058052 Centerline is valid? [True, True] Translation: X:26.60, Y:-0.74, Z:-0.44 [[ 9.98984811e-01 4.50307738e-02 1.25558548e-03 2.66017624e+01] [-4.50307656e-02 9.98985600e-01 -3.47590266e-05 -7.43270726e-01] [-1.25587704e-03 -2.18162360e-05 9.99999211e-01 -4.40882016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320281693000002 meters Centerline goodness [0,1] 0.9954493985942273 Centerline is valid? [True, True] Translation: X:26.63, Y:-0.74, Z:-0.44 [[ 9.98903026e-01 4.67966978e-02 1.67733551e-03 2.66325059e+01] [-4.67966858e-02 9.98904434e-01 -4.64345521e-05 -7.42351948e-01] [-1.67767086e-03 -3.21101281e-05 9.99998592e-01 -4.40797730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.350281693 meters Centerline goodness [0,1] 0.9936725151216164 Centerline is valid? [True, True] Translation: X:26.66, Y:-0.74, Z:-0.44 [[ 9.98748719e-01 4.98832432e-02 3.55787644e-03 2.66624888e+01] [-4.98832087e-02 9.98755053e-01 -9.84954076e-05 -7.42142693e-01] [-3.55836034e-03 -7.91061306e-05 9.99993666e-01 -4.37521098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380281693 meters Centerline goodness [0,1] 0.993153160815667 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.74, Z:-0.44 [[ 9.98688510e-01 5.11049781e-02 3.08892905e-03 2.66918333e+01] [-5.11049578e-02 9.98693284e-01 -8.55352534e-05 -7.39552100e-01] [-3.08926398e-03 -7.24365141e-05 9.99995226e-01 -4.38399265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.410281693 meters Centerline goodness [0,1] 0.9937084268948863 Centerline is valid? [True, True] Translation: X:26.72, Y:-0.74, Z:-0.44 [[ 9.98527625e-01 5.42350999e-02 1.06627061e-03 2.67220603e+01] [-5.42350992e-02 9.98528193e-01 -2.95519849e-05 -7.35807158e-01] [-1.06630402e-03 -2.83208191e-05 9.99999431e-01 -4.42096653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440281693 meters Centerline goodness [0,1] 0.9923276900640416 Centerline is valid? [True, True] Translation: X:26.75, Y:-0.73, Z:-0.44 [[ 9.98435880e-01 5.59006028e-02 9.57626617e-04 2.67507294e+01] [-5.59006029e-02 9.98436338e-01 -2.66316037e-05 -7.28918503e-01] [-9.57617935e-04 -2.69419566e-05 9.99999541e-01 -4.43347295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.470281693 meters Centerline goodness [0,1] 0.9930758017492711 Centerline is valid? [True, True] Translation: X:26.78, Y:-0.74, Z:-0.44 [[ 9.98382254e-01 5.68503142e-02 9.57346869e-04 2.67797546e+01] [-5.68503148e-02 9.98382713e-01 -2.65945647e-05 -7.35662363e-01] [-9.57310473e-04 -2.78739294e-05 9.99999541e-01 -4.43141842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500281693 meters Centerline goodness [0,1] 0.9923625469429089 Centerline is valid? [True, True] Translation: X:26.81, Y:-0.73, Z:-0.44 [[ 9.98392370e-01 5.66701321e-02 1.08249321e-03 2.68087353e+01] [-5.66701329e-02 9.98392956e-01 -2.99638147e-05 -7.34858909e-01] [-1.08245165e-03 -3.14293901e-05 9.99999414e-01 -4.43715822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.530281693 meters Centerline goodness [0,1] 0.9934142040746957 Centerline is valid? [True, True] Translation: X:26.84, Y:-0.74, Z:-0.44 [[ 9.98507214e-01 5.45861855e-02 1.92159326e-03 2.68381728e+01] [-5.45861844e-02 9.98509061e-01 -5.30466271e-05 -7.39355580e-01] [-1.92162390e-03 -5.19250042e-05 9.99998152e-01 -4.41928375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.560281693 meters Centerline goodness [0,1] 0.9934162712154248 Centerline is valid? [True, True] Translation: X:26.87, Y:-0.74, Z:-0.44 [[ 9.98564980e-01 5.35126199e-02 2.09309877e-03 2.68677257e+01] [-5.35126164e-02 9.98567172e-01 -5.77227869e-05 -7.40632647e-01] [-2.09318861e-03 -5.43672378e-05 9.99997808e-01 -4.41968152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.590281693 meters Centerline goodness [0,1] 0.9934999155833193 Centerline is valid? [True, True] Translation: X:26.90, Y:-0.74, Z:-0.44 [[ 9.98582416e-01 5.32110438e-02 1.32031063e-03 2.68968151e+01] [-5.32110422e-02 9.98583288e-01 -3.63804231e-05 -7.39401856e-01] [-1.32037597e-03 -3.39262536e-05 9.99999128e-01 -4.43564618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620281693 meters Centerline goodness [0,1] 0.9940365501763385 Centerline is valid? [True, True] Translation: X:26.93, Y:-0.74, Z:-0.45 [[ 9.98597157e-01 5.29472255e-02 -5.57061709e-04 2.69268334e+01] [-5.29472253e-02 9.98597312e-01 1.51956431e-05 -7.40694721e-01] [ 5.57084892e-04 1.43205458e-05 9.99999845e-01 -4.47141631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.650281693 meters Centerline goodness [0,1] 0.9938545362392296 Centerline is valid? [True, True] Translation: X:26.96, Y:-0.74, Z:-0.45 [[ 9.98626433e-01 5.23872019e-02 -9.10505517e-04 2.69553982e+01] [-5.23872011e-02 9.98626848e-01 2.48230440e-05 -7.38088175e-01] [ 9.10555664e-04 2.29098877e-05 9.99999585e-01 -4.48487185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680281693 meters Centerline goodness [0,1] 0.9958324382384532 Centerline is valid? [True, True] Translation: X:26.99, Y:-0.75, Z:-0.44 [[ 9.98775418e-01 4.94720246e-02 4.28184588e-04 2.69851746e+01] [-4.94720240e-02 9.98775510e-01 -1.18113301e-05 -7.45242356e-01] [-4.28244611e-04 -9.38629210e-06 9.99999908e-01 -4.44674787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.710281693 meters Centerline goodness [0,1] 0.995436235858759 Centerline is valid? [True, True] Translation: X:27.01, Y:-0.75, Z:-0.44 [[ 9.98861894e-01 4.76690540e-02 1.60534909e-03 2.70142067e+01] [-4.76690446e-02 9.98863184e-01 -4.41379394e-05 -7.45971763e-01] [-1.60562812e-03 -3.24377518e-05 9.99998710e-01 -4.43480532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740281693 meters Centerline goodness [0,1] 0.9954906319466498 Centerline is valid? [True, True] Translation: X:27.04, Y:-0.75, Z:-0.44 [[ 9.98958449e-01 4.55868964e-02 1.96289611e-03 2.70441125e+01] [-4.55868786e-02 9.98960376e-01 -5.38203022e-05 -7.49740406e-01] [-1.96330894e-03 -3.57180610e-05 9.99998072e-01 -4.43394808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.770281693 meters Centerline goodness [0,1] 0.9959186276385434 Centerline is valid? [True, True] Translation: X:27.07, Y:-0.76, Z:-0.44 [[ 9.99166548e-01 4.07753089e-02 1.89327621e-03 2.70749682e+01] [-4.07752838e-02 9.99168341e-01 -5.18734218e-05 -7.58279468e-01] [-1.89381680e-03 -2.53686869e-05 9.99998206e-01 -4.42895284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800281693 meters Centerline goodness [0,1] 0.9963834404118623 Centerline is valid? [True, True] Translation: X:27.11, Y:-0.76, Z:-0.44 [[ 9.99266834e-01 3.82267011e-02 2.12455121e-03 2.71052002e+01] [-3.82266637e-02 9.99269092e-01 -5.82421300e-05 -7.59197492e-01] [-2.12522476e-03 -2.30150758e-05 9.99997741e-01 -4.42640119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.830281693 meters Centerline goodness [0,1] 0.9966611723933899 Centerline is valid? [True, True] Translation: X:27.14, Y:-0.77, Z:-0.44 [[ 9.99350784e-01 3.58890888e-02 3.15981421e-03 2.71362377e+01] [-3.58889941e-02 9.99355779e-01 -8.66648960e-05 -7.66202029e-01] [-3.16088892e-03 -2.67939218e-05 9.99995004e-01 -4.40672643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860281693 meters Centerline goodness [0,1] 0.9957441429293781 Centerline is valid? [True, True] Translation: X:27.17, Y:-0.77, Z:-0.44 [[ 9.99451863e-01 3.27569013e-02 4.79153949e-03 2.71675497e+01] [-3.27566469e-02 9.99463348e-01 -1.31565024e-04 -7.71280928e-01] [-4.79327777e-03 -2.54618586e-05 9.99988512e-01 -4.37817332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.890281693000002 meters Centerline goodness [0,1] 0.9963387896719811 Centerline is valid? [True, True] Translation: X:27.20, Y:-0.77, Z:-0.44 [[ 9.99480114e-01 3.18485262e-02 5.01725917e-03 2.72000530e+01] [-3.18482336e-02 9.99492707e-01 -1.38236246e-04 -7.74395462e-01] [-5.01911657e-03 -2.16264633e-05 9.99987404e-01 -4.37704226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.920281693 meters Centerline goodness [0,1] 0.9965775679071178 Centerline is valid? [True, True] Translation: X:27.23, Y:-0.77, Z:-0.44 [[ 9.99487227e-01 3.16499164e-02 4.85441815e-03 2.72323555e+01] [-3.16496363e-02 9.99499016e-01 -1.34515561e-04 -7.74814546e-01] [-4.85624357e-03 -1.91939841e-05 9.99988208e-01 -4.38028912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.950281693 meters Centerline goodness [0,1] 0.9971043713268414 Centerline is valid? [True, True] Translation: X:27.26, Y:-0.77, Z:-0.44 [[ 9.99506441e-01 3.12009610e-02 3.65714994e-03 2.72631825e+01] [-3.12007976e-02 9.99513131e-01 -1.01753685e-04 -7.73651514e-01] [-3.65854420e-03 -1.24025317e-05 9.99993307e-01 -4.40774737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.980281693000002 meters Centerline goodness [0,1] 0.9966963151207116 Centerline is valid? [True, True] Translation: X:27.29, Y:-0.78, Z:-0.44 [[ 9.99526255e-01 3.06285345e-02 3.02630432e-03 2.72945897e+01] [-3.06284185e-02 9.99530836e-01 -8.46576752e-05 -7.75367457e-01] [-3.02747743e-03 -8.07334631e-06 9.99995417e-01 -4.42267460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.010281692999996 meters Centerline goodness [0,1] 0.9968954738149274 Centerline is valid? [True, True] Translation: X:27.33, Y:-0.78, Z:-0.44 [[ 9.99584933e-01 2.86682023e-02 2.84529958e-03 2.73257453e+01] [-2.86680908e-02 9.99588983e-01 -7.99875419e-05 -7.78863092e-01] [-2.84642321e-03 -1.61496496e-06 9.99995949e-01 -4.42658617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.040281693 meters Centerline goodness [0,1] 0.9971501424928754 Centerline is valid? [True, True] Translation: X:27.36, Y:-0.78, Z:-0.44 [[ 9.99613921e-01 2.75792186e-02 3.37563599e-03 2.73564711e+01] [-2.75790550e-02 9.99619621e-01 -9.50206618e-05 -7.79903766e-01] [-3.37697256e-03 1.88712574e-06 9.99994298e-01 -4.41901523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.070281693 meters Centerline goodness [0,1] 0.9970421755968847 Centerline is valid? [True, True] Translation: X:27.39, Y:-0.78, Z:-0.44 [[ 9.99626152e-01 2.70978857e-02 3.64167424e-03 2.73871743e+01] [-2.70976926e-02 9.99632785e-01 -1.02350143e-04 -7.80757632e-01] [-3.64311043e-03 3.63091025e-06 9.99993364e-01 -4.41437151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100281693 meters Centerline goodness [0,1] 0.9973874124676103 Centerline is valid? [True, True] Translation: X:27.42, Y:-0.78, Z:-0.44 [[ 9.99622145e-01 2.72381630e-02 3.69461984e-03 2.74188479e+01] [-2.72379626e-02 9.99628972e-01 -1.04575511e-04 -7.80424712e-01] [-3.69609748e-03 3.90207999e-06 9.99993169e-01 -4.40979630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13028169299999 meters Centerline goodness [0,1] 0.9969959015514023 Centerline is valid? [True, True] Translation: X:27.45, Y:-0.78, Z:-0.44 [[ 9.99570530e-01 2.90445621e-02 3.89467725e-03 2.74503081e+01] [-2.90443533e-02 9.99578118e-01 -1.10172287e-04 -7.79474357e-01] [-3.89623406e-03 -2.99341037e-06 9.99992410e-01 -4.41735207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160281692999995 meters Centerline goodness [0,1] 0.9967402260395891 Centerline is valid? [True, True] Translation: X:27.48, Y:-0.78, Z:-0.44 [[ 9.99549388e-01 2.97912531e-02 3.67454581e-03 2.74812107e+01] [-2.97910697e-02 9.99556142e-01 -1.04648673e-04 -7.79545077e-01] [-3.67603244e-03 -4.86713355e-06 9.99993243e-01 -4.42032874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.190281692999996 meters Centerline goodness [0,1] 0.9969820851437255 Centerline is valid? [True, True] Translation: X:27.51, Y:-0.78, Z:-0.44 [[ 9.99517418e-01 3.08803722e-02 3.36670507e-03 2.75128594e+01] [-3.08802242e-02 9.99523088e-01 -9.59500671e-05 -7.78743052e-01] [-3.36806242e-03 -8.06084397e-06 9.99994328e-01 -4.42893385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.220281693 meters Centerline goodness [0,1] 0.9967310549777118 Centerline is valid? [True, True] Translation: X:27.54, Y:-0.78, Z:-0.45 [[ 9.99483906e-01 3.20782904e-02 1.70437249e-03 2.75435559e+01] [-3.20782542e-02 9.99485359e-01 -4.85947300e-05 -7.76294549e-01] [-1.70505419e-03 -6.10364345e-06 9.99998546e-01 -4.47183760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.250281693 meters Centerline goodness [0,1] 0.9971163836057927 Centerline is valid? [True, True] Translation: X:27.57, Y:-0.78, Z:-0.45 [[ 9.99475273e-01 3.23777683e-02 9.26511881e-04 2.75734419e+01] [-3.23777577e-02 9.99475703e-01 -2.64016860e-05 -7.75805139e-01] [-9.26880941e-04 -3.61054490e-06 9.99999570e-01 -4.50052233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280281693 meters Centerline goodness [0,1] 0.9972710216612656 Centerline is valid? [True, True] Translation: X:27.60, Y:-0.78, Z:-0.45 [[ 9.99479303e-01 3.22653151e-02 -2.67907222e-04 2.76037412e+01] [-3.22653142e-02 9.99479339e-01 7.65088311e-06 -7.78185439e-01] [ 2.68014591e-04 9.97211374e-07 9.99999964e-01 -4.51196752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.310281693 meters Centerline goodness [0,1] 0.9970859224341119 Centerline is valid? [True, True] Translation: X:27.63, Y:-0.78, Z:-0.45 [[ 9.99485768e-01 3.20613808e-02 -5.17536167e-04 2.76343459e+01] [-3.20613774e-02 9.99485902e-01 1.47797760e-05 -7.79905072e-01] [ 5.17743963e-04 1.82074665e-06 9.99999866e-01 -4.51503111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340281692999994 meters Centerline goodness [0,1] 0.9975958442450522 Centerline is valid? [True, True] Translation: X:27.66, Y:-0.78, Z:-0.45 [[ 9.99486647e-01 3.20291609e-02 -7.58279508e-04 2.76636521e+01] [-3.20291536e-02 9.99486935e-01 2.17309354e-05 -7.80945883e-01] [ 7.58586485e-04 2.56727111e-06 9.99999712e-01 -4.52371770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.370281692999995 meters Centerline goodness [0,1] 0.9971907123246856 Centerline is valid? [True, True] Translation: X:27.69, Y:-0.78, Z:-0.45 [[ 9.99496412e-01 3.17298165e-02 3.75995295e-04 2.76932463e+01] [-3.17298146e-02 9.99496483e-01 -1.08514123e-05 -7.83589752e-01] [-3.76150288e-04 -1.08431337e-06 9.99999929e-01 -4.49797546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.400281693 meters Centerline goodness [0,1] 0.99743353936309 Centerline is valid? [True, True] Translation: X:27.72, Y:-0.79, Z:-0.45 [[ 9.99498699e-01 3.16472053e-02 8.96851829e-04 2.77237077e+01] [-3.16471951e-02 9.99499102e-01 -2.56033827e-05 -7.85312786e-01] [-8.97212873e-04 -2.79229711e-06 9.99999598e-01 -4.49025503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.430281693 meters Centerline goodness [0,1] 0.9969633066216786 Centerline is valid? [True, True] Translation: X:27.75, Y:-0.79, Z:-0.45 [[ 9.99498603e-01 3.16198649e-02 1.65139431e-03 2.77537551e+01] [-3.16198302e-02 9.99499967e-01 -4.71034838e-05 -7.86768722e-01] [-1.65205797e-03 -5.13694159e-06 9.99998635e-01 -4.48532471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.460281693 meters Centerline goodness [0,1] 0.9967794911169408 Centerline is valid? [True, True] Translation: X:27.78, Y:-0.79, Z:-0.45 [[ 9.99483757e-01 3.20573481e-02 2.13222789e-03 2.77839833e+01] [-3.20572911e-02 9.99486031e-01 -6.08955813e-05 -7.89719100e-01] [-2.13308414e-03 -7.48930584e-06 9.99997725e-01 -4.47283628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.490281693 meters Centerline goodness [0,1] 0.996980857350863 Centerline is valid? [True, True] Translation: X:27.82, Y:-0.79, Z:-0.45 [[ 9.99483729e-01 3.20798225e-02 1.77785282e-03 2.78150822e+01] [-3.20797830e-02 9.99485310e-01 -5.06951896e-05 -7.91939148e-01] [-1.77856407e-03 -6.36411574e-06 9.99998418e-01 -4.47941031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520281692999994 meters Centerline goodness [0,1] 0.9971971415122598 Centerline is valid? [True, True] Translation: X:27.85, Y:-0.79, Z:-0.45 [[ 9.99488964e-01 3.19621560e-02 4.81377497e-04 2.78458057e+01] [-3.19621532e-02 9.99489080e-01 -1.36501673e-05 -7.93273913e-01] [-4.81567840e-04 -1.74266975e-06 9.99999884e-01 -4.50507329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.550281692999995 meters Centerline goodness [0,1] 0.9974089380928928 Centerline is valid? [True, True] Translation: X:27.88, Y:-0.79, Z:-0.45 [[ 9.99467772e-01 3.26173519e-02 5.29959349e-04 2.78763885e+01] [-3.26173485e-02 9.99467913e-01 -1.51601773e-05 -7.93102015e-01] [-5.30171850e-04 -2.13376011e-06 9.99999859e-01 -4.50192493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580281692999996 meters Centerline goodness [0,1] 0.9975112636773225 Centerline is valid? [True, True] Translation: X:27.91, Y:-0.79, Z:-0.45 [[ 9.99424876e-01 3.38999883e-02 8.41780033e-04 2.79069439e+01] [-3.38999801e-02 9.99425230e-01 -2.40802141e-05 -7.91153102e-01] [-8.42112522e-04 -4.46996139e-06 9.99999645e-01 -4.49966761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.610281693 meters Centerline goodness [0,1] 0.9972911199525946 Centerline is valid? [True, True] Translation: X:27.94, Y:-0.79, Z:-0.45 [[ 9.99354270e-01 3.59201830e-02 8.85707556e-04 2.79372618e+01] [-3.59201747e-02 9.99354662e-01 -2.53368180e-05 -7.87933986e-01] [-8.86046078e-04 -6.49431280e-06 9.99999607e-01 -4.49227650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640281693 meters Centerline goodness [0,1] 0.996933173200652 Centerline is valid? [True, True] Translation: X:27.97, Y:-0.78, Z:-0.45 [[ 9.99171819e-01 4.06867947e-02 5.10299722e-04 2.79676234e+01] [-4.06867925e-02 9.99171950e-01 -1.46524389e-05 -7.79220375e-01] [-5.10473329e-04 -6.12215484e-06 9.99999870e-01 -4.49445844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.670281693 meters Centerline goodness [0,1] 0.9965665421408365 Centerline is valid? [True, True] Translation: X:28.00, Y:-0.77, Z:-0.45 [[ 9.99071229e-01 4.30863406e-02 4.97100976e-04 2.79974871e+01] [-4.30863388e-02 9.99071352e-01 -1.43252258e-05 -7.74639482e-01] [-4.97256566e-04 -7.10634015e-06 9.99999876e-01 -4.49334980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.700281692999994 meters Centerline goodness [0,1] 0.9958419057931781 Centerline is valid? [True, True] Translation: X:28.03, Y:-0.77, Z:-0.45 [[ 9.98899146e-01 4.68902016e-02 1.34373345e-03 2.80279518e+01] [-4.68901923e-02 9.98900049e-01 -3.84374867e-05 -7.65307055e-01] [-1.34405775e-03 -2.46127474e-05 9.99999096e-01 -4.47479982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.730281692999995 meters Centerline goodness [0,1] 0.9954503901184174 Centerline is valid? [True, True] Translation: X:28.06, Y:-0.76, Z:-0.45 [[ 9.98838571e-01 4.81255226e-02 2.33297023e-03 2.80565191e+01] [-4.81254980e-02 9.98841295e-01 -6.67282264e-05 -7.58305669e-01] [-2.33347834e-03 -4.56246281e-05 9.99997276e-01 -4.45910275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.760281692999996 meters Centerline goodness [0,1] 0.9950638730589157 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.75, Z:-0.44 [[ 9.98803969e-01 4.87869709e-02 3.23476015e-03 2.80861777e+01] [-4.87869278e-02 9.98809205e-01 -9.22879198e-05 -7.52736631e-01] [-3.23541066e-03 -6.56364695e-05 9.99994764e-01 -4.44408009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.790281693 meters Centerline goodness [0,1] 0.9947564744751146 Centerline is valid? [True, True] Translation: X:28.12, Y:-0.74, Z:-0.44 [[ 9.98796425e-01 4.88047126e-02 4.87860238e-03 2.81153527e+01] [-4.88046151e-02 9.98808335e-01 -1.39105088e-04 -7.43890661e-01] [-4.87957771e-03 -9.91606470e-05 9.99988090e-01 -4.41471862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820281693 meters Centerline goodness [0,1] 0.9947428668334252 Centerline is valid? [True, True] Translation: X:28.15, Y:-0.74, Z:-0.44 [[ 9.98790618e-01 4.88984998e-02 5.12228386e-03 2.81463682e+01] [-4.88983942e-02 9.98803747e-01 -1.45924364e-04 -7.43115024e-01] [-5.12329180e-03 -1.04723570e-04 9.99986870e-01 -4.40976805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.850281693 meters Centerline goodness [0,1] 0.994657983229047 Centerline is valid? [True, True] Translation: X:28.18, Y:-0.73, Z:-0.44 [[ 9.98784375e-01 4.90545147e-02 4.84013775e-03 2.81758626e+01] [-4.90544222e-02 9.98796098e-01 -1.37890382e-04 -7.32615346e-01] [-4.84107485e-03 -9.97074022e-05 9.99988277e-01 -4.42460543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88028169299999 meters Centerline goodness [0,1] 0.9945102693995209 Centerline is valid? [True, True] Translation: X:28.20, Y:-0.72, Z:-0.44 [[ 9.98782073e-01 4.91732470e-02 4.04501455e-03 2.82049902e+01] [-4.91731834e-02 9.98790261e-01 -1.15226562e-04 -7.24320454e-01] [-4.04578720e-03 -8.38200184e-05 9.99991812e-01 -4.44782557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.910281692999995 meters Centerline goodness [0,1] 0.9951590889704001 Centerline is valid? [True, True] Translation: X:28.23, Y:-0.72, Z:-0.45 [[ 9.98815215e-01 4.85773402e-02 2.89978146e-03 2.82348077e+01] [-4.85773053e-02 9.98819422e-01 -8.25281472e-05 -7.23830806e-01] [-2.90036704e-03 -5.84332003e-05 9.99995792e-01 -4.47280151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940281692999996 meters Centerline goodness [0,1] 0.9949849548645938 Centerline is valid? [True, True] Translation: X:28.26, Y:-0.72, Z:-0.45 [[ 9.98890426e-01 4.70645553e-02 1.68627187e-03 2.82637302e+01] [-4.70645413e-02 9.98891849e-01 -4.79912221e-05 -7.20478019e-01] [-1.68666191e-03 -3.14256399e-05 9.99998577e-01 -4.49680135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.970281693 meters Centerline goodness [0,1] 0.9968934848291416 Centerline is valid? [True, True] Translation: X:28.29, Y:-0.73, Z:-0.45 [[ 9.99130932e-01 4.16794053e-02 4.56024621e-04 2.82931330e+01] [-4.16794037e-02 9.99131036e-01 -1.30624358e-05 -7.28576145e-01] [-4.56172787e-04 -5.95575060e-06 9.99999896e-01 -4.50713625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000281693 meters Centerline goodness [0,1] 0.9971655808444031 Centerline is valid? [True, True] Translation: X:28.32, Y:-0.73, Z:-0.45 [[ 9.99268824e-01 3.82337192e-02 1.87802774e-05 2.83219124e+01] [-3.82337192e-02 9.99268824e-01 -7.13474571e-07 -7.30714593e-01] [-1.87938245e-05 -5.08695589e-09 1.00000000e+00 -4.51742690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.030281693 meters Centerline goodness [0,1] 0.9978024791448871 Centerline is valid? [True, True] Translation: X:28.35, Y:-0.74, Z:-0.45 [[ 9.99391486e-01 3.48803083e-02 -1.47527105e-04 2.83511680e+01] [-3.48803081e-02 9.99391497e-01 4.05756357e-06 -7.35235760e-01] [ 1.47578863e-04 1.09069637e-06 9.99999989e-01 -4.51980769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060281693 meters Centerline goodness [0,1] 0.9979259322613753 Centerline is valid? [True, True] Translation: X:28.38, Y:-0.74, Z:-0.45 [[ 9.99601093e-01 2.82426820e-02 -7.00542311e-05 2.83810412e+01] [-2.82426819e-02 9.99601096e-01 1.79636290e-06 -7.44015443e-01] [ 7.00770203e-05 1.82873045e-07 9.99999998e-01 -4.52505464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.090281692999994 meters Centerline goodness [0,1] 0.9979259322613753 Centerline is valid? [True, True] Translation: X:28.41, Y:-0.74, Z:-0.45 [[ 9.99601743e-01 2.82196887e-02 -7.00524119e-05 2.84101939e+01] [-2.82196886e-02 9.99601745e-01 1.86063449e-06 -7.44795152e-01] [ 7.00770198e-05 1.16963775e-07 9.99999998e-01 -4.52656371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.120281692999995 meters Centerline goodness [0,1] 0.997672780067041 Centerline is valid? [True, True] Translation: X:28.44, Y:-0.75, Z:-0.45 [[ 9.99671943e-01 2.55935309e-02 9.88377058e-04 2.84394962e+01] [-2.55935157e-02 9.99672432e-01 -2.80275992e-05 -7.49025188e-01] [-9.88770622e-04 2.72236076e-06 9.99999511e-01 -4.51195813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.150281693 meters Centerline goodness [0,1] 0.9979290319825782 Centerline is valid? [True, True] Translation: X:28.47, Y:-0.75, Z:-0.45 [[ 9.99716958e-01 2.36663865e-02 2.43010250e-03 2.84703400e+01] [-2.36662896e-02 9.99719912e-01 -6.86195290e-05 -7.52077290e-01] [-2.43104584e-03 1.10885971e-05 9.99997045e-01 -4.47997718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180281693 meters Centerline goodness [0,1] 0.9978712080894092 Centerline is valid? [True, True] Translation: X:28.50, Y:-0.75, Z:-0.45 [[ 9.99769896e-01 2.13095209e-02 2.46137993e-03 2.85001002e+01] [-2.13094145e-02 9.99772926e-01 -6.94796908e-05 -7.54335890e-01] [-2.46230159e-03 1.70131383e-05 9.99996968e-01 -4.47495362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.210281693 meters Centerline goodness [0,1] 0.9979227606087583 Centerline is valid? [True, True] Translation: X:28.53, Y:-0.76, Z:-0.45 [[ 9.99775466e-01 2.11819066e-02 5.86020866e-04 2.85295436e+01] [-2.11819006e-02 9.99775638e-01 -1.66040572e-05 -7.55479220e-01] [-5.86241091e-04 4.18729335e-06 9.99999828e-01 -4.51155142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240281693 meters Centerline goodness [0,1] 0.9981948691811077 Centerline is valid? [True, True] Translation: X:28.56, Y:-0.76, Z:-0.46 [[ 9.99770563e-01 2.12382356e-02 -2.78534334e-03 2.85590940e+01] [-2.12380992e-02 9.99774443e-01 7.85540862e-05 -7.57808028e-01] [ 2.78638344e-03 -1.93806648e-05 9.99996118e-01 -4.57314319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.270281692999994 meters Centerline goodness [0,1] 0.9985771321780497 Centerline is valid? [True, True] Translation: X:28.59, Y:-0.76, Z:-0.46 [[ 9.99753877e-01 2.19909611e-02 -2.92951561e-03 2.85878890e+01] [-2.19908143e-02 9.99758169e-01 8.23212704e-05 -7.57107170e-01] [ 2.93061749e-03 -1.78785754e-05 9.99995706e-01 -4.57301427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300281692999995 meters Centerline goodness [0,1] 0.9983602368073597 Centerline is valid? [True, True] Translation: X:28.62, Y:-0.76, Z:-0.45 [[ 9.99724443e-01 2.34315700e-02 -1.41378282e-03 2.86172781e+01] [-2.34315374e-02 9.99725443e-01 3.96198876e-05 -7.55058077e-01] [ 1.41432302e-03 -6.48186492e-06 9.99999000e-01 -4.54629386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.330281692999996 meters Centerline goodness [0,1] 0.9981433266464638 Centerline is valid? [True, True] Translation: X:28.65, Y:-0.75, Z:-0.45 [[ 9.99683760e-01 2.51338245e-02 8.19488832e-04 2.86463921e+01] [-2.51338139e-02 9.99684096e-01 -2.32095004e-05 -7.52912768e-01] [-8.19813295e-04 2.60528084e-06 9.99999664e-01 -4.50828417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360281693 meters Centerline goodness [0,1] 0.997959660793607 Centerline is valid? [True, True] Translation: X:28.68, Y:-0.75, Z:-0.44 [[ 9.99620127e-01 2.72399898e-02 4.19352073e-03 2.86758669e+01] [-2.72397348e-02 9.99628923e-01 -1.17912169e-04 -7.50790105e-01] [-4.19517653e-03 3.63698449e-06 9.99991200e-01 -4.43860570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.390281693 meters Centerline goodness [0,1] 0.9979128953253115 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.75, Z:-0.44 [[ 9.99614953e-01 2.73550144e-02 4.65284464e-03 2.87054865e+01] [-2.73547024e-02 9.99625782e-01 -1.30706777e-04 -7.50336483e-01] [-4.65467895e-03 3.37926891e-06 9.99989167e-01 -4.43126994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420281693 meters Centerline goodness [0,1] 0.9979677378381812 Centerline is valid? [True, True] Translation: X:28.74, Y:-0.75, Z:-0.44 [[ 9.99589178e-01 2.82875300e-02 4.61420958e-03 2.87365476e+01] [-2.82872333e-02 9.99599828e-01 -1.29565210e-04 -7.46909865e-01] [-4.61602818e-03 -1.01124061e-06 9.99989346e-01 -4.43707375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.450281692999994 meters Centerline goodness [0,1] 0.9979441493918109 Centerline is valid? [True, True] Translation: X:28.77, Y:-0.75, Z:-0.44 [[ 9.99577663e-01 2.86835289e-02 4.66375554e-03 2.87656462e+01] [-2.86832301e-02 9.99588543e-01 -1.30961976e-04 -7.46615656e-01] [-4.66559305e-03 -2.86490688e-06 9.99989116e-01 -4.44037329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480281692999995 meters Centerline goodness [0,1] 0.9980461283608716 Centerline is valid? [True, True] Translation: X:28.80, Y:-0.75, Z:-0.44 [[ 9.99568951e-01 2.90157017e-02 4.47226013e-03 2.87960845e+01] [-2.90154305e-02 9.99578956e-01 -1.25530630e-04 -7.46768640e-01] [-4.47401947e-03 -4.28803264e-06 9.99989992e-01 -4.44473063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.510281692999996 meters Centerline goodness [0,1] 0.9980920121768212 Centerline is valid? [True, True] Translation: X:28.83, Y:-0.75, Z:-0.45 [[ 9.99591062e-01 2.84943204e-02 2.40460220e-03 2.88266618e+01] [-2.84942405e-02 9.99593954e-01 -6.74941129e-05 -7.47987956e-01] [-2.40554902e-03 -1.05080140e-06 9.99997107e-01 -4.48036927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540281693 meters Centerline goodness [0,1] 0.998517043408258 Centerline is valid? [True, True] Translation: X:28.86, Y:-0.75, Z:-0.45 [[ 9.99617067e-01 2.76344938e-02 1.43296826e-03 2.88562142e+01] [-2.76344645e-02 9.99618094e-01 -4.02634734e-05 -7.49713278e-01] [-1.43353366e-03 6.48744822e-07 9.99998972e-01 -4.50588403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.570281693 meters Centerline goodness [0,1] 0.9983254197049347 Centerline is valid? [True, True] Translation: X:28.89, Y:-0.75, Z:-0.45 [[ 9.99652723e-01 2.63175247e-02 1.34944906e-03 2.88859137e+01] [-2.63174976e-02 9.99653634e-01 -3.78180725e-05 -7.52548460e-01] [-1.34997694e-03 2.29081661e-06 9.99999089e-01 -4.50868366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600281693 meters Centerline goodness [0,1] 0.9982849883548592 Centerline is valid? [True, True] Translation: X:28.92, Y:-0.76, Z:-0.45 [[ 9.99694098e-01 2.46253491e-02 2.30295378e-03 2.89151243e+01] [-2.46252653e-02 9.99696750e-01 -6.47026659e-05 -7.56827590e-01] [-2.30384874e-03 7.97202520e-06 9.99997346e-01 -4.49347177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63028169299999 meters Centerline goodness [0,1] 0.9982369684353626 Centerline is valid? [True, True] Translation: X:28.95, Y:-0.76, Z:-0.45 [[ 9.99767121e-01 2.12770298e-02 3.60452259e-03 2.89458618e+01] [-2.12768035e-02 9.99773618e-01 -1.01099052e-04 -7.64503079e-01] [-3.60585768e-03 2.43827891e-05 9.99993499e-01 -4.46916153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660281692999995 meters Centerline goodness [0,1] 0.9984305408271474 Centerline is valid? [True, True] Translation: X:28.98, Y:-0.77, Z:-0.45 [[ 9.99798635e-01 1.97034869e-02 3.80289886e-03 2.89762946e+01] [-1.97032238e-02 9.99805867e-01 -1.06647999e-04 -7.69302028e-01] [-3.80426193e-03 3.16971566e-05 9.99992763e-01 -4.47310625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.690281692999996 meters Centerline goodness [0,1] 0.9983055155468948 Centerline is valid? [True, True] Translation: X:29.01, Y:-0.78, Z:-0.45 [[ 9.99857583e-01 1.64444147e-02 3.79395760e-03 2.90076862e+01] [-1.64441292e-02 9.99864781e-01 -1.06423896e-04 -7.77374169e-01] [-3.79519466e-03 4.40204109e-05 9.99992797e-01 -4.47635951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720281693 meters Centerline goodness [0,1] 0.9985202976560658 Centerline is valid? [True, True] Translation: X:29.04, Y:-0.78, Z:-0.45 [[ 9.99873561e-01 1.54144684e-02 3.90598057e-03 2.90392987e+01] [-1.54141582e-02 9.99881189e-01 -1.09502778e-04 -7.82231502e-01] [-3.90720442e-03 4.92815302e-05 9.99992366e-01 -4.47397395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.750281693 meters Centerline goodness [0,1] 0.9983833226972985 Centerline is valid? [True, True] Translation: X:29.07, Y:-0.79, Z:-0.45 [[ 9.99882902e-01 1.47964621e-02 3.90466245e-03 2.90706310e+01] [-1.47961447e-02 9.99890525e-01 -1.10173423e-04 -7.86545797e-01] [-3.90586516e-03 5.23865712e-05 9.99992371e-01 -4.47208338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.780281693 meters Centerline goodness [0,1] 0.9982819327196368 Centerline is valid? [True, True] Translation: X:29.10, Y:-0.79, Z:-0.45 [[ 9.99896611e-01 1.36805044e-02 4.42840504e-03 2.91014526e+01] [-1.36800847e-02 9.99906415e-01 -1.25062489e-04 -7.90731460e-01] [-4.42970153e-03 6.44686030e-05 9.99990187e-01 -4.46235707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.810281693 meters Centerline goodness [0,1] 0.9981261185387935 Centerline is valid? [True, True] Translation: X:29.13, Y:-0.79, Z:-0.45 [[ 9.99897160e-01 1.37441413e-02 4.09488538e-03 2.91325050e+01] [-1.37437829e-02 9.99905543e-01 -1.15656150e-04 -7.94365169e-01] [-4.09608818e-03 5.93650406e-05 9.99991609e-01 -4.46345533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840281692999994 meters Centerline goodness [0,1] 0.9981684201558972 Centerline is valid? [True, True] Translation: X:29.16, Y:-0.80, Z:-0.45 [[ 9.99893904e-01 1.41686993e-02 3.38049012e-03 2.91645215e+01] [-1.41684572e-02 9.99899618e-01 -9.55759336e-05 -7.95238559e-01] [-3.38150496e-03 4.76694641e-05 9.99994282e-01 -4.47235584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.870281692999995 meters Centerline goodness [0,1] 0.9985734057276695 Centerline is valid? [True, True] Translation: X:29.20, Y:-0.80, Z:-0.45 [[ 9.99876080e-01 1.57023497e-02 1.12274526e-03 2.91958678e+01] [-1.57023243e-02 9.99876710e-01 -3.14162135e-05 -7.96818750e-01] [-1.12310014e-03 1.37826102e-05 9.99999369e-01 -4.52418251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900281693 meters Centerline goodness [0,1] 0.9984065460809647 Centerline is valid? [True, True] Translation: X:29.23, Y:-0.80, Z:-0.45 [[ 9.99867899e-01 1.62438765e-02 5.67202954e-04 2.92259885e+01] [-1.62438699e-02 9.99868060e-01 -1.62613264e-05 -7.95251526e-01] [-5.67392264e-04 7.04560729e-06 9.99999839e-01 -4.53235009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.930281693 meters Centerline goodness [0,1] 0.998508495093165 Centerline is valid? [True, True] Translation: X:29.26, Y:-0.80, Z:-0.45 [[ 9.99863215e-01 1.65311028e-02 5.22626832e-04 2.92552291e+01] [-1.65310972e-02 9.99863352e-01 -1.50920808e-05 -7.96374688e-01] [-5.22804905e-04 6.45042144e-06 9.99999863e-01 -4.53479241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960281693 meters Centerline goodness [0,1] 0.9987088307509948 Centerline is valid? [True, True] Translation: X:29.28, Y:-0.80, Z:-0.45 [[ 9.99879115e-01 1.55151723e-02 1.01726965e-03 2.92843528e+01] [-1.55151506e-02 9.99879632e-01 -2.91888105e-05 -8.04214227e-01] [-1.01760007e-03 1.34021903e-05 9.99999482e-01 -4.53536989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.990281693 meters Centerline goodness [0,1] 0.9985646035520707 Centerline is valid? [True, True] Translation: X:29.31, Y:-0.81, Z:-0.45 [[ 9.99899739e-01 1.40743494e-02 1.55689829e-03 2.93145359e+01] [-1.40742971e-02 9.99900951e-01 -4.45807688e-05 -8.05755505e-01] [-1.55737153e-03 2.26640501e-05 9.99998787e-01 -4.51385980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020281692999994 meters Centerline goodness [0,1] 0.9982627718440356 Centerline is valid? [True, True] Translation: X:29.34, Y:-0.82, Z:-0.45 [[ 9.99937007e-01 1.11471398e-02 1.31269079e-03 2.93448679e+01] [-1.11471001e-02 9.99937868e-01 -3.75439367e-05 -8.15493475e-01] [-1.31302774e-03 2.29088760e-05 9.99999138e-01 -4.52302473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.050281692999995 meters Centerline goodness [0,1] 0.9982720737248544 Centerline is valid? [True, True] Translation: X:29.38, Y:-0.82, Z:-0.45 [[ 9.99947261e-01 1.02432387e-02 7.42793775e-04 2.93751334e+01] [-1.02432257e-02 9.99947537e-01 -2.12779059e-05 -8.19627178e-01] [-7.42972760e-04 1.36681794e-05 9.99999724e-01 -4.54067484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080281692999996 meters Centerline goodness [0,1] 0.9982163711646672 Centerline is valid? [True, True] Translation: X:29.41, Y:-0.82, Z:-0.46 [[ 9.99947938e-01 1.01990797e-02 3.16139726e-04 2.94053040e+01] [-1.01990773e-02 9.99947988e-01 -9.00081035e-06 -8.24780440e-01] [-3.16215083e-04 5.77600824e-06 9.99999950e-01 -4.55379074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.110281693 meters Centerline goodness [0,1] 0.998223162347964 Centerline is valid? [True, True] Translation: X:29.44, Y:-0.83, Z:-0.46 [[ 9.99933105e-01 1.15630187e-02 2.86321497e-04 2.94354126e+01] [-1.15630168e-02 9.99933146e-01 -8.20516046e-06 -8.29240463e-01] [-2.86397232e-04 4.89387128e-06 9.99999959e-01 -4.55319166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.140281693 meters Centerline goodness [0,1] 0.9987038374909694 Centerline is valid? [True, True] Translation: X:29.47, Y:-0.83, Z:-0.46 [[ 9.99917296e-01 1.28567418e-02 3.24874112e-04 2.94650921e+01] [-1.28567394e-02 9.99917349e-01 -9.30996883e-06 -8.31439077e-01] [-3.24966956e-04 5.13237706e-06 9.99999947e-01 -4.55023755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.170281693 meters Centerline goodness [0,1] 0.9985842074779587 Centerline is valid? [True, True] Translation: X:29.50, Y:-0.83, Z:-0.45 [[ 9.99885350e-01 1.51276080e-02 6.64976724e-04 2.94953241e+01] [-1.51275986e-02 9.99885571e-01 -1.91078774e-05 -8.29353820e-01] [-6.65189688e-04 9.04618571e-06 9.99999779e-01 -4.54231310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200281692999994 meters Centerline goodness [0,1] 0.9988711875958426 Centerline is valid? [True, True] Translation: X:29.52, Y:-0.82, Z:-0.45 [[ 9.99768117e-01 2.15177328e-02 8.36647397e-04 2.95249108e+01] [-2.15177202e-02 9.99768467e-01 -2.40156385e-05 -8.23337840e-01] [-8.36970447e-04 6.00732511e-06 9.99999650e-01 -4.53625918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.230281692999995 meters Centerline goodness [0,1] 0.9991630901287554 Centerline is valid? [True, True] Translation: X:29.56, Y:-0.82, Z:-0.45 [[ 9.99700485e-01 2.44545305e-02 9.57052954e-04 2.95551815e+01] [-2.44545155e-02 9.99700943e-01 -2.74045983e-05 -8.19036851e-01] [-9.57436907e-04 3.99212395e-06 9.99999542e-01 -4.53334274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.260281692999996 meters Centerline goodness [0,1] 0.9987717849353069 Centerline is valid? [True, True] Translation: X:29.58, Y:-0.81, Z:-0.45 [[ 9.99630320e-01 2.71656212e-02 1.11940008e-03 2.95845897e+01] [-2.71656023e-02 9.99630946e-01 -3.20993591e-05 -8.14862166e-01] [-1.11985896e-03 1.67831528e-06 9.99999373e-01 -4.53384534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.290281693 meters Centerline goodness [0,1] 0.9988478033584398 Centerline is valid? [True, True] Translation: X:29.61, Y:-0.81, Z:-0.45 [[ 9.99532750e-01 3.05495711e-02 1.00255872e-03 2.96146246e+01] [-3.05495576e-02 9.99533253e-01 -2.87429044e-05 -8.08305578e-01] [-1.00296886e-03 -1.89825092e-06 9.99999497e-01 -4.53860743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.320281693 meters Centerline goodness [0,1] 0.998467237195044 Centerline is valid? [True, True] Translation: X:29.64, Y:-0.81, Z:-0.46 [[ 9.99523115e-01 3.08718785e-02 6.84965922e-04 2.96442925e+01] [-3.08718723e-02 9.99523350e-01 -1.96483596e-05 -8.07851096e-01] [-6.85246015e-04 -1.50719091e-06 9.99999765e-01 -4.55381625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.350281693 meters Centerline goodness [0,1] 0.9984619274366862 Centerline is valid? [True, True] Translation: X:29.67, Y:-0.81, Z:-0.46 [[ 9.99551794e-01 2.99353250e-02 2.95647451e-04 2.96740798e+01] [-2.99353238e-02 9.99551838e-01 -8.50861779e-06 -8.10034294e-01] [-2.95769661e-04 -3.45497978e-07 9.99999956e-01 -4.56433331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38028169299999 meters Centerline goodness [0,1] 0.9985985178264286 Centerline is valid? [True, True] Translation: X:29.70, Y:-0.82, Z:-0.46 [[ 9.99668206e-01 2.57522998e-02 5.44270231e-04 2.97038964e+01] [-2.57522951e-02 9.99668355e-01 -1.55605492e-05 -8.18376251e-01] [-5.44490447e-04 1.53917870e-06 9.99999852e-01 -4.56588150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.410281692999995 meters Centerline goodness [0,1] 0.9990045747204338 Centerline is valid? [True, True] Translation: X:29.73, Y:-0.82, Z:-0.46 [[ 9.99712349e-01 2.39711501e-02 7.76851592e-04 2.97340555e+01] [-2.39711401e-02 9.99712651e-01 -2.22099919e-05 -8.22765967e-01] [-7.77160764e-04 3.58158480e-06 9.99999698e-01 -4.55896861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440281692999996 meters Centerline goodness [0,1] 0.9988913998209185 Centerline is valid? [True, True] Translation: X:29.76, Y:-0.83, Z:-0.46 [[ 9.99738405e-01 2.28413531e-02 1.18075836e-03 2.97647653e+01] [-2.28413292e-02 9.99739102e-01 -3.37575848e-05 -8.26286604e-01] [-1.18122137e-03 6.77866372e-06 9.99999302e-01 -4.55092848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.470281693 meters Centerline goodness [0,1] 0.998947210106783 Centerline is valid? [True, True] Translation: X:29.79, Y:-0.83, Z:-0.45 [[ 9.99762002e-01 2.16187872e-02 2.92692858e-03 2.97949811e+01] [-2.16186349e-02 9.99766287e-01 -8.36801528e-05 -8.28652023e-01] [-2.92805358e-03 2.03840369e-05 9.99995713e-01 -4.51764695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.500281693 meters Centerline goodness [0,1] 0.9990580780510778 Centerline is valid? [True, True] Translation: X:29.82, Y:-0.83, Z:-0.45 [[ 9.99770527e-01 2.11863347e-02 3.16734237e-03 2.98248685e+01] [-2.11861545e-02 9.99775544e-01 -9.04526341e-05 -8.29873320e-01] [-3.16854780e-03 2.33280730e-05 9.99994980e-01 -4.51275790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.530281693 meters Centerline goodness [0,1] 0.9987733953685101 Centerline is valid? [True, True] Translation: X:29.86, Y:-0.83, Z:-0.45 [[ 9.99771796e-01 2.11663752e-02 2.88805374e-03 2.98565233e+01] [-2.11662247e-02 9.99775967e-01 -8.26646560e-05 -8.29245320e-01] [-2.88915643e-03 2.15165972e-05 9.99995826e-01 -4.52382865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.560281693 meters Centerline goodness [0,1] 0.998846301756185 Centerline is valid? [True, True] Translation: X:29.89, Y:-0.83, Z:-0.46 [[ 9.99768240e-01 2.14632879e-02 1.67151532e-03 2.98867127e+01] [-2.14632378e-02 9.99769637e-01 -4.78708231e-05 -8.28946051e-01] [-1.67215773e-03 1.19835976e-05 9.99998602e-01 -4.55361476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.590281692999994 meters Centerline goodness [0,1] 0.9988343259224721 Centerline is valid? [True, True] Translation: X:29.92, Y:-0.83, Z:-0.46 [[ 9.99772867e-01 2.12611757e-02 1.47523253e-03 2.99169619e+01] [-2.12611365e-02 9.99773956e-01 -4.22592693e-05 -8.30209951e-01] [-1.47579754e-03 1.08845507e-05 9.99998911e-01 -4.56228395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620281692999995 meters Centerline goodness [0,1] 0.9990847753442734 Centerline is valid? [True, True] Translation: X:29.95, Y:-0.83, Z:-0.45 [[ 9.99808733e-01 1.94262668e-02 2.26215418e-03 2.99470636e+01] [-1.94261697e-02 9.99811292e-01 -6.48856196e-05 -8.33356206e-01] [-2.26298778e-03 2.09282181e-05 9.99997439e-01 -4.53993071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.650281693 meters Centerline goodness [0,1] 0.9988480491499029 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.84, Z:-0.45 [[ 9.99840997e-01 1.77155777e-02 2.03466586e-03 2.99778877e+01] [-1.77154957e-02 9.99843067e-01 -5.83268828e-05 -8.36380713e-01] [-2.03537985e-03 2.22724943e-05 9.99997928e-01 -4.54226378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680281693 meters Centerline goodness [0,1] 0.9989537515480207 Centerline is valid? [True, True] Translation: X:30.01, Y:-0.84, Z:-0.46 [[ 9.99878858e-01 1.54722410e-02 1.69666413e-03 3.00085527e+01] [-1.54721807e-02 9.99880297e-01 -4.86467029e-05 -8.40624359e-01] [-1.69721371e-03 2.23897157e-05 9.99998559e-01 -4.55272718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.710281693 meters Centerline goodness [0,1] 0.9984244256605702 Centerline is valid? [True, True] Translation: X:30.04, Y:-0.84, Z:-0.46 [[ 9.99904750e-01 1.36887369e-02 1.76316290e-03 3.00401341e+01] [-1.36886691e-02 9.99906305e-01 -5.05380991e-05 -8.44526638e-01] [-1.76368950e-03 2.63979319e-05 9.99998444e-01 -4.55434286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.740281693 meters Centerline goodness [0,1] 0.9985290355589664 Centerline is valid? [True, True] Translation: X:30.07, Y:-0.85, Z:-0.45 [[ 9.99916716e-01 1.26344375e-02 2.63270400e-03 3.00710090e+01] [-1.26342823e-02 9.99920181e-01 -7.55727128e-05 -8.47863542e-01] [-2.63344868e-03 4.23040934e-05 9.99996532e-01 -4.53366350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.770281692999994 meters Centerline goodness [0,1] 0.9987631679959057 Centerline is valid? [True, True] Translation: X:30.10, Y:-0.85, Z:-0.45 [[ 9.99913225e-01 1.29433510e-02 2.45180469e-03 3.01018286e+01] [-1.29432179e-02 9.99916231e-01 -7.01098986e-05 -8.50124781e-01] [-2.45250676e-03 3.83695724e-05 9.99996992e-01 -4.54428148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.800281692999995 meters Centerline goodness [0,1] 0.9985838687859316 Centerline is valid? [True, True] Translation: X:30.13, Y:-0.85, Z:-0.46 [[ 9.99911070e-01 1.32696294e-02 1.33034985e-03 3.01333579e+01] [-1.32695901e-02 9.99911954e-01 -3.83452065e-05 -8.48451046e-01] [-1.33074155e-03 2.06885992e-05 9.99999114e-01 -4.56013189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.830281692999996 meters Centerline goodness [0,1] 0.9991809285683494 Centerline is valid? [True, True] Translation: X:30.16, Y:-0.85, Z:-0.46 [[ 9.99908097e-01 1.34992439e-02 -1.25205146e-03 3.01638494e+01] [-1.34992092e-02 9.99908881e-01 3.61903763e-05 -8.50902862e-01] [ 1.25242591e-03 -1.92853458e-05 9.99999216e-01 -4.62667569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860281693 meters Centerline goodness [0,1] 0.9988172043010752 Centerline is valid? [True, True] Translation: X:30.19, Y:-0.85, Z:-0.46 [[ 9.99907827e-01 1.34749446e-02 -1.66244137e-03 3.01928468e+01] [-1.34748832e-02 9.99909208e-01 4.81279058e-05 -8.54009518e-01] [ 1.66293895e-03 -2.57222665e-05 9.99998617e-01 -4.63847678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.890281693 meters Centerline goodness [0,1] 0.9989109777711345 Centerline is valid? [True, True] Translation: X:30.22, Y:-0.86, Z:-0.46 [[ 9.99899418e-01 1.41715224e-02 5.67292934e-04 3.02211186e+01] [-1.41715153e-02 9.99899579e-01 -1.65475048e-05 -8.55357696e-01] [-5.67470469e-04 8.50643997e-06 9.99999839e-01 -4.57944980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920281693 meters Centerline goodness [0,1] 0.9988679325885896 Centerline is valid? [True, True] Translation: X:30.25, Y:-0.86, Z:-0.46 [[ 9.99895773e-01 1.43641875e-02 1.45369459e-03 3.02519827e+01] [-1.43641417e-02 9.99896830e-01 -4.19894760e-05 -8.55917997e-01] [-1.45414776e-03 2.11040245e-05 9.99998943e-01 -4.56120534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.950281692999994 meters Centerline goodness [0,1] 0.9990272583817903 Centerline is valid? [True, True] Translation: X:30.28, Y:-0.86, Z:-0.46 [[ 9.99890240e-01 1.47772472e-02 1.06825866e-03 3.02824529e+01] [-1.47772227e-02 9.99890810e-01 -3.08562897e-05 -8.57065032e-01] [-1.06859799e-03 1.50670068e-05 9.99999429e-01 -4.56451985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980281692999995 meters Centerline goodness [0,1] 0.9990272583817903 Centerline is valid? [True, True] Translation: X:30.31, Y:-0.86, Z:-0.46 [[ 9.99890240e-01 1.47772472e-02 1.06825866e-03 3.03124432e+01] [-1.47772227e-02 9.99890810e-01 -3.08562897e-05 -8.57931292e-01] [-1.06859799e-03 1.50670068e-05 9.99999429e-01 -4.56607225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.010281692999996 meters Centerline goodness [0,1] 0.9992723692939842 Centerline is valid? [True, True] Translation: X:30.34, Y:-0.86, Z:-0.46 [[ 9.99896442e-01 1.43675113e-02 -8.24015684e-04 3.03428479e+01] [-1.43674966e-02 9.99896782e-01 2.38014139e-05 -8.62930430e-01] [ 8.24272598e-04 -1.19599066e-05 9.99999660e-01 -4.62295958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040281693 meters Centerline goodness [0,1] 0.9990320082601962 Centerline is valid? [True, True] Translation: X:30.37, Y:-0.87, Z:-0.46 [[ 9.99907416e-01 1.35230679e-02 -1.51183365e-03 3.03724306e+01] [-1.35230176e-02 9.99908559e-01 4.35301973e-05 -8.66228843e-01] [ 1.51228407e-03 -2.30816141e-05 9.99998856e-01 -4.64422780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.070281693 meters Centerline goodness [0,1] 0.9985601456793783 Centerline is valid? [True, True] Translation: X:30.40, Y:-0.88, Z:-0.46 [[ 9.99940074e-01 1.09248531e-02 -7.03738424e-04 3.04028591e+01] [-1.09248415e-02 9.99940322e-01 2.03126519e-05 -8.75652941e-01] [ 7.03918339e-04 -1.26232039e-05 9.99999752e-01 -4.63938289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100281693 meters Centerline goodness [0,1] 0.9981250665814424 Centerline is valid? [True, True] Translation: X:30.43, Y:-0.88, Z:-0.46 [[ 9.99958148e-01 9.14050267e-03 3.90868714e-04 3.04333371e+01] [-9.14049896e-03 9.99958225e-01 -1.12820046e-05 -8.81594615e-01] [-3.90955508e-04 7.70879735e-06 9.99999924e-01 -4.61512061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13028169299999 meters Centerline goodness [0,1] 0.9976983078300158 Centerline is valid? [True, True] Translation: X:30.46, Y:-0.89, Z:-0.46 [[ 9.99968492e-01 7.81982787e-03 1.36541894e-03 3.04640860e+01] [-7.81978134e-03 9.99969424e-01 -3.94113476e-05 -8.86950390e-01] [-1.36568538e-03 2.87328283e-05 9.99999067e-01 -4.59042019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.160281692999995 meters Centerline goodness [0,1] 0.9970109386924446 Centerline is valid? [True, True] Translation: X:30.49, Y:-0.90, Z:-0.46 [[ 9.99985221e-01 5.07582485e-03 1.94773377e-03 3.04946830e+01] [-5.07572503e-03 9.99987117e-01 -5.61859945e-05 -8.98495465e-01] [-1.94799387e-03 4.62990031e-05 9.99998102e-01 -4.58347161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.190281692999996 meters Centerline goodness [0,1] 0.9968765935747068 Centerline is valid? [True, True] Translation: X:30.53, Y:-0.90, Z:-0.46 [[ 9.99989504e-01 4.21042859e-03 1.80661194e-03 3.05257290e+01] [-4.21034134e-03 9.99991135e-01 -5.20952206e-05 -9.04466932e-01] [-1.80681527e-03 4.44882209e-05 9.99998367e-01 -4.59379171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.220281693 meters Centerline goodness [0,1] 0.9976078087955744 Centerline is valid? [True, True] Translation: X:30.56, Y:-0.90, Z:-0.46 [[ 9.99990347e-01 3.89805224e-03 2.02751208e-03 3.05570679e+01] [-3.89794160e-03 9.99992401e-01 -5.85161956e-05 -9.00668704e-01] [-2.02772477e-03 5.06125071e-05 9.99997943e-01 -4.58173671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.250281693 meters Centerline goodness [0,1] 0.9970049144713252 Centerline is valid? [True, True] Translation: X:30.59, Y:-0.90, Z:-0.46 [[ 9.99981854e-01 5.45883150e-03 2.54822226e-03 3.05884536e+01] [-5.45866238e-03 9.99985099e-01 -7.33167935e-05 -9.03590405e-01] [-2.54858451e-03 5.94055781e-05 9.99996751e-01 -4.55996714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280281693 meters Centerline goodness [0,1] 0.9983045755000429 Centerline is valid? [True, True] Translation: X:30.62, Y:-0.90, Z:-0.46 [[ 9.99973572e-01 6.90972864e-03 2.26076535e-03 3.06200392e+01] [-6.90959793e-03 9.99976126e-01 -6.56249083e-05 -8.99975284e-01] [-2.26116482e-03 5.00021944e-05 9.99997442e-01 -4.56040750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31028169299999 meters Centerline goodness [0,1] 0.9989894211748517 Centerline is valid? [True, True] Translation: X:30.65, Y:-0.90, Z:-0.46 [[ 9.99943437e-01 1.06205298e-02 5.72099993e-04 3.06514228e+01] [-1.06205221e-02 9.99943601e-01 -1.64762103e-05 -9.00099414e-01] [-5.72242713e-04 1.03992778e-05 9.99999836e-01 -4.59003325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.340281692999994 meters Centerline goodness [0,1] 0.9990096297701077 Centerline is valid? [True, True] Translation: X:30.68, Y:-0.91, Z:-0.46 [[ 9.99915687e-01 1.29839074e-02 1.92525159e-04 3.06817404e+01] [-1.29839066e-02 9.99915706e-01 -5.54759169e-06 -9.07593925e-01] [-1.92580960e-04 3.04739527e-06 9.99999981e-01 -4.62507257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.370281692999995 meters Centerline goodness [0,1] 0.999187982135607 Centerline is valid? [True, True] Translation: X:30.71, Y:-0.90, Z:-0.46 [[ 9.99878035e-01 1.56158653e-02 2.44685951e-04 3.07125603e+01] [-1.56158640e-02 9.99878065e-01 -7.12690100e-06 -9.00511328e-01] [-2.44767408e-04 3.30504924e-06 9.99999970e-01 -4.61133091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400281693 meters Centerline goodness [0,1] 0.9992390293396466 Centerline is valid? [True, True] Translation: X:30.74, Y:-0.90, Z:-0.46 [[ 9.99833831e-01 1.82285977e-02 -1.67258067e-04 3.07434676e+01] [-1.82285971e-02 9.99833845e-01 4.87168013e-06 -8.98301940e-01] [ 1.67319080e-04 -1.82199069e-06 9.99999986e-01 -4.61895315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.430281693 meters Centerline goodness [0,1] 0.9993564441393513 Centerline is valid? [True, True] Translation: X:30.77, Y:-0.89, Z:-0.46 [[ 9.99756199e-01 2.20752391e-02 -4.76183151e-04 3.07735396e+01] [-2.20752351e-02 9.99756312e-01 1.38064861e-05 -8.94704066e-01] [ 4.76371892e-04 -3.29126512e-06 9.99999887e-01 -4.62221878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.460281693 meters Centerline goodness [0,1] 0.9995725856431518 Centerline is valid? [True, True] Translation: X:30.80, Y:-0.89, Z:-0.46 [[ 9.99730474e-01 2.32134733e-02 -3.37226309e-04 3.08039308e+01] [-2.32134713e-02 9.99730531e-01 9.81852703e-06 -8.94905679e-01] [ 3.37363359e-04 -1.98768744e-06 9.99999943e-01 -4.61795595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.490281693 meters Centerline goodness [0,1] 0.9992962702322308 Centerline is valid? [True, True] Translation: X:30.83, Y:-0.89, Z:-0.46 [[ 9.99692419e-01 2.47840726e-02 9.04029002e-04 3.08331472e+01] [-2.47840589e-02 9.99692828e-01 -2.63686727e-05 -8.94048223e-01] [-9.04404833e-04 3.95505412e-06 9.99999591e-01 -4.59708271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520281692999994 meters Centerline goodness [0,1] 0.9993769336541767 Centerline is valid? [True, True] Translation: X:30.86, Y:-0.90, Z:-0.46 [[ 9.99680573e-01 2.52049129e-02 1.86134868e-03 3.08641015e+01] [-2.52048557e-02 9.99682306e-01 -5.41735142e-05 -8.95232061e-01] [-1.86212278e-03 7.24118488e-06 9.99998266e-01 -4.58934124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.550281692999995 meters Centerline goodness [0,1] 0.9993992834309497 Centerline is valid? [True, True] Translation: X:30.90, Y:-0.90, Z:-0.46 [[ 9.99671931e-01 2.55475000e-02 1.83181933e-03 3.08955277e+01] [-2.55474454e-02 9.99673609e-01 -5.32360373e-05 -8.97057132e-01] [-1.83258149e-03 6.42026803e-06 9.99998321e-01 -4.58988226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580281692999996 meters Centerline goodness [0,1] 0.9991055075179963 Centerline is valid? [True, True] Translation: X:30.93, Y:-0.90, Z:-0.46 [[ 9.99641394e-01 2.67767556e-02 -2.96906463e-04 3.09261777e+01] [-2.67767541e-02 9.99641438e-01 9.09485414e-06 -8.97929250e-01] [ 2.97043534e-04 -1.14140133e-06 9.99999956e-01 -4.62065241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.610281693 meters Centerline goodness [0,1] 0.9994409684147154 Centerline is valid? [True, True] Translation: X:30.96, Y:-0.90, Z:-0.46 [[ 9.99607237e-01 2.80173996e-02 -6.30847678e-04 3.09565124e+01] [-2.80173936e-02 9.99607436e-01 1.84267293e-05 -8.96317068e-01] [ 6.31116298e-04 -7.44784347e-07 9.99999801e-01 -4.62635192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.640281693 meters Centerline goodness [0,1] 0.9992928924982323 Centerline is valid? [True, True] Translation: X:30.99, Y:-0.89, Z:-0.46 [[ 9.99560739e-01 2.96365909e-02 -4.59253148e-05 3.09861029e+01] [-2.96365909e-02 9.99560740e-01 1.40675990e-06 -8.94375953e-01] [ 4.59468332e-05 -4.50722029e-08 9.99999999e-01 -4.61853895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.670281693 meters Centerline goodness [0,1] 0.999235782367801 Centerline is valid? [True, True] Translation: X:31.02, Y:-0.90, Z:-0.46 [[ 9.99508942e-01 3.12320575e-02 2.53654983e-03 3.10167877e+01] [-3.12319699e-02 9.99512160e-01 -7.41230358e-05 -8.96877789e-01] [-2.53762741e-03 -5.13481083e-06 9.99996780e-01 -4.57323275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700281692999994 meters Centerline goodness [0,1] 0.9990654205607477 Centerline is valid? [True, True] Translation: X:31.05, Y:-0.90, Z:-0.46 [[ 9.99511509e-01 3.11308438e-02 2.75921472e-03 3.10474603e+01] [-3.11307405e-02 9.99515318e-01 -8.04044659e-05 -9.00845596e-01] [-2.76038044e-03 -5.53120823e-06 9.99996190e-01 -4.57472260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.730281692999995 meters Centerline goodness [0,1] 0.9989028841487858 Centerline is valid? [True, True] Translation: X:31.08, Y:-0.91, Z:-0.46 [[ 9.99535589e-01 3.03671596e-02 2.53816869e-03 3.10788459e+01] [-3.03670687e-02 9.99538811e-01 -7.43460941e-05 -9.05103014e-01] [-2.53925580e-03 -2.76517608e-06 9.99996776e-01 -4.57973028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760281692999996 meters Centerline goodness [0,1] 0.9993436931024262 Centerline is valid? [True, True] Translation: X:31.11, Y:-0.91, Z:-0.46 [[ 9.99583396e-01 2.88213920e-02 1.53692144e-03 3.11101757e+01] [-2.88213576e-02 9.99584577e-01 -4.45434365e-05 -9.10662338e-01] [-1.53756677e-03 2.28717058e-07 9.99998818e-01 -4.60711791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.790281693 meters Centerline goodness [0,1] 0.9993173333333333 Centerline is valid? [True, True] Translation: X:31.14, Y:-0.91, Z:-0.46 [[ 9.99594971e-01 2.84107846e-02 1.64989051e-03 3.11410007e+01] [-2.84107432e-02 9.99596332e-01 -4.85717598e-05 -9.13591544e-01] [-1.65060446e-03 1.67747139e-06 9.99998638e-01 -4.59799993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820281693 meters Centerline goodness [0,1] 0.999321142178285 Centerline is valid? [True, True] Translation: X:31.17, Y:-0.92, Z:-0.46 [[ 9.99593725e-01 2.84099055e-02 2.29384353e-03 3.11722583e+01] [-2.84098259e-02 9.99596357e-01 -6.72612397e-05 -9.17560240e-01] [-2.29482852e-03 2.06621772e-06 9.99997367e-01 -4.58876681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.850281693 meters Centerline goodness [0,1] 0.9991136622631157 Centerline is valid? [True, True] Translation: X:31.20, Y:-0.92, Z:-0.46 [[ 9.99599078e-01 2.81725236e-02 2.82713878e-03 3.12038695e+01] [-2.81723993e-02 9.99603076e-01 -8.38112296e-05 -9.21604845e-01] [-2.82837779e-03 4.13034541e-06 9.99996000e-01 -4.57580597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88028169299999 meters Centerline goodness [0,1] 0.9994093574652998 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.93, Z:-0.46 [[ 9.99632439e-01 2.70097221e-02 2.33711624e-03 3.12347808e+01] [-2.70096347e-02 9.99635171e-01 -6.89620528e-05 -9.28824595e-01] [-2.33812623e-03 5.81204928e-06 9.99997267e-01 -4.58173043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.910281692999995 meters Centerline goodness [0,1] 0.9994882292732856 Centerline is valid? [True, True] Translation: X:31.27, Y:-0.93, Z:-0.46 [[ 9.99646881e-01 2.64881350e-02 2.11961598e-03 3.12672956e+01] [-2.64880615e-02 9.99649128e-01 -6.27443866e-05 -9.32658758e-01] [-2.12053424e-03 6.57771211e-06 9.99997752e-01 -4.59179744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940281692999996 meters Centerline goodness [0,1] 0.9994676546995444 Centerline is valid? [True, True] Translation: X:31.30, Y:-0.94, Z:-0.46 [[ 9.99661228e-01 2.59244362e-02 2.31364481e-03 3.12985216e+01] [-2.59243460e-02 9.99663905e-01 -6.89755322e-05 -9.37613097e-01] [-2.31465535e-03 8.97243668e-06 9.99997321e-01 -4.59810184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.970281693 meters Centerline goodness [0,1] 0.9995748208933013 Centerline is valid? [True, True] Translation: X:31.33, Y:-0.94, Z:-0.46 [[ 9.99666175e-01 2.56525238e-02 3.08013643e-03 3.13305891e+01] [-2.56523605e-02 9.99670920e-01 -9.25215254e-05 -9.43151666e-01] [-3.08149623e-03 1.34778693e-05 9.99995252e-01 -4.58644118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000281693 meters Centerline goodness [0,1] 0.9993769470404984 Centerline is valid? [True, True] Translation: X:31.36, Y:-0.95, Z:-0.46 [[ 9.99662797e-01 2.57631001e-02 3.24873654e-03 3.13631050e+01] [-2.57629172e-02 9.99668076e-01 -9.81562384e-05 -9.45677489e-01] [-3.25018702e-03 1.44262093e-05 9.99994718e-01 -4.57998725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.030281693 meters Centerline goodness [0,1] 0.9992846322167985 Centerline is valid? [True, True] Translation: X:31.40, Y:-0.95, Z:-0.46 [[ 9.99649483e-01 2.63436693e-02 2.63112194e-03 3.13953426e+01] [-2.63435507e-02 9.99652945e-01 -7.97356397e-05 -9.48385711e-01] [-2.63230933e-03 1.03945967e-05 9.99996535e-01 -4.59416828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06028169299999 meters Centerline goodness [0,1] 0.9993829787234042 Centerline is valid? [True, True] Translation: X:31.43, Y:-0.95, Z:-0.46 [[ 9.99629607e-01 2.71516664e-02 1.85340099e-03 3.14270348e+01] [-2.71516087e-02 9.99631326e-01 -5.62651434e-05 -9.49796490e-01] [-1.85424539e-03 5.92148460e-06 9.99998281e-01 -4.60063229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.090281692999994 meters Centerline goodness [0,1] 0.9994496189669771 Centerline is valid? [True, True] Translation: X:31.46, Y:-0.95, Z:-0.46 [[ 9.99546505e-01 3.00876207e-02 1.23274241e-03 3.14582337e+01] [-3.00875975e-02 9.99547265e-01 -3.73888698e-05 -9.48542757e-01] [-1.23330924e-03 2.81656831e-07 9.99999239e-01 -4.61670702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120281692999995 meters Centerline goodness [0,1] 0.9992365117068205 Centerline is valid? [True, True] Translation: X:31.49, Y:-0.95, Z:-0.46 [[ 9.99468108e-01 3.25954163e-02 1.01945220e-03 3.14890640e+01] [-3.25954017e-02 9.99468628e-01 -3.09447186e-05 -9.46006485e-01] [-1.01991915e-03 -2.30119468e-06 9.99999480e-01 -4.61912090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.150281693 meters Centerline goodness [0,1] 0.998770170267806 Centerline is valid? [True, True] Translation: X:31.52, Y:-0.94, Z:-0.46 [[ 9.99268272e-01 3.82384424e-02 8.61790225e-04 3.15198548e+01] [-3.82384335e-02 9.99268643e-01 -2.67999754e-05 -9.36472239e-01] [-8.62184739e-04 -6.17314314e-06 9.99999628e-01 -4.62155961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.180281693 meters Centerline goodness [0,1] 0.9988617680536234 Centerline is valid? [True, True] Translation: X:31.55, Y:-0.93, Z:-0.46 [[ 9.99174561e-01 4.06085813e-02 1.06723819e-03 3.15512691e+01] [-4.06085691e-02 9.99175131e-01 -3.30972879e-05 -9.32173044e-01] [-1.06770189e-03 -1.02690476e-05 9.99999430e-01 -4.62043017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.210281693 meters Centerline goodness [0,1] 0.9986563153180054 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.93, Z:-0.46 [[ 9.99076352e-01 4.29432246e-02 1.52398100e-03 3.15827077e+01] [-4.29432024e-02 9.99077514e-01 -4.73454871e-05 -9.27390965e-01] [-1.52460832e-03 -1.81428679e-05 9.99998838e-01 -4.60969371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.240281693 meters Centerline goodness [0,1] 0.9978848960426405 Centerline is valid? [True, True] Translation: X:31.61, Y:-0.92, Z:-0.46 [[ 9.98851133e-01 4.79087154e-02 1.08164471e-03 3.16131679e+01] [-4.79087073e-02 9.98851718e-01 -3.34590884e-05 -9.15366050e-01] [-1.08200566e-03 -1.83995516e-05 9.99999414e-01 -4.61260085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.270281692999994 meters Centerline goodness [0,1] 0.9979921394395078 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.91, Z:-0.46 [[ 9.98745296e-01 5.00675191e-02 1.03801607e-03 3.16440646e+01] [-5.00675125e-02 9.98745835e-01 -3.23840184e-05 -9.12146373e-01] [-1.03833562e-03 -1.96274966e-05 9.99999461e-01 -4.61897762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.300281692999995 meters Centerline goodness [0,1] 0.9974888808495244 Centerline is valid? [True, True] Translation: X:31.67, Y:-0.91, Z:-0.46 [[ 9.98693323e-01 5.10888919e-02 1.25339509e-03 3.16732251e+01] [-5.10888829e-02 9.98694110e-01 -3.91919135e-05 -9.08084229e-01] [-1.25376057e-03 -2.48938528e-05 9.99999214e-01 -4.62900040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.330281692999996 meters Centerline goodness [0,1] 0.9975910292487422 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.91, Z:-0.46 [[ 9.98750396e-01 4.99669186e-02 9.76429241e-04 3.17035155e+01] [-4.99669127e-02 9.98750873e-01 -3.04405776e-05 -9.07708677e-01] [-9.76730579e-04 -1.83866157e-05 9.99999523e-01 -4.64017375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.360281693 meters Centerline goodness [0,1] 0.9977321860031367 Centerline is valid? [True, True] Translation: X:31.73, Y:-0.91, Z:-0.46 [[ 9.98829409e-01 4.83674500e-02 6.33982415e-04 3.17326605e+01] [-4.83674471e-02 9.98829610e-01 -1.98155275e-05 -9.07961672e-01] [-6.34198835e-04 -1.08717793e-05 9.99999799e-01 -4.64966738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.390281693 meters Centerline goodness [0,1] 0.9982580987785449 Centerline is valid? [True, True] Translation: X:31.76, Y:-0.91, Z:-0.46 [[ 9.98917364e-01 4.65192016e-02 2.52333542e-04 3.17628648e+01] [-4.65192011e-02 9.98917396e-01 -7.86377171e-06 -9.11343431e-01] [-2.52426181e-04 -3.88309666e-06 9.99999968e-01 -4.64969041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.420281693 meters Centerline goodness [0,1] 0.9988594546902236 Centerline is valid? [True, True] Translation: X:31.79, Y:-0.92, Z:-0.46 [[ 9.99001878e-01 4.46675272e-02 2.43022314e-04 3.17932449e+01] [-4.46675267e-02 9.99001908e-01 -7.57359480e-06 -9.16878542e-01] [-2.43118049e-04 -3.28917027e-06 9.99999970e-01 -4.64325708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.450281692999994 meters Centerline goodness [0,1] 0.9989158854664881 Centerline is valid? [True, True] Translation: X:31.82, Y:-0.92, Z:-0.47 [[ 9.99156116e-01 4.10725658e-02 -3.15259376e-04 3.18231599e+01] [-4.10725647e-02 9.99156166e-01 9.82480467e-06 -9.20820185e-01] [ 3.15396879e-04 3.13199744e-06 9.99999950e-01 -4.66820109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480281692999995 meters Centerline goodness [0,1] 0.9989223910241511 Centerline is valid? [True, True] Translation: X:31.85, Y:-0.92, Z:-0.47 [[ 9.99224841e-01 3.93602998e-02 -6.95133591e-04 3.18530493e+01] [-3.93602942e-02 9.99225083e-01 2.16632788e-05 -9.24077443e-01] [ 6.95447593e-04 5.71417633e-06 9.99999758e-01 -4.67732211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.510281692999996 meters Centerline goodness [0,1] 0.9990833706380167 Centerline is valid? [True, True] Translation: X:31.88, Y:-0.93, Z:-0.47 [[ 9.99279699e-01 3.79404982e-02 -7.75986232e-04 3.18825543e+01] [-3.79404910e-02 9.99280000e-01 2.41175435e-05 -9.25550169e-01] [ 7.76342553e-04 5.34112702e-06 9.99999699e-01 -4.68686224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540281693 meters Centerline goodness [0,1] 0.999509061025849 Centerline is valid? [True, True] Translation: X:31.91, Y:-0.93, Z:-0.47 [[ 9.99317445e-01 3.68793662e-02 -2.13459851e-03 3.19130121e+01] [-3.68793083e-02 9.99319725e-01 6.64995562e-05 -9.28511472e-01] [ 2.13559885e-03 1.22683497e-05 9.99997720e-01 -4.70601138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.570281693 meters Centerline goodness [0,1] 0.9992330144661994 Centerline is valid? [True, True] Translation: X:31.94, Y:-0.93, Z:-0.47 [[ 9.99306979e-01 3.71229442e-02 -2.72940415e-03 3.19422632e+01] [-3.71228506e-02 9.99310706e-01 8.49409493e-05 -9.29402935e-01] [ 2.73067605e-03 1.64411791e-05 9.99996272e-01 -4.71943918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600281693 meters Centerline goodness [0,1] 0.9992575465094079 Centerline is valid? [True, True] Translation: X:31.97, Y:-0.93, Z:-0.47 [[ 9.99270628e-01 3.81770767e-02 -8.49655199e-04 3.19711898e+01] [-3.81770681e-02 9.99270990e-01 2.62632065e-05 -9.29984415e-01] [ 8.50038444e-04 6.19329356e-06 9.99999639e-01 -4.67835686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63028169299999 meters Centerline goodness [0,1] 0.9989770257022292 Centerline is valid? [True, True] Translation: X:32.00, Y:-0.93, Z:-0.46 [[ 9.99226333e-01 3.93224783e-02 6.91983494e-04 3.20022092e+01] [-3.93224728e-02 9.99226572e-01 -2.15271169e-05 -9.29522707e-01] [-6.92294795e-04 -5.70004007e-06 9.99999760e-01 -4.64691545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660281692999995 meters Centerline goodness [0,1] 0.998961336272681 Centerline is valid? [True, True] Translation: X:32.03, Y:-0.93, Z:-0.46 [[ 9.99140331e-01 4.14383131e-02 1.21013881e-03 3.20325380e+01] [-4.14382980e-02 9.99141064e-01 -3.76039199e-05 -9.26787366e-01] [-1.21065763e-03 -1.25744997e-05 9.99999267e-01 -4.63868003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.690281692999996 meters Centerline goodness [0,1] 0.9985725242883927 Centerline is valid? [True, True] Translation: X:32.06, Y:-0.92, Z:-0.47 [[ 9.98934831e-01 4.61358174e-02 -8.30097364e-04 3.20631077e+01] [-4.61358119e-02 9.98935176e-01 2.58326771e-05 -9.22322714e-01] [ 8.30405268e-04 1.24920549e-05 9.99999655e-01 -4.66670863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720281693 meters Centerline goodness [0,1] 0.9986558566247067 Centerline is valid? [True, True] Translation: X:32.09, Y:-0.92, Z:-0.47 [[ 9.98855688e-01 4.78038607e-02 -1.45081327e-03 3.20926234e+01] [-4.78038456e-02 9.98856742e-01 4.50712266e-05 -9.16903336e-01] [ 1.45130920e-03 2.43348027e-05 9.99998947e-01 -4.68971399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.750281693 meters Centerline goodness [0,1] 0.9985156283133296 Centerline is valid? [True, True] Translation: X:32.12, Y:-0.91, Z:-0.47 [[ 9.98801407e-01 4.89304324e-02 -1.24952844e-03 3.21221293e+01] [-4.89304222e-02 9.98802189e-01 3.87248664e-05 -9.14781244e-01] [ 1.24992657e-03 2.24615032e-05 9.99999219e-01 -4.68522426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780281693 meters Centerline goodness [0,1] 0.9985404239116639 Centerline is valid? [True, True] Translation: X:32.15, Y:-0.92, Z:-0.47 [[ 9.98795198e-01 4.90703568e-02 -5.02096382e-04 3.21519580e+01] [-4.90703552e-02 9.98795324e-01 1.54752480e-05 -9.15665139e-01] [ 5.02250895e-04 9.18144447e-06 9.99999874e-01 -4.66074167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81028169299999 meters Centerline goodness [0,1] 0.998397983595352 Centerline is valid? [True, True] Translation: X:32.18, Y:-0.91, Z:-0.46 [[ 9.98733889e-01 5.02793386e-02 1.61458772e-03 3.21818543e+01] [-5.02793230e-02 9.98735194e-01 -5.02365247e-05 -9.11308084e-01] [-1.61507144e-03 -3.10074577e-05 9.99998695e-01 -4.61755211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840281692999994 meters Centerline goodness [0,1] 0.9980044203162887 Centerline is valid? [True, True] Translation: X:32.21, Y:-0.91, Z:-0.46 [[ 9.98632686e-01 5.22185606e-02 2.44532451e-03 3.22119928e+01] [-5.22185312e-02 9.98635679e-01 -7.58902294e-05 -9.07744782e-01] [-2.44595118e-03 -5.19047906e-05 9.99997007e-01 -4.60747613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.870281692999995 meters Centerline goodness [0,1] 0.9978557337679046 Centerline is valid? [True, True] Translation: X:32.24, Y:-0.90, Z:-0.46 [[ 9.98519068e-01 5.43293639e-02 2.82686904e-03 3.22418391e+01] [-5.43293330e-02 9.98523067e-01 -8.77793307e-05 -9.00519396e-01] [-2.82746294e-03 -6.59325740e-05 9.99996001e-01 -4.60855583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900281693 meters Centerline goodness [0,1] 0.9978557337679046 Centerline is valid? [True, True] Translation: X:32.27, Y:-0.90, Z:-0.46 [[ 9.98519068e-01 5.43293635e-02 2.82687095e-03 3.22718325e+01] [-5.43293328e-02 9.98523067e-01 -8.77178322e-05 -9.01450126e-01] [-2.82746151e-03 -6.59940847e-05 9.99996001e-01 -4.61010850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.930281693 meters Centerline goodness [0,1] 0.9967325808367988 Centerline is valid? [True, True] Translation: X:32.30, Y:-0.89, Z:-0.46 [[ 9.98380567e-01 5.68407900e-02 2.31681766e-03 3.23019406e+01] [-5.68407760e-02 9.98383254e-01 -7.19570639e-05 -8.92159237e-01] [-2.31716205e-03 -5.98491792e-05 9.99997314e-01 -4.63934949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960281693 meters Centerline goodness [0,1] 0.9966106030568523 Centerline is valid? [True, True] Translation: X:32.33, Y:-0.89, Z:-0.47 [[ 9.98366780e-01 5.71045874e-02 1.68488415e-03 3.23311677e+01] [-5.71045803e-02 9.98368201e-01 -5.23637882e-05 -8.89906406e-01] [-1.68512497e-03 -4.39363358e-05 9.99998579e-01 -4.65467900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.990281693 meters Centerline goodness [0,1] 0.9968977551811797 Centerline is valid? [True, True] Translation: X:32.36, Y:-0.89, Z:-0.47 [[ 9.98405675e-01 5.64417932e-02 6.57706995e-04 3.23611640e+01] [-5.64417920e-02 9.98405891e-01 -2.04748619e-05 -8.88596067e-01] [-6.57814177e-04 -1.66799431e-05 9.99999784e-01 -4.65986226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020281692999994 meters Centerline goodness [0,1] 0.9977217593080898 Centerline is valid? [True, True] Translation: X:32.39, Y:-0.88, Z:-0.47 [[ 9.98501761e-01 5.47140449e-02 -7.78234386e-04 3.23900564e+01] [-5.47140428e-02 9.98502065e-01 2.38801393e-05 -8.84676653e-01] [ 7.78375220e-04 1.87359884e-05 9.99999697e-01 -4.68927014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.050281692999995 meters Centerline goodness [0,1] 0.9977913584217862 Centerline is valid? [True, True] Translation: X:32.42, Y:-0.89, Z:-0.47 [[ 9.98540782e-01 5.39838158e-02 -1.43311515e-03 3.24200966e+01] [-5.39838080e-02 9.98541810e-01 4.41499285e-05 -8.85376894e-01] [ 1.43340877e-03 3.32795087e-05 9.99998972e-01 -4.70544774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080281692999996 meters Centerline goodness [0,1] 0.9976846443061368 Centerline is valid? [True, True] Translation: X:32.45, Y:-0.88, Z:-0.47 [[ 9.98594033e-01 5.29813571e-02 -1.71263704e-03 3.24484347e+01] [-5.29813448e-02 9.98595501e-01 5.25861285e-05 -8.84485770e-01] [ 1.71301773e-03 3.82256195e-05 9.99998532e-01 -4.72224421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.110281693 meters Centerline goodness [0,1] 0.9972220427676206 Centerline is valid? [True, True] Translation: X:32.48, Y:-0.88, Z:-0.47 [[ 9.98648411e-01 5.19597263e-02 -1.24016896e-03 3.24769306e+01] [-5.19597192e-02 9.98649181e-01 3.79517179e-05 -8.84528469e-01] [ 1.24046567e-03 2.65384080e-05 9.99999230e-01 -4.71327034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140281693 meters Centerline goodness [0,1] 0.9979616536085101 Centerline is valid? [True, True] Translation: X:32.51, Y:-0.88, Z:-0.47 [[ 9.98810149e-01 4.87638374e-02 -6.11614287e-04 3.25063899e+01] [-4.87638351e-02 9.98810336e-01 1.87013940e-05 -8.80247999e-01] [ 6.11798623e-04 1.11455160e-05 9.99999813e-01 -4.70322696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.170281693 meters Centerline goodness [0,1] 0.9984298748143433 Centerline is valid? [True, True] Translation: X:32.54, Y:-0.88, Z:-0.47 [[ 9.98891981e-01 4.70586032e-02 -5.45632217e-04 3.25363603e+01] [-4.70586011e-02 9.98892130e-01 1.66612339e-05 -8.79859107e-01] [ 5.45811782e-04 9.03391591e-06 9.99999851e-01 -4.69633947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200281692999994 meters Centerline goodness [0,1] 0.9990885968630776 Centerline is valid? [True, True] Translation: X:32.57, Y:-0.88, Z:-0.47 [[ 9.99090592e-01 4.26374897e-02 1.84556252e-04 3.25652250e+01] [-4.26374894e-02 9.99090609e-01 -5.84507034e-06 -8.79897618e-01] [-1.84637637e-04 -2.02926046e-06 9.99999983e-01 -4.68961557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.230281692999995 meters Centerline goodness [0,1] 0.9990901396529835 Centerline is valid? [True, True] Translation: X:32.60, Y:-0.88, Z:-0.47 [[ 9.99192224e-01 4.01832524e-02 4.53620162e-04 3.25953779e+01] [-4.01832502e-02 9.99192327e-01 -1.39874217e-05 -8.81734006e-01] [-4.53815846e-04 -4.25180953e-06 9.99999897e-01 -4.68174717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260281692999996 meters Centerline goodness [0,1] 0.9988732514137506 Centerline is valid? [True, True] Translation: X:32.63, Y:-0.88, Z:-0.47 [[ 9.99284883e-01 3.78071698e-02 5.83968367e-04 3.26250921e+01] [-3.78071657e-02 9.99285053e-01 -1.80344481e-05 -8.83477412e-01] [-5.84232692e-04 -4.05663742e-06 9.99999829e-01 -4.68553028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.290281693 meters Centerline goodness [0,1] 0.9992806364251862 Centerline is valid? [True, True] Translation: X:32.65, Y:-0.89, Z:-0.47 [[ 9.99378352e-01 3.52539286e-02 2.63854989e-04 3.26542538e+01] [-3.52539277e-02 9.99378387e-01 -8.20580282e-06 -8.85958352e-01] [-2.63980260e-04 -1.10122300e-06 9.99999965e-01 -4.70147540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320281693 meters Centerline goodness [0,1] 0.9991955799233684 Centerline is valid? [True, True] Translation: X:32.69, Y:-0.89, Z:-0.47 [[ 9.99543423e-01 3.02143921e-02 -1.88354216e-04 3.26850333e+01] [-3.02143915e-02 9.99543441e-01 5.77524764e-06 -8.91639999e-01] [ 1.88442717e-04 -8.16027531e-08 9.99999982e-01 -4.71255344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.350281693 meters Centerline goodness [0,1] 0.9994605209209987 Centerline is valid? [True, True] Translation: X:32.71, Y:-0.90, Z:-0.47 [[ 9.99623895e-01 2.74152376e-02 6.88494950e-04 3.27139232e+01] [-2.74152295e-02 9.99624132e-01 -2.12591994e-05 -8.95754879e-01] [-6.88818993e-04 2.37595660e-06 9.99999763e-01 -4.70343090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38028169299999 meters Centerline goodness [0,1] 0.9994051286409315 Centerline is valid? [True, True] Translation: X:32.74, Y:-0.90, Z:-0.47 [[ 9.99725039e-01 2.34406031e-02 6.19380306e-04 3.27436558e+01] [-2.34405958e-02 9.99725231e-01 -1.90204877e-05 -8.99962236e-01] [-6.19655972e-04 4.49661441e-06 9.99999808e-01 -4.69491908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.410281692999995 meters Centerline goodness [0,1] 0.9992956092979572 Centerline is valid? [True, True] Translation: X:32.77, Y:-0.90, Z:-0.47 [[ 9.99752241e-01 2.22576761e-02 -2.30572137e-04 3.27745324e+01] [-2.22576751e-02 9.99752267e-01 7.05953969e-06 -9.01853172e-01] [ 2.30672146e-04 -1.92579091e-06 9.99999973e-01 -4.71505197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440281692999996 meters Centerline goodness [0,1] 0.999300728937108 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.90, Z:-0.47 [[ 9.99771278e-01 2.13602074e-02 -1.06434465e-03 3.28035291e+01] [-2.13601849e-02 9.99771845e-01 3.25201174e-05 -9.04259661e-01] [ 1.06479645e-03 -9.77808092e-06 9.99999433e-01 -4.73874224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.470281693 meters Centerline goodness [0,1] 0.9994683113568694 Centerline is valid? [True, True] Translation: X:32.83, Y:-0.91, Z:-0.47 [[ 9.99785769e-01 2.06482867e-02 -1.43666762e-03 3.28332011e+01] [-2.06482451e-02 9.99786801e-01 4.38291204e-05 -9.06602136e-01] [ 1.43726632e-03 -1.41550658e-05 9.99998967e-01 -4.74817881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500281693 meters Centerline goodness [0,1] 0.9995968084203378 Centerline is valid? [True, True] Translation: X:32.86, Y:-0.91, Z:-0.47 [[ 9.99815057e-01 1.92291882e-02 3.01413194e-04 3.28629949e+01] [-1.92291863e-02 9.99815102e-01 -9.32346189e-06 -9.09879336e-01] [-3.01536746e-04 3.52580712e-06 9.99999955e-01 -4.71909966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.530281693 meters Centerline goodness [0,1] 0.9992148041254616 Centerline is valid? [True, True] Translation: X:32.89, Y:-0.91, Z:-0.47 [[ 9.99818613e-01 1.90235301e-02 9.20185745e-04 3.28923549e+01] [-1.90235123e-02 9.99819036e-01 -2.81695677e-05 -9.11060489e-01] [-9.20555109e-04 1.06592933e-05 9.99999576e-01 -4.70527372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56028169299999 meters Centerline goodness [0,1] 0.9994875955420812 Centerline is valid? [True, True] Translation: X:32.92, Y:-0.91, Z:-0.47 [[ 9.99812882e-01 1.92985317e-02 1.32950431e-03 3.29233704e+01] [-1.92984947e-02 9.99813766e-01 -4.06202640e-05 -9.10014323e-01] [-1.33004062e-03 1.49552314e-05 9.99999115e-01 -4.69906275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.590281692999994 meters Centerline goodness [0,1] 0.9994851994851995 Centerline is valid? [True, True] Translation: X:32.95, Y:-0.91, Z:-0.47 [[ 9.99776123e-01 2.11586257e-02 1.31738686e-04 3.29542117e+01] [-2.11586253e-02 9.99776131e-01 -4.02500404e-06 -9.07554670e-01] [-1.31794357e-04 1.23669343e-06 9.99999991e-01 -4.71054636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620281692999995 meters Centerline goodness [0,1] 0.9994462193823216 Centerline is valid? [True, True] Translation: X:32.98, Y:-0.91, Z:-0.47 [[ 9.99736493e-01 2.28953788e-02 -1.65712623e-03 3.29835377e+01] [-2.28953266e-02 9.99737866e-01 5.04757139e-05 -9.05923381e-01] [ 1.65784750e-03 -1.25219668e-05 9.99998626e-01 -4.74161356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.650281693 meters Centerline goodness [0,1] 0.9994233356827065 Centerline is valid? [True, True] Translation: X:33.01, Y:-0.90, Z:-0.48 [[ 9.99656155e-01 2.60896463e-02 -2.62734469e-03 3.30125594e+01] [-2.60895263e-02 9.99659607e-01 7.99513060e-05 -9.02286517e-01] [ 2.62853626e-03 -1.13776367e-05 9.99996545e-01 -4.75658378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680281693 meters Centerline goodness [0,1] 0.9994013000342115 Centerline is valid? [True, True] Translation: X:33.04, Y:-0.90, Z:-0.47 [[ 9.99632327e-01 2.70687266e-02 -1.57977067e-03 3.30417408e+01] [-2.70686845e-02 9.99633575e-01 4.80263249e-05 -9.02015118e-01] [ 1.58049182e-03 -5.24635294e-06 9.99998751e-01 -4.74547694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.710281693 meters Centerline goodness [0,1] 0.9992374658448243 Centerline is valid? [True, True] Translation: X:33.07, Y:-0.90, Z:-0.47 [[ 9.99615504e-01 2.77196673e-02 -6.81190129e-04 3.30719282e+01] [-2.77196596e-02 9.99615736e-01 2.06935738e-05 -9.02550948e-01] [ 6.81501992e-04 -1.80325865e-06 9.99999768e-01 -4.72968834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740281693 meters Centerline goodness [0,1] 0.9993405938909214 Centerline is valid? [True, True] Translation: X:33.10, Y:-0.90, Z:-0.47 [[ 9.99605884e-01 2.80712324e-02 2.86430888e-04 3.31020152e+01] [-2.80712310e-02 9.99605925e-01 -8.83468969e-06 -9.03607767e-01] [-2.86566013e-04 7.90740182e-07 9.99999959e-01 -4.71728728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.770281692999994 meters Centerline goodness [0,1] 0.9992338306340052 Centerline is valid? [True, True] Translation: X:33.13, Y:-0.91, Z:-0.47 [[ 9.99601430e-01 2.81085464e-02 2.62486816e-03 3.31313040e+01] [-2.81084336e-02 9.99604877e-01 -7.98683754e-05 -9.05433674e-01] [-2.62607600e-03 6.05561000e-06 9.99996552e-01 -4.66857985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800281692999995 meters Centerline goodness [0,1] 0.9992563160019549 Centerline is valid? [True, True] Translation: X:33.16, Y:-0.91, Z:-0.47 [[ 9.99596350e-01 2.82785926e-02 2.73106492e-03 3.31613101e+01] [-2.82784709e-02 9.99600081e-01 -8.31729250e-05 -9.05997148e-01] [-2.73232473e-03 5.90901231e-06 9.99996267e-01 -4.66341971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.830281692999996 meters Centerline goodness [0,1] 0.999131631896643 Centerline is valid? [True, True] Translation: X:33.19, Y:-0.91, Z:-0.47 [[ 9.99577752e-01 2.89473286e-02 2.52392419e-03 3.31916734e+01] [-2.89472268e-02 9.99580938e-01 -7.68645798e-05 -9.05379101e-01] [-2.52509154e-03 3.77151792e-06 9.99996812e-01 -4.66641279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860281693 meters Centerline goodness [0,1] 0.9989400042399831 Centerline is valid? [True, True] Translation: X:33.22, Y:-0.90, Z:-0.47 [[ 9.99493736e-01 3.16486082e-02 3.26157050e-03 3.32226762e+01] [-3.16484526e-02 9.99499057e-01 -9.93291507e-05 -8.99853952e-01] [-3.26308027e-03 -3.94479549e-06 9.99994676e-01 -4.65294319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.890281693 meters Centerline goodness [0,1] 0.998656458595466 Centerline is valid? [True, True] Translation: X:33.25, Y:-0.90, Z:-0.47 [[ 9.99429071e-01 3.36336521e-02 3.21075670e-03 3.32520852e+01] [-3.36335115e-02 9.99434229e-01 -9.78042284e-05 -8.95355483e-01] [-3.21222966e-03 -1.02406332e-05 9.99994841e-01 -4.65280446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920281693 meters Centerline goodness [0,1] 0.9982956966340009 Centerline is valid? [True, True] Translation: X:33.28, Y:-0.88, Z:-0.47 [[ 9.99292481e-01 3.76005591e-02 8.57833578e-04 3.32819603e+01] [-3.76005505e-02 9.99292849e-01 -2.61632938e-05 -8.84971551e-01] [-8.58210715e-04 -6.11023206e-06 9.99999632e-01 -4.70892391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.950281692999994 meters Centerline goodness [0,1] 0.9983077736647277 Centerline is valid? [True, True] Translation: X:33.31, Y:-0.88, Z:-0.47 [[ 9.99274889e-01 3.80747966e-02 -7.43162191e-05 3.33110601e+01] [-3.80747965e-02 9.99274892e-01 2.02567577e-06 -8.82986791e-01] [ 7.43394590e-05 8.05367996e-07 9.99999997e-01 -4.73402235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980281692999995 meters Centerline goodness [0,1] 0.9986147223051021 Centerline is valid? [True, True] Translation: X:33.34, Y:-0.88, Z:-0.47 [[ 9.99305446e-01 3.72639124e-02 1.61794782e-04 3.33395344e+01] [-3.72639121e-02 9.99305459e-01 -5.15207282e-06 -8.83202042e-01] [-1.61874395e-04 -8.80612104e-07 9.99999987e-01 -4.72116528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.010281692999996 meters Centerline goodness [0,1] 0.9986794462193823 Centerline is valid? [True, True] Translation: X:33.37, Y:-0.88, Z:-0.47 [[ 9.99408664e-01 3.43505866e-02 1.53614638e-03 3.33685637e+01] [-3.43505553e-02 9.99409844e-01 -4.67339630e-05 -8.81481424e-01] [-1.53684515e-03 -6.06115357e-06 9.99998819e-01 -4.69659519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040281693 meters Centerline goodness [0,1] 0.9989197203982207 Centerline is valid? [True, True] Translation: X:33.40, Y:-0.88, Z:-0.47 [[ 9.99449128e-01 3.30585785e-02 2.92765917e-03 3.33977253e+01] [-3.30584603e-02 9.99453416e-01 -8.87718139e-05 -8.81845720e-01] [-2.92899363e-03 -8.06099251e-06 9.99995710e-01 -4.67412495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.070281693 meters Centerline goodness [0,1] 0.9987927821077601 Centerline is valid? [True, True] Translation: X:33.43, Y:-0.88, Z:-0.47 [[ 9.99505420e-01 3.12368361e-02 3.62993505e-03 3.34271649e+01] [-3.12366428e-02 9.99512011e-01 -1.09955483e-04 -8.84275717e-01] [-3.63159834e-03 -3.48588366e-06 9.99993406e-01 -4.66756947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100281693 meters Centerline goodness [0,1] 0.9989817996690848 Centerline is valid? [True, True] Translation: X:33.46, Y:-0.89, Z:-0.47 [[ 9.99668739e-01 2.54355394e-02 3.93013877e-03 3.34570027e+01] [-2.54352684e-02 9.99676464e-01 -1.18926008e-04 -8.92620295e-01] [-3.93189217e-03 1.89224784e-05 9.99992270e-01 -4.67165130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13028169299999 meters Centerline goodness [0,1] 0.9991548522047793 Centerline is valid? [True, True] Translation: X:33.49, Y:-0.90, Z:-0.47 [[ 9.99753787e-01 2.19323016e-02 3.36732814e-03 3.34871191e+01] [-2.19320829e-02 9.99759458e-01 -1.01875529e-04 -8.97447908e-01] [-3.36875252e-03 2.79979260e-05 9.99994325e-01 -4.68449099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.160281692999995 meters Centerline goodness [0,1] 0.999072610390979 Centerline is valid? [True, True] Translation: X:33.52, Y:-0.90, Z:-0.47 [[ 9.99847647e-01 1.73721785e-02 1.70002412e-03 3.35187214e+01] [-1.73721162e-02 9.99849092e-01 -5.13849356e-05 -9.00716210e-01] [-1.70066024e-03 2.18440904e-05 9.99998554e-01 -4.71344511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.190281692999996 meters Centerline goodness [0,1] 0.998876666454717 Centerline is valid? [True, True] Translation: X:33.55, Y:-0.90, Z:-0.47 [[ 9.99862303e-01 1.65715476e-02 8.71650201e-04 3.35485278e+01] [-1.65715308e-02 9.99862682e-01 -2.64520840e-05 -9.03118770e-01] [-8.71968860e-04 1.20038635e-05 9.99999620e-01 -4.73463303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220281693 meters Centerline goodness [0,1] 0.9991716931441679 Centerline is valid? [True, True] Translation: X:33.58, Y:-0.90, Z:-0.47 [[ 9.99875520e-01 1.57736489e-02 3.68607299e-04 3.35784789e+01] [-1.57736458e-02 9.99875588e-01 -1.12663334e-05 -9.03933023e-01] [-3.68739151e-04 5.45064995e-06 9.99999932e-01 -4.74971062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.250281693 meters Centerline goodness [0,1] 0.9989177948478547 Centerline is valid? [True, True] Translation: X:33.61, Y:-0.91, Z:-0.48 [[ 9.99921160e-01 1.25542967e-02 -2.49972241e-04 3.36075350e+01] [-1.25542952e-02 9.99921192e-01 7.50568098e-06 -9.08684141e-01] [ 2.50046770e-04 -4.36686393e-06 9.99999969e-01 -4.76160465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280281693 meters Centerline goodness [0,1] 0.9986796711955365 Centerline is valid? [True, True] Translation: X:33.64, Y:-0.91, Z:-0.48 [[ 9.99943797e-01 1.05834642e-02 -6.26682896e-04 3.36384146e+01] [-1.05834544e-02 9.99943994e-01 1.89568850e-05 -9.08920362e-01] [ 6.26848427e-04 -1.23233498e-05 9.99999803e-01 -4.75841735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31028169299999 meters Centerline goodness [0,1] 0.9983920788727627 Centerline is valid? [True, True] Translation: X:33.67, Y:-0.91, Z:-0.48 [[ 9.99960203e-01 8.90786077e-03 -4.91717346e-04 3.36676188e+01] [-8.90785456e-03 9.99960324e-01 1.48117290e-05 -9.13824687e-01] [ 4.91829778e-04 -1.04309930e-05 9.99999879e-01 -4.76327466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340281692999994 meters Centerline goodness [0,1] 0.9982191693697131 Centerline is valid? [True, True] Translation: X:33.70, Y:-0.91, Z:-0.48 [[ 9.99968745e-01 7.90630038e-03 9.42213523e-06 3.36972657e+01] [-7.90630037e-03 9.99968745e-01 -3.99138483e-07 -9.14137533e-01] [-9.42499646e-06 3.24631776e-07 1.00000000e+00 -4.75555827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.370281692999995 meters Centerline goodness [0,1] 0.9981405962769666 Centerline is valid? [True, True] Translation: X:33.73, Y:-0.92, Z:-0.47 [[ 9.99973992e-01 7.18664838e-03 6.06426504e-04 3.37262139e+01] [-7.18663856e-03 9.99974176e-01 -1.83744950e-05 -9.20691746e-01] [-6.06542894e-04 1.40158490e-05 9.99999816e-01 -4.74805746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400281693 meters Centerline goodness [0,1] 0.9985280942019711 Centerline is valid? [True, True] Translation: X:33.76, Y:-0.92, Z:-0.47 [[ 9.99974585e-01 7.11550893e-03 4.46361136e-04 3.37565926e+01] [-7.11550362e-03 9.99974684e-01 -1.34824924e-05 -9.19466853e-01] [-4.46445771e-04 1.03060655e-05 9.99999900e-01 -4.74522624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.430281693 meters Centerline goodness [0,1] 0.9984733795560079 Centerline is valid? [True, True] Translation: X:33.79, Y:-0.92, Z:-0.48 [[ 9.99969766e-01 7.77575389e-03 6.35190139e-05 3.37864241e+01] [-7.77575379e-03 9.99969768e-01 -1.84254563e-06 -9.22720151e-01] [-6.35314208e-05 1.34858171e-06 9.99999998e-01 -4.76137992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.460281693 meters Centerline goodness [0,1] 0.9985580389329488 Centerline is valid? [True, True] Translation: X:33.82, Y:-0.92, Z:-0.47 [[ 9.99952111e-01 9.68752232e-03 1.38859564e-03 3.38167039e+01] [-9.68747333e-03 9.99953074e-01 -4.20048455e-05 -9.19836782e-01] [-1.38893741e-03 2.85508506e-05 9.99999035e-01 -4.73705184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.490281693 meters Centerline goodness [0,1] 0.9984116899618806 Centerline is valid? [True, True] Translation: X:33.85, Y:-0.92, Z:-0.47 [[ 9.99944697e-01 1.02418816e-02 2.38884103e-03 3.38470183e+01] [-1.02417384e-02 9.99947549e-01 -7.21653547e-05 -9.20779499e-01] [-2.38945484e-03 4.76954789e-05 9.99997144e-01 -4.72101343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.520281692999994 meters Centerline goodness [0,1] 0.9987002194711385 Centerline is valid? [True, True] Translation: X:33.88, Y:-0.92, Z:-0.47 [[ 9.99937314e-01 1.08667056e-02 2.69883606e-03 3.38779546e+01] [-1.08665252e-02 9.99940954e-01 -8.15031618e-05 -9.23202491e-01] [-2.69956237e-03 5.21710827e-05 9.99996355e-01 -4.71774663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.550281692999995 meters Centerline goodness [0,1] 0.9984314722964094 Centerline is valid? [True, True] Translation: X:33.91, Y:-0.93, Z:-0.47 [[ 9.99923017e-01 1.22118020e-02 2.19811907e-03 3.39082154e+01] [-1.22116855e-02 9.99925432e-01 -6.63954463e-05 -9.27079706e-01] [-2.19876596e-03 3.95475963e-05 9.99997582e-01 -4.72985427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580281692999996 meters Centerline goodness [0,1] 0.9984677590976804 Centerline is valid? [True, True] Translation: X:33.94, Y:-0.93, Z:-0.47 [[ 9.99908619e-01 1.33281809e-02 2.26109379e-03 3.39383380e+01] [-1.33280604e-02 9.99911175e-01 -6.83553670e-05 -9.28804271e-01] [-2.26180400e-03 3.82131260e-05 9.99997441e-01 -4.72277395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.610281693 meters Centerline goodness [0,1] 0.9990460442635462 Centerline is valid? [True, True] Translation: X:33.97, Y:-0.93, Z:-0.47 [[ 9.99864732e-01 1.60972938e-02 3.37569063e-03 3.39687396e+01] [-1.60970410e-02 9.99870429e-01 -1.02050863e-04 -9.27822407e-01] [-3.37689598e-03 4.76984281e-05 9.99994297e-01 -4.69379044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640281693 meters Centerline goodness [0,1] 0.9989437214804799 Centerline is valid? [True, True] Translation: X:34.00, Y:-0.93, Z:-0.47 [[ 9.99837863e-01 1.76310740e-02 3.65955080e-03 3.39986486e+01] [-1.76307872e-02 9.99844559e-01 -1.10615363e-04 -9.30113866e-01] [-3.66093222e-03 4.60766670e-05 9.99993298e-01 -4.69492180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.670281693 meters Centerline goodness [0,1] 0.9990007228813199 Centerline is valid? [True, True] Translation: X:34.03, Y:-0.93, Z:-0.47 [[ 9.99804522e-01 1.94002295e-02 3.81423380e-03 3.40303947e+01] [-1.93999307e-02 9.99811797e-01 -1.15322146e-04 -9.29039575e-01] [-3.81575323e-03 4.13037319e-05 9.99992719e-01 -4.69245489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700281692999994 meters Centerline goodness [0,1] 0.9988390011187808 Centerline is valid? [True, True] Translation: X:34.06, Y:-0.93, Z:-0.47 [[ 9.99743958e-01 2.21595568e-02 4.57961860e-03 3.40619903e+01] [-2.21591545e-02 9.99754446e-01 -1.38583346e-04 -9.25792937e-01] [-4.58156500e-03 3.70673868e-05 9.99989504e-01 -4.67888723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.730281692999995 meters Centerline goodness [0,1] 0.9984634755329819 Centerline is valid? [True, True] Translation: X:34.09, Y:-0.92, Z:-0.47 [[ 9.99594897e-01 2.79459029e-02 5.39152209e-03 3.40930112e+01] [-2.79454287e-02 9.99609437e-01 -1.63282247e-04 -9.16107783e-01] [-5.39397943e-03 1.25477044e-05 9.99985452e-01 -4.66433789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760281692999996 meters Centerline goodness [0,1] 0.9983700944075188 Centerline is valid? [True, True] Translation: X:34.12, Y:-0.91, Z:-0.47 [[ 9.99527599e-01 3.03446806e-02 4.87631356e-03 3.41239546e+01] [-3.03443213e-02 9.99539494e-01 -1.47679156e-04 -9.13680557e-01] [-4.87854926e-03 -3.59032528e-07 9.99988100e-01 -4.67643741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.790281693 meters Centerline goodness [0,1] 0.9983700944075188 Centerline is valid? [True, True] Translation: X:34.15, Y:-0.91, Z:-0.47 [[ 9.99526918e-01 3.03671145e-02 4.87631376e-03 3.41547757e+01] [-3.03667554e-02 9.99538813e-01 -1.47672526e-04 -9.14659913e-01] [-4.87854925e-03 -4.75162628e-07 9.99988100e-01 -4.67803295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820281693 meters Centerline goodness [0,1] 0.9983430695698353 Centerline is valid? [True, True] Translation: X:34.19, Y:-0.91, Z:-0.47 [[ 9.99478610e-01 3.19594909e-02 4.59336434e-03 3.41853245e+01] [-3.19591886e-02 9.99489165e-01 -1.39213231e-04 -9.13816694e-01] [-4.59546708e-03 -7.65955053e-06 9.99989441e-01 -4.69007996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.850281693 meters Centerline goodness [0,1] 0.9985898596173679 Centerline is valid? [True, True] Translation: X:34.22, Y:-0.91, Z:-0.47 [[ 9.99445076e-01 3.30415439e-02 4.21847865e-03 3.42154981e+01] [-3.30412986e-02 9.99453979e-01 -1.27840772e-04 -9.14033851e-01] [-4.22039933e-03 -1.16141826e-05 9.99991094e-01 -4.69462706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88028169299999 meters Centerline goodness [0,1] 0.9985232744783307 Centerline is valid? [True, True] Translation: X:34.25, Y:-0.92, Z:-0.47 [[ 9.99422355e-01 3.36351324e-02 4.86147251e-03 3.42464284e+01] [-3.36348134e-02 9.99434179e-01 -1.47393091e-04 -9.15693784e-01] [-4.86367937e-03 -1.62067707e-05 9.99988172e-01 -4.67839509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.910281692999995 meters Centerline goodness [0,1] 0.9984934326394636 Centerline is valid? [True, True] Translation: X:34.28, Y:-0.92, Z:-0.47 [[ 9.99407370e-01 3.41640811e-02 4.21011022e-03 3.42763510e+01] [-3.41638466e-02 9.99416237e-01 -1.27633779e-04 -9.16005796e-01] [-4.21201300e-03 -1.62754199e-05 9.99991129e-01 -4.69235201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940281692999996 meters Centerline goodness [0,1] 0.9982576916539181 Centerline is valid? [True, True] Translation: X:34.31, Y:-0.91, Z:-0.47 [[ 9.99359677e-01 3.57125047e-02 2.20274100e-03 3.43055536e+01] [-3.57124442e-02 9.99362105e-01 -6.68417367e-05 -9.14679340e-01] [-2.20372297e-03 -1.18663286e-05 9.99997572e-01 -4.73654154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.970281693 meters Centerline goodness [0,1] 0.9981165189846325 Centerline is valid? [True, True] Translation: X:34.34, Y:-0.92, Z:-0.47 [[ 9.99344515e-01 3.61367068e-02 2.16301873e-03 3.43352119e+01] [-3.61366494e-02 9.99346856e-01 -6.56475895e-05 -9.15030964e-01] [-2.16397825e-03 -1.25596910e-05 9.99997659e-01 -4.73729679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.000281693 meters Centerline goodness [0,1] 0.9979030310732668 Centerline is valid? [True, True] Translation: X:34.36, Y:-0.91, Z:-0.47 [[ 9.99328752e-01 3.65353913e-02 2.68514757e-03 3.43640809e+01] [-3.65353044e-02 9.99332360e-01 -8.14340962e-05 -9.14476343e-01] [-2.68633008e-03 -1.67232500e-05 9.99996392e-01 -4.72807575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.030281693 meters Centerline goodness [0,1] 0.9980274019597333 Centerline is valid? [True, True] Translation: X:34.39, Y:-0.92, Z:-0.47 [[ 9.99289232e-01 3.74792885e-02 4.04159078e-03 3.43937222e+01] [-3.74791002e-02 9.99297404e-01 -1.22336458e-04 -9.15607236e-01] [-4.04333626e-03 -2.92256807e-05 9.99991825e-01 -4.70068725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06028169299999 meters Centerline goodness [0,1] 0.9979762690923034 Centerline is valid? [True, True] Translation: X:34.42, Y:-0.92, Z:-0.47 [[ 9.99277495e-01 3.78940160e-02 2.92097478e-03 3.44235445e+01] [-3.78939195e-02 9.99281764e-01 -8.83830806e-05 -9.16493461e-01] [-2.92222602e-03 -2.23679600e-05 9.99995730e-01 -4.71980355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.090281692999994 meters Centerline goodness [0,1] 0.9983599482088908 Centerline is valid? [True, True] Translation: X:34.45, Y:-0.92, Z:-0.48 [[ 9.99286786e-01 3.77439842e-02 1.14510041e-03 3.44526901e+01] [-3.77439692e-02 9.99287442e-01 -3.46929841e-05 -9.18255818e-01] [-1.14559391e-03 -8.55239415e-06 9.99999344e-01 -4.75646363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.120281692999995 meters Centerline goodness [0,1] 0.9984979902686694 Centerline is valid? [True, True] Translation: X:34.48, Y:-0.92, Z:-0.48 [[ 9.99326228e-01 3.66298780e-02 -2.31138041e-03 3.44813842e+01] [-3.66298151e-02 9.99328901e-01 6.95485815e-05 -9.22933705e-01] [ 2.31237680e-03 1.51637154e-05 9.99997326e-01 -4.82362698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.150281693 meters Centerline goodness [0,1] 0.9984610781002864 Centerline is valid? [True, True] Translation: X:34.51, Y:-0.93, Z:-0.48 [[ 9.99356507e-01 3.58118129e-02 -2.02148990e-03 3.45098619e+01] [-3.58117635e-02 9.99358551e-01 6.06604932e-05 -9.26124913e-01] [ 2.02236558e-03 1.17716595e-05 9.99997955e-01 -4.82217234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180281693 meters Centerline goodness [0,1] 0.9986480777355302 Centerline is valid? [True, True] Translation: X:34.54, Y:-0.93, Z:-0.48 [[ 9.99378053e-01 3.52387339e-02 -1.31864205e-03 3.45380251e+01] [-3.52387127e-02 9.99378923e-01 3.93625725e-05 -9.28414885e-01] [ 1.31921016e-03 7.12915711e-06 9.99999130e-01 -4.80571812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.210281693 meters Centerline goodness [0,1] 0.9986923969208057 Centerline is valid? [True, True] Translation: X:34.57, Y:-0.93, Z:-0.47 [[ 9.99349046e-01 3.60402468e-02 1.60802443e-03 3.45663568e+01] [-3.60402153e-02 9.99350339e-01 -4.85577552e-05 -9.28004739e-01] [-1.60872980e-03 -9.42740051e-06 9.99998706e-01 -4.74907160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240281693 meters Centerline goodness [0,1] 0.9984364765788417 Centerline is valid? [True, True] Translation: X:34.60, Y:-0.93, Z:-0.47 [[ 9.99310089e-01 3.70797483e-02 2.10692410e-03 3.45963961e+01] [-3.70796973e-02 9.99312310e-01 -6.32848050e-05 -9.26359235e-01] [-2.10782177e-03 -1.48829636e-05 9.99997778e-01 -4.73325061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.270281692999994 meters Centerline goodness [0,1] 0.9979664463650229 Centerline is valid? [True, True] Translation: X:34.63, Y:-0.92, Z:-0.47 [[ 9.99269610e-01 3.81749095e-02 1.70953480e-03 3.46264382e+01] [-3.81748775e-02 9.99271072e-01 -5.13329002e-05 -9.24583088e-01] [-1.71024830e-03 -1.39658745e-05 9.99998537e-01 -4.74262504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.300281692999995 meters Centerline goodness [0,1] 0.9977473648418905 Centerline is valid? [True, True] Translation: X:34.66, Y:-0.92, Z:-0.48 [[ 9.99189489e-01 4.02467280e-02 7.52770834e-04 3.46554778e+01] [-4.02467223e-02 9.99189772e-01 -2.26962261e-05 -9.19896463e-01] [-7.53074367e-04 -7.61872811e-06 9.99999716e-01 -4.76155988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.330281692999996 meters Centerline goodness [0,1] 0.997752380144611 Centerline is valid? [True, True] Translation: X:34.68, Y:-0.92, Z:-0.47 [[ 9.99130341e-01 4.16730938e-02 1.38350853e-03 3.46838984e+01] [-4.16730761e-02 9.99131299e-01 -4.16122227e-05 -9.16414022e-01] [-1.38404079e-03 -1.60790222e-05 9.99999042e-01 -4.74522160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360281693 meters Centerline goodness [0,1] 0.9971174837328586 Centerline is valid? [True, True] Translation: X:34.71, Y:-0.91, Z:-0.47 [[ 9.99030538e-01 4.39100359e-02 3.14545079e-03 3.47125992e+01] [-4.39099574e-02 9.99035488e-01 -9.40436713e-05 -9.08609724e-01] [-3.14654643e-03 -4.41641105e-05 9.99995049e-01 -4.70548894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.390281693 meters Centerline goodness [0,1] 0.9974915499245339 Centerline is valid? [True, True] Translation: X:34.74, Y:-0.91, Z:-0.47 [[ 9.99037240e-01 4.37032674e-02 3.82322916e-03 3.47409699e+01] [-4.37031505e-02 9.99044554e-01 -1.14169561e-04 -9.11529946e-01] [-3.82456585e-03 -5.30275154e-05 9.99992685e-01 -4.69537377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.420281693 meters Centerline goodness [0,1] 0.9973323170731707 Centerline is valid? [True, True] Translation: X:34.77, Y:-0.91, Z:-0.47 [[ 9.99102000e-01 4.22282038e-02 3.46021205e-03 3.47692675e+01] [-4.22280997e-02 9.99107991e-01 -1.03172453e-04 -9.10076277e-01] [-3.46148230e-03 -4.30383759e-05 9.99994008e-01 -4.71116551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.450281692999994 meters Centerline goodness [0,1] 0.9976443623861972 Centerline is valid? [True, True] Translation: X:34.80, Y:-0.92, Z:-0.47 [[ 9.99199262e-01 3.99008721e-02 2.95897385e-03 3.47990235e+01] [-3.99007861e-02 9.99203643e-01 -8.81279732e-05 -9.19304787e-01] [-2.96013383e-03 -3.00079768e-05 9.99995618e-01 -4.72494629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480281692999995 meters Centerline goodness [0,1] 0.998126024830171 Centerline is valid? [True, True] Translation: X:34.83, Y:-0.93, Z:-0.48 [[ 9.99375941e-01 3.52747206e-02 1.85000588e-03 3.48280931e+01] [-3.52746791e-02 9.99377653e-01 -5.50620730e-05 -9.26517332e-01] [-1.85079684e-03 -1.02306527e-05 9.99998287e-01 -4.75109991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.510281692999996 meters Centerline goodness [0,1] 0.9982602422930855 Centerline is valid? [True, True] Translation: X:34.86, Y:-0.93, Z:-0.48 [[ 9.99420641e-01 3.39948551e-02 1.65264905e-03 3.48565915e+01] [-3.39948202e-02 9.99422008e-01 -4.92196012e-05 -9.27576350e-01] [-1.65336705e-03 -6.99042203e-06 9.99998633e-01 -4.75381249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.540281693 meters Centerline goodness [0,1] 0.9983230024624268 Centerline is valid? [True, True] Translation: X:34.89, Y:-0.93, Z:-0.47 [[ 9.99435894e-01 3.35199157e-02 2.07568382e-03 3.48851116e+01] [-3.35198597e-02 9.99438050e-01 -6.17638568e-05 -9.26708284e-01] [-2.07658771e-03 -7.84761501e-06 9.99997844e-01 -4.74553289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.570281693 meters Centerline goodness [0,1] 0.998207655869927 Centerline is valid? [True, True] Translation: X:34.91, Y:-0.93, Z:-0.47 [[ 9.99416873e-01 3.40561238e-02 2.46860145e-03 3.49144276e+01] [-3.40560466e-02 9.99419922e-01 -7.33137074e-05 -9.26993865e-01] [-2.46966625e-03 -1.07998497e-05 9.99996950e-01 -4.73808690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.600281693 meters Centerline goodness [0,1] 0.9980594532349555 Centerline is valid? [True, True] Translation: X:34.94, Y:-0.93, Z:-0.47 [[ 9.99376167e-01 3.52065451e-02 2.78852211e-03 3.49439373e+01] [-3.52064513e-02 9.99380057e-01 -8.27346358e-05 -9.25214214e-01] [-2.78970619e-03 -1.54909446e-05 9.99996109e-01 -4.73667371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63028169299999 meters Centerline goodness [0,1] 0.9981632394544611 Centerline is valid? [True, True] Translation: X:34.97, Y:-0.92, Z:-0.48 [[ 9.99315312e-01 3.69676669e-02 1.51592922e-03 3.49722861e+01] [-3.69676411e-02 9.99316462e-01 -4.50383483e-05 -9.21577049e-01] [-1.51655799e-03 -1.10328162e-05 9.99998850e-01 -4.76443046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.660281692999995 meters Centerline goodness [0,1] 0.9978581728730173 Centerline is valid? [True, True] Translation: X:35.00, Y:-0.92, Z:-0.48 [[ 9.99305672e-01 3.72581330e-02 7.49920084e-05 3.50021935e+01] [-3.72581329e-02 9.99305675e-01 -2.33532271e-06 -9.21984349e-01] [-7.50269493e-05 -4.60360986e-07 9.99999997e-01 -4.79309239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.690281692999996 meters Centerline goodness [0,1] 0.9978612370604842 Centerline is valid? [True, True] Translation: X:35.03, Y:-0.92, Z:-0.48 [[ 9.99320661e-01 3.68357694e-02 -1.15870517e-03 3.50305587e+01] [-3.68357548e-02 9.99321333e-01 3.39668574e-05 -9.23269484e-01] [ 1.15916999e-03 8.73799704e-06 9.99999328e-01 -4.80768665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.720281693 meters Centerline goodness [0,1] 0.9986588505050942 Centerline is valid? [True, True] Translation: X:35.06, Y:-0.92, Z:-0.48 [[ 9.99393914e-01 3.47881830e-02 -1.25953948e-03 3.50580781e+01] [-3.47881642e-02 9.99394708e-01 3.68129010e-05 -9.22805820e-01] [ 1.26005774e-03 7.02647697e-06 9.99999206e-01 -4.81972327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.750281693 meters Centerline goodness [0,1] 0.9987080659747642 Centerline is valid? [True, True] Translation: X:35.09, Y:-0.92, Z:-0.48 [[ 9.99450913e-01 3.31312625e-02 -4.38557385e-04 3.50858131e+01] [-3.31312601e-02 9.99451009e-01 1.26064402e-05 -9.23680848e-01] [ 4.38734288e-04 1.93044066e-06 9.99999904e-01 -4.81041559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780281693 meters Centerline goodness [0,1] 0.9988805648841815 Centerline is valid? [True, True] Translation: X:35.11, Y:-0.93, Z:-0.48 [[ 9.99506223e-01 3.14204908e-02 -2.49770460e-04 3.51142705e+01] [-3.14204900e-02 9.99506254e-01 7.10232046e-06 -9.25480261e-01] [ 2.49870295e-04 7.49096728e-07 9.99999969e-01 -4.80731749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81028169299999 meters Centerline goodness [0,1] 0.9989950393431406 Centerline is valid? [True, True] Translation: X:35.14, Y:-0.93, Z:-0.48 [[ 9.99587192e-01 2.87245615e-02 -5.87078377e-04 3.51435406e+01] [-2.87245564e-02 9.99587365e-01 1.71077138e-05 -9.29097463e-01] [ 5.87327539e-04 -2.37085677e-07 9.99999828e-01 -4.80598103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.840281692999994 meters Centerline goodness [0,1] 0.9990003828321069 Centerline is valid? [True, True] Translation: X:35.17, Y:-0.93, Z:-0.48 [[ 9.99613361e-01 2.78025323e-02 -3.83971783e-04 3.51718822e+01] [-2.78025301e-02 9.99613435e-01 1.10782984e-05 -9.30325703e-01] [ 3.84131358e-04 -3.98627996e-07 9.99999926e-01 -4.80653357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.870281692999995 meters Centerline goodness [0,1] 0.9987303199593702 Centerline is valid? [True, True] Translation: X:35.20, Y:-0.93, Z:-0.48 [[ 9.99629599e-01 2.72142067e-02 2.26026822e-04 3.52013892e+01] [-2.72142058e-02 9.99629625e-01 -6.73835254e-06 -9.30274232e-01] [-2.26126486e-04 5.84716181e-07 9.99999974e-01 -4.78896131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900281693 meters Centerline goodness [0,1] 0.9989816700610998 Centerline is valid? [True, True] Translation: X:35.23, Y:-0.93, Z:-0.48 [[ 9.99647326e-01 2.65501492e-02 5.60140519e-04 3.52302078e+01] [-2.65501440e-02 9.99647483e-01 -1.65617713e-05 -9.31095826e-01] [-5.60382778e-04 1.68411892e-06 9.99999843e-01 -4.79525446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.930281693 meters Centerline goodness [0,1] 0.998840729052618 Centerline is valid? [True, True] Translation: X:35.26, Y:-0.93, Z:-0.48 [[ 9.99683321e-01 2.50838244e-02 2.01467191e-03 3.52600869e+01] [-2.50837564e-02 9.99685351e-01 -5.89993900e-05 -9.34900149e-01] [-2.01551792e-03 8.44516676e-06 9.99997969e-01 -4.77962646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960281693 meters Centerline goodness [0,1] 0.9987933443414201 Centerline is valid? [True, True] Translation: X:35.29, Y:-0.94, Z:-0.48 [[ 9.99701235e-01 2.43544925e-02 2.07339108e-03 3.52890658e+01] [-2.43544192e-02 9.99703385e-01 -6.06346714e-05 -9.38822794e-01] [-2.07425281e-03 1.01203205e-05 9.99997849e-01 -4.77889314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.990281693 meters Centerline goodness [0,1] 0.9990396107222127 Centerline is valid? [True, True] Translation: X:35.32, Y:-0.94, Z:-0.48 [[ 9.99726530e-01 2.33262818e-02 1.65843151e-03 3.53193898e+01] [-2.33262335e-02 9.99727905e-01 -4.84538924e-05 -9.40860997e-01] [-1.65911051e-03 9.75568113e-06 9.99998624e-01 -4.78116539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.020281692999994 meters Centerline goodness [0,1] 0.9991753710830127 Centerline is valid? [True, True] Translation: X:35.35, Y:-0.94, Z:-0.48 [[ 9.99719553e-01 2.36649910e-02 -8.85589307e-04 3.53491780e+01] [-2.36649774e-02 9.99719945e-01 2.58074841e-05 -9.41156623e-01] [ 8.85952027e-04 -4.84279553e-06 9.99999608e-01 -4.83233446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.050281692999995 meters Centerline goodness [0,1] 0.9990623534927332 Centerline is valid? [True, True] Translation: X:35.38, Y:-0.94, Z:-0.48 [[ 9.99680642e-01 2.52381423e-02 -1.28490452e-03 3.53793893e+01] [-2.52381151e-02 9.99681467e-01 3.73901066e-05 -9.39126843e-01] [ 1.28543889e-03 -4.94959775e-06 9.99999174e-01 -4.83827328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.080281692999996 meters Centerline goodness [0,1] 0.9986151059976563 Centerline is valid? [True, True] Translation: X:35.41, Y:-0.93, Z:-0.48 [[ 9.99554138e-01 2.98339049e-02 1.20947289e-03 3.54088465e+01] [-2.98338838e-02 9.99554870e-01 -3.54823549e-05 -9.29557823e-01] [-1.20999310e-03 -6.16739109e-07 9.99999268e-01 -4.77867626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.110281693 meters Centerline goodness [0,1] 0.9982189223407223 Centerline is valid? [True, True] Translation: X:35.44, Y:-0.93, Z:-0.48 [[ 9.99486115e-01 3.19517166e-02 2.56783729e-03 3.54378298e+01] [-3.19516295e-02 9.99489414e-01 -7.49121995e-05 -9.25337595e-01] [-2.56891976e-03 -7.17288249e-06 9.99996700e-01 -4.75596610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.140281693 meters Centerline goodness [0,1] 0.9981214116852415 Centerline is valid? [True, True] Translation: X:35.47, Y:-0.92, Z:-0.47 [[ 9.99433819e-01 3.34235918e-02 3.86080018e-03 3.54662884e+01] [-3.34234070e-02 9.99441276e-01 -1.12406875e-04 -9.22191997e-01] [-3.86240009e-03 -1.66978629e-05 9.99992541e-01 -4.74331651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.170281693 meters Centerline goodness [0,1] 0.997794975087459 Centerline is valid? [True, True] Translation: X:35.50, Y:-0.93, Z:-0.47 [[ 9.99482762e-01 3.17177030e-02 5.30998337e-03 3.54962696e+01] [-3.17173305e-02 9.99496867e-01 -1.54353896e-04 -9.26472675e-01] [-5.31220749e-03 -1.41444399e-05 9.99985890e-01 -4.71860214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200281692999994 meters Centerline goodness [0,1] 0.9981527093596059 Centerline is valid? [True, True] Translation: X:35.53, Y:-0.93, Z:-0.47 [[ 9.99560873e-01 2.91244119e-02 5.46172998e-03 3.55261654e+01] [-2.91239798e-02 9.99575794e-01 -1.58650636e-04 -9.32434027e-01] [-5.46403369e-03 -4.86345461e-07 9.99985072e-01 -4.72300745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.230281692999995 meters Centerline goodness [0,1] 0.9985660474274463 Centerline is valid? [True, True] Translation: X:35.56, Y:-0.94, Z:-0.47 [[ 9.99663464e-01 2.55619790e-02 4.42095223e-03 3.55570734e+01] [-2.55616611e-02 9.99673239e-01 -1.28400811e-04 -9.38787963e-01] [-4.42278982e-03 1.53507171e-05 9.99990219e-01 -4.74067171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.260281692999996 meters Centerline goodness [0,1] 0.998925229705808 Centerline is valid? [True, True] Translation: X:35.59, Y:-0.95, Z:-0.48 [[ 9.99749780e-01 2.22006272e-02 2.74030171e-03 3.55875630e+01] [-2.22004923e-02 9.99753536e-01 -7.96354273e-05 -9.48129935e-01] [-2.74139428e-03 1.87794539e-05 9.99996242e-01 -4.78439050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.290281693 meters Centerline goodness [0,1] 0.999147248811478 Centerline is valid? [True, True] Translation: X:35.62, Y:-0.96, Z:-0.48 [[ 9.99872232e-01 1.59622896e-02 -8.51297526e-04 3.56187780e+01] [-1.59622742e-02 9.99872594e-01 2.48975878e-05 -9.59599801e-01] [ 8.51586489e-04 -1.13057622e-05 9.99999637e-01 -4.83941531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320281693 meters Centerline goodness [0,1] 0.9990007228813199 Centerline is valid? [True, True] Translation: X:35.65, Y:-0.97, Z:-0.48 [[ 9.99909925e-01 1.33869265e-02 -9.65493275e-04 3.56482670e+01] [-1.33869056e-02 9.99910391e-01 2.80307993e-05 -9.68090294e-01] [ 9.65782005e-04 -1.51033070e-05 9.99999534e-01 -4.84600656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.350281693 meters Centerline goodness [0,1] 0.9985827604442095 Centerline is valid? [True, True] Translation: X:35.68, Y:-0.98, Z:-0.48 [[ 9.99962042e-01 8.60523525e-03 1.36529129e-03 3.56785703e+01] [-8.60518903e-03 9.99962974e-01 -3.97223937e-05 -9.78884036e-01] [-1.36558256e-03 2.79722963e-05 9.99999067e-01 -4.79984826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38028169299999 meters Centerline goodness [0,1] 0.9985950571556294 Centerline is valid? [True, True] Translation: X:35.71, Y:-0.99, Z:-0.48 [[ 9.99980553e-01 6.13886502e-03 1.09901360e-03 3.57085560e+01] [-6.13883377e-03 9.99981157e-01 -3.18027057e-05 -9.86514231e-01] [-1.09918812e-03 2.50554254e-05 9.99999396e-01 -4.80199588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.410281692999995 meters Centerline goodness [0,1] 0.9984903056052796 Centerline is valid? [True, True] Translation: X:35.74, Y:-0.99, Z:-0.48 [[ 9.99992399e-01 3.89780009e-03 -9.02261347e-05 3.57392928e+01] [-3.89779986e-03 9.99992404e-01 2.69043699e-06 -9.91753582e-01] [ 9.02359361e-05 -2.33873313e-06 9.99999996e-01 -4.82030743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.440281692999996 meters Centerline goodness [0,1] 0.9981108446010486 Centerline is valid? [True, True] Translation: X:35.77, Y:-1.01, Z:-0.49 [[ 9.99996707e-01 8.85701299e-04 -2.40874786e-03 3.57684649e+01] [-8.85534745e-04 9.99999605e-01 7.02113637e-05 -1.01003308e+00] [ 2.40880909e-03 -6.80781026e-05 9.99997096e-01 -4.87361916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.470281693 meters Centerline goodness [0,1] 0.998505943745534 Centerline is valid? [True, True] Translation: X:35.80, Y:-1.01, Z:-0.49 [[ 9.99997484e-01 6.14604396e-04 -2.15723140e-03 3.57984151e+01] [-6.14470543e-04 9.99999809e-01 6.27105222e-05 -1.01199157e+00] [ 2.15726953e-03 -6.13848093e-05 9.99997671e-01 -4.85372148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500281693 meters Centerline goodness [0,1] 0.9985779475750822 Centerline is valid? [True, True] Translation: X:35.83, Y:-1.02, Z:-0.48 [[ 9.99998411e-01 1.61166702e-03 -7.61668048e-04 3.58269609e+01] [-1.61165075e-03 9.99998701e-01 2.19784059e-05 -1.01866683e+00] [ 7.61702481e-04 -2.07508281e-05 9.99999710e-01 -4.82960427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.530281693 meters Centerline goodness [0,1] 0.998817585725035 Centerline is valid? [True, True] Translation: X:35.86, Y:-1.02, Z:-0.48 [[ 9.99992542e-01 3.26349631e-03 2.06529422e-03 3.58573524e+01] [-3.26337918e-03 9.99994673e-01 -6.00809272e-05 -1.02300851e+00] [-2.06547929e-03 5.33406409e-05 9.99997865e-01 -4.77809722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56028169299999 meters Centerline goodness [0,1] 0.9986819167481611 Centerline is valid? [True, True] Translation: X:35.89, Y:-1.04, Z:-0.48 [[ 9.99989836e-01 4.09620845e-03 1.88400354e-03 3.58885836e+01] [-4.09611342e-03 9.99991609e-01 -5.42974095e-05 -1.03504606e+00] [-1.88421014e-03 4.65797654e-05 9.99998224e-01 -4.79224659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.590281692999994 meters Centerline goodness [0,1] 0.9989730203898244 Centerline is valid? [True, True] Translation: X:35.92, Y:-1.04, Z:-0.48 [[ 9.99968270e-01 7.78284622e-03 1.69917718e-03 3.59186171e+01] [-7.78277307e-03 9.99969713e-01 -4.96549611e-05 -1.04191566e+00] [-1.69951217e-03 3.64290751e-05 9.99998555e-01 -4.79234876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620281692999995 meters Centerline goodness [0,1] 0.9991346011777867 Centerline is valid? [True, True] Translation: X:35.95, Y:-1.04, Z:-0.48 [[ 9.99933725e-01 1.13675752e-02 1.82297832e-03 3.59490827e+01] [-1.13674969e-02 9.99935387e-01 -5.32978998e-05 -1.04123156e+00] [-1.82346639e-03 3.25716671e-05 9.99998337e-01 -4.78575805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.650281693 meters Centerline goodness [0,1] 0.9991089991089991 Centerline is valid? [True, True] Translation: X:35.98, Y:-1.04, Z:-0.48 [[ 9.99879452e-01 1.54512843e-02 1.52940664e-03 3.59807882e+01] [-1.54512340e-02 9.99880622e-01 -4.46802481e-05 -1.03833589e+00] [-1.52991443e-03 2.10436421e-05 9.99998829e-01 -4.78791701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680281693 meters Centerline goodness [0,1] 0.9991628565908944 Centerline is valid? [True, True] Translation: X:36.01, Y:-1.03, Z:-0.48 [[ 9.99724684e-01 2.34334025e-02 1.19666419e-03 3.60115211e+01] [-2.34333773e-02 9.99725400e-01 -3.50508384e-05 -1.03257686e+00] [-1.19715694e-03 6.99930492e-06 9.99999283e-01 -4.79471062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.710281693 meters Centerline goodness [0,1] 0.9991628565908944 Centerline is valid? [True, True] Translation: X:36.04, Y:-1.03, Z:-0.48 [[ 9.99724684e-01 2.34334025e-02 1.19666419e-03 3.60415086e+01] [-2.34333773e-02 9.99725400e-01 -3.50508384e-05 -1.03345521e+00] [-1.19715694e-03 6.99930492e-06 9.99999283e-01 -4.79626289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740281693 meters Centerline goodness [0,1] 0.9987901685274017 Centerline is valid? [True, True] Translation: X:36.07, Y:-1.03, Z:-0.48 [[ 9.99630135e-01 2.71733394e-02 1.09656685e-03 3.60711765e+01] [-2.71733204e-02 9.99630737e-01 -3.21664784e-05 -1.03145899e+00] [-1.09703600e-03 2.35721866e-06 9.99999398e-01 -4.80023964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.770281692999994 meters Centerline goodness [0,1] 0.998036244103396 Centerline is valid? [True, True] Translation: X:36.10, Y:-1.03, Z:-0.48 [[ 9.99542019e-01 3.02581465e-02 4.44336226e-04 3.61017899e+01] [-3.02581437e-02 9.99542117e-01 -1.30096272e-05 -1.02853102e+00] [-4.44526419e-04 -4.41120349e-07 9.99999901e-01 -4.80308082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800281692999995 meters Centerline goodness [0,1] 0.9973887567934783 Centerline is valid? [True, True] Translation: X:36.13, Y:-1.02, Z:-0.48 [[ 9.99375600e-01 3.53276312e-02 -6.07249869e-04 3.61314681e+01] [-3.53276270e-02 9.99375784e-01 1.77147625e-05 -1.02103570e+00] [ 6.07496635e-04 3.74899541e-06 9.99999815e-01 -4.82186602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.830281692999996 meters Centerline goodness [0,1] 0.9970976760067436 Centerline is valid? [True, True] Translation: X:36.16, Y:-1.02, Z:-0.48 [[ 9.99297196e-01 3.74830882e-02 -3.62706867e-04 3.61615532e+01] [-3.74830868e-02 9.99297262e-01 1.04877233e-05 -1.02000090e+00] [ 3.62845092e-04 3.11502050e-06 9.99999934e-01 -4.82358114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860281693 meters Centerline goodness [0,1] 0.9958221996013064 Centerline is valid? [True, True] Translation: X:36.19, Y:-1.02, Z:-0.48 [[ 9.99150616e-01 4.11961501e-02 9.60964960e-04 3.61901272e+01] [-4.11961419e-02 9.99151078e-01 -2.82482576e-05 -1.01574369e+00] [-9.61312895e-04 -1.13637849e-05 9.99999538e-01 -4.80169857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.890281693 meters Centerline goodness [0,1] 0.9947440098736009 Centerline is valid? [True, True] Translation: X:36.22, Y:-1.01, Z:-0.48 [[ 9.99071988e-01 4.30562932e-02 1.14803207e-03 3.62188079e+01] [-4.30562829e-02 9.99072648e-01 -3.36678413e-05 -1.01232369e+00] [-1.14841706e-03 -1.57933966e-05 9.99999340e-01 -4.79690916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920281693 meters Centerline goodness [0,1] 0.9944890202702703 Centerline is valid? [True, True] Translation: X:36.25, Y:-1.01, Z:-0.48 [[ 9.98979314e-01 4.51627175e-02 8.12494070e-04 3.62494599e+01] [-4.51627132e-02 9.98979644e-01 -2.37058992e-05 -1.00944202e+00] [-8.12735660e-04 -1.30127337e-05 9.99999670e-01 -4.79964055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.950281692999994 meters Centerline goodness [0,1] 0.9950696860393144 Centerline is valid? [True, True] Translation: X:36.28, Y:-1.01, Z:-0.48 [[ 9.98894234e-01 4.70138876e-02 -5.34916623e-05 3.62794981e+01] [-4.70138876e-02 9.98894236e-01 1.43899112e-06 -1.00645793e+00] [ 5.35001657e-05 1.07745107e-06 9.99999999e-01 -4.81217911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980281692999995 meters Centerline goodness [0,1] 0.9946508109029687 Centerline is valid? [True, True] Translation: X:36.31, Y:-1.00, Z:-0.48 [[ 9.98779472e-01 4.93640789e-02 -1.65979584e-03 3.63090528e+01] [-4.93640669e-02 9.98780850e-01 4.82277683e-05 -1.00177445e+00] [ 1.66015302e-03 3.37653681e-05 9.99998621e-01 -4.84516201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.010281692999996 meters Centerline goodness [0,1] 0.9943851057542111 Centerline is valid? [True, True] Translation: X:36.34, Y:-1.00, Z:-0.49 [[ 9.98785816e-01 4.92283365e-02 -1.86162374e-03 3.63368543e+01] [-4.92283217e-02 9.98787550e-01 5.38175125e-05 -9.99098488e-01] [ 1.86201596e-03 3.78924442e-05 9.99998266e-01 -4.86252272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040281693 meters Centerline goodness [0,1] 0.9947687755933367 Centerline is valid? [True, True] Translation: X:36.37, Y:-1.00, Z:-0.48 [[ 9.98816092e-01 4.86301791e-02 -1.23314404e-03 3.63653945e+01] [-4.86301722e-02 9.98816853e-01 3.55435341e-05 -1.00383239e+00] [ 1.23341354e-03 2.44665532e-05 9.99999239e-01 -4.83226053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.070281693 meters Centerline goodness [0,1] 0.9949295417573363 Centerline is valid? [True, True] Translation: X:36.39, Y:-1.00, Z:-0.48 [[ 9.98941695e-01 4.59918743e-02 4.86959904e-04 3.63941437e+01] [-4.59918728e-02 9.98941814e-01 -1.43005693e-05 -1.00470424e+00] [-4.87102320e-04 -8.11076307e-06 9.99999881e-01 -4.79596834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.100281693 meters Centerline goodness [0,1] 0.9958864488484199 Centerline is valid? [True, True] Translation: X:36.42, Y:-1.01, Z:-0.48 [[ 9.99058083e-01 4.33637074e-02 1.59231404e-03 3.64237567e+01] [-4.33636887e-02 9.99059352e-01 -4.62437872e-05 -1.00947398e+00] [-1.59282154e-03 -2.28483812e-05 9.99998731e-01 -4.78028542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13028169299999 meters Centerline goodness [0,1] 0.9962422160188963 Centerline is valid? [True, True] Translation: X:36.45, Y:-1.01, Z:-0.48 [[ 9.99177905e-01 4.04749303e-02 2.30111131e-03 3.64534068e+01] [-4.04748840e-02 9.99180554e-01 -6.66836414e-05 -1.01285939e+00] [-2.30192469e-03 -2.65083926e-05 9.99997350e-01 -4.77963308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.160281692999995 meters Centerline goodness [0,1] 0.9967992488904063 Centerline is valid? [True, True] Translation: X:36.48, Y:-1.02, Z:-0.48 [[ 9.99332566e-01 3.64911606e-02 1.67886008e-03 3.64835936e+01] [-3.64911305e-02 9.99333976e-01 -4.85657009e-05 -1.02132612e+00] [-1.67951413e-03 -1.27302157e-05 9.99998590e-01 -4.79807972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.190281692999996 meters Centerline goodness [0,1] 0.9972632963489403 Centerline is valid? [True, True] Translation: X:36.51, Y:-1.02, Z:-0.48 [[ 9.99357279e-01 3.58470218e-02 1.38305121e-04 3.65127361e+01] [-3.58470216e-02 9.99357289e-01 -4.06366563e-06 -1.02376974e+00] [-1.38361901e-04 -8.96772847e-07 9.99999990e-01 -4.82145579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.220281693 meters Centerline goodness [0,1] 0.9977864805040013 Centerline is valid? [True, True] Translation: X:36.54, Y:-1.02, Z:-0.48 [[ 9.99326870e-01 3.66452133e-02 -1.71317598e-03 3.65420486e+01] [-3.66451824e-02 9.99328339e-01 4.94431095e-05 -1.02352574e+00] [ 1.71383716e-03 1.33698184e-05 9.99998531e-01 -4.83978442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.250281693 meters Centerline goodness [0,1] 0.9978305257784584 Centerline is valid? [True, True] Translation: X:36.57, Y:-1.02, Z:-0.48 [[ 9.99310703e-01 3.71141334e-02 -8.12537138e-04 3.65708365e+01] [-3.71141267e-02 9.99311033e-01 2.33582176e-05 -1.02358660e+00] [ 8.12844247e-04 6.81448945e-06 9.99999670e-01 -4.82828783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280281693 meters Centerline goodness [0,1] 0.9971188936551636 Centerline is valid? [True, True] Translation: X:36.60, Y:-1.03, Z:-0.48 [[ 9.99312810e-01 3.70508984e-02 1.06663436e-03 3.66001560e+01] [-3.70508865e-02 9.99313380e-01 -3.09228134e-05 -1.02630805e+00] [-1.06704771e-03 -8.61818507e-06 9.99999431e-01 -4.79809481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31028169299999 meters Centerline goodness [0,1] 0.9964378101013528 Centerline is valid? [True, True] Translation: X:36.63, Y:-1.03, Z:-0.47 [[ 9.99355133e-01 3.56481508e-02 4.30428574e-03 3.66301038e+01] [-3.56479458e-02 9.99364402e-01 -1.24344525e-04 -1.03386579e+00] [-4.30598260e-03 -2.91746052e-05 9.99990729e-01 -4.74477872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.340281692999994 meters Centerline goodness [0,1] 0.9966339174889024 Centerline is valid? [True, True] Translation: X:36.66, Y:-1.04, Z:-0.47 [[ 9.99397625e-01 3.44213108e-02 4.42278452e-03 3.66612687e+01] [-3.44210833e-02 9.99407411e-01 -1.27583916e-04 -1.03788974e+00] [-4.42455523e-03 -2.47299720e-05 9.99990211e-01 -4.74130289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.370281692999995 meters Centerline goodness [0,1] 0.9969964888531664 Centerline is valid? [True, True] Translation: X:36.69, Y:-1.04, Z:-0.48 [[ 9.99442405e-01 3.31731477e-02 3.79748120e-03 3.66926778e+01] [-3.31729706e-02 9.99449620e-01 -1.09612999e-04 -1.04217157e+00] [-3.79902735e-03 -1.64218527e-05 9.99992784e-01 -4.75498883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.400281693 meters Centerline goodness [0,1] 0.9977181973759269 Centerline is valid? [True, True] Translation: X:36.72, Y:-1.05, Z:-0.48 [[ 9.99472505e-01 3.23811423e-02 2.48457228e-03 3.67229879e+01] [-3.23810639e-02 9.99475593e-01 -7.17639502e-05 -1.04506833e+00] [-2.48559315e-03 -8.72699881e-06 9.99996911e-01 -4.78048720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.430281693 meters Centerline goodness [0,1] 0.9983266611594755 Centerline is valid? [True, True] Translation: X:36.75, Y:-1.05, Z:-0.48 [[ 9.99510061e-01 3.12978974e-02 -2.81710108e-04 3.67528725e+01] [-3.12978963e-02 9.99510101e-01 8.20357783e-06 -1.04939414e+00] [ 2.81828853e-04 6.17375159e-07 9.99999960e-01 -4.82853027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.460281693 meters Centerline goodness [0,1] 0.998765668560727 Centerline is valid? [True, True] Translation: X:36.78, Y:-1.05, Z:-0.49 [[ 9.99509232e-01 3.12856334e-02 -1.58244261e-03 3.67831711e+01] [-3.12856002e-02 9.99510485e-01 4.57624967e-05 -1.04925508e+00] [ 1.58309969e-03 3.76762882e-06 9.99998747e-01 -4.85270586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.490281693 meters Centerline goodness [0,1] 0.9983307625668223 Centerline is valid? [True, True] Translation: X:36.81, Y:-1.05, Z:-0.49 [[ 9.99474193e-01 3.22399231e-02 -3.45332891e-03 3.68130139e+01] [-3.22397711e-02 9.99480158e-01 9.96627844e-05 -1.04628521e+00] [ 3.45474684e-03 1.17241527e-05 9.99994032e-01 -4.87850424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.520281692999994 meters Centerline goodness [0,1] 0.9984566247240145 Centerline is valid? [True, True] Translation: X:36.84, Y:-1.05, Z:-0.49 [[ 9.99471114e-01 3.23783137e-02 -3.02290078e-03 3.68412675e+01] [-3.23781985e-02 9.99475685e-01 8.70586623e-05 -1.04640938e+00] [ 3.02413464e-03 1.08634634e-05 9.99995427e-01 -4.88308527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.550281692999995 meters Centerline goodness [0,1] 0.9981518889414192 Centerline is valid? [True, True] Translation: X:36.87, Y:-1.05, Z:-0.49 [[ 9.99487947e-01 3.19442273e-02 -1.84639678e-03 3.68700128e+01] [-3.19441838e-02 9.99489653e-01 5.30407998e-05 -1.04744273e+00] [ 1.84714882e-03 5.96799787e-06 9.99998294e-01 -4.87256982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580281692999996 meters Centerline goodness [0,1] 0.9985054231787514 Centerline is valid? [True, True] Translation: X:36.90, Y:-1.05, Z:-0.48 [[ 9.99581387e-01 2.89286625e-02 4.29144445e-04 3.68994726e+01] [-2.89286598e-02 9.99581479e-01 -1.24808335e-05 -1.05238554e+00] [-4.29325893e-04 6.10352374e-08 9.99999908e-01 -4.81877687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.610281693 meters Centerline goodness [0,1] 0.9985506010742604 Centerline is valid? [True, True] Translation: X:36.93, Y:-1.06, Z:-0.48 [[ 9.99638733e-01 2.68652811e-02 8.11900961e-04 3.69292539e+01] [-2.68652710e-02 9.99639063e-01 -2.33334521e-05 -1.05576368e+00] [-8.12234776e-04 1.51308321e-06 9.99999670e-01 -4.81142128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640281693 meters Centerline goodness [0,1] 0.999038831218762 Centerline is valid? [True, True] Translation: X:36.96, Y:-1.06, Z:-0.48 [[ 9.99693554e-01 2.47456622e-02 6.70382044e-04 3.69592851e+01] [-2.47456548e-02 9.99693779e-01 -1.93158407e-05 -1.05927205e+00] [-6.70654742e-04 2.72087875e-06 9.99999775e-01 -4.80875945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.670281693 meters Centerline goodness [0,1] 0.9993788952903129 Centerline is valid? [True, True] Translation: X:36.99, Y:-1.07, Z:-0.48 [[ 9.99779470e-01 2.09531236e-02 -1.40659340e-03 3.69890643e+01] [-2.09530872e-02 9.99780459e-01 4.06055267e-05 -1.06685776e+00] [ 1.40713541e-03 -1.11240978e-05 9.99999010e-01 -4.84586953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.700281692999994 meters Centerline goodness [0,1] 0.9995985972028563 Centerline is valid? [True, True] Translation: X:37.02, Y:-1.07, Z:-0.49 [[ 9.99800220e-01 1.98807468e-02 -2.06766583e-03 3.70189817e+01] [-1.98806662e-02 9.99802358e-01 5.95160185e-05 -1.06986217e+00] [ 2.06844039e-03 -1.83975543e-05 9.99997861e-01 -4.86248482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.730281692999995 meters Centerline goodness [0,1] 0.9996170294249058 Centerline is valid? [True, True] Translation: X:37.05, Y:-1.07, Z:-0.49 [[ 9.99783248e-01 2.07618305e-02 -1.55010779e-03 3.70479039e+01] [-2.07617865e-02 9.99784450e-01 4.44296822e-05 -1.07045300e+00] [ 1.55069610e-03 -1.22370450e-05 9.99998798e-01 -4.86749271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.760281692999996 meters Centerline goodness [0,1] 0.9993642182003136 Centerline is valid? [True, True] Translation: X:37.08, Y:-1.07, Z:-0.48 [[ 9.99742812e-01 2.26708148e-02 -5.86310489e-04 3.70773887e+01] [-2.26708089e-02 9.99742984e-01 1.67398479e-05 -1.06715313e+00] [ 5.86539304e-04 -3.44340953e-06 9.99999828e-01 -4.83691916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.790281693 meters Centerline goodness [0,1] 0.9991829889703511 Centerline is valid? [True, True] Translation: X:37.11, Y:-1.07, Z:-0.48 [[ 9.99704056e-01 2.43255134e-02 2.65680477e-04 3.71071954e+01] [-2.43255122e-02 9.99704091e-01 -7.75313228e-06 -1.06611980e+00] [-2.65790458e-04 1.28802410e-06 9.99999965e-01 -4.81891986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820281693 meters Centerline goodness [0,1] 0.9985896833198 Centerline is valid? [True, True] Translation: X:37.14, Y:-1.06, Z:-0.48 [[ 9.99624483e-01 2.73909307e-02 7.93448371e-04 3.71366189e+01] [-2.73909212e-02 9.99624798e-01 -2.28479173e-05 -1.06378302e+00] [-7.93776494e-04 1.10605569e-06 9.99999685e-01 -4.81069310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.850281693 meters Centerline goodness [0,1] 0.9980111712931619 Centerline is valid? [True, True] Translation: X:37.17, Y:-1.06, Z:-0.48 [[ 9.99591642e-01 2.85560271e-02 1.05001170e-03 3.71675744e+01] [-2.85560112e-02 9.99592194e-01 -3.01570572e-05 -1.06312548e+00] [-1.05044467e-03 1.60596492e-07 9.99999448e-01 -4.80659550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88028169299999 meters Centerline goodness [0,1] 0.9979052052475667 Centerline is valid? [True, True] Translation: X:37.20, Y:-1.06, Z:-0.48 [[ 9.99571514e-01 2.92368744e-02 1.41220465e-03 3.71966823e+01] [-2.92368462e-02 9.99572511e-01 -4.06030198e-05 -1.06279546e+00] [-1.41278806e-03 -7.02788300e-07 9.99999002e-01 -4.81353726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.910281692999995 meters Centerline goodness [0,1] 0.9977822795607207 Centerline is valid? [True, True] Translation: X:37.23, Y:-1.06, Z:-0.48 [[ 9.99528872e-01 3.05951891e-02 2.44309374e-03 3.72276543e+01] [-3.05951091e-02 9.99531858e-01 -7.01390426e-05 -1.06139062e+00] [-2.44409594e-03 -4.64072125e-06 9.99997013e-01 -4.78740163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.940281692999996 meters Centerline goodness [0,1] 0.997104164892258 Centerline is valid? [True, True] Translation: X:37.26, Y:-1.06, Z:-0.48 [[ 9.99489183e-01 3.18162687e-02 3.01639161e-03 3.72583641e+01] [-3.18161523e-02 9.99493734e-01 -8.65726748e-05 -1.05993983e+00] [-3.01761894e-03 -9.44152301e-06 9.99995447e-01 -4.77475276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.970281693 meters Centerline goodness [0,1] 0.9968053159542521 Centerline is valid? [True, True] Translation: X:37.29, Y:-1.06, Z:-0.48 [[ 9.99411138e-01 3.42841204e-02 1.40562473e-03 3.72885778e+01] [-3.42840975e-02 9.99412127e-01 -4.03706905e-05 -1.05595462e+00] [-1.40618248e-03 -7.84365773e-06 9.99999011e-01 -4.79940208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000281693 meters Centerline goodness [0,1] 0.9972033305790377 Centerline is valid? [True, True] Translation: X:37.32, Y:-1.05, Z:-0.48 [[ 9.99363659e-01 3.56685315e-02 -1.83536747e-04 3.73188932e+01] [-3.56685311e-02 9.99363675e-01 5.33412036e-06 -1.05170471e+00] [ 1.83610218e-04 1.21576013e-06 9.99999983e-01 -4.83927545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.030281693 meters Centerline goodness [0,1] 0.9969571878457741 Centerline is valid? [True, True] Translation: X:37.35, Y:-1.05, Z:-0.49 [[ 9.99324561e-01 3.67385038e-02 -8.39114011e-04 3.73489768e+01] [-3.67384966e-02 9.99324913e-01 2.39766499e-05 -1.04828447e+00] [ 8.39428403e-04 6.86733212e-06 9.99999648e-01 -4.85458932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06028169299999 meters Centerline goodness [0,1] 0.9961436284171737 Centerline is valid? [True, True] Translation: X:37.38, Y:-1.04, Z:-0.48 [[ 9.99216454e-01 3.95730466e-02 -6.72805287e-04 3.73788407e+01] [-3.95730427e-02 9.99216680e-01 1.91775479e-05 -1.04250852e+00] [ 6.73037179e-04 7.46243096e-06 9.99999773e-01 -4.83489999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.090281692999994 meters Centerline goodness [0,1] 0.9958307760682313 Centerline is valid? [True, True] Translation: X:37.41, Y:-1.04, Z:-0.48 [[ 9.99187685e-01 4.02895105e-02 -8.52270378e-04 3.74080831e+01] [-4.02895045e-02 9.99188048e-01 2.42354017e-05 -1.03868362e+00] [ 8.52554808e-04 1.01218363e-05 9.99999637e-01 -4.84647191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120281692999995 meters Centerline goodness [0,1] 0.9960679857940132 Centerline is valid? [True, True] Translation: X:37.44, Y:-1.04, Z:-0.49 [[ 9.99172447e-01 4.06601821e-02 -1.08181327e-03 3.74374734e+01] [-4.06601725e-02 9.99173033e-01 3.08501242e-05 -1.03747220e+00] [ 1.08217302e-03 1.31621200e-05 9.99999414e-01 -4.85174168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.150281693 meters Centerline goodness [0,1] 0.9966626732842718 Centerline is valid? [True, True] Translation: X:37.47, Y:-1.04, Z:-0.49 [[ 9.99219559e-01 3.94662434e-02 -1.63958380e-03 3.74672350e+01] [-3.94662198e-02 9.99220904e-01 4.67781400e-05 -1.03630052e+00] [ 1.64015257e-03 1.79665424e-05 9.99998655e-01 -4.87176952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.180281693 meters Centerline goodness [0,1] 0.9965456212550909 Centerline is valid? [True, True] Translation: X:37.50, Y:-1.04, Z:-0.49 [[ 9.99249206e-01 3.87016407e-02 -1.79093649e-03 3.74958500e+01] [-3.87016116e-02 9.99250811e-01 5.09014727e-05 -1.03703712e+00] [ 1.79156471e-03 1.84488722e-05 9.99998395e-01 -4.87236983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.210281693 meters Centerline goodness [0,1] 0.9965778901949115 Centerline is valid? [True, True] Translation: X:37.52, Y:-1.04, Z:-0.49 [[ 9.99282389e-01 3.78201160e-02 -2.08466006e-03 3.75248398e+01] [-3.78200747e-02 9.99284563e-01 5.92780727e-05 -1.03590268e+00] [ 2.08541052e-03 1.96064650e-05 9.99997825e-01 -4.86483667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24028169299999 meters Centerline goodness [0,1] 0.9972414387620956 Centerline is valid? [True, True] Translation: X:37.55, Y:-1.03, Z:-0.49 [[ 9.99296010e-01 3.73953832e-02 -3.01157896e-03 3.75535119e+01] [-3.73952953e-02 9.99300548e-01 8.55126962e-05 -1.03474378e+00] [ 3.01267029e-03 2.71663884e-05 9.99995462e-01 -4.87990435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.270281692999994 meters Centerline goodness [0,1] 0.9976352790796762 Centerline is valid? [True, True] Translation: X:37.58, Y:-1.03, Z:-0.49 [[ 9.99297367e-01 3.72775851e-02 -3.89269190e-03 3.75817815e+01] [-3.72774382e-02 9.99304949e-01 1.10317267e-04 -1.03267431e+00] [ 3.89409864e-03 3.48698276e-05 9.99992417e-01 -4.90327243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.300281692999995 meters Centerline goodness [0,1] 0.9974199006027281 Centerline is valid? [True, True] Translation: X:37.61, Y:-1.03, Z:-0.49 [[ 9.99292062e-01 3.74006616e-02 -4.06994106e-03 3.76094793e+01] [-3.74005025e-02 9.99300350e-01 1.15231284e-04 -1.03038527e+00] [ 4.07140325e-03 3.70681335e-05 9.99991711e-01 -4.91109206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.330281692999996 meters Centerline goodness [0,1] 0.9967624268848071 Centerline is valid? [True, True] Translation: X:37.64, Y:-1.03, Z:-0.48 [[ 9.99268757e-01 3.82337577e-02 -3.61940123e-04 3.76385228e+01] [-3.82337565e-02 9.99268823e-01 1.00084411e-05 -1.02847738e+00] [ 3.62058141e-04 3.83720806e-06 9.99999934e-01 -4.82709568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360281693 meters Centerline goodness [0,1] 0.9963473066758343 Centerline is valid? [True, True] Translation: X:37.67, Y:-1.03, Z:-0.48 [[ 9.99269904e-01 3.81821479e-02 1.33491105e-03 3.76675985e+01] [-3.81821313e-02 9.99270796e-01 -3.79446401e-05 -1.02737014e+00] [-1.33538643e-03 -1.30528120e-05 9.99999108e-01 -4.79971449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.390281693 meters Centerline goodness [0,1] 0.9970318860244234 Centerline is valid? [True, True] Translation: X:37.70, Y:-1.03, Z:-0.48 [[ 9.99310003e-01 3.70323990e-02 2.84946356e-03 3.76969457e+01] [-3.70323196e-02 9.99314065e-01 -8.06629810e-05 -1.02762016e+00] [-2.85049615e-03 -2.49149213e-05 9.99995937e-01 -4.77412722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.420281693 meters Centerline goodness [0,1] 0.9973733102697162 Centerline is valid? [True, True] Translation: X:37.73, Y:-1.03, Z:-0.48 [[ 9.99437829e-01 3.32316443e-02 4.43661407e-03 3.77264516e+01] [-3.32314150e-02 9.99447676e-01 -1.25412449e-04 -1.03085745e+00] [-4.43833128e-03 -2.20930174e-05 9.99990150e-01 -4.75766748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.450281692999994 meters Centerline goodness [0,1] 0.9975159535740289 Centerline is valid? [True, True] Translation: X:37.76, Y:-1.03, Z:-0.48 [[ 9.99486307e-01 3.17388076e-02 4.44638838e-03 3.77574131e+01] [-3.17385628e-02 9.99496197e-01 -1.25612160e-04 -1.03423910e+00] [-4.44813506e-03 -1.55743428e-05 9.99990107e-01 -4.76156769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.480281692999995 meters Centerline goodness [0,1] 0.9980101187578061 Centerline is valid? [True, True] Translation: X:37.79, Y:-1.04, Z:-0.48 [[ 9.99584562e-01 2.85961903e-02 3.60011261e-03 3.77887379e+01] [-2.85960093e-02 9.99591045e-01 -1.01763716e-04 -1.03868339e+00] [-3.60155038e-03 -1.22741433e-06 9.99993514e-01 -4.77955992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.510281692999996 meters Centerline goodness [0,1] 0.9986559426535532 Centerline is valid? [True, True] Translation: X:37.82, Y:-1.04, Z:-0.48 [[ 9.99623403e-01 2.72523639e-02 3.21893650e-03 3.78194258e+01] [-2.72522118e-02 9.99628585e-01 -9.10963325e-05 -1.03998980e+00] [-3.22022353e-03 3.33888640e-06 9.99994815e-01 -4.78801073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540281693 meters Centerline goodness [0,1] 0.9984802431610942 Centerline is valid? [True, True] Translation: X:37.85, Y:-1.04, Z:-0.48 [[ 9.99653129e-01 2.62376196e-02 2.28229964e-03 3.78489654e+01] [-2.62375406e-02 9.99655734e-01 -6.45578579e-05 -1.04140571e+00] [-2.28320777e-03 4.65353527e-06 9.99997393e-01 -4.80454031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.570281693 meters Centerline goodness [0,1] 0.9991647570299617 Centerline is valid? [True, True] Translation: X:37.88, Y:-1.04, Z:-0.48 [[ 9.99695085e-01 2.46647465e-02 1.17810286e-03 3.78790418e+01] [-2.46647243e-02 9.99695779e-01 -3.33533210e-05 -1.04323787e+00] [-1.17856710e-03 4.28556886e-06 9.99999305e-01 -4.82608166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600281693 meters Centerline goodness [0,1] 0.9991647570299617 Centerline is valid? [True, True] Translation: X:37.91, Y:-1.04, Z:-0.48 [[ 9.99695085e-01 2.46647465e-02 1.17810286e-03 3.79090298e+01] [-2.46647243e-02 9.99695779e-01 -3.33533210e-05 -1.04408686e+00] [-1.17856710e-03 4.28556886e-06 9.99999305e-01 -4.82763392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63028169299999 meters Centerline goodness [0,1] 0.9986896610026207 Centerline is valid? [True, True] Translation: X:37.94, Y:-1.05, Z:-0.48 [[ 9.99691298e-01 2.48336210e-02 7.75171208e-04 3.79386543e+01] [-2.48336115e-02 9.99691598e-01 -2.18980478e-05 -1.04543187e+00] [-7.75475952e-04 2.64098723e-06 9.99999699e-01 -4.84386746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660281692999995 meters Centerline goodness [0,1] 0.9988277170322059 Centerline is valid? [True, True] Translation: X:37.97, Y:-1.05, Z:-0.48 [[ 9.99685040e-01 2.50517768e-02 1.49339966e-03 3.79690599e+01] [-2.50517416e-02 9.99686155e-01 -4.22959577e-05 -1.04635993e+00] [-1.49399056e-03 4.87037358e-06 9.99998884e-01 -4.83195205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.690281692999996 meters Centerline goodness [0,1] 0.998841624300148 Centerline is valid? [True, True] Translation: X:38.00, Y:-1.05, Z:-0.48 [[ 9.99680482e-01 2.49025146e-02 4.33579749e-03 3.79994693e+01] [-2.49022163e-02 9.99689884e-01 -1.22798144e-04 -1.04903890e+00] [-4.33751087e-03 1.47879410e-05 9.99990593e-01 -4.78318627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720281693 meters Centerline goodness [0,1] 0.9986190486307336 Centerline is valid? [True, True] Translation: X:38.03, Y:-1.05, Z:-0.48 [[ 9.99684100e-01 2.47075402e-02 4.60848681e-03 3.80299869e+01] [-2.47072011e-02 9.99694722e-01 -1.30514561e-04 -1.05220651e+00] [-4.61030463e-03 1.66105217e-05 9.99989372e-01 -4.78010999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.750281693 meters Centerline goodness [0,1] 0.9986805984124619 Centerline is valid? [True, True] Translation: X:38.06, Y:-1.05, Z:-0.48 [[ 9.99675310e-01 2.52647622e-02 3.31149051e-03 3.80614413e+01] [-2.52645902e-02 9.99680795e-01 -9.37845055e-05 -1.05327601e+00] [-3.31280290e-03 1.00906041e-05 9.99994513e-01 -4.81377035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780281693 meters Centerline goodness [0,1] 0.9986002120890775 Centerline is valid? [True, True] Translation: X:38.09, Y:-1.05, Z:-0.48 [[ 9.99642789e-01 2.66070136e-02 2.52214085e-03 3.80916270e+01] [-2.66069182e-02 9.99645971e-01 -7.13777961e-05 -1.05323598e+00] [-2.52314709e-03 4.24590386e-06 9.99996817e-01 -4.83876899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81028169299999 meters Centerline goodness [0,1] 0.9985212100726719 Centerline is valid? [True, True] Translation: X:38.12, Y:-1.05, Z:-0.49 [[ 9.99602429e-01 2.80852722e-02 2.49034244e-03 3.81206987e+01] [-2.80851831e-02 9.99605531e-01 -7.07807488e-05 -1.05319538e+00] [-2.49134797e-03 8.10885045e-07 9.99996897e-01 -4.85034555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840281692999994 meters Centerline goodness [0,1] 0.9980354054111769 Centerline is valid? [True, True] Translation: X:38.15, Y:-1.05, Z:-0.48 [[ 9.99567650e-01 2.92441649e-02 3.04832891e-03 3.81508492e+01] [-2.92440369e-02 9.99572298e-01 -8.65688341e-05 -1.05347171e+00] [-3.04955677e-03 -2.61403720e-06 9.99995350e-01 -4.83946753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.870281692999995 meters Centerline goodness [0,1] 0.9980694571143688 Centerline is valid? [True, True] Translation: X:38.18, Y:-1.05, Z:-0.48 [[ 9.99486719e-01 3.17845966e-02 4.00464999e-03 3.81816624e+01] [-3.17843961e-02 9.99494742e-01 -1.13727190e-04 -1.05207245e+00] [-4.00624139e-03 -1.36165657e-05 9.99991975e-01 -4.81226070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900281693 meters Centerline goodness [0,1] 0.9976386997957795 Centerline is valid? [True, True] Translation: X:38.21, Y:-1.05, Z:-0.48 [[ 9.99434462e-01 3.34378195e-02 3.55919006e-03 3.82118265e+01] [-3.34376715e-02 9.99440800e-01 -1.01076670e-04 -1.05069540e+00] [-3.56057955e-03 -1.79915214e-05 9.99993661e-01 -4.81820389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.930281693 meters Centerline goodness [0,1] 0.9972014526810511 Centerline is valid? [True, True] Translation: X:38.24, Y:-1.04, Z:-0.49 [[ 9.99257421e-01 3.84723954e-02 2.11677512e-03 3.82422434e+01] [-3.84723544e-02 9.99259663e-01 -6.01138393e-05 -1.04443226e+00] [-2.11752072e-03 -2.13681226e-05 9.99997758e-01 -4.85349851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960281693 meters Centerline goodness [0,1] 0.9964718384697131 Centerline is valid? [True, True] Translation: X:38.27, Y:-1.04, Z:-0.49 [[ 9.99148838e-01 4.12213887e-02 1.54807398e-03 3.82704815e+01] [-4.12213698e-02 9.99150037e-01 -4.41297872e-05 -1.03977819e+00] [-1.54857726e-03 -1.97215043e-05 9.99998801e-01 -4.86634166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99028169299999 meters Centerline goodness [0,1] 0.9963295704317022 Centerline is valid? [True, True] Translation: X:38.30, Y:-1.03, Z:-0.49 [[ 9.98984552e-01 4.50269211e-02 1.56229326e-03 3.82998004e+01] [-4.50269067e-02 9.98985774e-01 -4.44214102e-05 -1.03123422e+00] [-1.56270890e-03 -2.59689301e-05 9.99998779e-01 -4.86774948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020281692999994 meters Centerline goodness [0,1] 0.9961967491766706 Centerline is valid? [True, True] Translation: X:38.33, Y:-1.03, Z:-0.49 [[ 9.98934993e-01 4.61044872e-02 1.80444606e-03 3.83284452e+01] [-4.61044699e-02 9.98936622e-01 -5.12150927e-05 -1.02653254e+00] [-1.80488850e-03 -3.20324807e-05 9.99998371e-01 -4.87221859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.050281692999995 meters Centerline goodness [0,1] 0.9958345858204148 Centerline is valid? [True, True] Translation: X:38.36, Y:-1.03, Z:-0.49 [[ 9.98905003e-01 4.67368027e-02 2.11351290e-03 3.83572301e+01] [-4.67367805e-02 9.98907238e-01 -5.99224257e-05 -1.02660732e+00] [-2.11400391e-03 -3.89219774e-05 9.99997765e-01 -4.86455297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080281692999996 meters Centerline goodness [0,1] 0.9953414167198469 Centerline is valid? [True, True] Translation: X:38.38, Y:-1.02, Z:-0.49 [[ 9.98897524e-01 4.68938893e-02 2.16776461e-03 3.83847787e+01] [-4.68938664e-02 9.98899876e-01 -6.13860175e-05 -1.02243235e+00] [-2.16825843e-03 -4.03365232e-05 9.99997649e-01 -4.86745559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.110281693 meters Centerline goodness [0,1] 0.9958009165512096 Centerline is valid? [True, True] Translation: X:38.41, Y:-1.02, Z:-0.48 [[ 9.98933168e-01 4.60185467e-02 3.84966269e-03 3.84144627e+01] [-4.60184701e-02 9.98940583e-01 -1.08502114e-04 -1.02045758e+00] [-3.85057741e-03 -6.87692272e-05 9.99992584e-01 -4.83989616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140281693 meters Centerline goodness [0,1] 0.9964862664438445 Centerline is valid? [True, True] Translation: X:38.44, Y:-1.02, Z:-0.48 [[ 9.99092300e-01 4.23763501e-02 4.33843228e-03 3.84429203e+01] [-4.23762191e-02 9.99101717e-01 -1.22170043e-04 -1.01912964e+00] [-4.33971226e-03 -6.17872077e-05 9.99990581e-01 -4.84794259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.170281693 meters Centerline goodness [0,1] 0.9966136849457131 Centerline is valid? [True, True] Translation: X:38.47, Y:-1.02, Z:-0.49 [[ 9.99220750e-01 3.93220361e-02 3.41614081e-03 3.84728382e+01] [-3.93219374e-02 9.99226589e-01 -9.60755547e-05 -1.02380358e+00] [-3.41727662e-03 -3.83285874e-05 9.99994160e-01 -4.86725061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200281692999994 meters Centerline goodness [0,1] 0.9972060485848956 Centerline is valid? [True, True] Translation: X:38.50, Y:-1.03, Z:-0.49 [[ 9.99342383e-01 3.61374109e-02 2.98160638e-03 3.85027200e+01] [-3.61373217e-02 9.99346830e-01 -8.38043661e-05 -1.02846212e+00] [-2.98268735e-03 -2.39980139e-05 9.99995551e-01 -4.87710690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.230281692999995 meters Centerline goodness [0,1] 0.9977391818796484 Centerline is valid? [True, True] Translation: X:38.53, Y:-1.03, Z:-0.49 [[ 9.99437559e-01 3.34375708e-02 2.54853050e-03 3.85321638e+01] [-3.34374967e-02 9.99440808e-01 -7.16903241e-05 -1.03203176e+00] [-2.54950253e-03 -1.35664775e-05 9.99996750e-01 -4.88091210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260281692999996 meters Centerline goodness [0,1] 0.9983687136448518 Centerline is valid? [True, True] Translation: X:38.56, Y:-1.04, Z:-0.49 [[ 9.99552287e-01 2.97711765e-02 2.98373200e-03 3.85616247e+01] [-2.97710589e-02 9.99556740e-01 -8.38486579e-05 -1.03577881e+00] [-2.98490571e-03 -5.01774340e-06 9.99995545e-01 -4.87251196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.290281693 meters Centerline goodness [0,1] 0.9984561047310873 Centerline is valid? [True, True] Translation: X:38.59, Y:-1.04, Z:-0.49 [[ 9.99576033e-01 2.89586439e-02 3.02522592e-03 3.85915470e+01] [-2.89585196e-02 9.99580611e-01 -8.49171930e-05 -1.03669033e+00] [-3.02641626e-03 -2.72487315e-06 9.99995420e-01 -4.88251270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320281693 meters Centerline goodness [0,1] 0.9982524561515674 Centerline is valid? [True, True] Translation: X:38.62, Y:-1.04, Z:-0.49 [[ 9.99603888e-01 2.79627168e-02 3.18648651e-03 3.86222397e+01] [-2.79625740e-02 9.99608967e-01 -8.93807835e-05 -1.03905522e+00] [-3.18773982e-03 2.43013940e-07 9.99994919e-01 -4.88292978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.350281693 meters Centerline goodness [0,1] 0.9983896594666553 Centerline is valid? [True, True] Translation: X:38.65, Y:-1.04, Z:-0.49 [[ 9.99614923e-01 2.75375578e-02 3.41882096e-03 3.86524073e+01] [-2.75373908e-02 9.99620770e-01 -9.58977531e-05 -1.04067637e+00] [-3.42016523e-03 1.71541600e-06 9.99994151e-01 -4.87729621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38028169299999 meters Centerline goodness [0,1] 0.9985438972162741 Centerline is valid? [True, True] Translation: X:38.68, Y:-1.04, Z:-0.49 [[ 9.99619936e-01 2.73151054e-02 3.72402616e-03 3.86830396e+01] [-2.73149058e-02 9.99626873e-01 -1.04458743e-04 -1.04154040e+00] [-3.72548992e-03 2.69761852e-06 9.99993060e-01 -4.87233298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.410281692999995 meters Centerline goodness [0,1] 0.998272884283247 Centerline is valid? [True, True] Translation: X:38.71, Y:-1.04, Z:-0.49 [[ 9.99612318e-01 2.76186489e-02 3.52465932e-03 3.87129731e+01] [-2.76184720e-02 9.99618532e-01 -9.88854421e-05 -1.04283433e+00] [-3.52604586e-03 1.50140134e-06 9.99993783e-01 -4.87817440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440281692999996 meters Centerline goodness [0,1] 0.9986841253748086 Centerline is valid? [True, True] Translation: X:38.74, Y:-1.04, Z:-0.49 [[ 9.99614622e-01 2.75734010e-02 3.21179236e-03 3.87422357e+01] [-2.75732540e-02 9.99619781e-01 -9.00317263e-05 -1.04428088e+00] [-3.21305366e-03 1.43746338e-06 9.99994838e-01 -4.88562307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.470281693 meters Centerline goodness [0,1] 0.9986574606827772 Centerline is valid? [True, True] Translation: X:38.77, Y:-1.05, Z:-0.49 [[ 9.99629039e-01 2.71176932e-02 2.53281900e-03 3.87724725e+01] [-2.71176002e-02 9.99632248e-01 -7.10447444e-05 -1.04686570e+00] [-2.53381412e-03 2.33441643e-06 9.99996790e-01 -4.89681729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500281693 meters Centerline goodness [0,1] 0.9987627458509322 Centerline is valid? [True, True] Translation: X:38.80, Y:-1.05, Z:-0.49 [[ 9.99698327e-01 2.44336197e-02 2.50044952e-03 3.88026317e+01] [-2.44335207e-02 9.99701455e-01 -7.01367911e-05 -1.05467093e+00] [-2.50141672e-03 9.02084744e-06 9.99996871e-01 -4.88596924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.530281693 meters Centerline goodness [0,1] 0.9989842989546743 Centerline is valid? [True, True] Translation: X:38.83, Y:-1.06, Z:-0.49 [[ 9.99741217e-01 2.25811132e-02 2.75531913e-03 3.88330752e+01] [-2.25809860e-02 9.99745014e-01 -7.72858003e-05 -1.05998440e+00] [-2.75636177e-03 1.50479773e-05 9.99996201e-01 -4.88495686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56028169299999 meters Centerline goodness [0,1] 0.999173781327458 Centerline is valid? [True, True] Translation: X:38.86, Y:-1.07, Z:-0.49 [[ 9.99783119e-01 2.05287238e-02 3.50514628e-03 3.88637130e+01] [-2.05285053e-02 9.99789263e-01 -9.83182064e-05 -1.06547184e+00] [-3.50642596e-03 2.63414691e-05 9.99993852e-01 -4.87146080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.590281692999994 meters Centerline goodness [0,1] 0.9992276501255068 Centerline is valid? [True, True] Translation: X:38.89, Y:-1.07, Z:-0.49 [[ 9.99812993e-01 1.88514329e-02 4.31310121e-03 3.88941519e+01] [-1.88510869e-02 9.99822295e-01 -1.20874294e-04 -1.07423175e+00] [-4.31461341e-03 3.95450442e-05 9.99990691e-01 -4.87090161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620281692999995 meters Centerline goodness [0,1] 0.9989874399465714 Centerline is valid? [True, True] Translation: X:38.92, Y:-1.08, Z:-0.49 [[ 9.99820341e-01 1.86734279e-02 3.25411951e-03 3.89249237e+01] [-1.86732293e-02 9.99825636e-01 -9.14036145e-05 -1.07927705e+00] [-3.25525893e-03 3.06222733e-05 9.99994701e-01 -4.89761882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.650281693 meters Centerline goodness [0,1] 0.9994228549442093 Centerline is valid? [True, True] Translation: X:38.96, Y:-1.09, Z:-0.49 [[ 9.99836951e-01 1.80233564e-02 1.10944639e-03 3.89563525e+01] [-1.80233327e-02 9.99837566e-01 -3.13285802e-05 -1.08723719e+00] [-1.10983082e-03 1.13275507e-05 9.99999384e-01 -4.93449739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680281693 meters Centerline goodness [0,1] 0.9993579316839312 Centerline is valid? [True, True] Translation: X:38.99, Y:-1.09, Z:-0.49 [[ 9.99847345e-01 1.74539780e-02 8.03647587e-04 3.89866010e+01] [-1.74539653e-02 9.99847668e-01 -2.27761558e-05 -1.09158156e+00] [-8.03922700e-04 8.74584175e-06 9.99999677e-01 -4.93478940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.710281693 meters Centerline goodness [0,1] 0.9992740471869328 Centerline is valid? [True, True] Translation: X:39.02, Y:-1.09, Z:-0.49 [[ 9.99853250e-01 1.71104108e-02 8.43785718e-04 3.90166071e+01] [-1.71103967e-02 9.99853606e-01 -2.39137095e-05 -1.09456955e+00] [-8.44071367e-04 9.47269184e-06 9.99999644e-01 -4.92424791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74028169299999 meters Centerline goodness [0,1] 0.9991157504259495 Centerline is valid? [True, True] Translation: X:39.05, Y:-1.10, Z:-0.49 [[ 9.99844615e-01 1.75443440e-02 1.71507716e-03 3.90459048e+01] [-1.75442865e-02 9.99846086e-01 -4.85568592e-05 -1.10404496e+00] [-1.71566509e-03 1.84595091e-05 9.99998528e-01 -4.92015172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.770281692999994 meters Centerline goodness [0,1] 0.9991451347481354 Centerline is valid? [True, True] Translation: X:39.08, Y:-1.11, Z:-0.49 [[ 9.99826061e-01 1.85555580e-02 1.88109283e-03 3.90765805e+01] [-1.85554905e-02 9.99827831e-01 -5.33033749e-05 -1.10681403e+00] [-1.88175804e-03 1.83895032e-05 9.99998229e-01 -4.91354781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800281692999995 meters Centerline goodness [0,1] 0.9993356763243614 Centerline is valid? [True, True] Translation: X:39.11, Y:-1.11, Z:-0.49 [[ 9.99806170e-01 1.95806622e-02 2.05435985e-03 3.91072224e+01] [-1.95805838e-02 9.99808280e-01 -5.82747375e-05 -1.10690567e+00] [-2.05510705e-03 1.80378769e-05 9.99997888e-01 -4.90934022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.830281692999996 meters Centerline goodness [0,1] 0.9990852620830497 Centerline is valid? [True, True] Translation: X:39.14, Y:-1.11, Z:-0.49 [[ 9.99767132e-01 2.14913111e-02 1.95056394e-03 3.91373509e+01] [-2.14912442e-02 9.99769035e-01 -5.52938725e-05 -1.10941296e+00] [-1.95130177e-03 1.33609504e-05 9.99998096e-01 -4.91944606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.860281693 meters Centerline goodness [0,1] 0.9990929035524428 Centerline is valid? [True, True] Translation: X:39.17, Y:-1.11, Z:-0.49 [[ 9.99745344e-01 2.24254084e-02 2.51938111e-03 3.91674900e+01] [-2.24252995e-02 9.99748519e-01 -7.14644684e-05 -1.11223882e+00] [-2.52035016e-03 1.49483935e-05 9.99996824e-01 -4.91530295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.890281693 meters Centerline goodness [0,1] 0.9989854796778898 Centerline is valid? [True, True] Translation: X:39.20, Y:-1.11, Z:-0.49 [[ 9.99676245e-01 2.51990595e-02 3.52309371e-03 3.91979120e+01] [-2.51988635e-02 9.99682453e-01 -9.99992984e-05 -1.11189235e+00] [-3.52449485e-03 1.11889656e-05 9.99993789e-01 -4.88815502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.920281693 meters Centerline goodness [0,1] 0.9989796569096359 Centerline is valid? [True, True] Translation: X:39.23, Y:-1.11, Z:-0.49 [[ 9.99609732e-01 2.77453201e-02 3.25272308e-03 3.92294709e+01] [-2.77451665e-02 9.99615025e-01 -9.23353228e-05 -1.10919153e+00] [-3.25403274e-03 2.05194366e-06 9.99994706e-01 -4.89624668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.950281692999994 meters Centerline goodness [0,1] 0.9988230510795831 Centerline is valid? [True, True] Translation: X:39.26, Y:-1.11, Z:-0.49 [[ 9.99530619e-01 3.05587250e-02 2.16949946e-03 3.92604312e+01] [-3.05586634e-02 9.99532973e-01 -6.15128112e-05 -1.10521004e+00] [-2.17036600e-03 -4.81306568e-06 9.99997645e-01 -4.90996073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980281692999995 meters Centerline goodness [0,1] 0.9987271685865207 Centerline is valid? [True, True] Translation: X:39.29, Y:-1.10, Z:-0.49 [[ 9.99434310e-01 3.36180046e-02 9.42909566e-04 3.92910246e+01] [-3.36179942e-02 9.99434755e-01 -2.68444923e-05 -1.10015350e+00] [-9.43279049e-04 -4.86942163e-06 9.99999555e-01 -4.93596102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.010281692999996 meters Centerline goodness [0,1] 0.998314235110855 Centerline is valid? [True, True] Translation: X:39.32, Y:-1.09, Z:-0.49 [[ 9.99276745e-01 3.80038603e-02 1.30152716e-03 3.93212058e+01] [-3.80038442e-02 9.99277592e-01 -3.70981516e-05 -1.09332198e+00] [-1.30199679e-03 -1.23917151e-05 9.99999152e-01 -4.93302319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040281693 meters Centerline goodness [0,1] 0.9981480693090383 Centerline is valid? [True, True] Translation: X:39.35, Y:-1.09, Z:-0.49 [[ 9.99248225e-01 3.87171586e-02 1.99136202e-03 3.93513716e+01] [-3.87171223e-02 9.99250210e-01 -5.67432834e-05 -1.09159943e+00] [-1.99206586e-03 -2.03991819e-05 9.99998016e-01 -4.91872294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.070281693 meters Centerline goodness [0,1] 0.9985497835497835 Centerline is valid? [True, True] Translation: X:39.38, Y:-1.09, Z:-0.49 [[ 9.99274375e-01 3.79603359e-02 3.12024452e-03 3.93813315e+01] [-3.79602437e-02 9.99279246e-01 -8.87751896e-05 -1.09249431e+00] [-3.12136553e-03 -2.97344704e-05 9.99995128e-01 -4.90036435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100281693 meters Centerline goodness [0,1] 0.9985661701763396 Centerline is valid? [True, True] Translation: X:39.41, Y:-1.09, Z:-0.49 [[ 9.99295082e-01 3.74423789e-02 2.72177208e-03 3.94117597e+01] [-3.74423073e-02 9.99298788e-01 -7.73029964e-05 -1.09267595e+00] [-2.72275795e-03 -2.46609224e-05 9.99996293e-01 -4.91495556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13028169299999 meters Centerline goodness [0,1] 0.9986622783735004 Centerline is valid? [True, True] Translation: X:39.44, Y:-1.09, Z:-0.49 [[ 9.99327748e-01 3.65555427e-02 2.78276857e-03 3.94418700e+01] [-3.65554641e-02 9.99331623e-01 -7.91242557e-05 -1.09489339e+00] [-2.78380107e-03 -2.26543325e-05 9.99996125e-01 -4.91573745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160281692999995 meters Centerline goodness [0,1] 0.9988893397979453 Centerline is valid? [True, True] Translation: X:39.47, Y:-1.10, Z:-0.49 [[ 9.99396023e-01 3.46301769e-02 2.88808707e-03 3.94717766e+01] [-3.46300844e-02 9.99400195e-01 -8.20329644e-05 -1.09806416e+00] [-2.88919560e-03 -1.80312806e-05 9.99995826e-01 -4.91460949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.190281692999996 meters Centerline goodness [0,1] 0.9990211308067158 Centerline is valid? [True, True] Translation: X:39.50, Y:-1.10, Z:-0.49 [[ 9.99430242e-01 3.36641332e-02 2.43243935e-03 3.95018494e+01] [-3.36640646e-02 9.99433202e-01 -6.91395245e-05 -1.10054442e+00] [-2.43338817e-03 -1.27856638e-05 9.99997039e-01 -4.92435432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220281693 meters Centerline goodness [0,1] 0.9989774397648111 Centerline is valid? [True, True] Translation: X:39.53, Y:-1.10, Z:-0.49 [[ 9.99458513e-01 3.28526346e-02 1.84014657e-03 3.95325069e+01] [-3.28525940e-02 9.99460206e-01 -5.23042266e-05 -1.10206233e+00] [-1.84087160e-03 -8.17768369e-06 9.99998306e-01 -4.93324250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.250281693 meters Centerline goodness [0,1] 0.9990505127231295 Centerline is valid? [True, True] Translation: X:39.56, Y:-1.10, Z:-0.50 [[ 9.99468265e-01 3.25921177e-02 9.69602575e-04 3.95630048e+01] [-3.25921064e-02 9.99468736e-01 -2.75107859e-05 -1.10185502e+00] [-9.69984094e-04 -4.10523283e-06 9.99999530e-01 -4.95495645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280281693 meters Centerline goodness [0,1] 0.9992725405451667 Centerline is valid? [True, True] Translation: X:39.59, Y:-1.10, Z:-0.49 [[ 9.99448566e-01 3.31712854e-02 1.49353615e-03 3.95927096e+01] [-3.31712588e-02 9.99449681e-01 -4.25528752e-05 -1.10102975e+00] [-1.49412577e-03 -7.01306423e-06 9.99998884e-01 -4.94066144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31028169299999 meters Centerline goodness [0,1] 0.9990468323060304 Centerline is valid? [True, True] Translation: X:39.62, Y:-1.10, Z:-0.49 [[ 9.99348754e-01 3.59995714e-02 2.46962219e-03 3.96225682e+01] [-3.59995079e-02 9.99351805e-01 -7.01459391e-05 -1.09607062e+00] [-2.47054661e-03 -1.88049267e-05 9.99996948e-01 -4.91450398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.340281692999994 meters Centerline goodness [0,1] 0.9991235570756734 Centerline is valid? [True, True] Translation: X:39.65, Y:-1.10, Z:-0.49 [[ 9.99275855e-01 3.79586287e-02 2.62817449e-03 3.96533614e+01] [-3.79585635e-02 9.99279311e-01 -7.46972020e-05 -1.09519934e+00] [-2.62911580e-03 -2.51186181e-05 9.99996544e-01 -4.91359562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.370281692999995 meters Centerline goodness [0,1] 0.9985537761330526 Centerline is valid? [True, True] Translation: X:39.68, Y:-1.09, Z:-0.49 [[ 9.99198096e-01 3.99385900e-02 2.84149048e-03 3.96833244e+01] [-3.99385217e-02 9.99202136e-01 -8.07875572e-05 -1.09114368e+00] [-2.84244990e-03 -3.27621559e-05 9.99995960e-01 -4.91920931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400281693 meters Centerline goodness [0,1] 0.9983315733896515 Centerline is valid? [True, True] Translation: X:39.71, Y:-1.09, Z:-0.49 [[ 9.99084365e-01 4.25826344e-02 4.14134810e-03 3.97117860e+01] [-4.25825123e-02 9.99092947e-01 -1.17690034e-04 -1.08639022e+00] [-4.14260322e-03 -5.87667336e-05 9.99991418e-01 -4.89923576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.430281693 meters Centerline goodness [0,1] 0.9977805960684845 Centerline is valid? [True, True] Translation: X:39.74, Y:-1.09, Z:-0.49 [[ 9.99008303e-01 4.42998028e-02 4.46526101e-03 3.97413038e+01] [-4.42996788e-02 9.99018279e-01 -1.26723116e-04 -1.08606539e+00] [-4.46649118e-03 -7.12121829e-05 9.99990023e-01 -4.88761652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460281693 meters Centerline goodness [0,1] 0.9967438494934877 Centerline is valid? [True, True] Translation: X:39.77, Y:-1.07, Z:-0.49 [[ 9.98720956e-01 5.05187934e-02 2.07428206e-03 3.97713628e+01] [-5.05187800e-02 9.98723109e-01 -5.88479048e-05 -1.07428419e+00] [-2.07460636e-03 -4.60175634e-05 9.99997847e-01 -4.92408622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49028169299999 meters Centerline goodness [0,1] 0.9959330450789845 Centerline is valid? [True, True] Translation: X:39.80, Y:-1.07, Z:-0.49 [[ 9.98517972e-01 5.44058880e-02 1.36326483e-03 3.98005562e+01] [-5.44058857e-02 9.98518902e-01 -3.87696578e-05 -1.06700382e+00] [-1.36335499e-03 -3.54574303e-05 9.99999070e-01 -4.93813668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520281692999994 meters Centerline goodness [0,1] 0.9959330450789845 Centerline is valid? [True, True] Translation: X:39.83, Y:-1.07, Z:-0.49 [[ 9.98520491e-01 5.43596413e-02 1.36326494e-03 3.98288827e+01] [-5.43596390e-02 9.98521421e-01 -3.87656000e-05 -1.06771500e+00] [-1.36335653e-03 -3.53983443e-05 9.99999070e-01 -4.93960294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.550281692999995 meters Centerline goodness [0,1] 0.9908561928512053 Centerline is valid? [True, True] Translation: X:39.86, Y:-1.05, Z:-0.49 [[ 9.98037822e-01 6.25698751e-02 2.34864658e-03 3.98587270e+01] [-6.25698919e-02 9.98040582e-01 -6.63875377e-05 -1.05077323e+00] [-2.34819846e-03 -8.06972893e-05 9.99997240e-01 -4.93017480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.580281692999996 meters Centerline goodness [0,1] 0.9875719657538612 Centerline is valid? [True, True] Translation: X:39.89, Y:-1.04, Z:-0.49 [[ 9.97813471e-01 6.60326753e-02 2.82175852e-03 3.98888172e+01] [-6.60327135e-02 9.97817455e-01 -7.97549407e-05 -1.04372482e+00] [-2.82086633e-03 -1.06747817e-04 9.99996016e-01 -4.91859393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.610281693 meters Centerline goodness [0,1] 0.9834052088618299 Centerline is valid? [True, True] Translation: X:39.92, Y:-1.04, Z:-0.49 [[ 9.97632051e-01 6.87172552e-02 2.86878302e-03 3.99184353e+01] [-6.87173058e-02 9.97636169e-01 -8.10501964e-05 -1.03689625e+00] [-2.86757124e-03 -1.16276766e-04 9.99995882e-01 -4.91600995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.640281693 meters Centerline goodness [0,1] 0.9782905108867016 Centerline is valid? [True, True] Translation: X:39.95, Y:-1.03, Z:-0.49 [[ 9.97505975e-01 7.05187744e-02 2.98863275e-03 3.99479301e+01] [-7.05188373e-02 9.97510444e-01 -8.44487886e-05 -1.03072679e+00] [-2.98714761e-03 -1.26516736e-04 9.99995530e-01 -4.92053875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.670281693 meters Centerline goodness [0,1] 0.9785323388340693 Centerline is valid? [True, True] Translation: X:39.98, Y:-1.03, Z:-0.49 [[ 9.97558694e-01 6.97838146e-02 2.62147496e-03 3.99771403e+01] [-6.97838606e-02 9.97562132e-01 -7.40354629e-05 -1.03113670e+00] [-2.62025062e-03 -1.09081923e-04 9.99996561e-01 -4.92669963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.700281692999994 meters Centerline goodness [0,1] 0.9796053333333333 Centerline is valid? [True, True] Translation: X:40.01, Y:-1.03, Z:-0.49 [[ 9.97622880e-01 6.88595721e-02 2.63595467e-03 4.00062066e+01] [-6.88596157e-02 9.97626357e-01 -7.43237538e-05 -1.03076727e+00] [-2.63481575e-03 -1.07363748e-04 9.99996523e-01 -4.92930487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.730281692999995 meters Centerline goodness [0,1] 0.9833644939236849 Centerline is valid? [True, True] Translation: X:40.04, Y:-1.03, Z:-0.49 [[ 9.97788989e-01 6.64289001e-02 2.08177242e-03 4.00353958e+01] [-6.64289222e-02 9.97791158e-01 -5.85844919e-05 -1.03074263e+00] [-2.08106582e-03 -7.98349372e-05 9.99997831e-01 -4.94163891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760281692999996 meters Centerline goodness [0,1] 0.9849424457375865 Centerline is valid? [True, True] Translation: X:40.06, Y:-1.03, Z:-0.50 [[ 9.97881873e-01 6.50314862e-02 1.63521061e-03 4.00636784e+01] [-6.50314979e-02 9.97883211e-01 -4.60830189e-05 -1.03123215e+00] [-1.63474606e-03 -6.03547859e-05 9.99998662e-01 -4.95561142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.790281693 meters Centerline goodness [0,1] 0.9878853687617101 Centerline is valid? [True, True] Translation: X:40.09, Y:-1.03, Z:-0.50 [[ 9.97952568e-01 6.39395009e-02 1.55293419e-03 4.00925345e+01] [-6.39395102e-02 9.97953775e-01 -4.37081773e-05 -1.03329182e+00] [-1.55255121e-03 -5.56751635e-05 9.99998793e-01 -4.95624920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.820281693 meters Centerline goodness [0,1] 0.9885728796343322 Centerline is valid? [True, True] Translation: X:40.12, Y:-1.03, Z:-0.49 [[ 9.98027915e-01 6.26854649e-02 3.28823177e-03 4.01210377e+01] [-6.26855011e-02 9.98033326e-01 -9.21476008e-05 -1.03333879e+00] [-3.28754121e-03 -1.14158578e-04 9.99994590e-01 -4.92259180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.850281693 meters Centerline goodness [0,1] 0.9877320179448472 Centerline is valid? [True, True] Translation: X:40.15, Y:-1.03, Z:-0.49 [[ 9.98037416e-01 6.25001174e-02 3.87962400e-03 4.01485638e+01] [-6.25001672e-02 9.98044948e-01 -1.08522368e-04 -1.03141488e+00] [-3.87882179e-03 -1.34167765e-04 9.99992468e-01 -4.91043356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88028169299999 meters Centerline goodness [0,1] 0.9924940798376184 Centerline is valid? [True, True] Translation: X:40.18, Y:-1.03, Z:-0.49 [[ 9.98037951e-01 6.25410381e-02 2.97771215e-03 4.01769449e+01] [-6.25410679e-02 9.98042388e-01 -8.31794695e-05 -1.03373969e+00] [-2.97708508e-03 -1.03213031e-04 9.99995563e-01 -4.90986094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.910281692999995 meters Centerline goodness [0,1] 0.9903335660046111 Centerline is valid? [True, True] Translation: X:40.20, Y:-1.03, Z:-0.49 [[ 9.98058614e-01 6.21862139e-02 3.44655825e-03 4.02048064e+01] [-6.21862525e-02 9.98064557e-01 -9.60951580e-05 -1.02707284e+00] [-3.44586343e-03 -1.18419941e-04 9.99994056e-01 -4.91017328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.940281692999996 meters Centerline goodness [0,1] 0.9919209482813461 Centerline is valid? [True, True] Translation: X:40.23, Y:-1.03, Z:-0.49 [[ 9.98134193e-01 6.09311114e-02 3.94106380e-03 4.02340509e+01] [-6.09311531e-02 9.98141965e-01 -1.09578309e-04 -1.03172102e+00] [-3.94041789e-03 -1.30759704e-04 9.99992228e-01 -4.89607771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.970281693 meters Centerline goodness [0,1] 0.9950339276922747 Centerline is valid? [True, True] Translation: X:40.26, Y:-1.04, Z:-0.49 [[ 9.98457416e-01 5.53139032e-02 4.81260061e-03 4.02639008e+01] [-5.53139014e-02 9.98469005e-01 -1.33588815e-04 -1.03913568e+00] [-4.81262187e-03 -1.32820973e-04 9.99988410e-01 -4.89420997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.000281693 meters Centerline goodness [0,1] 0.9965263718700054 Centerline is valid? [True, True] Translation: X:40.29, Y:-1.04, Z:-0.49 [[ 9.98687104e-01 5.10248182e-02 4.53163810e-03 4.02927047e+01] [-5.10247722e-02 9.98697380e-01 -1.25851670e-04 -1.04468448e+00] [-4.53215666e-03 -1.05539362e-04 9.99989724e-01 -4.90549179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.030281693 meters Centerline goodness [0,1] 0.9976368900621647 Centerline is valid? [True, True] Translation: X:40.32, Y:-1.05, Z:-0.49 [[ 9.98909369e-01 4.64929696e-02 4.29834092e-03 4.03224989e+01] [-4.64928866e-02 9.98918614e-01 -1.19275373e-04 -1.05144638e+00] [-4.29923822e-03 -8.06969897e-05 9.99990755e-01 -4.91311616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06028169299999 meters Centerline goodness [0,1] 0.999006801252294 Centerline is valid? [True, True] Translation: X:40.35, Y:-1.07, Z:-0.49 [[ 9.99260903e-01 3.81282771e-02 4.88691401e-03 4.03520594e+01] [-3.81280703e-02 9.99272852e-01 -1.35495341e-04 -1.06561112e+00] [-4.88852670e-03 -5.09334040e-05 9.99988050e-01 -4.91030271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.090281692999994 meters Centerline goodness [0,1] 0.999299868460135 Centerline is valid? [True, True] Translation: X:40.38, Y:-1.07, Z:-0.49 [[ 9.99369587e-01 3.51387746e-02 5.06899974e-03 4.03825855e+01] [-3.51385141e-02 9.99382442e-01 -1.40462039e-04 -1.07173708e+00] [-5.07080501e-03 -3.77436288e-05 9.99987143e-01 -4.91109520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120281692999995 meters Centerline goodness [0,1] 0.999290185197135 Centerline is valid? [True, True] Translation: X:40.41, Y:-1.08, Z:-0.49 [[ 9.99524029e-01 3.04794957e-02 4.76614456e-03 4.04129223e+01] [-3.04792124e-02 9.99535392e-01 -1.32065261e-04 -1.08265267e+00] [-4.76795546e-03 -1.32659306e-05 9.99988633e-01 -4.92933271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.150281693 meters Centerline goodness [0,1] 0.9992506636978676 Centerline is valid? [True, True] Translation: X:40.44, Y:-1.09, Z:-0.50 [[ 9.99582648e-01 2.86935508e-02 3.34800413e-03 4.04440179e+01] [-2.86934011e-02 9.99588255e-01 -9.27700274e-05 -1.08862433e+00] [-3.34928751e-03 -3.33431567e-06 9.99994391e-01 -4.95361272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180281693 meters Centerline goodness [0,1] 0.9991487369384324 Centerline is valid? [True, True] Translation: X:40.47, Y:-1.09, Z:-0.50 [[ 9.99623607e-01 2.73707447e-02 1.86707194e-03 4.04744154e+01] [-2.73706958e-02 9.99625351e-01 -5.17630853e-05 -1.09419031e+00] [-1.86778924e-03 6.40543925e-07 9.99998256e-01 -4.97691906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.210281693 meters Centerline goodness [0,1] 0.9991538152355567 Centerline is valid? [True, True] Translation: X:40.50, Y:-1.10, Z:-0.49 [[ 9.99660186e-01 2.58997221e-02 2.95238699e-03 4.05037780e+01] [-2.58995931e-02 9.99664546e-01 -8.19176249e-05 -1.10100945e+00] [-2.95351824e-03 5.42416658e-06 9.99995638e-01 -4.93592073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24028169299999 meters Centerline goodness [0,1] 0.9986744489342142 Centerline is valid? [True, True] Translation: X:40.53, Y:-1.10, Z:-0.49 [[ 9.99649171e-01 2.60215191e-02 4.94119184e-03 4.05338394e+01] [-2.60211588e-02 9.99661383e-01 -1.37207812e-04 -1.10260666e+00] [-4.94308902e-03 8.58413854e-06 9.99987783e-01 -4.90541031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.270281692999994 meters Centerline goodness [0,1] 0.9987267904509284 Centerline is valid? [True, True] Translation: X:40.56, Y:-1.10, Z:-0.49 [[ 9.99626731e-01 2.67493102e-02 5.55640337e-03 4.05640388e+01] [-2.67488657e-02 9.99642173e-01 -1.54311082e-04 -1.10378808e+00] [-5.55854286e-03 5.62599522e-06 9.99984551e-01 -4.89568063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300281692999995 meters Centerline goodness [0,1] 0.9993161370290428 Centerline is valid? [True, True] Translation: X:40.59, Y:-1.11, Z:-0.49 [[ 9.99567388e-01 2.91481644e-02 3.92707165e-03 4.05949293e+01] [-2.91479601e-02 9.99575102e-01 -1.09255163e-04 -1.10550979e+00] [-3.92858763e-03 -5.25822948e-06 9.99992283e-01 -4.93895475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.330281692999996 meters Centerline goodness [0,1] 0.9994074701089832 Centerline is valid? [True, True] Translation: X:40.62, Y:-1.10, Z:-0.50 [[ 9.99533460e-01 3.03696365e-02 3.24778942e-03 4.06244702e+01] [-3.03695033e-02 9.99538736e-01 -9.03239812e-05 -1.10473632e+00] [-3.24903444e-03 -8.35191009e-06 9.99994722e-01 -4.95517930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360281693 meters Centerline goodness [0,1] 0.9995532390171258 Centerline is valid? [True, True] Translation: X:40.65, Y:-1.10, Z:-0.49 [[ 9.99443083e-01 3.31566499e-02 3.76297761e-03 4.06547467e+01] [-3.31564906e-02 9.99450167e-01 -1.04732690e-04 -1.09651811e+00] [-3.76438119e-03 -2.00927690e-05 9.99992914e-01 -4.93492003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.390281693 meters Centerline goodness [0,1] 0.9995712294994105 Centerline is valid? [True, True] Translation: X:40.69, Y:-1.09, Z:-0.49 [[ 9.99377972e-01 3.49713407e-02 4.54683391e-03 4.06857695e+01] [-3.49711272e-02 9.99388315e-01 -1.26480172e-04 -1.09319847e+00] [-4.54847586e-03 -3.26064091e-05 9.99989655e-01 -4.92069876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420281693 meters Centerline goodness [0,1] 0.9993610087541801 Centerline is valid? [True, True] Translation: X:40.72, Y:-1.09, Z:-0.49 [[ 9.99326718e-01 3.63405081e-02 5.04756899e-03 4.07157522e+01] [-3.63402624e-02 9.99339465e-01 -1.40408252e-04 -1.09038764e+00] [-5.04933740e-03 -4.31162644e-05 9.99987251e-01 -4.91129938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.450281692999994 meters Centerline goodness [0,1] 0.9988760709135635 Centerline is valid? [True, True] Translation: X:40.75, Y:-1.08, Z:-0.49 [[ 9.99239406e-01 3.86623019e-02 5.08295602e-03 4.07457743e+01] [-3.86620826e-02 9.99252332e-01 -1.41434055e-04 -1.08283816e+00] [-5.08462382e-03 -5.51911842e-05 9.99987072e-01 -4.91127557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480281692999995 meters Centerline goodness [0,1] 0.998887248293424 Centerline is valid? [True, True] Translation: X:40.78, Y:-1.08, Z:-0.49 [[ 9.99197648e-01 3.97925159e-02 4.54044228e-03 4.07756952e+01] [-3.97923527e-02 9.99207963e-01 -1.26300240e-04 -1.07798576e+00] [-4.54187188e-03 -5.44759776e-05 9.99989684e-01 -4.92101277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.510281692999996 meters Centerline goodness [0,1] 0.99900152957172 Centerline is valid? [True, True] Translation: X:40.80, Y:-1.07, Z:-0.50 [[ 9.99122197e-01 4.18035897e-02 2.70114036e-03 4.08049118e+01] [-4.18035393e-02 9.99125847e-01 -7.51418564e-05 -1.06794056e+00] [-2.70192035e-03 -3.78413306e-05 9.99996349e-01 -4.95597368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540281693 meters Centerline goodness [0,1] 0.9986620795107034 Centerline is valid? [True, True] Translation: X:40.83, Y:-1.06, Z:-0.50 [[ 9.99069625e-01 4.30892342e-02 1.78955736e-03 4.08341825e+01] [-4.30892142e-02 9.99071227e-01 -4.97941666e-05 -1.06392657e+00] [-1.79004086e-03 -2.73627812e-05 9.99998398e-01 -4.97425197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.570281693 meters Centerline goodness [0,1] 0.9981578665524259 Centerline is valid? [True, True] Translation: X:40.86, Y:-1.06, Z:-0.50 [[ 9.99030595e-01 4.39965634e-02 1.47385895e-03 4.08629075e+01] [-4.39965507e-02 9.99031682e-01 -4.10393789e-05 -1.06166204e+00] [-1.47423738e-03 -2.38451151e-05 9.99998913e-01 -4.97852308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600281693 meters Centerline goodness [0,1] 0.9979858372556503 Centerline is valid? [True, True] Translation: X:40.89, Y:-1.05, Z:-0.50 [[ 9.99000061e-01 4.46851742e-02 1.45371284e-03 4.08912545e+01] [-4.46851627e-02 9.99001118e-01 -4.04564200e-05 -1.05309939e+00] [-1.45406856e-03 -2.45434288e-05 9.99998943e-01 -4.98276744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63028169299999 meters Centerline goodness [0,1] 0.9984046566778053 Centerline is valid? [True, True] Translation: X:40.92, Y:-1.05, Z:-0.49 [[ 9.98949239e-01 4.56613607e-02 3.93175959e-03 4.09205509e+01] [-4.56612865e-02 9.98956974e-01 -1.08661870e-04 -1.04735756e+00] [-3.93262031e-03 -7.09815086e-05 9.99992265e-01 -4.93125465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660281692999995 meters Centerline goodness [0,1] 0.9978902953586498 Centerline is valid? [True, True] Translation: X:40.95, Y:-1.04, Z:-0.49 [[ 9.98982544e-01 4.48522722e-02 4.70650936e-03 4.09481070e+01] [-4.48521583e-02 9.98993627e-01 -1.29812932e-04 -1.04080196e+00] [-4.70759526e-03 -8.14162498e-05 9.99988916e-01 -4.92525702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.690281692999996 meters Centerline goodness [0,1] 0.9979782237853547 Centerline is valid? [True, True] Translation: X:40.98, Y:-1.04, Z:-0.49 [[ 9.99049954e-01 4.33899291e-02 4.06256185e-03 4.09771876e+01] [-4.33898331e-02 9.99058211e-01 -1.11804428e-04 -1.04119985e+00] [-4.06358696e-03 -6.45756725e-05 9.99991742e-01 -4.94566884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720281693 meters Centerline goodness [0,1] 0.9989980814325303 Centerline is valid? [True, True] Translation: X:41.01, Y:-1.04, Z:-0.50 [[ 9.99147238e-01 4.11604145e-02 3.25834147e-03 4.10064291e+01] [-4.11603411e-02 9.99152550e-01 -8.96233901e-05 -1.04482709e+00] [-3.25926913e-03 -4.45674837e-05 9.99994688e-01 -4.96760187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.750281693 meters Centerline goodness [0,1] 0.9994661769730099 Centerline is valid? [True, True] Translation: X:41.04, Y:-1.05, Z:-0.50 [[ 9.99366850e-01 3.55099091e-02 2.22405930e-03 4.10363546e+01] [-3.55098609e-02 9.99369324e-01 -6.11298221e-05 -1.05057452e+00] [-2.22482735e-03 -1.78849187e-05 9.99997525e-01 -4.98216811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.780281693 meters Centerline goodness [0,1] 0.9996580538992541 Centerline is valid? [True, True] Translation: X:41.06, Y:-1.05, Z:-0.50 [[ 9.99446092e-01 3.31870748e-02 2.47533968e-03 4.10641094e+01] [-3.31870078e-02 9.99449157e-01 -6.81399534e-05 -1.05124189e+00] [-2.47623752e-03 -1.40469072e-05 9.99996934e-01 -4.98244318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81028169299999 meters Centerline goodness [0,1] 0.9996346050510478 Centerline is valid? [True, True] Translation: X:41.09, Y:-1.05, Z:-0.50 [[ 9.99546288e-01 2.99718843e-02 2.98390906e-03 4.10937952e+01] [-2.99717737e-02 9.99550742e-01 -8.17966280e-05 -1.05377255e+00] [-2.98502012e-03 -7.67353124e-06 9.99995545e-01 -4.96658255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840281692999994 meters Centerline goodness [0,1] 0.9995122571889049 Centerline is valid? [True, True] Translation: X:41.12, Y:-1.05, Z:-0.50 [[ 9.99571264e-01 2.91966952e-02 2.20042924e-03 4.11225632e+01] [-2.91966332e-02 9.99573686e-01 -6.02996909e-05 -1.05379018e+00] [-2.20125171e-03 -3.97128698e-06 9.99997577e-01 -4.98534889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.870281692999995 meters Centerline goodness [0,1] 0.9994883165614873 Centerline is valid? [True, True] Translation: X:41.15, Y:-1.05, Z:-0.50 [[ 9.99592062e-01 2.85221394e-02 1.48216459e-03 4.11526358e+01] [-2.85221105e-02 9.99593161e-01 -4.06184014e-05 -1.05354145e+00] [-1.48272011e-03 -1.67263055e-06 9.99998901e-01 -5.00737200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900281693 meters Centerline goodness [0,1] 0.9990921758223198 Centerline is valid? [True, True] Translation: X:41.18, Y:-1.05, Z:-0.50 [[ 9.99644950e-01 2.66382419e-02 6.14786223e-04 4.11821772e+01] [-2.66382365e-02 9.99645139e-01 -1.69038909e-05 -1.05240882e+00] [-6.15018350e-04 5.21068366e-07 9.99999811e-01 -5.02669816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.930281693 meters Centerline goodness [0,1] 0.9992931348398844 Centerline is valid? [True, True] Translation: X:41.21, Y:-1.05, Z:-0.50 [[ 9.99663892e-01 2.59184117e-02 5.82408923e-04 4.12113261e+01] [-2.59184067e-02 9.99664062e-01 -1.61142918e-05 -1.05242722e+00] [-5.82630927e-04 1.01376430e-06 9.99999830e-01 -5.02844148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.960281693 meters Centerline goodness [0,1] 0.9989314412720123 Centerline is valid? [True, True] Translation: X:41.24, Y:-1.05, Z:-0.50 [[ 9.99677560e-01 2.53720414e-02 1.01753335e-03 4.12411009e+01] [-2.53720262e-02 9.99678078e-01 -2.78306992e-05 -1.05308929e+00] [-1.01791191e-03 2.00484259e-06 9.99999482e-01 -5.02160147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99028169299999 meters Centerline goodness [0,1] 0.9989154013015185 Centerline is valid? [True, True] Translation: X:41.27, Y:-1.05, Z:-0.50 [[ 9.99702947e-01 2.43567125e-02 8.76062146e-04 4.12697901e+01] [-2.43567008e-02 9.99703331e-01 -2.39599553e-05 -1.05472910e+00] [-8.76385831e-04 2.61485431e-06 9.99999616e-01 -5.02448586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020281692999994 meters Centerline goodness [0,1] 0.998854354513631 Centerline is valid? [True, True] Translation: X:41.30, Y:-1.06, Z:-0.50 [[ 9.99706045e-01 2.42289356e-02 8.84735923e-04 4.12972488e+01] [-2.42289236e-02 9.99706436e-01 -2.43198467e-05 -1.05580971e+00] [-8.85065441e-04 2.87649869e-06 9.99999608e-01 -5.02507238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.050281692999995 meters Centerline goodness [0,1] 0.9986794743455943 Centerline is valid? [True, True] Translation: X:41.33, Y:-1.06, Z:-0.50 [[ 9.99714787e-01 2.36388242e-02 3.39860589e-03 4.13266034e+01] [-2.36386470e-02 9.99720564e-01 -9.23111132e-05 -1.05700629e+00] [-3.39983832e-03 1.19463402e-05 9.99994220e-01 -4.98394813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080281692999996 meters Centerline goodness [0,1] 0.9984105163673855 Centerline is valid? [True, True] Translation: X:41.36, Y:-1.06, Z:-0.50 [[ 9.99722215e-01 2.28936147e-02 5.60132807e-03 4.13558410e+01] [-2.28931228e-02 9.99737907e-01 -1.51938667e-04 -1.05834814e+00] [-5.60333843e-03 2.36645693e-05 9.99984301e-01 -4.95011023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.110281693 meters Centerline goodness [0,1] 0.997781815109008 Centerline is valid? [True, True] Translation: X:41.38, Y:-1.06, Z:-0.49 [[ 9.99735616e-01 2.19368139e-02 6.89013377e-03 4.13849407e+01] [-2.19360474e-02 9.99759359e-01 -1.86805533e-04 -1.06106152e+00] [-6.89257363e-03 3.56138439e-05 9.99976245e-01 -4.92428118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.140281693 meters Centerline goodness [0,1] 0.9977506832036999 Centerline is valid? [True, True] Translation: X:41.41, Y:-1.07, Z:-0.49 [[ 9.99747432e-01 2.13116175e-02 7.13353068e-03 4.14147465e+01] [-2.13107797e-02 9.99772881e-01 -1.93445114e-04 -1.06593626e+00] [-7.13603315e-03 4.13751555e-05 9.99974537e-01 -4.91977272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.170281693 meters Centerline goodness [0,1] 0.9988792137253212 Centerline is valid? [True, True] Translation: X:41.45, Y:-1.07, Z:-0.50 [[ 9.99799821e-01 1.96008912e-02 4.01536691e-03 4.14462605e+01] [-1.96006118e-02 9.99807884e-01 -1.08935884e-04 -1.07268129e+00] [-4.01673073e-03 3.02104295e-05 9.99991932e-01 -4.98004569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.200281692999994 meters Centerline goodness [0,1] 0.9984993870735934 Centerline is valid? [True, True] Translation: X:41.48, Y:-1.08, Z:-0.50 [[ 9.99826958e-01 1.84348208e-02 2.49216526e-03 4.14769032e+01] [-1.84347088e-02 9.99830064e-01 -6.78954197e-05 -1.07585964e+00] [-2.49299340e-03 2.19413300e-05 9.99996892e-01 -5.00889938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.230281692999995 meters Centerline goodness [0,1] 0.9980635001702417 Centerline is valid? [True, True] Translation: X:41.51, Y:-1.08, Z:-0.50 [[ 9.99857293e-01 1.65061329e-02 3.59750467e-03 4.15057849e+01] [-1.65058871e-02 9.99863764e-01 -9.79978510e-05 -1.08332955e+00] [-3.59863213e-03 3.86038600e-05 9.99993524e-01 -4.99695485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.260281692999996 meters Centerline goodness [0,1] 0.9984502798105898 Centerline is valid? [True, True] Translation: X:41.54, Y:-1.09, Z:-0.50 [[ 9.99867418e-01 1.55599689e-02 4.79936155e-03 4.15359535e+01] [-1.55595203e-02 9.99878935e-01 -1.30784954e-04 -1.08881781e+00] [-4.80081552e-03 5.60918503e-05 9.99988474e-01 -4.97886653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.290281693 meters Centerline goodness [0,1] 0.997778483021263 Centerline is valid? [True, True] Translation: X:41.57, Y:-1.10, Z:-0.50 [[ 9.99888372e-01 1.40907489e-02 4.96928193e-03 4.15664381e+01] [-1.40902500e-02 9.99900718e-01 -1.35399201e-04 -1.09724946e+00] [-4.97069645e-03 6.53656626e-05 9.99987644e-01 -4.97832538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320281693 meters Centerline goodness [0,1] 0.9978647385890361 Centerline is valid? [True, True] Translation: X:41.60, Y:-1.10, Z:-0.50 [[ 9.99877121e-01 1.51196689e-02 4.13990120e-03 4.15971066e+01] [-1.51193306e-02 9.99885690e-01 -1.12996256e-04 -1.09980729e+00] [-4.14113643e-03 5.03898359e-05 9.99991424e-01 -5.00081591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.350281693 meters Centerline goodness [0,1] 0.9980945121951219 Centerline is valid? [True, True] Translation: X:41.63, Y:-1.10, Z:-0.50 [[ 9.99844894e-01 1.73339809e-02 3.11797669e-03 4.16283019e+01] [-1.73337982e-02 9.99849755e-01 -8.56170313e-05 -1.10007315e+00] [-3.11899232e-03 3.15573728e-05 9.99995135e-01 -5.02318805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38028169299999 meters Centerline goodness [0,1] 0.9991534212364283 Centerline is valid? [True, True] Translation: X:41.66, Y:-1.10, Z:-0.50 [[ 9.99725898e-01 2.32727721e-02 2.55088860e-03 4.16585759e+01] [-2.32726687e-02 9.99729152e-01 -7.02153615e-05 -1.09596515e+00] [-2.55183180e-03 1.08301300e-05 9.99996744e-01 -5.02783733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.410281692999995 meters Centerline goodness [0,1] 0.9991534212364283 Centerline is valid? [True, True] Translation: X:41.69, Y:-1.10, Z:-0.50 [[ 9.99725898e-01 2.32727713e-02 2.55089284e-03 4.16885646e+01] [-2.32726683e-02 9.99729152e-01 -7.00609682e-05 -1.09678888e+00] [-2.55183245e-03 1.06756813e-05 9.99996744e-01 -5.02938974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440281692999996 meters Centerline goodness [0,1] 0.999337224467107 Centerline is valid? [True, True] Translation: X:41.72, Y:-1.09, Z:-0.50 [[ 9.99643164e-01 2.65010546e-02 3.35230766e-03 4.17184442e+01] [-2.65008947e-02 9.99648785e-01 -9.21124905e-05 -1.09363405e+00] [-3.35357135e-03 3.24046919e-06 9.99994377e-01 -5.01516421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.470281693 meters Centerline goodness [0,1] 0.999488163787588 Centerline is valid? [True, True] Translation: X:41.75, Y:-1.08, Z:-0.50 [[ 9.99433255e-01 3.34778184e-02 3.52193323e-03 4.17481411e+01] [-3.34776855e-02 9.99439461e-01 -9.66891871e-05 -1.08339754e+00] [-3.52319599e-03 -2.12717840e-05 9.99993793e-01 -5.00872300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500281693 meters Centerline goodness [0,1] 0.9991192266380237 Centerline is valid? [True, True] Translation: X:41.78, Y:-1.08, Z:-0.50 [[ 9.99289604e-01 3.75409573e-02 3.31125151e-03 4.17774568e+01] [-3.75408624e-02 9.99295089e-01 -9.08488682e-05 -1.07774992e+00] [-3.31232793e-03 -3.35229077e-05 9.99994514e-01 -5.02234877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.530281693 meters Centerline goodness [0,1] 0.9984750931887496 Centerline is valid? [True, True] Translation: X:41.81, Y:-1.07, Z:-0.50 [[ 9.99135511e-01 4.14890872e-02 2.62403022e-03 4.18061603e+01] [-4.14890412e-02 9.99138956e-01 -7.19652262e-05 -1.07226036e+00] [-2.62475659e-03 -3.69654850e-05 9.99996555e-01 -5.03705127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56028169299999 meters Centerline goodness [0,1] 0.997596466155645 Centerline is valid? [True, True] Translation: X:41.84, Y:-1.07, Z:-0.50 [[ 9.98997885e-01 4.46861352e-02 2.52499234e-03 4.18361837e+01] [-4.46861032e-02 9.99001075e-01 -6.91431934e-05 -1.06828062e+00] [-2.52555980e-03 -4.37581642e-05 9.99996810e-01 -5.04602721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.590281692999994 meters Centerline goodness [0,1] 0.9971989389920425 Centerline is valid? [True, True] Translation: X:41.87, Y:-1.06, Z:-0.50 [[ 9.98814635e-01 4.85712689e-02 3.18707375e-03 4.18651227e+01] [-4.85712379e-02 9.98819717e-01 -8.71935558e-05 -1.05961052e+00] [-3.18754721e-03 -6.77099178e-05 9.99994917e-01 -5.03765976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.620281692999995 meters Centerline goodness [0,1] 0.9969838572642311 Centerline is valid? [True, True] Translation: X:41.89, Y:-1.06, Z:-0.50 [[ 9.98788518e-01 4.90735856e-02 3.64408191e-03 4.18926596e+01] [-4.90735488e-02 9.98795163e-01 -9.95825474e-05 -1.05732294e+00] [-3.64457826e-03 -7.93661265e-05 9.99993355e-01 -5.02926693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.650281693 meters Centerline goodness [0,1] 0.9964741615513689 Centerline is valid? [True, True] Translation: X:41.92, Y:-1.06, Z:-0.51 [[ 9.98780768e-01 4.92895268e-02 2.74232463e-03 4.19210708e+01] [-4.92895070e-02 9.98784531e-01 -7.48297018e-05 -1.05720225e+00] [-2.74267974e-03 -6.04293621e-05 9.99996237e-01 -5.05005311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680281693 meters Centerline goodness [0,1] 0.9968185963647161 Centerline is valid? [True, True] Translation: X:41.95, Y:-1.06, Z:-0.51 [[ 9.98794606e-01 4.90347322e-02 2.22044852e-03 4.19489355e+01] [-4.90347186e-02 9.98797073e-01 -6.05665087e-05 -1.05667418e+00] [-2.22074735e-03 -4.83855664e-05 9.99997533e-01 -5.06777630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.710281693 meters Centerline goodness [0,1] 0.9970814651890703 Centerline is valid? [True, True] Translation: X:41.98, Y:-1.06, Z:-0.51 [[ 9.98826953e-01 4.83520422e-02 2.60719971e-03 4.19775158e+01] [-4.83520218e-02 9.98830354e-01 -7.08971212e-05 -1.05606323e+00] [-2.60757824e-03 -5.52494218e-05 9.99996599e-01 -5.05863623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74028169299999 meters Centerline goodness [0,1] 0.9967372881355933 Centerline is valid? [True, True] Translation: X:42.01, Y:-1.05, Z:-0.50 [[ 9.98862340e-01 4.74573051e-02 4.67228368e-03 4.20068163e+01] [-4.74572316e-02 9.98873263e-01 -1.26673149e-04 -1.05431992e+00] [-4.67303081e-03 -9.52046104e-05 9.99989077e-01 -5.01962317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.770281692999994 meters Centerline goodness [0,1] 0.9966213344666384 Centerline is valid? [True, True] Translation: X:42.04, Y:-1.06, Z:-0.50 [[ 9.98887599e-01 4.67990180e-02 5.78064365e-03 4.20360617e+01] [-4.67988961e-02 9.98904319e-01 -1.56421984e-04 -1.05501903e+00] [-5.78163031e-03 -1.14279762e-04 9.99983280e-01 -5.00621257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800281692999995 meters Centerline goodness [0,1] 0.9976474110828325 Centerline is valid? [True, True] Translation: X:42.07, Y:-1.06, Z:-0.50 [[ 9.98965006e-01 4.52169149e-02 4.93437030e-03 4.20656513e+01] [-4.52168077e-02 9.98977188e-01 -1.33338692e-04 -1.05994905e+00] [-4.93535253e-03 -8.99157857e-05 9.99987817e-01 -5.03348818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.830281692999996 meters Centerline goodness [0,1] 0.998440137609778 Centerline is valid? [True, True] Translation: X:42.10, Y:-1.06, Z:-0.51 [[ 9.99032925e-01 4.38277595e-02 3.51304247e-03 4.20950185e+01] [-4.38276968e-02 9.99039100e-01 -9.48850379e-05 -1.06128303e+00] [-3.51382539e-03 -5.91752830e-05 9.99993825e-01 -5.06488963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860281693 meters Centerline goodness [0,1] 0.9988387559909634 Centerline is valid? [True, True] Translation: X:42.12, Y:-1.07, Z:-0.51 [[ 9.99199660e-01 3.99564940e-02 1.87549494e-03 4.21235120e+01] [-3.99564693e-02 9.99201420e-01 -5.06433511e-05 -1.06666491e+00] [-1.87602074e-03 -2.43353371e-05 9.99998240e-01 -5.09775991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.890281693 meters Centerline goodness [0,1] 0.9986232605426472 Centerline is valid? [True, True] Translation: X:42.15, Y:-1.07, Z:-0.51 [[ 9.99295314e-01 3.75024532e-02 1.56279369e-03 4.21509404e+01] [-3.75024329e-02 9.99296535e-01 -4.23336384e-05 -1.07069186e+00] [-1.56328193e-03 -1.63047590e-05 9.99998778e-01 -5.11115040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.920281693 meters Centerline goodness [0,1] 0.9991488275098949 Centerline is valid? [True, True] Translation: X:42.18, Y:-1.08, Z:-0.51 [[ 9.99382346e-01 3.50768227e-02 2.13132049e-03 4.21793903e+01] [-3.50767798e-02 9.99384619e-01 -5.74748058e-05 -1.07694645e+00] [-2.13202495e-03 -1.73205535e-05 9.99997727e-01 -5.10586917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.950281692999994 meters Centerline goodness [0,1] 0.9992795847017693 Centerline is valid? [True, True] Translation: X:42.21, Y:-1.08, Z:-0.51 [[ 9.99446139e-01 3.31440075e-02 2.98148802e-03 4.22082437e+01] [-3.31439158e-02 9.99450586e-01 -8.01876266e-05 -1.08174691e+00] [-2.98250769e-03 -1.86749739e-05 9.99995552e-01 -5.09302739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.980281692999995 meters Centerline goodness [0,1] 0.9993160054719562 Centerline is valid? [True, True] Translation: X:42.24, Y:-1.09, Z:-0.51 [[ 9.99500459e-01 3.12959008e-02 4.40432637e-03 4.22378706e+01] [-3.12956840e-02 9.99510163e-01 -1.18149389e-04 -1.08578855e+00] [-4.40586656e-03 -1.97460373e-05 9.99990294e-01 -5.05541849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.010281692999996 meters Centerline goodness [0,1] 0.9994107372098406 Centerline is valid? [True, True] Translation: X:42.27, Y:-1.09, Z:-0.50 [[ 9.99501328e-01 3.12374426e-02 4.61706837e-03 4.22663170e+01] [-3.12372042e-02 9.99511992e-01 -1.23752153e-04 -1.08544150e+00] [-4.61868090e-03 -2.05338664e-05 9.99989334e-01 -5.04425843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040281693 meters Centerline goodness [0,1] 0.999597133285272 Centerline is valid? [True, True] Translation: X:42.30, Y:-1.09, Z:-0.50 [[ 9.99511677e-01 3.08039216e-02 5.24657567e-03 4.22959716e+01] [-3.08036086e-02 9.99525446e-01 -1.40480315e-04 -1.08692763e+00] [-5.24841323e-03 -2.12017485e-05 9.99986227e-01 -5.03558591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.070281693 meters Centerline goodness [0,1] 0.9992593219621619 Centerline is valid? [True, True] Translation: X:42.33, Y:-1.09, Z:-0.50 [[ 9.99515327e-01 3.05815158e-02 5.82079853e-03 4.23253855e+01] [-3.05811274e-02 9.99532276e-01 -1.55733224e-04 -1.08659249e+00] [-5.82283856e-03 -2.23488372e-05 9.99983047e-01 -5.03057950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.100281693 meters Centerline goodness [0,1] 0.9990529283884716 Centerline is valid? [True, True] Translation: X:42.36, Y:-1.09, Z:-0.50 [[ 9.99522170e-01 3.02660035e-02 6.27702990e-03 4.23562819e+01] [-3.02655452e-02 9.99541879e-01 -1.68011186e-04 -1.08799501e+00] [-6.27923929e-03 -2.20468274e-05 9.99980285e-01 -5.03040292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13028169299999 meters Centerline goodness [0,1] 0.9993660855784469 Centerline is valid? [True, True] Translation: X:42.39, Y:-1.09, Z:-0.50 [[ 9.99520603e-01 3.03386084e-02 6.17513093e-03 4.23858517e+01] [-3.03381664e-02 9.99539678e-01 -1.65271860e-04 -1.08713324e+00] [-6.17730250e-03 -2.21495203e-05 9.99980920e-01 -5.03735834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.160281692999995 meters Centerline goodness [0,1] 0.9995086834853566 Centerline is valid? [True, True] Translation: X:42.42, Y:-1.09, Z:-0.51 [[ 9.99599145e-01 2.80670994e-02 3.71325314e-03 4.24158378e+01] [-2.80669240e-02 9.99606041e-01 -9.93450135e-05 -1.09098260e+00] [-3.71457860e-03 -4.91440334e-06 9.99993101e-01 -5.07995815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.190281692999996 meters Centerline goodness [0,1] 0.9995551695651252 Centerline is valid? [True, True] Translation: X:42.45, Y:-1.09, Z:-0.51 [[ 9.99643495e-01 2.64949371e-02 3.30182851e-03 4.24453313e+01] [-2.64947898e-02 9.99648948e-01 -8.83591845e-05 -1.09282738e+00] [-3.30301046e-03 8.46431639e-07 9.99994545e-01 -5.08587774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.220281693 meters Centerline goodness [0,1] 0.9992530943235168 Centerline is valid? [True, True] Translation: X:42.47, Y:-1.09, Z:-0.51 [[ 9.99677124e-01 2.51504593e-02 3.61956631e-03 4.24746540e+01] [-2.51502737e-02 9.99683677e-01 -9.67794567e-05 -1.09362484e+00] [-3.62085541e-03 5.71512538e-06 9.99993445e-01 -5.08673526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.250281693 meters Centerline goodness [0,1] 0.9991908351433073 Centerline is valid? [True, True] Translation: X:42.50, Y:-1.09, Z:-0.51 [[ 9.99711051e-01 2.37999474e-02 3.37307893e-03 4.25048008e+01] [-2.37997784e-02 9.99716741e-01 -9.02430633e-05 -1.09374144e+00] [-3.37427125e-03 9.93845658e-06 9.99994307e-01 -5.09199509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280281693 meters Centerline goodness [0,1] 0.9989950393431406 Centerline is valid? [True, True] Translation: X:42.54, Y:-1.09, Z:-0.51 [[ 9.99746355e-01 2.22548268e-02 3.45652175e-03 4.25350929e+01] [-2.22546401e-02 9.99752331e-01 -9.24754856e-05 -1.09143528e+00] [-3.45772371e-03 1.55283821e-05 9.99994022e-01 -5.10104426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31028169299999 meters Centerline goodness [0,1] 0.9985207100591716 Centerline is valid? [True, True] Translation: X:42.57, Y:-1.09, Z:-0.51 [[ 9.99762790e-01 2.15095636e-02 3.42074317e-03 4.25652603e+01] [-2.15093763e-02 9.99768642e-01 -9.15182683e-05 -1.09085683e+00] [-3.42192027e-03 1.79185071e-05 9.99994145e-01 -5.10176345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.340281692999994 meters Centerline goodness [0,1] 0.998721826935367 Centerline is valid? [True, True] Translation: X:42.59, Y:-1.09, Z:-0.51 [[ 9.99799458e-01 1.97382754e-02 3.38306902e-03 4.25944801e+01] [-1.97380820e-02 9.99805181e-01 -9.05313367e-05 -1.08928163e+00] [-3.38419687e-03 2.37378875e-05 9.99994273e-01 -5.10574638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.370281692999995 meters Centerline goodness [0,1] 0.9982111674262106 Centerline is valid? [True, True] Translation: X:42.62, Y:-1.09, Z:-0.51 [[ 9.99817733e-01 1.85558038e-02 4.49259515e-03 4.26246176e+01] [-1.85554513e-02 9.99827826e-01 -1.20141775e-04 -1.08976146e+00] [-4.49405097e-03 3.67577466e-05 9.99989901e-01 -5.09234519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400281693 meters Centerline goodness [0,1] 0.9974632929896597 Centerline is valid? [True, True] Translation: X:42.65, Y:-1.09, Z:-0.51 [[ 9.99870074e-01 1.42594054e-02 7.51694498e-03 4.26548655e+01] [-1.42582971e-02 9.99898325e-01 -2.01019474e-04 -1.09437570e+00] [-7.51904712e-03 9.38145216e-05 9.99971727e-01 -5.05083902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.430281693 meters Centerline goodness [0,1] 0.9971072446505296 Centerline is valid? [True, True] Translation: X:42.69, Y:-1.10, Z:-0.50 [[ 9.99901521e-01 1.15533863e-02 7.96668942e-03 4.26853253e+01] [-1.15520549e-02 9.99933250e-01 -2.13111889e-04 -1.10168988e+00] [-7.96861981e-03 1.21059268e-04 9.99968243e-01 -5.04451291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.460281693 meters Centerline goodness [0,1] 0.9970661298612301 Centerline is valid? [True, True] Translation: X:42.72, Y:-1.11, Z:-0.51 [[ 9.99933110e-01 8.73984531e-03 7.57570467e-03 4.27171251e+01] [-8.73855704e-03 9.99961797e-01 -2.03138176e-04 -1.10718274e+00] [-7.57719066e-03 1.36923861e-04 9.99971283e-01 -5.05642777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49028169299999 meters Centerline goodness [0,1] 0.9966090271488448 Centerline is valid? [True, True] Translation: X:42.75, Y:-1.12, Z:-0.51 [[ 9.99958562e-01 6.30460735e-03 6.56706916e-03 4.27478562e+01] [-6.30358090e-03 9.99980117e-01 -1.76989088e-04 -1.11779087e+00] [-6.56805443e-03 1.35585702e-04 9.99978421e-01 -5.07418089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.520281692999994 meters Centerline goodness [0,1] 0.9966790846194784 Centerline is valid? [True, True] Translation: X:42.78, Y:-1.12, Z:-0.51 [[ 9.99983485e-01 3.04412938e-03 4.87467886e-03 4.27794797e+01] [-3.04352255e-03 9.99995360e-01 -1.31900180e-04 -1.12261929e+00] [-4.87505776e-03 1.17061807e-04 9.99988110e-01 -5.10987080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.550281692999995 meters Centerline goodness [0,1] 0.9968229762358622 Centerline is valid? [True, True] Translation: X:42.81, Y:-1.13, Z:-0.51 [[ 9.99987004e-01 2.52661227e-03 4.42812986e-03 4.28114136e+01] [-2.52610389e-03 9.99996802e-01 -1.20395894e-04 -1.12703658e+00] [-4.42841989e-03 1.09208413e-04 9.99990189e-01 -5.11925678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580281692999996 meters Centerline goodness [0,1] 0.9958962643313449 Centerline is valid? [True, True] Translation: X:42.84, Y:-1.14, Z:-0.51 [[ 9.99984791e-01 2.64223039e-03 4.84119283e-03 4.28433288e+01] [-2.64162002e-03 9.99996502e-01 -1.32468288e-04 -1.13702539e+00] [-4.84152590e-03 1.19677682e-04 9.99988273e-01 -5.10977106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.610281693 meters Centerline goodness [0,1] 0.9967115799363669 Centerline is valid? [True, True] Translation: X:42.88, Y:-1.14, Z:-0.51 [[ 9.99979555e-01 3.07674047e-03 5.60564619e-03 4.28752043e+01] [-3.07592287e-03 9.99995257e-01 -1.54468525e-04 -1.13591199e+00] [-5.60609487e-03 1.37222832e-04 9.99984276e-01 -5.09491700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.640281693 meters Centerline goodness [0,1] 0.9969780749694592 Centerline is valid? [True, True] Translation: X:42.91, Y:-1.14, Z:-0.51 [[ 9.99974035e-01 3.52922403e-03 6.28279031e-03 4.29073387e+01] [-3.52819902e-03 9.99993761e-01 -1.74222240e-04 -1.13606126e+00] [-6.28336598e-03 1.52050782e-04 9.99980248e-01 -5.07897324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.670281693 meters Centerline goodness [0,1] 0.9970149890194239 Centerline is valid? [True, True] Translation: X:42.94, Y:-1.14, Z:-0.51 [[ 9.99975633e-01 4.13102116e-03 5.62748710e-03 4.29384459e+01] [-4.13020369e-03 9.99991458e-01 -1.56877465e-04 -1.14252279e+00] [-5.62808709e-03 1.33630974e-04 9.99984153e-01 -5.08968900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.700281692999994 meters Centerline goodness [0,1] 0.9970824371233256 Centerline is valid? [True, True] Translation: X:42.97, Y:-1.15, Z:-0.51 [[ 9.99985433e-01 3.86673506e-03 3.76601341e-03 4.29707313e+01] [-3.86636595e-03 9.99992520e-01 -1.05287497e-04 -1.14502348e+00] [-3.76639236e-03 9.07251768e-05 9.99992903e-01 -5.12548014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.730281692999995 meters Centerline goodness [0,1] 0.9966203371213721 Centerline is valid? [True, True] Translation: X:43.00, Y:-1.15, Z:-0.52 [[ 9.99990497e-01 3.79027403e-03 2.15405493e-03 4.30013102e+01] [-3.79015289e-03 9.99992816e-01 -6.03136022e-05 -1.14805466e+00] [-2.15426806e-03 5.21488315e-05 9.99997678e-01 -5.15965761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760281692999996 meters Centerline goodness [0,1] 0.9970255800118977 Centerline is valid? [True, True] Translation: X:43.03, Y:-1.15, Z:-0.52 [[ 9.99990220e-01 3.58714042e-03 2.58706880e-03 4.30323684e+01] [-3.58696317e-03 9.99993564e-01 -7.31499750e-05 -1.15113124e+00] [-2.58731455e-03 6.38695391e-05 9.99996651e-01 -5.15304736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.790281693 meters Centerline goodness [0,1] 0.9963515329962235 Centerline is valid? [True, True] Translation: X:43.06, Y:-1.15, Z:-0.51 [[ 9.99978650e-01 4.31172876e-03 4.91003714e-03 4.30635881e+01] [-4.31109806e-03 9.99990698e-01 -1.39026951e-04 -1.15285222e+00] [-4.91059091e-03 1.17856331e-04 9.99987936e-01 -5.10728873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.820281693 meters Centerline goodness [0,1] 0.9971532970768185 Centerline is valid? [True, True] Translation: X:43.10, Y:-1.15, Z:-0.51 [[ 9.99944075e-01 8.20515084e-03 6.67252693e-03 4.30951922e+01] [-8.20406835e-03 9.99966328e-01 -1.89587153e-04 -1.14692106e+00] [-6.67385784e-03 1.34834683e-04 9.99977720e-01 -5.06078010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.850281693 meters Centerline goodness [0,1] 0.9977228228483869 Centerline is valid? [True, True] Translation: X:43.13, Y:-1.14, Z:-0.51 [[ 9.99918250e-01 1.10918426e-02 6.36109616e-03 4.31271550e+01] [-1.10909153e-02 9.99938478e-01 -1.81038519e-04 -1.14217671e+00] [-6.36271286e-03 1.10473340e-04 9.99979752e-01 -5.07743508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88028169299999 meters Centerline goodness [0,1] 0.9979583156103785 Centerline is valid? [True, True] Translation: X:43.16, Y:-1.14, Z:-0.51 [[ 9.99900668e-01 1.30476115e-02 5.33049428e-03 4.31598232e+01] [-1.30469844e-02 9.99914873e-01 -1.52410515e-04 -1.14088054e+00] [-5.33202910e-03 8.28485005e-05 9.99985781e-01 -5.10142233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.910281692999995 meters Centerline goodness [0,1] 0.9981614927833309 Centerline is valid? [True, True] Translation: X:43.19, Y:-1.14, Z:-0.51 [[ 9.99896213e-01 1.39896395e-02 3.44282837e-03 4.31910005e+01] [-1.39893837e-02 9.99902139e-01 -9.83732593e-05 -1.14385518e+00] [-3.44386765e-03 5.02000023e-05 9.99994069e-01 -5.14420000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.940281692999996 meters Centerline goodness [0,1] 0.9979938304894622 Centerline is valid? [True, True] Translation: X:43.22, Y:-1.15, Z:-0.51 [[ 9.99902728e-01 1.32816075e-02 4.25823275e-03 4.32218295e+01] [-1.32812058e-02 9.99911793e-01 -1.22608861e-04 -1.14555715e+00] [-4.25948558e-03 6.60424694e-05 9.99990926e-01 -5.13424203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.970281693 meters Centerline goodness [0,1] 0.9973592861554188 Centerline is valid? [True, True] Translation: X:43.25, Y:-1.15, Z:-0.51 [[ 9.99905883e-01 1.16714692e-02 7.21123244e-03 4.32524245e+01] [-1.16702734e-02 9.99931878e-01 -2.07886272e-04 -1.14940712e+00] [-7.21316754e-03 1.23709653e-04 9.99973977e-01 -5.07248217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000281693 meters Centerline goodness [0,1] 0.997696242127066 Centerline is valid? [True, True] Translation: X:43.28, Y:-1.15, Z:-0.51 [[ 9.99908603e-01 1.09228656e-02 7.96719357e-03 4.32844534e+01] [-1.09213752e-02 9.99940333e-01 -2.30550891e-04 -1.15041646e+00] [-7.96923647e-03 1.43517109e-04 9.99968235e-01 -5.06570769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.030281693 meters Centerline goodness [0,1] 0.9973296598495285 Centerline is valid? [True, True] Translation: X:43.32, Y:-1.16, Z:-0.51 [[ 9.99920328e-01 9.79799770e-03 7.95842443e-03 4.33152440e+01] [-9.79646668e-03 9.99951987e-01 -2.31338990e-04 -1.15651198e+00] [-7.96030898e-03 1.53356119e-04 9.99968304e-01 -5.06870882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06028169299999 meters Centerline goodness [0,1] 0.9977768277041471 Centerline is valid? [True, True] Translation: X:43.35, Y:-1.16, Z:-0.51 [[ 9.99943065e-01 8.15785892e-03 6.87867496e-03 4.33471008e+01] [-8.15667192e-03 9.99966714e-01 -2.00599487e-04 -1.15783226e+00] [-6.88008246e-03 1.44480971e-04 9.99976322e-01 -5.09997849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.090281692999994 meters Centerline goodness [0,1] 0.9974902457028366 Centerline is valid? [True, True] Translation: X:43.38, Y:-1.16, Z:-0.51 [[ 9.99953138e-01 7.99789585e-03 5.45481258e-03 4.33790645e+01] [-7.99714318e-03 9.99968010e-01 -1.59780637e-04 -1.16476970e+00] [-5.45591599e-03 1.16150232e-04 9.99985110e-01 -5.12370207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120281692999995 meters Centerline goodness [0,1] 0.997612652939421 Centerline is valid? [True, True] Translation: X:43.41, Y:-1.16, Z:-0.51 [[ 9.99958632e-01 7.86022221e-03 4.57715664e-03 4.34112447e+01] [-7.85968787e-03 9.99969103e-01 -1.34717720e-04 -1.16169116e+00] [-4.57807413e-03 9.87371241e-05 9.99989516e-01 -5.13766512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.150281693 meters Centerline goodness [0,1] 0.9974222992245769 Centerline is valid? [True, True] Translation: X:43.44, Y:-1.17, Z:-0.52 [[ 9.99956589e-01 8.25497474e-03 4.32147019e-03 4.34423145e+01] [-8.25449907e-03 9.99965923e-01 -1.27894460e-04 -1.16692757e+00] [-4.32237869e-03 9.22173359e-05 9.99990654e-01 -5.15050627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.180281693 meters Centerline goodness [0,1] 0.9979434338294534 Centerline is valid? [True, True] Translation: X:43.47, Y:-1.17, Z:-0.52 [[ 9.99950843e-01 8.90292201e-03 4.36467852e-03 4.34747926e+01] [-8.90244142e-03 9.99960364e-01 -1.29525213e-04 -1.16871845e+00] [-4.36565868e-03 9.06625511e-05 9.99990466e-01 -5.15200698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.210281693 meters Centerline goodness [0,1] 0.9982479006858828 Centerline is valid? [True, True] Translation: X:43.51, Y:-1.17, Z:-0.52 [[ 9.99935855e-01 1.06633369e-02 3.81836458e-03 4.35069281e+01] [-1.06629801e-02 9.99943142e-01 -1.13795889e-04 -1.16902458e+00] [-3.81936092e-03 7.30734442e-05 9.99992704e-01 -5.16367930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24028169299999 meters Centerline goodness [0,1] 0.9983756302343734 Centerline is valid? [True, True] Translation: X:43.54, Y:-1.17, Z:-0.52 [[ 9.99929185e-01 1.15042358e-02 3.04606385e-03 4.35377103e+01] [-1.15040116e-02 9.99933823e-01 -9.11157630e-05 -1.17197932e+00] [-3.04691048e-03 5.60673567e-05 9.99995357e-01 -5.17901346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.270281692999994 meters Centerline goodness [0,1] 0.9984015897701746 Centerline is valid? [True, True] Translation: X:43.57, Y:-1.17, Z:-0.52 [[ 9.99927653e-01 1.17945810e-02 2.36132081e-03 4.35690166e+01] [-1.17944459e-02 9.99930441e-01 -7.11443420e-05 -1.17012315e+00] [-2.36199567e-03 4.32887244e-05 9.99997210e-01 -5.19634662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300281692999995 meters Centerline goodness [0,1] 0.9984279067791209 Centerline is valid? [True, True] Translation: X:43.60, Y:-1.18, Z:-0.52 [[ 9.99920487e-01 1.24926993e-02 1.71816354e-03 4.35993154e+01] [-1.24926290e-02 9.99921963e-01 -5.16432057e-05 -1.17510145e+00] [-1.71867462e-03 3.01747197e-05 9.99998523e-01 -5.20415693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.330281692999996 meters Centerline goodness [0,1] 0.9984279067791209 Centerline is valid? [True, True] Translation: X:43.63, Y:-1.18, Z:-0.52 [[ 9.99920487e-01 1.24927010e-02 1.71815400e-03 4.36293062e+01] [-1.24926301e-02 9.99921963e-01 -5.19587188e-05 -1.17600823e+00] [-1.71866902e-03 3.04903250e-05 9.99998523e-01 -5.20570918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.360281693 meters Centerline goodness [0,1] 0.998897978213877 Centerline is valid? [True, True] Translation: X:43.66, Y:-1.18, Z:-0.52 [[ 9.99908154e-01 1.32622652e-02 2.79202288e-03 4.36583321e+01] [-1.32620810e-02 9.99912051e-01 -8.44610445e-05 -1.17812320e+00] [-2.79289747e-03 4.74252535e-05 9.99996099e-01 -5.18751869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.390281693 meters Centerline goodness [0,1] 0.9987389389988458 Centerline is valid? [True, True] Translation: X:43.69, Y:-1.18, Z:-0.52 [[ 9.99874890e-01 1.51988265e-02 4.38186489e-03 4.36894454e+01] [-1.51983919e-02 9.99884489e-01 -1.32452322e-04 -1.17760635e+00] [-4.38337186e-03 6.58384510e-05 9.99990391e-01 -5.15599770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420281693 meters Centerline goodness [0,1] 0.9983664983664984 Centerline is valid? [True, True] Translation: X:43.72, Y:-1.18, Z:-0.51 [[ 9.99855807e-01 1.63028279e-02 4.75215205e-03 4.37203946e+01] [-1.63023293e-02 9.99867098e-01 -1.43647090e-04 -1.18147671e+00] [-4.75386233e-03 6.61552299e-05 9.99988698e-01 -5.14998381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.450281692999994 meters Centerline goodness [0,1] 0.9986591465361285 Centerline is valid? [True, True] Translation: X:43.75, Y:-1.18, Z:-0.51 [[ 9.99846395e-01 1.66393306e-02 5.50621242e-03 4.37519264e+01] [-1.66386613e-02 9.99861554e-01 -1.67351746e-04 -1.18229071e+00] [-5.50823473e-03 7.57100368e-05 9.99984827e-01 -5.14319386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.480281692999995 meters Centerline goodness [0,1] 0.9983295140599233 Centerline is valid? [True, True] Translation: X:43.78, Y:-1.19, Z:-0.51 [[ 9.99846523e-01 1.58301252e-02 7.50587293e-03 4.37837569e+01] [-1.58288545e-02 9.99874690e-01 -2.28669264e-04 -1.18730104e+00] [-7.50855223e-03 1.09824797e-04 9.99971804e-01 -5.11246073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.510281692999996 meters Centerline goodness [0,1] 0.9979572729594008 Centerline is valid? [True, True] Translation: X:43.82, Y:-1.19, Z:-0.51 [[ 9.99848276e-01 1.51048417e-02 8.67577927e-03 4.38155698e+01] [-1.51031034e-02 9.99885906e-01 -2.65851000e-04 -1.19047788e+00] [-8.67880505e-03 1.34779473e-04 9.99962329e-01 -5.09501673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.540281693 meters Centerline goodness [0,1] 0.998005685916748 Centerline is valid? [True, True] Translation: X:43.85, Y:-1.20, Z:-0.51 [[ 9.99861228e-01 1.45610372e-02 8.09330906e-03 4.38464121e+01] [-1.45594968e-02 9.99893974e-01 -2.49219113e-04 -1.19555225e+00] [-8.09607985e-03 1.31350021e-04 9.99967218e-01 -5.10594937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.570281693 meters Centerline goodness [0,1] 0.9982673796791444 Centerline is valid? [True, True] Translation: X:43.88, Y:-1.20, Z:-0.51 [[ 9.99869999e-01 1.48436034e-02 6.29708465e-03 4.38781525e+01] [-1.48426716e-02 9.99889823e-01 -1.94691208e-04 -1.19710836e+00] [-6.29928077e-03 1.01200339e-04 9.99980154e-01 -5.13933473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600281693 meters Centerline goodness [0,1] 0.9987822074093065 Centerline is valid? [True, True] Translation: X:43.91, Y:-1.20, Z:-0.52 [[ 9.99876445e-01 1.49669694e-02 4.80468083e-03 4.39107926e+01] [-1.49664256e-02 9.99887986e-01 -1.49129730e-04 -1.19839218e+00] [-4.80637466e-03 7.72024067e-05 9.99988446e-01 -5.17024114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63028169299999 meters Centerline goodness [0,1] 0.998194370685077 Centerline is valid? [True, True] Translation: X:43.94, Y:-1.20, Z:-0.52 [[ 9.99887508e-01 1.41458183e-02 4.98661481e-03 4.39415696e+01] [-1.41452181e-02 9.99899939e-01 -1.55626516e-04 -1.20060615e+00] [-4.98831731e-03 8.50722556e-05 9.99987555e-01 -5.16755417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.660281692999995 meters Centerline goodness [0,1] 0.9981238673915361 Centerline is valid? [True, True] Translation: X:43.97, Y:-1.20, Z:-0.52 [[ 9.99898648e-01 1.29973492e-02 5.81062689e-03 4.39738278e+01] [-1.29965089e-02 9.99915525e-01 -1.82353462e-04 -1.20129095e+00] [-5.81250615e-03 1.06817116e-04 9.99983102e-01 -5.16280665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.690281692999996 meters Centerline goodness [0,1] 0.9978999699995714 Centerline is valid? [True, True] Translation: X:44.00, Y:-1.21, Z:-0.52 [[ 9.99944108e-01 8.54140943e-03 6.23093466e-03 4.40044674e+01] [-8.54035081e-03 9.99963511e-01 -1.96485039e-04 -1.21105039e+00] [-6.23238556e-03 1.43259689e-04 9.99980568e-01 -5.16491212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.720281693 meters Centerline goodness [0,1] 0.9976356820311835 Centerline is valid? [True, True] Translation: X:44.03, Y:-1.22, Z:-0.52 [[ 9.99962365e-01 6.25195861e-03 6.01515931e-03 4.40349459e+01] [-6.25092921e-03 9.99980445e-01 -1.89919397e-04 -1.21870436e+00] [-6.01622905e-03 1.52311914e-04 9.99981891e-01 -5.16702840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.750281693 meters Centerline goodness [0,1] 0.9963790235995031 Centerline is valid? [True, True] Translation: X:44.07, Y:-1.23, Z:-0.52 [[ 9.99977468e-01 4.26005516e-03 5.18798112e-03 4.40654245e+01] [-4.25926072e-03 9.99990916e-01 -1.64169116e-04 -1.22580199e+00] [-5.18863336e-03 1.42068453e-04 9.99986529e-01 -5.17335830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.780281693 meters Centerline goodness [0,1] 0.9968063362289218 Centerline is valid? [True, True] Translation: X:44.10, Y:-1.23, Z:-0.52 [[ 9.99988077e-01 1.35502798e-03 4.69135098e-03 4.40965404e+01] [-1.35434474e-03 9.99999072e-01 -1.48811790e-04 -1.22899892e+00] [-4.69154827e-03 1.42456309e-04 9.99988984e-01 -5.18293781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81028169299999 meters Centerline goodness [0,1] 0.995476930230592 Centerline is valid? [True, True] Translation: X:44.13, Y:-1.24, Z:-0.52 [[ 9.99987443e-01 9.19985238e-04 4.92615397e-03 4.41275739e+01] [-9.19226187e-04 9.99999565e-01 -1.56347871e-04 -1.23626256e+00] [-4.92629567e-03 1.51817658e-04 9.99987854e-01 -5.17997743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.840281692999994 meters Centerline goodness [0,1] 0.996519845421355 Centerline is valid? [True, True] Translation: X:44.16, Y:-1.23, Z:-0.52 [[ 9.99984420e-01 1.25854940e-03 5.43840573e-03 4.41599217e+01] [-1.25762461e-03 9.99999194e-01 -1.73465003e-04 -1.23450152e+00] [-5.43861966e-03 1.66622828e-04 9.99985197e-01 -5.17759016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.870281692999995 meters Centerline goodness [0,1] 0.9952692095549238 Centerline is valid? [True, True] Translation: X:44.19, Y:-1.24, Z:-0.52 [[ 9.99984925e-01 3.36032927e-03 4.34261449e-03 4.41902799e+01] [-3.35975864e-03 9.99994346e-01 -1.38692625e-04 -1.23713323e+00] [-4.34305599e-03 1.24100398e-04 9.99990561e-01 -5.18292348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900281693 meters Centerline goodness [0,1] 0.9962238676876991 Centerline is valid? [True, True] Translation: X:44.22, Y:-1.23, Z:-0.52 [[ 9.99979381e-01 5.08452374e-03 3.92250485e-03 4.42231650e+01] [-5.08407157e-03 9.99987068e-01 -1.25237345e-04 -1.23280026e+00] [-3.92309090e-03 1.05292467e-04 9.99992299e-01 -5.18618568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.930281693 meters Centerline goodness [0,1] 0.9979846490287724 Centerline is valid? [True, True] Translation: X:44.26, Y:-1.23, Z:-0.52 [[ 9.99947018e-01 8.52964740e-03 5.76242482e-03 4.42551328e+01] [-8.52872541e-03 9.99963613e-01 -1.84555981e-04 -1.22568917e+00] [-5.76378933e-03 1.35400064e-04 9.99983380e-01 -5.15798904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960281693 meters Centerline goodness [0,1] 0.9978562853712913 Centerline is valid? [True, True] Translation: X:44.29, Y:-1.23, Z:-0.51 [[ 9.99925374e-01 1.03739461e-02 6.45190921e-03 4.42861463e+01] [-1.03728261e-02 9.99946179e-01 -2.07036410e-04 -1.22747630e+00] [-6.45370975e-03 1.40096427e-04 9.99979165e-01 -5.14808081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99028169299999 meters Centerline goodness [0,1] 0.997802662159307 Centerline is valid? [True, True] Translation: X:44.32, Y:-1.23, Z:-0.52 [[ 9.99910939e-01 1.21840636e-02 5.44628178e-03 4.43170104e+01] [-1.21832887e-02 9.99925766e-01 -1.75452201e-04 -1.22911359e+00] [-5.44801520e-03 1.09082952e-04 9.99985154e-01 -5.16482627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.020281692999994 meters Centerline goodness [0,1] 0.9988514548238897 Centerline is valid? [True, True] Translation: X:44.35, Y:-1.22, Z:-0.52 [[ 9.99897374e-01 1.38245791e-02 3.75786203e-03 4.43497194e+01] [-1.38242214e-02 9.99904434e-01 -1.21152501e-04 -1.22357705e+00] [-3.75917779e-03 6.91905506e-05 9.99992932e-01 -5.19246438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.050281692999995 meters Centerline goodness [0,1] 0.9987530645024939 Centerline is valid? [True, True] Translation: X:44.38, Y:-1.22, Z:-0.52 [[ 9.99834215e-01 1.80099626e-02 2.68027703e-03 4.43802570e+01] [-1.80097942e-02 9.99837807e-01 -8.69575534e-05 -1.22009832e+00] [-2.68140840e-03 3.86718994e-05 9.99996404e-01 -5.21241755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.080281692999996 meters Centerline goodness [0,1] 0.9990605316536778 Centerline is valid? [True, True] Translation: X:44.41, Y:-1.21, Z:-0.52 [[ 9.99785974e-01 2.03773868e-02 3.57340540e-03 4.44108276e+01] [-2.03771020e-02 9.99792359e-01 -1.16095143e-04 -1.21491302e+00] [-3.57502913e-03 4.32546497e-05 9.99993609e-01 -5.19419963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.110281693 meters Centerline goodness [0,1] 0.9990702195549732 Centerline is valid? [True, True] Translation: X:44.44, Y:-1.21, Z:-0.52 [[ 9.99668889e-01 2.51869331e-02 5.26592817e-03 4.44406173e+01] [-2.51863813e-02 9.99682758e-01 -1.71082935e-04 -1.20926426e+00] [-5.26856665e-03 3.83966131e-05 9.99986120e-01 -5.16334910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140281693 meters Centerline goodness [0,1] 0.999248136452493 Centerline is valid? [True, True] Translation: X:44.47, Y:-1.21, Z:-0.52 [[ 9.99621437e-01 2.70392401e-02 5.08539838e-03 4.44717283e+01] [-2.70387495e-02 9.99634373e-01 -1.65215772e-04 -1.20608781e+00] [-5.08800633e-03 2.76504146e-05 9.99987056e-01 -5.16786124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.170281693 meters Centerline goodness [0,1] 0.9994205635555937 Centerline is valid? [True, True] Translation: X:44.50, Y:-1.20, Z:-0.52 [[ 9.99526674e-01 3.03498658e-02 5.03133935e-03 4.45026304e+01] [-3.03494269e-02 9.99539337e-01 -1.63576426e-04 -1.20041203e+00] [-5.03398612e-03 1.08007353e-05 9.99987329e-01 -5.16700953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200281692999994 meters Centerline goodness [0,1] 0.9991294931951846 Centerline is valid? [True, True] Translation: X:44.53, Y:-1.20, Z:-0.52 [[ 9.99490462e-01 3.13552164e-02 5.97219351e-03 4.45320511e+01] [-3.13546156e-02 9.99508304e-01 -1.94228773e-04 -1.20093750e+00] [-5.97534710e-03 6.87397462e-06 9.99982147e-01 -5.15321848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.230281692999995 meters Centerline goodness [0,1] 0.9991324220237844 Centerline is valid? [True, True] Translation: X:44.56, Y:-1.20, Z:-0.51 [[ 9.99476984e-01 3.15767673e-02 6.97604951e-03 4.45627167e+01] [-3.15759534e-02 9.99501330e-01 -2.26804151e-04 -1.20263062e+00] [-6.97973250e-03 6.41011425e-06 9.99975641e-01 -5.13949442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.260281692999996 meters Centerline goodness [0,1] 0.9989155396784895 Centerline is valid? [True, True] Translation: X:44.59, Y:-1.20, Z:-0.51 [[ 9.99472546e-01 3.15577838e-02 7.66397188e-03 4.45934805e+01] [-3.15568007e-02 9.99501929e-01 -2.49198591e-04 -1.20374633e+00] [-7.66801884e-03 7.21671683e-06 9.99970600e-01 -5.12290158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.290281693 meters Centerline goodness [0,1] 0.9987866919261797 Centerline is valid? [True, True] Translation: X:44.62, Y:-1.20, Z:-0.51 [[ 9.99479886e-01 3.15567349e-02 6.64309532e-03 4.46235122e+01] [-3.15559958e-02 9.99501962e-01 -2.16072734e-04 -1.20450283e+00] [-6.64660536e-03 6.33086346e-06 9.99977911e-01 -5.14745050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320281693 meters Centerline goodness [0,1] 0.9988657764081493 Centerline is valid? [True, True] Translation: X:44.66, Y:-1.21, Z:-0.52 [[ 9.99490310e-01 3.17496256e-02 3.32887387e-03 4.46551995e+01] [-3.17494412e-02 9.99495854e-01 -1.08262422e-04 -1.20666381e+00] [-3.33063292e-03 2.51735634e-06 9.99994453e-01 -5.20803109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.350281693 meters Centerline goodness [0,1] 0.9991134190361598 Centerline is valid? [True, True] Translation: X:44.68, Y:-1.21, Z:-0.52 [[ 9.99465848e-01 3.25374485e-02 3.05513183e-03 4.46842727e+01] [-3.25372964e-02 9.99470517e-01 -9.94908986e-05 -1.20625922e+00] [-3.05675137e-03 3.20256919e-08 9.99995328e-01 -5.22455113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38028169299999 meters Centerline goodness [0,1] 0.9990917731545041 Centerline is valid? [True, True] Translation: X:44.71, Y:-1.20, Z:-0.52 [[ 9.99435656e-01 3.34250280e-02 3.33714775e-03 4.47141832e+01] [-3.34248516e-02 9.99441228e-01 -1.08652743e-04 -1.20453990e+00] [-3.33891477e-03 -2.95224265e-06 9.99994426e-01 -5.21278377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.410281692999995 meters Centerline goodness [0,1] 0.9989501424806634 Centerline is valid? [True, True] Translation: X:44.74, Y:-1.20, Z:-0.52 [[ 9.99381790e-01 3.49108953e-02 4.15532202e-03 4.47441916e+01] [-3.49106350e-02 9.99390429e-01 -1.35169232e-04 -1.20328182e+00] [-4.15750794e-03 -9.97926096e-06 9.99991357e-01 -5.20819425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.440281692999996 meters Centerline goodness [0,1] 0.9990598089702771 Centerline is valid? [True, True] Translation: X:44.77, Y:-1.21, Z:-0.52 [[ 9.99382921e-01 3.49172372e-02 3.81629278e-03 4.47748080e+01] [-3.49170182e-02 9.99390207e-01 -1.24029477e-04 -1.20569109e+00] [-3.81829640e-03 -9.30062361e-06 9.99992710e-01 -5.21992228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.470281693 meters Centerline goodness [0,1] 0.9991878085793062 Centerline is valid? [True, True] Translation: X:44.80, Y:-1.21, Z:-0.52 [[ 9.99397998e-01 3.45741082e-02 2.87621627e-03 4.48042286e+01] [-3.45739823e-02 9.99402137e-01 -9.35039857e-05 -1.20812664e+00] [-2.87772950e-03 -5.99455426e-06 9.99995859e-01 -5.23354966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500281693 meters Centerline goodness [0,1] 0.9991683725690891 Centerline is valid? [True, True] Translation: X:44.83, Y:-1.21, Z:-0.52 [[ 9.99422435e-01 3.39109792e-02 2.20061318e-03 4.48342852e+01] [-3.39109039e-02 9.99424857e-01 -7.15642255e-05 -1.21016079e+00] [-2.20177432e-03 -3.10188939e-06 9.99997576e-01 -5.23651889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.530281693 meters Centerline goodness [0,1] 0.999065638869423 Centerline is valid? [True, True] Translation: X:44.86, Y:-1.21, Z:-0.52 [[ 9.99420062e-01 3.39049066e-02 3.16179052e-03 4.48634567e+01] [-3.39047514e-02 9.99425063e-01 -1.02693461e-04 -1.21054603e+00] [-3.16345451e-03 -4.56581619e-06 9.99994996e-01 -5.21980523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56028169299999 meters Centerline goodness [0,1] 0.9989564476626558 Centerline is valid? [True, True] Translation: X:44.89, Y:-1.21, Z:-0.52 [[ 9.99436692e-01 3.32097412e-02 4.83856811e-03 4.48933770e+01] [-3.32093704e-02 9.99448404e-01 -1.56976396e-04 -1.21387427e+00] [-4.84111232e-03 -3.79783042e-06 9.99988282e-01 -5.20029925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.590281692999994 meters Centerline goodness [0,1] 0.9987520622699776 Centerline is valid? [True, True] Translation: X:44.92, Y:-1.22, Z:-0.52 [[ 9.99496993e-01 3.13206241e-02 4.97780370e-03 4.49237015e+01] [-3.13202090e-02 9.99509389e-01 -1.61358191e-04 -1.21845085e+00] [-4.98041537e-03 5.37117435e-06 9.99987598e-01 -5.19904583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620281692999995 meters Centerline goodness [0,1] 0.9989547112656527 Centerline is valid? [True, True] Translation: X:44.95, Y:-1.22, Z:-0.52 [[ 9.99573653e-01 2.87505455e-02 5.09095372e-03 4.49548112e+01] [-2.87500764e-02 9.99586617e-01 -1.65311377e-04 -1.22408028e+00] [-5.09360200e-03 1.88755888e-05 9.99987027e-01 -5.19999016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.650281693 meters Centerline goodness [0,1] 0.9986141611410784 Centerline is valid? [True, True] Translation: X:44.99, Y:-1.24, Z:-0.52 [[ 9.99765396e-01 2.12439339e-02 4.22464051e-03 4.49852078e+01] [-2.12435438e-02 9.99774321e-01 -1.37202674e-04 -1.23965909e+00] [-4.22660182e-03 4.74241502e-05 9.99991067e-01 -5.21097233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680281693 meters Centerline goodness [0,1] 0.9986151355036645 Centerline is valid? [True, True] Translation: X:45.02, Y:-1.25, Z:-0.52 [[ 9.99846232e-01 1.72215649e-02 3.30612016e-03 4.50165325e+01] [-1.72213038e-02 9.99851697e-01 -1.07426910e-04 -1.24872196e+00] [-3.30747991e-03 5.04746917e-05 9.99994529e-01 -5.23074810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.710281693 meters Centerline goodness [0,1] 0.9978409042800898 Centerline is valid? [True, True] Translation: X:45.05, Y:-1.26, Z:-0.52 [[ 9.99924458e-01 1.19249049e-02 2.97920811e-03 4.50468696e+01] [-1.19246674e-02 9.99928894e-01 -9.74682863e-05 -1.26318180e+00] [-2.98015857e-03 6.19348575e-05 9.99995557e-01 -5.24387744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74028169299999 meters Centerline goodness [0,1] 0.9973192630100847 Centerline is valid? [True, True] Translation: X:45.08, Y:-1.27, Z:-0.52 [[ 9.99934205e-01 1.05842757e-02 4.42262216e-03 4.50781802e+01] [-1.05837393e-02 9.99943980e-01 -1.44668959e-04 -1.27086247e+00] [-4.42390562e-03 9.78515601e-05 9.99990210e-01 -5.22319488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.770281692999994 meters Centerline goodness [0,1] 0.9967147520269559 Centerline is valid? [True, True] Translation: X:45.11, Y:-1.28, Z:-0.52 [[ 9.99927722e-01 1.05131299e-02 5.83312865e-03 4.51099160e+01] [-1.05121892e-02 9.99944727e-01 -1.91915000e-04 -1.27546989e+00] [-5.83482386e-03 1.30582177e-04 9.99982969e-01 -5.19312508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800281692999995 meters Centerline goodness [0,1] 0.9964853943934675 Centerline is valid? [True, True] Translation: X:45.14, Y:-1.28, Z:-0.51 [[ 9.99887288e-01 1.27237141e-02 7.96978981e-03 4.51407494e+01] [-1.27220161e-02 9.99919037e-01 -2.63728230e-04 -1.28025940e+00] [-7.97250016e-03 1.62306710e-04 9.99968206e-01 -5.14536335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.830281692999996 meters Centerline goodness [0,1] 0.9977549231328444 Centerline is valid? [True, True] Translation: X:45.17, Y:-1.28, Z:-0.52 [[ 9.99872494e-01 1.41144845e-02 7.46834174e-03 4.51726581e+01] [-1.41130242e-02 9.99900376e-01 -2.48194297e-04 -1.28316215e+00] [-7.47110085e-03 1.42761763e-04 9.99972081e-01 -5.15916446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860281693 meters Centerline goodness [0,1] 0.9977445547106586 Centerline is valid? [True, True] Translation: X:45.20, Y:-1.29, Z:-0.52 [[ 9.99852868e-01 1.59147246e-02 6.40026576e-03 4.52040182e+01] [-1.59136835e-02 9.99873347e-01 -2.13573088e-04 -1.28985309e+00] [-6.40285410e-03 1.11689862e-04 9.99979495e-01 -5.19166970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.890281693 meters Centerline goodness [0,1] 0.9977054961864497 Centerline is valid? [True, True] Translation: X:45.24, Y:-1.29, Z:-0.52 [[ 9.99842673e-01 1.70729252e-02 4.81080761e-03 4.52358467e+01] [-1.70723478e-02 9.99854244e-01 -1.61077955e-04 -1.29262279e+00] [-4.81285648e-03 7.89208328e-05 9.99988415e-01 -5.22282177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920281693 meters Centerline goodness [0,1] 0.9981516497057511 Centerline is valid? [True, True] Translation: X:45.27, Y:-1.30, Z:-0.52 [[ 9.99819562e-01 1.86985345e-02 3.34794958e-03 4.52669677e+01] [-1.86982630e-02 9.99825166e-01 -1.12374212e-04 -1.29578325e+00] [-3.34946548e-03 4.97530932e-05 9.99994389e-01 -5.24580215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.950281692999994 meters Centerline goodness [0,1] 0.998856222994154 Centerline is valid? [True, True] Translation: X:45.30, Y:-1.30, Z:-0.52 [[ 9.99774315e-01 2.10432473e-02 2.91548605e-03 4.52986967e+01] [-2.10430497e-02 9.99778566e-01 -9.84407028e-05 -1.29996628e+00] [-2.91691197e-03 3.70677685e-05 9.99995745e-01 -5.24263276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980281692999995 meters Centerline goodness [0,1] 0.998522053079408 Centerline is valid? [True, True] Translation: X:45.33, Y:-1.31, Z:-0.52 [[ 9.99753737e-01 2.19721632e-02 3.11279319e-03 4.53295838e+01] [-2.19719425e-02 9.99758582e-01 -1.05068060e-04 -1.30625481e+00] [-3.11435028e-03 3.66480730e-05 9.99995150e-01 -5.24505687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.010281692999996 meters Centerline goodness [0,1] 0.9988300859355058 Centerline is valid? [True, True] Translation: X:45.36, Y:-1.31, Z:-0.52 [[ 9.99727657e-01 2.31553293e-02 2.90548369e-03 4.53611513e+01] [-2.31551401e-02 9.99731879e-01 -9.87486987e-05 -1.30733515e+00] [-2.90699123e-03 3.14449234e-05 9.99995774e-01 -5.24057379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040281693 meters Centerline goodness [0,1] 0.9989851150202977 Centerline is valid? [True, True] Translation: X:45.39, Y:-1.31, Z:-0.52 [[ 9.99592259e-01 2.84002624e-02 2.95654482e-03 4.53917197e+01] [-2.84000895e-02 9.99596631e-01 -1.00460875e-04 -1.30558031e+00] [-2.95820536e-03 1.64537754e-05 9.99995624e-01 -5.24976451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.070281693 meters Centerline goodness [0,1] 0.9992403781228899 Centerline is valid? [True, True] Translation: X:45.42, Y:-1.30, Z:-0.52 [[ 9.99463299e-01 3.26417377e-02 2.76254327e-03 4.54228185e+01] [-3.26416022e-02 9.99467116e-01 -9.41262546e-05 -1.29997246e+00] [-2.76414360e-03 3.90189819e-06 9.99996180e-01 -5.23748184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100281693 meters Centerline goodness [0,1] 0.9988447715214787 Centerline is valid? [True, True] Translation: X:45.45, Y:-1.28, Z:-0.52 [[ 9.99067666e-01 4.30283121e-02 3.51611704e-03 4.54531239e+01] [-4.30281563e-02 9.99073853e-01 -1.19972466e-04 -1.28307186e+00] [-3.51802281e-03 -3.14314220e-05 9.99993811e-01 -5.22112790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13028169299999 meters Centerline goodness [0,1] 0.9981355677946124 Centerline is valid? [True, True] Translation: X:45.48, Y:-1.28, Z:-0.52 [[ 9.98812823e-01 4.84670836e-02 4.88731852e-03 4.54840904e+01] [-4.84668481e-02 9.98824778e-01 -1.66676429e-04 -1.27810887e+00] [-4.88965316e-03 -7.03943701e-05 9.99988043e-01 -5.19858490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.160281692999995 meters Centerline goodness [0,1] 0.9973703742975294 Centerline is valid? [True, True] Translation: X:45.51, Y:-1.26, Z:-0.52 [[ 9.98547510e-01 5.35825480e-02 5.63751560e-03 4.55143083e+01] [-5.35823162e-02 9.98563417e-01 -1.92255472e-04 -1.26385383e+00] [-5.63971838e-03 -1.10094921e-04 9.99984091e-01 -5.18651156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.190281692999996 meters Centerline goodness [0,1] 0.9950201515055601 Centerline is valid? [True, True] Translation: X:45.55, Y:-1.26, Z:-0.52 [[ 9.98301921e-01 5.79925717e-02 5.48956999e-03 4.55450972e+01] [-5.79924188e-02 9.98317006e-01 -1.87149935e-04 -1.25524133e+00] [-5.49118438e-03 -1.31521303e-04 9.99984915e-01 -5.19656602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220281693 meters Centerline goodness [0,1] 0.9950201515055601 Centerline is valid? [True, True] Translation: X:45.57, Y:-1.26, Z:-0.52 [[ 9.98303151e-01 5.79714017e-02 5.48957022e-03 4.55742531e+01] [-5.79712486e-02 9.98318235e-01 -1.87143181e-04 -1.25618749e+00] [-5.49118701e-03 -1.31411613e-04 9.99984915e-01 -5.19807539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.250281693 meters Centerline goodness [0,1] 0.9956739477890251 Centerline is valid? [True, True] Translation: X:45.60, Y:-1.25, Z:-0.53 [[ 9.97946164e-01 6.39853731e-02 3.05385066e-03 4.56041899e+01] [-6.39853539e-02 9.97950832e-01 -1.04070331e-04 -1.25304913e+00] [-3.05425179e-03 -9.15451283e-05 9.99995332e-01 -5.25476651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280281693 meters Centerline goodness [0,1] 0.989781424240497 Centerline is valid? [True, True] Translation: X:45.63, Y:-1.24, Z:-0.53 [[ 9.97837635e-01 6.56767255e-02 2.57317939e-03 4.56330154e+01] [-6.56767173e-02 9.97840950e-01 -8.77643117e-05 -1.23732954e+00] [-2.57338783e-03 -8.14234418e-05 9.99996686e-01 -5.27463086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31028169299999 meters Centerline goodness [0,1] 0.9926605504587156 Centerline is valid? [True, True] Translation: X:45.66, Y:-1.24, Z:-0.53 [[ 9.97691057e-01 6.78514098e-02 2.95660596e-03 4.56630104e+01] [-6.78514092e-02 9.97695433e-01 -1.00611368e-04 -1.23624091e+00] [-2.95661888e-03 -1.00230818e-04 9.99995624e-01 -5.25337449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340281692999994 meters Centerline goodness [0,1] 0.9868516233351772 Centerline is valid? [True, True] Translation: X:45.69, Y:-1.22, Z:-0.53 [[ 9.97649373e-01 6.84617455e-02 2.95260656e-03 4.56917278e+01] [-6.84617475e-02 9.97653737e-01 -1.00499267e-04 -1.22237405e+00] [-2.95255933e-03 -1.01877575e-04 9.99995636e-01 -5.26497145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.370281692999995 meters Centerline goodness [0,1] 0.990695998643608 Centerline is valid? [True, True] Translation: X:45.72, Y:-1.23, Z:-0.53 [[ 9.97597649e-01 6.92172553e-02 2.81115088e-03 4.57203074e+01] [-6.92172607e-02 9.97601605e-01 -9.54752328e-05 -1.22693835e+00] [-2.81101716e-03 -9.93342954e-05 9.99996044e-01 -5.26440924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400281693 meters Centerline goodness [0,1] 0.9919033488766427 Centerline is valid? [True, True] Translation: X:45.75, Y:-1.22, Z:-0.53 [[ 9.97488836e-01 7.07715930e-02 2.72108151e-03 4.57501931e+01] [-7.07716043e-02 9.97492542e-01 -9.22485718e-05 -1.22251715e+00] [-2.72078709e-03 -1.00558383e-04 9.99996294e-01 -5.26727856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.430281693 meters Centerline goodness [0,1] 0.9874246956228673 Centerline is valid? [True, True] Translation: X:45.78, Y:-1.21, Z:-0.53 [[ 9.97373323e-01 7.23713440e-02 2.97385646e-03 4.57789958e+01] [-7.23713647e-02 9.97377750e-01 -1.00779984e-04 -1.21089144e+00] [-2.97335185e-03 -1.14706783e-04 9.99995573e-01 -5.26915422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460281693 meters Centerline goodness [0,1] 0.9893351534671416 Centerline is valid? [True, True] Translation: X:45.81, Y:-1.21, Z:-0.53 [[ 9.97283972e-01 7.35951140e-02 2.90479007e-03 4.58073009e+01] [-7.35951392e-02 9.97288196e-01 -9.83541478e-05 -1.21115181e+00] [-2.90415123e-03 -1.15691414e-04 9.99995776e-01 -5.26773219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49028169299999 meters Centerline goodness [0,1] 0.9548151915903696 Centerline is valid? [True, True] Translation: X:45.84, Y:-1.18, Z:-0.53 [[ 9.97211006e-01 7.46013900e-02 2.20041993e-03 4.58361605e+01] [-7.46014071e-02 9.97213430e-01 -7.44492104e-05 -1.18458255e+00] [-2.19984232e-03 -8.99128509e-05 9.99997576e-01 -5.29576296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.520281692999994 meters Centerline goodness [0,1] 0.9873546204271516 Centerline is valid? [True, True] Translation: X:45.86, Y:-1.19, Z:-0.53 [[ 9.97197654e-01 7.47839107e-02 2.05084245e-03 4.58642596e+01] [-7.47839262e-02 9.97199759e-01 -6.92517399e-05 -1.19414700e+00] [-2.05027851e-03 -8.43123778e-05 9.99997895e-01 -5.29023440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.550281692999995 meters Centerline goodness [0,1] 0.9919891757226923 Centerline is valid? [True, True] Translation: X:45.89, Y:-1.19, Z:-0.53 [[ 9.97303212e-01 7.33598345e-02 2.15378470e-03 4.58930754e+01] [-7.33598485e-02 9.97305534e-01 -7.26255480e-05 -1.19488064e+00] [-2.15330920e-03 -8.55716269e-05 9.99997678e-01 -5.29354323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580281692999996 meters Centerline goodness [0,1] 0.9924860455130957 Centerline is valid? [True, True] Translation: X:45.92, Y:-1.19, Z:-0.53 [[ 9.97474189e-01 7.09940580e-02 2.25517132e-03 4.59217203e+01] [-7.09940676e-02 9.97476735e-01 -7.58880130e-05 -1.19321209e+00] [-2.25486853e-03 -8.44074512e-05 9.99997454e-01 -5.28979744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.610281693 meters Centerline goodness [0,1] 0.9937401858846496 Centerline is valid? [True, True] Translation: X:45.95, Y:-1.19, Z:-0.53 [[ 9.97909136e-01 6.45467490e-02 3.32763690e-03 4.59517269e+01] [-6.45467351e-02 9.97914679e-01 -1.11702186e-04 -1.19281859e+00] [-3.32790772e-03 -1.03319466e-04 9.99994457e-01 -5.28055071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.640281693 meters Centerline goodness [0,1] 0.9954253954681488 Centerline is valid? [True, True] Translation: X:45.98, Y:-1.20, Z:-0.53 [[ 9.98122632e-01 6.11127045e-02 4.05559432e-03 4.59813705e+01] [-6.11126553e-02 9.98130866e-01 -1.36168559e-04 -1.19793318e+00] [-4.05633550e-03 -1.11935217e-04 9.99991767e-01 -5.27182401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67028169299999 meters Centerline goodness [0,1] 0.9971558951501645 Centerline is valid? [True, True] Translation: X:46.01, Y:-1.20, Z:-0.53 [[ 9.98305895e-01 5.80309671e-02 4.21273691e-03 4.60110572e+01] [-5.80308870e-02 9.98314778e-01 -1.41344861e-04 -1.20357086e+00] [-4.21383990e-03 -1.03363452e-04 9.99991116e-01 -5.27372832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700281692999994 meters Centerline goodness [0,1] 0.9979950943798657 Centerline is valid? [True, True] Translation: X:46.04, Y:-1.21, Z:-0.53 [[ 9.98457797e-01 5.54077048e-02 3.46597287e-03 4.60399977e+01] [-5.54076348e-02 9.98463810e-01 -1.16270838e-04 -1.20710915e+00] [-3.46709078e-03 -7.59498342e-05 9.99993987e-01 -5.28710097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.730281692999995 meters Centerline goodness [0,1] 0.9981233472660582 Centerline is valid? [True, True] Translation: X:46.07, Y:-1.21, Z:-0.53 [[ 9.98662797e-01 5.16971139e-02 -1.63093707e-04 4.60676628e+01] [-5.16971138e-02 9.98662810e-01 5.14095046e-06 -1.20889642e+00] [ 1.63141392e-04 3.29739796e-06 9.99999987e-01 -5.34863896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760281692999996 meters Centerline goodness [0,1] 0.9986216548623775 Centerline is valid? [True, True] Translation: X:46.10, Y:-1.21, Z:-0.54 [[ 9.98734327e-01 5.02701105e-02 -1.63105452e-03 4.60968977e+01] [-5.02700890e-02 9.98735658e-01 5.41819217e-05 -1.21017913e+00] [ 1.63171604e-03 2.78799110e-05 9.99998668e-01 -5.37181892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.790281693 meters Centerline goodness [0,1] 0.9986912652509815 Centerline is valid? [True, True] Translation: X:46.12, Y:-1.21, Z:-0.53 [[ 9.98808246e-01 4.88065028e-02 1.13873999e-04 4.61246901e+01] [-4.88065027e-02 9.98808253e-01 -4.09595175e-06 -1.20893947e+00] [-1.13938199e-04 -1.46672124e-06 9.99999994e-01 -5.33858886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.820281693 meters Centerline goodness [0,1] 0.9984893938426842 Centerline is valid? [True, True] Translation: X:46.15, Y:-1.21, Z:-0.53 [[ 9.98792983e-01 4.90768004e-02 2.01121996e-03 4.61535594e+01] [-4.90767647e-02 9.98795007e-01 -6.71368674e-05 -1.20742650e+00] [-2.01209131e-03 -3.16483366e-05 9.99997975e-01 -5.29927326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.850281693 meters Centerline goodness [0,1] 0.9984828087270552 Centerline is valid? [True, True] Translation: X:46.18, Y:-1.21, Z:-0.53 [[ 9.98763718e-01 4.95737038e-02 3.67207415e-03 4.61819667e+01] [-4.95735895e-02 9.98770466e-01 -1.22218782e-04 -1.20719129e+00] [-3.67361805e-03 -5.99702120e-05 9.99993250e-01 -5.27016061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88028169299999 meters Centerline goodness [0,1] 0.9976702812605897 Centerline is valid? [True, True] Translation: X:46.21, Y:-1.20, Z:-0.53 [[ 9.98668434e-01 5.14115198e-02 4.26791140e-03 4.62104138e+01] [-5.14113831e-02 9.98677550e-01 -1.41818696e-04 -1.19859968e+00] [-4.26955842e-03 -7.77893732e-05 9.99990882e-01 -5.25968152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.910281692999995 meters Centerline goodness [0,1] 0.9982707457142247 Centerline is valid? [True, True] Translation: X:46.24, Y:-1.20, Z:-0.53 [[ 9.98640866e-01 5.19565260e-02 4.11584096e-03 4.62394067e+01] [-5.19564045e-02 9.98649345e-01 -1.36518903e-04 -1.20102842e+00] [-4.11737492e-03 -7.75109418e-05 9.99991521e-01 -5.26231276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940281692999996 meters Centerline goodness [0,1] 0.9985712457883738 Centerline is valid? [True, True] Translation: X:46.27, Y:-1.20, Z:-0.53 [[ 9.98639834e-01 5.19672633e-02 4.22917997e-03 4.62685717e+01] [-5.19671359e-02 9.98648786e-01 -1.40078615e-04 -1.20354097e+00] [-4.23074495e-03 -7.98902860e-05 9.99991047e-01 -5.26119763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.970281693 meters Centerline goodness [0,1] 0.9984423011266644 Centerline is valid? [True, True] Translation: X:46.30, Y:-1.21, Z:-0.53 [[ 9.98717168e-01 5.04135561e-02 4.74257367e-03 4.62967527e+01] [-5.04133796e-02 9.98728425e-01 -1.56826184e-04 -1.20605792e+00] [-4.74444930e-03 -8.24641646e-05 9.99988742e-01 -5.25091400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000281693 meters Centerline goodness [0,1] 0.9985566922783037 Centerline is valid? [True, True] Translation: X:46.33, Y:-1.21, Z:-0.52 [[ 9.98748150e-01 4.97649381e-02 5.05802861e-03 4.63256563e+01] [-4.97647304e-02 9.98760954e-01 -1.67000775e-04 -1.20806975e+00] [-5.06007226e-03 -8.49197147e-05 9.99987194e-01 -5.24168023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.030281693 meters Centerline goodness [0,1] 0.9985334438564051 Centerline is valid? [True, True] Translation: X:46.35, Y:-1.21, Z:-0.53 [[ 9.98759211e-01 4.96121993e-02 4.32061326e-03 4.63543014e+01] [-4.96120470e-02 9.98768554e-01 -1.42487960e-04 -1.20869760e+00] [-4.32236180e-03 -7.20433058e-05 9.99990656e-01 -5.25590478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06028169299999 meters Centerline goodness [0,1] 0.998785723578646 Centerline is valid? [True, True] Translation: X:46.38, Y:-1.21, Z:-0.53 [[ 9.98728231e-01 5.02647488e-02 3.92121138e-03 4.63826170e+01] [-5.02646290e-02 9.98735926e-01 -1.29158457e-04 -1.21031020e+00] [-3.92274680e-03 -6.81040382e-05 9.99992304e-01 -5.26661741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.090281692999994 meters Centerline goodness [0,1] 0.9981581454429977 Centerline is valid? [True, True] Translation: X:46.41, Y:-1.21, Z:-0.53 [[ 9.98661932e-01 5.15746430e-02 3.79489111e-03 4.64103084e+01] [-5.15745408e-02 9.98669140e-01 -1.24838274e-04 -1.20593367e+00] [-3.79627913e-03 -7.10485348e-05 9.99992792e-01 -5.27076207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120281692999995 meters Centerline goodness [0,1] 0.9981683797702933 Centerline is valid? [True, True] Translation: X:46.44, Y:-1.21, Z:-0.53 [[ 9.98492382e-01 5.47704381e-02 3.62798568e-03 4.64395825e+01] [-5.47703667e-02 9.98498970e-01 -1.19104104e-04 -1.20539717e+00] [-3.62906335e-03 -7.97815658e-05 9.99993412e-01 -5.26167634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.150281693 meters Centerline goodness [0,1] 0.9981156443861023 Centerline is valid? [True, True] Translation: X:46.47, Y:-1.20, Z:-0.53 [[ 9.98429280e-01 5.59316926e-02 3.25870041e-03 4.64672654e+01] [-5.59316413e-02 9.98434595e-01 -1.06949268e-04 -1.20081233e+00] [-3.25958108e-03 -7.54831823e-05 9.99994685e-01 -5.27456965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180281693 meters Centerline goodness [0,1] 0.9970835006445886 Centerline is valid? [True, True] Translation: X:46.49, Y:-1.20, Z:-0.53 [[ 9.98395894e-01 5.65240604e-02 3.26632818e-03 4.64948323e+01] [-5.65240129e-02 9.98401234e-01 -1.06949714e-04 -1.19837052e+00] [-3.26715132e-03 -7.78478212e-05 9.99994660e-01 -5.27831037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.210281693 meters Centerline goodness [0,1] 0.9974577538507552 Centerline is valid? [True, True] Translation: X:46.52, Y:-1.20, Z:-0.53 [[ 9.98441762e-01 5.57189519e-02 3.07347920e-03 4.65241065e+01] [-5.57189065e-02 9.98446490e-01 -1.00460697e-04 -1.19935074e+00] [-3.07430208e-03 -7.09467446e-05 9.99995272e-01 -5.29247625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24028169299999 meters Centerline goodness [0,1] 0.997668157632544 Centerline is valid? [True, True] Translation: X:46.55, Y:-1.20, Z:-0.53 [[ 9.98523827e-01 5.42697656e-02 2.22682651e-03 4.65516099e+01] [-5.42697383e-02 9.98526309e-01 -7.26921196e-05 -1.20091880e+00] [-2.22748984e-03 -4.82644784e-05 9.99997518e-01 -5.30782529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.270281692999994 meters Centerline goodness [0,1] 0.9986807387862797 Centerline is valid? [True, True] Translation: X:46.58, Y:-1.21, Z:-0.53 [[ 9.98779849e-01 4.93795415e-02 6.87954785e-04 4.65808788e+01] [-4.93795377e-02 9.98780086e-01 -2.24678381e-05 -1.20946772e+00] [-6.88224991e-04 -1.15304653e-05 9.99999763e-01 -5.34084881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300281692999995 meters Centerline goodness [0,1] 0.9989616004068831 Centerline is valid? [True, True] Translation: X:46.61, Y:-1.22, Z:-0.53 [[ 9.98911664e-01 4.66352628e-02 8.00382181e-04 4.66093312e+01] [-4.66352568e-02 9.98911984e-01 -2.62082386e-05 -1.21605919e+00] [-8.00733581e-04 -1.11463134e-05 9.99999679e-01 -5.33222757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.330281692999996 meters Centerline goodness [0,1] 0.9990439161195742 Centerline is valid? [True, True] Translation: X:46.64, Y:-1.22, Z:-0.53 [[ 9.99025332e-01 4.41066668e-02 1.72834654e-03 4.66378883e+01] [-4.41066355e-02 9.99026827e-01 -5.62332749e-05 -1.22107485e+00] [-1.72914482e-03 -2.00530847e-05 9.99998505e-01 -5.31737822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360281693 meters Centerline goodness [0,1] 0.9991201527929784 Centerline is valid? [True, True] Translation: X:46.67, Y:-1.23, Z:-0.53 [[ 9.99186477e-01 4.02047903e-02 3.15566890e-03 4.66654246e+01] [-4.02046676e-02 9.99191460e-01 -1.02348928e-04 -1.22771711e+00] [-3.15723233e-03 -2.46069542e-05 9.99995016e-01 -5.28765956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.390281693 meters Centerline goodness [0,1] 0.9991864871229474 Centerline is valid? [True, True] Translation: X:46.69, Y:-1.23, Z:-0.53 [[ 9.99236232e-01 3.89782693e-02 2.76529489e-03 4.66940665e+01] [-3.89781708e-02 9.99240058e-01 -8.95371152e-05 -1.23251340e+00] [-2.76668343e-03 -1.83174069e-05 9.99996173e-01 -5.29636308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42028169299999 meters Centerline goodness [0,1] 0.9993145990404386 Centerline is valid? [True, True] Translation: X:46.72, Y:-1.23, Z:-0.53 [[ 9.99221090e-01 3.94388687e-02 1.33735727e-03 4.67225213e+01] [-3.94388460e-02 9.99221985e-01 -4.33644194e-05 -1.23379438e+00] [-1.33802703e-03 -9.41318486e-06 9.99999105e-01 -5.32549844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.450281692999994 meters Centerline goodness [0,1] 0.9995086624938583 Centerline is valid? [True, True] Translation: X:46.75, Y:-1.23, Z:-0.53 [[ 9.99163843e-01 4.08852155e-02 -1.17070257e-04 4.67501944e+01] [-4.08852154e-02 9.99163850e-01 3.46656021e-06 -1.23180261e+00] [ 1.17114100e-04 1.32278104e-06 9.99999993e-01 -5.34266326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480281692999995 meters Centerline goodness [0,1] 0.9994011079502919 Centerline is valid? [True, True] Translation: X:46.78, Y:-1.23, Z:-0.54 [[ 9.99103266e-01 4.23214756e-02 -1.24779081e-03 4.67782119e+01] [-4.23214589e-02 9.99104045e-01 3.97872438e-05 -1.22816937e+00] [ 1.24835670e-03 1.30567622e-05 9.99999221e-01 -5.37061951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.510281692999996 meters Centerline goodness [0,1] 0.9994034938219003 Centerline is valid? [True, True] Translation: X:46.81, Y:-1.23, Z:-0.54 [[ 9.99041183e-01 4.37368681e-02 -1.94937485e-03 4.68066580e+01] [-4.37368298e-02 9.99043085e-01 6.22961539e-05 -1.22753435e+00] [ 1.95023411e-03 2.30230530e-05 9.99998098e-01 -5.36987580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.540281693 meters Centerline goodness [0,1] 0.9994023606753324 Centerline is valid? [True, True] Translation: X:46.84, Y:-1.23, Z:-0.53 [[ 9.99023353e-01 4.41742671e-02 -9.87093857e-04 4.68350551e+01] [-4.41742577e-02 9.99023841e-01 3.13096979e-05 -1.22517641e+00] [ 9.87513379e-04 1.23250190e-05 9.99999512e-01 -5.34884896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.570281693 meters Centerline goodness [0,1] 0.9995950985615344 Centerline is valid? [True, True] Translation: X:46.86, Y:-1.23, Z:-0.53 [[ 9.99057884e-01 4.33956493e-02 4.03565772e-04 4.68638786e+01] [-4.33956476e-02 9.99057965e-01 -1.31420878e-05 -1.22553503e+00] [-4.03755909e-04 -4.38329162e-06 9.99999918e-01 -5.33365719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600281693 meters Centerline goodness [0,1] 0.999175527979198 Centerline is valid? [True, True] Translation: X:46.89, Y:-1.23, Z:-0.53 [[ 9.99186360e-01 4.02988350e-02 1.61908422e-03 4.68915932e+01] [-4.02988037e-02 9.99187672e-01 -5.19762416e-05 -1.22895430e+00] [-1.61986358e-03 -1.33132056e-05 9.99998688e-01 -5.32365866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63028169299999 meters Centerline goodness [0,1] 0.9994862133927043 Centerline is valid? [True, True] Translation: X:46.92, Y:-1.23, Z:-0.53 [[ 9.99260867e-01 3.84055602e-02 1.65291139e-03 4.69204032e+01] [-3.84055252e-02 9.99262234e-01 -5.29236811e-05 -1.23337631e+00] [-1.65372449e-03 -1.05963666e-05 9.99998633e-01 -5.31946360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660281692999995 meters Centerline goodness [0,1] 0.9996375111945073 Centerline is valid? [True, True] Translation: X:46.95, Y:-1.24, Z:-0.53 [[ 9.99328406e-01 3.65926176e-02 1.92794059e-03 4.69481629e+01] [-3.65925667e-02 9.99330266e-01 -6.16371215e-05 -1.23697402e+00] [-1.92890485e-03 -8.95256844e-06 9.99998140e-01 -5.31378364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.690281692999996 meters Centerline goodness [0,1] 0.9995348443843031 Centerline is valid? [True, True] Translation: X:46.98, Y:-1.24, Z:-0.53 [[ 9.99423731e-01 3.38398019e-02 2.65949388e-03 4.69754730e+01] [-3.38396962e-02 9.99427270e-01 -8.47572862e-05 -1.24199587e+00] [-2.66083888e-03 -5.28802173e-06 9.99996460e-01 -5.29411273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.720281693 meters Centerline goodness [0,1] 0.9995108464483199 Centerline is valid? [True, True] Translation: X:47.01, Y:-1.24, Z:-0.53 [[ 9.99444299e-01 3.32123224e-02 2.83474134e-03 4.70051658e+01] [-3.32122005e-02 9.99448319e-01 -9.00801502e-05 -1.24444123e+00] [-2.83616924e-03 -4.11790547e-06 9.99995978e-01 -5.29167338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.750281693 meters Centerline goodness [0,1] 0.9996388127562836 Centerline is valid? [True, True] Translation: X:47.03, Y:-1.25, Z:-0.53 [[ 9.99452293e-01 3.29648900e-02 2.90346414e-03 4.70341954e+01] [-3.29647612e-02 9.99456510e-01 -9.22206171e-05 -1.24593367e+00] [-2.90492618e-03 -3.54189501e-06 9.99995781e-01 -5.29667841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.780281693 meters Centerline goodness [0,1] 0.9995986819871578 Centerline is valid? [True, True] Translation: X:47.06, Y:-1.24, Z:-0.53 [[ 9.99433767e-01 3.34534681e-02 3.60713857e-03 4.70630886e+01] [-3.34532730e-02 9.99440276e-01 -1.14406019e-04 -1.24476740e+00] [-3.60894685e-03 -6.32935279e-06 9.99993488e-01 -5.27911442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81028169299999 meters Centerline goodness [0,1] 0.9995526394273785 Centerline is valid? [True, True] Translation: X:47.09, Y:-1.24, Z:-0.53 [[ 9.99413806e-01 3.39333742e-02 4.53549178e-03 4.70931242e+01] [-3.39330717e-02 9.99424097e-01 -1.43649243e-04 -1.24443299e+00] [-4.53775428e-03 -1.03381308e-05 9.99989704e-01 -5.26205129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840281692999994 meters Centerline goodness [0,1] 0.999576208335982 Centerline is valid? [True, True] Translation: X:47.12, Y:-1.24, Z:-0.53 [[ 9.99377242e-01 3.50734409e-02 3.87072152e-03 4.71214728e+01] [-3.50732294e-02 9.99384738e-01 -1.22538645e-04 -1.24390144e+00] [-3.87263786e-03 -1.32963704e-05 9.99992501e-01 -5.27942562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.870281692999995 meters Centerline goodness [0,1] 0.999551674814799 Centerline is valid? [True, True] Translation: X:47.15, Y:-1.24, Z:-0.53 [[ 9.99366580e-01 3.54945144e-02 2.56464388e-03 4.71515365e+01] [-3.54944230e-02 9.99369871e-01 -8.11358313e-05 -1.24382194e+00] [-2.56590770e-03 -9.94611657e-06 9.99996708e-01 -5.29522511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900281693 meters Centerline goodness [0,1] 0.999614833201378 Centerline is valid? [True, True] Translation: X:47.18, Y:-1.24, Z:-0.53 [[ 9.99355382e-01 3.58500149e-02 1.89657980e-03 4.71800776e+01] [-3.58499656e-02 9.99357182e-01 -6.00257524e-05 -1.24249129e+00] [-1.89751257e-03 -8.00526185e-06 9.99998200e-01 -5.30794322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.930281693 meters Centerline goodness [0,1] 0.9994674619235275 Centerline is valid? [True, True] Translation: X:47.21, Y:-1.24, Z:-0.53 [[ 9.99356685e-01 3.57938842e-02 2.23904192e-03 4.72075448e+01] [-3.57938153e-02 9.99359194e-01 -7.08204527e-05 -1.23989483e+00] [-2.24014207e-03 -9.36896021e-06 9.99997491e-01 -5.31405981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960281693 meters Centerline goodness [0,1] 0.9995541306609482 Centerline is valid? [True, True] Translation: X:47.24, Y:-1.24, Z:-0.53 [[ 9.99386927e-01 3.49431866e-02 2.17821028e-03 4.72362076e+01] [-3.49431198e-02 9.99389300e-01 -6.87373509e-05 -1.24166079e+00] [-2.17928195e-03 -7.41825310e-06 9.99997625e-01 -5.31399508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99028169299999 meters Centerline goodness [0,1] 0.9993810428361044 Centerline is valid? [True, True] Translation: X:47.26, Y:-1.25, Z:-0.53 [[ 9.99483625e-01 3.20845410e-02 1.75106565e-03 4.72646179e+01] [-3.20844934e-02 9.99485159e-01 -5.52395778e-05 -1.24648840e+00] [-1.75193647e-03 -9.71000971e-07 9.99998465e-01 -5.31788166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020281692999994 meters Centerline goodness [0,1] 0.999468695541293 Centerline is valid? [True, True] Translation: X:47.29, Y:-1.25, Z:-0.53 [[ 9.99536198e-01 3.04298932e-02 1.18744127e-03 4.72935630e+01] [-3.04298702e-02 9.99536904e-01 -3.74031899e-05 -1.24987308e+00] [-1.18802954e-03 1.25215854e-06 9.99999294e-01 -5.33473101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.050281692999995 meters Centerline goodness [0,1] 0.9994491758823779 Centerline is valid? [True, True] Translation: X:47.32, Y:-1.25, Z:-0.53 [[ 9.99587637e-01 2.87092867e-02 5.76245658e-04 4.73227864e+01] [-2.87092810e-02 9.99587803e-01 -1.81891156e-05 -1.25412976e+00] [-5.76530328e-04 1.63801662e-06 9.99999834e-01 -5.33601710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080281692999996 meters Centerline goodness [0,1] 0.9989994465023204 Centerline is valid? [True, True] Translation: X:47.35, Y:-1.26, Z:-0.54 [[ 9.99694215e-01 2.47254673e-02 3.57494807e-04 4.73514610e+01] [-2.47254648e-02 9.99694279e-01 -1.13765860e-05 -1.26470335e+00] [-3.57666805e-04 2.53388199e-06 9.99999936e-01 -5.35113778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.110281693 meters Centerline goodness [0,1] 0.9986344719958384 Centerline is valid? [True, True] Translation: X:47.38, Y:-1.27, Z:-0.53 [[ 9.99748952e-01 2.24003346e-02 5.08877771e-04 4.73805824e+01] [-2.24003293e-02 9.99749081e-01 -1.60491375e-05 -1.27012001e+00] [-5.09109590e-04 4.64607876e-06 9.99999870e-01 -5.34409100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140281693 meters Centerline goodness [0,1] 0.9986344719958384 Centerline is valid? [True, True] Translation: X:47.41, Y:-1.27, Z:-0.53 [[ 9.99749480e-01 2.23767238e-02 5.08878149e-04 4.74097327e+01] [-2.23767185e-02 9.99749610e-01 -1.60371113e-05 -1.27098902e+00] [-5.09109589e-04 4.64607062e-06 9.99999870e-01 -5.34560008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17028169299999 meters Centerline goodness [0,1] 0.9986638954869359 Centerline is valid? [True, True] Translation: X:47.44, Y:-1.28, Z:-0.54 [[ 9.99792253e-01 2.03698798e-02 7.20016498e-04 4.74384233e+01] [-2.03698687e-02 9.99792512e-01 -2.26751339e-05 -1.27790315e+00] [-7.20328993e-04 8.00378162e-06 9.99999741e-01 -5.35068650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200281692999994 meters Centerline goodness [0,1] 0.9982578027067797 Centerline is valid? [True, True] Translation: X:47.47, Y:-1.30, Z:-0.54 [[ 9.99877032e-01 1.56710554e-02 5.81514071e-04 4.74672477e+01] [-1.56710474e-02 9.99877201e-01 -1.81668390e-05 -1.29529257e+00] [-5.81727355e-04 9.05167051e-06 9.99999831e-01 -5.35904928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.230281692999995 meters Centerline goodness [0,1] 0.9967301404116177 Centerline is valid? [True, True] Translation: X:47.50, Y:-1.30, Z:-0.53 [[ 9.99908131e-01 1.35543348e-02 1.02593725e-04 4.74970818e+01] [-1.35543346e-02 9.99908136e-01 -3.26317414e-06 -1.30383217e+00] [-1.02628531e-04 1.87228468e-06 9.99999995e-01 -5.27292663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260281692999996 meters Centerline goodness [0,1] 0.9973052739638136 Centerline is valid? [True, True] Translation: X:47.53, Y:-1.32, Z:-0.53 [[ 9.99949270e-01 9.97702635e-03 1.38403340e-03 4.75257524e+01] [-9.97697602e-03 9.99950228e-01 -4.32632060e-05 -1.32168217e+00] [-1.38439615e-03 2.94525433e-05 9.99999041e-01 -5.33986131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.290281693 meters Centerline goodness [0,1] 0.9972100353537505 Centerline is valid? [True, True] Translation: X:47.56, Y:-1.33, Z:-0.53 [[ 9.99958207e-01 9.06534399e-03 1.18492402e-03 4.75560243e+01] [-9.06530652e-03 9.99958909e-01 -3.69885678e-05 -1.32632780e+00] [-1.18521065e-03 2.62453224e-05 9.99999297e-01 -5.33748565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320281693 meters Centerline goodness [0,1] 0.997170114696109 Centerline is valid? [True, True] Translation: X:47.59, Y:-1.33, Z:-0.53 [[ 9.99958488e-01 8.99627579e-03 1.44511038e-03 4.75856719e+01] [-8.99622005e-03 9.99959532e-01 -4.50676199e-05 -1.33429971e+00] [-1.44545734e-03 3.20652181e-05 9.99998955e-01 -5.33753345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.350281693 meters Centerline goodness [0,1] 0.997406827971968 Centerline is valid? [True, True] Translation: X:47.62, Y:-1.34, Z:-0.53 [[ 9.99954435e-01 9.33510330e-03 1.99593584e-03 4.76162640e+01] [-9.33499748e-03 9.99956426e-01 -6.23280874e-05 -1.33863264e+00] [-1.99643071e-03 4.36931915e-05 9.99998006e-01 -5.32773028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38028169299999 meters Centerline goodness [0,1] 0.9974576809813351 Centerline is valid? [True, True] Translation: X:47.65, Y:-1.35, Z:-0.53 [[ 9.99920039e-01 1.20907285e-02 3.70546585e-03 4.76460537e+01] [-1.20903828e-02 9.99926902e-01 -1.15695401e-04 -1.35440253e+00] [-3.70659383e-03 7.08856490e-05 9.99993128e-01 -5.29892453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.410281692999995 meters Centerline goodness [0,1] 0.9972052253816349 Centerline is valid? [True, True] Translation: X:47.68, Y:-1.36, Z:-0.53 [[ 9.99894521e-01 1.39318173e-02 4.10506308e-03 4.76773596e+01] [-1.39314083e-02 9.99902945e-01 -1.28216721e-04 -1.35669430e+00] [-4.10645095e-03 7.10138872e-05 9.99991566e-01 -5.29078225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.440281692999996 meters Centerline goodness [0,1] 0.9982748338728915 Centerline is valid? [True, True] Translation: X:47.71, Y:-1.35, Z:-0.53 [[ 9.99842196e-01 1.74584854e-02 3.28391210e-03 4.77099053e+01] [-1.74582434e-02 9.99847588e-01 -1.02348913e-04 -1.35391031e+00] [-3.28519845e-03 4.50014252e-05 9.99994603e-01 -5.30852510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.470281693 meters Centerline goodness [0,1] 0.9986870526449536 Centerline is valid? [True, True] Translation: X:47.74, Y:-1.36, Z:-0.53 [[ 9.99812198e-01 1.92052601e-02 2.59357621e-03 4.77407775e+01] [-1.92051143e-02 9.99815561e-01 -8.11073496e-05 -1.35689966e+00] [-2.59465554e-03 3.12821899e-05 9.99996633e-01 -5.32112565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.500281693 meters Centerline goodness [0,1] 0.9989506595854034 Centerline is valid? [True, True] Translation: X:47.77, Y:-1.36, Z:-0.53 [[ 9.99753079e-01 2.22043519e-02 8.64398537e-04 4.77719758e+01] [-2.22043367e-02 9.99753453e-01 -2.71902909e-05 -1.35805937e+00] [-8.64789165e-04 7.99018084e-06 9.99999626e-01 -5.32950573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.530281693 meters Centerline goodness [0,1] 0.9991966003509588 Centerline is valid? [True, True] Translation: X:47.80, Y:-1.36, Z:-0.53 [[ 9.99719780e-01 2.36385509e-02 1.25721494e-03 4.78011440e+01] [-2.36385195e-02 9.99720570e-01 -3.97651085e-05 -1.35863031e+00] [-1.25780363e-03 1.00352655e-05 9.99999209e-01 -5.33084140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56028169299999 meters Centerline goodness [0,1] 0.9991450616624276 Centerline is valid? [True, True] Translation: X:47.83, Y:-1.36, Z:-0.53 [[ 9.99681345e-01 2.51134459e-02 2.55390834e-03 4.78322609e+01] [-2.51133219e-02 9.99684608e-01 -8.06281424e-05 -1.35691318e+00] [-2.55512771e-03 1.64653276e-05 9.99996736e-01 -5.30739854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.590281692999994 meters Centerline goodness [0,1] 0.9991047066848567 Centerline is valid? [True, True] Translation: X:47.86, Y:-1.36, Z:-0.53 [[ 9.99623976e-01 2.71770471e-02 3.64892729e-03 4.78625391e+01] [-2.71768074e-02 9.99630636e-01 -1.15283492e-04 -1.35501618e+00] [-3.65071257e-03 1.60739488e-05 9.99993336e-01 -5.29159372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.620281692999995 meters Centerline goodness [0,1] 0.9993382996435356 Centerline is valid? [True, True] Translation: X:47.89, Y:-1.35, Z:-0.53 [[ 9.99511283e-01 3.10329055e-02 3.76215879e-03 4.78925152e+01] [-3.10326780e-02 9.99518363e-01 -1.18844328e-04 -1.35175935e+00] [-3.76403488e-03 2.03638383e-06 9.99992916e-01 -5.29294791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.650281693 meters Centerline goodness [0,1] 0.9992594367362941 Centerline is valid? [True, True] Translation: X:47.92, Y:-1.35, Z:-0.53 [[ 9.99462848e-01 3.26204594e-02 3.14971886e-03 4.79232919e+01] [-3.26203076e-02 9.99467811e-01 -9.95486497e-05 -1.34932761e+00] [-3.15128994e-03 -3.24962128e-06 9.99995035e-01 -5.29610044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.680281693 meters Centerline goodness [0,1] 0.9991055265679907 Centerline is valid? [True, True] Translation: X:47.95, Y:-1.34, Z:-0.53 [[ 9.99330554e-01 3.64541189e-02 3.08873130e-03 4.79529879e+01] [-3.64539913e-02 9.99335328e-01 -9.76466766e-05 -1.33904621e+00] [-3.09023793e-03 -1.50152764e-05 9.99995225e-01 -5.30172304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.710281693 meters Centerline goodness [0,1] 0.998769004837595 Centerline is valid? [True, True] Translation: X:47.98, Y:-1.34, Z:-0.53 [[ 9.99264888e-01 3.82371562e-02 2.75734523e-03 4.79837125e+01] [-3.82370613e-02 9.99268692e-01 -8.71136028e-05 -1.33524210e+00] [-2.75865974e-03 -1.83832142e-05 9.99996195e-01 -5.30696385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74028169299999 meters Centerline goodness [0,1] 0.9989961126062625 Centerline is valid? [True, True] Translation: X:48.01, Y:-1.33, Z:-0.53 [[ 9.99220665e-01 3.94358443e-02 1.69609535e-03 4.80132805e+01] [-3.94358100e-02 9.99222104e-01 -5.36257769e-05 -1.33295480e+00] [-1.69689075e-03 -1.33029098e-05 9.99998560e-01 -5.33012690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.770281692999994 meters Centerline goodness [0,1] 0.9991894025043196 Centerline is valid? [True, True] Translation: X:48.04, Y:-1.33, Z:-0.54 [[ 9.99252724e-01 3.86521750e-02 -5.52277166e-05 4.80429892e+01] [-3.86521750e-02 9.99252725e-01 1.62164964e-06 -1.33386406e+00] [ 5.52491266e-05 5.14233542e-07 9.99999998e-01 -5.35745490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800281692999995 meters Centerline goodness [0,1] 0.9994500148072937 Centerline is valid? [True, True] Translation: X:48.07, Y:-1.34, Z:-0.54 [[ 9.99319123e-01 3.68934555e-02 4.03748207e-04 4.80717565e+01] [-3.68934533e-02 9.99319205e-01 -1.29083749e-05 -1.33500789e+00] [-4.03949572e-04 -1.99607979e-06 9.99999918e-01 -5.35797972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.830281692999996 meters Centerline goodness [0,1] 0.9992636694506974 Centerline is valid? [True, True] Translation: X:48.10, Y:-1.34, Z:-0.53 [[ 9.99447417e-01 3.30528834e-02 3.51682969e-03 4.81016844e+01] [-3.30526978e-02 9.99453604e-01 -1.10898967e-04 -1.33994162e+00] [-3.51857364e-03 -5.40302243e-06 9.99993810e-01 -5.30118031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860281693 meters Centerline goodness [0,1] 0.9993044431329567 Centerline is valid? [True, True] Translation: X:48.13, Y:-1.34, Z:-0.53 [[ 9.99499664e-01 3.12478621e-02 4.89827383e-03 4.81324706e+01] [-3.12474811e-02 9.99511666e-01 -1.54298854e-04 -1.34221245e+00] [-4.90070335e-03 1.16293308e-06 9.99987991e-01 -5.27572302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.890281693 meters Centerline goodness [0,1] 0.9988257899231426 Centerline is valid? [True, True] Translation: X:48.16, Y:-1.34, Z:-0.53 [[ 9.99547024e-01 2.95585960e-02 5.66005533e-03 4.81637480e+01] [-2.95580602e-02 9.99563049e-01 -1.78306939e-04 -1.34398426e+00] [-5.66285267e-03 1.09259140e-05 9.99983966e-01 -5.25804794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92028169299999 meters Centerline goodness [0,1] 0.9989233237628778 Centerline is valid? [True, True] Translation: X:48.19, Y:-1.35, Z:-0.53 [[ 9.99649327e-01 2.58207062e-02 5.87480968e-03 4.81948905e+01] [-2.58200630e-02 9.99666589e-01 -1.85304681e-04 -1.34725096e+00] [-5.87763565e-03 3.35517436e-05 9.99982726e-01 -5.25343256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.950281692999994 meters Centerline goodness [0,1] 0.9985329761449164 Centerline is valid? [True, True] Translation: X:48.23, Y:-1.35, Z:-0.53 [[ 9.99698660e-01 2.38671030e-02 5.74022551e-03 4.82266888e+01] [-2.38664523e-02 9.99715139e-01 -1.81837211e-04 -1.34738262e+00] [-5.74293027e-03 4.47835982e-05 9.99983508e-01 -5.26112982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980281692999995 meters Centerline goodness [0,1] 0.9982200372944567 Centerline is valid? [True, True] Translation: X:48.26, Y:-1.35, Z:-0.53 [[ 9.99747035e-01 2.18701788e-02 5.24987917e-03 4.82582835e+01] [-2.18696063e-02 9.99760818e-01 -1.66424208e-04 -1.34723973e+00] [-5.25226322e-03 5.15693175e-05 9.99986205e-01 -5.27048360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.010281692999996 meters Centerline goodness [0,1] 0.9981647068866173 Centerline is valid? [True, True] Translation: X:48.29, Y:-1.35, Z:-0.53 [[ 9.99765778e-01 2.11557810e-02 4.56307331e-03 4.82899896e+01] [-2.11553381e-02 9.99776190e-01 -1.45302798e-04 -1.34559241e+00] [-4.56512604e-03 4.87354064e-05 9.99989579e-01 -5.28275112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040281693 meters Centerline goodness [0,1] 0.9985012632209994 Centerline is valid? [True, True] Translation: X:48.32, Y:-1.35, Z:-0.53 [[ 9.99790108e-01 2.01712824e-02 3.58599465e-03 4.83214060e+01] [-2.01710023e-02 9.99796538e-01 -1.14245318e-04 -1.34536062e+00] [-3.58756951e-03 4.18882325e-05 9.99993564e-01 -5.29740588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.070281693 meters Centerline goodness [0,1] 0.9976544006886163 Centerline is valid? [True, True] Translation: X:48.35, Y:-1.35, Z:-0.53 [[ 9.99854211e-01 1.68463102e-02 2.78551371e-03 4.83531228e+01] [-1.68461283e-02 9.99858090e-01 -8.87789521e-05 -1.34545408e+00] [-2.78661401e-03 4.18408878e-05 9.99996117e-01 -5.30616191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100281693 meters Centerline goodness [0,1] 0.9979795401858823 Centerline is valid? [True, True] Translation: X:48.38, Y:-1.35, Z:-0.53 [[ 9.99881584e-01 1.52375961e-02 2.15267050e-03 4.83832826e+01] [-1.52374835e-02 9.99883900e-01 -6.86669628e-05 -1.34679270e+00] [-2.15346689e-03 3.58575502e-05 9.99997681e-01 -5.32272544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13028169299999 meters Centerline goodness [0,1] 0.9979851674025807 Centerline is valid? [True, True] Translation: X:48.41, Y:-1.35, Z:-0.53 [[ 9.99917612e-01 1.27478809e-02 1.50348191e-03 4.84140534e+01] [-1.27478231e-02 9.99918742e-01 -4.80002182e-05 -1.34848372e+00] [-1.50397164e-03 2.88301422e-05 9.99998869e-01 -5.33543055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160281692999995 meters Centerline goodness [0,1] 0.9978900705441061 Centerline is valid? [True, True] Translation: X:48.44, Y:-1.35, Z:-0.53 [[ 9.99924553e-01 1.22046912e-02 1.39045130e-03 4.84439181e+01] [-1.22046414e-02 9.99925520e-01 -4.43486381e-05 -1.34994004e+00] [-1.39088900e-03 2.73753326e-05 9.99999032e-01 -5.34113693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.190281692999996 meters Centerline goodness [0,1] 0.9976467595242638 Centerline is valid? [True, True] Translation: X:48.47, Y:-1.35, Z:-0.54 [[ 9.99929278e-01 1.18790509e-02 5.71699854e-04 4.84748773e+01] [-1.18790424e-02 9.99929442e-01 -1.82586062e-05 -1.35054938e+00] [-5.71876411e-04 1.14660682e-05 9.99999836e-01 -5.35467846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.220281693 meters Centerline goodness [0,1] 0.997759187331939 Centerline is valid? [True, True] Translation: X:48.50, Y:-1.35, Z:-0.54 [[ 9.99935822e-01 1.13274900e-02 1.97592226e-04 4.85044377e+01] [-1.13274890e-02 9.99935842e-01 -6.36635835e-06 -1.35330170e+00] [-1.97651664e-04 4.12772601e-06 9.99999980e-01 -5.37140433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.250281693 meters Centerline goodness [0,1] 0.996953312736011 Centerline is valid? [True, True] Translation: X:48.53, Y:-1.35, Z:-0.54 [[ 9.99948824e-01 1.00527185e-02 1.13704175e-03 4.85345817e+01] [-1.00526836e-02 9.99949470e-01 -3.63915511e-05 -1.35239217e+00] [-1.13735013e-03 2.49593678e-05 9.99999353e-01 -5.35245079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280281693 meters Centerline goodness [0,1] 0.9960738290835378 Centerline is valid? [True, True] Translation: X:48.57, Y:-1.36, Z:-0.54 [[ 9.99969913e-01 7.61874207e-03 1.45888560e-03 4.85652538e+01] [-7.61868227e-03 9.99970976e-01 -4.65440532e-05 -1.35881990e+00] [-1.45919787e-03 3.54278670e-05 9.99998935e-01 -5.35451850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31028169299999 meters Centerline goodness [0,1] 0.9955565900002116 Centerline is valid? [True, True] Translation: X:48.60, Y:-1.37, Z:-0.54 [[ 9.99984049e-01 5.48376117e-03 1.35261244e-03 4.85951780e+01] [-5.48370787e-03 9.99984963e-01 -4.31113721e-05 -1.36515393e+00] [-1.35282851e-03 3.56933530e-05 9.99999084e-01 -5.36293916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.340281692999994 meters Centerline goodness [0,1] 0.9952725724020443 Centerline is valid? [True, True] Translation: X:48.63, Y:-1.37, Z:-0.54 [[ 9.99993691e-01 3.07920716e-03 1.77099277e-03 4.86261206e+01] [-3.07911202e-03 9.99995258e-01 -5.64463936e-05 -1.37170452e+00] [-1.77115818e-03 5.09929524e-05 9.99998430e-01 -5.36212042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.370281692999995 meters Centerline goodness [0,1] 0.9937439742903053 Centerline is valid? [True, True] Translation: X:48.66, Y:-1.38, Z:-0.54 [[ 9.99997179e-01 5.29592147e-04 2.31550802e-03 4.86566314e+01] [-5.29422407e-04 9.99999857e-01 -7.39182187e-05 -1.37753747e+00] [-2.31554684e-03 7.26921284e-05 9.99997316e-01 -5.35211872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400281693 meters Centerline goodness [0,1] 0.9918504720375937 Centerline is valid? [True, True] Translation: X:48.69, Y:-1.39, Z:-0.53 [[ 9.99993738e-01 -2.59349424e-03 2.40767541e-03 4.86861465e+01] [ 2.59368695e-03 9.99996633e-01 -7.69202871e-05 -1.39000456e+00] [-2.40746781e-03 8.31645618e-05 9.99997099e-01 -5.34694382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.430281693 meters Centerline goodness [0,1] 0.9920154185022027 Centerline is valid? [True, True] Translation: X:48.72, Y:-1.39, Z:-0.54 [[ 9.99994248e-01 -2.78507094e-03 1.93601122e-03 4.87173120e+01] [ 2.78519576e-03 9.99996119e-01 -6.17800011e-05 -1.39313772e+00] [-1.93583164e-03 6.71718160e-05 9.99998124e-01 -5.35656380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.460281693 meters Centerline goodness [0,1] 0.9925222954222891 Centerline is valid? [True, True] Translation: X:48.75, Y:-1.40, Z:-0.54 [[ 9.99996792e-01 -9.67014610e-04 2.34103394e-03 4.87474391e+01] [ 9.67192394e-04 9.99999529e-01 -7.48118131e-05 -1.39636814e+00] [-2.34096050e-03 7.70758034e-05 9.99997257e-01 -5.35469174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49028169299999 meters Centerline goodness [0,1] 0.9946142711171662 Centerline is valid? [True, True] Translation: X:48.78, Y:-1.39, Z:-0.53 [[ 9.99993998e-01 5.16832079e-04 3.42583682e-03 4.87788965e+01] [-5.16459903e-04 9.99999861e-01 -1.09521836e-04 -1.39392634e+00] [-3.42589295e-03 1.07751872e-04 9.99994126e-01 -5.33486977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520281692999994 meters Centerline goodness [0,1] 0.9937322058386097 Centerline is valid? [True, True] Translation: X:48.81, Y:-1.40, Z:-0.53 [[ 9.99989099e-01 1.55167582e-03 4.40394040e-03 4.88100323e+01] [-1.55107025e-03 9.99998787e-01 -1.40917921e-04 -1.40056897e+00] [-4.40415372e-03 1.34085564e-04 9.99990293e-01 -5.31865640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.550281692999995 meters Centerline goodness [0,1] 0.9935096612721912 Centerline is valid? [True, True] Translation: X:48.84, Y:-1.41, Z:-0.53 [[ 9.99990842e-01 2.36466195e-03 3.56705116e-03 4.88411523e+01] [-2.36426952e-03 9.99997199e-01 -1.14230110e-04 -1.40708584e+00] [-3.56731128e-03 1.05795594e-04 9.99993632e-01 -5.33251515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580281692999996 meters Centerline goodness [0,1] 0.9951326305050161 Centerline is valid? [True, True] Translation: X:48.87, Y:-1.41, Z:-0.54 [[ 9.99993199e-01 2.97004161e-03 2.18651364e-03 4.88737135e+01] [-2.96989642e-03 9.99995587e-01 -6.96488915e-05 -1.40700387e+00] [-2.18671086e-03 6.31546988e-05 9.99997607e-01 -5.36215248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.610281693 meters Centerline goodness [0,1] 0.9970078940667176 Centerline is valid? [True, True] Translation: X:48.90, Y:-1.41, Z:-0.54 [[ 9.99988072e-01 4.86940979e-03 3.79530139e-04 4.89048007e+01] [-4.86940554e-03 9.99988144e-01 -1.21231070e-05 -1.41296118e+00] [-3.79584672e-04 1.02748762e-05 9.99999928e-01 -5.39797363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640281693 meters Centerline goodness [0,1] 0.9968719410988637 Centerline is valid? [True, True] Translation: X:48.93, Y:-1.42, Z:-0.54 [[ 9.99979745e-01 6.22135525e-03 1.34296217e-03 4.89349497e+01] [-6.22130275e-03 9.99980647e-01 -4.32714312e-05 -1.41563670e+00] [-1.34320539e-03 3.49155805e-05 9.99999097e-01 -5.38552833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67028169299999 meters Centerline goodness [0,1] 0.9971623639854917 Centerline is valid? [True, True] Translation: X:48.97, Y:-1.41, Z:-0.54 [[ 9.99964224e-01 8.16197833e-03 2.22092418e-03 4.89658920e+01] [-8.16183937e-03 9.99966689e-01 -7.16229508e-05 -1.41384423e+00] [-2.22143478e-03 5.34935620e-05 9.99997531e-01 -5.35893606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700281692999994 meters Centerline goodness [0,1] 0.9979599642993753 Centerline is valid? [True, True] Translation: X:49.00, Y:-1.41, Z:-0.54 [[ 9.99916280e-01 1.28307773e-02 1.67456459e-03 4.89966916e+01] [-1.28307048e-02 9.99917682e-01 -5.40079489e-05 -1.41227119e+00] [-1.67511970e-03 3.25175834e-05 9.99998596e-01 -5.38457817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.730281692999995 meters Centerline goodness [0,1] 0.9983992145479382 Centerline is valid? [True, True] Translation: X:49.03, Y:-1.41, Z:-0.54 [[ 9.99887057e-01 1.50217293e-02 4.70250886e-04 4.90270939e+01] [-1.50217238e-02 9.99887167e-01 -1.51288842e-05 -1.41453371e+00] [-4.70425088e-04 8.06319658e-06 9.99999889e-01 -5.41590248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.760281692999996 meters Centerline goodness [0,1] 0.9986818046519539 Centerline is valid? [True, True] Translation: X:49.06, Y:-1.41, Z:-0.54 [[ 9.99856869e-01 1.69126911e-02 4.48990135e-04 4.90576166e+01] [-1.69126863e-02 9.99856970e-01 -1.45021299e-05 -1.41373217e+00] [-4.49171186e-04 6.90642497e-06 9.99999899e-01 -5.41740212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.790281693 meters Centerline goodness [0,1] 0.9990613934041555 Centerline is valid? [True, True] Translation: X:49.09, Y:-1.41, Z:-0.54 [[ 9.99785138e-01 2.05580436e-02 2.65417643e-03 4.90877206e+01] [-2.05578884e-02 9.99788661e-01 -8.57580554e-05 -1.41243735e+00] [-2.65537851e-03 3.11753665e-05 9.99996474e-01 -5.36962638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820281693 meters Centerline goodness [0,1] 0.9989622601550256 Centerline is valid? [True, True] Translation: X:49.12, Y:-1.41, Z:-0.54 [[ 9.99736684e-01 2.27853848e-02 2.71833760e-03 4.91177894e+01] [-2.27852304e-02 9.99740379e-01 -8.77400096e-05 -1.41264649e+00] [-2.71963106e-03 2.57789575e-05 9.99996301e-01 -5.37240826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.850281693 meters Centerline goodness [0,1] 0.9993390332828724 Centerline is valid? [True, True] Translation: X:49.15, Y:-1.41, Z:-0.54 [[ 9.99652397e-01 2.63449738e-02 1.01354380e-03 4.91487094e+01] [-2.63449541e-02 9.99652911e-01 -3.27293685e-05 -1.41122312e+00] [-1.01405427e-03 6.01622674e-06 9.99999486e-01 -5.39259376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88028169299999 meters Centerline goodness [0,1] 0.9992523923444976 Centerline is valid? [True, True] Translation: X:49.18, Y:-1.41, Z:-0.54 [[ 9.99614371e-01 2.77627670e-02 5.81919505e-04 4.91796479e+01] [-2.77627607e-02 9.99614540e-01 -1.87966907e-05 -1.40955244e+00] [-5.82217046e-04 2.63375023e-06 9.99999831e-01 -5.40251570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.910281692999995 meters Centerline goodness [0,1] 0.9993580828073179 Centerline is valid? [True, True] Translation: X:49.21, Y:-1.41, Z:-0.54 [[ 9.99576329e-01 2.90950756e-02 7.99898028e-04 4.92093688e+01] [-2.90950642e-02 9.99576649e-01 -2.58376558e-05 -1.40740991e+00] [-8.00311139e-04 2.55362463e-06 9.99999680e-01 -5.39784300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940281692999996 meters Centerline goodness [0,1] 0.9991717283268913 Centerline is valid? [True, True] Translation: X:49.24, Y:-1.40, Z:-0.54 [[ 9.99497193e-01 3.15777495e-02 2.86482252e-03 4.92393951e+01] [-3.15776139e-02 9.99501299e-01 -9.25641668e-05 -1.40360074e+00] [-2.86631679e-03 2.05336565e-06 9.99995892e-01 -5.36464918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.970281693 meters Centerline goodness [0,1] 0.9991139924365208 Centerline is valid? [True, True] Translation: X:49.27, Y:-1.40, Z:-0.53 [[ 9.99488282e-01 3.17096062e-02 4.20426814e-03 4.92702234e+01] [-3.17093157e-02 9.99497124e-01 -1.35753640e-04 -1.40406678e+00] [-4.20645861e-03 2.36970606e-06 9.99991153e-01 -5.34448777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.000281693 meters Centerline goodness [0,1] 0.9990918498806733 Centerline is valid? [True, True] Translation: X:49.30, Y:-1.41, Z:-0.53 [[ 9.99490700e-01 3.14643395e-02 5.32324256e-03 4.93008316e+01] [-3.14638703e-02 9.99504875e-01 -1.71886603e-04 -1.40516641e+00] [-5.32601519e-03 4.30924732e-06 9.99985817e-01 -5.33044856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.030281693 meters Centerline goodness [0,1] 0.9990918498806733 Centerline is valid? [True, True] Translation: X:49.33, Y:-1.41, Z:-0.53 [[ 9.99489966e-01 3.14876237e-02 5.32324040e-03 4.93316498e+01] [-3.14871544e-02 9.99504142e-01 -1.71953388e-04 -1.40620662e+00] [-5.32601523e-03 4.25199321e-06 9.99985817e-01 -5.33204404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06028169299999 meters Centerline goodness [0,1] 0.9989717223650385 Centerline is valid? [True, True] Translation: X:49.36, Y:-1.41, Z:-0.53 [[ 9.99584874e-01 2.82340087e-02 5.73757137e-03 4.93627188e+01] [-2.82334091e-02 9.99601341e-01 -1.85480567e-04 -1.40927154e+00] [-5.74052089e-03 2.34123699e-05 9.99983523e-01 -5.32105375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.090281692999994 meters Centerline goodness [0,1] 0.9990417988629346 Centerline is valid? [True, True] Translation: X:49.39, Y:-1.41, Z:-0.53 [[ 9.99649772e-01 2.60072972e-02 4.89417271e-03 4.93935361e+01] [-2.60068339e-02 9.99661753e-01 -1.58277331e-04 -1.41376220e+00] [-4.89663363e-03 3.09399612e-05 9.99988011e-01 -5.33398458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.120281692999995 meters Centerline goodness [0,1] 0.998979613528624 Centerline is valid? [True, True] Translation: X:49.43, Y:-1.42, Z:-0.53 [[ 9.99724693e-01 2.30662916e-02 4.29944131e-03 4.94251200e+01] [-2.30659045e-02 9.99733937e-01 -1.39592781e-04 -1.42024440e+00] [-4.30151728e-03 4.03838476e-05 9.99990748e-01 -5.34753198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.150281693 meters Centerline goodness [0,1] 0.9987103594080339 Centerline is valid? [True, True] Translation: X:49.46, Y:-1.43, Z:-0.54 [[ 9.99799385e-01 1.96634129e-02 3.81318752e-03 4.94561572e+01] [-1.96630816e-02 9.99806655e-01 -1.24344061e-04 -1.42910944e+00] [-3.81489529e-03 4.93400981e-05 9.99992722e-01 -5.36690493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180281693 meters Centerline goodness [0,1] 0.9983247094749342 Centerline is valid? [True, True] Translation: X:49.49, Y:-1.44, Z:-0.54 [[ 9.99904083e-01 1.32502311e-02 4.03186474e-03 4.94872058e+01] [-1.32498054e-02 9.99912209e-01 -1.32265343e-04 -1.43941286e+00] [-4.03326332e-03 7.88312336e-05 9.99991863e-01 -5.36746479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.210281693 meters Centerline goodness [0,1] 0.9971914893617021 Centerline is valid? [True, True] Translation: X:49.52, Y:-1.44, Z:-0.54 [[ 9.99928715e-01 1.10682274e-02 4.47869535e-03 4.95176624e+01] [-1.10676797e-02 9.99938741e-01 -1.47043987e-04 -1.44446769e+00] [-4.48004851e-03 9.74647393e-05 9.99989960e-01 -5.36141421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24028169299999 meters Centerline goodness [0,1] 0.9964500792393027 Centerline is valid? [True, True] Translation: X:49.55, Y:-1.46, Z:-0.54 [[ 9.99947662e-01 8.89763962e-03 5.05029672e-03 4.95488309e+01] [-8.89691499e-03 9.99960408e-01 -1.65930576e-04 -1.45500056e+00] [-5.05157316e-03 1.20989831e-04 9.99987233e-01 -5.35560064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.270281692999994 meters Centerline goodness [0,1] 0.9958567623557265 Centerline is valid? [True, True] Translation: X:49.58, Y:-1.46, Z:-0.53 [[ 9.99947243e-01 8.72138620e-03 5.42673254e-03 4.95808956e+01] [-8.72054216e-03 9.99961959e-01 -1.79176988e-04 -1.45939986e+00] [-5.42808878e-03 1.31843485e-04 9.99985259e-01 -5.34719892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300281692999995 meters Centerline goodness [0,1] 0.9958423061341976 Centerline is valid? [True, True] Translation: X:49.61, Y:-1.46, Z:-0.53 [[ 9.99933888e-01 9.08682595e-03 7.04615225e-03 4.96135529e+01] [-9.08540216e-03 9.99958699e-01 -2.34049015e-04 -1.46210060e+00] [-7.04798800e-03 1.70016415e-04 9.99975148e-01 -5.32038314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.330281692999996 meters Centerline goodness [0,1] 0.9963399755998373 Centerline is valid? [True, True] Translation: X:49.65, Y:-1.46, Z:-0.53 [[ 9.99930824e-01 9.52998079e-03 6.89392859e-03 4.96459238e+01] [-9.52861996e-03 9.99954575e-01 -2.30213604e-04 -1.46299272e+00] [-6.89580937e-03 1.64508053e-04 9.99976210e-01 -5.32409199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360281693 meters Centerline goodness [0,1] 0.9961738468693189 Centerline is valid? [True, True] Translation: X:49.68, Y:-1.47, Z:-0.53 [[ 9.99930235e-01 1.03409908e-02 5.70867999e-03 4.96773239e+01] [-1.03400664e-02 9.99946522e-01 -1.91419345e-04 -1.46835763e+00] [-5.71035417e-03 1.32377860e-04 9.99983687e-01 -5.34217203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.390281693 meters Centerline goodness [0,1] 0.9976440396306191 Centerline is valid? [True, True] Translation: X:49.71, Y:-1.47, Z:-0.54 [[ 9.99929720e-01 1.11998715e-02 3.88806537e-03 4.97092021e+01] [-1.11994479e-02 9.99937276e-01 -1.30699359e-04 -1.46913123e+00] [-3.88928531e-03 8.71459882e-05 9.99992433e-01 -5.37790817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42028169299999 meters Centerline goodness [0,1] 0.9983592235078523 Centerline is valid? [True, True] Translation: X:49.74, Y:-1.47, Z:-0.54 [[ 9.99925582e-01 1.21995984e-02 3.03299350e-05 4.97413971e+01] [-1.21995984e-02 9.99925582e-01 -1.94203878e-07 -1.47445899e+00] [-3.03300471e-05 -1.75823600e-07 1.00000000e+00 -5.44834777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.450281692999994 meters Centerline goodness [0,1] 0.9983161394833319 Centerline is valid? [True, True] Translation: X:49.77, Y:-1.48, Z:-0.55 [[ 9.99912823e-01 1.32014327e-02 -2.62338230e-04 4.97717749e+01] [-1.32014308e-02 9.99912857e-01 8.97990947e-06 -1.47714015e+00] [ 2.62433917e-04 -5.51588663e-06 9.99999966e-01 -5.45722583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.480281692999995 meters Centerline goodness [0,1] 0.9991729753801133 Centerline is valid? [True, True] Translation: X:49.80, Y:-1.47, Z:-0.54 [[ 9.99823846e-01 1.87670681e-02 -2.72945956e-04 4.98014916e+01] [-1.87670663e-02 9.99823883e-01 9.28092683e-06 -1.47332242e+00] [ 2.73072061e-04 -4.15689711e-06 9.99999963e-01 -5.44456282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.510281692999996 meters Centerline goodness [0,1] 0.9990836050550903 Centerline is valid? [True, True] Translation: X:49.83, Y:-1.47, Z:-0.54 [[ 9.99755156e-01 2.21260086e-02 -2.60561426e-04 4.98319575e+01] [-2.21260070e-02 9.99755190e-01 8.85981815e-06 -1.46984334e+00] [ 2.60693671e-04 -3.09246491e-06 9.99999966e-01 -5.44429922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540281693 meters Centerline goodness [0,1] 0.9993609406952966 Centerline is valid? [True, True] Translation: X:49.86, Y:-1.47, Z:-0.55 [[ 9.99680852e-01 2.52553121e-02 -6.02409461e-04 4.98620506e+01] [-2.52553043e-02 9.99681034e-01 2.04836086e-05 -1.46790157e+00] [ 6.02734633e-04 -5.26303703e-06 9.99999818e-01 -5.45012549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.570281693 meters Centerline goodness [0,1] 0.9994225463566953 Centerline is valid? [True, True] Translation: X:49.89, Y:-1.47, Z:-0.55 [[ 9.99610806e-01 2.78952192e-02 -3.05313029e-04 4.98922040e+01] [-2.78952173e-02 9.99610853e-01 1.03814979e-05 -1.46695122e+00] [ 3.05483811e-04 -1.86068423e-06 9.99999953e-01 -5.45127123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600281693 meters Centerline goodness [0,1] 0.99957483897026 Centerline is valid? [True, True] Translation: X:49.92, Y:-1.47, Z:-0.54 [[ 9.99520622e-01 3.09237305e-02 1.49971883e-03 4.99231916e+01] [-3.09236888e-02 9.99521747e-01 -5.09526368e-05 -1.46734903e+00] [-1.50057723e-03 4.55137290e-06 9.99998874e-01 -5.42281941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63028169299999 meters Centerline goodness [0,1] 0.9994056337430215 Centerline is valid? [True, True] Translation: X:49.95, Y:-1.47, Z:-0.54 [[ 9.99494258e-01 3.17067721e-02 2.43067071e-03 4.99531758e+01] [-3.17066648e-02 9.99497214e-01 -8.26774195e-05 -1.46882085e+00] [-2.43207004e-03 5.56714442e-06 9.99997042e-01 -5.40649612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660281692999995 meters Centerline goodness [0,1] 0.9992126654466528 Centerline is valid? [True, True] Translation: X:49.98, Y:-1.47, Z:-0.54 [[ 9.99450904e-01 3.27892426e-02 4.77028815e-03 4.99843946e+01] [-3.27888417e-02 9.99462288e-01 -1.62248492e-04 -1.47304830e+00] [-4.77304312e-03 5.74717874e-06 9.99988609e-01 -5.37233874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.690281692999996 meters Centerline goodness [0,1] 0.9991756499682942 Centerline is valid? [True, True] Translation: X:50.02, Y:-1.48, Z:-0.54 [[ 9.99431013e-01 3.32133916e-02 5.87537873e-03 5.00163337e+01] [-3.32127892e-02 9.99448283e-01 -2.00097915e-04 -1.47653482e+00] [-5.87878312e-03 4.84634658e-06 9.99982720e-01 -5.35822994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720281693 meters Centerline goodness [0,1] 0.9990475984328665 Centerline is valid? [True, True] Translation: X:50.05, Y:-1.48, Z:-0.53 [[ 9.99414528e-01 3.32281359e-02 8.15423084e-03 5.00495166e+01] [-3.32269618e-02 9.99447793e-01 -2.79459448e-04 -1.48126485e+00] [-8.15901394e-03 8.35551553e-06 9.99966715e-01 -5.32334723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.750281693 meters Centerline goodness [0,1] 0.999228361983967 Centerline is valid? [True, True] Translation: X:50.08, Y:-1.48, Z:-0.53 [[ 9.99372471e-01 3.43924935e-02 8.47471555e-03 5.00810818e+01] [-3.43912551e-02 9.99408403e-01 -2.91860970e-04 -1.48192451e+00] [-8.47973976e-03 2.21713991e-07 9.99964046e-01 -5.31441500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780281693 meters Centerline goodness [0,1] 0.9989382710806277 Centerline is valid? [True, True] Translation: X:50.11, Y:-1.48, Z:-0.53 [[ 9.99296489e-01 3.64360501e-02 8.88493569e-03 5.01127288e+01] [-3.64347581e-02 9.99335987e-01 -3.07289383e-04 -1.48087248e+00] [-8.89023238e-03 -1.66472810e-05 9.99960481e-01 -5.30858593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81028169299999 meters Centerline goodness [0,1] 0.9986057186983848 Centerline is valid? [True, True] Translation: X:50.14, Y:-1.47, Z:-0.54 [[ 9.99065136e-01 4.27165541e-02 6.64456661e-03 5.01448577e+01] [-4.27159643e-02 9.99087230e-01 -2.30728340e-04 -1.47244362e+00] [-6.64835757e-03 -5.33164293e-05 9.99977898e-01 -5.35202057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840281692999994 meters Centerline goodness [0,1] 0.998143890658286 Centerline is valid? [True, True] Translation: X:50.18, Y:-1.47, Z:-0.54 [[ 9.98918666e-01 4.62403599e-02 4.82981613e-03 5.01765301e+01] [-4.62400867e-02 9.98930341e-01 -1.68271938e-04 -1.46525671e+00] [-4.83243083e-03 -5.52411372e-05 9.99988322e-01 -5.38280726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.870281692999995 meters Centerline goodness [0,1] 0.9978406300279448 Centerline is valid? [True, True] Translation: X:50.21, Y:-1.46, Z:-0.54 [[ 9.98767568e-01 4.94868859e-02 3.79393550e-03 5.02080738e+01] [-4.94867386e-02 9.98774772e-01 -1.32759735e-04 -1.46107866e+00] [-3.79585693e-03 -5.51533768e-05 9.99992794e-01 -5.39668679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.900281693 meters Centerline goodness [0,1] 0.9973350389084319 Centerline is valid? [True, True] Translation: X:50.24, Y:-1.45, Z:-0.54 [[ 9.98448298e-01 5.55111057e-02 4.41736402e-03 5.02383783e+01] [-5.55109642e-02 9.98458066e-01 -1.54721423e-04 -1.44967725e+00] [-4.41914150e-03 -9.07307952e-05 9.99990231e-01 -5.38337559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.930281693 meters Centerline goodness [0,1] 0.9959083296232695 Centerline is valid? [True, True] Translation: X:50.27, Y:-1.44, Z:-0.54 [[ 9.98296452e-01 5.81029524e-02 5.31430413e-03 5.02677041e+01] [-5.81027848e-02 9.98310589e-01 -1.86061761e-04 -1.44207585e+00] [-5.31613682e-03 -1.23031074e-04 9.99985862e-01 -5.37006059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.960281693 meters Centerline goodness [0,1] 0.9957252296101917 Centerline is valid? [True, True] Translation: X:50.30, Y:-1.44, Z:-0.54 [[ 9.98176603e-01 6.00521558e-02 6.09986124e-03 5.02984432e+01] [-6.00519722e-02 9.98195229e-01 -2.13428242e-04 -1.43783479e+00] [-6.10166922e-03 -1.53269620e-04 9.99981373e-01 -5.36474379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99028169299999 meters Centerline goodness [0,1] 0.9933467956212138 Centerline is valid? [True, True] Translation: X:50.33, Y:-1.43, Z:-0.54 [[ 9.98034891e-01 6.23754674e-02 5.97136959e-03 5.03276562e+01] [-6.23753328e-02 9.98052741e-01 -2.08955394e-04 -1.42915628e+00] [-5.97277548e-03 -1.63921392e-04 9.99982149e-01 -5.36884542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020281692999994 meters Centerline goodness [0,1] 0.9933458670440862 Centerline is valid? [True, True] Translation: X:50.36, Y:-1.42, Z:-0.54 [[ 9.98031746e-01 6.25022056e-02 5.10963112e-03 5.03569406e+01] [-6.25021081e-02 9.98044816e-01 -1.78928245e-04 -1.42419616e+00] [-5.11082426e-03 -1.40786648e-04 9.99986930e-01 -5.38477210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.050281692999995 meters Centerline goodness [0,1] 0.9947522239051134 Centerline is valid? [True, True] Translation: X:50.39, Y:-1.42, Z:-0.54 [[ 9.98049487e-01 6.23311977e-02 3.47028118e-03 5.03870468e+01] [-6.23311516e-02 9.98055516e-01 -1.21520435e-04 -1.42314929e+00] [-3.47110779e-03 -9.50232143e-05 9.99993971e-01 -5.41258292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.080281692999996 meters Centerline goodness [0,1] 0.9961674402759443 Centerline is valid? [True, True] Translation: X:50.42, Y:-1.42, Z:-0.55 [[ 9.98153577e-01 6.07401460e-02 2.67779252e-04 5.04159302e+01] [-6.07401456e-02 9.98153613e-01 -9.53299313e-06 -1.41791189e+00] [-2.67863863e-04 -6.74955956e-06 9.99999964e-01 -5.48283762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.110281693 meters Centerline goodness [0,1] 0.9968645351193396 Centerline is valid? [True, True] Translation: X:50.44, Y:-1.42, Z:-0.55 [[ 9.98243608e-01 5.92422802e-02 2.27341194e-04 5.04449324e+01] [-5.92422799e-02 9.98243634e-01 -8.16598226e-06 -1.41756885e+00] [-2.27425671e-04 -5.31657105e-06 9.99999974e-01 -5.49340087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.140281693 meters Centerline goodness [0,1] 0.9969379670670864 Centerline is valid? [True, True] Translation: X:50.47, Y:-1.42, Z:-0.55 [[ 9.98321748e-01 5.79069212e-02 6.89593087e-04 5.04741080e+01] [-5.79069182e-02 9.98321986e-01 -2.42709598e-05 -1.41740188e+00] [-6.89841397e-04 -1.57019835e-05 9.99999762e-01 -5.47788028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17028169299999 meters Centerline goodness [0,1] 0.9973068866755013 Centerline is valid? [True, True] Translation: X:50.50, Y:-1.42, Z:-0.55 [[ 9.98460854e-01 5.54489903e-02 1.15448543e-03 5.05035824e+01] [-5.54489807e-02 9.98461521e-01 -4.03359216e-05 -1.41604589e+00] [-1.15494586e-03 -2.37412016e-05 9.99999333e-01 -5.47316586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.200281692999994 meters Centerline goodness [0,1] 0.9977927287390963 Centerline is valid? [True, True] Translation: X:50.53, Y:-1.42, Z:-0.55 [[ 9.98560613e-01 5.36250143e-02 1.02939919e-03 5.05329696e+01] [-5.36250057e-02 9.98561144e-01 -3.59545079e-05 -1.41745791e+00] [-1.02984609e-03 -1.92987820e-05 9.99999470e-01 -5.48069420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.230281692999995 meters Centerline goodness [0,1] 0.9981226797165036 Centerline is valid? [True, True] Translation: X:50.56, Y:-1.42, Z:-0.55 [[ 9.98815453e-01 4.86156813e-02 2.05109757e-03 5.05617525e+01] [-4.86156370e-02 9.98817558e-01 -7.14811719e-05 -1.42340829e+00] [-2.05214737e-03 -2.83189156e-05 9.99997894e-01 -5.46598397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260281692999996 meters Centerline goodness [0,1] 0.9984530948697845 Centerline is valid? [True, True] Translation: X:50.59, Y:-1.43, Z:-0.54 [[ 9.98985966e-01 4.49029719e-02 3.28059311e-03 5.05908211e+01] [-4.49028390e-02 9.98991352e-01 -1.14188252e-04 -1.42839589e+00] [-3.28241153e-03 -3.32354827e-05 9.99994612e-01 -5.44605723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.290281693 meters Centerline goodness [0,1] 0.9989917841130918 Centerline is valid? [True, True] Translation: X:50.62, Y:-1.43, Z:-0.54 [[ 9.99148927e-01 4.10176125e-02 4.35629923e-03 5.06208566e+01] [-4.10173419e-02 9.99158423e-01 -1.51479935e-04 -1.43449762e+00] [-4.35884641e-03 -2.73328001e-05 9.99990500e-01 -5.42527513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320281693 meters Centerline goodness [0,1] 0.999316837813027 Centerline is valid? [True, True] Translation: X:50.65, Y:-1.45, Z:-0.54 [[ 9.99433787e-01 3.33348770e-02 4.57068098e-03 5.06519215e+01] [-3.33344992e-02 9.99444239e-01 -1.58849658e-04 -1.45072713e+00] [-4.57343601e-03 6.39835403e-06 9.99989542e-01 -5.43084266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.350281693 meters Centerline goodness [0,1] 0.9997240559529621 Centerline is valid? [True, True] Translation: X:50.68, Y:-1.46, Z:-0.54 [[ 9.99574446e-01 2.89010581e-02 3.95676245e-03 5.06823286e+01] [-2.89007383e-02 9.99582277e-01 -1.37977486e-04 -1.46288137e+00] [-3.95909731e-03 2.35654134e-05 9.99992162e-01 -5.44652104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38028169299999 meters Centerline goodness [0,1] 0.9997015307210165 Centerline is valid? [True, True] Translation: X:50.71, Y:-1.48, Z:-0.55 [[ 9.99707230e-01 2.39602143e-02 3.37067829e-03 5.07138864e+01] [-2.39599530e-02 9.99712912e-01 -1.17890382e-04 -1.47569262e+00] [-3.37253529e-03 3.70945734e-05 9.99994312e-01 -5.45963397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.410281692999995 meters Centerline goodness [0,1] 0.9989648470508704 Centerline is valid? [True, True] Translation: X:50.74, Y:-1.49, Z:-0.55 [[ 9.99811283e-01 1.91507174e-02 3.26318357e-03 5.07444527e+01] [-1.91504453e-02 9.99816607e-01 -1.14597739e-04 -1.48826059e+00] [-3.26477975e-03 5.20846937e-05 9.99994669e-01 -5.46328211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440281692999996 meters Centerline goodness [0,1] 0.9973286407869909 Centerline is valid? [True, True] Translation: X:50.77, Y:-1.51, Z:-0.55 [[ 9.99936687e-01 1.04750493e-02 4.11045216e-03 5.07743841e+01] [-1.04745407e-02 9.99945130e-01 -1.45252154e-04 -1.50731363e+00] [-4.11174814e-03 1.02187859e-04 9.99991542e-01 -5.45102042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.470281693 meters Centerline goodness [0,1] 0.9973565840243876 Centerline is valid? [True, True] Translation: X:50.81, Y:-1.51, Z:-0.55 [[ 9.99960345e-01 8.05743802e-03 3.79287964e-03 5.08061175e+01] [-8.05698776e-03 9.99967533e-01 -1.33976890e-04 -1.51388965e+00] [-3.79383601e-03 1.03412393e-04 9.99992798e-01 -5.45751476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.500281693 meters Centerline goodness [0,1] 0.9947834603755908 Centerline is valid? [True, True] Translation: X:50.84, Y:-1.53, Z:-0.55 [[ 9.99966795e-01 7.59196880e-03 2.96159816e-03 5.08363945e+01] [-7.59169226e-03 9.99971177e-01 -1.04607443e-04 -1.52846287e+00] [-2.96230698e-03 8.21204281e-05 9.99995609e-01 -5.47020696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.530281693 meters Centerline goodness [0,1] 0.9975806965047431 Centerline is valid? [True, True] Translation: X:50.87, Y:-1.52, Z:-0.55 [[ 9.99947548e-01 9.89462230e-03 2.64531378e-03 5.08688065e+01] [-9.89440974e-03 9.99951045e-01 -9.34257359e-05 -1.52031407e+00] [-2.64610869e-03 6.72470171e-05 9.99996497e-01 -5.45971621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56028169299999 meters Centerline goodness [0,1] 0.9971210228836342 Centerline is valid? [True, True] Translation: X:50.90, Y:-1.53, Z:-0.55 [[ 9.99909137e-01 1.31983459e-02 2.74261788e-03 5.08987676e+01] [-1.31981275e-02 9.99912896e-01 -9.77013147e-05 -1.52648654e+00] [-2.74366848e-03 6.14950168e-05 9.99996234e-01 -5.46227086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.590281692999994 meters Centerline goodness [0,1] 0.9995743956418114 Centerline is valid? [True, True] Translation: X:50.93, Y:-1.51, Z:-0.54 [[ 9.99763492e-01 2.14032985e-02 3.85484678e-03 5.09301348e+01] [-2.14029278e-02 9.99770922e-01 -1.37395978e-04 -1.51367303e+00] [-3.85690444e-03 5.48584751e-05 9.99992561e-01 -5.43583393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620281692999995 meters Centerline goodness [0,1] 0.999533285247571 Centerline is valid? [True, True] Translation: X:50.96, Y:-1.51, Z:-0.54 [[ 9.99676266e-01 2.50876499e-02 4.23949028e-03 5.09621108e+01] [-2.50872345e-02 9.99685254e-01 -1.51122578e-04 -1.50911348e+00] [-4.24194723e-03 4.47165672e-05 9.99991002e-01 -5.43835391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.650281693 meters Centerline goodness [0,1] 0.9996413048065156 Centerline is valid? [True, True] Translation: X:50.99, Y:-1.50, Z:-0.54 [[ 9.99557943e-01 2.93707167e-02 4.61291126e-03 5.09937702e+01] [-2.93702701e-02 9.99568587e-01 -1.64542601e-04 -1.50307266e+00] [-4.61575392e-03 2.89874144e-05 9.99989347e-01 -5.43981495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680281693 meters Centerline goodness [0,1] 0.9995963715930576 Centerline is valid? [True, True] Translation: X:51.03, Y:-1.50, Z:-0.54 [[ 9.99528586e-01 3.03572183e-02 4.58744677e-03 5.10256363e+01] [-3.03567840e-02 9.99539113e-01 -1.64288279e-04 -1.50176006e+00] [-4.59031981e-03 2.49507004e-05 9.99989464e-01 -5.44312827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.710281693 meters Centerline goodness [0,1] 0.9994716263341435 Centerline is valid? [True, True] Translation: X:51.06, Y:-1.50, Z:-0.54 [[ 9.99514465e-01 3.08268179e-02 4.53217285e-03 5.10570158e+01] [-3.08263954e-02 9.99524740e-01 -1.63046699e-04 -1.50307842e+00] [-4.53504510e-03 2.32569817e-05 9.99989716e-01 -5.44905102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74028169299999 meters Centerline goodness [0,1] 0.9996150226708872 Centerline is valid? [True, True] Translation: X:51.09, Y:-1.50, Z:-0.55 [[ 9.99506205e-01 3.11499246e-02 4.12659429e-03 5.10889342e+01] [-3.11495750e-02 9.99514723e-01 -1.48991366e-04 -1.50038206e+00] [-4.12923282e-03 2.03761363e-05 9.99991474e-01 -5.46042643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.770281692999994 meters Centerline goodness [0,1] 0.999659769919408 Centerline is valid? [True, True] Translation: X:51.12, Y:-1.50, Z:-0.55 [[ 9.99482962e-01 3.19720298e-02 3.40556678e-03 5.11200958e+01] [-3.19717950e-02 9.99488764e-01 -1.23392898e-04 -1.49932758e+00] [-3.40777085e-03 1.44470160e-05 9.99994193e-01 -5.47207787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800281692999995 meters Centerline goodness [0,1] 0.999720520262281 Centerline is valid? [True, True] Translation: X:51.15, Y:-1.50, Z:-0.55 [[ 9.99462768e-01 3.25760440e-02 3.60220824e-03 5.11512900e+01] [-3.25757823e-02 9.99469260e-01 -1.31309550e-04 -1.49864814e+00] [-3.60457395e-03 1.38942550e-05 9.99993503e-01 -5.47894059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.830281692999996 meters Centerline goodness [0,1] 0.9996415997301457 Centerline is valid? [True, True] Translation: X:51.18, Y:-1.50, Z:-0.54 [[ 9.99416860e-01 3.37638875e-02 5.09320818e-03 5.11819514e+01] [-3.37633790e-02 9.99429837e-01 -1.85830660e-04 -1.49731722e+00] [-5.09657859e-03 1.37583764e-05 9.99987012e-01 -5.44641880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860281693 meters Centerline goodness [0,1] 0.9995293815645924 Centerline is valid? [True, True] Translation: X:51.21, Y:-1.50, Z:-0.54 [[ 9.99376677e-01 3.47223110e-02 6.37334932e-03 5.12137744e+01] [-3.47215324e-02 9.99396999e-01 -2.32808047e-04 -1.49569298e+00] [-6.37758981e-03 1.13704774e-05 9.99979663e-01 -5.41983503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.890281693 meters Centerline goodness [0,1] 0.9995560253699789 Centerline is valid? [True, True] Translation: X:51.25, Y:-1.49, Z:-0.54 [[ 9.99337574e-01 3.57911621e-02 6.58837656e-03 5.12457533e+01] [-3.57903465e-02 9.99359291e-01 -2.41692241e-04 -1.49392674e+00] [-6.59280577e-03 5.73185712e-06 9.99978267e-01 -5.41554993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92028169299999 meters Centerline goodness [0,1] 0.9992364307379048 Centerline is valid? [True, True] Translation: X:51.28, Y:-1.49, Z:-0.55 [[ 9.99211959e-01 3.94400892e-02 4.46545470e-03 5.12774201e+01] [-3.94397496e-02 9.99221937e-01 -1.64114275e-04 -1.48831965e+00] [-4.46845297e-03 -1.21314690e-05 9.99990016e-01 -5.46018918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.950281692999994 meters Centerline goodness [0,1] 0.9992364307379048 Centerline is valid? [True, True] Translation: X:51.31, Y:-1.49, Z:-0.55 [[ 9.99211061e-01 3.94628318e-02 4.46542713e-03 5.13082330e+01] [-3.94624891e-02 9.99221039e-01 -1.64860836e-04 -1.48950293e+00] [-4.46845461e-03 -1.14860988e-05 9.99990016e-01 -5.46178452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980281692999995 meters Centerline goodness [0,1] 0.9993317525328734 Centerline is valid? [True, True] Translation: X:51.34, Y:-1.49, Z:-0.55 [[ 9.99162875e-01 4.07476932e-02 3.62962794e-03 5.13397992e+01] [-4.07474751e-02 9.99169468e-01 -1.34064269e-04 -1.48787907e+00] [-3.63207623e-03 -1.39461336e-05 9.99993404e-01 -5.48770024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.010281692999996 meters Centerline goodness [0,1] 0.9992821249102656 Centerline is valid? [True, True] Translation: X:51.37, Y:-1.48, Z:-0.55 [[ 9.99103773e-01 4.22222436e-02 2.98874304e-03 5.13704163e+01] [-4.22221021e-02 9.99108243e-01 -1.10464750e-04 -1.48307468e+00] [-2.99074188e-03 -1.58252651e-05 9.99995528e-01 -5.50511896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.040281693 meters Centerline goodness [0,1] 0.9992799813642236 Centerline is valid? [True, True] Translation: X:51.40, Y:-1.48, Z:-0.55 [[ 9.99114144e-01 4.19124569e-02 3.77789280e-03 5.14010242e+01] [-4.19122283e-02 9.99121287e-01 -1.39706356e-04 -1.48234372e+00] [-3.78042855e-03 -1.87573096e-05 9.99992854e-01 -5.48730613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.070281693 meters Centerline goodness [0,1] 0.999251593037677 Centerline is valid? [True, True] Translation: X:51.43, Y:-1.48, Z:-0.55 [[ 9.99131251e-01 4.13752630e-02 4.98297595e-03 5.14314262e+01] [-4.13748585e-02 9.99143677e-01 -1.84270292e-04 -1.48258757e+00] [-4.98633314e-03 -2.20597173e-05 9.99987568e-01 -5.46547218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100281693 meters Centerline goodness [0,1] 0.9991959373677528 Centerline is valid? [True, True] Translation: X:51.46, Y:-1.48, Z:-0.55 [[ 9.99158692e-01 4.06797516e-02 5.20242887e-03 5.14629211e+01] [-4.06793013e-02 9.99172236e-01 -1.92386376e-04 -1.48369940e+00] [-5.20594871e-03 -1.94066512e-05 9.99986449e-01 -5.46392178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13028169299999 meters Centerline goodness [0,1] 0.9993612264452252 Centerline is valid? [True, True] Translation: X:51.49, Y:-1.49, Z:-0.55 [[ 9.99237206e-01 3.88964394e-02 3.47470721e-03 5.14941642e+01] [-3.88962276e-02 9.99243247e-01 -1.28534945e-04 -1.48505933e+00] [-3.47707727e-03 -6.71610368e-06 9.99993955e-01 -5.50188583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160281692999995 meters Centerline goodness [0,1] 0.9994033285741684 Centerline is valid? [True, True] Translation: X:51.53, Y:-1.49, Z:-0.55 [[ 9.99274418e-01 3.80236763e-02 2.19928395e-03 5.15256111e+01] [-3.80235894e-02 9.99276839e-01 -8.13592587e-05 -1.48571304e+00] [-2.20078710e-03 -2.32444409e-06 9.99997578e-01 -5.52758481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.190281692999996 meters Centerline goodness [0,1] 0.999807391871937 Centerline is valid? [True, True] Translation: X:51.56, Y:-1.48, Z:-0.55 [[ 9.99348083e-01 3.60293977e-02 2.30045902e-03 5.15553032e+01] [-3.60292969e-02 9.99350730e-01 -8.52627323e-05 -1.48476247e+00] [-2.30203736e-03 2.32322710e-06 9.99997350e-01 -5.53585420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220281693 meters Centerline goodness [0,1] 0.9998106379397408 Centerline is valid? [True, True] Translation: X:51.59, Y:-1.49, Z:-0.55 [[ 9.99387741e-01 3.47985885e-02 3.63341609e-03 5.15859865e+01] [-3.47983293e-02 9.99394346e-01 -1.34553914e-04 -1.48601915e+00] [-3.63589778e-03 8.03472232e-06 9.99993390e-01 -5.50800122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.250281693 meters Centerline goodness [0,1] 0.9997260851243153 Centerline is valid? [True, True] Translation: X:51.62, Y:-1.49, Z:-0.55 [[ 9.99448211e-01 3.27898092e-02 5.30116325e-03 5.16163659e+01] [-3.27892288e-02 9.99462269e-01 -1.96400629e-04 -1.48927856e+00] [-5.30475259e-03 2.24712032e-05 9.99985929e-01 -5.47931587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280281693 meters Centerline goodness [0,1] 0.9997625215889464 Centerline is valid? [True, True] Translation: X:51.65, Y:-1.50, Z:-0.55 [[ 9.99643296e-01 2.58209764e-02 6.82333930e-03 5.16478669e+01] [-2.58198513e-02 9.99666580e-01 -2.52941925e-04 -1.50088440e+00] [-6.82759547e-03 7.66740935e-05 9.99976689e-01 -5.45753337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31028169299999 meters Centerline goodness [0,1] 0.9995970478452664 Centerline is valid? [True, True] Translation: X:51.68, Y:-1.51, Z:-0.55 [[ 9.99711875e-01 2.33332623e-02 5.63255924e-03 5.16797271e+01] [-2.33324547e-02 9.99727739e-01 -2.09060438e-04 -1.50702351e+00] [-5.63590378e-03 7.75787686e-05 9.99984115e-01 -5.48067783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340281692999994 meters Centerline goodness [0,1] 0.999509375199983 Centerline is valid? [True, True] Translation: X:51.71, Y:-1.51, Z:-0.55 [[ 9.99793596e-01 2.00538078e-02 3.25743447e-03 5.17119900e+01] [-2.00535190e-02 9.99798901e-01 -1.21280784e-04 -1.51337955e+00] [-3.25921154e-03 5.59327270e-05 9.99994687e-01 -5.52578685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.370281692999995 meters Centerline goodness [0,1] 0.9994482992764233 Centerline is valid? [True, True] Translation: X:51.74, Y:-1.51, Z:-0.55 [[ 9.99807526e-01 1.93735213e-02 3.09484663e-03 5.17437700e+01] [-1.93732577e-02 9.99812314e-01 -1.15130144e-04 -1.51252344e+00] [-3.09649625e-03 5.51507229e-05 9.99995204e-01 -5.52589167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400281693 meters Centerline goodness [0,1] 0.9992762107503992 Centerline is valid? [True, True] Translation: X:51.77, Y:-1.52, Z:-0.55 [[ 9.99814379e-01 1.89591071e-02 3.42921239e-03 5.17745636e+01] [-1.89587786e-02 9.99820258e-01 -1.28277070e-04 -1.51864862e+00] [-3.43102804e-03 6.32395800e-05 9.99994112e-01 -5.52729700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.430281693 meters Centerline goodness [0,1] 0.9991928460672487 Centerline is valid? [True, True] Translation: X:51.81, Y:-1.52, Z:-0.55 [[ 9.99806168e-01 1.93404412e-02 3.68412992e-03 5.18058553e+01] [-1.93400636e-02 9.99812954e-01 -1.38102262e-04 -1.51894311e+00] [-3.68611178e-03 6.68241867e-05 9.99993204e-01 -5.53051996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460281693 meters Centerline goodness [0,1] 0.9994064401246475 Centerline is valid? [True, True] Translation: X:51.84, Y:-1.52, Z:-0.55 [[ 9.99792348e-01 2.01149553e-02 3.26340045e-03 5.18377786e+01] [-2.01146612e-02 9.99797672e-01 -1.22923187e-04 -1.51571360e+00] [-3.26521276e-03 5.72554676e-05 9.99994668e-01 -5.53580864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49028169299999 meters Centerline goodness [0,1] 0.9994719611363396 Centerline is valid? [True, True] Translation: X:51.87, Y:-1.52, Z:-0.55 [[ 9.99774483e-01 2.10407919e-02 2.87533434e-03 5.18684969e+01] [-2.10405672e-02 9.99778617e-01 -1.08356507e-04 -1.51846759e+00] [-2.87697769e-03 4.78334054e-05 9.99995860e-01 -5.54818639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520281692999994 meters Centerline goodness [0,1] 0.9993221631468576 Centerline is valid? [True, True] Translation: X:51.90, Y:-1.52, Z:-0.55 [[ 9.99770178e-01 2.10446576e-02 4.08815135e-03 5.18997891e+01] [-2.10442030e-02 9.99778534e-01 -1.54199504e-04 -1.52144217e+00] [-4.09049104e-03 6.81321791e-05 9.99991632e-01 -5.52806622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.550281692999995 meters Centerline goodness [0,1] 0.999570566637322 Centerline is valid? [True, True] Translation: X:51.93, Y:-1.52, Z:-0.55 [[ 9.99767950e-01 2.08484847e-02 5.42097422e-03 5.19316079e+01] [-2.08476814e-02 9.99782643e-01 -2.04663402e-04 -1.51965459e+00] [-5.42406285e-03 9.16011659e-05 9.99985285e-01 -5.49295903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580281692999996 meters Centerline goodness [0,1] 0.9991711826585911 Centerline is valid? [True, True] Translation: X:51.96, Y:-1.52, Z:-0.55 [[ 9.99748341e-01 2.15064415e-02 6.38189369e-03 5.19633040e+01] [-2.15053338e-02 9.99768704e-01 -2.42146174e-04 -1.51983858e+00] [-6.38562529e-03 1.04840481e-04 9.99979606e-01 -5.47383053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.610281693 meters Centerline goodness [0,1] 0.9995535429555457 Centerline is valid? [True, True] Translation: X:51.99, Y:-1.51, Z:-0.55 [[ 9.99633956e-01 2.62812787e-02 6.42254094e-03 5.19941386e+01] [-2.62802498e-02 9.99654585e-01 -2.44555553e-04 -1.51016557e+00] [-6.42674972e-03 7.56800546e-05 9.99979345e-01 -5.47735565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640281693 meters Centerline goodness [0,1] 0.9996805111821087 Centerline is valid? [True, True] Translation: X:52.03, Y:-1.51, Z:-0.55 [[ 9.99555988e-01 2.93694432e-02 5.02618978e-03 5.20267648e+01] [-2.93688520e-02 9.99568624e-01 -1.91408400e-04 -1.50507438e+00] [-5.02964316e-03 4.37099885e-05 9.99987350e-01 -5.50597784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67028169299999 meters Centerline goodness [0,1] 0.9999572457726758 Centerline is valid? [True, True] Translation: X:52.06, Y:-1.50, Z:-0.55 [[ 9.99489604e-01 3.17760046e-02 3.28884493e-03 5.20573154e+01] [-3.17757628e-02 9.99495015e-01 -1.25763016e-04 -1.49853461e+00] [-3.29118036e-03 2.11932705e-05 9.99994584e-01 -5.53442995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700281692999994 meters Centerline goodness [0,1] 0.9998493651818378 Centerline is valid? [True, True] Translation: X:52.09, Y:-1.50, Z:-0.55 [[ 9.99502755e-01 3.13762829e-02 3.12587665e-03 5.20883857e+01] [-3.13760624e-02 9.99507643e-01 -1.19588396e-04 -1.49683758e+00] [-3.12808984e-03 2.14512305e-05 9.99995107e-01 -5.53689815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.730281692999995 meters Centerline goodness [0,1] 0.9997660420698896 Centerline is valid? [True, True] Translation: X:52.12, Y:-1.50, Z:-0.55 [[ 9.99524911e-01 3.06431190e-02 3.30941297e-03 5.21174627e+01] [-3.06428677e-02 9.99530389e-01 -1.26632309e-04 -1.49948718e+00] [-3.31173924e-03 2.51622436e-05 9.99994516e-01 -5.54947952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760281692999996 meters Centerline goodness [0,1] 0.9998289172601099 Centerline is valid? [True, True] Translation: X:52.15, Y:-1.50, Z:-0.55 [[ 9.99604734e-01 2.76663440e-02 4.99488612e-03 5.21483287e+01] [-2.76657348e-02 9.99617212e-01 -1.91028303e-04 -1.50437572e+00] [-4.99825920e-03 5.27656013e-05 9.99987507e-01 -5.53185004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.790281693 meters Centerline goodness [0,1] 0.9998498884885916 Centerline is valid? [True, True] Translation: X:52.18, Y:-1.51, Z:-0.55 [[ 9.99665421e-01 2.54345629e-02 4.70411065e-03 5.21795885e+01] [-2.54339974e-02 9.99676487e-01 -1.80009628e-04 -1.50827514e+00] [-4.70716727e-03 6.03050628e-05 9.99988919e-01 -5.53167861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820281693 meters Centerline goodness [0,1] 0.999531416400426 Centerline is valid? [True, True] Translation: X:52.21, Y:-1.51, Z:-0.56 [[ 9.99730082e-01 2.29581076e-02 3.56214965e-03 5.22106172e+01] [-2.29577681e-02 9.99736426e-01 -1.36158472e-04 -1.51335126e+00] [-3.56433671e-03 5.43427146e-05 9.99993646e-01 -5.55379043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.850281693 meters Centerline goodness [0,1] 0.9990633514986376 Centerline is valid? [True, True] Translation: X:52.24, Y:-1.53, Z:-0.56 [[ 9.99834680e-01 1.80731600e-02 1.99333592e-03 5.22404200e+01] [-1.80730432e-02 9.99836666e-01 -7.65954148e-05 -1.52619785e+00] [-1.99439466e-03 4.05571059e-05 9.99998010e-01 -5.58985453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88028169299999 meters Centerline goodness [0,1] 0.9989219126537859 Centerline is valid? [True, True] Translation: X:52.27, Y:-1.53, Z:-0.56 [[ 9.99853346e-01 1.69358007e-02 2.54260965e-03 5.22703556e+01] [-1.69356069e-02 9.99856578e-01 -9.77489957e-05 -1.53423170e+00] [-2.54390044e-03 5.46740229e-05 9.99996763e-01 -5.58586561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.910281692999995 meters Centerline goodness [0,1] 0.9982748706152962 Centerline is valid? [True, True] Translation: X:52.30, Y:-1.54, Z:-0.56 [[ 9.99844129e-01 1.72106910e-02 3.93829462e-03 5.23012634e+01] [-1.72102277e-02 9.99851882e-01 -1.51481085e-04 -1.53746010e+00] [-3.94031838e-03 8.36785258e-05 9.99992233e-01 -5.55951543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940281692999996 meters Centerline goodness [0,1] 0.9990818832070033 Centerline is valid? [True, True] Translation: X:52.33, Y:-1.54, Z:-0.56 [[ 9.99816397e-01 1.87363473e-02 4.01514825e-03 5.23331607e+01] [-1.87358781e-02 9.99824456e-01 -1.54454954e-04 -1.53530023e+00] [-4.01733734e-03 7.91992679e-05 9.99991927e-01 -5.55403973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.970281693 meters Centerline goodness [0,1] 0.9994030232607722 Centerline is valid? [True, True] Translation: X:52.37, Y:-1.54, Z:-0.56 [[ 9.99774321e-01 2.09419655e-02 3.56939769e-03 5.23650737e+01] [-2.09416083e-02 9.99780691e-01 -1.37412955e-04 -1.53569076e+00] [-3.57149259e-03 6.26330153e-05 9.99993620e-01 -5.56114912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000281693 meters Centerline goodness [0,1] 0.9995116565459256 Centerline is valid? [True, True] Translation: X:52.40, Y:-1.54, Z:-0.56 [[ 9.99687157e-01 2.48507643e-02 2.83344058e-03 5.23953127e+01] [-2.48505546e-02 9.99691171e-01 -1.09197105e-04 -1.53608851e+00] [-2.83527916e-03 3.87503741e-05 9.99995980e-01 -5.58098708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.030281693 meters Centerline goodness [0,1] 0.9995743141136155 Centerline is valid? [True, True] Translation: X:52.43, Y:-1.54, Z:-0.56 [[ 9.99656225e-01 2.59735027e-02 3.57888210e-03 5.24266218e+01] [-2.59731752e-02 9.99662631e-01 -1.37964367e-04 -1.53630524e+00] [-3.58125811e-03 4.49620067e-05 9.99993586e-01 -5.56690936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06028169299999 meters Centerline goodness [0,1] 0.9994943536153716 Centerline is valid? [True, True] Translation: X:52.46, Y:-1.54, Z:-0.55 [[ 9.99614520e-01 2.73443900e-02 4.80589766e-03 5.24572157e+01] [-2.73438146e-02 9.99626071e-01 -1.85421457e-04 -1.53738522e+00] [-4.80917083e-03 5.39384068e-05 9.99988434e-01 -5.54504017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.090281692999994 meters Centerline goodness [0,1] 0.9995759297739706 Centerline is valid? [True, True] Translation: X:52.49, Y:-1.54, Z:-0.55 [[ 9.99561285e-01 2.90255040e-02 5.89561276e-03 5.24882944e+01] [-2.90246666e-02 9.99578670e-01 -2.27555015e-04 -1.53619894e+00] [-5.89973366e-03 5.63369887e-05 9.99982595e-01 -5.52714983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120281692999995 meters Centerline goodness [0,1] 0.9997246929267259 Centerline is valid? [True, True] Translation: X:52.52, Y:-1.53, Z:-0.55 [[ 9.99411235e-01 3.37815923e-02 5.99897736e-03 5.25195572e+01] [-3.37808098e-02 9.99429239e-01 -2.31744956e-04 -1.52964329e+00] [-6.00338209e-03 2.89581997e-05 9.99981979e-01 -5.53294659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.150281693 meters Centerline goodness [0,1] 0.9997683917968585 Centerline is valid? [True, True] Translation: X:52.55, Y:-1.53, Z:-0.55 [[ 9.99323309e-01 3.64075211e-02 5.23608801e-03 5.25496661e+01] [-3.64069588e-02 9.99337026e-01 -2.02695489e-04 -1.52574311e+00] [-5.23999626e-03 1.19282869e-05 9.99986271e-01 -5.54639299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180281693 meters Centerline goodness [0,1] 0.9995982916825236 Centerline is valid? [True, True] Translation: X:52.58, Y:-1.52, Z:-0.56 [[ 9.99206363e-01 3.97118289e-02 3.10086027e-03 5.25804674e+01] [-3.97116475e-02 9.99211174e-01 -1.20085928e-04 -1.51938751e+00] [-3.10318306e-03 -3.14964614e-06 9.99995185e-01 -5.59063897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.210281693 meters Centerline goodness [0,1] 0.9995969965638655 Centerline is valid? [True, True] Translation: X:52.61, Y:-1.52, Z:-0.56 [[ 9.99201639e-01 3.98953400e-02 2.10880958e-03 5.26114106e+01] [-3.98952564e-02 9.99203864e-01 -8.17064184e-05 -1.51912803e+00] [-2.11039038e-03 -2.49031164e-06 9.99997773e-01 -5.60967929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24028169299999 meters Centerline goodness [0,1] 0.9995767106182142 Centerline is valid? [True, True] Translation: X:52.64, Y:-1.52, Z:-0.56 [[ 9.99211917e-01 3.96251660e-02 2.32197545e-03 5.26409816e+01] [-3.96250638e-02 9.99214615e-01 -9.00325522e-05 -1.51878824e+00] [-2.32371936e-03 -2.04682608e-06 9.99997300e-01 -5.59688705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.270281692999994 meters Centerline goodness [0,1] 0.999808596159163 Centerline is valid? [True, True] Translation: X:52.67, Y:-1.52, Z:-0.56 [[ 9.99282055e-01 3.75998883e-02 4.64996159e-03 5.26705906e+01] [-3.75994575e-02 9.99292874e-01 -1.80060818e-04 -1.51881527e+00] [-4.65344375e-03 5.09551161e-06 9.99989173e-01 -5.56623760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300281692999995 meters Centerline goodness [0,1] 0.9997676383607943 Centerline is valid? [True, True] Translation: X:52.70, Y:-1.52, Z:-0.56 [[ 9.99335496e-01 3.60400023e-02 5.44845060e-03 5.27006553e+01] [-3.60393880e-02 9.99350348e-01 -2.10913230e-04 -1.52123754e+00] [-5.45251232e-03 1.44142515e-05 9.99985135e-01 -5.56013277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.330281692999996 meters Centerline goodness [0,1] 0.9998928349443813 Centerline is valid? [True, True] Translation: X:52.73, Y:-1.52, Z:-0.56 [[ 9.99428747e-01 3.34907143e-02 4.53349949e-03 5.27321895e+01] [-3.34902627e-02 9.99439028e-01 -1.75529298e-04 -1.52406526e+00] [-4.53683493e-03 2.36009377e-05 9.99989708e-01 -5.58629802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360281693 meters Centerline goodness [0,1] 0.9998719590268886 Centerline is valid? [True, True] Translation: X:52.76, Y:-1.53, Z:-0.56 [[ 9.99461206e-01 3.26638585e-02 3.22024253e-03 5.27629139e+01] [-3.26636261e-02 9.99466394e-01 -1.24745670e-04 -1.52604343e+00] [-3.22259886e-03 1.94936601e-05 9.99994807e-01 -5.61240197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.390281693 meters Centerline goodness [0,1] 0.9998944836027519 Centerline is valid? [True, True] Translation: X:52.79, Y:-1.53, Z:-0.56 [[ 9.99529457e-01 3.05937424e-02 2.21097824e-03 5.27931316e+01] [-3.05936278e-02 9.99531902e-01 -8.56563886e-05 -1.52976707e+00] [-2.21256383e-03 1.79742384e-05 9.99997552e-01 -5.62256878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42028169299999 meters Centerline goodness [0,1] 0.9998307773664727 Centerline is valid? [True, True] Translation: X:52.82, Y:-1.53, Z:-0.56 [[ 9.99557714e-01 2.96163174e-02 2.69273589e-03 5.28237540e+01] [-2.96161437e-02 9.99561340e-01 -1.04392372e-04 -1.53239103e+00] [-2.69464642e-03 2.45977472e-05 9.99996369e-01 -5.61224044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.450281692999994 meters Centerline goodness [0,1] 0.999786438868126 Centerline is valid? [True, True] Translation: X:52.85, Y:-1.53, Z:-0.56 [[ 9.99567844e-01 2.92377652e-02 3.04587274e-03 5.28545770e+01] [-2.92375411e-02 9.99572485e-01 -1.18082832e-04 -1.53348010e+00] [-3.04802307e-03 2.89779720e-05 9.99995354e-01 -5.60357816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480281692999995 meters Centerline goodness [0,1] 0.9998311167405531 Centerline is valid? [True, True] Translation: X:52.88, Y:-1.54, Z:-0.56 [[ 9.99555467e-01 2.97236071e-02 2.31861306e-03 5.28835589e+01] [-2.97234785e-02 9.99558156e-01 -8.98883240e-05 -1.53780336e+00] [-2.32026040e-03 2.09311202e-05 9.99997308e-01 -5.61742740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.510281692999996 meters Centerline goodness [0,1] 0.9998288440555401 Centerline is valid? [True, True] Translation: X:52.91, Y:-1.54, Z:-0.56 [[ 9.99548383e-01 3.00031463e-02 1.68588655e-03 5.29139716e+01] [-3.00030788e-02 9.99549804e-01 -6.53586920e-05 -1.53717425e+00] [-1.68708854e-03 1.47473878e-05 9.99998577e-01 -5.62343067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.540281693 meters Centerline goodness [0,1] 0.9997671612725695 Centerline is valid? [True, True] Translation: X:52.94, Y:-1.54, Z:-0.56 [[ 9.99551807e-01 2.97361625e-02 3.45628780e-03 5.29435913e+01] [-2.97358768e-02 9.99557782e-01 -1.34013632e-04 -1.54007696e+00] [-3.45874442e-03 3.11778201e-05 9.99994018e-01 -5.60093245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.570281693 meters Centerline goodness [0,1] 0.9996824455923449 Centerline is valid? [True, True] Translation: X:52.97, Y:-1.54, Z:-0.56 [[ 9.99556553e-01 2.92790519e-02 5.42535565e-03 5.29741476e+01] [-2.92783419e-02 9.99571275e-01 -2.10271225e-04 -1.54338955e+00] [-5.42918621e-03 5.13325634e-05 9.99985261e-01 -5.56764920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60028169299999 meters Centerline goodness [0,1] 0.99940757040391 Centerline is valid? [True, True] Translation: X:53.01, Y:-1.55, Z:-0.55 [[ 9.99557211e-01 2.88589866e-02 7.24844549e-03 5.30054436e+01] [-2.88577072e-02 9.99583490e-01 -2.81052327e-04 -1.54564469e+00] [-7.25353732e-03 7.17543627e-05 9.99973690e-01 -5.53162433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63028169299999 meters Centerline goodness [0,1] 0.9992983053009845 Centerline is valid? [True, True] Translation: X:53.04, Y:-1.55, Z:-0.55 [[ 9.99539935e-01 2.93947764e-02 7.47429605e-03 5.30380421e+01] [-2.93934273e-02 9.99567878e-01 -2.90302321e-04 -1.54578451e+00] [-7.47959961e-03 7.04735858e-05 9.99972025e-01 -5.52129086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660281692999995 meters Centerline goodness [0,1] 0.9994288252840008 Centerline is valid? [True, True] Translation: X:53.07, Y:-1.55, Z:-0.55 [[ 9.99534641e-01 2.97352594e-02 6.80563381e-03 5.30697641e+01] [-2.97341417e-02 9.99557807e-01 -2.65378626e-04 -1.54656985e+00] [-6.81051551e-03 6.28954501e-05 9.99976806e-01 -5.53972413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.690281692999996 meters Centerline goodness [0,1] 0.999530806799036 Centerline is valid? [True, True] Translation: X:53.10, Y:-1.55, Z:-0.56 [[ 9.99558372e-01 2.90075836e-02 6.45141430e-03 5.31008651e+01] [-2.90065573e-02 9.99579189e-01 -2.52607410e-04 -1.55111321e+00] [-6.45602701e-03 6.53625325e-05 9.99979158e-01 -5.55776748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720281693 meters Centerline goodness [0,1] 0.9995341549146657 Centerline is valid? [True, True] Translation: X:53.13, Y:-1.56, Z:-0.56 [[ 9.99588507e-01 2.80417033e-02 6.03975463e-03 5.31332918e+01] [-2.80407809e-02 9.99606752e-01 -2.37353172e-04 -1.55570765e+00] [-6.04403529e-03 6.78960666e-05 9.99981732e-01 -5.56446486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.750281693 meters Centerline goodness [0,1] 0.9994035827635419 Centerline is valid? [True, True] Translation: X:53.16, Y:-1.56, Z:-0.56 [[ 9.99635668e-01 2.63329200e-02 5.92532019e-03 5.31649308e+01] [-2.63319967e-02 9.99653226e-01 -2.33805370e-04 -1.56180905e+00] [-5.92942222e-03 7.76946755e-05 9.99982418e-01 -5.56706685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.780281693 meters Centerline goodness [0,1] 0.999081530213384 Centerline is valid? [True, True] Translation: X:53.20, Y:-1.57, Z:-0.56 [[ 9.99680554e-01 2.45177611e-02 6.13745903e-03 5.31964800e+01] [-2.45167300e-02 9.99699390e-01 -2.43195370e-04 -1.56671295e+00] [-6.14157666e-03 9.26472567e-05 9.99981136e-01 -5.55947363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81028169299999 meters Centerline goodness [0,1] 0.9987893719601555 Centerline is valid? [True, True] Translation: X:53.23, Y:-1.57, Z:-0.56 [[ 9.99718408e-01 2.30032866e-02 5.82691070e-03 5.32285793e+01] [-2.30023265e-02 9.99735385e-01 -2.31739541e-04 -1.57193121e+00] [-5.83069958e-03 9.76417829e-05 9.99982997e-01 -5.56100457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840281692999994 meters Centerline goodness [0,1] 0.9987893719601555 Centerline is valid? [True, True] Translation: X:53.26, Y:-1.57, Z:-0.56 [[ 9.99714630e-01 2.31669397e-02 5.82687262e-03 5.32602370e+01] [-2.31659768e-02 9.99731606e-01 -2.32693131e-04 -1.57333204e+00] [-5.83069951e-03 9.76415309e-05 9.99982997e-01 -5.56264407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.870281692999995 meters Centerline goodness [0,1] 0.9992525041112273 Centerline is valid? [True, True] Translation: X:53.29, Y:-1.58, Z:-0.56 [[ 9.99720683e-01 2.29486347e-02 5.64949499e-03 5.32913941e+01] [-2.29477212e-02 9.99736641e-01 -2.26474898e-04 -1.57788167e+00] [-5.65320443e-03 9.67686039e-05 9.99984016e-01 -5.57295149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900281693 meters Centerline goodness [0,1] 0.9988908086431604 Centerline is valid? [True, True] Translation: X:53.32, Y:-1.59, Z:-0.56 [[ 9.99722571e-01 2.29093247e-02 5.47210193e-03 5.33234835e+01] [-2.29084643e-02 9.99737543e-01 -2.19869143e-04 -1.58597381e+00] [-5.47570279e-03 9.44506931e-05 9.99985004e-01 -5.57941413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.930281693 meters Centerline goodness [0,1] 0.9986536802911417 Centerline is valid? [True, True] Translation: X:53.36, Y:-1.59, Z:-0.56 [[ 9.99728243e-01 2.27087608e-02 5.26812714e-03 5.33551454e+01] [-2.27079559e-02 9.99742119e-01 -2.12553238e-04 -1.59173017e+00] [-5.27159541e-03 9.28670766e-05 9.99986101e-01 -5.58137546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960281693 meters Centerline goodness [0,1] 0.9987508204357308 Centerline is valid? [True, True] Translation: X:53.39, Y:-1.60, Z:-0.56 [[ 9.99732634e-01 2.25974398e-02 4.90060073e-03 5.33883661e+01] [-2.25967382e-02 9.99744641e-01 -1.98495887e-04 -1.59598374e+00] [-4.90383482e-03 8.77052240e-05 9.99987972e-01 -5.58781889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99028169299999 meters Centerline goodness [0,1] 0.9990269904391235 Centerline is valid? [True, True] Translation: X:53.42, Y:-1.60, Z:-0.56 [[ 9.99724552e-01 2.30968508e-02 4.16596811e-03 5.34189613e+01] [-2.30963454e-02 9.99733229e-01 -1.69397366e-04 -1.60030424e+00] [-4.16876930e-03 7.31320676e-05 9.99991308e-01 -5.59610834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020281692999994 meters Centerline goodness [0,1] 0.9991506890035459 Centerline is valid? [True, True] Translation: X:53.45, Y:-1.60, Z:-0.56 [[ 9.99709752e-01 2.38714115e-02 3.25069593e-03 5.34503354e+01] [-2.38711066e-02 9.99715036e-01 -1.32545052e-04 -1.60352388e+00] [-3.25293364e-03 5.49088717e-05 9.99994708e-01 -5.61357100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.050281692999995 meters Centerline goodness [0,1] 0.9995966800399074 Centerline is valid? [True, True] Translation: X:53.48, Y:-1.60, Z:-0.56 [[ 9.99683011e-01 2.50426369e-02 2.59706838e-03 5.34818815e+01] [-2.50424448e-02 9.99686383e-01 -1.06454977e-04 -1.60412802e+00] [-2.59891980e-03 4.13842906e-05 9.99996622e-01 -5.62783105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.080281692999996 meters Centerline goodness [0,1] 0.9992968849874292 Centerline is valid? [True, True] Translation: X:53.51, Y:-1.61, Z:-0.56 [[ 9.99640362e-01 2.67290498e-02 2.16903180e-03 5.35135349e+01] [-2.67289197e-02 9.99642715e-01 -8.89394146e-05 -1.60654429e+00] [-2.17063410e-03 3.09315518e-05 9.99997644e-01 -5.64285775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.110281693 meters Centerline goodness [0,1] 0.9995121019918967 Centerline is valid? [True, True] Translation: X:53.55, Y:-1.61, Z:-0.56 [[ 9.99633897e-01 2.69412326e-02 2.49842719e-03 5.35450848e+01] [-2.69410605e-02 9.99637018e-01 -1.02521386e-04 -1.61051234e+00] [-2.50028236e-03 3.51735747e-05 9.99996874e-01 -5.63399780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.140281693 meters Centerline goodness [0,1] 0.9995937740528521 Centerline is valid? [True, True] Translation: X:53.58, Y:-1.62, Z:-0.56 [[ 9.99584860e-01 2.86158086e-02 3.35314257e-03 5.35760792e+01] [-2.86155084e-02 9.99590483e-01 -1.37484221e-04 -1.61529077e+00] [-3.35570362e-03 4.14752666e-05 9.99994369e-01 -5.61500557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17028169299999 meters Centerline goodness [0,1] 0.9996171923183259 Centerline is valid? [True, True] Translation: X:53.61, Y:-1.61, Z:-0.56 [[ 9.99535683e-01 3.03068301e-02 3.14857385e-03 5.36072519e+01] [-3.03065717e-02 9.99540642e-01 -1.29769537e-04 -1.61464434e+00] [-3.15106043e-03 3.42868039e-05 9.99995035e-01 -5.61789509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200281692999994 meters Centerline goodness [0,1] 0.9996391194514616 Centerline is valid? [True, True] Translation: X:53.64, Y:-1.61, Z:-0.56 [[ 9.99464150e-01 3.25841052e-02 3.11265312e-03 5.36387162e+01] [-3.25838635e-02 9.99468997e-01 -1.28357245e-04 -1.61274387e+00] [-3.11518270e-03 2.68662004e-05 9.99995147e-01 -5.62497779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.230281692999995 meters Centerline goodness [0,1] 0.9997225245992615 Centerline is valid? [True, True] Translation: X:53.67, Y:-1.60, Z:-0.56 [[ 9.99284976e-01 3.77661054e-02 1.80524297e-03 5.36706524e+01] [-3.77660325e-02 9.99286606e-01 -7.44303714e-05 -1.60438845e+00] [-1.80676606e-03 6.20028717e-06 9.99998368e-01 -5.64322371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.260281692999996 meters Centerline goodness [0,1] 0.999786429746065 Centerline is valid? [True, True] Translation: X:53.70, Y:-1.60, Z:-0.57 [[ 9.99198591e-01 4.00026213e-02 1.40186761e-03 5.37008342e+01] [-4.00025795e-02 9.99199575e-01 -5.78498965e-05 -1.60040084e+00] [-1.40305967e-03 1.72521445e-06 9.99999016e-01 -5.65277912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.290281693 meters Centerline goodness [0,1] 0.9996400669052106 Centerline is valid? [True, True] Translation: X:53.73, Y:-1.60, Z:-0.57 [[ 9.99107162e-01 4.22314757e-02 1.17509828e-03 5.37303468e+01] [-4.22314478e-02 9.99107853e-01 -4.85891479e-05 -1.59525053e+00] [-1.17610192e-03 -1.08033618e-06 9.99999308e-01 -5.65067464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320281693 meters Centerline goodness [0,1] 0.9993889076196898 Centerline is valid? [True, True] Translation: X:53.76, Y:-1.59, Z:-0.56 [[ 9.98929656e-01 4.61848270e-02 2.55032344e-03 5.37603809e+01] [-4.61847085e-02 9.98932911e-01 -1.05383325e-04 -1.58509806e+00] [-2.55246913e-03 -1.25154155e-05 9.99996742e-01 -5.63795549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35028169299999 meters Centerline goodness [0,1] 0.9991276410136386 Centerline is valid? [True, True] Translation: X:53.79, Y:-1.58, Z:-0.56 [[ 9.98896171e-01 4.68508153e-02 3.38241103e-03 5.37901415e+01] [-4.68506111e-02 9.98901897e-01 -1.39632434e-04 -1.58436676e+00] [-3.38523869e-03 -1.89897205e-05 9.99994270e-01 -5.63004798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38028169299999 meters Centerline goodness [0,1] 0.9990926164299732 Centerline is valid? [True, True] Translation: X:53.82, Y:-1.58, Z:-0.56 [[ 9.98937244e-01 4.58775265e-02 4.43111255e-03 5.38197578e+01] [-4.58771668e-02 9.98947072e-01 -1.82854191e-04 -1.58422031e+00] [-4.43483581e-03 -2.06270281e-05 9.99990166e-01 -5.61681924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.410281692999995 meters Centerline goodness [0,1] 0.9992513529122372 Centerline is valid? [True, True] Translation: X:53.85, Y:-1.59, Z:-0.56 [[ 9.99012219e-01 4.42242074e-02 4.33651270e-03 5.38514714e+01] [-4.42238476e-02 9.99021631e-01 -1.78871620e-04 -1.58688196e+00] [-4.34018044e-03 -1.30823424e-05 9.99990581e-01 -5.60765221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440281692999996 meters Centerline goodness [0,1] 0.9994482641541466 Centerline is valid? [True, True] Translation: X:53.88, Y:-1.59, Z:-0.56 [[ 9.99110349e-01 4.19095774e-02 4.70077598e-03 5.38821049e+01] [-4.19091284e-02 9.99121408e-01 -1.94022609e-04 -1.59006826e+00] [-4.70477732e-03 -3.15542787e-06 9.99988932e-01 -5.60015245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.470281693 meters Centerline goodness [0,1] 0.9992160850865485 Centerline is valid? [True, True] Translation: X:53.91, Y:-1.59, Z:-0.56 [[ 9.99243396e-01 3.84108544e-02 6.10257265e-03 5.39144472e+01] [-3.84100310e-02 9.99262031e-01 -2.52109288e-04 -1.59477551e+00] [-6.10775287e-03 1.75185359e-05 9.99981347e-01 -5.57628049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500281693 meters Centerline goodness [0,1] 0.9993238960490175 Centerline is valid? [True, True] Translation: X:53.95, Y:-1.60, Z:-0.56 [[ 9.99270087e-01 3.77322715e-02 5.96403921e-03 5.39455413e+01] [-3.77314675e-02 9.99287884e-01 -2.47315791e-04 -1.59606438e+00] [-5.96912390e-03 2.21033203e-05 9.99982184e-01 -5.58047058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.530281693 meters Centerline goodness [0,1] 0.9994075453333615 Centerline is valid? [True, True] Translation: X:53.98, Y:-1.59, Z:-0.56 [[ 9.99287481e-01 3.76612218e-02 2.48260517e-03 5.39768853e+01] [-3.76610816e-02 9.99290564e-01 -1.03206767e-04 -1.59210884e+00] [-2.48473082e-03 9.63563403e-06 9.99996913e-01 -5.64970336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56028169299999 meters Centerline goodness [0,1] 0.9994902077403458 Centerline is valid? [True, True] Translation: X:54.01, Y:-1.59, Z:-0.57 [[ 9.99276147e-01 3.80380611e-02 5.36723705e-04 5.40077569e+01] [-3.80380546e-02 9.99276291e-01 -2.23378722e-05 -1.59042660e+00] [-5.37184962e-04 1.90577734e-06 9.99999856e-01 -5.68258157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.590281692999994 meters Centerline goodness [0,1] 0.9993627461393036 Centerline is valid? [True, True] Translation: X:54.04, Y:-1.59, Z:-0.57 [[ 9.99285553e-01 3.77935406e-02 -1.80401181e-04 5.40379428e+01] [-3.77935399e-02 9.99285569e-01 7.38779284e-06 -1.58972432e+00] [ 1.80551508e-04 -5.64515417e-07 9.99999984e-01 -5.69516220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.620281692999995 meters Centerline goodness [0,1] 0.9993650256106337 Centerline is valid? [True, True] Translation: X:54.07, Y:-1.59, Z:-0.57 [[ 9.99366053e-01 3.55337616e-02 2.20081266e-03 5.40672335e+01] [-3.55336460e-02 9.99368476e-01 -9.16124389e-05 -1.58953877e+00] [-2.20267813e-03 1.33514635e-05 9.99997574e-01 -5.66075469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.650281693 meters Centerline goodness [0,1] 0.9994271043306668 Centerline is valid? [True, True] Translation: X:54.10, Y:-1.59, Z:-0.56 [[ 9.99418386e-01 3.38813619e-02 3.86570745e-03 5.40978138e+01] [-3.38809938e-02 9.99425861e-01 -1.60698697e-04 -1.59259790e+00] [-3.86893269e-03 2.96312223e-05 9.99992515e-01 -5.63699742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680281693 meters Centerline goodness [0,1] 0.9993260178184039 Centerline is valid? [True, True] Translation: X:54.13, Y:-1.60, Z:-0.56 [[ 9.99551828e-01 2.95258253e-02 4.93641887e-03 5.41287383e+01] [-2.95251716e-02 9.99564016e-01 -2.05276661e-04 -1.59598835e+00] [-4.94032763e-03 5.94360481e-05 9.99987795e-01 -5.61593091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.710281693 meters Centerline goodness [0,1] 0.9993787622373128 Centerline is valid? [True, True] Translation: X:54.16, Y:-1.60, Z:-0.56 [[ 9.99615954e-01 2.74057996e-02 4.10698152e-03 5.41600200e+01] [-2.74053289e-02 9.99624389e-01 -1.70858456e-04 -1.59766747e+00] [-4.11012141e-03 5.82396591e-05 9.99991552e-01 -5.62501582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74028169299999 meters Centerline goodness [0,1] 0.9994293081947115 Centerline is valid? [True, True] Translation: X:54.19, Y:-1.60, Z:-0.56 [[ 9.99661386e-01 2.57830916e-02 3.51359101e-03 5.41915843e+01] [-2.57827375e-02 9.99667559e-01 -1.46027291e-04 -1.59900619e+00] [-3.51618798e-03 5.53878497e-05 9.99993817e-01 -5.63320089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.770281692999994 meters Centerline goodness [0,1] 0.999071945329143 Centerline is valid? [True, True] Translation: X:54.22, Y:-1.60, Z:-0.57 [[ 9.99707411e-01 2.40628570e-02 2.46394402e-03 5.42219414e+01] [-2.40626764e-02 9.99710447e-01 -1.02912877e-04 -1.60116369e+00] [-2.46570695e-03 4.35936781e-05 9.99996959e-01 -5.65548841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800281692999995 meters Centerline goodness [0,1] 0.9988755463147622 Centerline is valid? [True, True] Translation: X:54.25, Y:-1.60, Z:-0.57 [[ 9.99738976e-01 2.27903538e-02 1.60631261e-03 5.42524486e+01] [-2.27902753e-02 9.99740266e-01 -6.71299990e-05 -1.60023553e+00] [-1.60742531e-03 3.05041699e-05 9.99998708e-01 -5.67131310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.830281692999996 meters Centerline goodness [0,1] 0.9985481936583416 Centerline is valid? [True, True] Translation: X:54.28, Y:-1.61, Z:-0.57 [[ 9.99791236e-01 2.03818022e-02 1.43727356e-03 5.42827392e+01] [-2.03817370e-02 9.99792269e-01 -6.00234328e-05 -1.60914157e+00] [-1.43819838e-03 3.07167704e-05 9.99998965e-01 -5.68790513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860281693 meters Centerline goodness [0,1] 0.9988139613690274 Centerline is valid? [True, True] Translation: X:54.31, Y:-1.61, Z:-0.57 [[ 9.99804592e-01 1.96026442e-02 2.55231786e-03 5.43133133e+01] [-1.96024357e-02 9.99807848e-01 -1.06693706e-04 -1.60764550e+00] [-2.55391891e-03 5.66412100e-05 9.99996737e-01 -5.66149282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.890281693 meters Centerline goodness [0,1] 0.998724327082536 Centerline is valid? [True, True] Translation: X:54.34, Y:-1.61, Z:-0.56 [[ 9.99809315e-01 1.91827390e-02 3.65455901e-03 5.43443718e+01] [-1.91823088e-02 9.99815991e-01 -1.52735963e-04 -1.60835427e+00] [-3.65681643e-03 8.26039589e-05 9.99993310e-01 -5.63964103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92028169299999 meters Centerline goodness [0,1] 0.9987069148259634 Centerline is valid? [True, True] Translation: X:54.38, Y:-1.61, Z:-0.56 [[ 9.99780887e-01 2.06976054e-02 3.12836901e-03 5.43757734e+01] [-2.06972982e-02 9.99785779e-01 -1.30545640e-04 -1.60937328e+00] [-3.13040083e-03 6.57682497e-05 9.99995098e-01 -5.64857412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.950281692999994 meters Centerline goodness [0,1] 0.9993422308981731 Centerline is valid? [True, True] Translation: X:54.41, Y:-1.61, Z:-0.57 [[ 9.99756338e-01 2.19559677e-02 2.28028646e-03 5.44068062e+01] [-2.19558067e-02 9.99758938e-01 -9.56438602e-05 -1.60861047e+00] [-2.28183672e-03 4.55550268e-05 9.99997396e-01 -5.66555406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980281692999995 meters Centerline goodness [0,1] 0.9993819793708976 Centerline is valid? [True, True] Translation: X:54.44, Y:-1.61, Z:-0.57 [[ 9.99725800e-01 2.33958670e-02 9.79089649e-04 5.44370308e+01] [-2.33958379e-02 9.99726279e-01 -4.11163016e-05 -1.60508883e+00] [-9.79783603e-04 1.81984047e-05 9.99999520e-01 -5.68050448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.010281692999996 meters Centerline goodness [0,1] 0.9993173478965782 Centerline is valid? [True, True] Translation: X:54.47, Y:-1.61, Z:-0.57 [[ 9.99706626e-01 2.41557770e-02 1.77780344e-03 5.44674179e+01] [-2.41556825e-02 9.99708206e-01 -7.46578236e-05 -1.60598702e+00] [-1.77908811e-03 3.16918656e-05 9.99998417e-01 -5.66517900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.040281693 meters Centerline goodness [0,1] 0.999533779774519 Centerline is valid? [True, True] Translation: X:54.50, Y:-1.61, Z:-0.56 [[ 9.99613210e-01 2.75865226e-02 3.52344152e-03 5.44966284e+01] [-2.75861723e-02 9.99619418e-01 -1.47984227e-04 -1.60736398e+00] [-3.52618294e-03 5.07287235e-05 9.99993782e-01 -5.62713518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.070281693 meters Centerline goodness [0,1] 0.999744 Centerline is valid? [True, True] Translation: X:54.53, Y:-1.60, Z:-0.56 [[ 9.99546700e-01 2.99932439e-02 2.60759560e-03 5.45270833e+01] [-2.99930604e-02 9.99550101e-01 -1.09445151e-04 -1.60491187e+00] [-2.60970506e-03 3.11857667e-05 9.99996594e-01 -5.64343945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10028169299999 meters Centerline goodness [0,1] 0.9993843410326086 Centerline is valid? [True, True] Translation: X:54.56, Y:-1.60, Z:-0.57 [[ 9.99444221e-01 3.33106312e-02 1.28491136e-03 5.45582657e+01] [-3.33105894e-02 9.99445047e-01 -5.39130965e-05 -1.59970091e+00] [-1.28599417e-03 1.10819780e-05 9.99999173e-01 -5.66965384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13028169299999 meters Centerline goodness [0,1] 0.9987024589466519 Centerline is valid? [True, True] Translation: X:54.59, Y:-1.59, Z:-0.57 [[ 9.99317463e-01 3.69390738e-02 3.34652722e-04 5.45878145e+01] [-3.69390711e-02 9.99317520e-01 -1.41134762e-05 -1.59435391e+00] [-3.34945667e-04 1.74208260e-06 9.99999944e-01 -5.68620945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.160281692999995 meters Centerline goodness [0,1] 0.9980978841632827 Centerline is valid? [True, True] Translation: X:54.62, Y:-1.58, Z:-0.57 [[ 9.99025980e-01 4.40989185e-02 1.54166518e-03 5.46173525e+01] [-4.40988708e-02 9.99027169e-01 -6.49102340e-05 -1.58129671e+00] [-1.54302787e-03 -3.13868348e-06 9.99998810e-01 -5.66564638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.190281692999996 meters Centerline goodness [0,1] 0.9970911237115575 Centerline is valid? [True, True] Translation: X:54.65, Y:-1.58, Z:-0.57 [[ 9.98865147e-01 4.75742139e-02 2.26084568e-03 5.46462236e+01] [-4.75741208e-02 9.98867706e-01 -9.49376912e-05 -1.57510384e+00] [-2.26280232e-03 -1.27277946e-05 9.99997440e-01 -5.65500012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.220281693 meters Centerline goodness [0,1] 0.9959895642424373 Centerline is valid? [True, True] Translation: X:54.68, Y:-1.56, Z:-0.57 [[ 9.98582029e-01 5.32010280e-02 1.89253471e-03 5.46762911e+01] [-5.32009730e-02 9.98583822e-01 -7.93961685e-05 -1.56427242e+00] [-1.89407851e-03 -2.14011012e-05 9.99998206e-01 -5.67037990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.250281693 meters Centerline goodness [0,1] 0.9955780164245104 Centerline is valid? [True, True] Translation: X:54.70, Y:-1.56, Z:-0.57 [[ 9.98472346e-01 5.52496764e-02 6.69495821e-04 5.47046828e+01] [-5.52496699e-02 9.98472570e-01 -2.82522796e-05 -1.56015734e+00] [-6.70034142e-04 -8.78030326e-06 9.99999775e-01 -5.68841927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.280281693 meters Centerline goodness [0,1] 0.9953162589682996 Centerline is valid? [True, True] Translation: X:54.73, Y:-1.56, Z:-0.57 [[ 9.98372827e-01 5.70234429e-02 1.61882965e-04 5.47333748e+01] [-5.70234425e-02 9.98372840e-01 -7.00406576e-06 -1.55566266e+00] [-1.62018952e-04 -2.23845503e-06 9.99999987e-01 -5.69634833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31028169299999 meters Centerline goodness [0,1] 0.9944228494169343 Centerline is valid? [True, True] Translation: X:54.76, Y:-1.54, Z:-0.57 [[ 9.98143528e-01 6.09035993e-02 4.99500187e-04 5.47621382e+01] [-6.09035964e-02 9.98143653e-01 -2.10388499e-05 -1.54397395e+00] [-4.99854283e-04 -9.42156589e-06 9.99999875e-01 -5.68482849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340281692999994 meters Centerline goodness [0,1] 0.9940873871373989 Centerline is valid? [True, True] Translation: X:54.79, Y:-1.54, Z:-0.57 [[ 9.98019023e-01 6.29015118e-02 1.19584714e-03 5.47913711e+01] [-6.29014969e-02 9.98019739e-01 -5.01229091e-05 -1.53858664e+00] [-1.19663185e-03 -2.51969583e-05 9.99999284e-01 -5.67413704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.370281692999995 meters Centerline goodness [0,1] 0.9929452517742481 Centerline is valid? [True, True] Translation: X:54.82, Y:-1.53, Z:-0.57 [[ 9.97873375e-01 6.51549068e-02 1.88853227e-03 5.48199641e+01] [-6.51548739e-02 9.97875161e-01 -7.90087245e-05 -1.53338411e+00] [-1.88966724e-03 -4.42063791e-05 9.99998214e-01 -5.66591250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400281693 meters Centerline goodness [0,1] 0.9899283607248209 Centerline is valid? [True, True] Translation: X:54.85, Y:-1.52, Z:-0.56 [[ 9.97645171e-01 6.85202342e-02 3.01497545e-03 5.48488501e+01] [-6.85201671e-02 9.97649724e-01 -1.25664634e-04 -1.52051690e+00] [-3.01650000e-03 -8.12179069e-05 9.99995447e-01 -5.64829635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.430281693 meters Centerline goodness [0,1] 0.9897033379752711 Centerline is valid? [True, True] Translation: X:54.88, Y:-1.52, Z:-0.56 [[ 9.97597175e-01 6.91796043e-02 3.74957264e-03 5.48768970e+01] [-6.91795059e-02 9.97604216e-01 -1.56079553e-04 -1.51507190e+00] [-3.75138700e-03 -1.03689062e-04 9.99992958e-01 -5.63776186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.460281693 meters Centerline goodness [0,1] 0.9919587057142247 Centerline is valid? [True, True] Translation: X:54.91, Y:-1.51, Z:-0.56 [[ 9.97684050e-01 6.79071180e-02 3.89359982e-03 5.49062032e+01] [-6.79070034e-02 9.97691642e-01 -1.61780214e-04 -1.51447659e+00] [-3.89559802e-03 -1.02997156e-04 9.99992407e-01 -5.64062431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49028169299999 meters Centerline goodness [0,1] 0.9918506445399319 Centerline is valid? [True, True] Translation: X:54.93, Y:-1.51, Z:-0.57 [[ 9.97822894e-01 6.58661556e-02 3.33485210e-03 5.49342454e+01] [-6.58660603e-02 9.97828464e-01 -1.38515094e-04 -1.51121406e+00] [-3.33673380e-03 -8.14400372e-05 9.99994430e-01 -5.65381588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.520281692999994 meters Centerline goodness [0,1] 0.9935175996114782 Centerline is valid? [True, True] Translation: X:54.96, Y:-1.52, Z:-0.57 [[ 9.98005476e-01 6.30429323e-02 3.26479851e-03 5.49629268e+01] [-6.30428265e-02 9.98010813e-01 -1.35395932e-04 -1.51544902e+00] [-3.26683998e-03 -7.06962451e-05 9.99994661e-01 -5.65180048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.550281692999995 meters Centerline goodness [0,1] 0.9952784247300445 Centerline is valid? [True, True] Translation: X:54.99, Y:-1.52, Z:-0.56 [[ 9.98425097e-01 5.59517644e-02 4.08963892e-03 5.49927561e+01] [-5.59515401e-02 9.98433471e-01 -1.69336976e-04 -1.52277544e+00] [-4.09270709e-03 -5.97513093e-05 9.99991623e-01 -5.63711571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.580281692999996 meters Centerline goodness [0,1] 0.9958626835271154 Centerline is valid? [True, True] Translation: X:55.02, Y:-1.52, Z:-0.56 [[ 9.98584320e-01 5.29979935e-02 4.53518347e-03 5.50206546e+01] [-5.29976876e-02 9.98594617e-01 -1.87681169e-04 -1.52404218e+00] [-4.53875653e-03 -5.29387646e-05 9.99989698e-01 -5.62381864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.610281693 meters Centerline goodness [0,1] 0.9964741329572409 Centerline is valid? [True, True] Translation: X:55.05, Y:-1.53, Z:-0.56 [[ 9.98777966e-01 4.92747598e-02 3.81737506e-03 5.50496423e+01] [-4.92745166e-02 9.98785261e-01 -1.57793618e-04 -1.52887071e+00] [-3.82051319e-03 -3.04985216e-05 9.99992701e-01 -5.63955302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640281693 meters Centerline goodness [0,1] 0.9968322136236074 Centerline is valid? [True, True] Translation: X:55.08, Y:-1.53, Z:-0.57 [[ 9.98840585e-01 4.80735125e-02 2.53428810e-03 5.50779397e+01] [-4.80734015e-02 9.98843800e-01 -1.04748948e-04 -1.52850495e+00] [-2.53639361e-03 -1.72043489e-05 9.99996783e-01 -5.66826507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67028169299999 meters Centerline goodness [0,1] 0.9973184642887546 Centerline is valid? [True, True] Translation: X:55.11, Y:-1.53, Z:-0.57 [[ 9.98884333e-01 4.71945346e-02 1.66316508e-03 5.51068573e+01] [-4.71944856e-02 9.98885717e-01 -6.87012721e-05 -1.53111353e+00] [-1.66455417e-03 -9.86759621e-06 9.99998615e-01 -5.68055637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700281692999994 meters Centerline goodness [0,1] 0.9973499177192195 Centerline is valid? [True, True] Translation: X:55.14, Y:-1.53, Z:-0.57 [[ 9.98929208e-01 4.62281538e-02 1.84248716e-03 5.51357130e+01] [-4.62280922e-02 9.98930907e-01 -7.60061175e-05 -1.53262858e+00] [-1.84403099e-03 -9.24993552e-06 9.99998300e-01 -5.66477679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.730281692999995 meters Centerline goodness [0,1] 0.9971432226154436 Centerline is valid? [True, True] Translation: X:55.16, Y:-1.53, Z:-0.57 [[ 9.98924190e-01 4.63114552e-02 2.38997611e-03 5.51647656e+01] [-4.63113523e-02 9.98927049e-01 -9.84072757e-05 -1.53202502e+00] [-2.39196917e-03 -1.23816175e-05 9.99997139e-01 -5.65708090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.760281692999996 meters Centerline goodness [0,1] 0.9971432226154436 Centerline is valid? [True, True] Translation: X:55.19, Y:-1.53, Z:-0.57 [[ 9.98926334e-01 4.62651736e-02 2.38998067e-03 5.51930685e+01] [-4.62650709e-02 9.98929193e-01 -9.82962671e-05 -1.53309961e+00] [-2.39196916e-03 -1.23818954e-05 9.99997139e-01 -5.65854671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.790281693 meters Centerline goodness [0,1] 0.996823783509084 Centerline is valid? [True, True] Translation: X:55.22, Y:-1.53, Z:-0.57 [[ 9.98816086e-01 4.85873466e-02 2.38648185e-03 5.52214248e+01] [-4.85872509e-02 9.98818937e-01 -9.80734528e-05 -1.52648127e+00] [-2.38842839e-03 -1.79952500e-05 9.99997148e-01 -5.66820650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.820281693 meters Centerline goodness [0,1] 0.9966507684154743 Centerline is valid? [True, True] Translation: X:55.25, Y:-1.53, Z:-0.57 [[ 9.98785817e-01 4.92321708e-02 1.75643552e-03 5.52499777e+01] [-4.92321201e-02 9.98787361e-01 -7.21215752e-05 -1.52622668e+00] [-1.75785630e-03 -1.44390378e-05 9.99998455e-01 -5.67711948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85028169299999 meters Centerline goodness [0,1] 0.9968536746104296 Centerline is valid? [True, True] Translation: X:55.28, Y:-1.53, Z:-0.57 [[ 9.98781451e-01 4.93372739e-02 1.20254968e-03 5.52776710e+01] [-4.93372502e-02 9.98782175e-01 -4.94439149e-05 -1.52606720e+00] [-1.20352461e-03 -9.94682925e-06 9.99999276e-01 -5.69562961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88028169299999 meters Centerline goodness [0,1] 0.9973180076628353 Centerline is valid? [True, True] Translation: X:55.31, Y:-1.53, Z:-0.57 [[ 9.98843014e-01 4.80801196e-02 9.67711935e-04 5.53068658e+01] [-4.80801036e-02 9.98843482e-01 -3.97388614e-05 -1.52840827e+00] [-9.68503408e-04 -6.83480600e-06 9.99999531e-01 -5.70899954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.910281692999995 meters Centerline goodness [0,1] 0.9975312288993923 Centerline is valid? [True, True] Translation: X:55.33, Y:-1.53, Z:-0.57 [[ 9.98904831e-01 4.67352555e-02 2.22582241e-03 5.53344530e+01] [-4.67351687e-02 9.98907311e-01 -9.10248841e-05 -1.52981229e+00] [-2.22764435e-03 -1.30989896e-05 9.99997519e-01 -5.69312151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940281692999996 meters Centerline goodness [0,1] 0.9980538089738654 Centerline is valid? [True, True] Translation: X:55.36, Y:-1.54, Z:-0.57 [[ 9.99059714e-01 4.31739433e-02 3.96205642e-03 5.53632509e+01] [-4.31736421e-02 9.99067571e-01 -1.61557845e-04 -1.53527274e+00] [-3.96533717e-03 -9.65047190e-06 9.99992138e-01 -5.65947478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.970281693 meters Centerline goodness [0,1] 0.9981689221897165 Centerline is valid? [True, True] Translation: X:55.39, Y:-1.54, Z:-0.57 [[ 9.99153122e-01 4.10314979e-02 3.07484420e-03 5.53904892e+01] [-4.10313066e-02 9.99157853e-01 -1.25315362e-04 -1.54108638e+00] [-3.07739661e-03 -9.55639610e-07 9.99995265e-01 -5.67330999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000281693 meters Centerline goodness [0,1] 0.9990468323060304 Centerline is valid? [True, True] Translation: X:55.42, Y:-1.55, Z:-0.57 [[ 9.99363826e-01 3.56365033e-02 1.40823965e-03 5.54192095e+01] [-3.56364579e-02 9.99364818e-01 -5.73417440e-05 -1.55492379e+00] [-1.40938862e-03 7.12059171e-06 9.99999007e-01 -5.70886793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.030281693 meters Centerline goodness [0,1] 0.9992540971378642 Centerline is valid? [True, True] Translation: X:55.45, Y:-1.56, Z:-0.57 [[ 9.99433968e-01 3.36245530e-02 1.06458484e-03 5.54474080e+01] [-3.36245258e-02 9.99434535e-01 -4.34489846e-05 -1.55974325e+00] [-1.06544381e-03 7.62823067e-06 9.99999432e-01 -5.71613751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06028169299999 meters Centerline goodness [0,1] 0.9992625524114536 Centerline is valid? [True, True] Translation: X:55.48, Y:-1.56, Z:-0.57 [[ 9.99479160e-01 3.22661959e-02 5.49649407e-04 5.54753846e+01] [-3.22661884e-02 9.99479311e-01 -2.25213313e-05 -1.56414690e+00] [-5.50089888e-04 4.77450993e-06 9.99999849e-01 -5.73054816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.090281692999994 meters Centerline goodness [0,1] 0.9997043981334853 Centerline is valid? [True, True] Translation: X:55.50, Y:-1.57, Z:-0.58 [[ 9.99525698e-01 3.07956731e-02 7.06613784e-05 5.55043061e+01] [-3.07956729e-02 9.99525701e-01 -3.09512381e-06 -1.57284534e+00] [-7.07231802e-05 9.17591096e-07 9.99999997e-01 -5.75895512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120281692999995 meters Centerline goodness [0,1] 0.9996339204961454 Centerline is valid? [True, True] Translation: X:55.53, Y:-1.58, Z:-0.58 [[ 9.99522460e-01 3.08997386e-02 -2.41230240e-04 5.55326436e+01] [-3.08997372e-02 9.99522489e-01 9.52229306e-06 -1.57727983e+00] [ 2.41409286e-04 -2.06379475e-06 9.99999971e-01 -5.75998634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.150281693 meters Centerline goodness [0,1] 0.9995119259825143 Centerline is valid? [True, True] Translation: X:55.56, Y:-1.58, Z:-0.57 [[ 9.99401049e-01 3.46028218e-02 -4.33754805e-04 5.55609732e+01] [-3.46028175e-02 9.99401143e-01 1.72929783e-05 -1.57715962e+00] [ 4.34093434e-04 -2.27348232e-06 9.99999906e-01 -5.74996978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180281693 meters Centerline goodness [0,1] 0.9986289631533848 Centerline is valid? [True, True] Translation: X:55.59, Y:-1.57, Z:-0.57 [[ 9.99285442e-01 3.77947608e-02 4.01880417e-04 5.55899559e+01] [-3.77947573e-02 9.99285523e-01 -1.64534074e-05 -1.57425537e+00] [-4.02215135e-04 1.25267764e-06 9.99999919e-01 -5.73733751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.210281693 meters Centerline goodness [0,1] 0.9979511659344373 Centerline is valid? [True, True] Translation: X:55.62, Y:-1.57, Z:-0.57 [[ 9.99146575e-01 4.12992298e-02 7.04417971e-04 5.56180436e+01] [-4.12992198e-02 9.99146823e-01 -2.86829957e-05 -1.57124350e+00] [-7.05001563e-04 -4.33395700e-07 9.99999751e-01 -5.72893250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24028169299999 meters Centerline goodness [0,1] 0.996277968108954 Centerline is valid? [True, True] Translation: X:55.65, Y:-1.57, Z:-0.57 [[ 9.98861774e-01 4.76477875e-02 2.20094343e-03 5.56461111e+01] [-4.76477074e-02 9.98864199e-01 -8.88778221e-05 -1.56766707e+00] [-2.20267843e-03 -1.60932495e-05 9.99997574e-01 -5.71134373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.270281692999994 meters Centerline goodness [0,1] 0.995393165824898 Centerline is valid? [True, True] Translation: X:55.67, Y:-1.57, Z:-0.57 [[ 9.98763692e-01 4.96073696e-02 3.19304800e-03 5.56748257e+01] [-4.96072120e-02 9.98768796e-01 -1.28609980e-04 -1.56753310e+00] [-3.19549671e-03 -2.99472302e-05 9.99994894e-01 -5.69060644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300281692999995 meters Centerline goodness [0,1] 0.9944577750408765 Centerline is valid? [True, True] Translation: X:55.70, Y:-1.57, Z:-0.57 [[ 9.98680619e-01 5.10647952e-02 5.42290677e-03 5.57026208e+01] [-5.10643640e-02 9.98695341e-01 -2.18018712e-04 -1.56988438e+00] [-5.42696481e-03 -5.91862233e-05 9.99985272e-01 -5.66100009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.330281692999996 meters Centerline goodness [0,1] 0.9944389442419902 Centerline is valid? [True, True] Translation: X:55.73, Y:-1.57, Z:-0.57 [[ 9.98709828e-01 5.05069465e-02 5.26580471e-03 5.57322984e+01] [-5.05065337e-02 9.98723708e-01 -2.11421446e-04 -1.57479424e+00] [-5.26976226e-03 -5.48088673e-05 9.99986113e-01 -5.67424274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360281693 meters Centerline goodness [0,1] 0.994898837709858 Centerline is valid? [True, True] Translation: X:55.76, Y:-1.58, Z:-0.57 [[ 9.98777931e-01 4.91714507e-02 4.98126638e-03 5.57605042e+01] [-4.91710653e-02 9.98790352e-01 -1.99897840e-04 -1.58367345e+00] [-4.98507006e-03 -4.52806233e-05 9.99987573e-01 -5.68357942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.390281693 meters Centerline goodness [0,1] 0.9952729199788023 Centerline is valid? [True, True] Translation: X:55.79, Y:-1.59, Z:-0.57 [[ 9.98828834e-01 4.82721009e-02 3.28086802e-03 5.57889188e+01] [-4.82719291e-02 9.98834222e-01 -1.31563989e-04 -1.58762313e+00] [-3.28339413e-03 -2.69639225e-05 9.99994609e-01 -5.69292204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42028169299999 meters Centerline goodness [0,1] 0.995769467888348 Centerline is valid? [True, True] Translation: X:55.82, Y:-1.59, Z:-0.57 [[ 9.98842936e-01 4.79717534e-02 3.39106411e-03 5.58173358e+01] [-4.79715686e-02 9.98848692e-01 -1.35874371e-04 -1.59080983e+00] [-3.39367808e-03 -2.69575090e-05 9.99994241e-01 -5.68313764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.450281692999994 meters Centerline goodness [0,1] 0.9959602436678423 Centerline is valid? [True, True] Translation: X:55.85, Y:-1.60, Z:-0.57 [[ 9.98840143e-01 4.79922209e-02 3.88781518e-03 5.58464333e+01] [-4.79919789e-02 9.98847709e-01 -1.55561827e-04 -1.59555893e+00] [-3.89080105e-03 -3.12025467e-05 9.99992430e-01 -5.67667630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.480281692999995 meters Centerline goodness [0,1] 0.9950488764758156 Centerline is valid? [True, True] Translation: X:55.88, Y:-1.60, Z:-0.57 [[ 9.98832247e-01 4.81123313e-02 4.39833004e-03 5.58752570e+01] [-4.81120239e-02 9.98841931e-01 -1.75731656e-04 -1.59898459e+00] [-4.40169133e-03 -3.60861150e-05 9.99990312e-01 -5.68239445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.510281692999996 meters Centerline goodness [0,1] 0.9949562443419407 Centerline is valid? [True, True] Translation: X:55.90, Y:-1.60, Z:-0.57 [[ 9.98850353e-01 4.76531239e-02 5.21078238e-03 5.59034191e+01] [-4.76526874e-02 9.98863944e-01 -2.07968688e-04 -1.60344434e+00] [-5.21477299e-03 -4.05781858e-05 9.99986402e-01 -5.68112148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540281693 meters Centerline goodness [0,1] 0.995445397733291 Centerline is valid? [True, True] Translation: X:55.93, Y:-1.61, Z:-0.57 [[ 9.98833026e-01 4.81092738e-02 4.25261971e-03 5.59321564e+01] [-4.81089875e-02 9.98842078e-01 -1.69655755e-04 -1.60827664e+00] [-4.25585752e-03 -3.51314569e-05 9.99990943e-01 -5.69095066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.570281693 meters Centerline goodness [0,1] 0.9955176955431874 Centerline is valid? [True, True] Translation: X:55.96, Y:-1.61, Z:-0.57 [[ 9.98799842e-01 4.88925358e-02 2.89764975e-03 5.59618769e+01] [-4.88924064e-02 9.98804044e-01 -1.15529494e-04 -1.61129978e+00] [-2.89983282e-03 -2.62822294e-05 9.99995795e-01 -5.71579793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60028169299999 meters Centerline goodness [0,1] 0.995468856364874 Centerline is valid? [True, True] Translation: X:55.99, Y:-1.62, Z:-0.57 [[ 9.98742678e-01 5.00831085e-02 2.17846604e-03 5.59905231e+01] [-5.00830381e-02 9.98745053e-01 -8.69141927e-05 -1.61745617e+00] [-2.18008512e-03 -2.22992841e-05 9.99997623e-01 -5.71806222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63028169299999 meters Centerline goodness [0,1] 0.9945554701511657 Centerline is valid? [True, True] Translation: X:56.02, Y:-1.62, Z:-0.57 [[ 9.98584477e-01 5.30839738e-02 3.33668417e-03 5.60195621e+01] [-5.30838263e-02 9.98590051e-01 -1.32814064e-04 -1.62054763e+00] [-3.33902991e-03 -4.44978999e-05 9.99994424e-01 -5.70148798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660281692999995 meters Centerline goodness [0,1] 0.9935575312459735 Centerline is valid? [True, True] Translation: X:56.05, Y:-1.62, Z:-0.57 [[ 9.98435178e-01 5.57951762e-02 3.75424565e-03 5.60489153e+01] [-5.57950093e-02 9.98442234e-01 -1.49261786e-04 -1.62055676e+00] [-3.75672550e-03 -6.04399527e-05 9.99992942e-01 -5.70256775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.690281692999996 meters Centerline goodness [0,1] 0.9912367158039082 Centerline is valid? [True, True] Translation: X:56.08, Y:-1.61, Z:-0.57 [[ 9.98002791e-01 6.30687041e-02 3.57306496e-03 5.60780228e+01] [-6.30685998e-02 9.98009184e-01 -1.41976842e-04 -1.61169571e+00] [-3.57490594e-03 -8.36549189e-05 9.99993607e-01 -5.71520209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720281693 meters Centerline goodness [0,1] 0.9870069409175555 Centerline is valid? [True, True] Translation: X:56.11, Y:-1.60, Z:-0.57 [[ 9.97761321e-01 6.67643382e-02 3.85616686e-03 5.61071284e+01] [-6.67642445e-02 9.97768767e-01 -1.53144237e-04 -1.59911202e+00] [-3.85778743e-03 -1.04652671e-04 9.99992553e-01 -5.71239106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.750281693 meters Centerline goodness [0,1] 0.9894680623798333 Centerline is valid? [True, True] Translation: X:56.14, Y:-1.61, Z:-0.57 [[ 9.97585561e-01 6.93214480e-02 4.19359013e-03 5.61366414e+01] [-6.93213607e-02 9.97594367e-01 -1.66334664e-04 -1.60688346e+00] [-4.19503245e-03 -1.24772316e-04 9.99991193e-01 -5.69661406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780281693 meters Centerline goodness [0,1] 0.9883681367754008 Centerline is valid? [True, True] Translation: X:56.17, Y:-1.61, Z:-0.57 [[ 9.97476664e-01 7.08973430e-02 3.72452009e-03 5.61652341e+01] [-7.08972853e-02 9.97483610e-01 -1.47689252e-04 -1.60620606e+00] [-3.72561852e-03 -1.16741781e-04 9.99993053e-01 -5.70172928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81028169299999 meters Centerline goodness [0,1] 0.9885554750436896 Centerline is valid? [True, True] Translation: X:56.19, Y:-1.61, Z:-0.57 [[ 9.97495779e-01 7.07023951e-02 1.82791733e-03 5.61934402e+01] [-7.07023807e-02 9.97497453e-01 -7.25578582e-05 -1.60752955e+00] [-1.82847290e-03 -5.68619499e-05 9.99998327e-01 -5.74568282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840281692999994 meters Centerline goodness [0,1] 0.9902517589217598 Centerline is valid? [True, True] Translation: X:56.22, Y:-1.62, Z:-0.57 [[ 9.97778291e-01 6.65708762e-02 2.60777497e-03 5.62227466e+01] [-6.65708338e-02 9.97781696e-01 -1.03144068e-04 -1.61596638e+00] [-2.60885653e-03 -7.06868427e-05 9.99996594e-01 -5.74008676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.870281692999995 meters Centerline goodness [0,1] 0.9913340448239061 Centerline is valid? [True, True] Translation: X:56.25, Y:-1.62, Z:-0.57 [[ 9.97962725e-01 6.36826734e-02 3.86209268e-03 5.62523386e+01] [-6.36825594e-02 9.97970194e-01 -1.52609341e-04 -1.62209795e+00] [-3.86397196e-03 -9.36495133e-05 9.99992530e-01 -5.71519626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900281693 meters Centerline goodness [0,1] 0.9917437601879883 Centerline is valid? [True, True] Translation: X:56.28, Y:-1.63, Z:-0.57 [[ 9.98113530e-01 6.12219770e-02 4.60989140e-03 5.62808896e+01] [-6.12217889e-02 9.98124170e-01 -1.82033294e-04 -1.62596544e+00] [-4.61238846e-03 -1.00535904e-04 9.99989358e-01 -5.69994740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.930281693 meters Centerline goodness [0,1] 0.9925350787132101 Centerline is valid? [True, True] Translation: X:56.31, Y:-1.63, Z:-0.57 [[ 9.98227963e-01 5.93169242e-02 4.73674571e-03 5.63101931e+01] [-5.93167050e-02 9.98239197e-01 -1.86867257e-04 -1.63166678e+00] [-4.73948962e-03 -9.44320267e-05 9.99988764e-01 -5.70088539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960281693 meters Centerline goodness [0,1] 0.9929595278246206 Centerline is valid? [True, True] Translation: X:56.34, Y:-1.63, Z:-0.58 [[ 9.98319258e-01 5.79279372e-02 1.73568123e-03 5.63388302e+01] [-5.79279056e-02 9.98320767e-01 -6.84971408e-05 -1.63472699e+00] [-1.73673451e-03 -3.21623635e-05 9.99998491e-01 -5.75523623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99028169299999 meters Centerline goodness [0,1] 0.9939017934656023 Centerline is valid? [True, True] Translation: X:56.37, Y:-1.63, Z:-0.58 [[ 9.98280245e-01 5.86175407e-02 7.32495738e-04 5.63673879e+01] [-5.86175351e-02 9.98280514e-01 -2.90701569e-05 -1.63469458e+00] [-7.32940243e-04 -1.39169313e-05 9.99999731e-01 -5.76665201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020281692999994 meters Centerline goodness [0,1] 0.9934017749857706 Centerline is valid? [True, True] Translation: X:56.40, Y:-1.63, Z:-0.58 [[ 9.98224068e-01 5.95638871e-02 9.23306146e-04 5.63954456e+01] [-5.95638787e-02 9.98224495e-01 -3.65849300e-05 -1.63274454e+00] [-9.23845952e-04 -1.84757376e-05 9.99999573e-01 -5.76332499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.050281692999995 meters Centerline goodness [0,1] 0.9931486509417954 Centerline is valid? [True, True] Translation: X:56.42, Y:-1.63, Z:-0.57 [[ 9.98156100e-01 6.06629443e-02 2.09915037e-03 5.64241505e+01] [-6.06629046e-02 9.98158307e-01 -8.26413414e-05 -1.63269836e+00] [-2.10029765e-03 -4.48515995e-05 9.99997793e-01 -5.74306197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080281692999996 meters Centerline goodness [0,1] 0.9908305227655987 Centerline is valid? [True, True] Translation: X:56.45, Y:-1.62, Z:-0.57 [[ 9.97956048e-01 6.37336621e-02 4.66339094e-03 5.64530392e+01] [-6.37335021e-02 9.97966937e-01 -1.83074928e-04 -1.62384863e+00] [-4.66557801e-03 -1.14513505e-04 9.99989110e-01 -5.67606253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.110281693 meters Centerline goodness [0,1] 0.9905812132244 Centerline is valid? [True, True] Translation: X:56.48, Y:-1.62, Z:-0.57 [[ 9.97818906e-01 6.57611267e-02 5.73637269e-03 5.64823647e+01] [-6.57609194e-02 9.97835383e-01 -2.24957354e-04 -1.62082283e+00] [-5.73874909e-03 -1.52762441e-04 9.99983522e-01 -5.65415195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.140281693 meters Centerline goodness [0,1] 0.9882960193721059 Centerline is valid? [True, True] Translation: X:56.51, Y:-1.61, Z:-0.56 [[ 9.97501880e-01 7.02794346e-02 7.12742105e-03 5.65131608e+01] [-7.02792314e-02 9.97527319e-01 -2.79264589e-04 -1.61084967e+00] [-7.12942376e-03 -2.22342720e-04 9.99974561e-01 -5.63675499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17028169299999 meters Centerline goodness [0,1] 0.986980872873296 Centerline is valid? [True, True] Translation: X:56.54, Y:-1.61, Z:-0.56 [[ 9.97382162e-01 7.19123963e-02 7.57826828e-03 5.65427572e+01] [-7.19122146e-02 9.97410921e-01 -2.96810428e-04 -1.60709647e+00] [-7.57999189e-03 -2.48936628e-04 9.99971240e-01 -5.63242467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200281692999994 meters Centerline goodness [0,1] 0.9849703417558525 Centerline is valid? [True, True] Translation: X:56.57, Y:-1.60, Z:-0.56 [[ 9.97308255e-01 7.28581175e-02 8.24258477e-03 5.65706825e+01] [-7.28579374e-02 9.97342277e-01 -3.22523345e-04 -1.60045094e+00] [-8.24417670e-03 -2.78882531e-04 9.99965977e-01 -5.62340236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.230281692999995 meters Centerline goodness [0,1] 0.9861679454390452 Centerline is valid? [True, True] Translation: X:56.60, Y:-1.60, Z:-0.56 [[ 9.97261719e-01 7.34293847e-02 8.78579482e-03 5.65990947e+01] [-7.34292069e-02 9.97300373e-01 -3.43253839e-04 -1.59898608e+00] [-8.78728137e-03 -3.02820032e-04 9.99961345e-01 -5.62099845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.260281692999996 meters Centerline goodness [0,1] 0.9873703490724768 Centerline is valid? [True, True] Translation: X:56.63, Y:-1.60, Z:-0.56 [[ 9.97281560e-01 7.32362135e-02 8.12073572e-03 5.66274326e+01] [-7.32360585e-02 9.97314584e-01 -3.16855196e-04 -1.59962013e+00] [-8.12213344e-03 -2.78736832e-04 9.99966976e-01 -5.63946753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.290281693 meters Centerline goodness [0,1] 0.9878007526745317 Centerline is valid? [True, True] Translation: X:56.66, Y:-1.60, Z:-0.57 [[ 9.97361904e-01 7.23312031e-02 6.11790227e-03 5.66554725e+01] [-7.23310996e-02 9.97380647e-01 -2.38469401e-04 -1.59539461e+00] [-6.11912611e-03 -2.04674302e-04 9.99981257e-01 -5.67209434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320281693 meters Centerline goodness [0,1] 0.9886910593346679 Centerline is valid? [True, True] Translation: X:56.68, Y:-1.60, Z:-0.57 [[ 9.97387169e-01 7.20815498e-02 4.80480261e-03 5.66838675e+01] [-7.20814841e-02 9.97398729e-01 -1.87065609e-04 -1.59644401e+00] [-4.80578800e-03 -1.59760464e-04 9.99988439e-01 -5.69445179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35028169299999 meters Centerline goodness [0,1] 0.9882345404851384 Centerline is valid? [True, True] Translation: X:56.71, Y:-1.59, Z:-0.57 [[ 9.97393541e-01 7.20511958e-02 3.84054710e-03 5.67120042e+01] [-7.20511541e-02 9.97400927e-01 -1.49407168e-04 -1.59111380e+00] [-3.84133020e-03 -1.27698107e-04 9.99992614e-01 -5.71245558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38028169299999 meters Centerline goodness [0,1] 0.9890577766423979 Centerline is valid? [True, True] Translation: X:56.74, Y:-1.59, Z:-0.57 [[ 9.97365322e-01 7.24467294e-02 3.72624589e-03 5.67408911e+01] [-7.24466937e-02 9.97372275e-01 -1.44733751e-04 -1.58843498e+00] [-3.72693983e-03 -1.25601770e-04 9.99993047e-01 -5.72089493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.410281692999995 meters Centerline goodness [0,1] 0.9883551366316545 Centerline is valid? [True, True] Translation: X:56.77, Y:-1.58, Z:-0.57 [[ 9.97390415e-01 7.20787102e-02 4.12547964e-03 5.67684807e+01] [-7.20786642e-02 9.97398938e-01 -1.60044785e-04 -1.58471314e+00] [-4.12628483e-03 -1.37731927e-04 9.99991477e-01 -5.71195527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440281692999996 meters Centerline goodness [0,1] 0.9893376208508747 Centerline is valid? [True, True] Translation: X:56.80, Y:-1.59, Z:-0.57 [[ 9.97439323e-01 7.13998691e-02 4.10558820e-03 5.67972663e+01] [-7.13998189e-02 9.97447763e-01 -1.58983568e-04 -1.58683097e+00] [-4.10646117e-03 -1.34561792e-04 9.99991559e-01 -5.71057892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.470281693 meters Centerline goodness [0,1] 0.9910168195718655 Centerline is valid? [True, True] Translation: X:56.83, Y:-1.59, Z:-0.57 [[ 9.97597703e-01 6.92067656e-02 3.04070628e-03 5.68265713e+01] [-6.92067282e-02 9.97602333e-01 -1.17645196e-04 -1.58809698e+00] [-3.04155752e-03 -9.30747552e-05 9.99995370e-01 -5.73433347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500281693 meters Centerline goodness [0,1] 0.9922591376295475 Centerline is valid? [True, True] Translation: X:56.86, Y:-1.59, Z:-0.57 [[ 9.97874047e-01 6.50773420e-02 3.51076563e-03 5.68568208e+01] [-6.50772673e-02 9.97880219e-01 -1.35642577e-04 -1.59244402e+00] [-3.51215083e-03 -9.31168261e-05 9.99993828e-01 -5.73770917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.530281693 meters Centerline goodness [0,1] 0.9931073973532406 Centerline is valid? [True, True] Translation: X:56.88, Y:-1.59, Z:-0.57 [[ 9.98043460e-01 6.23899146e-02 4.09284915e-03 5.68842825e+01] [-6.23897905e-02 9.98051847e-01 -1.58124396e-04 -1.59399583e+00] [-4.09474102e-03 -9.75369814e-05 9.99991612e-01 -5.73495053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56028169299999 meters Centerline goodness [0,1] 0.9942214951881201 Centerline is valid? [True, True] Translation: X:56.91, Y:-1.60, Z:-0.57 [[ 9.98245427e-01 5.90553695e-02 4.30482961e-03 5.69135220e+01] [-5.90552024e-02 9.98254705e-01 -1.66025280e-04 -1.60030811e+00] [-4.30712110e-03 -8.84886070e-05 9.99990720e-01 -5.73077096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.590281692999994 meters Centerline goodness [0,1] 0.9948253284332361 Centerline is valid? [True, True] Translation: X:56.94, Y:-1.61, Z:-0.57 [[ 9.98462466e-01 5.52295174e-02 4.73339727e-03 5.69410493e+01] [-5.52292733e-02 9.98473682e-01 -1.82380040e-04 -1.60528024e+00] [-4.73624536e-03 -7.93224670e-05 9.99988781e-01 -5.72084123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620281692999995 meters Centerline goodness [0,1] 0.9966108197979281 Centerline is valid? [True, True] Translation: X:56.97, Y:-1.62, Z:-0.57 [[ 9.98842348e-01 4.76566451e-02 6.54283514e-03 5.69702958e+01] [-4.76560190e-02 9.98863775e-01 -2.51660891e-04 -1.61983780e+00] [-6.54739432e-03 -6.04359208e-05 9.99978564e-01 -5.68676142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.650281693 meters Centerline goodness [0,1] 0.9966108197979281 Centerline is valid? [True, True] Translation: X:57.00, Y:-1.62, Z:-0.57 [[ 9.98844465e-01 4.76122555e-02 6.54284194e-03 5.69986036e+01] [-4.76116296e-02 9.98865892e-01 -2.51484150e-04 -1.62083431e+00] [-6.54739537e-03 -6.03218157e-05 9.99978564e-01 -5.68822714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680281693 meters Centerline goodness [0,1] 0.9972688847946245 Centerline is valid? [True, True] Translation: X:57.03, Y:-1.63, Z:-0.57 [[ 9.98964472e-01 4.49871298e-02 6.79283363e-03 5.70280978e+01] [-4.49863963e-02 9.98987566e-01 -2.60814714e-04 -1.62787684e+00] [-6.79768963e-03 -4.50404731e-05 9.99976894e-01 -5.68605104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.710281693 meters Centerline goodness [0,1] 0.9979008523811543 Centerline is valid? [True, True] Translation: X:57.06, Y:-1.63, Z:-0.57 [[ 9.99065393e-01 4.28352148e-02 5.78668809e-03 5.70566041e+01] [-4.28346472e-02 9.99082151e-01 -2.22054101e-04 -1.63023282e+00] [-5.79088852e-03 -2.60241754e-05 9.99983232e-01 -5.71105885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74028169299999 meters Centerline goodness [0,1] 0.99798502555836 Centerline is valid? [True, True] Translation: X:57.09, Y:-1.63, Z:-0.57 [[ 9.99063273e-01 4.29230882e-02 5.49409008e-03 5.70864373e+01] [-4.29225788e-02 9.99078379e-01 -2.10641203e-04 -1.63222481e+00] [-5.49806798e-03 -2.53766244e-05 9.99984885e-01 -5.71834076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.770281692999994 meters Centerline goodness [0,1] 0.9976405067596292 Centerline is valid? [True, True] Translation: X:57.12, Y:-1.63, Z:-0.57 [[ 9.99059629e-01 4.30559410e-02 5.10327967e-03 5.71163402e+01] [-4.30555039e-02 9.99072663e-01 -1.95546624e-04 -1.63373319e+00] [-5.10696665e-03 -2.43615403e-05 9.99986959e-01 -5.72751140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800281692999995 meters Centerline goodness [0,1] 0.9976265655131492 Centerline is valid? [True, True] Translation: X:57.15, Y:-1.63, Z:-0.58 [[ 9.99026422e-01 4.39853359e-02 3.39106776e-03 5.71452736e+01] [-4.39851483e-02 9.99032177e-01 -1.29919874e-04 -1.63341645e+00] [-3.39350037e-03 -1.93632312e-05 9.99994242e-01 -5.75383509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.830281692999996 meters Centerline goodness [0,1] 0.9977232001686518 Centerline is valid? [True, True] Translation: X:57.17, Y:-1.63, Z:-0.58 [[ 9.99021741e-01 4.40980189e-02 3.30554214e-03 5.71741195e+01] [-4.40978415e-02 9.99027209e-01 -1.26552630e-04 -1.63492927e+00] [-3.30790726e-03 -1.93384446e-05 9.99994529e-01 -5.75716616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860281693 meters Centerline goodness [0,1] 0.9975072439065962 Centerline is valid? [True, True] Translation: X:57.20, Y:-1.64, Z:-0.57 [[ 9.99007909e-01 4.43071628e-02 4.48039906e-03 5.72018197e+01] [-4.43068403e-02 9.99017955e-01 -1.71253249e-04 -1.63546938e+00] [-4.48358685e-03 -2.74289751e-05 9.99989948e-01 -5.74588289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.890281693 meters Centerline goodness [0,1] 0.9967587853974753 Centerline is valid? [True, True] Translation: X:57.23, Y:-1.64, Z:-0.57 [[ 9.98999084e-01 4.41006881e-02 7.48065482e-03 5.72304460e+01] [-4.40997880e-02 9.99027090e-01 -2.85312376e-04 -1.63878698e+00] [-7.48595929e-03 -4.48684897e-05 9.99971979e-01 -5.68956324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92028169299999 meters Centerline goodness [0,1] 0.9967768789088348 Centerline is valid? [True, True] Translation: X:57.26, Y:-1.64, Z:-0.57 [[ 9.98986922e-01 4.42193659e-02 8.35326090e-03 5.72600292e+01] [-4.42182499e-02 9.99021844e-01 -3.18329820e-04 -1.64011110e+00] [-8.35916645e-03 -5.13592502e-05 9.99965060e-01 -5.67477822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.950281692999994 meters Centerline goodness [0,1] 0.9969778806584362 Centerline is valid? [True, True] Translation: X:57.29, Y:-1.64, Z:-0.57 [[ 9.98918706e-01 4.60603211e-02 6.31391838e-03 5.72902403e+01] [-4.60597210e-02 9.98938659e-01 -2.40497576e-04 -1.63706196e+00] [-6.31829455e-03 -5.05797914e-05 9.99980038e-01 -5.70548775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.980281692999995 meters Centerline goodness [0,1] 0.9965759215421035 Centerline is valid? [True, True] Translation: X:57.32, Y:-1.63, Z:-0.57 [[ 9.98838904e-01 4.79128982e-02 5.01966916e-03 5.73191316e+01] [-4.79125427e-02 9.98851516e-01 -1.91108135e-04 -1.63307990e+00] [-5.02306069e-03 -4.96188726e-05 9.99987383e-01 -5.73198883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.010281692999996 meters Centerline goodness [0,1] 0.9961713379164463 Centerline is valid? [True, True] Translation: X:57.35, Y:-1.63, Z:-0.57 [[ 9.98722406e-01 5.03278785e-02 4.54536160e-03 5.73483507e+01] [-5.03276127e-02 9.98732748e-01 -1.72906917e-04 -1.62782305e+00] [-4.54830352e-03 -5.60711864e-05 9.99989655e-01 -5.74133683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.040281693 meters Centerline goodness [0,1] 0.9956633574966518 Centerline is valid? [True, True] Translation: X:57.38, Y:-1.63, Z:-0.57 [[ 9.98577654e-01 5.31374502e-02 4.36804240e-03 5.73782427e+01] [-5.31372322e-02 9.98587206e-01 -1.66012967e-04 -1.62511943e+00] [-4.37069276e-03 -6.63288441e-05 9.99990446e-01 -5.74408277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.070281693 meters Centerline goodness [0,1] 0.9948363044223517 Centerline is valid? [True, True] Translation: X:57.41, Y:-1.61, Z:-0.58 [[ 9.98217255e-01 5.96395191e-02 2.33233900e-03 5.74089286e+01] [-5.96394747e-02 9.98219978e-01 -8.86132420e-05 -1.61256154e+00] [-2.33347224e-03 -5.06442059e-05 9.99997276e-01 -5.77787714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10028169299999 meters Centerline goodness [0,1] 0.9939541541156616 Centerline is valid? [True, True] Translation: X:57.44, Y:-1.60, Z:-0.58 [[ 9.97931722e-01 6.42637056e-02 1.56691363e-03 5.74383943e+01] [-6.42636912e-02 9.97932951e-01 -5.95759538e-05 -1.60158466e+00] [-1.56750332e-03 -4.12429196e-05 9.99998771e-01 -5.78790728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13028169299999 meters Centerline goodness [0,1] 0.991427845743555 Centerline is valid? [True, True] Translation: X:57.47, Y:-1.59, Z:-0.58 [[ 9.97841194e-01 6.56281264e-02 2.42923106e-03 5.74665936e+01] [-6.56280959e-02 9.97844148e-01 -9.23329764e-05 -1.59422144e+00] [-2.43005364e-03 -6.72921614e-05 9.99997045e-01 -5.77382533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160281692999995 meters Centerline goodness [0,1] 0.990872957456205 Centerline is valid? [True, True] Translation: X:57.50, Y:-1.60, Z:-0.57 [[ 9.97822600e-01 6.58381185e-02 3.92441706e-03 5.74950072e+01] [-6.58380423e-02 9.97830311e-01 -1.48736638e-04 -1.59518910e+00] [-3.92569484e-03 -1.09963158e-04 9.99992288e-01 -5.74979894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.190281692999996 meters Centerline goodness [0,1] 0.9910898020663174 Centerline is valid? [True, True] Translation: X:57.52, Y:-1.60, Z:-0.57 [[ 9.97918638e-01 6.41580659e-02 6.49117681e-03 5.75242488e+01] [-6.41578247e-02 9.97939734e-01 -2.45589161e-04 -1.59545996e+00] [-6.49355978e-03 -1.71381783e-04 9.99978902e-01 -5.70335745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.220281693 meters Centerline goodness [0,1] 0.9919694882932514 Centerline is valid? [True, True] Translation: X:57.55, Y:-1.60, Z:-0.57 [[ 9.98030131e-01 6.23883985e-02 6.59882088e-03 5.75530610e+01] [-6.23881122e-02 9.98051933e-01 -2.49420768e-04 -1.59724373e+00] [-6.60152690e-03 -1.62758535e-04 9.99978196e-01 -5.70671038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.250281693 meters Centerline goodness [0,1] 0.9929515046638248 Centerline is valid? [True, True] Translation: X:57.58, Y:-1.60, Z:-0.57 [[ 9.98124562e-01 6.09264443e-02 5.94367810e-03 5.75823276e+01] [-6.09261877e-02 9.98142249e-01 -2.24399530e-04 -1.59947110e+00] [-5.94630809e-03 -1.38146965e-04 9.99982311e-01 -5.72431007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280281693 meters Centerline goodness [0,1] 0.994597686538706 Centerline is valid? [True, True] Translation: X:57.61, Y:-1.61, Z:-0.57 [[ 9.98255914e-01 5.88368533e-02 4.83273884e-03 5.76113591e+01] [-5.88366604e-02 9.98267607e-01 -1.82198542e-04 -1.60562264e+00] [-4.83508662e-03 -1.02461442e-04 9.99988306e-01 -5.74692642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31028169299999 meters Centerline goodness [0,1] 0.9948596029043244 Centerline is valid? [True, True] Translation: X:57.64, Y:-1.61, Z:-0.58 [[ 9.98316316e-01 5.78302407e-02 4.49409901e-03 5.76400531e+01] [-5.78300643e-02 9.98326427e-01 -1.69295014e-04 -1.60836618e+00] [-4.49636818e-03 -9.08840604e-05 9.99989887e-01 -5.75923520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340281692999994 meters Centerline goodness [0,1] 0.995946949602122 Centerline is valid? [True, True] Translation: X:57.67, Y:-1.61, Z:-0.58 [[ 9.98497408e-01 5.47328381e-02 2.69130129e-03 5.76679108e+01] [-5.47327636e-02 9.98501034e-01 -1.01381953e-04 -1.61184136e+00] [-2.69281604e-03 -4.60727395e-05 9.99996373e-01 -5.79133102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.370281692999995 meters Centerline goodness [0,1] 0.9962514478256291 Centerline is valid? [True, True] Translation: X:57.70, Y:-1.62, Z:-0.58 [[ 9.98615329e-01 5.25610040e-02 2.18318133e-03 5.76952416e+01] [-5.25609500e-02 9.98617715e-01 -8.21665320e-05 -1.61516668e+00] [-2.18448231e-03 -3.26973265e-05 9.99997613e-01 -5.80598528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.400281693 meters Centerline goodness [0,1] 0.9965099655201413 Centerline is valid? [True, True] Translation: X:57.72, Y:-1.62, Z:-0.58 [[ 9.98734129e-01 5.01987485e-02 3.19761759e-03 5.77235777e+01] [-5.01986215e-02 9.98739247e-01 -1.19996735e-04 -1.62006607e+00] [-3.19960987e-03 -4.06711605e-05 9.99994880e-01 -5.79293068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.430281693 meters Centerline goodness [0,1] 0.99734395750332 Centerline is valid? [True, True] Translation: X:57.75, Y:-1.63, Z:-0.57 [[ 9.98959682e-01 4.52455424e-02 5.69168648e-03 5.77526697e+01] [-4.52450623e-02 9.98975895e-01 -2.13159148e-04 -1.62884674e+00] [-5.69550210e-03 -4.45833140e-05 9.99983780e-01 -5.74432299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.460281693 meters Centerline goodness [0,1] 0.9975105323630793 Centerline is valid? [True, True] Translation: X:57.78, Y:-1.63, Z:-0.57 [[ 9.99076205e-01 4.26053732e-02 5.61414289e-03 5.77822429e+01] [-4.26048653e-02 9.99091978e-01 -2.10073050e-04 -1.63453276e+00] [-5.61799536e-03 -2.93108156e-05 9.99984219e-01 -5.74712337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49028169299999 meters Centerline goodness [0,1] 0.9985386928713627 Centerline is valid? [True, True] Translation: X:57.81, Y:-1.64, Z:-0.58 [[ 9.99264870e-01 3.81873771e-02 3.38278680e-03 5.78108838e+01] [-3.81871675e-02 9.99270596e-01 -1.26568650e-04 -1.64391728e+00] [-3.38515270e-03 -2.70344037e-06 9.99994270e-01 -5.79484178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520281692999994 meters Centerline goodness [0,1] 0.9989416846652268 Centerline is valid? [True, True] Translation: X:57.84, Y:-1.65, Z:-0.58 [[ 9.99327689e-01 3.65315319e-02 3.10121220e-03 5.78393111e+01] [-3.65313479e-02 9.99332501e-01 -1.15965633e-04 -1.64834210e+00] [-3.10337854e-03 2.59620591e-06 9.99995185e-01 -5.80223637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.550281692999995 meters Centerline goodness [0,1] 0.9990916772285594 Centerline is valid? [True, True] Translation: X:57.87, Y:-1.65, Z:-0.58 [[ 9.99389274e-01 3.48072136e-02 3.08831406e-03 5.78690876e+01] [-3.48070236e-02 9.99394045e-01 -1.15295059e-04 -1.65235739e+00] [-3.09045578e-03 7.72962492e-06 9.99995224e-01 -5.80211627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.580281692999996 meters Centerline goodness [0,1] 0.9993327162752653 Centerline is valid? [True, True] Translation: X:57.90, Y:-1.66, Z:-0.58 [[ 9.99475038e-01 3.22571605e-02 3.02045209e-03 5.78990073e+01] [-3.22569672e-02 9.99479602e-01 -1.12696503e-04 -1.65821413e+00] [-3.02251553e-03 1.52067175e-05 9.99995432e-01 -5.79899937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.610281693 meters Centerline goodness [0,1] 0.9993447612605948 Centerline is valid? [True, True] Translation: X:57.93, Y:-1.66, Z:-0.58 [[ 9.99515365e-01 3.10341949e-02 2.43188813e-03 5.79278886e+01] [-3.10340661e-02 9.99518323e-01 -9.07164271e-05 -1.66365287e+00] [-2.43353205e-03 1.52010859e-05 9.99997039e-01 -5.81632237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640281693 meters Centerline goodness [0,1] 0.999489654879112 Centerline is valid? [True, True] Translation: X:57.96, Y:-1.67, Z:-0.58 [[ 9.99556850e-01 2.96473515e-02 2.67189204e-03 5.79568061e+01] [-2.96471913e-02 9.99560420e-01 -9.95685029e-05 -1.67194952e+00] [-2.67366948e-03 2.03102846e-05 9.99996426e-01 -5.80985010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67028169299999 meters Centerline goodness [0,1] 0.9997237275528637 Centerline is valid? [True, True] Translation: X:57.99, Y:-1.68, Z:-0.58 [[ 9.99564763e-01 2.93858740e-02 2.59887772e-03 5.79864933e+01] [-2.93857219e-02 9.99568142e-01 -9.67039491e-05 -1.67594601e+00] [-2.60059710e-03 2.02919622e-05 9.99996618e-01 -5.81393872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700281692999994 meters Centerline goodness [0,1] 0.9995559033138072 Centerline is valid? [True, True] Translation: X:58.02, Y:-1.68, Z:-0.58 [[ 9.99560499e-01 2.95895166e-02 1.80807774e-03 5.80156560e+01] [-2.95894431e-02 9.99562134e-01 -6.73934159e-05 -1.67783056e+00] [-1.80928018e-03 1.38637831e-05 9.99998363e-01 -5.83108758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.730281692999995 meters Centerline goodness [0,1] 0.9993985737606323 Centerline is valid? [True, True] Translation: X:58.04, Y:-1.68, Z:-0.59 [[ 9.99553452e-01 2.98781328e-02 4.40906892e-04 5.80447755e+01] [-2.98781284e-02 9.99553549e-01 -1.65130232e-05 -1.68150387e+00] [-4.41203427e-04 3.33217655e-06 9.99999903e-01 -5.85857758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760281692999996 meters Centerline goodness [0,1] 0.9995545845971112 Centerline is valid? [True, True] Translation: X:58.07, Y:-1.69, Z:-0.59 [[ 9.99566918e-01 2.94178746e-02 7.52206162e-04 5.80733838e+01] [-2.94178618e-02 9.99567201e-01 -2.81219926e-05 -1.68604820e+00] [-7.52707897e-04 5.98151653e-06 9.99999717e-01 -5.85179453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.790281693 meters Centerline goodness [0,1] 0.9994035192365046 Centerline is valid? [True, True] Translation: X:58.10, Y:-1.69, Z:-0.58 [[ 9.99542123e-01 3.02195100e-02 1.52528705e-03 5.81033462e+01] [-3.02194586e-02 9.99543286e-01 -5.67549519e-05 -1.68760093e+00] [-1.52630554e-03 1.06356162e-05 9.99998835e-01 -5.81360214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820281693 meters Centerline goodness [0,1] 0.9992614008061282 Centerline is valid? [True, True] Translation: X:58.13, Y:-1.69, Z:-0.58 [[ 9.99489885e-01 3.19080912e-02 1.35774429e-03 5.81321137e+01] [-3.19080521e-02 9.99490807e-01 -5.04963293e-05 -1.68811272e+00] [-1.35866417e-03 7.14759495e-06 9.99999077e-01 -5.82110512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85028169299999 meters Centerline goodness [0,1] 0.999066253554603 Centerline is valid? [True, True] Translation: X:58.16, Y:-1.69, Z:-0.58 [[ 9.99425052e-01 3.38786336e-02 1.34329964e-03 5.81621990e+01] [-3.38785970e-02 9.99425954e-01 -4.99349227e-05 -1.68732216e+00] [-1.34422025e-03 4.39710552e-06 9.99999097e-01 -5.82566243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88028169299999 meters Centerline goodness [0,1] 0.9981536894378302 Centerline is valid? [True, True] Translation: X:58.19, Y:-1.68, Z:-0.58 [[ 9.99246345e-01 3.86337950e-02 3.76462012e-03 5.81917043e+01] [-3.86335429e-02 9.99253436e-01 -1.39682245e-04 -1.68239622e+00] [-3.76720604e-03 -5.86363959e-06 9.99992904e-01 -5.79516388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.910281692999995 meters Centerline goodness [0,1] 0.9974842767295597 Centerline is valid? [True, True] Translation: X:58.22, Y:-1.68, Z:-0.58 [[ 9.99164289e-01 4.05702775e-02 4.97747172e-03 5.82201150e+01] [-4.05698624e-02 9.99176687e-01 -1.84385300e-04 -1.67908741e+00] [-4.98085427e-03 -1.77041359e-05 9.99987595e-01 -5.76904467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940281692999996 meters Centerline goodness [0,1] 0.9968333440314954 Centerline is valid? [True, True] Translation: X:58.25, Y:-1.67, Z:-0.57 [[ 9.99026484e-01 4.37370840e-02 5.75768249e-03 5.82498148e+01] [-4.37365821e-02 9.99043075e-01 -2.13123473e-04 -1.67085237e+00] [-5.76149422e-03 -3.89053587e-05 9.99983402e-01 -5.74169998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.970281693 meters Centerline goodness [0,1] 0.9968231108098949 Centerline is valid? [True, True] Translation: X:58.28, Y:-1.67, Z:-0.57 [[ 9.98962206e-01 4.52340255e-02 5.32868237e-03 5.82791662e+01] [-4.52336175e-02 9.98976417e-01 -1.97134938e-04 -1.66761287e+00] [-5.33214523e-03 -4.41052275e-05 9.99985783e-01 -5.74568230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.000281693 meters Centerline goodness [0,1] 0.9965129549008834 Centerline is valid? [True, True] Translation: X:58.31, Y:-1.67, Z:-0.58 [[ 9.98928636e-01 4.60388476e-02 4.69084399e-03 5.83085169e+01] [-4.60385406e-02 9.98939649e-01 -1.73459713e-04 -1.66588169e+00] [-4.69385594e-03 -4.26857377e-05 9.99988983e-01 -5.76184080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.030281693 meters Centerline goodness [0,1] 0.9964110034412144 Centerline is valid? [True, True] Translation: X:58.34, Y:-1.66, Z:-0.58 [[ 9.98883288e-01 4.70454528e-02 4.34778026e-03 5.83360716e+01] [-4.70451994e-02 9.98892749e-01 -1.60603166e-04 -1.66200649e+00] [-4.35052182e-03 -4.41183702e-05 9.99990535e-01 -5.76578874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06028169299999 meters Centerline goodness [0,1] 0.9967805210865208 Centerline is valid? [True, True] Translation: X:58.36, Y:-1.66, Z:-0.58 [[ 9.98871346e-01 4.72705498e-02 4.63994059e-03 5.83644654e+01] [-4.72702649e-02 9.98882122e-01 -1.71109492e-04 -1.66207437e+00] [-4.64284214e-03 -4.84148523e-05 9.99989221e-01 -5.75676678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.090281692999994 meters Centerline goodness [0,1] 0.996767856011154 Centerline is valid? [True, True] Translation: X:58.39, Y:-1.66, Z:-0.57 [[ 9.98929361e-01 4.58480017e-02 6.17194408e-03 5.83929042e+01] [-4.58474727e-02 9.98948426e-01 -2.27252800e-04 -1.66059362e+00] [-6.17587291e-03 -5.59585434e-05 9.99980928e-01 -5.72775780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.120281692999995 meters Centerline goodness [0,1] 0.9972040414310225 Centerline is valid? [True, True] Translation: X:58.42, Y:-1.66, Z:-0.57 [[ 9.98982136e-01 4.45595653e-02 7.00972457e-03 5.84217595e+01] [-4.45588531e-02 9.99006728e-01 -2.57812334e-04 -1.66204177e+00] [-7.01425002e-03 -5.47953716e-05 9.99975398e-01 -5.72000976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.150281693 meters Centerline goodness [0,1] 0.9973954970080503 Centerline is valid? [True, True] Translation: X:58.45, Y:-1.66, Z:-0.57 [[ 9.99046425e-01 4.31245406e-02 6.82013324e-03 5.84513576e+01] [-4.31238348e-02 9.99069703e-01 -2.50570325e-04 -1.66433864e+00] [-6.82459422e-03 -4.37789113e-05 9.99976711e-01 -5.73251009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.180281693 meters Centerline goodness [0,1] 0.9977260285509748 Centerline is valid? [True, True] Translation: X:58.48, Y:-1.67, Z:-0.58 [[ 9.99202688e-01 3.97976653e-02 3.18331361e-03 5.84810780e+01] [-3.97974948e-02 9.99207759e-01 -1.16920589e-04 -1.66788823e+00] [-3.18544482e-03 -9.86053978e-06 9.99994926e-01 -5.80276164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.210281693 meters Centerline goodness [0,1] 0.9984358595273296 Centerline is valid? [True, True] Translation: X:58.51, Y:-1.67, Z:-0.58 [[ 9.99268416e-01 3.82315539e-02 9.90444679e-04 5.85093947e+01] [-3.82315365e-02 9.99268907e-01 -3.65540867e-05 -1.66976566e+00] [-9.91118091e-04 -1.33887753e-06 9.99999509e-01 -5.83638007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24028169299999 meters Centerline goodness [0,1] 0.9993838570548367 Centerline is valid? [True, True] Translation: X:58.54, Y:-1.68, Z:-0.59 [[ 9.99476044e-01 3.23669212e-02 1.39806907e-04 5.85364855e+01] [-3.23669207e-02 9.99476054e-01 -5.44681957e-06 -1.67799665e+00] [-1.39909952e-04 9.18846608e-07 9.99999990e-01 -5.85867649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.270281692999994 meters Centerline goodness [0,1] 0.9996816165389595 Centerline is valid? [True, True] Translation: X:58.57, Y:-1.69, Z:-0.58 [[ 9.99603075e-01 2.81639463e-02 6.96427424e-04 5.85653708e+01] [-2.81639353e-02 9.99603317e-01 -2.56433240e-05 -1.68552063e+00] [-6.96873380e-04 6.01900859e-06 9.99999757e-01 -5.84684157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.300281692999995 meters Centerline goodness [0,1] 0.9996600879522424 Centerline is valid? [True, True] Translation: X:58.59, Y:-1.70, Z:-0.58 [[ 9.99719734e-01 2.36465338e-02 1.13823463e-03 5.85948065e+01] [-2.36465018e-02 9.99720382e-01 -4.16148015e-05 -1.69639430e+00] [-1.13890040e-03 1.46878712e-05 9.99999351e-01 -5.84629481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.330281692999996 meters Centerline goodness [0,1] 0.999724821133737 Centerline is valid? [True, True] Translation: X:58.62, Y:-1.72, Z:-0.59 [[ 9.99893544e-01 1.45819075e-02 5.18687117e-04 5.86241961e+01] [-1.45818996e-02 9.99893678e-01 -1.89624765e-05 -1.71650774e+00] [-5.18908478e-04 1.13970144e-05 9.99999865e-01 -5.86421450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360281693 meters Centerline goodness [0,1] 0.9994258983627472 Centerline is valid? [True, True] Translation: X:58.65, Y:-1.73, Z:-0.59 [[ 9.99937277e-01 1.11905719e-02 4.61907924e-04 5.86537841e+01] [-1.11905653e-02 9.99937384e-01 -1.69436965e-05 -1.72586070e+00] [-4.62068611e-04 1.17736230e-05 9.99999893e-01 -5.86672065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.390281693 meters Centerline goodness [0,1] 0.9994494558082412 Centerline is valid? [True, True] Translation: X:58.68, Y:-1.73, Z:-0.59 [[ 9.99958869e-01 9.03835546e-03 7.54422456e-04 5.86842599e+01] [-9.03833722e-03 9.99959153e-01 -2.75786754e-05 -1.73288009e+00] [-7.54640906e-04 2.07588165e-05 9.99999715e-01 -5.85756657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42028169299999 meters Centerline goodness [0,1] 0.9991682484164729 Centerline is valid? [True, True] Translation: X:58.71, Y:-1.74, Z:-0.58 [[ 9.99965526e-01 7.80857831e-03 2.82364199e-03 5.87132467e+01] [-7.80831798e-03 9.99969509e-01 -1.03208031e-04 -1.74391389e+00] [-2.82436181e-03 8.11565782e-05 9.99996008e-01 -5.82306948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.450281692999994 meters Centerline goodness [0,1] 0.9992798593607692 Centerline is valid? [True, True] Translation: X:58.74, Y:-1.75, Z:-0.58 [[ 9.99961249e-01 7.91467109e-03 3.85472293e-03 5.87444555e+01] [-7.91418730e-03 9.99968672e-01 -1.40744190e-04 -1.74942025e+00] [-3.85571611e-03 1.10231737e-04 9.99992561e-01 -5.80537195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.480281692999995 meters Centerline goodness [0,1] 0.9989832231825114 Centerline is valid? [True, True] Translation: X:58.78, Y:-1.75, Z:-0.58 [[ 9.99935213e-01 1.05062518e-02 4.38036789e-03 5.87757826e+01] [-1.05056482e-02 9.99944801e-01 -1.60769784e-04 -1.75355195e+00] [-4.38181519e-03 1.14740764e-04 9.99990393e-01 -5.79166164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.510281692999996 meters Centerline goodness [0,1] 0.9993616070478581 Centerline is valid? [True, True] Translation: X:58.81, Y:-1.75, Z:-0.58 [[ 9.99912381e-01 1.25665262e-02 4.16076047e-03 5.88076758e+01] [-1.25659997e-02 9.99921033e-01 -1.52659080e-04 -1.75355881e+00] [-4.16235030e-03 1.00361590e-04 9.99991332e-01 -5.78751690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540281693 meters Centerline goodness [0,1] 0.9993619057747527 Centerline is valid? [True, True] Translation: X:58.84, Y:-1.75, Z:-0.58 [[ 9.99885687e-01 1.45205303e-02 4.21521021e-03 5.88385241e+01] [-1.45200039e-02 9.99894567e-01 -1.55466416e-04 -1.75492088e+00] [-4.21702324e-03 9.42437752e-05 9.99991104e-01 -5.79274014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.570281693 meters Centerline goodness [0,1] 0.9993619057747527 Centerline is valid? [True, True] Translation: X:58.87, Y:-1.76, Z:-0.58 [[ 9.99885359e-01 1.45430948e-02 4.21520670e-03 5.88693452e+01] [-1.45425682e-02 9.99894239e-01 -1.55561671e-04 -1.75610257e+00] [-4.21702324e-03 9.42439070e-05 9.99991104e-01 -5.79433599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60028169299999 meters Centerline goodness [0,1] 0.9995046626321797 Centerline is valid? [True, True] Translation: X:58.90, Y:-1.76, Z:-0.58 [[ 9.99832770e-01 1.78689009e-02 3.89039837e-03 5.89009692e+01] [-1.78684771e-02 9.99840336e-01 -1.43652807e-04 -1.75573937e+00] [-3.89234413e-03 7.41132897e-05 9.99992422e-01 -5.79893741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63028169299999 meters Centerline goodness [0,1] 0.9996212918156954 Centerline is valid? [True, True] Translation: X:58.93, Y:-1.76, Z:-0.58 [[ 9.99810440e-01 1.90958200e-02 3.79924870e-03 5.89316087e+01] [-1.90954251e-02 9.99817656e-01 -1.40199181e-04 -1.75983657e+00] [-3.80123315e-03 6.76243360e-05 9.99992773e-01 -5.79957234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660281692999995 meters Centerline goodness [0,1] 0.9995350606534511 Centerline is valid? [True, True] Translation: X:58.96, Y:-1.76, Z:-0.58 [[ 9.99762791e-01 2.15250697e-02 3.32170351e-03 5.89631604e+01] [-2.15247792e-02 9.99768308e-01 -1.23211897e-04 -1.75725135e+00] [-3.32358604e-03 5.16837359e-05 9.99994476e-01 -5.81024740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.690281692999996 meters Centerline goodness [0,1] 0.9995143786157679 Centerline is valid? [True, True] Translation: X:58.99, Y:-1.76, Z:-0.58 [[ 9.99720559e-01 2.34582392e-02 2.91797921e-03 5.89938595e+01] [-2.34580228e-02 9.99724817e-01 -1.08337178e-04 -1.75558148e+00] [-2.91971764e-03 3.98568816e-05 9.99995737e-01 -5.81592329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.720281693 meters Centerline goodness [0,1] 0.9993832411739685 Centerline is valid? [True, True] Translation: X:59.02, Y:-1.75, Z:-0.58 [[ 9.99614523e-01 2.76715096e-02 2.25658091e-03 5.90243421e+01] [-2.76713910e-02 9.99617070e-01 -8.37811345e-05 -1.74764587e+00] [-2.25803515e-03 2.13061062e-05 9.99997450e-01 -5.82931835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.750281693 meters Centerline goodness [0,1] 0.9993875395987328 Centerline is valid? [True, True] Translation: X:59.05, Y:-1.74, Z:-0.58 [[ 9.99546100e-01 3.00287836e-02 2.42184946e-03 5.90537799e+01] [-3.00286538e-02 9.99549034e-01 -8.99489241e-05 -1.74447388e+00] [-2.42345835e-03 1.71832173e-05 9.99997063e-01 -5.83611484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780281693 meters Centerline goodness [0,1] 0.9991352947379522 Centerline is valid? [True, True] Translation: X:59.08, Y:-1.74, Z:-0.58 [[ 9.99471366e-01 3.23860773e-02 2.85139645e-03 5.90833231e+01] [-3.23859071e-02 9.99475433e-01 -1.05858570e-04 -1.74224149e+00] [-2.85332905e-03 1.34575492e-05 9.99995929e-01 -5.83851101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81028169299999 meters Centerline goodness [0,1] 0.9987106756059825 Centerline is valid? [True, True] Translation: X:59.11, Y:-1.74, Z:-0.58 [[ 9.99340033e-01 3.61246333e-02 3.80909140e-03 5.91137034e+01] [-3.61243569e-02 9.99347292e-01 -1.41365748e-04 -1.73597457e+00] [-3.81171196e-03 3.67147377e-06 9.99992735e-01 -5.82012760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840281692999994 meters Centerline goodness [0,1] 0.9985000528150417 Centerline is valid? [True, True] Translation: X:59.14, Y:-1.74, Z:-0.58 [[ 9.99317858e-01 3.67951215e-02 3.15227024e-03 5.91434688e+01] [-3.67949357e-02 9.99322830e-01 -1.16937324e-04 -1.73530161e+00] [-3.15443834e-03 8.69975812e-07 9.99995025e-01 -5.83266443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.870281692999995 meters Centerline goodness [0,1] 0.9988795399771679 Centerline is valid? [True, True] Translation: X:59.17, Y:-1.74, Z:-0.59 [[ 9.99374472e-01 3.53362134e-02 1.42035951e-03 5.91723860e+01] [-3.53361744e-02 9.99375481e-01 -5.25083714e-05 -1.73789314e+00] [-1.42132791e-03 2.28545453e-06 9.99998990e-01 -5.87056377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900281693 meters Centerline goodness [0,1] 0.9993010547718897 Centerline is valid? [True, True] Translation: X:59.20, Y:-1.74, Z:-0.59 [[ 9.99420279e-01 3.40178885e-02 1.37446766e-03 5.92016498e+01] [-3.40178504e-02 9.99421224e-01 -5.10689314e-05 -1.74229386e+00] [-1.37540941e-03 4.28289038e-06 9.99999054e-01 -5.87545618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.930281693 meters Centerline goodness [0,1] 0.999514778169237 Centerline is valid? [True, True] Translation: X:59.23, Y:-1.75, Z:-0.59 [[ 9.99499901e-01 3.15875834e-02 1.47370814e-03 5.92297428e+01] [-3.15875370e-02 9.99500988e-01 -5.47560743e-05 -1.75064650e+00] [-1.47470235e-03 8.17788042e-06 9.99998913e-01 -5.86186611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.960281693 meters Centerline goodness [0,1] 0.9994303917638868 Centerline is valid? [True, True] Translation: X:59.26, Y:-1.75, Z:-0.59 [[ 9.99514131e-01 3.11385774e-02 1.37539822e-03 5.92596887e+01] [-3.11385367e-02 9.99515077e-01 -5.10241457e-05 -1.75270945e+00] [-1.37632007e-03 8.17146678e-06 9.99999053e-01 -5.85640611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99028169299999 meters Centerline goodness [0,1] 0.9992531580744282 Centerline is valid? [True, True] Translation: X:59.29, Y:-1.75, Z:-0.58 [[ 9.99502635e-01 3.14847420e-02 1.78694936e-03 5.92891734e+01] [-3.14846740e-02 9.99504233e-01 -6.62212002e-05 -1.75182054e+00] [-1.78814841e-03 9.92674599e-06 9.99998401e-01 -5.84810054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.020281693 meters Centerline goodness [0,1] 0.9984610123119015 Centerline is valid? [True, True] Translation: X:59.32, Y:-1.75, Z:-0.58 [[ 9.99406135e-01 3.43616979e-02 2.57879245e-03 5.93194304e+01] [-3.43615659e-02 9.99409462e-01 -9.54510680e-05 -1.74690144e+00] [-2.58054944e-03 6.78303606e-06 9.99996670e-01 -5.83634902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.050281693 meters Centerline goodness [0,1] 0.9986574034609155 Centerline is valid? [True, True] Translation: X:59.35, Y:-1.74, Z:-0.59 [[ 9.99341238e-01 3.62570859e-02 1.58523465e-03 5.93478819e+01] [-3.62570384e-02 9.99342496e-01 -5.87261726e-05 -1.74430208e+00] [-1.58632159e-03 1.21157248e-06 9.99998742e-01 -5.85351749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.080281693 meters Centerline goodness [0,1] 0.9987398009312658 Centerline is valid? [True, True] Translation: X:59.38, Y:-1.74, Z:-0.59 [[ 9.99221704e-01 3.94445409e-02 -3.38366733e-04 5.93765252e+01] [-3.94445389e-02 9.99221761e-01 1.23693477e-05 -1.73725013e+00] [ 3.38591307e-04 9.86999091e-07 9.99999943e-01 -5.89018752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.110281693 meters Centerline goodness [0,1] 0.9984898757869661 Centerline is valid? [True, True] Translation: X:59.41, Y:-1.74, Z:-0.59 [[ 9.99213223e-01 3.96601702e-02 7.17729969e-05 5.94059006e+01] [-3.96601701e-02 9.99213226e-01 -2.88486775e-06 -1.73594396e+00] [-7.18309421e-05 3.60687414e-08 9.99999997e-01 -5.88364692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140281693 meters Centerline goodness [0,1] 0.9986276786656814 Centerline is valid? [True, True] Translation: X:59.43, Y:-1.74, Z:-0.59 [[ 9.99235742e-01 3.90769811e-02 9.60175134e-04 5.94341416e+01] [-3.90769649e-02 9.99236203e-01 -3.56363096e-05 -1.73647081e+00] [-9.60834315e-04 -1.91165573e-06 9.99999538e-01 -5.87102217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.170281693 meters Centerline goodness [0,1] 0.9985285964089222 Centerline is valid? [True, True] Translation: X:59.46, Y:-1.74, Z:-0.58 [[ 9.99344673e-01 3.61034396e-02 2.60137423e-03 5.94629131e+01] [-3.61033123e-02 9.99348058e-01 -9.58624663e-05 -1.74076108e+00] [-2.60313925e-03 1.88141870e-06 9.99996612e-01 -5.84074155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20028169300001 meters Centerline goodness [0,1] 0.9988773564922686 Centerline is valid? [True, True] Translation: X:59.49, Y:-1.74, Z:-0.58 [[ 9.99418982e-01 3.39998135e-02 2.38964700e-03 5.94916921e+01] [-3.39997005e-02 9.99421839e-01 -8.79128773e-05 -1.74350888e+00] [-2.39125442e-03 6.61451622e-06 9.99997141e-01 -5.84085511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23028169300001 meters Centerline goodness [0,1] 0.9991460472662839 Centerline is valid? [True, True] Translation: X:59.52, Y:-1.75, Z:-0.58 [[ 9.99546689e-01 2.99494584e-02 3.07347897e-03 5.95209626e+01] [-2.99492527e-02 9.99551414e-01 -1.12952673e-04 -1.74652036e+00] [-3.07548312e-03 2.08530716e-05 9.99995270e-01 -5.82557233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.260281693 meters Centerline goodness [0,1] 0.9994031632348552 Centerline is valid? [True, True] Translation: X:59.55, Y:-1.75, Z:-0.58 [[ 9.99582503e-01 2.87032451e-02 3.30816626e-03 5.95519006e+01] [-2.87030004e-02 9.99587977e-01 -1.21449868e-04 -1.74785040e+00] [-3.31028923e-03 2.64448651e-05 9.99994521e-01 -5.81860125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.290281693 meters Centerline goodness [0,1] 0.999343039396444 Centerline is valid? [True, True] Translation: X:59.58, Y:-1.75, Z:-0.58 [[ 9.99610269e-01 2.77029819e-02 3.44297792e-03 5.95808865e+01] [-2.77027107e-02 9.99616198e-01 -1.26419088e-04 -1.75089925e+00] [-3.44515868e-03 3.09899976e-05 9.99994065e-01 -5.82026439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.320281693 meters Centerline goodness [0,1] 0.999492246175979 Centerline is valid? [True, True] Translation: X:59.61, Y:-1.75, Z:-0.58 [[ 9.99642928e-01 2.65956154e-02 2.58633277e-03 5.96107460e+01] [-2.65954592e-02 9.99646274e-01 -9.47935791e-05 -1.75247999e+00] [-2.58793901e-03 2.59750233e-05 9.99996651e-01 -5.84504765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.350281693 meters Centerline goodness [0,1] 0.999426288725511 Centerline is valid? [True, True] Translation: X:59.64, Y:-1.75, Z:-0.59 [[ 9.99663391e-01 2.58834342e-02 1.77530451e-03 5.96410235e+01] [-2.58833592e-02 9.99664968e-01 -6.52414463e-05 -1.75211059e+00] [-1.77639840e-03 1.92686410e-05 9.99998422e-01 -5.85716923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.380281693 meters Centerline goodness [0,1] 0.9994684696177234 Centerline is valid? [True, True] Translation: X:59.67, Y:-1.76, Z:-0.59 [[ 9.99682832e-01 2.51273562e-02 1.68880210e-03 5.96710368e+01] [-2.51272872e-02 9.99684258e-01 -6.20625308e-05 -1.75514790e+00] [-1.68982834e-03 1.96078312e-05 9.99998572e-01 -5.86151871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.410281693 meters Centerline goodness [0,1] 0.9994227932530945 Centerline is valid? [True, True] Translation: X:59.70, Y:-1.76, Z:-0.59 [[ 9.99698702e-01 2.44667458e-02 1.97057645e-03 5.97018746e+01] [-2.44666506e-02 9.99700644e-01 -7.24175805e-05 -1.75695989e+00] [-1.97175837e-03 2.41823557e-05 9.99998056e-01 -5.85665620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.440281693 meters Centerline goodness [0,1] 0.9996799658630254 Centerline is valid? [True, True] Translation: X:59.73, Y:-1.76, Z:-0.59 [[ 9.99713784e-01 2.38297875e-02 2.11929083e-03 5.97316750e+01] [-2.38296758e-02 9.99716030e-01 -7.79190615e-05 -1.76092835e+00] [-2.12054581e-03 2.73947464e-05 9.99997751e-01 -5.85227614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.470281693 meters Centerline goodness [0,1] 0.9996558177555015 Centerline is valid? [True, True] Translation: X:59.76, Y:-1.76, Z:-0.58 [[ 9.99730157e-01 2.31194927e-02 2.25902003e-03 5.97620614e+01] [-2.31193641e-02 9.99732708e-01 -8.29908378e-05 -1.76388075e+00] [-2.26033492e-03 3.07413365e-05 9.99997445e-01 -5.84366705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500281693 meters Centerline goodness [0,1] 0.9995075790014558 Centerline is valid? [True, True] Translation: X:59.79, Y:-1.76, Z:-0.59 [[ 9.99711900e-01 2.39341892e-02 1.80889434e-03 5.97916443e+01] [-2.39341081e-02 9.99713536e-01 -6.64940367e-05 -1.76397665e+00] [-1.80996763e-03 2.31806071e-05 9.99998362e-01 -5.85685054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.530281693 meters Centerline goodness [0,1] 0.9996179722817666 Centerline is valid? [True, True] Translation: X:59.82, Y:-1.76, Z:-0.59 [[ 9.99635990e-01 2.69361943e-02 1.52627160e-03 5.98208428e+01] [-2.69361400e-02 9.99637155e-01 -5.61395451e-05 -1.76476913e+00] [-1.52722998e-03 1.50072443e-05 9.99998834e-01 -5.86580829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56028169300001 meters Centerline goodness [0,1] 0.9996840042975416 Centerline is valid? [True, True] Translation: X:59.85, Y:-1.77, Z:-0.59 [[ 9.99612181e-01 2.78077869e-02 1.48821038e-03 5.98507065e+01] [-2.78077363e-02 9.99613289e-01 -5.47049122e-05 -1.76536758e+00] [-1.48915610e-03 1.32999347e-05 9.99998891e-01 -5.86422549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59028169300001 meters Centerline goodness [0,1] 0.9996162537841641 Centerline is valid? [True, True] Translation: X:59.88, Y:-1.77, Z:-0.59 [[ 9.99607304e-01 2.79736971e-02 1.64612953e-03 5.98799010e+01] [-2.79736354e-02 9.99608659e-01 -6.04610583e-05 -1.76681364e+00] [-1.64717665e-03 1.43890881e-05 9.99998643e-01 -5.85980081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62028169300001 meters Centerline goodness [0,1] 0.9997215260373156 Centerline is valid? [True, True] Translation: X:59.91, Y:-1.77, Z:-0.59 [[ 9.99621530e-01 2.74592161e-02 1.66974363e-03 5.99091979e+01] [-2.74591520e-02 9.99622925e-01 -6.12878739e-05 -1.77184342e+00] [-1.67079693e-03 1.54149341e-05 9.99998604e-01 -5.86440646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.650281693 meters Centerline goodness [0,1] 0.9997683527776607 Centerline is valid? [True, True] Translation: X:59.94, Y:-1.78, Z:-0.59 [[ 9.99616190e-01 2.76703328e-02 1.35099310e-03 5.99384516e+01] [-2.76702911e-02 9.99617103e-01 -4.95344707e-05 -1.77674848e+00] [-1.35184644e-03 1.21330865e-05 9.99999086e-01 -5.88387516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.680281693 meters Centerline goodness [0,1] 0.9994489774292677 Centerline is valid? [True, True] Translation: X:59.97, Y:-1.78, Z:-0.59 [[ 9.99570639e-01 2.92433309e-02 1.83435237e-03 5.99679483e+01] [-2.92432567e-02 9.99572322e-01 -6.72499090e-05 -1.77956510e+00] [-1.83553447e-03 1.35785972e-05 9.99998315e-01 -5.87036907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.710281693 meters Centerline goodness [0,1] 0.99927071491388 Centerline is valid? [True, True] Translation: X:60.00, Y:-1.78, Z:-0.59 [[ 9.99552208e-01 2.98296355e-02 2.36131190e-03 5.99987681e+01] [-2.98295146e-02 9.99554997e-01 -8.64199912e-05 -1.78046854e+00] [-2.36283899e-03 1.59445053e-05 9.99997208e-01 -5.85195495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.740281693 meters Centerline goodness [0,1] 0.9996823985263291 Centerline is valid? [True, True] Translation: X:60.03, Y:-1.78, Z:-0.59 [[ 9.99559480e-01 2.95718132e-02 2.52087096e-03 6.00282498e+01] [-2.95716745e-02 9.99562658e-01 -9.22909509e-05 -1.78402100e+00] [-2.52249769e-03 1.77039193e-05 9.99996818e-01 -5.85509958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.770281693 meters Centerline goodness [0,1] 0.9996602828145569 Centerline is valid? [True, True] Translation: X:60.06, Y:-1.79, Z:-0.59 [[ 9.99639899e-01 2.67025984e-02 2.65386742e-03 6.00588072e+01] [-2.67024348e-02 9.99643422e-01 -9.70667270e-05 -1.79270931e+00] [-2.65551305e-03 2.61670513e-05 9.99996474e-01 -5.86771908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.800281693 meters Centerline goodness [0,1] 0.9996806540205658 Centerline is valid? [True, True] Translation: X:60.09, Y:-1.80, Z:-0.59 [[ 9.99694422e-01 2.45596027e-02 2.80880881e-03 6.00893691e+01] [-2.45594108e-02 9.99698367e-01 -1.02796593e-04 -1.79870326e+00] [-2.81048622e-03 3.37824907e-05 9.99996050e-01 -5.87548097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.830281693 meters Centerline goodness [0,1] 0.9996173469387755 Centerline is valid? [True, True] Translation: X:60.12, Y:-1.81, Z:-0.59 [[ 9.99767902e-01 2.14462435e-02 2.04967131e-03 6.01201147e+01] [-2.14461349e-02 9.99770002e-01 -7.49408628e-05 -1.80828271e+00] [-2.05080709e-03 3.09659418e-05 9.99997897e-01 -5.89210548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.860281693 meters Centerline goodness [0,1] 0.999532273152479 Centerline is valid? [True, True] Translation: X:60.15, Y:-1.81, Z:-0.59 [[ 9.99781456e-01 2.08412482e-02 1.63781374e-03 6.01505547e+01] [-2.08411779e-02 9.99782797e-01 -5.99788349e-05 -1.81092894e+00] [-1.63870804e-03 2.58317594e-05 9.99998657e-01 -5.89258063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.890281693 meters Centerline goodness [0,1] 0.9994222498020671 Centerline is valid? [True, True] Translation: X:60.18, Y:-1.81, Z:-0.59 [[ 9.99755153e-01 2.19777481e-02 2.57146774e-03 6.01811014e+01] [-2.19775786e-02 9.99758459e-01 -9.41704391e-05 -1.81141836e+00] [-2.57291628e-03 3.76327474e-05 9.99996689e-01 -5.86409148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920281693 meters Centerline goodness [0,1] 0.9996812444217774 Centerline is valid? [True, True] Translation: X:60.21, Y:-1.81, Z:-0.59 [[ 9.99722126e-01 2.33697948e-02 3.08589004e-03 6.02118741e+01] [-2.33695573e-02 9.99726888e-01 -1.13009242e-04 -1.81082731e+00] [-3.08768825e-03 4.08619556e-05 9.99995232e-01 -5.85810145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95028169300001 meters Centerline goodness [0,1] 0.9995297135528003 Centerline is valid? [True, True] Translation: X:60.24, Y:-1.81, Z:-0.59 [[ 9.99622266e-01 2.73561623e-02 2.63915770e-03 6.02427026e+01] [-2.73560026e-02 9.99625750e-01 -9.66199759e-05 -1.80702694e+00] [-2.64081315e-03 2.43866743e-05 9.99996513e-01 -5.87169033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98028169300001 meters Centerline goodness [0,1] 0.9996172818506549 Centerline is valid? [True, True] Translation: X:60.27, Y:-1.81, Z:-0.59 [[ 9.99561238e-01 2.95601251e-02 1.87909454e-03 6.02723202e+01] [-2.95600479e-02 9.99563004e-01 -6.88740835e-05 -1.80560478e+00] [-1.88030931e-03 1.32977395e-05 9.99998232e-01 -5.89384330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.010281693 meters Centerline goodness [0,1] 0.9993791080566082 Centerline is valid? [True, True] Translation: X:60.30, Y:-1.80, Z:-0.59 [[ 9.99504032e-01 3.14536605e-02 1.53547090e-03 6.03025348e+01] [-3.14536111e-02 9.99505211e-01 -5.62745101e-05 -1.80254526e+00] [-1.53648121e-03 7.95049515e-06 9.99998820e-01 -5.89988464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.040281693 meters Centerline goodness [0,1] 0.9990765596478042 Centerline is valid? [True, True] Translation: X:60.33, Y:-1.80, Z:-0.59 [[ 9.99438197e-01 3.34919215e-02 1.25742356e-03 6.03324493e+01] [-3.34918901e-02 9.99438988e-01 -4.60803677e-05 -1.79878067e+00] [-1.25826145e-03 3.94098793e-06 9.99999208e-01 -5.90490196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.070281693 meters Centerline goodness [0,1] 0.9988424156383094 Centerline is valid? [True, True] Translation: X:60.36, Y:-1.80, Z:-0.59 [[ 9.99467274e-01 3.25464707e-02 2.42795939e-03 6.03619802e+01] [-3.25463507e-02 9.99470223e-01 -8.89242046e-05 -1.79904239e+00] [-2.42956728e-03 9.85561465e-06 9.99997049e-01 -5.88087520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.100281693 meters Centerline goodness [0,1] 0.9996352948748203 Centerline is valid? [True, True] Translation: X:60.39, Y:-1.81, Z:-0.59 [[ 9.99597113e-01 2.82308626e-02 2.93772602e-03 6.03921203e+01] [-2.82306689e-02 9.99601429e-01 -1.07415859e-04 -1.80620767e+00] [-2.93958758e-03 2.44386119e-05 9.99995679e-01 -5.88486790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.130281693 meters Centerline goodness [0,1] 0.9994935106046218 Centerline is valid? [True, True] Translation: X:60.42, Y:-1.81, Z:-0.59 [[ 9.99660313e-01 2.60062924e-02 1.71226788e-03 6.04218916e+01] [-2.60062234e-02 9.99661779e-01 -6.26036665e-05 -1.81279473e+00] [-1.71331684e-03 1.80527798e-05 9.99998532e-01 -5.91169976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.160281693 meters Centerline goodness [0,1] 0.9996388971494116 Centerline is valid? [True, True] Translation: X:60.45, Y:-1.82, Z:-0.59 [[ 9.99705638e-01 2.42496205e-02 7.69672361e-04 6.04522208e+01] [-2.42496060e-02 9.99705935e-01 -2.81678565e-05 -1.81696343e+00] [-7.70129087e-04 9.49531341e-06 9.99999703e-01 -5.92892727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.190281693 meters Centerline goodness [0,1] 0.9994885019500863 Centerline is valid? [True, True] Translation: X:60.48, Y:-1.82, Z:-0.59 [[ 9.99737971e-01 2.28887941e-02 3.04381461e-04 6.04830235e+01] [-2.28887917e-02 9.99738017e-01 -1.11395104e-05 -1.81819109e+00] [-3.04556688e-04 4.16966770e-06 9.99999954e-01 -5.93002939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.220281693 meters Centerline goodness [0,1] 0.9995285545912354 Centerline is valid? [True, True] Translation: X:60.51, Y:-1.82, Z:-0.59 [[ 9.99733617e-01 2.30466065e-02 1.24461079e-03 6.05135637e+01] [-2.30465676e-02 9.99734392e-01 -4.55492752e-05 -1.81836985e+00] [-1.24532997e-03 1.68531348e-05 9.99999224e-01 -5.91418115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.250281693 meters Centerline goodness [0,1] 0.999531246670786 Centerline is valid? [True, True] Translation: X:60.54, Y:-1.82, Z:-0.59 [[ 9.99708721e-01 2.38725115e-02 3.54634060e-03 6.05429337e+01] [-2.38722013e-02 9.99715010e-01 -1.29805108e-04 -1.81913603e+00] [-3.54842870e-03 4.51083416e-05 9.99993703e-01 -5.87952325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.280281693 meters Centerline goodness [0,1] 0.9995542631545433 Centerline is valid? [True, True] Translation: X:60.57, Y:-1.82, Z:-0.59 [[ 9.99696832e-01 2.43135879e-02 3.88502560e-03 6.05733195e+01] [-2.43132191e-02 9.99704380e-01 -1.42135733e-04 -1.81941563e+00] [-3.88733293e-03 4.76351630e-05 9.99992443e-01 -5.87292118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31028169300001 meters Centerline goodness [0,1] 0.9995496654657746 Centerline is valid? [True, True] Translation: X:60.60, Y:-1.82, Z:-0.59 [[ 9.99672365e-01 2.54755444e-02 2.48197092e-03 6.06045202e+01] [-2.54753976e-02 9.99675445e-01 -9.07420977e-05 -1.81960329e+00] [-2.48347709e-03 2.74831713e-05 9.99996916e-01 -5.90120079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34028169300001 meters Centerline goodness [0,1] 0.9992327692766719 Centerline is valid? [True, True] Translation: X:60.63, Y:-1.82, Z:-0.59 [[ 9.99629711e-01 2.71723024e-02 1.45159373e-03 6.06340233e+01] [-2.71722540e-02 9.99630765e-01 -5.30905407e-05 -1.81967555e+00] [-1.45250035e-03 1.36278083e-05 9.99998945e-01 -5.92006218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37028169300001 meters Centerline goodness [0,1] 0.9995514162430043 Centerline is valid? [True, True] Translation: X:60.66, Y:-1.82, Z:-0.59 [[ 9.99568123e-01 2.93536776e-02 1.38895378e-03 6.06637423e+01] [-2.93536352e-02 9.99569088e-01 -5.09089834e-05 -1.81720737e+00] [-1.38984963e-03 1.01161544e-05 9.99999034e-01 -5.92317132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.400281693 meters Centerline goodness [0,1] 0.9986986227090338 Centerline is valid? [True, True] Translation: X:60.69, Y:-1.81, Z:-0.59 [[ 9.99358671e-01 3.57201815e-02 2.51290259e-03 6.06931270e+01] [-3.57200629e-02 9.99361831e-01 -9.20893316e-05 -1.80607077e+00] [-2.51458838e-03 2.26923346e-06 9.99996838e-01 -5.89308685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.430281693 meters Centerline goodness [0,1] 0.9981206620395088 Centerline is valid? [True, True] Translation: X:60.72, Y:-1.80, Z:-0.59 [[ 9.99212119e-01 3.95532823e-02 3.26783724e-03 6.07235056e+01] [-3.95531028e-02 9.99217463e-01 -1.19571818e-04 -1.80026254e+00] [-3.27000950e-03 -9.77549224e-06 9.99994653e-01 -5.87171836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.460281693 meters Centerline goodness [0,1] 0.9981206620395088 Centerline is valid? [True, True] Translation: X:60.75, Y:-1.80, Z:-0.59 [[ 9.99213020e-01 3.95305059e-02 3.26783996e-03 6.07526507e+01] [-3.95303265e-02 9.99218364e-01 -1.19497496e-04 -1.80128239e+00] [-3.27000950e-03 -9.77532636e-06 9.99994653e-01 -5.87322738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.490281693 meters Centerline goodness [0,1] 0.9971625456019457 Centerline is valid? [True, True] Translation: X:60.78, Y:-1.79, Z:-0.59 [[ 9.98949632e-01 4.56875800e-02 3.50396273e-03 6.07813886e+01] [-4.56874119e-02 9.98955777e-01 -1.28062209e-04 -1.79121880e+00] [-3.50615467e-03 -3.21592921e-05 9.99993853e-01 -5.86068732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.520281693 meters Centerline goodness [0,1] 0.9970976760067436 Centerline is valid? [True, True] Translation: X:60.81, Y:-1.79, Z:-0.59 [[ 9.98833260e-01 4.81735170e-02 3.38110979e-03 6.08101121e+01] [-4.81733750e-02 9.98838981e-01 -1.23463098e-04 -1.78672233e+00] [-3.38313191e-03 -3.95604208e-05 9.99994276e-01 -5.85794327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.550281693 meters Centerline goodness [0,1] 0.99585283994955 Centerline is valid? [True, True] Translation: X:60.84, Y:-1.78, Z:-0.58 [[ 9.98693849e-01 5.09210128e-02 4.20081001e-03 6.08391791e+01] [-5.09208188e-02 9.98702682e-01 -1.53205017e-04 -1.77971213e+00] [-4.20316158e-03 -6.09037768e-05 9.99991165e-01 -5.84888020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.580281693 meters Centerline goodness [0,1] 0.9955271155245473 Centerline is valid? [True, True] Translation: X:60.87, Y:-1.78, Z:-0.58 [[ 9.98667122e-01 5.14077714e-02 4.60658157e-03 6.08687219e+01] [-5.14075440e-02 9.98677744e-01 -1.67848629e-04 -1.77899640e+00] [-4.60911922e-03 -6.91881379e-05 9.99989376e-01 -5.84994412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.610281693 meters Centerline goodness [0,1] 0.9952798094914102 Centerline is valid? [True, True] Translation: X:60.90, Y:-1.78, Z:-0.58 [[ 9.98666210e-01 5.14179342e-02 4.69008239e-03 6.08974749e+01] [-5.14176990e-02 9.98677221e-01 -1.70794678e-04 -1.77861327e+00] [-4.69266036e-03 -7.05863710e-05 9.99988987e-01 -5.84608007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640281693 meters Centerline goodness [0,1] 0.9961506560898322 Centerline is valid? [True, True] Translation: X:60.93, Y:-1.78, Z:-0.59 [[ 9.98725995e-01 5.03295627e-02 3.64998765e-03 6.09269739e+01] [-5.03294135e-02 9.98732663e-01 -1.32774525e-04 -1.78024212e+00] [-3.65204437e-03 -5.10963677e-05 9.99993330e-01 -5.86932011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.670281693 meters Centerline goodness [0,1] 0.9961374219437351 Centerline is valid? [True, True] Translation: X:60.96, Y:-1.78, Z:-0.59 [[ 9.98764429e-01 4.95947292e-02 3.15898205e-03 6.09557698e+01] [-4.95946138e-02 9.98769423e-01 -1.14902334e-04 -1.78066298e+00] [-3.16079323e-03 -4.19081311e-05 9.99995004e-01 -5.88176755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70028169300001 meters Centerline goodness [0,1] 0.9966508095654586 Centerline is valid? [True, True] Translation: X:60.99, Y:-1.78, Z:-0.59 [[ 9.98781535e-01 4.92836517e-02 2.56251574e-03 6.09850820e+01] [-4.92835749e-02 9.98784822e-01 -9.31334137e-05 -1.77883140e+00] [-2.56399178e-03 -3.32700025e-05 9.99996712e-01 -5.89274289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73028169300001 meters Centerline goodness [0,1] 0.9962290681324301 Centerline is valid? [True, True] Translation: X:61.01, Y:-1.78, Z:-0.59 [[ 9.98753294e-01 4.98662059e-02 2.28447781e-03 6.10133829e+01] [-4.98661464e-02 9.98755906e-01 -8.29980142e-05 -1.77666841e+00] [-2.28577450e-03 -3.10235649e-05 9.99997387e-01 -5.89675562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.760281693 meters Centerline goodness [0,1] 0.9960760060565993 Centerline is valid? [True, True] Translation: X:61.04, Y:-1.77, Z:-0.59 [[ 9.98692096e-01 5.11029625e-02 1.60784350e-03 6.10408832e+01] [-5.11029347e-02 9.98693390e-01 -5.84134143e-05 -1.77129537e+00] [-1.60872778e-03 -2.38285064e-05 9.99998706e-01 -5.91775668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.790281693 meters Centerline goodness [0,1] 0.9950612532871529 Centerline is valid? [True, True] Translation: X:61.07, Y:-1.76, Z:-0.59 [[ 9.98490736e-01 5.49114347e-02 9.92361615e-04 6.10708508e+01] [-5.49114261e-02 9.98491229e-01 -3.59416431e-05 -1.76455596e+00] [-9.92837976e-04 -1.86045938e-05 9.99999507e-01 -5.92253935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.820281693 meters Centerline goodness [0,1] 0.9939282507375893 Centerline is valid? [True, True] Translation: X:61.10, Y:-1.76, Z:-0.59 [[ 9.98381324e-01 5.68465495e-02 1.78913372e-03 6.10983861e+01] [-5.68465246e-02 9.98382927e-01 -6.47743339e-05 -1.75727323e+00] [-1.78992275e-03 -3.70365486e-05 9.99998397e-01 -5.91519720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.850281693 meters Centerline goodness [0,1] 0.9937473233404711 Centerline is valid? [True, True] Translation: X:61.13, Y:-1.75, Z:-0.59 [[ 9.98143144e-01 6.07880327e-02 3.88317204e-03 6.11280386e+01] [-6.07879477e-02 9.98150693e-01 -1.40012845e-04 -1.74821647e+00] [-3.88450197e-03 -9.62971977e-05 9.99992451e-01 -5.87636143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.880281693 meters Centerline goodness [0,1] 0.992798331792678 Centerline is valid? [True, True] Translation: X:61.16, Y:-1.74, Z:-0.59 [[ 9.98041485e-01 6.24225567e-02 4.07651380e-03 6.11558177e+01] [-6.24224772e-02 9.98049805e-01 -1.46860063e-04 -1.74301881e+00] [-4.07773118e-03 -1.07893655e-04 9.99991680e-01 -5.87835014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.910281693 meters Centerline goodness [0,1] 0.9924397308118238 Centerline is valid? [True, True] Translation: X:61.18, Y:-1.74, Z:-0.59 [[ 9.97978603e-01 6.34187151e-02 4.09561234e-03 6.11844633e+01] [-6.34186443e-02 9.97987001e-01 -1.47302107e-04 -1.74089554e+00] [-4.09670959e-03 -1.12733831e-04 9.99991602e-01 -5.88249150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.940281693 meters Centerline goodness [0,1] 0.9920286798819064 Centerline is valid? [True, True] Translation: X:61.21, Y:-1.74, Z:-0.59 [[ 9.98035298e-01 6.25216263e-02 4.07313204e-03 6.12122713e+01] [-6.25215494e-02 9.98043603e-01 -1.46321945e-04 -1.73540447e+00] [-4.07431167e-03 -1.08624061e-04 9.99991694e-01 -5.87808383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.970281693 meters Centerline goodness [0,1] 0.9937635690264357 Centerline is valid? [True, True] Translation: X:61.24, Y:-1.74, Z:-0.59 [[ 9.98131403e-01 6.09492467e-02 4.34647372e-03 6.12410753e+01] [-6.09491455e-02 9.98140860e-01 -1.55867581e-04 -1.74130583e+00] [-4.34789304e-03 -1.09337532e-04 9.99990542e-01 -5.87675236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000281693 meters Centerline goodness [0,1] 0.9942048059777533 Centerline is valid? [True, True] Translation: X:61.27, Y:-1.75, Z:-0.59 [[ 9.98352004e-01 5.72862364e-02 3.40046522e-03 6.12703284e+01] [-5.72861536e-02 9.98357792e-01 -1.21800090e-04 -1.74772895e+00] [-3.40185842e-03 -7.32002093e-05 9.99994211e-01 -5.90961026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.030281693 meters Centerline goodness [0,1] 0.9948727808754727 Centerline is valid? [True, True] Translation: X:61.30, Y:-1.75, Z:-0.59 [[ 9.98455186e-01 5.54817117e-02 3.00341114e-03 6.12994761e+01] [-5.54816389e-02 9.98459702e-01 -1.07613746e-04 -1.74981406e+00] [-3.00475559e-03 -5.91866698e-05 9.99995484e-01 -5.92491224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06028169300001 meters Centerline goodness [0,1] 0.995738940516466 Centerline is valid? [True, True] Translation: X:61.33, Y:-1.75, Z:-0.59 [[ 9.98525206e-01 5.42258427e-02 2.64021866e-03 6.13285727e+01] [-5.42257825e-02 9.98528695e-01 -9.44220697e-05 -1.75068173e+00] [-2.64145421e-03 -4.88851060e-05 9.99996510e-01 -5.92708985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09028169300001 meters Centerline goodness [0,1] 0.9966116770081108 Centerline is valid? [True, True] Translation: X:61.36, Y:-1.75, Z:-0.59 [[ 9.98655515e-01 5.18072125e-02 1.78182132e-03 6.13564162e+01] [-5.18071812e-02 9.98657104e-01 -6.37559641e-05 -1.75011584e+00] [-1.78273154e-03 -2.86408947e-05 9.99998411e-01 -5.93035534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12028169300001 meters Centerline goodness [0,1] 0.9971174172058164 Centerline is valid? [True, True] Translation: X:61.39, Y:-1.75, Z:-0.59 [[ 9.98779624e-01 4.93624756e-02 1.61536067e-03 6.13851975e+01] [-4.93624469e-02 9.98780930e-01 -5.76916735e-05 -1.75405907e+00] [-1.61623924e-03 -2.21168875e-05 9.99998694e-01 -5.91910334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.150281693 meters Centerline goodness [0,1] 0.9977950935479728 Centerline is valid? [True, True] Translation: X:61.41, Y:-1.76, Z:-0.59 [[ 9.98833895e-01 4.82536192e-02 1.56142617e-03 6.14139081e+01] [-4.82535911e-02 9.98835115e-01 -5.57056272e-05 -1.75542763e+00] [-1.56229529e-03 -1.97037514e-05 9.99998779e-01 -5.91868175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.180281693 meters Centerline goodness [0,1] 0.9977514615499925 Centerline is valid? [True, True] Translation: X:61.44, Y:-1.76, Z:-0.59 [[ 9.98874326e-01 4.73929196e-02 1.99807080e-03 6.14424080e+01] [-4.73928721e-02 9.98876324e-01 -7.11318341e-05 -1.75644419e+00] [-1.99919676e-03 -2.36425511e-05 9.99998001e-01 -5.91858979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.210281693 meters Centerline goodness [0,1] 0.9978249852183462 Centerline is valid? [True, True] Translation: X:61.47, Y:-1.76, Z:-0.59 [[ 9.98974625e-01 4.52232170e-02 2.13534485e-03 6.14705600e+01] [-4.52231580e-02 9.98976907e-01 -7.59084088e-05 -1.75954996e+00] [-2.13659302e-03 -2.07364635e-05 9.99997717e-01 -5.92410289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.240281693 meters Centerline goodness [0,1] 0.9978400328315009 Centerline is valid? [True, True] Translation: X:61.50, Y:-1.76, Z:-0.59 [[ 9.99040595e-01 4.37240273e-02 2.46974157e-03 6.14997330e+01] [-4.37239443e-02 9.99043647e-01 -8.76245351e-05 -1.76360461e+00] [-2.47121092e-03 -2.04463750e-05 9.99996946e-01 -5.91860067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.270281693 meters Centerline goodness [0,1] 0.9982969302167156 Centerline is valid? [True, True] Translation: X:61.53, Y:-1.77, Z:-0.59 [[ 9.99128248e-01 4.16148609e-02 3.30881926e-03 6.15284326e+01] [-4.16147008e-02 9.99133726e-01 -1.17246000e-04 -1.76662791e+00] [-3.31083209e-03 -2.05517331e-05 9.99994519e-01 -5.90019213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.300281693 meters Centerline goodness [0,1] 0.9979428668377409 Centerline is valid? [True, True] Translation: X:61.56, Y:-1.77, Z:-0.59 [[ 9.99153964e-01 4.09427643e-02 3.87891155e-03 6.15565332e+01] [-4.09425400e-02 9.99161493e-01 -1.37250135e-04 -1.76844813e+00] [-3.88127845e-03 -2.16784750e-05 9.99992468e-01 -5.88830743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.330281693 meters Centerline goodness [0,1] 0.9987159183324059 Centerline is valid? [True, True] Translation: X:61.58, Y:-1.77, Z:-0.59 [[ 9.99216964e-01 3.94009425e-02 3.60895245e-03 6.15846891e+01] [-3.94007390e-02 9.99223481e-01 -1.27500789e-04 -1.77383207e+00] [-3.61117368e-03 -1.47944423e-05 9.99993480e-01 -5.90963485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.360281693 meters Centerline goodness [0,1] 0.9988955908588905 Centerline is valid? [True, True] Translation: X:61.61, Y:-1.78, Z:-0.59 [[ 9.99258994e-01 3.83891067e-02 2.78214647e-03 6.16134311e+01] [-3.83889820e-02 9.99262867e-01 -9.82218115e-05 -1.77753195e+00] [-2.78386630e-03 -8.65474220e-06 9.99996125e-01 -5.92025696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.390281693 meters Centerline goodness [0,1] 0.9989035550120188 Centerline is valid? [True, True] Translation: X:61.64, Y:-1.78, Z:-0.59 [[ 9.99272317e-01 3.81054869e-02 1.67562934e-03 6.16416929e+01] [-3.81054412e-02 9.99273722e-01 -5.92367309e-05 -1.77962552e+00] [-1.67666961e-03 -4.65696982e-06 9.99998594e-01 -5.93710697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.420281693 meters Centerline goodness [0,1] 0.998681944769234 Centerline is valid? [True, True] Translation: X:61.67, Y:-1.78, Z:-0.59 [[ 9.99206829e-01 3.98127131e-02 8.12831392e-04 6.16704395e+01] [-3.98127029e-02 9.99207160e-01 -2.87866052e-05 -1.77986065e+00] [-8.13333019e-04 -3.59724222e-06 9.99999669e-01 -5.93596100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45028169300001 meters Centerline goodness [0,1] 0.998316175373532 Centerline is valid? [True, True] Translation: X:61.70, Y:-1.78, Z:-0.59 [[ 9.99154394e-01 4.10927839e-02 1.37127770e-03 6.16979338e+01] [-4.10927562e-02 9.99155335e-01 -4.83774025e-05 -1.77807908e+00] [-1.37210739e-03 -8.01308590e-06 9.99999059e-01 -5.93621896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48028169300001 meters Centerline goodness [0,1] 0.9981115661270131 Centerline is valid? [True, True] Translation: X:61.73, Y:-1.78, Z:-0.59 [[ 9.99052811e-01 4.33550679e-02 3.71727394e-03 6.17272112e+01] [-4.33548828e-02 9.99059727e-01 -1.30388088e-04 -1.77642395e+00] [-3.71943167e-03 -3.08973905e-05 9.99993082e-01 -5.88770425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.510281693 meters Centerline goodness [0,1] 0.9978707845836201 Centerline is valid? [True, True] Translation: X:61.76, Y:-1.77, Z:-0.59 [[ 9.98991470e-01 4.46278613e-02 4.93927784e-03 6.17556543e+01] [-4.46275517e-02 9.99003680e-01 -1.72944704e-04 -1.77493913e+00] [-4.94207489e-03 -4.76575933e-05 9.99987787e-01 -5.87110112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.540281693 meters Centerline goodness [0,1] 0.9976956558846121 Centerline is valid? [True, True] Translation: X:61.78, Y:-1.77, Z:-0.59 [[ 9.98910400e-01 4.64152145e-02 4.86207456e-03 6.17847841e+01] [-4.64149367e-02 9.98922232e-01 -1.70015483e-04 -1.77228432e+00] [-4.86472567e-03 -5.58426488e-05 9.99988166e-01 -5.87447856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.570281693 meters Centerline goodness [0,1] 0.9972018484758554 Centerline is valid? [True, True] Translation: X:61.81, Y:-1.76, Z:-0.59 [[ 9.98748397e-01 4.97728966e-02 4.92924872e-03 6.18142428e+01] [-4.97726528e-02 9.98760559e-01 -1.72190823e-04 -1.76481651e+00] [-4.93170964e-03 -7.33664763e-05 9.99987836e-01 -5.87425271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.600281693 meters Centerline goodness [0,1] 0.9964845340935886 Centerline is valid? [True, True] Translation: X:61.84, Y:-1.76, Z:-0.59 [[ 9.98666739e-01 5.13713407e-02 5.07248136e-03 6.18430759e+01] [-5.13711041e-02 9.98679617e-01 -1.77014496e-04 -1.76263475e+00] [-5.07487722e-03 -8.38004783e-05 9.99987119e-01 -5.87609257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.630281693 meters Centerline goodness [0,1] 0.9963756529154675 Centerline is valid? [True, True] Translation: X:61.87, Y:-1.76, Z:-0.59 [[ 9.98606290e-01 5.26470948e-02 3.70953649e-03 6.18711046e+01] [-5.26469774e-02 9.98613178e-01 -1.29372835e-04 -1.75953663e+00] [-3.71120313e-03 -6.61033568e-05 9.99993111e-01 -5.90461151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.660281693 meters Centerline goodness [0,1] 0.9955951778789411 Centerline is valid? [True, True] Translation: X:61.90, Y:-1.75, Z:-0.60 [[ 9.98614088e-01 5.26039477e-02 1.65172376e-03 6.18988961e+01] [-5.26039243e-02 9.98615453e-01 -5.76545330e-05 -1.75320183e+00] [-1.65246973e-03 -2.93125227e-05 9.99998634e-01 -5.95796337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.690281693 meters Centerline goodness [0,1] 0.9965778901949115 Centerline is valid? [True, True] Translation: X:61.93, Y:-1.76, Z:-0.60 [[ 9.98637075e-01 5.21916450e-02 1.54044250e-04 6.19279321e+01] [-5.21916448e-02 9.98637087e-01 -5.57478065e-06 -1.75871625e+00] [-1.54125258e-04 -2.47264015e-06 9.99999988e-01 -5.98084789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.720281693 meters Centerline goodness [0,1] 0.9972453541838832 Centerline is valid? [True, True] Translation: X:61.96, Y:-1.76, Z:-0.60 [[ 9.98709501e-01 5.07863792e-02 -2.76974278e-04 6.19562480e+01] [-5.07863785e-02 9.98709539e-01 9.35231610e-06 -1.76202183e+00] [ 2.77091824e-04 4.72627359e-06 9.99999962e-01 -5.98125585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.750281693 meters Centerline goodness [0,1] 0.9971031162800605 Centerline is valid? [True, True] Translation: X:61.98, Y:-1.77, Z:-0.59 [[ 9.98860493e-01 4.76439213e-02 2.78782764e-03 6.19837997e+01] [-4.76438370e-02 9.98864383e-01 -9.66937997e-05 -1.76769200e+00] [-2.78926861e-03 -3.62391892e-05 9.99996109e-01 -5.93087742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.780281693 meters Centerline goodness [0,1] 0.9968094322479768 Centerline is valid? [True, True] Translation: X:62.01, Y:-1.77, Z:-0.59 [[ 9.98934816e-01 4.60166832e-02 3.42033943e-03 6.20120889e+01] [-4.60165477e-02 9.98940671e-01 -1.18345188e-04 -1.77011640e+00] [-3.42216201e-03 -3.91730839e-05 9.99994144e-01 -5.92218312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81028169300001 meters Centerline goodness [0,1] 0.9973746503120293 Centerline is valid? [True, True] Translation: X:62.04, Y:-1.78, Z:-0.59 [[ 9.99002843e-01 4.44584770e-02 4.09437549e-03 6.20405000e+01] [-4.44582707e-02 9.99011232e-01 -1.41432266e-04 -1.77598090e+00] [-4.09661496e-03 -4.07376181e-05 9.99991608e-01 -5.91444284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84028169300001 meters Centerline goodness [0,1] 0.9976203747373837 Centerline is valid? [True, True] Translation: X:62.07, Y:-1.78, Z:-0.59 [[ 9.99064709e-01 4.30605265e-02 3.93675169e-03 6.20695067e+01] [-4.30603256e-02 9.99072465e-01 -1.35816132e-04 -1.78072324e+00] [-3.93894853e-03 -3.38287055e-05 9.99992242e-01 -5.91676974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87028169300001 meters Centerline goodness [0,1] 0.9983657356312081 Centerline is valid? [True, True] Translation: X:62.10, Y:-1.79, Z:-0.59 [[ 9.99180254e-01 4.03930733e-02 2.68702155e-03 6.20979449e+01] [-4.03929703e-02 9.99183867e-01 -9.25914522e-05 -1.78869872e+00] [-2.68856864e-03 -1.60212312e-05 9.99996386e-01 -5.93338465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.900281693 meters Centerline goodness [0,1] 0.9984799543986319 Centerline is valid? [True, True] Translation: X:62.13, Y:-1.80, Z:-0.59 [[ 9.99229005e-01 3.92388708e-02 1.30600546e-03 6.21255392e+01] [-3.92388453e-02 9.99229859e-01 -4.51671130e-05 -1.79521211e+00] [-1.30677196e-03 -6.11385687e-06 9.99999146e-01 -5.94843945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.930281693 meters Centerline goodness [0,1] 0.9982631166465442 Centerline is valid? [True, True] Translation: X:62.15, Y:-1.80, Z:-0.59 [[ 9.99198806e-01 3.99624898e-02 2.17827699e-03 6.21539594e+01] [-3.99624212e-02 9.99201181e-01 -7.49844503e-05 -1.79794507e+00] [-2.17953351e-03 -1.21248496e-05 9.99997625e-01 -5.93360951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.960281693 meters Centerline goodness [0,1] 0.9979164009014755 Centerline is valid? [True, True] Translation: X:62.18, Y:-1.80, Z:-0.59 [[ 9.99135809e-01 4.13841150e-02 3.87171132e-03 6.21829932e+01] [-4.13839106e-02 9.99143310e-01 -1.32906402e-04 -1.79920193e+00] [-3.87389468e-03 -2.74350093e-05 9.99992496e-01 -5.91023465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.990281693 meters Centerline goodness [0,1] 0.9966570044220637 Centerline is valid? [True, True] Translation: X:62.21, Y:-1.79, Z:-0.59 [[ 9.98913007e-01 4.63981541e-02 4.47384039e-03 6.22114429e+01] [-4.63979323e-02 9.98923024e-01 -1.53401560e-04 -1.79400497e+00] [-4.47613972e-03 -5.43421295e-05 9.99989981e-01 -5.89552087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.020281693 meters Centerline goodness [0,1] 0.9962007383875676 Centerline is valid? [True, True] Translation: X:62.24, Y:-1.79, Z:-0.59 [[ 9.98769027e-01 4.94789602e-02 3.50191024e-03 6.22408469e+01] [-4.94788437e-02 9.98775165e-01 -1.19927216e-04 -1.79258526e+00] [-3.50355485e-03 -5.34908804e-05 9.99993861e-01 -5.91694631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.050281693 meters Centerline goodness [0,1] 0.994699423667494 Centerline is valid? [True, True] Translation: X:62.27, Y:-1.78, Z:-0.60 [[ 9.98488452e-01 5.49599207e-02 4.67150904e-04 6.22708208e+01] [-5.49599192e-02 9.98488561e-01 -1.60362163e-05 -1.78370252e+00] [-4.67326183e-04 -9.66259915e-06 9.99999891e-01 -5.97968940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.080281693 meters Centerline goodness [0,1] 0.9941956530949455 Centerline is valid? [True, True] Translation: X:62.30, Y:-1.78, Z:-0.60 [[ 9.98371046e-01 5.70475702e-02 9.11150073e-04 6.22997890e+01] [-5.70475654e-02 9.98371461e-01 -3.13500576e-05 -1.78159780e+00] [-9.11454674e-04 -2.06799035e-05 9.99999584e-01 -5.97515114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.110281693 meters Centerline goodness [0,1] 0.9935924818453652 Centerline is valid? [True, True] Translation: X:62.33, Y:-1.78, Z:-0.60 [[ 9.98276680e-01 5.86611951e-02 1.59169332e-03 6.23287831e+01] [-5.86611827e-02 9.98277949e-01 -5.45245609e-05 -1.77781514e+00] [-1.59215082e-03 -3.89400150e-05 9.99998732e-01 -5.96354109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.140281693 meters Centerline goodness [0,1] 0.9922408310366758 Centerline is valid? [True, True] Translation: X:62.36, Y:-1.77, Z:-0.59 [[ 9.98039931e-01 6.25141341e-02 2.87731081e-03 6.23585292e+01] [-6.25141105e-02 9.98044075e-01 -9.82276094e-05 -1.76626649e+00] [-2.87782362e-03 -8.18374493e-05 9.99995856e-01 -5.93732607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.170281693 meters Centerline goodness [0,1] 0.991008864499789 Centerline is valid? [True, True] Translation: X:62.39, Y:-1.76, Z:-0.59 [[ 9.97916102e-01 6.44542384e-02 3.01723992e-03 6.23883197e+01] [-6.44542217e-02 9.97920660e-01 -1.02873675e-04 -1.76028787e+00] [-3.01759670e-03 -9.18145543e-05 9.99995443e-01 -5.93296993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20028169300001 meters Centerline goodness [0,1] 0.9904794072322729 Centerline is valid? [True, True] Translation: X:62.42, Y:-1.75, Z:-0.59 [[ 9.97756396e-01 6.68846854e-02 2.93494774e-03 6.24182238e+01] [-6.68846803e-02 9.97760708e-01 -1.00007397e-04 -1.75065927e+00] [-2.93506449e-03 -9.65200210e-05 9.99995688e-01 -5.93542023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23028169300001 meters Centerline goodness [0,1] 0.9908475157542762 Centerline is valid? [True, True] Translation: X:62.45, Y:-1.75, Z:-0.59 [[ 9.97746081e-01 6.70444453e-02 2.79271818e-03 6.24467832e+01] [-6.70444413e-02 9.97749986e-01 -9.51575517e-05 -1.74609725e+00] [-2.79281431e-03 -9.22931557e-05 9.99996096e-01 -5.94819833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.260281693 meters Centerline goodness [0,1] 0.9910640550555849 Centerline is valid? [True, True] Translation: X:62.47, Y:-1.74, Z:-0.60 [[ 9.97862732e-01 6.52922164e-02 2.62574133e-03 6.24747812e+01] [-6.52922070e-02 9.97866183e-01 -8.93910554e-05 -1.73902763e+00] [-2.62597502e-03 -8.22404437e-05 9.99996549e-01 -5.95476661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.290281693 meters Centerline goodness [0,1] 0.991409299168505 Centerline is valid? [True, True] Translation: X:62.50, Y:-1.74, Z:-0.60 [[ 9.97991656e-01 6.32955868e-02 2.51453143e-03 6.25027962e+01] [-6.32955722e-02 9.97994821e-01 -8.54885368e-05 -1.73834979e+00] [-2.51490039e-03 -7.38418593e-05 9.99996835e-01 -5.95255951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.320281693 meters Centerline goodness [0,1] 0.9934448559145277 Centerline is valid? [True, True] Translation: X:62.53, Y:-1.74, Z:-0.59 [[ 9.98133218e-01 6.10338655e-02 2.22408332e-03 6.25318991e+01] [-6.10338489e-02 9.98135694e-01 -7.54349165e-05 -1.74178490e+00] [-2.22454103e-03 -6.04502690e-05 9.99997524e-01 -5.94551078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.350281693 meters Centerline goodness [0,1] 0.9957909580377745 Centerline is valid? [True, True] Translation: X:62.56, Y:-1.74, Z:-0.60 [[ 9.98542980e-01 5.39584903e-02 6.30633793e-04 6.25617170e+01] [-5.39584876e-02 9.98543179e-01 -2.14028041e-05 -1.74269868e+00] [-6.30869936e-04 -1.26564258e-05 9.99999801e-01 -5.97881826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.380281693 meters Centerline goodness [0,1] 0.9957909580377745 Centerline is valid? [True, True] Translation: X:62.59, Y:-1.74, Z:-0.60 [[ 9.98546521e-01 5.38929237e-02 6.30626190e-04 6.25891934e+01] [-5.38929207e-02 9.98546720e-01 -2.16278811e-05 -1.74348823e+00] [-6.30875303e-04 -1.23898419e-05 9.99999801e-01 -5.98024064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.410281693 meters Centerline goodness [0,1] 0.996691270043268 Centerline is valid? [True, True] Translation: X:62.62, Y:-1.75, Z:-0.60 [[ 9.98754017e-01 4.99025089e-02 3.90266585e-04 6.26182762e+01] [-4.99025075e-02 9.98754094e-01 -1.33380877e-05 -1.75047373e+00] [-3.90445953e-04 -6.15381251e-06 9.99999924e-01 -5.97947090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.440281693 meters Centerline goodness [0,1] 0.9971286208935056 Centerline is valid? [True, True] Translation: X:62.65, Y:-1.75, Z:-0.60 [[ 9.98937173e-01 4.60748002e-02 1.27986258e-03 6.26457113e+01] [-4.60747824e-02 9.98937992e-01 -4.33812119e-05 -1.75237792e+00] [-1.28050213e-03 -1.56342846e-05 9.99999180e-01 -5.97951768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.470281693 meters Centerline goodness [0,1] 0.9982521209020762 Centerline is valid? [True, True] Translation: X:62.68, Y:-1.77, Z:-0.59 [[ 9.99266433e-01 3.81744958e-02 3.05035433e-03 6.26753913e+01] [-3.81743601e-02 9.99271088e-01 -1.02715347e-04 -1.76652460e+00] [-3.05205200e-03 -1.38053265e-05 9.99995342e-01 -5.94077356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.500281693 meters Centerline goodness [0,1] 0.9990832924723388 Centerline is valid? [True, True] Translation: X:62.70, Y:-1.77, Z:-0.60 [[ 9.99385138e-01 3.49327748e-02 3.00779628e-03 6.27041091e+01] [-3.49326280e-02 9.99389664e-01 -1.01319932e-04 -1.77332860e+00] [-3.00949990e-03 -3.81259459e-06 9.99995471e-01 -5.95218766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.530281693 meters Centerline goodness [0,1] 0.9996615117730436 Centerline is valid? [True, True] Translation: X:62.73, Y:-1.79, Z:-0.60 [[ 9.99600726e-01 2.81730893e-02 2.16013008e-03 6.27327095e+01] [-2.81729979e-02 9.99603060e-01 -7.27062853e-05 -1.78944474e+00] [-2.16132099e-03 1.18199154e-05 9.99997664e-01 -5.97258139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56028169300001 meters Centerline goodness [0,1] 0.9996385593400519 Centerline is valid? [True, True] Translation: X:62.76, Y:-1.80, Z:-0.60 [[ 9.99675984e-01 2.53255993e-02 2.55750894e-03 6.27625629e+01] [-2.53254623e-02 9.99679255e-01 -8.59364615e-05 -1.79729345e+00] [-2.55886502e-03 2.11385206e-05 9.99996726e-01 -5.96153800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59028169300001 meters Centerline goodness [0,1] 0.9995275624369189 Centerline is valid? [True, True] Translation: X:62.79, Y:-1.81, Z:-0.59 [[ 9.99750934e-01 2.21162435e-02 2.99023985e-03 6.27922687e+01] [-2.21160420e-02 9.99755405e-01 -1.00439689e-04 -1.80736585e+00] [-2.99172980e-03 3.42824025e-05 9.99995524e-01 -5.93082462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62028169300001 meters Centerline goodness [0,1] 0.9995337698942506 Centerline is valid? [True, True] Translation: X:62.82, Y:-1.81, Z:-0.59 [[ 9.99753937e-01 2.19600754e-02 3.13392427e-03 6.28218416e+01] [-2.19598541e-02 9.99758848e-01 -1.05005269e-04 -1.81196185e+00] [-3.13547444e-03 3.61589116e-05 9.99995084e-01 -5.92783156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.650281693 meters Centerline goodness [0,1] 0.9994469026548672 Centerline is valid? [True, True] Translation: X:62.85, Y:-1.82, Z:-0.59 [[ 9.99721766e-01 2.33664999e-02 3.22437350e-03 6.28502822e+01] [-2.33662726e-02 9.99726966e-01 -1.08155352e-04 -1.81898785e+00] [-3.22602034e-03 3.27836695e-05 9.99994796e-01 -5.93514966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.680281693 meters Centerline goodness [0,1] 0.9995706403898585 Centerline is valid? [True, True] Translation: X:62.88, Y:-1.82, Z:-0.59 [[ 9.99679042e-01 2.51475890e-02 3.06776622e-03 6.28799311e+01] [-2.51473920e-02 9.99683749e-01 -1.02787100e-04 -1.81712638e+00] [-3.06938089e-03 2.56077902e-05 9.99995289e-01 -5.93331141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.710281693 meters Centerline goodness [0,1] 0.9994239877117379 Centerline is valid? [True, True] Translation: X:62.91, Y:-1.82, Z:-0.59 [[ 9.99613281e-01 2.76287773e-02 3.15263239e-03 6.29087103e+01] [-2.76285818e-02 9.99618252e-01 -1.05552140e-04 -1.81841800e+00] [-3.15434515e-03 1.84085594e-05 9.99995025e-01 -5.94031155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.740281693 meters Centerline goodness [0,1] 0.9987237029631363 Centerline is valid? [True, True] Translation: X:62.94, Y:-1.81, Z:-0.59 [[ 9.99382680e-01 3.49421009e-02 3.64821436e-03 6.29372036e+01] [-3.49418882e-02 9.99389338e-01 -1.22038428e-04 -1.81362346e+00] [-3.65025081e-03 -5.51240645e-06 9.99993338e-01 -5.92235829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.770281693 meters Centerline goodness [0,1] 0.998248575648871 Centerline is valid? [True, True] Translation: X:62.97, Y:-1.81, Z:-0.59 [[ 9.99231685e-01 3.90405372e-02 3.44608704e-03 6.29665801e+01] [-3.90403720e-02 9.99237627e-01 -1.15219557e-04 -1.80992407e+00] [-3.44795807e-03 -1.94054883e-05 9.99994056e-01 -5.92734747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.800281693 meters Centerline goodness [0,1] 0.997382368848026 Centerline is valid? [True, True] Translation: X:63.00, Y:-1.80, Z:-0.59 [[ 9.98921130e-01 4.63697551e-02 2.53421204e-03 6.29963162e+01] [-4.63696895e-02 9.98924344e-01 -8.46671979e-05 -1.80294554e+00] [-2.53541209e-03 -3.29347723e-05 9.99996785e-01 -5.94188721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.830281693 meters Centerline goodness [0,1] 0.9964619661359616 Centerline is valid? [True, True] Translation: X:63.02, Y:-1.80, Z:-0.59 [[ 9.98793491e-01 4.90261587e-02 2.82796534e-03 6.30246478e+01] [-4.90260877e-02 9.98797494e-01 -9.44834514e-05 -1.79717867e+00] [-2.82919686e-03 -4.42746205e-05 9.99995997e-01 -5.94018879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.860281693 meters Centerline goodness [0,1] 0.9961168362883782 Centerline is valid? [True, True] Translation: X:63.05, Y:-1.80, Z:-0.59 [[ 9.98706382e-01 5.06976338e-02 3.91323732e-03 6.30537980e+01] [-5.06975120e-02 9.98714046e-01 -1.30374565e-04 -1.79985428e+00] [-3.91481475e-03 -6.81854858e-05 9.99992335e-01 -5.91780617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.890281693 meters Centerline goodness [0,1] 0.994935681012009 Centerline is valid? [True, True] Translation: X:63.08, Y:-1.80, Z:-0.59 [[ 9.98634913e-01 5.19363435e-02 5.56123162e-03 6.30810715e+01] [-5.19361187e-02 9.98650392e-01 -1.84915238e-04 -1.80147505e+00] [-5.56332996e-03 -1.04165973e-04 9.99984519e-01 -5.88917715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.920281693 meters Centerline goodness [0,1] 0.9949214648466796 Centerline is valid? [True, True] Translation: X:63.11, Y:-1.80, Z:-0.59 [[ 9.98629191e-01 5.20313982e-02 5.69848300e-03 6.31097004e+01] [-5.20311656e-02 9.98645444e-01 -1.89174676e-04 -1.80277031e+00] [-5.70060711e-03 -1.07583359e-04 9.99983746e-01 -5.89380080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95028169300001 meters Centerline goodness [0,1] 0.9943594218939571 Centerline is valid? [True, True] Translation: X:63.14, Y:-1.80, Z:-0.59 [[ 9.98526728e-01 5.41036257e-02 4.14374202e-03 6.31383779e+01] [-5.41035211e-02 9.98535322e-01 -1.37421083e-04 -1.79722429e+00] [-4.14510775e-03 -8.69724098e-05 9.99991405e-01 -5.92459726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98028169300001 meters Centerline goodness [0,1] 0.9941963428425118 Centerline is valid? [True, True] Translation: X:63.17, Y:-1.79, Z:-0.59 [[ 9.98402507e-01 5.64320435e-02 2.80322018e-03 6.31675076e+01] [-5.64320049e-02 9.98406440e-01 -9.29241497e-05 -1.79452805e+00] [-2.80399698e-03 -6.54156310e-05 9.99996067e-01 -5.94291946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.010281693 meters Centerline goodness [0,1] 0.9932516655920911 Centerline is valid? [True, True] Translation: X:63.20, Y:-1.79, Z:-0.60 [[ 9.98252969e-01 5.90438839e-02 2.19747593e-03 6.31964155e+01] [-5.90438666e-02 9.98255386e-01 -7.28065009e-05 -1.78822145e+00] [-2.19794097e-03 -5.70681702e-05 9.99997583e-01 -5.95313019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.040281693 meters Centerline goodness [0,1] 0.9916926272066459 Centerline is valid? [True, True] Translation: X:63.23, Y:-1.78, Z:-0.59 [[ 9.98047123e-01 6.23047974e-02 4.47808909e-03 6.32257455e+01] [-6.23047599e-02 9.98057160e-01 -1.48019924e-04 -1.78033114e+00] [-4.47861123e-03 -1.31275406e-04 9.99989962e-01 -5.88541195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.070281693 meters Centerline goodness [0,1] 0.9910339686934299 Centerline is valid? [True, True] Translation: X:63.25, Y:-1.78, Z:-0.59 [[ 9.97997671e-01 6.29047630e-02 6.60600996e-03 6.32533357e+01] [-6.29046962e-02 9.98019515e-01 -2.18092611e-04 -1.77732618e+00] [-6.60664592e-03 -1.97893131e-04 9.99978156e-01 -5.88112147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.100281693 meters Centerline goodness [0,1] 0.9910362827314736 Centerline is valid? [True, True] Translation: X:63.28, Y:-1.78, Z:-0.59 [[ 9.98023019e-01 6.24312854e-02 7.23796933e-03 6.32824069e+01] [-6.24311959e-02 9.98049242e-01 -2.38525608e-04 -1.77694408e+00] [-7.23874126e-03 -2.13821033e-04 9.99973777e-01 -5.87335351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.130281693 meters Centerline goodness [0,1] 0.9924213394643846 Centerline is valid? [True, True] Translation: X:63.31, Y:-1.78, Z:-0.60 [[ 9.98196605e-01 5.99426640e-02 3.22707619e-03 6.33100874e+01] [-5.99426332e-02 9.98201818e-01 -1.06352430e-04 -1.77523168e+00] [-3.22764837e-03 -8.72788095e-05 9.99994787e-01 -5.95291600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.160281693 meters Centerline goodness [0,1] 0.9941063420884049 Centerline is valid? [True, True] Translation: X:63.34, Y:-1.78, Z:-0.60 [[ 9.98289283e-01 5.84659603e-02 4.89762275e-04 6.33394492e+01] [-5.84659594e-02 9.98289403e-01 -1.62532796e-05 -1.77554413e+00] [-4.89874753e-04 -1.24089464e-05 9.99999880e-01 -6.00288948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.190281693 meters Centerline goodness [0,1] 0.9957951804657318 Centerline is valid? [True, True] Translation: X:63.37, Y:-1.77, Z:-0.60 [[ 9.98439815e-01 5.58384617e-02 3.53967982e-05 6.33684287e+01] [-5.58384616e-02 9.98439816e-01 -1.39789840e-06 -1.77493429e+00] [-3.54196292e-05 -5.80785339e-07 9.99999999e-01 -5.99989569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.220281693 meters Centerline goodness [0,1] 0.9953483386923901 Centerline is valid? [True, True] Translation: X:63.40, Y:-1.77, Z:-0.60 [[ 9.98530122e-01 5.41693446e-02 1.81033031e-03 6.33968768e+01] [-5.41693258e-02 9.98531762e-01 -5.95022037e-05 -1.77391429e+00] [-1.81089551e-03 -3.86496296e-05 9.99998360e-01 -5.97463996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.250281693 meters Centerline goodness [0,1] 0.995513769935819 Centerline is valid? [True, True] Translation: X:63.43, Y:-1.78, Z:-0.60 [[ 9.98641797e-01 5.20300262e-02 2.72706528e-03 6.34257301e+01] [-5.20299761e-02 9.98645519e-01 -8.93864762e-05 -1.77587241e+00] [-2.72802230e-03 -5.26240701e-05 9.99996278e-01 -5.95335458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.280281693 meters Centerline goodness [0,1] 0.9966232718160002 Centerline is valid? [True, True] Translation: X:63.45, Y:-1.78, Z:-0.60 [[ 9.98843473e-01 4.80023718e-02 2.73673482e-03 6.34549945e+01] [-4.80023064e-02 9.98847221e-01 -8.96195192e-05 -1.77872008e+00] [-2.73788192e-03 -4.18537113e-05 9.99996251e-01 -5.96087825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31028169300001 meters Centerline goodness [0,1] 0.9974543371730414 Centerline is valid? [True, True] Translation: X:63.48, Y:-1.78, Z:-0.60 [[ 9.98964822e-01 4.54046573e-02 2.77525614e-03 6.34828944e+01] [-4.54045805e-02 9.98968676e-01 -9.06969078e-05 -1.78103871e+00] [-2.77651202e-03 -3.54063206e-05 9.99996145e-01 -5.96551950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34028169300001 meters Centerline goodness [0,1] 0.9983431399621896 Centerline is valid? [True, True] Translation: X:63.51, Y:-1.79, Z:-0.59 [[ 9.99217423e-01 3.93391671e-02 4.11965775e-03 6.35115222e+01] [-3.93389479e-02 9.99225915e-01 -1.34259606e-04 -1.78903611e+00] [-4.12175044e-03 -2.79084640e-05 9.99991505e-01 -5.94274437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37028169300001 meters Centerline goodness [0,1] 0.9986603725440163 Centerline is valid? [True, True] Translation: X:63.54, Y:-1.79, Z:-0.59 [[ 9.99341115e-01 3.60036210e-02 4.59073850e-03 6.35399845e+01] [-3.60033146e-02 9.99351659e-01 -1.49373234e-04 -1.79412679e+00] [-4.59314012e-03 -1.60069886e-05 9.99989451e-01 -5.93646552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.400281693 meters Centerline goodness [0,1] 0.9990051225604335 Centerline is valid? [True, True] Translation: X:63.57, Y:-1.80, Z:-0.59 [[ 9.99464152e-01 3.25217094e-02 3.70782178e-03 6.35681283e+01] [-3.25214861e-02 9.99471029e-01 -1.20519331e-04 -1.79964653e+00] [-3.70977994e-03 -1.29123756e-07 9.99993119e-01 -5.94875029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.430281693 meters Centerline goodness [0,1] 0.999593678492761 Centerline is valid? [True, True] Translation: X:63.60, Y:-1.81, Z:-0.60 [[ 9.99633172e-01 2.70333001e-02 1.64982304e-03 6.35972735e+01] [-2.70332484e-02 9.99634534e-01 -5.36050622e-05 -1.80868282e+00] [-1.65066921e-03 8.98532235e-06 9.99998638e-01 -5.97901678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.460281693 meters Centerline goodness [0,1] 0.9998720109217347 Centerline is valid? [True, True] Translation: X:63.63, Y:-1.81, Z:-0.60 [[ 9.99675377e-01 2.54423413e-02 1.35208184e-03 6.36260431e+01] [-2.54423051e-02 9.99676291e-01 -4.39658874e-05 -1.81323397e+00] [-1.35276275e-03 9.55153627e-06 9.99999085e-01 -5.98773332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.490281693 meters Centerline goodness [0,1] 0.999765608352866 Centerline is valid? [True, True] Translation: X:63.66, Y:-1.82, Z:-0.60 [[ 9.99700085e-01 2.42020261e-02 3.74204941e-03 6.36559773e+01] [-2.42017419e-02 9.99707088e-01 -1.21204591e-04 -1.81740268e+00] [-3.74388671e-03 3.06041261e-05 9.99992991e-01 -5.95037328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.520281693 meters Centerline goodness [0,1] 0.9996820484558153 Centerline is valid? [True, True] Translation: X:63.69, Y:-1.82, Z:-0.59 [[ 9.99698660e-01 2.38235944e-02 5.91826593e-03 6.36854957e+01] [-2.38228782e-02 9.99716177e-01 -1.91497558e-04 -1.82187463e+00] [-5.92114835e-03 5.04497233e-05 9.99982469e-01 -5.90880033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.550281693 meters Centerline goodness [0,1] 0.9997455524692013 Centerline is valid? [True, True] Translation: X:63.72, Y:-1.82, Z:-0.59 [[ 9.99677662e-01 2.42864347e-02 7.39879597e-03 6.37159880e+01] [-2.42853285e-02 9.99705039e-01 -2.39330230e-04 -1.82349650e+00] [-7.40242609e-03 5.95708938e-05 9.99972600e-01 -5.88111954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.580281693 meters Centerline goodness [0,1] 0.9995083579154376 Centerline is valid? [True, True] Translation: X:63.75, Y:-1.82, Z:-0.59 [[ 9.99626930e-01 2.65771582e-02 6.29727812e-03 6.37462806e+01] [-2.65764023e-02 9.99646764e-01 -2.03699227e-04 -1.82250485e+00] [-6.30046745e-03 3.62642357e-05 9.99980151e-01 -5.89956344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.610281693 meters Centerline goodness [0,1] 0.9994662567518521 Centerline is valid? [True, True] Translation: X:63.78, Y:-1.82, Z:-0.59 [[ 9.99589472e-01 2.82330295e-02 4.87674485e-03 6.37765887e+01] [-2.82325959e-02 9.99601368e-01 -1.57748973e-04 -1.82298184e+00] [-4.87925456e-03 2.00010458e-05 9.99988096e-01 -5.92382257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.640281693 meters Centerline goodness [0,1] 0.9995088093966898 Centerline is valid? [True, True] Translation: X:63.81, Y:-1.82, Z:-0.59 [[ 9.99540606e-01 3.00401514e-02 4.02073964e-03 6.38061017e+01] [-3.00398711e-02 9.99548693e-01 -1.30086310e-04 -1.82296998e+00] [-4.02283286e-03 9.24404869e-06 9.99991908e-01 -5.94028517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.670281693 meters Centerline goodness [0,1] 0.9990644866370421 Centerline is valid? [True, True] Translation: X:63.83, Y:-1.82, Z:-0.59 [[ 9.99440372e-01 3.30077812e-02 5.42488630e-03 6.38340246e+01] [-3.30073157e-02 9.99455095e-01 -1.75339269e-04 -1.82313266e+00] [-5.42771781e-03 -3.81979059e-06 9.99985270e-01 -5.92385942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70028169300001 meters Centerline goodness [0,1] 0.9988922500106514 Centerline is valid? [True, True] Translation: X:63.86, Y:-1.83, Z:-0.59 [[ 9.99412613e-01 3.36934113e-02 6.25962373e-03 6.38637731e+01] [-3.36928073e-02 9.99432216e-01 -2.01948610e-04 -1.82501465e+00] [-6.26287395e-03 -9.07430833e-06 9.99980388e-01 -5.90644460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73028169300001 meters Centerline goodness [0,1] 0.9989195373077412 Centerline is valid? [True, True] Translation: X:63.89, Y:-1.83, Z:-0.59 [[ 9.99422574e-01 3.33966883e-02 6.25931646e-03 6.38917880e+01] [-3.33960795e-02 9.99442175e-01 -2.01781976e-04 -1.83043208e+00] [-6.26256371e-03 -7.37116888e-06 9.99980390e-01 -5.91185641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.760281693 meters Centerline goodness [0,1] 0.999194573972022 Centerline is valid? [True, True] Translation: X:63.92, Y:-1.84, Z:-0.59 [[ 9.99456432e-01 3.25578058e-02 5.17971134e-03 6.39212537e+01] [-3.25573784e-02 9.99469854e-01 -1.66831498e-04 -1.83576778e+00] [-5.18239700e-03 -1.89700862e-06 9.99986571e-01 -5.93753417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.790281693 meters Centerline goodness [0,1] 0.9993860224842801 Centerline is valid? [True, True] Translation: X:63.95, Y:-1.85, Z:-0.60 [[ 9.99532172e-01 3.02191065e-02 4.71615073e-03 6.39503497e+01] [-3.02187267e-02 9.99543298e-01 -1.51804168e-04 -1.84706725e+00] [-4.71858424e-03 9.21707990e-06 9.99988867e-01 -5.95138749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.820281693 meters Centerline goodness [0,1] 0.9992948115223523 Centerline is valid? [True, True] Translation: X:63.98, Y:-1.85, Z:-0.59 [[ 9.99551491e-01 2.94545084e-02 5.40827396e-03 6.39793588e+01] [-2.94539984e-02 9.99566122e-01 -1.73942495e-04 -1.85285043e+00] [-5.41105082e-03 1.45691874e-05 9.99985360e-01 -5.93742481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.850281693 meters Centerline goodness [0,1] 0.9993286119593702 Centerline is valid? [True, True] Translation: X:64.01, Y:-1.86, Z:-0.59 [[ 9.99555149e-01 2.92661175e-02 5.74450606e-03 6.40085958e+01] [-2.92655398e-02 9.99571655e-01 -1.84619609e-04 -1.85796568e+00] [-5.74744853e-03 1.64214099e-05 9.99983483e-01 -5.92622513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.880281693 meters Centerline goodness [0,1] 0.9994034048537277 Centerline is valid? [True, True] Translation: X:64.04, Y:-1.86, Z:-0.60 [[ 9.99512786e-01 3.10216645e-02 3.44195527e-03 6.40386448e+01] [-3.10214676e-02 9.99518712e-01 -1.10582508e-04 -1.86125936e+00] [-3.44372915e-03 3.75412701e-06 9.99994070e-01 -5.95566429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.910281693 meters Centerline goodness [0,1] 0.9993432481674506 Centerline is valid? [True, True] Translation: X:64.07, Y:-1.86, Z:-0.60 [[ 9.99459715e-01 3.27927722e-02 2.21627194e-03 6.40677732e+01] [-3.27926948e-02 9.99462172e-01 -7.12745077e-05 -1.86126525e+00] [-2.21741726e-03 -1.44153016e-06 9.99997542e-01 -5.97653861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.940281693 meters Centerline goodness [0,1] 0.998813182155346 Centerline is valid? [True, True] Translation: X:64.10, Y:-1.86, Z:-0.60 [[ 9.99274071e-01 3.80264023e-02 2.30750573e-03 6.40966710e+01] [-3.80263324e-02 9.99276735e-01 -7.41800517e-05 -1.85850411e+00] [-2.30865759e-03 -1.36197776e-05 9.99997335e-01 -5.98639934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.970281693 meters Centerline goodness [0,1] 0.9983068424728566 Centerline is valid? [True, True] Translation: X:64.13, Y:-1.86, Z:-0.60 [[ 9.99170653e-01 4.05736480e-02 3.43302013e-03 6.41251087e+01] [-4.05735090e-02 9.99176550e-01 -1.10174066e-04 -1.85768504e+00] [-3.43466337e-03 -2.92069797e-05 9.99994101e-01 -5.97555569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.000281693 meters Centerline goodness [0,1] 0.9977634889572268 Centerline is valid? [True, True] Translation: X:64.15, Y:-1.86, Z:-0.60 [[ 9.99090734e-01 4.24424191e-02 4.04297822e-03 6.41536681e+01] [-4.24422424e-02 9.99098914e-01 -1.29519900e-04 -1.85755723e+00] [-4.04483228e-03 -4.21909294e-05 9.99991819e-01 -5.97246859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.030281693 meters Centerline goodness [0,1] 0.9979419066007511 Centerline is valid? [True, True] Translation: X:64.18, Y:-1.86, Z:-0.60 [[ 9.99037387e-01 4.37338386e-02 3.41341594e-03 6.41810502e+01] [-4.37337206e-02 9.99043217e-01 -1.09249807e-04 -1.85814071e+00] [-3.41492796e-03 -4.01367374e-05 9.99994168e-01 -5.99241980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06028169300001 meters Centerline goodness [0,1] 0.9982185400613852 Centerline is valid? [True, True] Translation: X:64.21, Y:-1.87, Z:-0.60 [[ 9.99136195e-01 4.14895014e-02 2.34207043e-03 6.42100916e+01] [-4.14894400e-02 9.99138940e-01 -7.48198807e-05 -1.86828122e+00] [-2.34315801e-03 -2.24159397e-05 9.99997255e-01 -6.02135027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09028169300001 meters Centerline goodness [0,1] 0.9983941513301076 Centerline is valid? [True, True] Translation: X:64.24, Y:-1.88, Z:-0.60 [[ 9.99248392e-01 3.87088341e-02 2.06815928e-03 6.42381687e+01] [-3.87087803e-02 9.99250532e-01 -6.60286495e-05 -1.87743222e+00] [-2.06916516e-03 -1.40769016e-05 9.99997859e-01 -6.02919075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12028169300001 meters Centerline goodness [0,1] 0.9985170119910173 Centerline is valid? [True, True] Translation: X:64.27, Y:-1.89, Z:-0.60 [[ 9.99352320e-01 3.58786661e-02 2.76804181e-03 6.42674388e+01] [-3.58785592e-02 9.99356153e-01 -8.82848976e-05 -1.88683449e+00] [-2.76942716e-03 -1.10856348e-05 9.99996165e-01 -6.01905931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.150281693 meters Centerline goodness [0,1] 0.9990235618764594 Centerline is valid? [True, True] Translation: X:64.30, Y:-1.90, Z:-0.60 [[ 9.99433258e-01 3.34450710e-02 3.81971704e-03 6.42957061e+01] [-3.34448501e-02 9.99440557e-01 -1.21711175e-04 -1.89518190e+00] [-3.82165076e-03 -6.10766782e-06 9.99992697e-01 -5.99812042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.180281693 meters Centerline goodness [0,1] 0.9991043630315178 Centerline is valid? [True, True] Translation: X:64.33, Y:-1.91, Z:-0.60 [[ 9.99507622e-01 3.10287772e-02 4.66138483e-03 6.43250633e+01] [-3.10284229e-02 9.99518492e-01 -1.48321808e-04 -1.90801401e+00] [-4.66374258e-03 3.61335762e-06 9.99989125e-01 -5.97916486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.210281693 meters Centerline goodness [0,1] 0.9991949834759766 Centerline is valid? [True, True] Translation: X:64.36, Y:-1.91, Z:-0.60 [[ 9.99506465e-01 3.11929289e-02 3.71855717e-03 6.43561357e+01] [-3.11927048e-02 9.99513382e-01 -1.18243246e-04 -1.91460085e+00] [-3.72043600e-03 2.19303314e-06 9.99993079e-01 -5.99514745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.240281693 meters Centerline goodness [0,1] 0.999209621259052 Centerline is valid? [True, True] Translation: X:64.39, Y:-1.93, Z:-0.60 [[ 9.99472008e-01 3.24171624e-02 2.19829484e-03 6.43851001e+01] [-3.24170869e-02 9.99474426e-01 -6.99698714e-05 -1.92518512e+00] [-2.19940770e-03 -1.32938699e-06 9.99997581e-01 -6.02258825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.270281693 meters Centerline goodness [0,1] 0.999209621259052 Centerline is valid? [True, True] Translation: X:64.41, Y:-1.93, Z:-0.60 [[ 9.99472727e-01 3.23949926e-02 2.19829274e-03 6.44142499e+01] [-3.23949169e-02 9.99475144e-01 -7.00358224e-05 -1.92606608e+00] [-2.19940777e-03 -1.21461627e-06 9.99997581e-01 -6.02409719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.300281693 meters Centerline goodness [0,1] 0.9992077087794432 Centerline is valid? [True, True] Translation: X:64.44, Y:-1.93, Z:-0.60 [[ 9.99434811e-01 3.35491444e-02 2.12468639e-03 6.44433732e+01] [-3.35490764e-02 9.99437069e-01 -6.76474508e-05 -1.92904003e+00] [-2.12575985e-03 -3.67204872e-06 9.99997741e-01 -6.02433384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.330281693 meters Centerline goodness [0,1] 0.9989477450175727 Centerline is valid? [True, True] Translation: X:64.47, Y:-1.93, Z:-0.60 [[ 9.99305539e-01 3.71818975e-02 2.43836819e-03 6.44727890e+01] [-3.71818190e-02 9.99308514e-01 -7.75637438e-05 -1.93150528e+00] [-2.43956606e-03 -1.31530857e-05 9.99997024e-01 -6.02139065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.360281693 meters Centerline goodness [0,1] 0.9988093213131485 Centerline is valid? [True, True] Translation: X:64.50, Y:-1.93, Z:-0.60 [[ 9.99252612e-01 3.85243386e-02 3.17680664e-03 6.45020180e+01] [-3.85242124e-02 9.99257662e-01 -1.00925427e-04 -1.93412942e+00] [-3.17833646e-03 -2.15339774e-05 9.99994949e-01 -6.01112899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.390281693 meters Centerline goodness [0,1] 0.9983890796557717 Centerline is valid? [True, True] Translation: X:64.53, Y:-1.94, Z:-0.60 [[ 9.99216367e-01 3.93934085e-02 3.84867021e-03 6.45328048e+01] [-3.93932300e-02 9.99223778e-01 -1.22200662e-04 -1.93914628e+00] [-3.85049669e-03 -2.95066497e-05 9.99992586e-01 -5.99870553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.420281693 meters Centerline goodness [0,1] 0.9981709239987385 Centerline is valid? [True, True] Translation: X:64.56, Y:-1.94, Z:-0.60 [[ 9.99168226e-01 4.05010712e-02 4.74548475e-03 6.45624851e+01] [-4.05008124e-02 9.99179494e-01 -1.50672216e-04 -1.94247429e+00] [-4.74769343e-03 -4.16490969e-05 9.99988729e-01 -5.98358572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45028169300001 meters Centerline goodness [0,1] 0.9980452150263471 Centerline is valid? [True, True] Translation: X:64.59, Y:-1.94, Z:-0.60 [[ 9.99134735e-01 4.13046177e-02 4.86925038e-03 6.45927415e+01] [-4.13043545e-02 9.99146599e-01 -1.54646218e-04 -1.94421457e+00] [-4.87148256e-03 -4.66088353e-05 9.99988133e-01 -5.97622012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48028169300001 meters Centerline goodness [0,1] 0.9982935517587083 Centerline is valid? [True, True] Translation: X:64.62, Y:-1.95, Z:-0.60 [[ 9.99058961e-01 4.31600991e-02 4.28927904e-03 6.46231494e+01] [-4.31599120e-02 9.99068168e-01 -1.36226468e-04 -1.94639684e+00] [-4.29116169e-03 -4.90266318e-05 9.99990792e-01 -5.99322603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.510281693 meters Centerline goodness [0,1] 0.9978802442965979 Centerline is valid? [True, True] Translation: X:64.65, Y:-1.94, Z:-0.60 [[ 9.99008999e-01 4.43356810e-02 3.92004232e-03 6.46524542e+01] [-4.43355338e-02 9.99016689e-01 -1.24490601e-04 -1.94332251e+00] [-3.92170707e-03 -4.94299384e-05 9.99992309e-01 -6.00211477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.540281693 meters Centerline goodness [0,1] 0.9980647768113476 Centerline is valid? [True, True] Translation: X:64.68, Y:-1.94, Z:-0.60 [[ 9.98949469e-01 4.56292795e-02 4.23407913e-03 6.46819158e+01] [-4.56291191e-02 9.98958440e-01 -1.34525449e-04 -1.94212149e+00] [-4.23580739e-03 -5.88131746e-05 9.99991027e-01 -5.98956024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.570281693 meters Centerline goodness [0,1] 0.9971972142007813 Centerline is valid? [True, True] Translation: X:64.71, Y:-1.94, Z:-0.60 [[ 9.98794617e-01 4.87696067e-02 5.55321033e-03 6.47125091e+01] [-4.87693801e-02 9.98810050e-01 -1.76280166e-04 -1.93795321e+00] [-5.55519940e-03 -9.47589447e-05 9.99984565e-01 -5.96329159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.600281693 meters Centerline goodness [0,1] 0.9965157539224488 Centerline is valid? [True, True] Translation: X:64.74, Y:-1.93, Z:-0.60 [[ 9.98714342e-01 5.03755463e-02 5.65392613e-03 6.47423855e+01] [-5.03753373e-02 9.98730341e-01 -1.79471674e-04 -1.93492334e+00] [-5.65578856e-03 -1.05577501e-04 9.99984000e-01 -5.96536733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.630281693 meters Centerline goodness [0,1] 0.9963378492802709 Centerline is valid? [True, True] Translation: X:64.77, Y:-1.93, Z:-0.60 [[ 9.98578588e-01 5.31633609e-02 3.80263194e-03 6.47715130e+01] [-5.31632866e-02 9.98585825e-01 -1.20697123e-04 -1.92695453e+00] [-3.80367102e-03 -8.16348490e-05 9.99992763e-01 -5.99940985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.660281693 meters Centerline goodness [0,1] 0.9963812078251059 Centerline is valid? [True, True] Translation: X:64.80, Y:-1.92, Z:-0.60 [[ 9.98531112e-01 5.40703531e-02 3.46638747e-03 6.48013041e+01] [-5.40702971e-02 9.98537125e-01 -1.09956652e-04 -1.92411644e+00] [-3.46726198e-03 -7.76334619e-05 9.99993986e-01 -6.00766990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.690281693 meters Centerline goodness [0,1] 0.9958507971945492 Centerline is valid? [True, True] Translation: X:64.83, Y:-1.92, Z:-0.60 [[ 9.98516394e-01 5.43575795e-02 3.20395500e-03 6.48296684e+01] [-5.43575332e-02 9.98521531e-01 -1.01572430e-04 -1.91991345e+00] [-3.20473928e-03 -7.27373543e-05 9.99994862e-01 -6.01489794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.720281693 meters Centerline goodness [0,1] 0.9971219367672578 Centerline is valid? [True, True] Translation: X:64.86, Y:-1.93, Z:-0.60 [[ 9.98660919e-01 5.15832246e-02 3.94206326e-03 6.48592530e+01] [-5.15831335e-02 9.98668696e-01 -1.24837850e-04 -1.92643175e+00] [-3.94325472e-03 -7.86732939e-05 9.99992222e-01 -6.00099375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.750281693 meters Centerline goodness [0,1] 0.9969692410205705 Centerline is valid? [True, True] Translation: X:64.89, Y:-1.93, Z:-0.60 [[ 9.98768246e-01 4.94559163e-02 4.01278151e-03 6.48877716e+01] [-4.94558051e-02 9.98776305e-01 -1.26993761e-04 -1.92633915e+00] [-4.01415168e-03 -7.16180043e-05 9.99991941e-01 -6.00839247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.780281693 meters Centerline goodness [0,1] 0.9980642828274233 Centerline is valid? [True, True] Translation: X:64.92, Y:-1.93, Z:-0.60 [[ 9.98905460e-01 4.66774818e-02 3.01562147e-03 6.49173393e+01] [-4.66774066e-02 9.98910011e-01 -9.53481409e-05 -1.92983771e+00] [-3.01678508e-03 -4.55176107e-05 9.99995448e-01 -6.03232585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81028169300001 meters Centerline goodness [0,1] 0.9979776476849388 Centerline is valid? [True, True] Translation: X:64.95, Y:-1.93, Z:-0.60 [[ 9.98944857e-01 4.58630350e-02 2.39909727e-03 6.49463471e+01] [-4.58629851e-02 9.98947737e-01 -7.58554913e-05 -1.92964530e+00] [-2.40005176e-03 -3.42543096e-05 9.99997119e-01 -6.04784530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84028169300001 meters Centerline goodness [0,1] 0.9981222440238834 Centerline is valid? [True, True] Translation: X:64.98, Y:-1.93, Z:-0.61 [[ 9.98977188e-01 4.51895125e-02 1.57643142e-03 6.49755559e+01] [-4.51894900e-02 9.98978432e-01 -4.98901988e-05 -1.93001223e+00] [-1.57707550e-03 -2.13989614e-05 9.99998756e-01 -6.06186892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.870281693 meters Centerline goodness [0,1] 0.9983638952043006 Centerline is valid? [True, True] Translation: X:65.01, Y:-1.93, Z:-0.60 [[ 9.99041046e-01 4.37260929e-02 2.24003144e-03 6.50052301e+01] [-4.37260445e-02 9.99043557e-01 -7.06284115e-05 -1.93052047e+00] [-2.24097728e-03 -2.73870323e-05 9.99997489e-01 -6.04906047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.900281693 meters Centerline goodness [0,1] 0.998640409576615 Centerline is valid? [True, True] Translation: X:65.03, Y:-1.93, Z:-0.60 [[ 9.99080657e-01 4.27489066e-02 3.22041284e-03 6.50341064e+01] [-4.27488017e-02 9.99085847e-01 -1.01434262e-04 -1.93125671e+00] [-3.22180509e-03 -3.63277811e-05 9.99994809e-01 -6.03115492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.930281693 meters Centerline goodness [0,1] 0.9989048508664562 Centerline is valid? [True, True] Translation: X:65.06, Y:-1.94, Z:-0.60 [[ 9.99206857e-01 3.95219871e-02 4.86521350e-03 6.50630998e+01] [-3.95217108e-02 9.99218700e-01 -1.52963023e-04 -1.93501417e+00] [-4.86745771e-03 -3.94398598e-05 9.99988153e-01 -6.01446630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.960281693 meters Centerline goodness [0,1] 0.9992134688151014 Centerline is valid? [True, True] Translation: X:65.09, Y:-1.94, Z:-0.60 [[ 9.99280906e-01 3.76918281e-02 4.12264981e-03 6.50920809e+01] [-3.76916137e-02 9.99289410e-01 -1.29721400e-04 -1.93842668e+00] [-4.12460974e-03 -2.57612059e-05 9.99991493e-01 -6.03877791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.990281693 meters Centerline goodness [0,1] 0.9991503823279524 Centerline is valid? [True, True] Translation: X:65.12, Y:-1.94, Z:-0.61 [[ 9.99360619e-01 3.56420260e-02 2.82822763e-03 6.51226521e+01] [-3.56419170e-02 9.99364621e-01 -8.89517530e-05 -1.94296567e+00] [-2.82960105e-03 -1.19085753e-05 9.99995997e-01 -6.06465593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.020281693 meters Centerline goodness [0,1] 0.9994262033790245 Centerline is valid? [True, True] Translation: X:65.15, Y:-1.95, Z:-0.61 [[ 9.99533277e-01 3.05277772e-02 1.13247805e-03 6.51530431e+01] [-3.05277564e-02 9.99533919e-01 -3.56180339e-05 -1.95289089e+00] [-1.13303756e-03 1.02939619e-06 9.99999358e-01 -6.09802880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.050281693 meters Centerline goodness [0,1] 0.9998729190494345 Centerline is valid? [True, True] Translation: X:65.18, Y:-1.96, Z:-0.61 [[ 9.99684999e-01 2.49570266e-02 2.65527317e-03 6.51821090e+01] [-2.49568927e-02 9.99688525e-01 -8.35401965e-05 -1.96419629e+00] [-2.65653103e-03 1.72465136e-05 9.99996471e-01 -6.06830483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.080281693 meters Centerline goodness [0,1] 0.9997649974363356 Centerline is valid? [True, True] Translation: X:65.21, Y:-1.97, Z:-0.60 [[ 9.99728670e-01 2.29955340e-02 3.71383224e-03 6.52117681e+01] [-2.29952590e-02 9.99735567e-01 -1.16750519e-04 -1.96929839e+00] [-3.71553493e-03 3.13183070e-05 9.99993097e-01 -6.04974245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.110281693 meters Centerline goodness [0,1] 0.9997668454185125 Centerline is valid? [True, True] Translation: X:65.24, Y:-1.97, Z:-0.61 [[ 9.99755577e-01 2.18095122e-02 3.62369957e-03 6.52426740e+01] [-2.18092425e-02 9.99762144e-01 -1.13928807e-04 -1.97276813e+00] [-3.62532238e-03 3.48708173e-05 9.99993428e-01 -6.05264786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.140281693 meters Centerline goodness [0,1] 0.9998280309544282 Centerline is valid? [True, True] Translation: X:65.27, Y:-1.98, Z:-0.61 [[ 9.99752692e-01 2.22070553e-02 1.18361315e-03 6.52725461e+01] [-2.22070268e-02 9.99753393e-01 -3.72062566e-05 -1.97592548e+00] [-1.18414750e-03 1.09125263e-05 9.99999299e-01 -6.09791884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.170281693 meters Centerline goodness [0,1] 0.9998075278015398 Centerline is valid? [True, True] Translation: X:65.30, Y:-1.98, Z:-0.61 [[ 9.99731851e-01 2.31443200e-02 7.52692547e-04 6.53028139e+01] [-2.31443087e-02 9.99732134e-01 -2.36965568e-05 -1.97572230e+00] [-7.53039367e-04 6.26965394e-06 9.99999716e-01 -6.10758429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20028169300001 meters Centerline goodness [0,1] 0.9998515156014679 Centerline is valid? [True, True] Translation: X:65.33, Y:-1.97, Z:-0.61 [[ 9.99708250e-01 2.41448324e-02 6.64637733e-04 6.53332182e+01] [-2.41448238e-02 9.99708471e-01 -2.09243812e-05 -1.97475961e+00] [-6.64949188e-04 4.87071558e-06 9.99999779e-01 -6.10446067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23028169300001 meters Centerline goodness [0,1] 0.9998512568793694 Centerline is valid? [True, True] Translation: X:65.36, Y:-1.97, Z:-0.61 [[ 9.99687991e-01 2.49392946e-02 1.39729890e-03 6.53630589e+01] [-2.49392574e-02 9.99688967e-01 -4.40314179e-05 -1.97400639e+00] [-1.39796240e-03 9.17008278e-06 9.99999023e-01 -6.09201133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.260281693 meters Centerline goodness [0,1] 0.9997664295572778 Centerline is valid? [True, True] Translation: X:65.39, Y:-1.98, Z:-0.61 [[ 9.99669116e-01 2.56048489e-02 2.45987491e-03 6.53938153e+01] [-2.56047360e-02 9.99672142e-01 -7.74159323e-05 -1.97509372e+00] [-2.46105064e-03 1.44058690e-05 9.99996972e-01 -6.06530586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.290281693 meters Centerline goodness [0,1] 0.9998085310073397 Centerline is valid? [True, True] Translation: X:65.42, Y:-1.98, Z:-0.61 [[ 9.99660143e-01 2.58821274e-02 3.11684400e-03 6.54228748e+01] [-2.58819473e-02 9.99665001e-01 -9.81137218e-05 -1.97571779e+00] [-3.11833925e-03 1.74103850e-05 9.99995138e-01 -6.05696940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.320281693 meters Centerline goodness [0,1] 0.9997862745517109 Centerline is valid? [True, True] Translation: X:65.45, Y:-1.97, Z:-0.60 [[ 9.99638229e-01 2.66951855e-02 3.28290405e-03 6.54535196e+01] [-2.66949903e-02 9.99643620e-01 -1.03282748e-04 -1.97455968e+00] [-3.28449124e-03 1.56082917e-05 9.99994606e-01 -5.97091660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.350281693 meters Centerline goodness [0,1] 0.9995981897390348 Centerline is valid? [True, True] Translation: X:65.48, Y:-1.97, Z:-0.60 [[ 9.99587997e-01 2.77068928e-02 7.49432385e-03 6.54830284e+01] [-2.77059035e-02 9.99616090e-01 -2.35803945e-04 -1.97319217e+00] [-7.49798009e-03 2.80697793e-05 9.99971889e-01 -5.96175821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.380281693 meters Centerline goodness [0,1] 0.9996570350681643 Centerline is valid? [True, True] Translation: X:65.52, Y:-1.97, Z:-0.59 [[ 9.99556802e-01 2.85502920e-02 8.43096615e-03 6.55155566e+01] [-2.85490652e-02 9.99592357e-01 -2.65847495e-04 -1.97286563e+00] [-8.43511935e-03 2.50334688e-05 9.99964423e-01 -5.94985285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.410281693 meters Centerline goodness [0,1] 0.9994256296800544 Centerline is valid? [True, True] Translation: X:65.55, Y:-1.97, Z:-0.60 [[ 9.99531980e-01 2.97932290e-02 6.94154314e-03 6.55471174e+01] [-2.97924217e-02 9.99556083e-01 -2.19698010e-04 -1.97064402e+00] [-6.94500719e-03 1.27898064e-05 9.99975883e-01 -5.99123271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.440281693 meters Centerline goodness [0,1] 0.9996163601099768 Centerline is valid? [True, True] Translation: X:65.58, Y:-1.97, Z:-0.60 [[ 9.99532764e-01 3.00586650e-02 5.54344668e-03 6.55787981e+01] [-3.00581522e-02 9.99548136e-01 -1.75816851e-04 -1.96954945e+00] [-5.54622661e-03 9.10893936e-06 9.99984620e-01 -6.02266731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.470281693 meters Centerline goodness [0,1] 0.9997040544539805 Centerline is valid? [True, True] Translation: X:65.61, Y:-1.97, Z:-0.60 [[ 9.99534056e-01 3.01608332e-02 4.68992332e-03 6.56099842e+01] [-3.01604669e-02 9.99545059e-01 -1.48826624e-04 -1.96885329e+00] [-4.69227842e-03 7.30700246e-06 9.99988991e-01 -6.03723090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.500281693 meters Centerline goodness [0,1] 0.9997852003007196 Centerline is valid? [True, True] Translation: X:65.64, Y:-1.97, Z:-0.60 [[ 9.99560737e-01 2.92666034e-02 4.66897051e-03 6.56400484e+01] [-2.92662298e-02 9.99571641e-01 -1.48330568e-04 -1.97043984e+00] [-4.67131165e-03 1.16222483e-05 9.99989089e-01 -6.03002354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.530281693 meters Centerline goodness [0,1] 0.9996202691869541 Centerline is valid? [True, True] Translation: X:65.67, Y:-1.97, Z:-0.60 [[ 9.99591459e-01 2.82642852e-02 4.24801551e-03 6.56705669e+01] [-2.82639670e-02 9.99600485e-01 -1.34946327e-04 -1.97498406e+00] [-4.25013252e-03 1.48254258e-05 9.99990968e-01 -6.04135366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56028169300001 meters Centerline goodness [0,1] 0.999595753281845 Centerline is valid? [True, True] Translation: X:65.70, Y:-1.98, Z:-0.61 [[ 9.99661977e-01 2.57183348e-02 3.80769258e-03 6.57018574e+01] [-2.57180605e-02 9.99669229e-01 -1.20983032e-04 -1.98304715e+00] [-3.80954459e-03 2.30156687e-05 9.99992743e-01 -6.05965751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59028169300001 meters Centerline goodness [0,1] 0.9995325911447268 Centerline is valid? [True, True] Translation: X:65.73, Y:-1.99, Z:-0.61 [[ 9.99693008e-01 2.44438646e-02 4.04815657e-03 6.57327619e+01] [-2.44435437e-02 9.99701204e-01 -1.28717425e-04 -1.98732446e+00] [-4.05009335e-03 2.97266174e-05 9.99991798e-01 -6.05743121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.620281693 meters Centerline goodness [0,1] 0.9994268976057056 Centerline is valid? [True, True] Translation: X:65.76, Y:-1.99, Z:-0.61 [[ 9.99724055e-01 2.30943757e-02 4.29695301e-03 6.57641210e+01] [-2.30940013e-02 9.99733289e-01 -1.36729660e-04 -1.99189843e+00] [-4.29896465e-03 3.74580915e-05 9.99990759e-01 -6.05616233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.650281693 meters Centerline goodness [0,1] 0.9995515695067264 Centerline is valid? [True, True] Translation: X:65.80, Y:-2.00, Z:-0.61 [[ 9.99772338e-01 2.10914276e-02 3.22869644e-03 6.57954536e+01] [-2.10912056e-02 9.99777551e-01 -1.02782118e-04 -2.00164575e+00] [-3.23014604e-03 3.46616185e-05 9.99994782e-01 -6.07245101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.680281693 meters Centerline goodness [0,1] 0.9996186844613918 Centerline is valid? [True, True] Translation: X:65.83, Y:-2.01, Z:-0.61 [[ 9.99783064e-01 2.07286007e-02 2.03713944e-03 6.58257873e+01] [-2.07285117e-02 9.99785139e-01 -6.47631631e-05 -2.00524193e+00] [-2.03804419e-03 2.25222448e-05 9.99997923e-01 -6.08813556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.710281693 meters Centerline goodness [0,1] 0.999656740753454 Centerline is valid? [True, True] Translation: X:65.86, Y:-2.01, Z:-0.61 [[ 9.99742955e-01 2.26495850e-02 1.00968623e-03 6.58560653e+01] [-2.26495641e-02 9.99743465e-01 -3.21827699e-05 -2.00596729e+00] [-1.01015614e-03 9.30554442e-06 9.99999490e-01 -6.10061207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.740281693 meters Centerline goodness [0,1] 0.9997653082995519 Centerline is valid? [True, True] Translation: X:65.89, Y:-2.01, Z:-0.61 [[ 9.99700040e-01 2.44649056e-02 1.13906366e-03 6.58856403e+01] [-2.44648799e-02 9.99700689e-01 -3.64227193e-05 -2.00777887e+00] [-1.13961381e-03 8.54473820e-06 9.99999351e-01 -6.10646368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.770281693 meters Centerline goodness [0,1] 0.9995089666951323 Centerline is valid? [True, True] Translation: X:65.92, Y:-2.01, Z:-0.61 [[ 9.99584294e-01 2.87403499e-02 2.28718641e-03 6.59159419e+01] [-2.87402581e-02 9.99586911e-01 -7.30128034e-05 -2.00597262e+00] [-2.28834001e-03 7.24812383e-06 9.99997382e-01 -6.09624759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.800281693 meters Centerline goodness [0,1] 0.9993821373785581 Centerline is valid? [True, True] Translation: X:65.95, Y:-2.00, Z:-0.61 [[ 9.99517343e-01 3.09265293e-02 2.93766051e-03 6.59467024e+01] [-3.09263872e-02 9.99521660e-01 -9.37775900e-05 -2.00362587e+00] [-2.93915553e-03 2.88110119e-06 9.99995681e-01 -6.08422896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.830281693 meters Centerline goodness [0,1] 0.9993781227885832 Centerline is valid? [True, True] Translation: X:65.98, Y:-2.00, Z:-0.61 [[ 9.99450333e-01 3.29612863e-02 3.54758366e-03 6.59776960e+01] [-3.29610920e-02 9.99456629e-01 -1.13247887e-04 -2.00140733e+00] [-3.54938880e-03 -3.74659285e-06 9.99993701e-01 -6.06933478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.860281693 meters Centerline goodness [0,1] 0.999204865364365 Centerline is valid? [True, True] Translation: X:66.01, Y:-2.00, Z:-0.61 [[ 9.99345547e-01 3.61082736e-02 2.16124059e-03 6.60080544e+01] [-3.61082089e-02 9.99347884e-01 -6.89922926e-05 -1.99927071e+00] [-2.16232240e-03 -9.09138606e-06 9.99997662e-01 -6.10008749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.890281693 meters Centerline goodness [0,1] 0.9992726183599684 Centerline is valid? [True, True] Translation: X:66.04, Y:-2.00, Z:-0.61 [[ 9.99304073e-01 3.72812327e-02 1.21669428e-03 6.60380563e+01] [-3.72812131e-02 9.99304813e-01 -3.88399737e-05 -1.99973915e+00] [-1.21729645e-03 -6.54689461e-06 9.99999259e-01 -6.12107444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.920281693 meters Centerline goodness [0,1] 0.9991857026528951 Centerline is valid? [True, True] Translation: X:66.07, Y:-2.00, Z:-0.61 [[ 9.99252690e-01 3.86019988e-02 1.98655934e-03 6.60673610e+01] [-3.86019489e-02 9.99254665e-01 -6.34926998e-05 -2.00124639e+00] [-1.98752963e-03 -1.32398110e-05 9.99998025e-01 -6.10967087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95028169300001 meters Centerline goodness [0,1] 0.9992009502213584 Centerline is valid? [True, True] Translation: X:66.10, Y:-2.00, Z:-0.61 [[ 9.99233443e-01 3.90181155e-02 3.18004310e-03 6.60982331e+01] [-3.90179903e-02 9.99238503e-01 -1.01438498e-04 -2.00330008e+00] [-3.18157944e-03 -2.27181508e-05 9.99994939e-01 -6.09250087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98028169300001 meters Centerline goodness [0,1] 0.9990822163408178 Centerline is valid? [True, True] Translation: X:66.13, Y:-2.01, Z:-0.61 [[ 9.99231969e-01 3.89406010e-02 4.37054776e-03 6.61282321e+01] [-3.89403637e-02 9.99241527e-01 -1.39404198e-04 -2.00912789e+00] [-4.37266130e-03 -3.08935877e-05 9.99990439e-01 -6.08152780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.010281693 meters Centerline goodness [0,1] 0.9990618736940855 Centerline is valid? [True, True] Translation: X:66.16, Y:-2.01, Z:-0.61 [[ 9.99229731e-01 3.90046751e-02 4.31037309e-03 6.61583127e+01] [-3.90044447e-02 9.99239028e-01 -1.37535855e-04 -2.01157809e+00] [-4.31245756e-03 -3.06937934e-05 9.99990701e-01 -6.07458839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.040281693 meters Centerline goodness [0,1] 0.9990838393522957 Centerline is valid? [True, True] Translation: X:66.19, Y:-2.01, Z:-0.61 [[ 9.99207650e-01 3.96097051e-02 3.89153027e-03 6.61891369e+01] [-3.96095218e-02 9.99215227e-01 -1.24195292e-04 -2.01437130e+00] [-3.89339565e-03 -3.00447672e-05 9.99992420e-01 -6.07756815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.070281693 meters Centerline goodness [0,1] 0.9990858066162088 Centerline is valid? [True, True] Translation: X:66.22, Y:-2.01, Z:-0.61 [[ 9.99101390e-01 4.23296022e-02 2.14870336e-03 6.62196709e+01] [-4.23295525e-02 9.99103700e-01 -6.86059829e-05 -2.01392964e+00] [-2.14968155e-03 -2.24093190e-05 9.99997689e-01 -6.10989475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.100281693 meters Centerline goodness [0,1] 0.9992328837179569 Centerline is valid? [True, True] Translation: X:66.25, Y:-2.02, Z:-0.61 [[ 9.99061512e-01 4.32763973e-02 1.80218736e-03 6.62502236e+01] [-4.32763638e-02 9.99063138e-01 -5.75928004e-05 -2.01522007e+00] [-1.80299136e-03 -2.04533655e-05 9.99998374e-01 -6.11391174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.130281693 meters Centerline goodness [0,1] 0.9988995873452545 Centerline is valid? [True, True] Translation: X:66.28, Y:-2.02, Z:-0.61 [[ 9.99027788e-01 4.39575807e-02 3.34798223e-03 6.62798214e+01] [-4.39574688e-02 9.99033398e-01 -1.07013167e-04 -2.01633886e+00] [-3.34945010e-03 -4.02596972e-05 9.99994390e-01 -6.09070084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.160281693 meters Centerline goodness [0,1] 0.9990656190273943 Centerline is valid? [True, True] Translation: X:66.31, Y:-2.02, Z:-0.61 [[ 9.99002293e-01 4.44348357e-02 4.46810228e-03 6.63105876e+01] [-4.44346417e-02 9.99012283e-01 -1.42727910e-04 -2.01943515e+00] [-4.47003115e-03 -5.59530144e-05 9.99990008e-01 -6.07039044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.190281693 meters Centerline goodness [0,1] 0.9990656190273943 Centerline is valid? [True, True] Translation: X:66.34, Y:-2.02, Z:-0.61 [[ 9.99001262e-01 4.44580116e-02 4.46810088e-03 6.63414084e+01] [-4.44578176e-02 9.99011252e-01 -1.42771590e-04 -2.02046573e+00] [-4.47003040e-03 -5.60130158e-05 9.99990008e-01 -6.07198603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.220281693 meters Centerline goodness [0,1] 0.9984307737981636 Centerline is valid? [True, True] Translation: X:66.37, Y:-2.02, Z:-0.61 [[ 9.98886425e-01 4.69352457e-02 4.79504448e-03 6.63716864e+01] [-4.69350502e-02 9.98897931e-01 -1.53347475e-04 -2.01854920e+00] [-4.79695741e-03 -7.18789419e-05 9.99988492e-01 -6.06249508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.250281693 meters Centerline goodness [0,1] 0.9984939439577456 Centerline is valid? [True, True] Translation: X:66.40, Y:-2.01, Z:-0.61 [[ 9.98809671e-01 4.84887641e-02 5.29908599e-03 6.64025531e+01] [-4.84885472e-02 9.98823724e-01 -1.69468409e-04 -2.01465423e+00] [-5.30107012e-03 -8.76782955e-05 9.99985945e-01 -6.06450317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.280281693 meters Centerline goodness [0,1] 0.9982622700686615 Centerline is valid? [True, True] Translation: X:66.43, Y:-2.01, Z:-0.61 [[ 9.98720098e-01 5.03175230e-02 5.12968792e-03 6.64328866e+01] [-5.03173436e-02 9.98733267e-01 -1.64109033e-04 -2.01357360e+00] [-5.13144753e-03 -9.42132797e-05 9.99986830e-01 -6.07248933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31028169300001 meters Centerline goodness [0,1] 0.9978874141095131 Centerline is valid? [True, True] Translation: X:66.46, Y:-2.01, Z:-0.61 [[ 9.98581240e-01 5.31374609e-02 3.45222197e-03 6.64626731e+01] [-5.31373964e-02 9.98587204e-01 -1.10463511e-04 -2.00577052e+00] [-3.45321444e-03 -7.31352972e-05 9.99994035e-01 -6.11432659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34028169300001 meters Centerline goodness [0,1] 0.997719133697135 Centerline is valid? [True, True] Translation: X:66.49, Y:-2.00, Z:-0.61 [[ 9.98534441e-01 5.40255607e-02 3.19527697e-03 6.64927417e+01] [-5.40255102e-02 9.98539550e-01 -1.02208496e-04 -2.00419876e+00] [-3.19613230e-03 -7.05677646e-05 9.99994890e-01 -6.11869006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.370281693 meters Centerline goodness [0,1] 0.9971401535064662 Centerline is valid? [True, True] Translation: X:66.52, Y:-2.00, Z:-0.61 [[ 9.98518270e-01 5.43014989e-02 3.55122209e-03 6.65217619e+01] [-5.43014382e-02 9.98524582e-01 -1.13583871e-04 -2.00248742e+00] [-3.55215033e-03 -7.94208964e-05 9.99993688e-01 -6.11074463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.400281693 meters Centerline goodness [0,1] 0.9974194373946981 Centerline is valid? [True, True] Translation: X:66.55, Y:-2.01, Z:-0.61 [[ 9.98594411e-01 5.28202769e-02 4.38419512e-03 6.65514549e+01] [-5.28201710e-02 9.98604031e-01 -1.40028846e-04 -2.00646576e+00] [-4.38547128e-03 -9.17419124e-05 9.99990380e-01 -6.09250936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.430281693 meters Centerline goodness [0,1] 0.9981668001179991 Centerline is valid? [True, True] Translation: X:66.58, Y:-2.01, Z:-0.61 [[ 9.98730407e-01 5.02406789e-02 3.66732085e-03 6.65807826e+01] [-5.02405877e-02 9.98737137e-01 -1.17052425e-04 -2.01112904e+00] [-3.66857032e-03 -6.73445389e-05 9.99993269e-01 -6.10851081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.460281693 meters Centerline goodness [0,1] 0.9983417662315575 Centerline is valid? [True, True] Translation: X:66.61, Y:-2.02, Z:-0.61 [[ 9.98786593e-01 4.91624948e-02 2.89658367e-03 6.66114461e+01] [-4.91624335e-02 9.98790792e-01 -9.24067390e-05 -2.01542921e+00] [-2.89762404e-03 -5.01084897e-05 9.99995801e-01 -6.12326695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.490281693 meters Centerline goodness [0,1] 0.9987487275195114 Centerline is valid? [True, True] Translation: X:66.64, Y:-2.02, Z:-0.61 [[ 9.98830949e-01 4.82923660e-02 2.14094340e-03 6.66407405e+01] [-4.82923305e-02 9.98833242e-01 -6.83355544e-05 -2.01615934e+00] [-2.14174553e-03 -3.51354797e-05 9.99997706e-01 -6.14377629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.520281693 meters Centerline goodness [0,1] 0.9988037255404597 Centerline is valid? [True, True] Translation: X:66.67, Y:-2.02, Z:-0.61 [[ 9.98891778e-01 4.69719514e-02 2.97508837e-03 6.66712973e+01] [-4.69718771e-02 9.98896208e-01 -9.48766062e-05 -2.02164069e+00] [-2.97626103e-03 -4.49740233e-05 9.99995570e-01 -6.13340525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.550281693 meters Centerline goodness [0,1] 0.9988317012553901 Centerline is valid? [True, True] Translation: X:66.70, Y:-2.02, Z:-0.61 [[ 9.98920661e-01 4.63132075e-02 3.54964679e-03 6.67008781e+01] [-4.63130976e-02 9.98926966e-01 -1.13219065e-04 -2.02273327e+00] [-3.55108144e-03 -5.12982748e-05 9.99993694e-01 -6.12843272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.580281693 meters Centerline goodness [0,1] 0.999191953558594 Centerline is valid? [True, True] Translation: X:66.73, Y:-2.03, Z:-0.61 [[ 9.99012477e-01 4.43642038e-02 2.42642333e-03 6.67316560e+01] [-4.43641468e-02 9.99015424e-01 -7.73501773e-05 -2.02748277e+00] [-2.42746591e-03 -3.03724086e-05 9.99997053e-01 -6.14230043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.610281693 meters Centerline goodness [0,1] 0.9988660918679532 Centerline is valid? [True, True] Translation: X:66.76, Y:-2.03, Z:-0.61 [[ 9.99060845e-01 4.33158176e-02 1.08098873e-03 6.67621952e+01] [-4.33158057e-02 9.99061429e-01 -3.44600502e-05 -2.03092629e+00] [-1.08146681e-03 -1.23962108e-05 9.99999415e-01 -6.08743683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.640281693 meters Centerline goodness [0,1] 0.9992101611698153 Centerline is valid? [True, True] Translation: X:66.79, Y:-2.04, Z:-0.62 [[ 9.99197974e-01 3.99541396e-02 2.66009327e-03 6.67919748e+01] [-3.99540555e-02 9.99201514e-01 -8.47991708e-05 -2.03848957e+00] [-2.66135730e-03 -2.15503546e-05 9.99996458e-01 -6.15131451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.670281693 meters Centerline goodness [0,1] 0.9992933770154815 Centerline is valid? [True, True] Translation: X:66.82, Y:-2.04, Z:-0.61 [[ 9.99262947e-01 3.81704989e-02 4.07139641e-03 6.68227985e+01] [-3.81702870e-02 9.99271241e-01 -1.29763342e-04 -2.04269806e+00] [-4.07338247e-03 -2.57386699e-05 9.99991703e-01 -6.13096700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70028169300001 meters Centerline goodness [0,1] 0.9993187430809845 Centerline is valid? [True, True] Translation: X:66.85, Y:-2.05, Z:-0.61 [[ 9.99346251e-01 3.57959012e-02 5.07192726e-03 6.68544944e+01] [-3.57955411e-02 9.99359121e-01 -1.61786594e-04 -2.04927462e+00] [-5.07446807e-03 -1.98715544e-05 9.99987125e-01 -6.10528512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73028169300001 meters Centerline goodness [0,1] 0.9993418678215825 Centerline is valid? [True, True] Translation: X:66.89, Y:-2.05, Z:-0.61 [[ 9.99376634e-01 3.51606782e-02 3.17322885e-03 6.68861121e+01] [-3.51605325e-02 9.99381672e-01 -1.01704471e-04 -2.05190847e+00] [-3.17484275e-03 -9.93134433e-06 9.99994960e-01 -6.14077718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.760281693 meters Centerline goodness [0,1] 0.9993583848407726 Centerline is valid? [True, True] Translation: X:66.92, Y:-2.05, Z:-0.62 [[ 9.99386452e-01 3.49924967e-02 1.49849246e-03 6.69173826e+01] [-3.49924641e-02 9.99387575e-01 -4.79988358e-05 -2.05330156e+00] [-1.49925435e-03 -4.46655750e-06 9.99998876e-01 -6.17894494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.790281693 meters Centerline goodness [0,1] 0.9994278691303611 Centerline is valid? [True, True] Translation: X:66.95, Y:-2.05, Z:-0.62 [[ 9.99386114e-01 3.50305675e-02 5.05426691e-04 6.69476805e+01] [-3.50305639e-02 9.99386241e-01 -1.59803286e-05 -2.05368836e+00] [-5.05676281e-04 -1.73486356e-06 9.99999872e-01 -6.20196072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.820281693 meters Centerline goodness [0,1] 0.9992721044744166 Centerline is valid? [True, True] Translation: X:66.98, Y:-2.05, Z:-0.62 [[ 9.99401809e-01 3.45047325e-02 2.33415638e-03 6.69777847e+01] [-3.45046513e-02 9.99404534e-01 -7.50798035e-05 -2.05453372e+00] [-2.33535708e-03 -5.50436067e-06 9.99997273e-01 -6.18215364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.850281693 meters Centerline goodness [0,1] 0.9993980436418359 Centerline is valid? [True, True] Translation: X:67.01, Y:-2.06, Z:-0.62 [[ 9.99458676e-01 3.27457693e-02 3.17319986e-03 6.70094486e+01] [-3.27456105e-02 9.99463713e-01 -1.02021747e-04 -2.05889816e+00] [-3.17483889e-03 -1.94184582e-06 9.99994960e-01 -6.16055189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.880281693 meters Centerline goodness [0,1] 0.9994190674957506 Centerline is valid? [True, True] Translation: X:67.04, Y:-2.06, Z:-0.62 [[ 9.99498775e-01 3.15660434e-02 2.40486714e-03 6.70406105e+01] [-3.15659487e-02 9.99501668e-01 -7.73455601e-05 -2.06216506e+00] [-2.40611021e-03 1.39487979e-06 9.99997105e-01 -6.17552401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.910281693 meters Centerline goodness [0,1] 0.9989127885906756 Centerline is valid? [True, True] Translation: X:67.07, Y:-2.07, Z:-0.61 [[ 9.99540893e-01 3.02460079e-02 1.78411972e-03 6.70705300e+01] [-3.02459536e-02 9.99542485e-01 -5.74312045e-05 -2.06602738e+00] [-1.78504052e-03 3.44243524e-06 9.99998407e-01 -6.12608767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.940281693 meters Centerline goodness [0,1] 0.9992450062556625 Centerline is valid? [True, True] Translation: X:67.10, Y:-2.07, Z:-0.62 [[ 9.99594768e-01 2.83404173e-02 2.66845510e-03 6.71019314e+01] [-2.83402889e-02 9.99598330e-01 -8.59305490e-05 -2.07101608e+00] [-2.66981856e-03 1.02709388e-05 9.99996436e-01 -6.17849952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.970281693 meters Centerline goodness [0,1] 0.9990730206884928 Centerline is valid? [True, True] Translation: X:67.13, Y:-2.08, Z:-0.61 [[ 9.99686540e-01 2.45627392e-02 4.84711453e-03 6.71323696e+01] [-2.45622703e-02 9.99698290e-01 -1.56256744e-04 -2.08183137e+00] [-4.84949020e-03 3.71516264e-05 9.99988240e-01 -6.13616123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.000281693 meters Centerline goodness [0,1] 0.9989314869427705 Centerline is valid? [True, True] Translation: X:67.16, Y:-2.09, Z:-0.61 [[ 9.99720844e-01 2.28737615e-02 5.91816584e-03 6.71646741e+01] [-2.28730266e-02 9.99738360e-01 -1.91847773e-04 -2.08683430e+00] [-5.92100569e-03 5.64278527e-05 9.99982469e-01 -6.11657478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.030281693 meters Centerline goodness [0,1] 0.9986171683863418 Centerline is valid? [True, True] Translation: X:67.20, Y:-2.09, Z:-0.61 [[ 9.99746922e-01 2.17541880e-02 5.73133488e-03 6.71960793e+01] [-2.17534753e-02 9.99763348e-01 -1.86669468e-04 -2.09184672e+00] [-5.73403938e-03 6.19457740e-05 9.99983558e-01 -6.11500624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06028169300001 meters Centerline goodness [0,1] 0.9988487858954953 Centerline is valid? [True, True] Translation: X:67.23, Y:-2.09, Z:-0.61 [[ 9.99736832e-01 2.23675117e-02 5.09520010e-03 6.72288510e+01] [-2.23669531e-02 9.99749815e-01 -1.66611055e-04 -2.09374596e+00] [-5.09765203e-03 5.26031070e-05 9.99987006e-01 -6.12987332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09028169300001 meters Centerline goodness [0,1] 0.9990580578866244 Centerline is valid? [True, True] Translation: X:67.26, Y:-2.09, Z:-0.62 [[ 9.99693546e-01 2.44968236e-02 3.56655854e-03 6.72605129e+01] [-2.44965620e-02 9.99699907e-01 -1.17025564e-04 -2.09442143e+00] [-3.56835500e-03 2.96212782e-05 9.99993633e-01 -6.15997701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.120281693 meters Centerline goodness [0,1] 0.9988707787365505 Centerline is valid? [True, True] Translation: X:67.29, Y:-2.09, Z:-0.62 [[ 9.99654860e-01 2.60515510e-02 3.38780223e-03 6.72925987e+01] [-2.60513222e-02 9.99660600e-01 -1.11652581e-04 -2.09364381e+00] [-3.38956113e-03 2.33573175e-05 9.99994255e-01 -6.16007889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.150281693 meters Centerline goodness [0,1] 0.9989678126053252 Centerline is valid? [True, True] Translation: X:67.32, Y:-2.09, Z:-0.61 [[ 9.99616120e-01 2.74023574e-02 4.08949317e-03 6.73245563e+01] [-2.74020320e-02 9.99624485e-01 -1.35583794e-04 -2.09244088e+00] [-4.09167281e-03 2.34713233e-05 9.99991629e-01 -6.14520303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.180281693 meters Centerline goodness [0,1] 0.9991250906918185 Centerline is valid? [True, True] Translation: X:67.36, Y:-2.09, Z:-0.61 [[ 9.99496581e-01 3.14122349e-02 4.45598527e-03 6.73555839e+01] [-3.14118850e-02 9.99506514e-01 -1.48504182e-04 -2.08703867e+00] [-4.45845116e-03 8.45852478e-06 9.99990061e-01 -6.13278700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.210281693 meters Centerline goodness [0,1] 0.9993351063829787 Centerline is valid? [True, True] Translation: X:67.39, Y:-2.08, Z:-0.61 [[ 9.99406684e-01 3.42008142e-02 4.07232269e-03 6.73877050e+01] [-3.42005428e-02 9.99414981e-01 -1.36269456e-04 -2.08448182e+00] [-4.07460083e-03 -3.08704118e-06 9.99991699e-01 -6.14326390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.240281693 meters Centerline goodness [0,1] 0.9990895098528041 Centerline is valid? [True, True] Translation: X:67.42, Y:-2.08, Z:-0.61 [[ 9.99230593e-01 3.91478469e-02 2.38091876e-03 6.74187552e+01] [-3.91477670e-02 9.99233429e-01 -8.01412077e-05 -2.07800627e+00] [-2.38223097e-03 -1.31281064e-05 9.99997162e-01 -6.09895511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.270281693 meters Centerline goodness [0,1] 0.999527765256402 Centerline is valid? [True, True] Translation: X:67.45, Y:-2.07, Z:-0.62 [[ 9.99147941e-01 4.11715990e-02 2.87954493e-03 6.74503310e+01] [-4.11714906e-02 9.99152090e-01 -9.69447654e-05 -2.07496156e+00] [-2.88109471e-03 -2.16929945e-05 9.99995849e-01 -6.17103894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.300281693 meters Centerline goodness [0,1] 0.9994285835220419 Centerline is valid? [True, True] Translation: X:67.48, Y:-2.07, Z:-0.62 [[ 9.99050897e-01 4.34057280e-02 3.63983181e-03 6.74805150e+01] [-4.34055691e-02 9.99057527e-01 -1.22676623e-04 -2.06951415e+00] [-3.64172623e-03 -3.54287807e-05 9.99993368e-01 -6.16684210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.330281693 meters Centerline goodness [0,1] 0.9990904283447911 Centerline is valid? [True, True] Translation: X:67.51, Y:-2.06, Z:-0.61 [[ 9.98859436e-01 4.74250275e-02 5.54015198e-03 6.75102639e+01] [-4.74247207e-02 9.98874797e-01 -1.86812769e-04 -2.05952092e+00] [-5.54277779e-03 -7.61404624e-05 9.99984636e-01 -6.12790583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.360281693 meters Centerline goodness [0,1] 0.9991331374082922 Centerline is valid? [True, True] Translation: X:67.54, Y:-2.06, Z:-0.61 [[ 9.98803382e-01 4.85702422e-02 5.72152737e-03 6.75416177e+01] [-4.85699340e-02 9.98819766e-01 -1.92882557e-04 -2.05914841e+00] [-5.72414298e-03 -8.52424564e-05 9.99983613e-01 -6.12822276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.390281693 meters Centerline goodness [0,1] 0.9991255012370958 Centerline is valid? [True, True] Translation: X:67.57, Y:-2.05, Z:-0.62 [[ 9.98757236e-01 4.96895026e-02 3.86488036e-03 6.75720210e+01] [-4.96893700e-02 9.98764712e-01 -1.30372703e-04 -2.05448750e+00] [-3.86658427e-03 -6.18327898e-05 9.99992523e-01 -6.16898774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.420281693 meters Centerline goodness [0,1] 0.9992605581729449 Centerline is valid? [True, True] Translation: X:67.60, Y:-2.05, Z:-0.62 [[ 9.98749306e-01 4.99054062e-02 3.04538027e-03 6.76019778e+01] [-4.99053249e-02 9.98753948e-01 -1.02753304e-04 -2.05321085e+00] [-3.04671351e-03 -4.93559003e-05 9.99995358e-01 -6.19155530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45028169300001 meters Centerline goodness [0,1] 0.9990912549135635 Centerline is valid? [True, True] Translation: X:67.63, Y:-2.05, Z:-0.62 [[ 9.98753401e-01 4.98250943e-02 3.01713376e-03 6.76326315e+01] [-4.98250143e-02 9.98757957e-01 -1.01741151e-04 -2.05329649e+00] [-3.01845562e-03 -4.87144125e-05 9.99995443e-01 -6.19693239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48028169300001 meters Centerline goodness [0,1] 0.9990234789623402 Centerline is valid? [True, True] Translation: X:67.66, Y:-2.05, Z:-0.62 [[ 9.98694954e-01 5.08865319e-02 4.35303562e-03 6.76627581e+01] [-5.08863753e-02 9.98704438e-01 -1.46807659e-04 -2.05035032e+00] [-4.35486653e-03 -7.48941356e-05 9.99990515e-01 -6.15834089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.510281693 meters Centerline goodness [0,1] 0.9984786696811545 Centerline is valid? [True, True] Translation: X:67.69, Y:-2.05, Z:-0.61 [[ 9.98656139e-01 5.15908288e-02 4.92970624e-03 6.76923321e+01] [-5.15906371e-02 9.98668303e-01 -1.66127127e-04 -2.04641718e+00] [-4.93171199e-03 -8.84228100e-05 9.99987835e-01 -6.14987462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.540281693 meters Centerline goodness [0,1] 0.9989259784336469 Centerline is valid? [True, True] Translation: X:67.72, Y:-2.05, Z:-0.62 [[ 9.98594778e-01 5.28446670e-02 3.98875247e-03 6.77231197e+01] [-5.28445517e-02 9.98602741e-01 -1.34370897e-04 -2.04505128e+00] [-3.99027993e-03 -7.66017596e-05 9.99992036e-01 -6.16805773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.570281693 meters Centerline goodness [0,1] 0.9989680969988821 Centerline is valid? [True, True] Translation: X:67.75, Y:-2.04, Z:-0.62 [[ 9.98599575e-01 5.28504745e-02 2.39074813e-03 6.77530060e+01] [-5.28504330e-02 9.98602436e-01 -8.06004097e-05 -2.04445395e+00] [-2.39166667e-03 -4.58645387e-05 9.99997139e-01 -6.20392886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.600281693 meters Centerline goodness [0,1] 0.9989397611216895 Centerline is valid? [True, True] Translation: X:67.78, Y:-2.04, Z:-0.62 [[ 9.98621829e-01 5.24790495e-02 6.26155098e-04 6.77822009e+01] [-5.24790465e-02 9.98622025e-01 -2.12826440e-05 -2.04485471e+00] [-6.26409165e-04 -1.16067096e-05 9.99999804e-01 -6.23321011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.630281693 meters Centerline goodness [0,1] 0.9989406092577778 Centerline is valid? [True, True] Translation: X:67.81, Y:-2.05, Z:-0.62 [[ 9.98675771e-01 5.14442986e-02 4.34669431e-04 6.78113431e+01] [-5.14442970e-02 9.98675865e-01 -1.47289323e-05 -2.05039285e+00] [-4.34851589e-04 -7.65183548e-06 9.99999905e-01 -6.22593362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.660281693 meters Centerline goodness [0,1] 0.9987659574468085 Centerline is valid? [True, True] Translation: X:67.84, Y:-2.05, Z:-0.62 [[ 9.98696864e-01 5.10218025e-02 1.16157899e-03 6.78393400e+01] [-5.10217913e-02 9.98697539e-01 -3.92823230e-05 -2.04681695e+00] [-1.16207034e-03 -2.00347082e-05 9.99999325e-01 -6.22484936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.690281693 meters Centerline goodness [0,1] 0.998792526373766 Centerline is valid? [True, True] Translation: X:67.87, Y:-2.05, Z:-0.62 [[ 9.98782711e-01 4.92614578e-02 2.53099526e-03 6.78682388e+01] [-4.92614006e-02 9.98785917e-01 -8.49565185e-05 -2.04834327e+00] [-2.53210750e-03 -3.98272696e-05 9.99996793e-01 -6.20384743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.720281693 meters Centerline goodness [0,1] 0.9988324452841404 Centerline is valid? [True, True] Translation: X:67.90, Y:-2.05, Z:-0.62 [[ 9.98838241e-01 4.81061926e-02 2.82174546e-03 6.78980436e+01] [-4.81061173e-02 9.98842226e-01 -9.45755939e-05 -2.04998835e+00] [-2.82302818e-03 -4.12774981e-05 9.99996014e-01 -6.20386560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.750281693 meters Centerline goodness [0,1] 0.9990213598842652 Centerline is valid? [True, True] Translation: X:67.93, Y:-2.05, Z:-0.62 [[ 9.98902555e-01 4.67678509e-02 2.54025857e-03 6.79280368e+01] [-4.67677858e-02 9.98905785e-01 -8.50707577e-05 -2.05486741e+00] [-2.54145756e-03 -3.38248715e-05 9.99996770e-01 -6.19494183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.780281693 meters Centerline goodness [0,1] 0.9990824513485831 Centerline is valid? [True, True] Translation: X:67.96, Y:-2.06, Z:-0.62 [[ 9.98931956e-01 4.61040254e-02 3.06050717e-03 6.79576559e+01] [-4.61039279e-02 9.98936643e-01 -1.02444404e-04 -2.05557939e+00] [-3.06197586e-03 -3.87664134e-05 9.99995311e-01 -6.18941904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81028169300001 meters Centerline goodness [0,1] 0.9991068770467401 Centerline is valid? [True, True] Translation: X:67.99, Y:-2.06, Z:-0.62 [[ 9.98968446e-01 4.52443202e-02 3.87238376e-03 6.79875332e+01] [-4.52441579e-02 9.98975950e-01 -1.29557977e-04 -2.05668367e+00] [-3.87428000e-03 -4.57784111e-05 9.99992494e-01 -6.17589974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84028169300001 meters Centerline goodness [0,1] 0.999005438347758 Centerline is valid? [True, True] Translation: X:68.02, Y:-2.06, Z:-0.61 [[ 9.98990598e-01 4.45312525e-02 5.89509168e-03 6.80172388e+01] [-4.45308644e-02 9.99007990e-01 -1.97131941e-04 -2.05560083e+00] [-5.89802222e-03 -6.55805723e-05 9.99982604e-01 -6.13686502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.870281693 meters Centerline goodness [0,1] 0.9987988367682387 Centerline is valid? [True, True] Translation: X:68.05, Y:-2.06, Z:-0.61 [[ 9.98994237e-01 4.44520120e-02 5.87647623e-03 6.80475792e+01] [-4.44516254e-02 9.99011519e-01 -1.96450550e-04 -2.05649066e+00] [-5.87940007e-03 -6.49659527e-05 9.99982714e-01 -6.14140201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.900281693 meters Centerline goodness [0,1] 0.9990104013138502 Centerline is valid? [True, True] Translation: X:68.08, Y:-2.06, Z:-0.62 [[ 9.99019580e-01 4.40901865e-02 3.99177803e-03 6.80781099e+01] [-4.40900053e-02 9.99027554e-01 -1.33432614e-04 -2.05743528e+00] [-3.99377932e-03 -4.26957208e-05 9.99992024e-01 -6.18786988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.930281693 meters Centerline goodness [0,1] 0.9989940499122469 Centerline is valid? [True, True] Translation: X:68.11, Y:-2.06, Z:-0.62 [[ 9.99051473e-01 4.33766674e-02 3.82352357e-03 6.81083314e+01] [-4.33764957e-02 9.99058789e-01 -1.27860856e-04 -2.06269609e+00] [-3.82547101e-03 -3.81114769e-05 9.99992682e-01 -6.19027610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.960281693 meters Centerline goodness [0,1] 0.9990875331564987 Centerline is valid? [True, True] Translation: X:68.14, Y:-2.07, Z:-0.62 [[ 9.99147383e-01 4.09710242e-02 5.08748689e-03 6.81379897e+01] [-4.09706890e-02 9.99160334e-01 -1.70129494e-04 -2.06768206e+00] [-5.09018549e-03 -3.84534051e-05 9.99987044e-01 -6.17295254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.990281693 meters Centerline goodness [0,1] 0.999092519770105 Centerline is valid? [True, True] Translation: X:68.17, Y:-2.08, Z:-0.62 [[ 9.99221354e-01 3.91418168e-02 4.96014902e-03 6.81689583e+01] [-3.91414759e-02 9.99233665e-01 -1.65807936e-04 -2.07607233e+00] [-4.96283791e-03 -2.84687234e-05 9.99987685e-01 -6.17647002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.020281693 meters Centerline goodness [0,1] 0.9989787885879625 Centerline is valid? [True, True] Translation: X:68.20, Y:-2.08, Z:-0.62 [[ 9.99283320e-01 3.76326829e-02 4.07756811e-03 6.81994868e+01] [-3.76324396e-02 9.99291640e-01 -1.36393212e-04 -2.07979915e+00] [-4.07981257e-03 -1.71533742e-05 9.99991677e-01 -6.19256205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.050281693 meters Centerline goodness [0,1] 0.9991028516501121 Centerline is valid? [True, True] Translation: X:68.23, Y:-2.08, Z:-0.62 [[ 9.99264913e-01 3.82629573e-02 2.36234098e-03 6.82307741e+01] [-3.82628775e-02 9.99267705e-01 -7.89878340e-05 -2.08018194e+00] [-2.36363336e-03 -1.14601925e-05 9.99997207e-01 -6.22034117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.080281693 meters Centerline goodness [0,1] 0.9990551045827428 Centerline is valid? [True, True] Translation: X:68.26, Y:-2.08, Z:-0.62 [[ 9.99200590e-01 3.99518301e-02 1.42570121e-03 6.82608508e+01] [-3.99518025e-02 9.99201607e-01 -4.77893484e-05 -2.07827633e+00] [-1.42647221e-03 -9.20818805e-06 9.99998983e-01 -6.23113780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.110281693 meters Centerline goodness [0,1] 0.9990551045827428 Centerline is valid? [True, True] Translation: X:68.29, Y:-2.08, Z:-0.62 [[ 9.99201544e-01 3.99279525e-02 1.42570027e-03 6.82900003e+01] [-3.99279249e-02 9.99202561e-01 -4.78172657e-05 -2.07920715e+00] [-1.42647261e-03 -9.14616768e-06 9.99998983e-01 -6.23264683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.140281693 meters Centerline goodness [0,1] 0.9988503752548696 Centerline is valid? [True, True] Translation: X:68.32, Y:-2.07, Z:-0.62 [[ 9.98999734e-01 4.47161178e-02 1.38123862e-05 6.83201449e+01] [-4.47161178e-02 9.98999734e-01 -5.86395649e-07 -2.07010873e+00] [-1.38247915e-05 -3.18271931e-08 1.00000000e+00 -6.18074394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.170281693 meters Centerline goodness [0,1] 0.9989506146399966 Centerline is valid? [True, True] Translation: X:68.35, Y:-2.06, Z:-0.63 [[ 9.98876059e-01 4.73960418e-02 4.83841964e-04 6.83493787e+01] [-4.73960394e-02 9.98876176e-01 -1.63249712e-05 -2.06302896e+00] [-4.84071950e-04 -6.62556987e-06 9.99999883e-01 -6.25071284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20028169300001 meters Centerline goodness [0,1] 0.9989203150139724 Centerline is valid? [True, True] Translation: X:68.38, Y:-2.05, Z:-0.63 [[ 9.98715965e-01 5.06535510e-02 7.98934317e-04 6.83787482e+01] [-5.06535457e-02 9.98716285e-01 -2.68366824e-05 -2.05257873e+00] [-7.99268086e-04 -1.36666328e-05 9.99999680e-01 -6.25787246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23028169300001 meters Centerline goodness [0,1] 0.9986328583940358 Centerline is valid? [True, True] Translation: X:68.41, Y:-2.04, Z:-0.63 [[ 9.98496028e-01 5.48153222e-02 9.81309054e-04 6.84086183e+01] [-5.48153164e-02 9.98496510e-01 -3.28364452e-05 -2.04370083e+00] [-9.81633605e-04 -2.10037062e-05 9.99999518e-01 -6.25292084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.260281693 meters Centerline goodness [0,1] 0.998382565761471 Centerline is valid? [True, True] Translation: X:68.44, Y:-2.04, Z:-0.63 [[ 9.98505300e-01 5.46420315e-02 1.18887942e-03 6.84367688e+01] [-5.46420227e-02 9.98506008e-01 -3.98842884e-05 -2.03990452e+00] [-1.18928260e-03 -2.51381027e-05 9.99999292e-01 -6.25666752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.290281693 meters Centerline goodness [0,1] 0.9989157471777537 Centerline is valid? [True, True] Translation: X:68.47, Y:-2.04, Z:-0.63 [[ 9.98710339e-01 5.07344603e-02 1.91640722e-03 6.84664946e+01] [-5.07344312e-02 9.98712177e-01 -6.38431961e-05 -2.03635268e+00] [-1.91717827e-03 -3.34669700e-05 9.99998162e-01 -6.25196146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.320281693 meters Centerline goodness [0,1] 0.9990918307003464 Centerline is valid? [True, True] Translation: X:68.49, Y:-2.04, Z:-0.62 [[ 9.98894986e-01 4.69103499e-02 2.86823824e-03 6.84949543e+01] [-4.69102693e-02 9.98899103e-01 -9.53975459e-05 -2.03790966e+00] [-2.86955574e-03 -3.92576981e-05 9.99995882e-01 -6.24432699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.350281693 meters Centerline goodness [0,1] 0.999038584796821 Centerline is valid? [True, True] Translation: X:68.52, Y:-2.04, Z:-0.62 [[ 9.99087003e-01 4.25379416e-02 3.96036593e-03 6.85242632e+01] [-4.25377539e-02 9.99094851e-01 -1.31671929e-04 -2.04394844e+00] [-3.96238226e-03 -3.69133584e-05 9.99992149e-01 -6.23098888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.380281693 meters Centerline goodness [0,1] 0.9991135500211059 Centerline is valid? [True, True] Translation: X:68.55, Y:-2.06, Z:-0.62 [[ 9.99445638e-01 3.30733342e-02 3.81736010e-03 6.85533747e+01] [-3.30730911e-02 9.99452928e-01 -1.26817134e-04 -2.05760574e+00] [-3.81946600e-03 4.94933183e-07 9.99992706e-01 -6.22266564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.410281693 meters Centerline goodness [0,1] 0.9991107158737217 Centerline is valid? [True, True] Translation: X:68.58, Y:-2.06, Z:-0.62 [[ 9.99569995e-01 2.91318257e-02 3.34094853e-03 6.85832441e+01] [-2.91316176e-02 9.99575578e-01 -1.10938139e-04 -2.06418236e+00] [-3.34276239e-03 1.35632002e-05 9.99994413e-01 -6.22810309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.440281693 meters Centerline goodness [0,1] 0.9991905421237619 Centerline is valid? [True, True] Translation: X:68.61, Y:-2.07, Z:-0.62 [[ 9.99703975e-01 2.41064043e-02 3.29303981e-03 6.86129968e+01] [-2.41061749e-02 9.99709398e-01 -1.09326318e-04 -2.07301778e+00] [-3.29471831e-03 2.99113611e-05 9.99994572e-01 -6.22892365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.470281693 meters Centerline goodness [0,1] 0.9990982093013269 Centerline is valid? [True, True] Translation: X:68.64, Y:-2.08, Z:-0.62 [[ 9.99732487e-01 2.29136645e-02 3.14933286e-03 6.86430296e+01] [-2.29134486e-02 9.99737447e-01 -1.04610616e-04 -2.07608447e+00] [-3.15090301e-03 3.24205541e-05 9.99995035e-01 -6.23239124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.500281693 meters Centerline goodness [0,1] 0.9990760834532992 Centerline is valid? [True, True] Translation: X:68.67, Y:-2.08, Z:-0.62 [[ 9.99745116e-01 2.24134603e-02 2.70925788e-03 6.86732721e+01] [-2.24132988e-02 9.99748786e-01 -8.99646475e-05 -2.08022557e+00] [-2.71059370e-03 2.92183107e-05 9.99996326e-01 -6.24468015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.530281693 meters Centerline goodness [0,1] 0.9992076239426063 Centerline is valid? [True, True] Translation: X:68.70, Y:-2.09, Z:-0.62 [[ 9.99768220e-01 2.13386644e-02 2.85807834e-03 6.87040334e+01] [-2.13384801e-02 9.99772304e-01 -9.49687133e-05 -2.08659853e+00] [-2.85945407e-03 3.39596535e-05 9.99995911e-01 -6.23468205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56028169300001 meters Centerline goodness [0,1] 0.9990438145425183 Centerline is valid? [True, True] Translation: X:68.73, Y:-2.09, Z:-0.62 [[ 9.99776284e-01 2.08150978e-02 3.75676972e-03 6.87338211e+01] [-2.08147758e-02 9.99783341e-01 -1.24814636e-04 -2.09021003e+00] [-3.75855382e-03 4.65903935e-05 9.99992936e-01 -6.21575771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59028169300001 meters Centerline goodness [0,1] 0.99874243328502 Centerline is valid? [True, True] Translation: X:68.76, Y:-2.10, Z:-0.62 [[ 9.99775997e-01 2.05445052e-02 5.08719120e-03 6.87636379e+01] [-2.05439107e-02 9.99788937e-01 -1.69094470e-04 -2.09749809e+00] [-5.08959144e-03 6.45457906e-05 9.99987046e-01 -6.18747241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.620281693 meters Centerline goodness [0,1] 0.9989263474339704 Centerline is valid? [True, True] Translation: X:68.80, Y:-2.10, Z:-0.62 [[ 9.99766227e-01 2.10289534e-02 5.02727648e-03 6.87961253e+01] [-2.10283788e-02 9.99778865e-01 -1.67137612e-04 -2.10039043e+00] [-5.02967950e-03 6.13830659e-05 9.99987349e-01 -6.18820086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.650281693 meters Centerline goodness [0,1] 0.99906915737587 Centerline is valid? [True, True] Translation: X:68.83, Y:-2.10, Z:-0.62 [[ 9.99744089e-01 2.20783602e-02 4.92965838e-03 6.88285677e+01] [-2.20778167e-02 9.99756242e-01 -1.64647789e-04 -2.10056244e+00] [-4.93209188e-03 5.57695599e-05 9.99987836e-01 -6.19103843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.680281693 meters Centerline goodness [0,1] 0.9991009119321831 Centerline is valid? [True, True] Translation: X:68.86, Y:-2.10, Z:-0.62 [[ 9.99651213e-01 2.59818791e-02 4.73222741e-03 6.88597575e+01] [-2.59814186e-02 9.99662413e-01 -1.58780486e-04 -2.09673578e+00] [-4.73475529e-03 3.57751240e-05 9.99988790e-01 -6.19790527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.710281693 meters Centerline goodness [0,1] 0.9991858596679164 Centerline is valid? [True, True] Translation: X:68.89, Y:-2.09, Z:-0.62 [[ 9.99521478e-01 3.05477346e-02 4.86332056e-03 6.88898063e+01] [-3.05472984e-02 9.99533309e-01 -1.63957673e-04 -2.09281576e+00] [-4.86605943e-03 1.53179111e-05 9.99988161e-01 -6.19842727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.740281693 meters Centerline goodness [0,1] 0.9993362737121569 Centerline is valid? [True, True] Translation: X:68.92, Y:-2.09, Z:-0.62 [[ 9.99449853e-01 3.28053490e-02 4.87860624e-03 6.89208994e+01] [-3.28049367e-02 9.99461760e-01 -1.64526585e-04 -2.09044518e+00] [-4.88137773e-03 4.39370207e-06 9.99988086e-01 -6.19838191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.770281693 meters Centerline goodness [0,1] 0.9993207386966674 Centerline is valid? [True, True] Translation: X:68.95, Y:-2.09, Z:-0.62 [[ 9.99367248e-01 3.52554391e-02 4.70723681e-03 6.89514022e+01] [-3.52550822e-02 9.99378334e-01 -1.58806151e-04 -2.08715925e+00] [-4.70990926e-03 -7.24835437e-06 9.99988908e-01 -6.20172628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.800281693 meters Centerline goodness [0,1] 0.9993614847607696 Centerline is valid? [True, True] Translation: X:68.98, Y:-2.08, Z:-0.62 [[ 9.99199821e-01 3.98202285e-02 3.75068740e-03 6.89808887e+01] [-3.98200340e-02 9.99206860e-01 -1.26552048e-04 -2.07833848e+00] [-3.75275191e-03 -2.29017159e-05 9.99992958e-01 -6.22714336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.830281693 meters Centerline goodness [0,1] 0.9994225340063307 Centerline is valid? [True, True] Translation: X:69.01, Y:-2.08, Z:-0.62 [[ 9.99142994e-01 4.12938283e-02 2.84563342e-03 6.90107341e+01] [-4.12937223e-02 9.99147046e-01 -9.60232987e-05 -2.07602715e+00] [-2.84717140e-03 -2.15657900e-05 9.99995947e-01 -6.24894514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.860281693 meters Centerline goodness [0,1] 0.9992809102829829 Centerline is valid? [True, True] Translation: X:69.04, Y:-2.07, Z:-0.63 [[ 9.99061618e-01 4.32833403e-02 1.56049120e-03 6.90392075e+01] [-4.32833107e-02 9.99062837e-01 -5.27171912e-05 -2.07143237e+00] [-1.56131054e-03 -1.48755031e-05 9.99998781e-01 -6.27646980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.890281693 meters Centerline goodness [0,1] 0.9992792792792793 Centerline is valid? [True, True] Translation: X:69.07, Y:-2.07, Z:-0.63 [[ 9.99038754e-01 4.38254525e-02 9.47469893e-04 6.90678676e+01] [-4.38254417e-02 9.99039203e-01 -3.20944390e-05 -2.06990976e+00] [-9.47966121e-04 -9.45969828e-06 9.99999551e-01 -6.27798906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.920281693 meters Centerline goodness [0,1] 0.9993215164108218 Centerline is valid? [True, True] Translation: X:69.10, Y:-2.07, Z:-0.63 [[ 9.99011885e-01 4.44318622e-02 1.03122462e-03 6.90954791e+01] [-4.44318498e-02 9.99012417e-01 -3.49096616e-05 -2.06503272e+00] [-1.03175730e-03 -1.09440507e-05 9.99999468e-01 -6.28848501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95028169300001 meters Centerline goodness [0,1] 0.999424405218726 Centerline is valid? [True, True] Translation: X:69.13, Y:-2.06, Z:-0.63 [[ 9.98914322e-01 4.65740808e-02 1.01557010e-03 6.91252277e+01] [-4.65740702e-02 9.98914839e-01 -3.41814782e-05 -2.06197501e+00] [-1.01606002e-03 -1.31548651e-05 9.99999484e-01 -6.28597612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98028169300001 meters Centerline goodness [0,1] 0.999381082465426 Centerline is valid? [True, True] Translation: X:69.15, Y:-2.06, Z:-0.63 [[ 9.98875493e-01 4.74056251e-02 6.75963924e-04 6.91532757e+01] [-4.74056204e-02 9.98875721e-01 -2.29324089e-05 -2.05908269e+00] [-6.76291077e-04 -9.13786796e-06 9.99999771e-01 -6.29532812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.010281693 meters Centerline goodness [0,1] 0.9994695635568946 Centerline is valid? [True, True] Translation: X:69.18, Y:-2.06, Z:-0.63 [[ 9.98890495e-01 4.70920229e-02 3.48199756e-04 6.91809295e+01] [-4.70920216e-02 9.98890555e-01 -1.19533199e-05 -2.05524113e+00] [-3.48376354e-04 -4.45737284e-06 9.99999939e-01 -6.30276635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.040281693 meters Centerline goodness [0,1] 0.9994691468127574 Centerline is valid? [True, True] Translation: X:69.21, Y:-2.06, Z:-0.63 [[ 9.98948067e-01 4.58545331e-02 3.48074323e-04 6.92107198e+01] [-4.58545318e-02 9.98948128e-01 -1.17468444e-05 -2.05821128e+00] [-3.48246839e-04 -4.22629765e-06 9.99999939e-01 -6.30155690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.070281693 meters Centerline goodness [0,1] 0.9994481938961756 Centerline is valid? [True, True] Translation: X:69.24, Y:-2.06, Z:-0.63 [[ 9.99010967e-01 4.44643984e-02 -7.06123385e-05 6.92386680e+01] [-4.44643984e-02 9.99010970e-01 2.03466312e-06 -2.05725498e+00] [ 7.06329708e-05 1.10708438e-06 9.99999998e-01 -6.32693357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.100281693 meters Centerline goodness [0,1] 0.9994869383043311 Centerline is valid? [True, True] Translation: X:69.27, Y:-2.07, Z:-0.63 [[ 9.99139528e-01 4.14751350e-02 1.27516598e-04 6.92669775e+01] [-4.14751347e-02 9.99139536e-01 -4.40915799e-06 -2.06622025e+00] [-1.27589745e-04 -8.83404028e-07 9.99999992e-01 -6.32887624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.130281693 meters Centerline goodness [0,1] 0.9996139824147544 Centerline is valid? [True, True] Translation: X:69.30, Y:-2.07, Z:-0.63 [[ 9.99200083e-01 3.99816561e-02 8.13600069e-04 6.92958908e+01] [-3.99816471e-02 9.99200414e-01 -2.73008005e-05 -2.07315150e+00] [-8.14041057e-04 -5.25010877e-06 9.99999669e-01 -6.29994473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.160281693 meters Centerline goodness [0,1] 0.9995969281683568 Centerline is valid? [True, True] Translation: X:69.32, Y:-2.08, Z:-0.63 [[ 9.99268889e-01 3.81109319e-02 3.04046197e-03 6.93243711e+01] [-3.81108005e-02 9.99273514e-01 -1.01156958e-04 -2.07556095e+00] [-3.04210830e-03 -1.47914390e-05 9.99995373e-01 -6.26037780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.190281693 meters Centerline goodness [0,1] 0.9993661927196671 Centerline is valid? [True, True] Translation: X:69.35, Y:-2.08, Z:-0.62 [[ 9.99259438e-01 3.82192055e-02 4.45727983e-03 6.93543583e+01] [-3.82189249e-02 9.99269379e-01 -1.48145287e-04 -2.07830569e+00] [-4.45968524e-03 -2.23168667e-05 9.99990055e-01 -6.23355019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.220281693 meters Centerline goodness [0,1] 0.9993221775047659 Centerline is valid? [True, True] Translation: X:69.38, Y:-2.08, Z:-0.62 [[ 9.99174252e-01 4.02051958e-02 5.86150752e-03 6.93837219e+01] [-4.02047456e-02 9.99191443e-01 -1.94650902e-04 -2.07715450e+00] [-5.86459414e-03 -4.11702493e-05 9.99982802e-01 -6.20803856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.250281693 meters Centerline goodness [0,1] 0.999448767146522 Centerline is valid? [True, True] Translation: X:69.41, Y:-2.08, Z:-0.62 [[ 9.99113464e-01 4.16659286e-02 6.01959927e-03 6.94146797e+01] [-4.16654808e-02 9.99131597e-01 -1.99839504e-04 -2.07586210e+00] [-6.02269833e-03 -5.11471580e-05 9.99981862e-01 -6.21053891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.280281693 meters Centerline goodness [0,1] 0.9993842495275708 Centerline is valid? [True, True] Translation: X:69.44, Y:-2.07, Z:-0.62 [[ 9.99061010e-01 4.29849552e-02 5.42152155e-03 6.94440789e+01] [-4.29846113e-02 9.99075718e-01 -1.79981599e-04 -2.07454942e+00] [-5.42424704e-03 -5.32293981e-05 9.99985287e-01 -6.22185726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31028169300001 meters Centerline goodness [0,1] 0.9994255319148936 Centerline is valid? [True, True] Translation: X:69.47, Y:-2.08, Z:-0.62 [[ 9.99031603e-01 4.37052278e-02 5.07033501e-03 6.94734033e+01] [-4.37049366e-02 9.99044469e-01 -1.68270519e-04 -2.07643152e+00] [-5.07284444e-03 -5.34911037e-05 9.99987132e-01 -6.23568523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34028169300001 meters Centerline goodness [0,1] 0.9994026666666667 Centerline is valid? [True, True] Translation: X:69.50, Y:-2.08, Z:-0.62 [[ 9.99058678e-01 4.30602252e-02 5.25120201e-03 6.95023648e+01] [-4.30599046e-02 9.99072477e-01 -1.74148636e-04 -2.07775501e+00] [-5.25383027e-03 -5.21315516e-05 9.99986197e-01 -6.23118482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.370281693 meters Centerline goodness [0,1] 0.9994896657310538 Centerline is valid? [True, True] Translation: X:69.53, Y:-2.08, Z:-0.62 [[ 9.99131107e-01 4.13872052e-02 4.91223317e-03 6.95325609e+01] [-4.13869053e-02 9.99143182e-01 -1.62743155e-04 -2.08359635e+00] [-4.91475977e-03 -4.07003800e-05 9.99987922e-01 -6.23347620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.400281693 meters Centerline goodness [0,1] 0.9994901969114429 Centerline is valid? [True, True] Translation: X:69.56, Y:-2.09, Z:-0.62 [[ 9.99136103e-01 4.12681625e-02 4.89755718e-03 6.95619450e+01] [-4.12678629e-02 9.99148106e-01 -1.62263200e-04 -2.08558793e+00] [-4.90008128e-03 -3.99886971e-05 9.99987994e-01 -6.23734658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.430281693 meters Centerline goodness [0,1] 0.9995367250673854 Centerline is valid? [True, True] Translation: X:69.59, Y:-2.09, Z:-0.62 [[ 9.99119599e-01 4.16886484e-02 4.69941174e-03 6.95914871e+01] [-4.16883778e-02 9.99130650e-01 -1.55579094e-04 -2.08677034e+00] [-4.70181219e-03 -4.04687304e-05 9.99988946e-01 -6.24146157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.460281693 meters Centerline goodness [0,1] 0.9995333050487908 Centerline is valid? [True, True] Translation: X:69.62, Y:-2.09, Z:-0.63 [[ 9.99061177e-01 4.31945903e-02 3.31549183e-03 6.96210826e+01] [-4.31944636e-02 9.99066678e-01 -1.09848911e-04 -2.08781566e+00] [-3.31714228e-03 -3.34651092e-05 9.99994498e-01 -6.27284970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.490281693 meters Centerline goodness [0,1] 0.9995521910651456 Centerline is valid? [True, True] Translation: X:69.65, Y:-2.09, Z:-0.63 [[ 9.99032066e-01 4.39088567e-02 2.63490773e-03 6.96507526e+01] [-4.39087792e-02 9.99035541e-01 -8.72644449e-05 -2.08856338e+00] [-2.63619815e-03 -2.85156030e-05 9.99996525e-01 -6.28826917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.520281693 meters Centerline goodness [0,1] 0.9995734061386856 Centerline is valid? [True, True] Translation: X:69.68, Y:-2.09, Z:-0.63 [[ 9.98934694e-01 4.60846651e-02 2.38352581e-03 6.96792275e+01] [-4.60846080e-02 9.98937537e-01 -7.89125255e-05 -2.08756779e+00] [-2.38463006e-03 -3.10153933e-05 9.99997156e-01 -6.28803904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.550281693 meters Centerline goodness [0,1] 0.9994899802367342 Centerline is valid? [True, True] Translation: X:69.71, Y:-2.09, Z:-0.63 [[ 9.98870060e-01 4.74538569e-02 2.59500639e-03 6.97075639e+01] [-4.74537940e-02 9.98873430e-01 -8.58414694e-05 -2.08600547e+00] [-2.59615645e-03 -3.73984251e-05 9.99996629e-01 -6.28239993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.580281693 meters Centerline goodness [0,1] 0.9994672690078418 Centerline is valid? [True, True] Translation: X:69.74, Y:-2.09, Z:-0.63 [[ 9.98794144e-01 4.90195166e-02 2.71020044e-03 6.97366662e+01] [-4.90194540e-02 9.98797820e-01 -8.95530965e-05 -2.08660487e+00] [-2.71133214e-03 -4.34074378e-05 9.99996323e-01 -6.27686548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.610281693 meters Centerline goodness [0,1] 0.9994681190562305 Centerline is valid? [True, True] Translation: X:69.77, Y:-2.09, Z:-0.63 [[ 9.98801994e-01 4.88987363e-02 1.86849854e-03 6.97653797e+01] [-4.88987063e-02 9.98803741e-01 -6.17685358e-05 -2.08788980e+00] [-1.86928373e-03 -2.96726244e-05 9.99998252e-01 -6.29641086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.640281693 meters Centerline goodness [0,1] 0.9995757858567005 Centerline is valid? [True, True] Translation: X:69.79, Y:-2.09, Z:-0.63 [[ 9.98813668e-01 4.86818784e-02 1.15418965e-03 6.97937921e+01] [-4.86818667e-02 9.98814334e-01 -3.81933305e-05 -2.09012930e+00] [-1.15468049e-03 -1.80400863e-05 9.99999333e-01 -6.32096980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.670281693 meters Centerline goodness [0,1] 0.9995992491194027 Centerline is valid? [True, True] Translation: X:69.82, Y:-2.09, Z:-0.63 [[ 9.98855829e-01 4.78073557e-02 1.22050519e-03 6.98220900e+01] [-4.78073421e-02 9.98856575e-01 -4.02749488e-05 -2.09234832e+00] [-1.22103507e-03 -1.81202419e-05 9.99999254e-01 -6.32331744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70028169300001 meters Centerline goodness [0,1] 0.9994897308330144 Centerline is valid? [True, True] Translation: X:69.85, Y:-2.10, Z:-0.63 [[ 9.98874521e-01 4.73598375e-02 2.59548738e-03 6.98512303e+01] [-4.73597756e-02 9.98877893e-01 -8.53373007e-05 -2.09522735e+00] [-2.59661652e-03 -3.76804443e-05 9.99996628e-01 -6.30086387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73028169300001 meters Centerline goodness [0,1] 0.9994654807466165 Centerline is valid? [True, True] Translation: X:69.88, Y:-2.10, Z:-0.63 [[ 9.98966204e-01 4.52483737e-02 4.37134955e-03 6.98798525e+01] [-4.52481787e-02 9.98975766e-01 -1.43559598e-04 -2.10016888e+00] [-4.37336811e-03 -5.43844190e-05 9.99990435e-01 -6.27177765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.760281693 meters Centerline goodness [0,1] 0.9994706081653396 Centerline is valid? [True, True] Translation: X:69.91, Y:-2.10, Z:-0.63 [[ 9.99034890e-01 4.37418342e-02 3.99254119e-03 6.99093092e+01] [-4.37416601e-02 9.99042867e-01 -1.30945880e-04 -2.10455294e+00] [-3.99444761e-03 -4.38208769e-05 9.99992021e-01 -6.28145528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.790281693 meters Centerline goodness [0,1] 0.999575587810882 Centerline is valid? [True, True] Translation: X:69.94, Y:-2.11, Z:-0.63 [[ 9.99107442e-01 4.21333634e-02 3.01633020e-03 6.99394029e+01] [-4.21332566e-02 9.99111995e-01 -9.89860591e-05 -2.11117664e+00] [-3.01782230e-03 -2.81901058e-05 9.99995446e-01 -6.30683317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.820281693 meters Centerline goodness [0,1] 0.9996151214505645 Centerline is valid? [True, True] Translation: X:69.97, Y:-2.12, Z:-0.63 [[ 9.99179493e-01 4.04510312e-02 2.01382484e-03 6.99685863e+01] [-4.04509800e-02 9.99181522e-01 -6.61626153e-05 -2.11819918e+00] [-2.01485291e-03 -1.53528598e-05 9.99997970e-01 -6.32318049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.850281693 meters Centerline goodness [0,1] 0.9994905323936486 Centerline is valid? [True, True] Translation: X:70.00, Y:-2.13, Z:-0.63 [[ 9.99317508e-01 3.69141080e-02 1.36603858e-03 6.99977288e+01] [-3.69140812e-02 9.99318442e-01 -4.48414878e-05 -2.12725209e+00] [-1.36676283e-03 -5.61517518e-06 9.99999066e-01 -6.34817312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.880281693 meters Centerline goodness [0,1] 0.9993672087578308 Centerline is valid? [True, True] Translation: X:70.03, Y:-2.13, Z:-0.63 [[ 9.99324024e-01 3.66485401e-02 2.89459692e-03 7.00276696e+01] [-3.66484188e-02 9.99328217e-01 -9.49362621e-05 -2.13093031e+00] [-2.89613166e-03 -1.12103129e-05 9.99995806e-01 -6.30989505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.910281693 meters Centerline goodness [0,1] 0.9993406780381981 Centerline is valid? [True, True] Translation: X:70.06, Y:-2.13, Z:-0.63 [[ 9.99282618e-01 3.77101301e-02 3.49216259e-03 7.00579641e+01] [-3.77099606e-02 9.99288720e-01 -1.14401578e-04 -2.13108743e+00] [-3.49399278e-03 -1.73698058e-05 9.99993896e-01 -6.29253536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.940281693 meters Centerline goodness [0,1] 0.9994485216137106 Centerline is valid? [True, True] Translation: X:70.09, Y:-2.13, Z:-0.63 [[ 9.99220571e-01 3.93472648e-02 3.16922372e-03 7.00881913e+01] [-3.93471334e-02 9.99225596e-01 -1.03822254e-04 -2.13027451e+00] [-3.17085458e-03 -2.09585362e-05 9.99994973e-01 -6.30046944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.970281693 meters Centerline goodness [0,1] 0.9995940257686802 Centerline is valid? [True, True] Translation: X:70.12, Y:-2.13, Z:-0.63 [[ 9.99067528e-01 4.31392966e-02 1.75354695e-03 7.01184435e+01] [-4.31392621e-02 9.99069067e-01 -5.74851072e-05 -2.12527846e+00] [-1.75439438e-03 -1.82152176e-05 9.99998461e-01 -6.32256682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.000281693 meters Centerline goodness [0,1] 0.9996604846581505 Centerline is valid? [True, True] Translation: X:70.15, Y:-2.12, Z:-0.63 [[ 9.98991322e-01 4.48537373e-02 2.11695593e-03 7.01467597e+01] [-4.48536908e-02 9.98993564e-01 -6.94678838e-05 -2.12258115e+00] [-2.11794125e-03 -2.55554738e-05 9.99997757e-01 -6.32289130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.030281693 meters Centerline goodness [0,1] 0.9996604846581505 Centerline is valid? [True, True] Translation: X:70.18, Y:-2.12, Z:-0.63 [[ 9.98992356e-01 4.48307032e-02 2.11696149e-03 7.01759109e+01] [-4.48306570e-02 9.98994598e-01 -6.92980786e-05 -2.12348824e+00] [-2.11793977e-03 -2.56765235e-05 9.99997757e-01 -6.32440048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06028169300001 meters Centerline goodness [0,1] 0.9995042462387378 Centerline is valid? [True, True] Translation: X:70.21, Y:-2.12, Z:-0.63 [[ 9.98882727e-01 4.70995901e-02 3.86355291e-03 7.02051184e+01] [-4.70994538e-02 9.98890197e-01 -1.26303050e-04 -2.12190261e+00] [-3.86521395e-03 -5.58092964e-05 9.99992528e-01 -6.29631862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09028169300001 meters Centerline goodness [0,1] 0.9995729415784079 Centerline is valid? [True, True] Translation: X:70.23, Y:-2.12, Z:-0.63 [[ 9.98808183e-01 4.86464699e-02 3.96658742e-03 7.02343081e+01] [-4.86463394e-02 9.98816058e-01 -1.29429256e-04 -2.11725580e+00] [-3.96818749e-03 -6.36849583e-05 9.99992125e-01 -6.29768630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.120281693 meters Centerline goodness [0,1] 0.9995099710243737 Centerline is valid? [True, True] Translation: X:70.26, Y:-2.10, Z:-0.63 [[ 9.98619409e-01 5.24545438e-02 2.79236740e-03 7.02635973e+01] [-5.24544935e-02 9.98623311e-01 -9.13048614e-05 -2.10494730e+00] [-2.79331253e-03 -5.52934108e-05 9.99996097e-01 -6.31994265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.150281693 meters Centerline goodness [0,1] 0.9994409684147154 Centerline is valid? [True, True] Translation: X:70.29, Y:-2.10, Z:-0.63 [[ 9.98529867e-01 5.41512429e-02 2.39729827e-03 7.02934065e+01] [-5.41512108e-02 9.98532744e-01 -7.83452480e-05 -2.09928112e+00] [-2.39802331e-03 -5.15865338e-05 9.99997123e-01 -6.32774453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.180281693 meters Centerline goodness [0,1] 0.9989163691993881 Centerline is valid? [True, True] Translation: X:70.32, Y:-2.09, Z:-0.63 [[ 9.98340412e-01 5.75492559e-02 2.12245755e-03 7.03224976e+01] [-5.75492383e-02 9.98342667e-01 -6.93702216e-05 -2.08602473e+00] [-2.12293213e-03 -5.28907196e-05 9.99997745e-01 -6.33117987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.210281693 meters Centerline goodness [0,1] 0.9991407827469175 Centerline is valid? [True, True] Translation: X:70.35, Y:-2.09, Z:-0.63 [[ 9.98288363e-01 5.84532355e-02 1.88795284e-03 7.03512419e+01] [-5.84532233e-02 9.98290147e-01 -6.16937822e-05 -2.08616135e+00] [-1.88833092e-03 -4.87687443e-05 9.99998216e-01 -6.33990117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.240281693 meters Centerline goodness [0,1] 0.9986970823187663 Centerline is valid? [True, True] Translation: X:70.38, Y:-2.08, Z:-0.64 [[ 9.98250600e-01 5.91158491e-02 1.02735959e-03 7.03791193e+01] [-5.91158457e-02 9.98251129e-01 -3.36818088e-05 -2.07850777e+00] [-1.02755400e-03 -2.71103454e-05 9.99999472e-01 -6.36456807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.270281693 meters Centerline goodness [0,1] 0.9989587760305992 Centerline is valid? [True, True] Translation: X:70.41, Y:-2.08, Z:-0.64 [[ 9.98239545e-01 5.93100521e-02 3.58021609e-04 7.04081172e+01] [-5.93100517e-02 9.98239609e-01 -1.18504869e-05 -2.07695994e+00] [-3.58094204e-04 -9.40465549e-06 9.99999936e-01 -6.37722671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.300281693 meters Centerline goodness [0,1] 0.9990615935847125 Centerline is valid? [True, True] Translation: X:70.44, Y:-2.07, Z:-0.63 [[ 9.98266552e-01 5.88314297e-02 1.65961268e-03 7.04370938e+01] [-5.88314212e-02 9.98267930e-01 -5.40048778e-05 -2.06914634e+00] [-1.65991530e-03 -4.37261091e-05 9.99998621e-01 -6.34560213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.330281693 meters Centerline goodness [0,1] 0.9990800564802533 Centerline is valid? [True, True] Translation: X:70.47, Y:-2.07, Z:-0.63 [[ 9.98282076e-01 5.84195013e-02 4.47878554e-03 7.04662435e+01] [-5.84194377e-02 9.98292116e-01 -1.45141457e-04 -2.06546859e+00] [-4.47961539e-03 -1.16756018e-04 9.99989960e-01 -6.29020228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.360281693 meters Centerline goodness [0,1] 0.9986551679972676 Centerline is valid? [True, True] Translation: X:70.50, Y:-2.06, Z:-0.63 [[ 9.98250573e-01 5.89106675e-02 5.03264593e-03 7.04955215e+01] [-5.89105948e-02 9.98263250e-01 -1.62819722e-04 -2.06150052e+00] [-5.03349730e-03 -1.33941284e-04 9.99987323e-01 -6.28669813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.390281693 meters Centerline goodness [0,1] 0.998451322740098 Centerline is valid? [True, True] Translation: X:70.52, Y:-2.06, Z:-0.63 [[ 9.98204201e-01 5.96927681e-02 5.01456774e-03 7.05246224e+01] [-5.96927069e-02 9.98216787e-01 -1.61998512e-04 -2.05711921e+00] [-5.01529584e-03 -1.37625527e-04 9.99987414e-01 -6.28959242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.420281693 meters Centerline goodness [0,1] 0.9977370252556521 Centerline is valid? [True, True] Translation: X:70.55, Y:-2.05, Z:-0.63 [[ 9.98181644e-01 6.00768258e-02 4.91734312e-03 7.05522620e+01] [-6.00767728e-02 9.98193747e-01 -1.58633781e-04 -2.04952145e+00] [-4.91799137e-03 -1.37072777e-04 9.99987897e-01 -6.29652468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45028169300001 meters Centerline goodness [0,1] 0.9986138656089395 Centerline is valid? [True, True] Translation: X:70.58, Y:-2.05, Z:-0.63 [[ 9.98195834e-01 5.99047957e-02 4.06116272e-03 7.05811001e+01] [-5.99047589e-02 9.98204089e-01 -1.30815402e-04 -2.04761929e+00] [-4.06170570e-03 -1.12703584e-04 9.99991745e-01 -6.31116870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48028169300001 meters Centerline goodness [0,1] 0.9989111405269225 Centerline is valid? [True, True] Translation: X:70.61, Y:-2.05, Z:-0.63 [[ 9.98312795e-01 5.79273385e-02 3.99844777e-03 7.06102602e+01] [-5.79272877e-02 9.98320797e-01 -1.28611329e-04 -2.04717675e+00] [-3.99918367e-03 -1.03224899e-04 9.99991998e-01 -6.31479500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.510281693 meters Centerline goodness [0,1] 0.9993391741808957 Centerline is valid? [True, True] Translation: X:70.64, Y:-2.05, Z:-0.63 [[ 9.98433888e-01 5.57416932e-02 4.75751843e-03 7.06389352e+01] [-5.57415977e-02 9.98445217e-01 -1.52758326e-04 -2.04903155e+00] [-4.75863653e-03 -1.12672589e-04 9.99988671e-01 -6.30275164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.540281693 meters Centerline goodness [0,1] 0.9994429327448417 Centerline is valid? [True, True] Translation: X:70.67, Y:-2.05, Z:-0.63 [[ 9.98581617e-01 5.29426414e-02 5.64197391e-03 7.06669066e+01] [-5.29424643e-02 9.98597548e-01 -1.80842110e-04 -2.05056583e+00] [-5.64363557e-03 -1.18114396e-04 9.99984068e-01 -6.29207906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.570281693 meters Centerline goodness [0,1] 0.9996805520061334 Centerline is valid? [True, True] Translation: X:70.70, Y:-2.06, Z:-0.63 [[ 9.98893356e-01 4.65981370e-02 6.37780268e-03 7.06959861e+01] [-4.65977837e-02 9.98913712e-01 -2.04059756e-04 -2.05895512e+00] [-6.38038336e-03 -9.33575356e-05 9.99979641e-01 -6.28322326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.600281693 meters Centerline goodness [0,1] 0.9995985717605798 Centerline is valid? [True, True] Translation: X:70.73, Y:-2.06, Z:-0.63 [[ 9.99024508e-01 4.37355101e-02 6.10230340e-03 7.07256278e+01] [-4.37351341e-02 9.99043142e-01 -1.95110044e-04 -2.06457840e+00] [-6.10499760e-03 -7.19653417e-05 9.99981362e-01 -6.28910885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.630281693 meters Centerline goodness [0,1] 0.9994891443167305 Centerline is valid? [True, True] Translation: X:70.76, Y:-2.07, Z:-0.63 [[ 9.99179071e-01 4.00903167e-02 5.82663763e-03 7.07551307e+01] [-4.00899126e-02 9.99196059e-01 -1.86168399e-04 -2.06937524e+00] [-5.82941690e-03 -4.75738256e-05 9.99983008e-01 -6.29434798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.660281693 meters Centerline goodness [0,1] 0.9995532960370977 Centerline is valid? [True, True] Translation: X:70.78, Y:-2.07, Z:-0.63 [[ 9.99198190e-01 3.96673001e-02 5.42985383e-03 7.07840838e+01] [-3.96669436e-02 9.99212942e-01 -1.73372004e-04 -2.06929825e+00] [-5.43245742e-03 -4.21527134e-05 9.99985243e-01 -6.29988518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.690281693 meters Centerline goodness [0,1] 0.9994874532835024 Centerline is valid? [True, True] Translation: X:70.81, Y:-2.07, Z:-0.63 [[ 9.99197757e-01 3.97516019e-02 4.86333811e-03 7.08132989e+01] [-3.97513177e-02 9.99209592e-01 -1.55132942e-04 -2.06877003e+00] [-4.86566087e-03 -3.83156099e-05 9.99988162e-01 -6.31665078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.720281693 meters Centerline goodness [0,1] 0.9994250793177608 Centerline is valid? [True, True] Translation: X:70.84, Y:-2.07, Z:-0.64 [[ 9.99191058e-01 4.01319545e-02 2.58006315e-03 7.08419207e+01] [-4.01318757e-02 9.99194388e-01 -8.23545427e-05 -2.06664079e+00] [-2.58128967e-03 -2.12548507e-05 9.99996668e-01 -6.35959456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.750281693 meters Centerline goodness [0,1] 0.9995104508109489 Centerline is valid? [True, True] Translation: X:70.87, Y:-2.07, Z:-0.64 [[ 9.99211778e-01 3.96460347e-02 2.00376867e-03 7.08694513e+01] [-3.96459862e-02 9.99213787e-01 -6.39560638e-05 -2.06754230e+00] [-2.00472889e-03 -1.55357329e-05 9.99997990e-01 -6.37427459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.780281693 meters Centerline goodness [0,1] 0.9994048757678166 Centerline is valid? [True, True] Translation: X:70.90, Y:-2.07, Z:-0.64 [[ 9.99303628e-01 3.72447771e-02 2.25509335e-03 7.08983394e+01] [-3.72447100e-02 9.99306173e-01 -7.17822267e-05 -2.07376120e+00] [-2.25620222e-03 -1.22580584e-05 9.99997455e-01 -6.36922704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81028169300001 meters Centerline goodness [0,1] 0.9990676583391604 Centerline is valid? [True, True] Translation: X:70.93, Y:-2.08, Z:-0.64 [[ 9.99383615e-01 3.49910532e-02 2.83115680e-03 7.09259385e+01] [-3.49909388e-02 9.99387626e-01 -8.99605450e-05 -2.07942888e+00] [-2.83257089e-03 -9.15973959e-06 9.99995988e-01 -6.36017242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84028169300001 meters Centerline goodness [0,1] 0.9989544436146378 Centerline is valid? [True, True] Translation: X:70.95, Y:-2.09, Z:-0.63 [[ 9.99514739e-01 3.09063597e-02 3.88370781e-03 7.09547354e+01] [-3.09061148e-02 9.99522284e-01 -1.23055843e-04 -2.08847547e+00] [-3.88565571e-03 2.96580946e-06 9.99992451e-01 -6.33992467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.870281693 meters Centerline goodness [0,1] 0.9987567254721228 Centerline is valid? [True, True] Translation: X:70.98, Y:-2.09, Z:-0.63 [[ 9.99555857e-01 2.95442152e-02 3.90227675e-03 7.09847896e+01] [-2.95439582e-02 9.99563474e-01 -1.23500918e-04 -2.09174508e+00] [-3.90422204e-03 8.15736529e-06 9.99992378e-01 -6.34048128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.900281693 meters Centerline goodness [0,1] 0.9987741730952129 Centerline is valid? [True, True] Translation: X:71.01, Y:-2.09, Z:-0.64 [[ 9.99580535e-01 2.87795449e-02 3.23897297e-03 7.10140362e+01] [-2.87793641e-02 9.99585783e-01 -1.02435923e-04 -2.09424813e+00] [-3.24057939e-03 9.17737208e-06 9.99994749e-01 -6.35882063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.930281693 meters Centerline goodness [0,1] 0.9984522421286971 Centerline is valid? [True, True] Translation: X:71.04, Y:-2.10, Z:-0.64 [[ 9.99606301e-01 2.79647193e-02 2.28421409e-03 7.10435138e+01] [-2.79646271e-02 9.99608911e-01 -7.22633709e-05 -2.09743576e+00] [-2.28534158e-03 8.35772549e-06 9.99997389e-01 -6.37704339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.960281693 meters Centerline goodness [0,1] 0.9987670330137539 Centerline is valid? [True, True] Translation: X:71.07, Y:-2.10, Z:-0.64 [[ 9.99592577e-01 2.84384804e-02 2.43575059e-03 7.10730876e+01] [-2.84383772e-02 9.99595545e-01 -7.69971060e-05 -2.09752135e+00] [-2.43695512e-03 7.69694163e-06 9.99997031e-01 -6.37107255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.990281693 meters Centerline goodness [0,1] 0.9987366437549517 Centerline is valid? [True, True] Translation: X:71.10, Y:-2.10, Z:-0.64 [[ 9.99561032e-01 2.94496176e-02 3.23469965e-03 7.11023867e+01] [-2.94494412e-02 9.99566266e-01 -1.02147412e-04 -2.09668097e+00] [-3.23630485e-03 6.84247520e-06 9.99994763e-01 -6.35264021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.020281693 meters Centerline goodness [0,1] 0.9992152537699633 Centerline is valid? [True, True] Translation: X:71.13, Y:-2.09, Z:-0.63 [[ 9.99477523e-01 3.20253870e-02 4.36523108e-03 7.11309647e+01] [-3.20250910e-02 9.99487056e-01 -1.37724305e-04 -2.09432391e+00] [-4.36740263e-03 -2.14457513e-06 9.99990463e-01 -6.33430908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.050281693 meters Centerline goodness [0,1] 0.9991982953226861 Centerline is valid? [True, True] Translation: X:71.16, Y:-2.09, Z:-0.63 [[ 9.99445614e-01 3.30731544e-02 3.82505593e-03 7.11597848e+01] [-3.30729351e-02 9.99452934e-01 -1.20579268e-04 -2.09356532e+00] [-3.82695131e-03 -5.99340579e-06 9.99992677e-01 -6.34958730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.080281693 meters Centerline goodness [0,1] 0.9994477485131691 Centerline is valid? [True, True] Translation: X:71.19, Y:-2.09, Z:-0.64 [[ 9.99388174e-01 3.48805787e-02 2.57342564e-03 7.11892106e+01] [-3.48804856e-02 9.99391487e-01 -8.10675408e-05 -2.08912617e+00] [-2.57468736e-03 -8.74439429e-06 9.99996685e-01 -6.38012067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.110281693 meters Centerline goodness [0,1] 0.9995290894301982 Centerline is valid? [True, True] Translation: X:71.22, Y:-2.09, Z:-0.64 [[ 9.99360318e-01 3.56850570e-02 2.35172475e-03 7.12179306e+01] [-3.56849815e-02 9.99363085e-01 -7.40507130e-05 -2.08679726e+00] [-2.35286940e-03 -9.91791015e-06 9.99997232e-01 -6.38314314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.140281693 meters Centerline goodness [0,1] 0.9995075790014558 Centerline is valid? [True, True] Translation: X:71.25, Y:-2.08, Z:-0.64 [[ 9.99316648e-01 3.69111493e-02 1.95015812e-03 7.12454661e+01] [-3.69110996e-02 9.99318551e-01 -6.14726524e-05 -2.08307305e+00] [-1.95109821e-03 -1.05518355e-05 9.99998097e-01 -6.39177543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.170281693 meters Centerline goodness [0,1] 0.9996184824077999 Centerline is valid? [True, True] Translation: X:71.27, Y:-2.08, Z:-0.64 [[ 9.99305475e-01 3.72217967e-02 1.76196515e-03 7.12744512e+01] [-3.72217568e-02 9.99307029e-01 -5.54383112e-05 -2.08220099e+00] [-1.76280767e-03 -1.01836304e-05 9.99998446e-01 -6.39985896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20028169300001 meters Centerline goodness [0,1] 0.9996992287365458 Centerline is valid? [True, True] Translation: X:71.30, Y:-2.08, Z:-0.64 [[ 9.99285522e-01 3.76513967e-02 3.28904727e-03 7.13038161e+01] [-3.76512611e-02 9.99290935e-01 -1.03161647e-04 -2.07878162e+00] [-3.29059930e-03 -2.07488371e-05 9.99994586e-01 -6.36929971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23028169300001 meters Centerline goodness [0,1] 0.9995146143294291 Centerline is valid? [True, True] Translation: X:71.33, Y:-2.08, Z:-0.63 [[ 9.99270419e-01 3.78638076e-02 4.99610003e-03 7.13330171e+01] [-3.78634989e-02 9.99282908e-01 -1.56383923e-04 -2.07811958e+00] [-4.99843866e-03 -3.29000000e-05 9.99987507e-01 -6.33714839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.260281693 meters Centerline goodness [0,1] 0.9995970478452664 Centerline is valid? [True, True] Translation: X:71.36, Y:-2.08, Z:-0.63 [[ 9.99294153e-01 3.71661362e-02 5.46566548e-03 7.13617545e+01] [-3.71657577e-02 9.99309100e-01 -1.70834862e-04 -2.07824493e+00] [-5.46823852e-03 -3.24213197e-05 9.99985049e-01 -6.32600075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.290281693 meters Centerline goodness [0,1] 0.9995493078656508 Centerline is valid? [True, True] Translation: X:71.39, Y:-2.08, Z:-0.63 [[ 9.99325309e-01 3.64571323e-02 4.45013224e-03 7.13918039e+01] [-3.64568751e-02 9.99335218e-01 -1.38934397e-04 -2.07796341e+00] [-4.45223902e-03 -2.33972557e-05 9.99990088e-01 -6.34882627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.320281693 meters Centerline goodness [0,1] 0.9994656406968045 Centerline is valid? [True, True] Translation: X:71.42, Y:-2.08, Z:-0.64 [[ 9.99331701e-01 3.63909628e-02 3.44214245e-03 7.14209581e+01] [-3.63908086e-02 9.99337629e-01 -1.07442065e-04 -2.07821054e+00] [-3.44377240e-03 -1.78920854e-05 9.99994070e-01 -6.36824815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.350281693 meters Centerline goodness [0,1] 0.9995292305058632 Centerline is valid? [True, True] Translation: X:71.45, Y:-2.07, Z:-0.64 [[ 9.99279448e-01 3.78628658e-02 2.64347977e-03 7.14492691e+01] [-3.78627799e-02 9.99282944e-01 -8.25327749e-05 -2.07047520e+00] [-2.64470917e-03 -1.76161869e-05 9.99996503e-01 -6.37590999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.380281693 meters Centerline goodness [0,1] 0.999552887072049 Centerline is valid? [True, True] Translation: X:71.48, Y:-2.07, Z:-0.64 [[ 9.99246293e-01 3.87381391e-02 2.49056796e-03 7.14783393e+01] [-3.87380661e-02 9.99249396e-01 -7.75807247e-05 -2.06737353e+00] [-2.49170386e-03 -1.89575346e-05 9.99996896e-01 -6.37532891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.410281693 meters Centerline goodness [0,1] 0.9998092856688775 Centerline is valid? [True, True] Translation: X:71.51, Y:-2.06, Z:-0.64 [[ 9.99201555e-01 3.98786364e-02 2.43844464e-03 7.15060677e+01] [-3.98785700e-02 9.99204531e-01 -7.58795402e-05 -2.05602360e+00] [-2.43953090e-03 -2.14227306e-05 9.99997024e-01 -6.38357426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.440281693 meters Centerline goodness [0,1] 0.9997222340925601 Centerline is valid? [True, True] Translation: X:71.54, Y:-2.06, Z:-0.64 [[ 9.99207796e-01 3.96679213e-02 3.19958506e-03 7.15351192e+01] [-3.96678069e-02 9.99212918e-01 -9.92585755e-05 -2.05740156e+00] [-3.20100411e-03 -2.77405798e-05 9.99994876e-01 -6.36455220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.470281693 meters Centerline goodness [0,1] 0.9996759699300095 Centerline is valid? [True, True] Translation: X:71.56, Y:-2.06, Z:-0.64 [[ 9.99263538e-01 3.81352529e-02 4.25261804e-03 7.15636394e+01] [-3.81350380e-02 9.99272586e-01 -1.31655094e-04 -2.05606952e+00] [-4.25454533e-03 -3.06156149e-05 9.99990949e-01 -6.35713590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.500281693 meters Centerline goodness [0,1] 0.9994248466257669 Centerline is valid? [True, True] Translation: X:71.59, Y:-2.06, Z:-0.64 [[ 9.99307229e-01 3.69505956e-02 4.44015610e-03 7.15911499e+01] [-3.69503505e-02 9.99317093e-01 -1.37245357e-04 -2.05606597e+00] [-4.44219519e-03 -2.69150467e-05 9.99990133e-01 -6.35931736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.530281693 meters Centerline goodness [0,1] 0.9993964086313566 Centerline is valid? [True, True] Translation: X:71.62, Y:-2.06, Z:-0.64 [[ 9.99364918e-01 3.53350200e-02 4.60408974e-03 7.16185944e+01] [-3.53347407e-02 9.99375523e-01 -1.42025235e-04 -2.05752606e+00] [-4.60623306e-03 -2.07492798e-05 9.99989391e-01 -6.36147520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56028169300001 meters Centerline goodness [0,1] 0.9989610279462279 Centerline is valid? [True, True] Translation: X:71.65, Y:-2.06, Z:-0.64 [[ 9.99519886e-01 3.06387815e-02 4.61122719e-03 7.16471583e+01] [-3.06384527e-02 9.99530522e-01 -1.41960479e-04 -2.06306140e+00] [-4.61341182e-03 6.11456172e-07 9.99989358e-01 -6.36296628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59028169300001 meters Centerline goodness [0,1] 0.9977709845879505 Centerline is valid? [True, True] Translation: X:71.68, Y:-2.07, Z:-0.64 [[ 9.99680231e-01 2.49626268e-02 4.03766478e-03 7.16754052e+01] [-2.49623286e-02 9.99688385e-01 -1.24238939e-04 -2.07229998e+00] [-4.03950792e-03 2.34096965e-05 9.99991841e-01 -6.37337811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.620281693 meters Centerline goodness [0,1] 0.9975894361840562 Centerline is valid? [True, True] Translation: X:71.70, Y:-2.08, Z:-0.64 [[ 9.99722986e-01 2.32012773e-02 3.95637358e-03 7.17047564e+01] [-2.32009777e-02 9.99730814e-01 -1.21595436e-04 -2.07592271e+00] [-3.95812975e-03 2.97700169e-05 9.99992166e-01 -6.37464558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.650281693 meters Centerline goodness [0,1] 0.9976518869521069 Centerline is valid? [True, True] Translation: X:71.73, Y:-2.08, Z:-0.64 [[ 9.99741855e-01 2.22439183e-02 4.62950323e-03 7.17338855e+01] [-2.22434984e-02 9.99752573e-01 -1.42158933e-04 -2.07891169e+00] [-4.63151993e-03 3.91458876e-05 9.99989274e-01 -6.36489515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.680281693 meters Centerline goodness [0,1] 0.9975583864118895 Centerline is valid? [True, True] Translation: X:71.76, Y:-2.08, Z:-0.63 [[ 9.99745899e-01 2.18453503e-02 5.56036160e-03 7.17640461e+01] [-2.18447393e-02 9.99761361e-01 -1.70601691e-04 -2.08000522e+00] [-5.56276153e-03 4.90936917e-05 9.99984527e-01 -6.33745693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.710281693 meters Centerline goodness [0,1] 0.9973928526007885 Centerline is valid? [True, True] Translation: X:71.79, Y:-2.08, Z:-0.63 [[ 9.99745169e-01 2.19181850e-02 5.40278664e-03 7.17937105e+01] [-2.19176092e-02 9.99759767e-01 -1.65764379e-04 -2.08013879e+00] [-5.40512196e-03 4.73059716e-05 9.99985391e-01 -6.33556698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.740281693 meters Centerline goodness [0,1] 0.9970328925059342 Centerline is valid? [True, True] Translation: X:71.82, Y:-2.08, Z:-0.63 [[ 9.99776287e-01 2.04179654e-02 5.52107025e-03 7.18235896e+01] [-2.04173416e-02 9.99791530e-01 -1.69329265e-04 -2.08380924e+00] [-5.52337663e-03 5.65658063e-05 9.99984744e-01 -6.33629132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.770281693 meters Centerline goodness [0,1] 0.9968735850277065 Centerline is valid? [True, True] Translation: X:71.85, Y:-2.09, Z:-0.63 [[ 9.99804767e-01 1.88924419e-02 5.78816519e-03 7.18536322e+01] [-1.88917311e-02 9.99821520e-01 -1.77459422e-04 -2.08852745e+00] [-5.79048475e-03 6.80763158e-05 9.99983233e-01 -6.33784959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.800281693 meters Centerline goodness [0,1] 0.9969707959127078 Centerline is valid? [True, True] Translation: X:71.88, Y:-2.09, Z:-0.63 [[ 9.99825448e-01 1.76604185e-02 6.09784957e-03 7.18835282e+01] [-1.76596066e-02 9.99844040e-01 -1.86964549e-04 -2.09296154e+00] [-6.10020042e-03 7.92462893e-05 9.99981390e-01 -6.33731764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.830281693 meters Centerline goodness [0,1] 0.9962674629412392 Centerline is valid? [True, True] Translation: X:71.91, Y:-2.10, Z:-0.63 [[ 9.99829186e-01 1.72220063e-02 6.70834755e-03 7.19148038e+01] [-1.72210132e-02 9.99851686e-01 -2.05782130e-04 -2.09565620e+00] [-6.71089659e-03 9.02224385e-05 9.99977478e-01 -6.31972301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.860281693 meters Centerline goodness [0,1] 0.9963218196423287 Centerline is valid? [True, True] Translation: X:71.95, Y:-2.10, Z:-0.63 [[ 9.99814763e-01 1.81932876e-02 6.28043635e-03 7.19458312e+01] [-1.81924346e-02 9.99834485e-01 -1.92927529e-04 -2.09814469e+00] [-6.28290683e-03 7.86353638e-05 9.99980259e-01 -6.32117685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.890281693 meters Centerline goodness [0,1] 0.9975645188856606 Centerline is valid? [True, True] Translation: X:71.98, Y:-2.09, Z:-0.64 [[ 9.99777288e-01 2.07777550e-02 3.69589677e-03 7.19775375e+01] [-2.07774757e-02 9.99784118e-01 -1.13945549e-04 -2.09415309e+00] [-3.69746642e-03 3.71287667e-05 9.99993164e-01 -6.36975154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.920281693 meters Centerline goodness [0,1] 0.9975645188856606 Centerline is valid? [True, True] Translation: X:72.01, Y:-2.10, Z:-0.64 [[ 9.99777766e-01 2.07547326e-02 3.69589205e-03 7.20066876e+01] [-2.07544526e-02 9.99784597e-01 -1.14098352e-04 -2.09500931e+00] [-3.69746402e-03 3.73667794e-05 9.99993164e-01 -6.37126031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95028169300001 meters Centerline goodness [0,1] 0.9981805185522126 Centerline is valid? [True, True] Translation: X:72.04, Y:-2.09, Z:-0.64 [[ 9.99743455e-01 2.25611211e-02 2.00494432e-03 7.20366527e+01] [-2.25610424e-02 9.99745465e-01 -6.19048626e-05 -2.09282395e+00] [-2.00583063e-03 1.66553476e-05 9.99997988e-01 -6.39705462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98028169300001 meters Centerline goodness [0,1] 0.9983981114577186 Centerline is valid? [True, True] Translation: X:72.07, Y:-2.09, Z:-0.64 [[ 9.99684149e-01 2.51089572e-02 1.06925345e-03 7.20654838e+01] [-2.51089362e-02 9.99684720e-01 -3.30930410e-05 -2.08963032e+00] [-1.06974727e-03 6.23477170e-06 9.99999428e-01 -6.41417840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.010281693 meters Centerline goodness [0,1] 0.998634113027147 Centerline is valid? [True, True] Translation: X:72.09, Y:-2.08, Z:-0.64 [[ 9.99512817e-01 3.10989108e-02 2.64309947e-03 7.20944247e+01] [-3.10988042e-02 9.99516312e-01 -8.14471670e-05 -2.08020403e+00] [-2.64435395e-03 -7.89745569e-07 9.99996504e-01 -6.39838753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.040281693 meters Centerline goodness [0,1] 0.9989215250904016 Centerline is valid? [True, True] Translation: X:72.12, Y:-2.08, Z:-0.63 [[ 9.99398309e-01 3.41589114e-02 6.01578547e-03 7.21222903e+01] [-3.41584171e-02 9.99416414e-01 -1.84913321e-04 -2.07587065e+00] [-6.01859118e-03 -2.06876489e-05 9.99981888e-01 -6.34607472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.070281693 meters Centerline goodness [0,1] 0.9988634170401665 Centerline is valid? [True, True] Translation: X:72.15, Y:-2.08, Z:-0.63 [[ 9.99405428e-01 3.37948576e-02 6.83364060e-03 7.21523631e+01] [-3.37942139e-02 9.99428790e-01 -2.09669996e-04 -2.07657885e+00] [-6.83682293e-03 -2.13921803e-05 9.99976628e-01 -6.32897327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.100281693 meters Centerline goodness [0,1] 0.9989390145567203 Centerline is valid? [True, True] Translation: X:72.18, Y:-2.08, Z:-0.63 [[ 9.99441620e-01 3.27880094e-02 6.43384463e-03 7.21808214e+01] [-3.27874190e-02 9.99462329e-01 -1.97248014e-04 -2.07832240e+00] [-6.43685271e-03 -1.38112853e-05 9.99979283e-01 -6.33971086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.130281693 meters Centerline goodness [0,1] 0.9987428352261831 Centerline is valid? [True, True] Translation: X:72.21, Y:-2.09, Z:-0.64 [[ 9.99541133e-01 3.00740491e-02 3.61590262e-03 7.22103969e+01] [-3.00738451e-02 9.99547673e-01 -1.10791905e-04 -2.08527350e+00] [-3.61759901e-03 1.99697075e-06 9.99993456e-01 -6.40248940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.160281693 meters Centerline goodness [0,1] 0.9983227970584441 Centerline is valid? [True, True] Translation: X:72.24, Y:-2.09, Z:-0.64 [[ 9.99593907e-01 2.83101885e-02 3.24861754e-03 7.22402693e+01] [-2.83100147e-02 9.99599186e-01 -9.94753880e-05 -2.09027237e+00] [-3.25013161e-03 7.46658151e-06 9.99994718e-01 -6.40992256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.190281693 meters Centerline goodness [0,1] 0.9981576692373607 Centerline is valid? [True, True] Translation: X:72.27, Y:-2.10, Z:-0.64 [[ 9.99665118e-01 2.52329510e-02 5.74023721e-03 7.22696920e+01] [-2.52323590e-02 9.99681598e-01 -1.75547558e-04 -2.09875353e+00] [-5.74283908e-03 3.06490439e-05 9.99983509e-01 -6.35968737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.220281693 meters Centerline goodness [0,1] 0.9977906655619995 Centerline is valid? [True, True] Translation: X:72.30, Y:-2.10, Z:-0.63 [[ 9.99672415e-01 2.47231765e-02 6.62015886e-03 7.22993991e+01] [-2.47223788e-02 9.99694335e-01 -2.02321182e-04 -2.10399427e+00] [-6.62313733e-03 3.85888299e-05 9.99978066e-01 -6.34316298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.250281693 meters Centerline goodness [0,1] 0.9977564713103477 Centerline is valid? [True, True] Translation: X:72.33, Y:-2.11, Z:-0.64 [[ 9.99673585e-01 2.47184889e-02 6.45902041e-03 7.23302631e+01] [-2.47177294e-02 9.99694451e-01 -1.97396569e-04 -2.10695492e+00] [-6.46192620e-03 3.76798172e-05 9.99979121e-01 -6.35354032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.280281693 meters Centerline goodness [0,1] 0.9985022893576961 Centerline is valid? [True, True] Translation: X:72.36, Y:-2.11, Z:-0.64 [[ 9.99613242e-01 2.75683897e-02 3.65386109e-03 7.23604533e+01] [-2.75681657e-02 9.99619920e-01 -1.11667032e-04 -2.10938043e+00] [-3.65555080e-03 1.08935965e-05 9.99993318e-01 -6.40260005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31028169300001 meters Centerline goodness [0,1] 0.9988070892978869 Centerline is valid? [True, True] Translation: X:72.39, Y:-2.10, Z:-0.64 [[ 9.99439532e-01 3.33633571e-02 2.74003968e-03 7.23887166e+01] [-3.33632526e-02 9.99443288e-01 -8.38510613e-05 -2.10396605e+00] [-2.74131182e-03 -7.61257043e-06 9.99996243e-01 -6.42024664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34028169300001 meters Centerline goodness [0,1] 0.9990226490460205 Centerline is valid? [True, True] Translation: X:72.42, Y:-2.10, Z:-0.64 [[ 9.99338590e-01 3.62191008e-02 3.24957710e-03 7.24180068e+01] [-3.62189695e-02 9.99343873e-01 -9.92487516e-05 -2.10254543e+00] [-3.25103967e-03 -1.85132265e-05 9.99994715e-01 -6.40974590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.370281693 meters Centerline goodness [0,1] 0.9990430825500787 Centerline is valid? [True, True] Translation: X:72.45, Y:-2.10, Z:-0.64 [[ 9.99249600e-01 3.85345629e-02 3.91474879e-03 7.24470596e+01] [-3.85343910e-02 9.99257267e-01 -1.19340459e-04 -2.10170996e+00] [-3.91643991e-03 -3.16015549e-05 9.99992330e-01 -6.40518174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.400281693 meters Centerline goodness [0,1] 0.9991942836545598 Centerline is valid? [True, True] Translation: X:72.48, Y:-2.10, Z:-0.64 [[ 9.99136372e-01 4.13713319e-02 3.86297373e-03 7.24757938e+01] [-4.13711865e-02 9.99143839e-01 -1.17574473e-04 -2.10180806e+00] [-3.86453062e-03 -4.23428739e-05 9.99992532e-01 -6.40521196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.430281693 meters Centerline goodness [0,1] 0.9990508131367462 Centerline is valid? [True, True] Translation: X:72.50, Y:-2.10, Z:-0.64 [[ 9.99103881e-01 4.21019566e-02 4.34293177e-03 7.25039967e+01] [-4.21017803e-02 9.99113318e-01 -1.32055477e-04 -2.10175656e+00] [-4.34464076e-03 -5.09080195e-05 9.99990561e-01 -6.39506023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.460281693 meters Centerline goodness [0,1] 0.9989811945493908 Centerline is valid? [True, True] Translation: X:72.53, Y:-2.10, Z:-0.64 [[ 9.99058703e-01 4.30510093e-02 5.32142802e-03 7.25327397e+01] [-4.30507602e-02 9.99072873e-01 -1.61403246e-04 -2.10278733e+00] [-5.32344295e-03 -6.78402038e-05 9.99985828e-01 -6.38060128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.490281693 meters Centerline goodness [0,1] 0.9990230641804358 Centerline is valid? [True, True] Translation: X:72.56, Y:-2.10, Z:-0.64 [[ 9.99054164e-01 4.31826620e-02 5.10239062e-03 7.25613681e+01] [-4.31824357e-02 9.99067192e-01 -1.54545706e-04 -2.10439441e+00] [-5.10430476e-03 -6.59341234e-05 9.99986971e-01 -6.38969293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.520281693 meters Centerline goodness [0,1] 0.9990207765667575 Centerline is valid? [True, True] Translation: X:72.59, Y:-2.11, Z:-0.64 [[ 9.99078135e-01 4.27821966e-02 3.54443962e-03 7.25895481e+01] [-4.27820851e-02 9.99084422e-01 -1.07287216e-04 -2.10674370e+00] [-3.54578439e-03 -4.44502053e-05 9.99993713e-01 -6.42234125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.550281693 meters Centerline goodness [0,1] 0.9990368562989598 Centerline is valid? [True, True] Translation: X:72.62, Y:-2.11, Z:-0.64 [[ 9.99118553e-01 4.18636477e-02 3.09058163e-03 7.26180137e+01] [-4.18635591e-02 9.99123333e-01 -9.33928279e-05 -2.10953508e+00] [-3.09178199e-03 -3.60722397e-05 9.99995220e-01 -6.43220785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.580281693 meters Centerline goodness [0,1] 0.9990908129823448 Centerline is valid? [True, True] Translation: X:72.65, Y:-2.11, Z:-0.64 [[ 9.99165198e-01 4.07296271e-02 3.16286416e-03 7.26453950e+01] [-4.07295290e-02 9.99170204e-01 -9.54545158e-05 -2.11314550e+00] [-3.16412745e-03 -3.34471372e-05 9.99994994e-01 -6.43518348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.610281693 meters Centerline goodness [0,1] 0.9990283058724123 Centerline is valid? [True, True] Translation: X:72.67, Y:-2.12, Z:-0.64 [[ 9.99274297e-01 3.79015598e-02 3.78823711e-03 7.26745307e+01] [-3.79013999e-02 9.99281477e-01 -1.14035421e-04 -2.12204623e+00] [-3.78983729e-03 -2.96268242e-05 9.99992818e-01 -6.42187797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.640281693 meters Centerline goodness [0,1] 0.9989104426593745 Centerline is valid? [True, True] Translation: X:72.70, Y:-2.12, Z:-0.64 [[ 9.99320429e-01 3.66419247e-02 4.00620656e-03 7.27032041e+01] [-3.66417363e-02 9.99328459e-01 -1.20436709e-04 -2.12433754e+00] [-4.00792926e-03 -2.64395003e-05 9.99991968e-01 -6.42130575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.670281693 meters Centerline goodness [0,1] 0.9989711713642696 Centerline is valid? [True, True] Translation: X:72.73, Y:-2.13, Z:-0.64 [[ 9.99393945e-01 3.45886590e-02 3.92015217e-03 7.27327109e+01] [-3.45884632e-02 9.99401633e-01 -1.17764866e-04 -2.13142970e+00] [-3.92187981e-03 -1.78985445e-05 9.99992309e-01 -6.42692776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70028169300001 meters Centerline goodness [0,1] 0.9989399368202345 Centerline is valid? [True, True] Translation: X:72.76, Y:-2.13, Z:-0.64 [[ 9.99417985e-01 3.39404469e-02 3.42597134e-03 7.27608707e+01] [-3.39402937e-02 9.99423857e-01 -1.02875262e-04 -2.13371010e+00] [-3.42748913e-03 -1.34630867e-05 9.99994126e-01 -6.43696197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73028169300001 meters Centerline goodness [0,1] 0.998797874135313 Centerline is valid? [True, True] Translation: X:72.79, Y:-2.14, Z:-0.64 [[ 9.99436320e-01 3.34384579e-02 2.98511375e-03 7.27891834e+01] [-3.34383396e-02 9.99440778e-01 -8.95525976e-05 -2.13634909e+00] [-2.98643891e-03 -1.03151285e-05 9.99995541e-01 -6.44480062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.760281693 meters Centerline goodness [0,1] 0.9987890118761817 Centerline is valid? [True, True] Translation: X:72.82, Y:-2.14, Z:-0.64 [[ 9.99448570e-01 3.30381562e-02 3.32210374e-03 7.28182872e+01] [-3.30380078e-02 9.99454091e-01 -9.95364740e-05 -2.13849570e+00] [-3.32357868e-03 -1.02741030e-05 9.99994477e-01 -6.43735618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.790281693 meters Centerline goodness [0,1] 0.9985266484455073 Centerline is valid? [True, True] Translation: X:72.85, Y:-2.14, Z:-0.64 [[ 9.99459357e-01 3.25970896e-02 4.29214209e-03 7.28479971e+01] [-3.25968387e-02 9.99468574e-01 -1.28408984e-04 -2.14050320e+00] [-4.29404689e-03 -1.15707025e-05 9.99990780e-01 -6.42253821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.820281693 meters Centerline goodness [0,1] 0.9987619006958972 Centerline is valid? [True, True] Translation: X:72.88, Y:-2.14, Z:-0.64 [[ 9.99452996e-01 3.27145611e-02 4.84415160e-03 7.28768406e+01] [-3.27142436e-02 9.99464735e-01 -1.44800228e-04 -2.14056266e+00] [-4.84629577e-03 -1.37517338e-05 9.99988257e-01 -6.41222576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.850281693 meters Centerline goodness [0,1] 0.998658375569658 Centerline is valid? [True, True] Translation: X:72.91, Y:-2.14, Z:-0.64 [[ 9.99455515e-01 3.26981834e-02 4.41615343e-03 7.29062755e+01] [-3.26979199e-02 9.99465271e-01 -1.31861297e-04 -2.14125863e+00] [-4.41810362e-03 -1.26095310e-05 9.99990240e-01 -6.42914511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.880281693 meters Centerline goodness [0,1] 0.9986577181208054 Centerline is valid? [True, True] Translation: X:72.94, Y:-2.14, Z:-0.64 [[ 9.99461509e-01 3.26364197e-02 3.39936913e-03 7.29350227e+01] [-3.26362633e-02 9.99467290e-01 -1.01470462e-04 -2.14145984e+00] [-3.40086988e-03 -9.52688483e-06 9.99994217e-01 -6.44881917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.910281693 meters Centerline goodness [0,1] 0.9984776725304465 Centerline is valid? [True, True] Translation: X:72.96, Y:-2.14, Z:-0.65 [[ 9.99464102e-01 3.26467906e-02 2.38641379e-03 7.29641206e+01] [-3.26467137e-02 9.99466951e-01 -7.12023219e-05 -2.14122232e+00] [-2.38746624e-03 -6.74440290e-06 9.99997150e-01 -6.46946286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.940281693 meters Centerline goodness [0,1] 0.9986396871280394 Centerline is valid? [True, True] Translation: X:72.99, Y:-2.14, Z:-0.64 [[ 9.99489937e-01 3.17633043e-02 3.31047842e-03 7.29933200e+01] [-3.17631520e-02 9.99495419e-01 -9.85758982e-05 -2.14390472e+00] [-3.31193911e-03 -6.62561118e-06 9.99994515e-01 -6.44706024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.970281693 meters Centerline goodness [0,1] 0.9986853822993088 Centerline is valid? [True, True] Translation: X:73.02, Y:-2.15, Z:-0.64 [[ 9.99511325e-01 3.10129455e-02 3.91258044e-03 7.30231999e+01] [-3.10127274e-02 9.99518983e-01 -1.16396091e-04 -2.14684224e+00] [-3.91430821e-03 -5.00057944e-06 9.99992339e-01 -6.43698267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.000281693 meters Centerline goodness [0,1] 0.9986437229804187 Centerline is valid? [True, True] Translation: X:73.05, Y:-2.15, Z:-0.64 [[ 9.99544845e-01 2.98603179e-02 4.29709224e-03 7.30525378e+01] [-2.98600448e-02 9.99554081e-01 -1.27727327e-04 -2.14992898e+00] [-4.29899007e-03 -6.42175524e-07 9.99990759e-01 -6.43075691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.030281693 meters Centerline goodness [0,1] 0.9985388166532548 Centerline is valid? [True, True] Translation: X:73.08, Y:-2.15, Z:-0.64 [[ 9.99574689e-01 2.87977795e-02 4.59665356e-03 7.30816460e+01] [-2.87974562e-02 9.99585258e-01 -1.36521052e-04 -2.15255730e+00] [-4.59867864e-03 4.09105798e-06 9.99989426e-01 -6.42186727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06028169300001 meters Centerline goodness [0,1] 0.9985643407579436 Centerline is valid? [True, True] Translation: X:73.11, Y:-2.16, Z:-0.64 [[ 9.99612025e-01 2.74651482e-02 4.63303384e-03 7.31116366e+01] [-2.74648060e-02 9.99622762e-01 -1.37486104e-04 -2.15569249e+00] [-4.63506216e-03 1.01873875e-05 9.99989258e-01 -6.42132729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09028169300001 meters Centerline goodness [0,1] 0.998741360184316 Centerline is valid? [True, True] Translation: X:73.14, Y:-2.16, Z:-0.64 [[ 9.99590785e-01 2.83886867e-02 3.51364294e-03 7.31425546e+01] [-2.83884956e-02 9.99596960e-01 -1.04267980e-04 -2.15773884e+00] [-3.51518684e-03 4.47827472e-06 9.99993822e-01 -6.44022208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.120281693 meters Centerline goodness [0,1] 0.9989017023613399 Centerline is valid? [True, True] Translation: X:73.17, Y:-2.16, Z:-0.64 [[ 9.99535983e-01 3.03001668e-02 3.11753972e-03 7.31719108e+01] [-3.03000255e-02 9.99540845e-01 -9.25368125e-05 -2.15682086e+00] [-3.11891216e-03 -1.96765918e-06 9.99995136e-01 -6.44956272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.150281693 meters Centerline goodness [0,1] 0.999016274245632 Centerline is valid? [True, True] Translation: X:73.20, Y:-2.15, Z:-0.65 [[ 9.99462880e-01 3.26174377e-02 3.17085201e-03 7.32011561e+01] [-3.26173033e-02 9.99467910e-01 -9.41049446e-05 -2.15468467e+00] [-3.17223429e-03 -9.37024271e-06 9.99994968e-01 -6.45197125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.180281693 meters Centerline goodness [0,1] 0.999086466964096 Centerline is valid? [True, True] Translation: X:73.23, Y:-2.15, Z:-0.64 [[ 9.99259534e-01 3.82914853e-02 3.76107765e-03 7.32299607e+01] [-3.82913367e-02 9.99266612e-01 -1.11530860e-04 -2.14766806e+00] [-3.76259000e-03 -3.25684156e-05 9.99992921e-01 -6.44127068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.210281693 meters Centerline goodness [0,1] 0.9991524705483515 Centerline is valid? [True, True] Translation: X:73.26, Y:-2.14, Z:-0.64 [[ 9.99162484e-01 4.07174929e-02 4.05169154e-03 7.32588629e+01] [-4.07173410e-02 9.99170698e-01 -1.20010124e-04 -2.14481659e+00] [-4.05321797e-03 -4.50644929e-05 9.99991785e-01 -6.44112193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.240281693 meters Centerline goodness [0,1] 0.9992345148738012 Centerline is valid? [True, True] Translation: X:73.29, Y:-2.14, Z:-0.64 [[ 9.98977791e-01 4.50598022e-02 3.60390325e-03 7.32889594e+01] [-4.50597109e-02 9.98984290e-01 -1.06575973e-04 -2.14205220e+00] [-3.60504502e-03 -5.59238086e-05 9.99993500e-01 -6.44729968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.270281693 meters Centerline goodness [0,1] 0.999002652519894 Centerline is valid? [True, True] Translation: X:73.32, Y:-2.14, Z:-0.64 [[ 9.98894479e-01 4.68310680e-02 4.08306852e-03 7.33170036e+01] [-4.68309659e-02 9.98902821e-01 -1.20672579e-04 -2.13806179e+00] [-4.08423989e-03 -7.06748695e-05 9.99991657e-01 -6.44600205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.300281693 meters Centerline goodness [0,1] 0.9990367738344963 Centerline is valid? [True, True] Translation: X:73.35, Y:-2.14, Z:-0.64 [[ 9.98812942e-01 4.84929590e-02 4.59778620e-03 7.33463209e+01] [-4.84928486e-02 9.98823521e-01 -1.35564864e-04 -2.13682342e+00] [-4.59895094e-03 -8.75558094e-05 9.99989421e-01 -6.43450200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.330281693 meters Centerline goodness [0,1] 0.9988713798977853 Centerline is valid? [True, True] Translation: X:73.37, Y:-2.13, Z:-0.64 [[ 9.98665928e-01 5.14585339e-02 4.28770435e-03 7.33745883e+01] [-5.14584658e-02 9.98675128e-01 -1.26271738e-04 -2.13128314e+00] [-4.28852144e-03 -9.45354048e-05 9.99990800e-01 -6.44013981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.360281693 meters Centerline goodness [0,1] 0.9987332418452444 Centerline is valid? [True, True] Translation: X:73.40, Y:-2.13, Z:-0.65 [[ 9.98586210e-01 5.30301709e-02 3.65826483e-03 7.34023410e+01] [-5.30301317e-02 9.98592907e-01 -1.07774960e-04 -2.12676261e+00] [-3.65883264e-03 -8.63756769e-05 9.99993303e-01 -6.45413706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.390281693 meters Centerline goodness [0,1] 0.9986128302531051 Centerline is valid? [True, True] Translation: X:73.43, Y:-2.13, Z:-0.64 [[ 9.98433752e-01 5.57869775e-02 4.22555634e-03 7.34321951e+01] [-5.57869515e-02 9.98442688e-01 -1.24120163e-04 -2.12515440e+00] [-4.22590012e-03 -1.11805147e-04 9.99991065e-01 -6.44902745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.420281693 meters Centerline goodness [0,1] 0.9986534145559475 Centerline is valid? [True, True] Translation: X:73.46, Y:-2.12, Z:-0.64 [[ 9.98393864e-01 5.64545783e-02 4.75111519e-03 7.34609185e+01] [-5.64545535e-02 9.98405160e-01 -1.39440756e-04 -2.12383415e+00] [-4.75141000e-03 -1.29005292e-04 9.99988704e-01 -6.43921170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45028169300001 meters Centerline goodness [0,1] 0.9985504156896184 Centerline is valid? [True, True] Translation: X:73.49, Y:-2.12, Z:-0.64 [[ 9.98384055e-01 5.66337359e-02 4.67965786e-03 7.34896384e+01] [-5.66337149e-02 9.98395014e-01 -1.37124005e-04 -2.12213542e+00] [-4.67991291e-03 -1.28123989e-04 9.99989041e-01 -6.43826977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48028169300001 meters Centerline goodness [0,1] 0.9984397375339303 Centerline is valid? [True, True] Translation: X:73.52, Y:-2.12, Z:-0.65 [[ 9.98393502e-01 5.66089404e-02 2.41735555e-03 7.35175504e+01] [-5.66089346e-02 9.98396426e-01 -7.08701316e-05 -2.11724017e+00] [-2.41749102e-03 -6.60876430e-05 9.99997076e-01 -6.48671725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.510281693 meters Centerline goodness [0,1] 0.9985400206114737 Centerline is valid? [True, True] Translation: X:73.55, Y:-2.12, Z:-0.65 [[ 9.98394947e-01 5.66247588e-02 1.08018230e-03 7.35459709e+01] [-5.66247576e-02 9.98395531e-01 -3.17223365e-05 -2.11661621e+00] [-1.08024545e-03 -2.94936404e-05 9.99999416e-01 -6.51423373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.540281693 meters Centerline goodness [0,1] 0.9984890080657175 Centerline is valid? [True, True] Translation: X:73.57, Y:-2.12, Z:-0.65 [[ 9.98397750e-01 5.65855243e-02 1.09755158e-04 7.35733700e+01] [-5.65855243e-02 9.98397756e-01 -3.49314481e-06 -2.11505691e+00] [-1.09776965e-04 -2.72300524e-06 9.99999994e-01 -6.53877055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.570281693 meters Centerline goodness [0,1] 0.9985162575776845 Centerline is valid? [True, True] Translation: X:73.60, Y:-2.11, Z:-0.65 [[ 9.98417425e-01 5.62287543e-02 9.86462590e-04 7.36022378e+01] [-5.62287532e-02 9.98417912e-01 -2.88836121e-05 -2.11293840e+00] [-9.86526008e-04 -2.66296598e-05 9.99999513e-01 -6.51695828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.600281693 meters Centerline goodness [0,1] 0.9981832393265311 Centerline is valid? [True, True] Translation: X:73.63, Y:-2.11, Z:-0.65 [[ 9.98428042e-01 5.59771222e-02 2.82954481e-03 7.36301711e+01] [-5.59771136e-02 9.98432049e-01 -8.23008792e-05 -2.10839292e+00] [-2.82971519e-03 -7.62182456e-05 9.99995993e-01 -6.48173387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.630281693 meters Centerline goodness [0,1] 0.9981071884304551 Centerline is valid? [True, True] Translation: X:73.66, Y:-2.11, Z:-0.65 [[ 9.98436701e-01 5.56927790e-02 4.74018759e-03 7.36585678e+01] [-5.56927539e-02 9.98447945e-01 -1.37397372e-04 -2.10933208e+00] [-4.74048260e-03 -1.26811522e-04 9.99988756e-01 -6.45432041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.660281693 meters Centerline goodness [0,1] 0.998160443185182 Centerline is valid? [True, True] Translation: X:73.69, Y:-2.11, Z:-0.65 [[ 9.98452338e-01 5.54475185e-02 4.30136249e-03 7.36872476e+01] [-5.54474963e-02 9.98461596e-01 -1.24502887e-04 -2.11065068e+00] [-4.30164863e-03 -1.14189582e-04 9.99990741e-01 -6.46777348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.690281693 meters Centerline goodness [0,1] 0.9984042553191489 Centerline is valid? [True, True] Translation: X:73.72, Y:-2.11, Z:-0.65 [[ 9.98467743e-01 5.52296690e-02 3.44232122e-03 7.37158478e+01] [-5.52296538e-02 9.98473673e-01 -9.95277259e-05 -2.11239913e+00] [-3.44256400e-03 -9.07429856e-05 9.99994070e-01 -6.48607468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.720281693 meters Centerline goodness [0,1] 0.9987252485765276 Centerline is valid? [True, True] Translation: X:73.74, Y:-2.11, Z:-0.65 [[ 9.98473536e-01 5.51987605e-02 1.92220748e-03 7.37432672e+01] [-5.51987555e-02 9.98475385e-01 -5.56709679e-05 -2.10863634e+00] [-1.92234982e-03 -5.05174727e-05 9.99998151e-01 -6.50735570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.750281693 meters Centerline goodness [0,1] 0.9987098957341962 Centerline is valid? [True, True] Translation: X:73.77, Y:-2.10, Z:-0.65 [[ 9.98492653e-01 5.47957952e-02 3.13727672e-03 7.37714547e+01] [-5.47957815e-02 9.98497578e-01 -9.03769886e-05 -2.10322532e+00] [-3.13751549e-03 -8.16687706e-05 9.99995075e-01 -6.47396590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.780281693 meters Centerline goodness [0,1] 0.9983865831652691 Centerline is valid? [True, True] Translation: X:73.80, Y:-2.10, Z:-0.65 [[ 9.98526648e-01 5.41189716e-02 3.95864370e-03 7.37994839e+01] [-5.41189457e-02 9.98534490e-01 -1.13726728e-04 -2.09813517e+00] [-3.95899704e-03 -1.00678455e-04 9.99992158e-01 -6.46327680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81028169300001 meters Centerline goodness [0,1] 0.9983644859813084 Centerline is valid? [True, True] Translation: X:73.83, Y:-2.10, Z:-0.65 [[ 9.98578515e-01 5.31183174e-02 4.40390952e-03 7.38288492e+01] [-5.31182770e-02 9.98588220e-01 -1.26209735e-04 -2.09901421e+00] [-4.40439621e-03 -1.07897756e-04 9.99990295e-01 -6.45714892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84028169300001 meters Centerline goodness [0,1] 0.9983644859813084 Centerline is valid? [True, True] Translation: X:73.86, Y:-2.10, Z:-0.65 [[ 9.98580968e-01 5.30721773e-02 4.40391364e-03 7.38571695e+01] [-5.30721371e-02 9.98590673e-01 -1.26065838e-04 -2.09973375e+00] [-4.40439767e-03 -1.07838162e-04 9.99990295e-01 -6.45861505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.870281693 meters Centerline goodness [0,1] 0.9986367896396012 Centerline is valid? [True, True] Translation: X:73.89, Y:-2.10, Z:-0.65 [[ 9.98713813e-01 5.05158822e-02 4.34331534e-03 7.38863090e+01] [-5.05158198e-02 9.98723253e-01 -1.24133459e-04 -2.09746556e+00] [-4.34404074e-03 -9.54323351e-05 9.99990560e-01 -6.46449950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.900281693 meters Centerline goodness [0,1] 0.9983750962114085 Centerline is valid? [True, True] Translation: X:73.91, Y:-2.09, Z:-0.65 [[ 9.98785242e-01 4.90700023e-02 4.49178802e-03 7.39143299e+01] [-4.90699219e-02 9.98795338e-01 -1.28169745e-04 -2.09432186e+00] [-4.49266622e-03 -9.23976374e-05 9.99989904e-01 -6.46606290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.930281693 meters Centerline goodness [0,1] 0.9986691734088172 Centerline is valid? [True, True] Translation: X:73.94, Y:-2.10, Z:-0.65 [[ 9.98961644e-01 4.53634505e-02 4.21798475e-03 7.39428603e+01] [-4.53633476e-02 9.98970546e-01 -1.20120304e-04 -2.09951563e+00] [-4.21909160e-03 -7.13463322e-05 9.99991097e-01 -6.46512897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.960281693 meters Centerline goodness [0,1] 0.9986616531769804 Centerline is valid? [True, True] Translation: X:73.97, Y:-2.10, Z:-0.65 [[ 9.99094434e-01 4.24034035e-02 3.50200026e-03 7.39717500e+01] [-4.24033148e-02 9.99100570e-01 -9.96102095e-05 -2.10292460e+00] [-3.50307427e-03 -4.89764136e-05 9.99993863e-01 -6.48039191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.990281693 meters Centerline goodness [0,1] 0.998549890175506 Centerline is valid? [True, True] Translation: X:74.00, Y:-2.11, Z:-0.65 [[ 9.99387201e-01 3.49708764e-02 1.50349050e-03 7.39999269e+01] [-3.49708516e-02 9.99388332e-01 -4.27892784e-05 -2.10946306e+00] [-1.50406725e-03 -9.81528616e-06 9.99998869e-01 -6.52605565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.020281693 meters Centerline goodness [0,1] 0.998171885296431 Centerline is valid? [True, True] Translation: X:74.03, Y:-2.12, Z:-0.65 [[ 9.99525706e-01 3.07784701e-02 1.02381339e-03 7.40288897e+01] [-3.07784563e-02 9.99526231e-01 -2.92045399e-05 -2.11737478e+00] [-1.02422721e-03 -2.32070754e-06 9.99999475e-01 -6.52967562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.050281693 meters Centerline goodness [0,1] 0.9979850810254651 Centerline is valid? [True, True] Translation: X:74.06, Y:-2.13, Z:-0.65 [[ 9.99657972e-01 2.61278278e-02 1.12987206e-03 7.40567251e+01] [-2.61278081e-02 9.99658610e-01 -3.21974395e-05 -2.12505953e+00] [-1.13032758e-03 2.66534675e-06 9.99999361e-01 -6.52980082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.080281693 meters Centerline goodness [0,1] 0.9972752619128084 Centerline is valid? [True, True] Translation: X:74.09, Y:-2.14, Z:-0.65 [[ 9.99843129e-01 1.74424869e-02 3.07861799e-03 7.40858851e+01] [-1.74423018e-02 9.99847868e-01 -8.69812491e-05 -2.14099441e+00] [-3.07966681e-03 3.32694201e-05 9.99995257e-01 -6.49508888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.110281693 meters Centerline goodness [0,1] 0.9970050977060323 Centerline is valid? [True, True] Translation: X:74.11, Y:-2.15, Z:-0.65 [[ 9.99903445e-01 1.32469631e-02 4.19743377e-03 7.41146128e+01] [-1.32465827e-02 9.99912253e-01 -1.18402893e-04 -2.15161572e+00] [-4.19863394e-03 6.27898066e-05 9.99991184e-01 -6.47609320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.140281693 meters Centerline goodness [0,1] 0.9961921191593209 Centerline is valid? [True, True] Translation: X:74.15, Y:-2.17, Z:-0.65 [[ 9.99973795e-01 6.25828943e-03 3.63899256e-03 7.41455560e+01] [-6.25795693e-03 9.99980414e-01 -1.02749517e-04 -2.17028598e+00] [-3.63956433e-03 7.99741661e-05 9.99993374e-01 -6.48332507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.170281693 meters Centerline goodness [0,1] 0.9960553529926012 Centerline is valid? [True, True] Translation: X:74.18, Y:-2.18, Z:-0.65 [[ 9.99991909e-01 3.10986607e-03 2.55165531e-03 7.41765773e+01] [-3.10969229e-03 9.99995162e-01 -7.20695103e-05 -2.18012938e+00] [-2.55186710e-03 6.41340643e-05 9.99996742e-01 -6.50588058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20028169300001 meters Centerline goodness [0,1] 0.9956230308925211 Centerline is valid? [True, True] Translation: X:74.21, Y:-2.19, Z:-0.65 [[ 9.99998677e-01 -4.26437357e-04 1.56992040e-03 7.42073053e+01] [ 4.26507422e-04 9.99999908e-01 -4.42946951e-05 -2.19315723e+00] [-1.56990136e-03 4.49642192e-05 9.99998767e-01 -6.51466692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23028169300001 meters Centerline goodness [0,1] 0.995531132398221 Centerline is valid? [True, True] Translation: X:74.24, Y:-2.20, Z:-0.65 [[ 9.99995737e-01 -4.62576397e-04 2.88294120e-03 7.42390461e+01] [ 4.62813555e-04 9.99999890e-01 -8.15957011e-05 -2.19676723e+00] [-2.88290313e-03 8.29296175e-05 9.99995841e-01 -6.49102444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.260281693 meters Centerline goodness [0,1] 0.9954083584881596 Centerline is valid? [True, True] Translation: X:74.27, Y:-2.20, Z:-0.65 [[ 9.99992725e-01 6.88016600e-04 3.75195149e-03 7.42699945e+01] [-6.87622566e-04 9.99999758e-01 -1.06309988e-04 -2.20000189e+00] [-3.75202372e-03 1.03729288e-04 9.99992956e-01 -6.47426623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.290281693 meters Centerline goodness [0,1] 0.9967611336032388 Centerline is valid? [True, True] Translation: X:74.30, Y:-2.20, Z:-0.65 [[ 9.99987222e-01 4.41585504e-03 2.46073482e-03 7.43000329e+01] [-4.41569679e-03 9.99990248e-01 -6.97392899e-05 -2.20265630e+00] [-2.46101878e-03 5.88725399e-05 9.99996970e-01 -6.49580344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.320281693 meters Centerline goodness [0,1] 0.9972928035470668 Centerline is valid? [True, True] Translation: X:74.33, Y:-2.20, Z:-0.65 [[ 9.99978392e-01 6.42357616e-03 1.39752693e-03 7.43310283e+01] [-6.42352711e-03 9.99979368e-01 -3.95887028e-05 -2.20268497e+00] [-1.39775240e-03 3.06107952e-05 9.99999023e-01 -6.51416554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.350281693 meters Centerline goodness [0,1] 0.9971133232865663 Centerline is valid? [True, True] Translation: X:74.36, Y:-2.20, Z:-0.65 [[ 9.99952944e-01 9.55117772e-03 1.69856999e-03 7.43609083e+01] [-9.55110952e-03 9.99954386e-01 -4.82552171e-05 -2.20377439e+00] [-1.69895341e-03 3.20297184e-05 9.99998556e-01 -6.51327522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.380281693 meters Centerline goodness [0,1] 0.9971166784135324 Centerline is valid? [True, True] Translation: X:74.39, Y:-2.20, Z:-0.65 [[ 9.99943670e-01 1.01990388e-02 2.93864506e-03 7.43916342e+01] [-1.01988375e-02 9.99947987e-01 -8.34849054e-05 -2.20258118e+00] [-2.93934367e-03 5.35094394e-05 9.99995679e-01 -6.48509347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.410281693 meters Centerline goodness [0,1] 0.9974147065056156 Centerline is valid? [True, True] Translation: X:74.42, Y:-2.21, Z:-0.64 [[ 9.99932853e-01 1.02818028e-02 5.34544475e-03 7.44219291e+01] [-1.02811378e-02 9.99947136e-01 -1.51862362e-04 -2.20915133e+00] [-5.34672359e-03 9.68949102e-05 9.99985701e-01 -6.44067738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.440281693 meters Centerline goodness [0,1] 0.9973572037510656 Centerline is valid? [True, True] Translation: X:74.45, Y:-2.21, Z:-0.64 [[ 9.99933034e-01 1.02482892e-02 5.37583301e-03 7.44537357e+01] [-1.02476157e-02 9.99947480e-01 -1.52814069e-04 -2.21179413e+00] [-5.37711675e-03 9.77143649e-05 9.99985538e-01 -6.43845593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.470281693 meters Centerline goodness [0,1] 0.997300055274459 Centerline is valid? [True, True] Translation: X:74.49, Y:-2.21, Z:-0.65 [[ 9.99929552e-01 1.07965857e-02 4.93211697e-03 7.44860291e+01] [-1.07960221e-02 9.99941711e-01 -1.40884744e-04 -2.21282344e+00] [-4.93335055e-03 8.76275749e-05 9.99987827e-01 -6.45034179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.500281693 meters Centerline goodness [0,1] 0.9976549342315646 Centerline is valid? [True, True] Translation: X:74.52, Y:-2.21, Z:-0.65 [[ 9.99893153e-01 1.39467264e-02 4.37842863e-03 7.45169472e+01] [-1.39463098e-02 9.99902738e-01 -1.25658180e-04 -2.21250211e+00] [-4.37975529e-03 6.45818320e-05 9.99990407e-01 -6.46377689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.530281693 meters Centerline goodness [0,1] 0.9980881165824022 Centerline is valid? [True, True] Translation: X:74.55, Y:-2.21, Z:-0.65 [[ 9.99864887e-01 1.58590147e-02 4.32419529e-03 7.45480135e+01] [-1.58586232e-02 9.99874236e-01 -1.24803358e-04 -2.21043487e+00] [-4.32563072e-03 5.62107117e-05 9.99990643e-01 -6.46331913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56028169300001 meters Centerline goodness [0,1] 0.9979904812268641 Centerline is valid? [True, True] Translation: X:74.58, Y:-2.21, Z:-0.64 [[ 9.99822046e-01 1.81646408e-02 5.09136315e-03 7.45782311e+01] [-1.81641274e-02 9.99835008e-01 -1.47075770e-04 -2.20797348e+00] [-5.09319470e-03 5.45694289e-05 9.99987028e-01 -6.44791226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59028169300001 meters Centerline goodness [0,1] 0.9978392119478868 Centerline is valid? [True, True] Translation: X:74.61, Y:-2.21, Z:-0.64 [[ 9.99819137e-01 1.82598218e-02 5.31710748e-03 7.46093794e+01] [-1.82592628e-02 9.99833274e-01 -1.53658279e-04 -2.20895563e+00] [-5.31902675e-03 5.65440251e-05 9.99985852e-01 -6.44088446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.620281693 meters Centerline goodness [0,1] 0.9977456880968079 Centerline is valid? [True, True] Translation: X:74.64, Y:-2.21, Z:-0.64 [[ 9.99824523e-01 1.78389738e-02 5.71779958e-03 7.46395529e+01] [-1.78383197e-02 9.99840871e-01 -1.65384415e-04 -2.21173155e+00] [-5.71984000e-03 6.33594575e-05 9.99983640e-01 -6.43759627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.650281693 meters Centerline goodness [0,1] 0.9976333631828067 Centerline is valid? [True, True] Translation: X:74.67, Y:-2.22, Z:-0.64 [[ 9.99865551e-01 1.51760097e-02 6.21042762e-03 7.46711271e+01] [-1.51751848e-02 9.99884834e-01 -1.79930637e-04 -2.21854783e+00] [-6.21244302e-03 8.56620583e-05 9.99980699e-01 -6.43356329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.680281693 meters Centerline goodness [0,1] 0.9975306557480846 Centerline is valid? [True, True] Translation: X:74.70, Y:-2.23, Z:-0.64 [[ 9.99892103e-01 1.31631082e-02 6.52036308e-03 7.47016426e+01] [-1.31621539e-02 9.99913357e-01 -1.89238634e-04 -2.23085984e+00] [-6.52228910e-03 1.03396193e-04 9.99978724e-01 -6.43548220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.710281693 meters Centerline goodness [0,1] 0.9973904741699374 Centerline is valid? [True, True] Translation: X:74.73, Y:-2.25, Z:-0.64 [[ 9.99944492e-01 7.75485705e-03 7.13271548e-03 7.47320920e+01] [-7.75357141e-03 9.99969919e-01 -2.07880599e-04 -2.24618632e+00] [-7.13411300e-03 1.52565041e-04 9.99974540e-01 -6.43323489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.740281693 meters Centerline goodness [0,1] 0.9968594164456234 Centerline is valid? [True, True] Translation: X:74.76, Y:-2.26, Z:-0.64 [[ 9.99957961e-01 5.37717234e-03 7.42707851e-03 7.47639901e+01] [-5.37571162e-03 9.99985527e-01 -2.16623152e-04 -2.25548522e+00] [-7.42813584e-03 1.76688213e-04 9.99972395e-01 -6.43360597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.770281693 meters Centerline goodness [0,1] 0.9958668100630522 Centerline is valid? [True, True] Translation: X:74.79, Y:-2.27, Z:-0.64 [[ 9.99972115e-01 2.94170649e-03 6.86411870e-03 7.47943023e+01] [-2.94039908e-03 9.99995657e-01 -2.00554943e-04 -2.26962524e+00] [-6.86467887e-03 1.80366102e-04 9.99976422e-01 -6.43460689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.800281693 meters Centerline goodness [0,1] 0.9965850761464388 Centerline is valid? [True, True] Translation: X:74.83, Y:-2.27, Z:-0.64 [[ 9.99974465e-01 3.44357240e-03 6.26182436e-03 7.48260964e+01] [-3.44249077e-03 9.99994058e-01 -1.83504585e-04 -2.27265786e+00] [-6.26241906e-03 1.61943627e-04 9.99980378e-01 -6.44835237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.830281693 meters Centerline goodness [0,1] 0.9973869088416724 Centerline is valid? [True, True] Translation: X:74.86, Y:-2.27, Z:-0.65 [[ 9.99974814e-01 5.22836247e-03 4.79964505e-03 7.48579386e+01] [-5.22774461e-03 9.99986325e-01 -1.41267011e-04 -2.27382347e+00] [-4.80031801e-03 1.16172134e-04 9.99988472e-01 -6.47159111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.860281693 meters Centerline goodness [0,1] 0.9976296296296296 Centerline is valid? [True, True] Translation: X:74.89, Y:-2.28, Z:-0.65 [[ 9.99940116e-01 1.06467330e-02 2.53214057e-03 7.48877612e+01] [-1.06465781e-02 9.99943321e-01 -7.46563487e-05 -2.27892409e+00] [-2.53279189e-03 4.76932457e-05 9.99996791e-01 -6.50950123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.890281693 meters Centerline goodness [0,1] 0.9979244763538556 Centerline is valid? [True, True] Translation: X:74.92, Y:-2.28, Z:-0.65 [[ 9.99905113e-01 1.35000979e-02 2.74089531e-03 7.49188870e+01] [-1.34999272e-02 9.99908869e-01 -8.07565539e-05 -2.27822940e+00] [-2.74173575e-03 4.37470040e-05 9.99996240e-01 -6.50798750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.920281693 meters Centerline goodness [0,1] 0.9981613373628928 Centerline is valid? [True, True] Translation: X:74.95, Y:-2.28, Z:-0.65 [[ 9.99821193e-01 1.84756817e-02 4.02871682e-03 7.49503925e+01] [-1.84753528e-02 9.99829309e-01 -1.18844418e-04 -2.27639821e+00] [-4.03022488e-03 4.43912028e-05 9.99991878e-01 -6.48307289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95028169300001 meters Centerline goodness [0,1] 0.9982860203535083 Centerline is valid? [True, True] Translation: X:74.98, Y:-2.28, Z:-0.65 [[ 9.99781837e-01 2.03377245e-02 4.75968792e-03 7.49814425e+01] [-2.03372861e-02 9.99793166e-01 -1.40488273e-04 -2.27885727e+00] [-4.76156066e-03 4.36584891e-05 9.99988663e-01 -6.47848907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98028169300001 meters Centerline goodness [0,1] 0.9983121100760619 Centerline is valid? [True, True] Translation: X:75.01, Y:-2.28, Z:-0.65 [[ 9.99759798e-01 2.13570830e-02 4.92151315e-03 7.50128469e+01] [-2.13566228e-02 9.99771911e-01 -1.46034525e-04 -2.28271382e+00] [-4.92350947e-03 4.08925470e-05 9.99987879e-01 -6.47898767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.010281693 meters Centerline goodness [0,1] 0.9982664947254931 Centerline is valid? [True, True] Translation: X:75.04, Y:-2.29, Z:-0.65 [[ 9.99753322e-01 2.16101296e-02 5.12805996e-03 7.50449356e+01] [-2.16096293e-02 9.99766473e-01 -1.52960531e-04 -2.28871393e+00] [-5.13016792e-03 4.21073246e-05 9.99986840e-01 -6.47765566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.040281693 meters Centerline goodness [0,1] 0.9985482242046794 Centerline is valid? [True, True] Translation: X:75.08, Y:-2.30, Z:-0.65 [[ 9.99757491e-01 2.14030466e-02 5.18352259e-03 7.50760973e+01] [-2.14025283e-02 9.99770928e-01 -1.55452001e-04 -2.29783822e+00] [-5.18566234e-03 4.44738134e-05 9.99986553e-01 -6.48097960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.070281693 meters Centerline goodness [0,1] 0.9984498460611019 Centerline is valid? [True, True] Translation: X:75.11, Y:-2.30, Z:-0.65 [[ 9.99745022e-01 2.19365843e-02 5.35518935e-03 7.51085456e+01] [-2.19360343e-02 9.99759363e-01 -1.61419445e-04 -2.30056234e+00] [-5.35744169e-03 4.39066692e-05 9.99985648e-01 -6.48252307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.100281693 meters Centerline goodness [0,1] 0.9983341164409892 Centerline is valid? [True, True] Translation: X:75.14, Y:-2.30, Z:-0.65 [[ 9.99716046e-01 2.32733249e-02 5.11658727e-03 7.51396514e+01] [-2.32728363e-02 9.99729139e-01 -1.55020572e-04 -2.30345727e+00] [-5.11880923e-03 3.58990556e-05 9.99986898e-01 -6.49038804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.130281693 meters Centerline goodness [0,1] 0.9986436942378197 Centerline is valid? [True, True] Translation: X:75.17, Y:-2.30, Z:-0.65 [[ 9.99602330e-01 2.77490566e-02 5.01710214e-03 7.51715119e+01] [-2.77486392e-02 9.99614921e-01 -1.52798106e-04 -2.30269914e+00] [-5.01941016e-03 1.35195852e-05 9.99987403e-01 -6.48987668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.160281693 meters Centerline goodness [0,1] 0.9985571516476055 Centerline is valid? [True, True] Translation: X:75.20, Y:-2.30, Z:-0.65 [[ 9.99534829e-01 3.00242490e-02 5.35450314e-03 7.52027214e+01] [-3.00238014e-02 9.99549171e-01 -1.63968933e-04 -2.30208976e+00] [-5.35701222e-03 3.13012056e-06 9.99985651e-01 -6.48192468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.190281693 meters Centerline goodness [0,1] 0.9987491519674355 Centerline is valid? [True, True] Translation: X:75.23, Y:-2.30, Z:-0.65 [[ 9.99409579e-01 3.37500508e-02 6.43640793e-03 7.52331892e+01] [-3.37494775e-02 9.99430305e-01 -1.97681381e-04 -2.30081043e+00] [-6.43941289e-03 -1.96607391e-05 9.99979267e-01 -6.46557417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.220281693 meters Centerline goodness [0,1] 0.9988208052827924 Centerline is valid? [True, True] Translation: X:75.27, Y:-2.30, Z:-0.65 [[ 9.99354616e-01 3.51655893e-02 7.33020579e-03 7.52654507e+01] [-3.51648803e-02 9.99381499e-01 -2.25622263e-04 -2.30309202e+00] [-7.33360619e-03 -3.22891587e-05 9.99973108e-01 -6.45615106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.250281693 meters Centerline goodness [0,1] 0.9988195366681423 Centerline is valid? [True, True] Translation: X:75.30, Y:-2.30, Z:-0.65 [[ 9.99307700e-01 3.63776938e-02 7.79638651e-03 7.52979141e+01] [-3.63769179e-02 9.99338112e-01 -2.41346343e-04 -2.30460429e+00] [-7.80000580e-03 -4.24292526e-05 9.99969579e-01 -6.45067833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.280281693 meters Centerline goodness [0,1] 0.9988114188687255 Centerline is valid? [True, True] Translation: X:75.33, Y:-2.31, Z:-0.65 [[ 9.99255481e-01 3.79749976e-02 6.81053867e-03 7.53296816e+01] [-3.79744353e-02 9.99278689e-01 -2.11898160e-04 -2.30997807e+00] [-6.81367298e-03 -4.68859623e-05 9.99976786e-01 -6.46582578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31028169300001 meters Centerline goodness [0,1] 0.9989906148658806 Centerline is valid? [True, True] Translation: X:75.36, Y:-2.31, Z:-0.65 [[ 9.99238171e-01 3.85557674e-02 6.04408998e-03 7.53609869e+01] [-3.85553297e-02 9.99256449e-01 -1.88950288e-04 -2.31172885e+00] [-6.04688101e-03 -4.42255415e-05 9.99981716e-01 -6.48037648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34028169300001 meters Centerline goodness [0,1] 0.9989571805567379 Centerline is valid? [True, True] Translation: X:75.39, Y:-2.31, Z:-0.65 [[ 9.99185026e-01 4.00894226e-02 4.70330365e-03 7.53925060e+01] [-4.00891717e-02 9.99196095e-01 -1.47643070e-04 -2.31358971e+00] [-4.70544156e-03 -4.10288027e-05 9.99988929e-01 -6.50703098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.370281693 meters Centerline goodness [0,1] 0.9991044394217238 Centerline is valid? [True, True] Translation: X:75.42, Y:-2.31, Z:-0.65 [[ 9.99120611e-01 4.16774034e-02 4.58238807e-03 7.54235210e+01] [-4.16771815e-02 9.99131118e-01 -1.43952061e-04 -2.31320740e+00] [-4.58440606e-03 -4.71555480e-05 9.99989490e-01 -6.50726861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.400281693 meters Centerline goodness [0,1] 0.9989748189914782 Centerline is valid? [True, True] Translation: X:75.46, Y:-2.31, Z:-0.65 [[ 9.98914619e-01 4.62057865e-02 5.88293924e-03 7.54552239e+01] [-4.62054983e-02 9.98931938e-01 -1.84980788e-04 -2.30730818e+00] [-5.88520308e-03 -8.70441259e-05 9.99982678e-01 -6.48556319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.430281693 meters Centerline goodness [0,1] 0.9988404054286205 Centerline is valid? [True, True] Translation: X:75.49, Y:-2.30, Z:-0.65 [[ 9.98770803e-01 4.90876804e-02 6.87619538e-03 7.54863923e+01] [-4.90873536e-02 9.98794466e-01 -2.16394377e-04 -2.30273471e+00] [-6.87852819e-03 -1.21405848e-04 9.99976335e-01 -6.46331692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.460281693 meters Centerline goodness [0,1] 0.9986209822849262 Centerline is valid? [True, True] Translation: X:75.52, Y:-2.30, Z:-0.65 [[ 9.98624122e-01 5.19467061e-02 7.16959194e-03 7.55172389e+01] [-5.19464233e-02 9.98649848e-01 -2.25777101e-04 -2.29762520e+00] [-7.17164027e-03 -1.46968199e-04 9.99974273e-01 -6.45354259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.490281693 meters Centerline goodness [0,1] 0.9983421539246318 Centerline is valid? [True, True] Translation: X:75.55, Y:-2.29, Z:-0.65 [[ 9.98371961e-01 5.67013450e-02 6.19548298e-03 7.55485046e+01] [-5.67012249e-02 9.98391172e-01 -1.95181756e-04 -2.28761557e+00] [-6.19658258e-03 -1.56427481e-04 9.99980789e-01 -6.47552522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.520281693 meters Centerline goodness [0,1] 0.9981001174084747 Centerline is valid? [True, True] Translation: X:75.58, Y:-2.28, Z:-0.65 [[ 9.98288162e-01 5.81498308e-02 6.27237750e-03 7.55786964e+01] [-5.81497353e-02 9.98307853e-01 -1.97751946e-04 -2.28386284e+00] [-6.27326296e-03 -1.67323665e-04 9.99980309e-01 -6.48287020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.550281693 meters Centerline goodness [0,1] 0.9980574648849422 Centerline is valid? [True, True] Translation: X:75.61, Y:-2.28, Z:-0.65 [[ 9.98242443e-01 5.89336508e-02 6.23302333e-03 7.56079184e+01] [-5.89335714e-02 9.98261887e-01 -1.96564831e-04 -2.27689373e+00] [-6.23377392e-03 -1.71114969e-04 9.99980555e-01 -6.48728123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.580281693 meters Centerline goodness [0,1] 0.9978871751531798 Centerline is valid? [True, True] Translation: X:75.64, Y:-2.27, Z:-0.65 [[ 9.98288833e-01 5.81974233e-02 5.69788911e-03 7.56375659e+01] [-5.81973441e-02 9.98305082e-01 -1.79846459e-04 -2.27343304e+00] [-5.69869826e-03 -1.52063301e-04 9.99983751e-01 -6.49497238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.610281693 meters Centerline goodness [0,1] 0.9984076433121019 Centerline is valid? [True, True] Translation: X:75.67, Y:-2.27, Z:-0.65 [[ 9.98369705e-01 5.66142844e-02 7.26329373e-03 7.56675176e+01] [-5.66141147e-02 9.98396109e-01 -2.29133068e-04 -2.26940321e+00] [-7.26461640e-03 -1.82445431e-04 9.99973596e-01 -6.46859968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.640281693 meters Centerline goodness [0,1] 0.9984414818559002 Centerline is valid? [True, True] Translation: X:75.70, Y:-2.27, Z:-0.64 [[ 9.98434260e-01 5.52919297e-02 8.47535627e-03 7.56971053e+01] [-5.52916517e-02 9.98470211e-01 -2.67292430e-04 -2.26752243e+00] [-8.47716987e-03 -2.01742527e-04 9.99964048e-01 -6.44211484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.670281693 meters Centerline goodness [0,1] 0.9986578610992757 Centerline is valid? [True, True] Translation: X:75.73, Y:-2.27, Z:-0.64 [[ 9.98529715e-01 5.33905632e-02 9.37310204e-03 7.57274557e+01] [-5.33901385e-02 9.98573686e-01 -2.95710125e-04 -2.26883137e+00] [-9.37552118e-03 -2.05155868e-04 9.99956028e-01 -6.43135736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70028169300001 meters Centerline goodness [0,1] 0.999180380907189 Centerline is valid? [True, True] Translation: X:75.76, Y:-2.28, Z:-0.65 [[ 9.98868860e-01 4.68641930e-02 8.04657766e-03 7.57580409e+01] [-4.68636680e-02 9.98901262e-01 -2.53894846e-04 -2.27751965e+00] [-8.04963516e-03 -1.23484488e-04 9.99967594e-01 -6.46364194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73028169300001 meters Centerline goodness [0,1] 0.999180380907189 Centerline is valid? [True, True] Translation: X:75.79, Y:-2.28, Z:-0.65 [[ 9.98867716e-01 4.68885764e-02 8.04657346e-03 7.57888644e+01] [-4.68880511e-02 9.98900118e-01 -2.54027873e-04 -2.27853666e+00] [-8.04963419e-03 -1.23547906e-04 9.99967594e-01 -6.46523762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.760281693 meters Centerline goodness [0,1] 0.9992572471457069 Centerline is valid? [True, True] Translation: X:75.82, Y:-2.28, Z:-0.65 [[ 9.99081410e-01 4.23396883e-02 6.60955448e-03 7.58197311e+01] [-4.23392334e-02 9.99103271e-01 -2.08800531e-04 -2.28079551e+00] [-6.61246805e-03 -7.12347409e-05 9.99978135e-01 -6.48604732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.790281693 meters Centerline goodness [0,1] 0.998930732875687 Centerline is valid? [True, True] Translation: X:75.85, Y:-2.30, Z:-0.65 [[ 9.99493069e-01 3.13497071e-02 5.54987957e-03 7.58507768e+01] [-3.13492162e-02 9.99508477e-01 -1.75439174e-04 -2.29839423e+00] [-5.55265164e-03 1.36586371e-06 9.99984584e-01 -6.51364769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.820281693 meters Centerline goodness [0,1] 0.9987281129435706 Centerline is valid? [True, True] Translation: X:75.88, Y:-2.31, Z:-0.65 [[ 9.99661493e-01 2.54875736e-02 5.22324636e-03 7.58830465e+01] [-2.54870582e-02 9.99675139e-01 -1.65231335e-04 -2.31037536e+00] [-5.22576088e-03 3.20502194e-05 9.99986345e-01 -6.51565665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.850281693 meters Centerline goodness [0,1] 0.9983727652285622 Centerline is valid? [True, True] Translation: X:75.91, Y:-2.32, Z:-0.65 [[ 9.99786032e-01 1.98885738e-02 5.68645708e-03 7.59144166e+01] [-1.98878671e-02 9.99802200e-01 -1.80803797e-04 -2.32282349e+00] [-5.68892823e-03 6.76736075e-05 9.99983816e-01 -6.50934812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.880281693 meters Centerline goodness [0,1] 0.9975560939639735 Centerline is valid? [True, True] Translation: X:75.94, Y:-2.34, Z:-0.65 [[ 9.99870829e-01 1.48443952e-02 6.16185154e-03 7.59437197e+01] [-1.48434666e-02 9.99889810e-01 -1.96408853e-04 -2.33528048e+00] [-6.16408814e-03 1.04920245e-04 9.99980996e-01 -6.50644521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.910281693 meters Centerline goodness [0,1] 0.9946522938290839 Centerline is valid? [True, True] Translation: X:75.97, Y:-2.36, Z:-0.65 [[ 9.99960677e-01 5.98512810e-03 6.54392016e-03 7.59726002e+01] [-5.98388923e-03 9.99982075e-01 -2.08878136e-04 -2.35778112e+00] [-6.54505302e-03 1.69711829e-04 9.99978567e-01 -6.49651796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.940281693 meters Centerline goodness [0,1] 0.9920057677219619 Centerline is valid? [True, True] Translation: X:76.00, Y:-2.38, Z:-0.65 [[ 9.99983517e-01 -8.21367873e-04 5.68246913e-03 7.60026430e+01] [ 8.22411600e-04 9.99999645e-01 -1.81340623e-04 -2.37974040e+00] [-5.68231817e-03 1.86010963e-04 9.99983838e-01 -6.51806838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.970281693 meters Centerline goodness [0,1] 0.9908940045104464 Centerline is valid? [True, True] Translation: X:76.03, Y:-2.39, Z:-0.65 [[ 9.99981653e-01 -2.68252309e-03 5.43112598e-03 7.60342150e+01] [ 2.68350401e-03 9.99996384e-01 -1.73331919e-04 -2.39038668e+00] [-5.43064138e-03 1.87903188e-04 9.99985236e-01 -6.52476784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.000281693 meters Centerline goodness [0,1] 0.9913227016885553 Centerline is valid? [True, True] Translation: X:76.07, Y:-2.39, Z:-0.65 [[ 9.99979174e-01 -3.23461212e-03 5.58470829e-03 7.60666528e+01] [ 3.23565930e-03 9.99994749e-01 -1.78483663e-04 -2.39451211e+00] [-5.58410164e-03 1.96550159e-04 9.99984389e-01 -6.52468798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.030281693 meters Centerline goodness [0,1] 0.994002390506275 Centerline is valid? [True, True] Translation: X:76.10, Y:-2.40, Z:-0.65 [[ 9.99982939e-01 -2.72386476e-04 5.83497634e-03 7.60982303e+01] [ 2.73480808e-04 9.99999945e-01 -1.86749937e-04 -2.40171747e+00] [-5.83492515e-03 1.88342505e-04 9.99982959e-01 -6.51427957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06028169300001 meters Centerline goodness [0,1] 0.9929335330225494 Centerline is valid? [True, True] Translation: X:76.13, Y:-2.42, Z:-0.65 [[ 9.99983354e-01 2.43738858e-03 5.22976037e-03 7.61287895e+01] [-2.43654567e-03 9.99997018e-01 -1.67541588e-04 -2.41534131e+00] [-5.23015314e-03 1.54796250e-04 9.99986311e-01 -6.52062400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09028169300001 meters Centerline goodness [0,1] 0.9968934187288551 Centerline is valid? [True, True] Translation: X:76.16, Y:-2.41, Z:-0.65 [[ 9.99942989e-01 9.44895634e-03 4.97353943e-03 7.61595600e+01] [-9.44828009e-03 9.99955351e-01 -1.59448368e-04 -2.40898451e+00] [-4.97482399e-03 1.12447884e-04 9.99987619e-01 -6.52028136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.120281693 meters Centerline goodness [0,1] 0.9977147982828951 Centerline is valid? [True, True] Translation: X:76.19, Y:-2.41, Z:-0.65 [[ 9.99892937e-01 1.36365781e-02 5.30642871e-03 7.61915438e+01] [-1.36358671e-02 9.99907013e-01 -1.70145662e-04 -2.40760013e+00] [-5.30825549e-03 9.77696884e-05 9.99985906e-01 -6.52074369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.150281693 meters Centerline goodness [0,1] 0.997946611909651 Centerline is valid? [True, True] Translation: X:76.22, Y:-2.41, Z:-0.65 [[ 9.99835618e-01 1.74230072e-02 5.01745368e-03 7.62219974e+01] [-1.74224183e-02 9.99848205e-01 -1.61052227e-04 -2.40852709e+00] [-5.01949807e-03 7.36095763e-05 9.99987400e-01 -6.53232360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.180281693 meters Centerline goodness [0,1] 0.9990211099761661 Centerline is valid? [True, True] Translation: X:76.25, Y:-2.41, Z:-0.66 [[ 9.99698842e-01 2.42125418e-02 3.99728444e-03 7.62521383e+01] [-2.42122223e-02 9.99706833e-01 -1.28327238e-04 -2.40833106e+00] [-3.99921969e-03 3.15054520e-05 9.99992003e-01 -6.55214986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.210281693 meters Centerline goodness [0,1] 0.999054414166595 Centerline is valid? [True, True] Translation: X:76.28, Y:-2.41, Z:-0.66 [[ 9.99621998e-01 2.72097971e-02 3.93544799e-03 7.62847224e+01] [-2.72095109e-02 9.99629745e-01 -1.26256734e-04 -2.40806616e+00] [-3.93742629e-03 1.91273937e-05 9.99992248e-01 -6.55384061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.240281693 meters Centerline goodness [0,1] 0.9991507791601206 Centerline is valid? [True, True] Translation: X:76.32, Y:-2.40, Z:-0.66 [[ 9.99444590e-01 3.31216987e-02 3.66947591e-03 7.63160923e+01] [-3.31214876e-02 9.99451326e-01 -1.18294508e-04 -2.40492975e+00] [-3.67138068e-03 -3.30969506e-06 9.99993260e-01 -6.55894305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.270281693 meters Centerline goodness [0,1] 0.9994442306870164 Centerline is valid? [True, True] Translation: X:76.35, Y:-2.40, Z:-0.66 [[ 9.99343192e-01 3.60955652e-02 3.20868219e-03 7.63487830e+01] [-3.60954179e-02 9.99348343e-01 -1.03808273e-04 -2.40379140e+00] [-3.21033824e-03 -1.20786334e-05 9.99994847e-01 -6.57176230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.300281693 meters Centerline goodness [0,1] 0.9992808342322905 Centerline is valid? [True, True] Translation: X:76.38, Y:-2.40, Z:-0.66 [[ 9.99140662e-01 4.13870230e-02 2.24767140e-03 7.63808485e+01] [-4.13869639e-02 9.99143190e-01 -7.28338823e-05 -2.39957641e+00] [-2.24875995e-03 -2.02530016e-05 9.99997471e-01 -6.59425397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.330281693 meters Centerline goodness [0,1] 0.9994859602904325 Centerline is valid? [True, True] Translation: X:76.41, Y:-2.40, Z:-0.66 [[ 9.99015904e-01 4.42605637e-02 2.86797304e-03 7.64126598e+01] [-4.42604772e-02 9.99020021e-01 -9.36539700e-05 -2.39818505e+00] [-2.86930766e-03 -3.33760496e-05 9.99995883e-01 -6.58563786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.360281693 meters Centerline goodness [0,1] 0.9993404956919477 Centerline is valid? [True, True] Translation: X:76.44, Y:-2.39, Z:-0.66 [[ 9.98711808e-01 5.05159588e-02 4.78139657e-03 7.64431856e+01] [-5.05157837e-02 9.98723250e-01 -1.57463609e-04 -2.39089381e+00] [-4.78324635e-03 -8.42752295e-05 9.99988557e-01 -6.55118262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.390281693 meters Centerline goodness [0,1] 0.9992139533895604 Centerline is valid? [True, True] Translation: X:76.47, Y:-2.39, Z:-0.66 [[ 9.98563396e-01 5.33634081e-02 4.84675194e-03 7.64748496e+01] [-5.33632616e-02 9.98575153e-01 -1.59629377e-04 -2.38959375e+00] [-4.84836443e-03 -9.92384388e-05 9.99988242e-01 -6.55159591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.420281693 meters Centerline goodness [0,1] 0.998983201643824 Centerline is valid? [True, True] Translation: X:76.50, Y:-2.38, Z:-0.66 [[ 9.98325809e-01 5.77608410e-02 3.04388190e-03 7.65049117e+01] [-5.77608025e-02 9.98330446e-01 -1.00621212e-04 -2.38407617e+00] [-3.04461194e-03 -7.53643085e-05 9.99995362e-01 -6.58914041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45028169300001 meters Centerline goodness [0,1] 0.999118260607755 Centerline is valid? [True, True] Translation: X:76.54, Y:-2.38, Z:-0.66 [[ 9.98228107e-01 5.94499930e-02 2.51885189e-03 7.65364230e+01] [-5.94499716e-02 9.98231283e-01 -8.34326304e-05 -2.38281981e+00] [-2.51935682e-03 -6.64608763e-05 9.99996824e-01 -6.60118788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48028169300001 meters Centerline goodness [0,1] 0.9990391390686054 Centerline is valid? [True, True] Translation: X:76.57, Y:-2.38, Z:-0.66 [[ 9.98138164e-01 6.09443686e-02 2.44731881e-03 7.65679954e+01] [-6.09443528e-02 9.98141162e-01 -8.11138834e-05 -2.38377494e+00] [-2.44771308e-03 -6.81873985e-05 9.99997002e-01 -6.59966476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.510281693 meters Centerline goodness [0,1] 0.9986014282384353 Centerline is valid? [True, True] Translation: X:76.60, Y:-2.38, Z:-0.66 [[ 9.98079028e-01 6.18890449e-02 2.82857808e-03 7.65980484e+01] [-6.18890273e-02 9.98083032e-01 -9.38611863e-05 -2.38211046e+00] [-2.82896477e-03 -8.13770647e-05 9.99995995e-01 -6.58996010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.540281693 meters Centerline goodness [0,1] 0.9987639587417952 Centerline is valid? [True, True] Translation: X:76.63, Y:-2.39, Z:-0.66 [[ 9.98113307e-01 6.13044335e-02 3.40483388e-03 7.66296231e+01] [-6.13044044e-02 9.98119110e-01 -1.13015074e-04 -2.38509296e+00] [-3.40535809e-03 -9.59294643e-05 9.99994197e-01 -6.58443632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.570281693 meters Centerline goodness [0,1] 0.9993613760217984 Centerline is valid? [True, True] Translation: X:76.66, Y:-2.40, Z:-0.66 [[ 9.98223521e-01 5.93824640e-02 4.85029517e-03 7.66610994e+01] [-5.93823815e-02 9.98235296e-01 -1.61146703e-04 -2.39500894e+00] [-4.85130513e-03 -1.27161649e-04 9.99988224e-01 -6.57321710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.600281693 meters Centerline goodness [0,1] 0.9993830706065054 Centerline is valid? [True, True] Translation: X:76.69, Y:-2.40, Z:-0.66 [[ 9.98257710e-01 5.87859077e-02 5.07565520e-03 7.66933760e+01] [-5.87858088e-02 9.98270605e-01 -1.68807237e-04 -2.40042318e+00] [-5.07680087e-03 -1.29863370e-04 9.99987105e-01 -6.57210141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.630281693 meters Centerline goodness [0,1] 0.9990106721114783 Centerline is valid? [True, True] Translation: X:76.72, Y:-2.40, Z:-0.66 [[ 9.98274024e-01 5.85365119e-02 4.73807272e-03 7.67249927e+01] [-5.85364194e-02 9.98285261e-01 -1.58304800e-04 -2.40087575e+00] [-4.73921477e-03 -1.19318242e-04 9.99988763e-01 -6.58176341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.660281693 meters Centerline goodness [0,1] 0.9993851503201459 Centerline is valid? [True, True] Translation: X:76.76, Y:-2.41, Z:-0.66 [[ 9.98277792e-01 5.85810374e-02 3.11629317e-03 7.67577640e+01] [-5.85809972e-02 9.98282653e-01 -1.04244463e-04 -2.40756543e+00] [-3.11704816e-03 -7.84906285e-05 9.99995139e-01 -6.60970923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.690281693 meters Centerline goodness [0,1] 0.9992785911309144 Centerline is valid? [True, True] Translation: X:76.79, Y:-2.41, Z:-0.66 [[ 9.98275761e-01 5.86341435e-02 2.74614340e-03 7.67901632e+01] [-5.86341113e-02 9.98279536e-01 -9.22949838e-05 -2.40827040e+00] [-2.74683039e-03 -6.88818323e-05 9.99996225e-01 -6.62082639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.720281693 meters Centerline goodness [0,1] 0.9993848503489383 Centerline is valid? [True, True] Translation: X:76.82, Y:-2.41, Z:-0.66 [[ 9.98328763e-01 5.77351198e-02 2.51738157e-03 7.68224050e+01] [-5.77350889e-02 9.98331935e-01 -8.50047569e-05 -2.41465507e+00] [-2.51809017e-03 -6.04785547e-05 9.99996828e-01 -6.62342287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.750281693 meters Centerline goodness [0,1] 0.9994428133639072 Centerline is valid? [True, True] Translation: X:76.85, Y:-2.41, Z:-0.66 [[ 9.98376166e-01 5.68867772e-02 2.98759520e-03 7.68540058e+01] [-5.68867279e-02 9.98380634e-01 -1.01559549e-04 -2.41494858e+00] [-2.98853459e-03 -6.85598825e-05 9.99995532e-01 -6.61624639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.780281693 meters Centerline goodness [0,1] 0.9992830180721621 Centerline is valid? [True, True] Translation: X:76.89, Y:-2.42, Z:-0.66 [[ 9.98432014e-01 5.58425520e-02 3.88889933e-03 7.68860710e+01] [-5.58424572e-02 9.98439584e-01 -1.33021977e-04 -2.41916282e+00] [-3.89025931e-03 -8.43522946e-05 9.99992429e-01 -6.59863338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81028169300001 meters Centerline goodness [0,1] 0.9996618551471986 Centerline is valid? [True, True] Translation: X:76.92, Y:-2.43, Z:-0.66 [[ 9.98590696e-01 5.27488993e-02 5.84599397e-03 7.69172249e+01] [-5.27486251e-02 9.98607802e-01 -2.01192399e-04 -2.42567067e+00] [-5.84846787e-03 -1.07459286e-04 9.99982892e-01 -6.55977693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84028169300001 meters Centerline goodness [0,1] 0.9995785303352791 Centerline is valid? [True, True] Translation: X:76.95, Y:-2.43, Z:-0.66 [[ 9.98666322e-01 5.13050134e-02 5.77689849e-03 7.69489650e+01] [-5.13047202e-02 9.98683026e-01 -1.99024539e-04 -2.43127239e+00] [-5.77950142e-03 -9.76230561e-05 9.99983294e-01 -6.56207769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.870281693 meters Centerline goodness [0,1] 0.999635216616956 Centerline is valid? [True, True] Translation: X:76.98, Y:-2.44, Z:-0.66 [[ 9.98728526e-01 5.01656468e-02 4.97383310e-03 7.69808017e+01] [-5.01654120e-02 9.98740908e-01 -1.72034624e-04 -2.43608287e+00] [-4.97620081e-03 -7.76985001e-05 9.99987616e-01 -6.56773470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.900281693 meters Centerline goodness [0,1] 0.9995534005359193 Centerline is valid? [True, True] Translation: X:77.01, Y:-2.43, Z:-0.66 [[ 9.98660333e-01 5.15632739e-02 4.33225744e-03 7.70121955e+01] [-5.15631060e-02 9.98669727e-01 -1.50513235e-04 -2.43405347e+00] [-4.33425531e-03 -7.30730518e-05 9.99990604e-01 -6.57372540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.930281693 meters Centerline goodness [0,1] 0.9995973296598495 Centerline is valid? [True, True] Translation: X:77.04, Y:-2.43, Z:-0.66 [[ 9.98522643e-01 5.41709095e-02 4.24774154e-03 7.70441436e+01] [-5.41707704e-02 9.98531675e-01 -1.47888149e-04 -2.43095003e+00] [-4.24951571e-03 -8.24337666e-05 9.99990967e-01 -6.57029241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.960281693 meters Centerline goodness [0,1] 0.9992796915384942 Centerline is valid? [True, True] Translation: X:77.07, Y:-2.42, Z:-0.66 [[ 9.98119180e-01 6.11863744e-02 3.78563335e-03 7.70742198e+01] [-6.11863115e-02 9.98126354e-01 -1.32514649e-04 -2.41687675e+00] [-3.78664850e-03 -9.93635283e-05 9.99992826e-01 -6.57951983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.990281693 meters Centerline goodness [0,1] 0.9991510495150371 Centerline is valid? [True, True] Translation: X:77.11, Y:-2.41, Z:-0.66 [[ 9.97880468e-01 6.49508218e-02 3.99535150e-03 7.71056524e+01] [-6.49507823e-02 9.97888459e-01 -1.39780148e-04 -2.41072055e+00] [-3.99599399e-03 -1.20017326e-04 9.99992009e-01 -6.58411584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.020281693 meters Centerline goodness [0,1] 0.9976122870418173 Centerline is valid? [True, True] Translation: X:77.14, Y:-2.40, Z:-0.66 [[ 9.97376676e-01 7.21961148e-02 5.24277354e-03 7.71367627e+01] [-7.21961459e-02 9.97390437e-01 -1.83576817e-04 -2.39585772e+00] [-5.24234573e-03 -1.95412808e-04 9.99986240e-01 -6.55871032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.050281693 meters Centerline goodness [0,1] 0.9952953252641034 Centerline is valid? [True, True] Translation: X:77.17, Y:-2.39, Z:-0.65 [[ 9.97133713e-01 7.54345424e-02 5.82991639e-03 7.71673328e+01] [-7.54346360e-02 9.97150728e-01 -2.04147629e-04 -2.38592620e+00] [-5.82870516e-03 -2.36215138e-04 9.99982985e-01 -6.54975821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.080281693 meters Centerline goodness [0,1] 0.9886916446189298 Centerline is valid? [True, True] Translation: X:77.20, Y:-2.37, Z:-0.66 [[ 9.96709310e-01 8.08814005e-02 5.36201253e-03 7.71982087e+01] [-8.08815584e-02 9.96723702e-01 -1.87763062e-04 -2.37151104e+00] [-5.35963152e-03 -2.46542737e-04 9.99985607e-01 -6.56079417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.110281693 meters Centerline goodness [0,1] 0.9830783837957591 Centerline is valid? [True, True] Translation: X:77.23, Y:-2.37, Z:-0.66 [[ 9.96581730e-01 8.24804664e-02 4.67202889e-03 7.72280016e+01] [-8.24806037e-02 9.96592657e-01 -1.63610516e-04 -2.36647133e+00] [-4.66960436e-03 -2.22300512e-04 9.99989073e-01 -6.57988645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.140281693 meters Centerline goodness [0,1] 0.9804972457942533 Centerline is valid? [True, True] Translation: X:77.26, Y:-2.36, Z:-0.66 [[ 9.96521385e-01 8.32364328e-02 4.10183794e-03 7.72572761e+01] [-8.32365451e-02 9.96529807e-01 -1.43626690e-04 -2.36286099e+00] [-4.09955875e-03 -1.98295751e-04 9.99991577e-01 -6.59069778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.170281693 meters Centerline goodness [0,1] 0.9782725149456812 Centerline is valid? [True, True] Translation: X:77.29, Y:-2.35, Z:-0.66 [[ 9.96474926e-01 8.38100151e-02 3.68834729e-03 7.72870338e+01] [-8.38101102e-02 9.96481735e-01 -1.29033256e-04 -2.35385371e+00] [-3.68618499e-03 -1.80542388e-04 9.99993190e-01 -6.60273940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20028169300001 meters Centerline goodness [0,1] 0.9769691581465253 Centerline is valid? [True, True] Translation: X:77.32, Y:-2.35, Z:-0.66 [[ 9.96467802e-01 8.39016178e-02 3.52682457e-03 7.73162004e+01] [-8.39017055e-02 9.96474028e-01 -1.23346145e-04 -2.35054347e+00] [-3.52473802e-03 -1.72996134e-04 9.99993773e-01 -6.60631792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23028169300001 meters Centerline goodness [0,1] 0.9804480041117012 Centerline is valid? [True, True] Translation: X:77.35, Y:-2.34, Z:-0.66 [[ 9.96617918e-01 8.20873314e-02 3.79413504e-03 7.73451266e+01] [-8.20874205e-02 9.96625124e-01 -1.32493271e-04 -2.34286054e+00] [-3.79220632e-03 -1.79405590e-04 9.99992793e-01 -6.60753271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.260281693 meters Centerline goodness [0,1] 0.9940039973351099 Centerline is valid? [True, True] Translation: X:77.37, Y:-2.35, Z:-0.66 [[ 9.96768414e-01 8.02345792e-02 3.89126863e-03 7.73743721e+01] [-8.02346594e-02 9.96775993e-01 -1.35738533e-04 -2.34822604e+00] [-3.88961407e-03 -1.76914731e-04 9.99992420e-01 -6.60921677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.290281693 meters Centerline goodness [0,1] 0.9916549580619066 Centerline is valid? [True, True] Translation: X:77.40, Y:-2.34, Z:-0.66 [[ 9.96920960e-01 7.83324737e-02 3.55284835e-03 7.74035868e+01] [-7.83325287e-02 9.96927279e-01 -1.23861584e-04 -2.34199526e+00] [-3.55163382e-03 -1.54823386e-04 9.99993681e-01 -6.61900795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.320281693 meters Centerline goodness [0,1] 0.993177511054959 Centerline is valid? [True, True] Translation: X:77.43, Y:-2.34, Z:-0.66 [[ 9.97131814e-01 7.56422717e-02 2.52832617e-03 7.74321790e+01] [-7.56422910e-02 9.97135014e-01 -8.81469224e-05 -2.33801883e+00] [-2.52775019e-03 -1.03354283e-04 9.99996800e-01 -6.63851406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.350281693 meters Centerline goodness [0,1] 0.9967189517580068 Centerline is valid? [True, True] Translation: X:77.46, Y:-2.34, Z:-0.66 [[ 9.97238679e-01 7.42171698e-02 2.61324163e-03 7.74611626e+01] [-7.42171857e-02 9.97242098e-01 -9.10478103e-05 -2.34152436e+00] [-2.61279188e-03 -1.03151041e-04 9.99996581e-01 -6.63138851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.380281693 meters Centerline goodness [0,1] 0.9983217555711342 Centerline is valid? [True, True] Translation: X:77.49, Y:-2.34, Z:-0.66 [[ 9.97461410e-01 7.11008907e-02 3.92424320e-03 7.74913172e+01] [-7.11009037e-02 9.97469119e-01 -1.36383796e-04 -2.34028294e+00] [-3.92400842e-03 -1.42979664e-04 9.99992291e-01 -6.60264986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.410281693 meters Centerline goodness [0,1] 0.9984898757869661 Centerline is valid? [True, True] Translation: X:77.52, Y:-2.34, Z:-0.66 [[ 9.97564447e-01 6.96427374e-02 3.88107173e-03 7.75205941e+01] [-6.96427392e-02 9.97571988e-01 -1.34853480e-04 -2.33765812e+00] [-3.88104001e-03 -1.35763429e-04 9.99992460e-01 -6.60299797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.440281693 meters Centerline goodness [0,1] 0.9991462113127001 Centerline is valid? [True, True] Translation: X:77.55, Y:-2.33, Z:-0.66 [[ 9.97814658e-01 6.60138924e-02 2.84137740e-03 7.75502208e+01] [-6.60138788e-02 9.97818700e-01 -9.86937463e-05 -2.33444512e+00] [-2.84169466e-03 -8.90922763e-05 9.99995958e-01 -6.62231437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.470281693 meters Centerline goodness [0,1] 0.9988584233558125 Centerline is valid? [True, True] Translation: X:77.58, Y:-2.33, Z:-0.66 [[ 9.97933296e-01 6.42014380e-02 2.70395128e-03 7.75795478e+01] [-6.42014191e-02 9.97936956e-01 -9.38631030e-05 -2.32981979e+00] [-2.70439905e-03 -7.99283934e-05 9.99996340e-01 -6.63395819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.500281693 meters Centerline goodness [0,1] 0.9996598856365453 Centerline is valid? [True, True] Translation: X:77.61, Y:-2.33, Z:-0.66 [[ 9.98274057e-01 5.86577486e-02 2.85927622e-03 7.76092209e+01] [-5.86577050e-02 9.98278150e-01 -9.91461324e-05 -2.33417435e+00] [-2.86016866e-03 -6.87435693e-05 9.99995907e-01 -6.64136364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.530281693 meters Centerline goodness [0,1] 0.9998087994731363 Centerline is valid? [True, True] Translation: X:77.64, Y:-2.34, Z:-0.66 [[ 9.98460938e-01 5.53939721e-02 2.69490660e-03 7.76386873e+01] [-5.53939215e-02 9.98464574e-01 -9.34658060e-05 -2.33737560e+00] [-2.69594621e-03 -5.59594884e-05 9.99996364e-01 -6.64472534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56028169300001 meters Centerline goodness [0,1] 0.9998067798793447 Centerline is valid? [True, True] Translation: X:77.67, Y:-2.34, Z:-0.66 [[ 9.98656902e-01 5.17442905e-02 2.63067819e-03 7.76684296e+01] [-5.17442298e-02 9.98660366e-01 -9.11812008e-05 -2.34295309e+00] [-2.63187215e-03 -4.50636815e-05 9.99996536e-01 -6.64150628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59028169300001 meters Centerline goodness [0,1] 0.9998524234182953 Centerline is valid? [True, True] Translation: X:77.70, Y:-2.35, Z:-0.66 [[ 9.98995984e-01 4.45826857e-02 4.40536735e-03 7.76974223e+01] [-4.45824466e-02 9.99005697e-01 -1.52499167e-04 -2.35212916e+00] [-4.40778590e-03 -4.40559987e-05 9.99990285e-01 -6.61004782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.620281693 meters Centerline goodness [0,1] 0.9998524234182953 Centerline is valid? [True, True] Translation: X:77.73, Y:-2.35, Z:-0.66 [[ 9.98996997e-01 4.45599859e-02 4.40536883e-03 7.77265709e+01] [-4.45597468e-02 9.99006710e-01 -1.52456261e-04 -2.35309147e+00] [-4.40778647e-03 -4.39987725e-05 9.99990285e-01 -6.61155686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.650281693 meters Centerline goodness [0,1] 0.9998721718010993 Centerline is valid? [True, True] Translation: X:77.76, Y:-2.36, Z:-0.66 [[ 9.99124641e-01 4.14905866e-02 5.33699584e-03 7.77571576e+01] [-4.14901927e-02 9.99138894e-01 -1.84554489e-04 -2.35779650e+00] [-5.34005740e-03 -3.70400485e-05 9.99985741e-01 -6.59421497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.680281693 meters Centerline goodness [0,1] 0.9996376425450283 Centerline is valid? [True, True] Translation: X:77.79, Y:-2.36, Z:-0.66 [[ 9.99291419e-01 3.72773315e-02 5.20189714e-03 7.77871883e+01] [-3.72769002e-02 9.99304959e-01 -1.79883097e-04 -2.36268119e+00] [-5.20498717e-03 -1.41549654e-05 9.99986454e-01 -6.59399647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.710281693 meters Centerline goodness [0,1] 0.9995780323649176 Centerline is valid? [True, True] Translation: X:77.82, Y:-2.36, Z:-0.66 [[ 9.99331230e-01 3.62511140e-02 4.79052031e-03 7.78174221e+01] [-3.62507362e-02 9.99342712e-01 -1.65707325e-04 -2.36498754e+00] [-4.79337864e-03 -8.06338272e-06 9.99988512e-01 -6.60890672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.740281693 meters Centerline goodness [0,1] 0.9996380129037753 Centerline is valid? [True, True] Translation: X:77.85, Y:-2.37, Z:-0.66 [[ 9.99369101e-01 3.53882607e-02 3.01181329e-03 7.78479197e+01] [-3.53881074e-02 9.99373639e-01 -1.04192941e-04 -2.36707511e+00] [-3.01361402e-03 -2.45516635e-06 9.99995459e-01 -6.64326958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.770281693 meters Centerline goodness [0,1] 0.9996387590310242 Centerline is valid? [True, True] Translation: X:77.88, Y:-2.37, Z:-0.66 [[ 9.99370706e-01 3.53732035e-02 2.63201393e-03 7.78779224e+01] [-3.53730862e-02 9.99374172e-01 -9.11043943e-05 -2.36784533e+00] [-2.63358939e-03 -2.05539269e-06 9.99996532e-01 -6.64791285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.800281693 meters Centerline goodness [0,1] 0.9996809868141217 Centerline is valid? [True, True] Translation: X:77.91, Y:-2.37, Z:-0.67 [[ 9.99367638e-01 3.54787548e-02 2.36278583e-03 7.79081951e+01] [-3.54786606e-02 9.99370431e-01 -8.17853469e-05 -2.36823710e+00] [-2.36419994e-03 -2.09484758e-06 9.99997205e-01 -6.65971946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.830281693 meters Centerline goodness [0,1] 0.999681548945927 Centerline is valid? [True, True] Translation: X:77.94, Y:-2.37, Z:-0.67 [[ 9.99334928e-01 3.63840493e-02 2.42939984e-03 7.79391350e+01] [-3.63839524e-02 9.99337881e-01 -8.40911208e-05 -2.36785611e+00] [-2.43085086e-03 -4.35597388e-06 9.99997045e-01 -6.65712084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.860281693 meters Centerline goodness [0,1] 0.9997025769582121 Centerline is valid? [True, True] Translation: X:77.97, Y:-2.37, Z:-0.66 [[ 9.99293362e-01 3.74931759e-02 2.65318788e-03 7.79691696e+01] [-3.74930643e-02 9.99296884e-01 -9.18064259e-05 -2.36681691e+00] [-2.65476450e-03 -7.73459197e-06 9.99996476e-01 -6.64824424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.890281693 meters Centerline goodness [0,1] 0.9998489621542312 Centerline is valid? [True, True] Translation: X:78.00, Y:-2.36, Z:-0.66 [[ 9.99214756e-01 3.93539521e-02 4.59758263e-03 7.79993164e+01] [-3.93536361e-02 9.99225333e-01 -1.59210278e-04 -2.36220462e+00] [-4.60028659e-03 -2.18463344e-05 9.99989418e-01 -6.60674395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.920281693 meters Centerline goodness [0,1] 0.9998300945099289 Centerline is valid? [True, True] Translation: X:78.03, Y:-2.36, Z:-0.66 [[ 9.99189379e-01 3.98672847e-02 5.58425855e-03 7.80287030e+01] [-3.98668273e-02 9.99204983e-01 -1.93226462e-04 -2.36063041e+00] [-5.58752238e-03 -2.95568425e-05 9.99984389e-01 -6.59848807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95028169300001 meters Centerline goodness [0,1] 0.9998937865108869 Centerline is valid? [True, True] Translation: X:78.06, Y:-2.36, Z:-0.66 [[ 9.99199721e-01 3.96478258e-02 5.28833406e-03 7.80591220e+01] [-3.96474129e-02 9.99213715e-01 -1.82931326e-04 -2.36227546e+00] [-5.29142875e-03 -2.68838338e-05 9.99986000e-01 -6.61580215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98028169300001 meters Centerline goodness [0,1] 0.9998087507171848 Centerline is valid? [True, True] Translation: X:78.09, Y:-2.36, Z:-0.66 [[ 9.99197840e-01 3.97915670e-02 4.50640967e-03 7.80894833e+01] [-3.97912684e-02 9.99208002e-01 -1.55931500e-04 -2.36499972e+00] [-4.50904536e-03 -2.35093382e-05 9.99989834e-01 -6.62833781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.010281693 meters Centerline goodness [0,1] 0.9999362353341269 Centerline is valid? [True, True] Translation: X:78.12, Y:-2.36, Z:-0.66 [[ 9.99184957e-01 4.01764312e-02 3.90853160e-03 7.81185406e+01] [-4.01762094e-02 9.99192601e-01 -1.35258719e-04 -2.36455980e+00] [-3.91081006e-03 -2.18815072e-05 9.99992353e-01 -6.63534952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.040281693 meters Centerline goodness [0,1] 0.9997453851050286 Centerline is valid? [True, True] Translation: X:78.15, Y:-2.35, Z:-0.66 [[ 9.99019554e-01 4.40599888e-02 4.31827358e-03 7.81479698e+01] [-4.40597546e-02 9.99028886e-01 -1.49397712e-04 -2.35482052e+00] [-4.32066251e-03 -4.10108383e-05 9.99990665e-01 -6.62176934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.070281693 meters Centerline goodness [0,1] 0.9998289172601099 Centerline is valid? [True, True] Translation: X:78.18, Y:-2.35, Z:-0.66 [[ 9.98722382e-01 5.03986665e-02 3.68490845e-03 7.81782715e+01] [-5.03985395e-02 9.98729178e-01 -1.27359828e-04 -2.34608862e+00] [-3.68664436e-03 -5.85168937e-05 9.99993203e-01 -6.63335983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.100281693 meters Centerline goodness [0,1] 0.9997666574743853 Centerline is valid? [True, True] Translation: X:78.21, Y:-2.34, Z:-0.67 [[ 9.98563174e-01 5.35083271e-02 2.90641422e-03 7.82074876e+01] [-5.35082612e-02 9.98567402e-01 -1.00485878e-04 -2.33873616e+00] [-2.90762733e-03 -5.51756741e-05 9.99995771e-01 -6.65177584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.130281693 meters Centerline goodness [0,1] 0.9994912236072246 Centerline is valid? [True, True] Translation: X:78.24, Y:-2.33, Z:-0.67 [[ 9.98419911e-01 5.61350693e-02 2.55659001e-03 7.82362807e+01] [-5.61350271e-02 9.98423182e-01 -8.83182489e-05 -2.32647556e+00] [-2.55751648e-03 -5.53355511e-05 9.99996728e-01 -6.66719742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.160281693 meters Centerline goodness [0,1] 0.9992355876420003 Centerline is valid? [True, True] Translation: X:78.27, Y:-2.32, Z:-0.66 [[ 9.98221611e-01 5.94742008e-02 4.05388218e-03 7.82656017e+01] [-5.94741232e-02 9.98229838e-01 -1.39800168e-04 -2.32339143e+00] [-4.05502065e-03 -1.01549539e-04 9.99991773e-01 -6.64192036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.190281693 meters Centerline goodness [0,1] 0.9984401020257594 Centerline is valid? [True, True] Translation: X:78.29, Y:-2.32, Z:-0.66 [[ 9.98210035e-01 5.95120362e-02 5.91982573e-03 7.82937286e+01] [-5.95118735e-02 9.98227577e-01 -2.03792651e-04 -2.31804622e+00] [-5.92146141e-03 -1.48872051e-04 9.99982457e-01 -6.61206305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.220281693 meters Centerline goodness [0,1] 0.9988133581963045 Centerline is valid? [True, True] Translation: X:78.32, Y:-2.32, Z:-0.66 [[ 9.98260426e-01 5.84579471e-02 7.66747066e-03 7.83227812e+01] [-5.84576469e-02 9.98289855e-01 -2.63447679e-04 -2.32107175e+00] [-7.66975878e-03 -1.85232900e-04 9.99970570e-01 -6.58440773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.250281693 meters Centerline goodness [0,1] 0.9992195410057374 Centerline is valid? [True, True] Translation: X:78.35, Y:-2.32, Z:-0.66 [[ 9.98444634e-01 5.52833441e-02 7.21562879e-03 7.83527359e+01] [-5.52829974e-02 9.98470695e-01 -2.47646064e-04 -2.31995977e+00] [-7.21828460e-03 -1.51640704e-04 9.99973936e-01 -6.58577494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.280281693 meters Centerline goodness [0,1] 0.9990728644274938 Centerline is valid? [True, True] Translation: X:78.38, Y:-2.31, Z:-0.66 [[ 9.98560418e-01 5.33648403e-02 5.41168663e-03 7.83820000e+01] [-5.33646176e-02 9.98575076e-01 -1.85637060e-04 -2.31384773e+00] [-5.41388188e-03 -1.03422768e-04 9.99985339e-01 -6.62122870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31028169300001 meters Centerline goodness [0,1] 0.999765047631253 Centerline is valid? [True, True] Translation: X:78.41, Y:-2.33, Z:-0.67 [[ 9.98798171e-01 4.89745883e-02 1.92438842e-03 7.84118884e+01] [-4.89745519e-02 9.98800024e-01 -6.60588293e-05 -2.32518510e+00] [-1.92531440e-03 -2.82666224e-05 9.99998146e-01 -6.68775605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34028169300001 meters Centerline goodness [0,1] 0.999785375485588 Centerline is valid? [True, True] Translation: X:78.44, Y:-2.33, Z:-0.67 [[ 9.98914516e-01 4.65675031e-02 1.12150181e-03 7.84404515e+01] [-4.65674891e-02 9.98915145e-01 -3.86027248e-05 -2.32821130e+00] [-1.12208278e-03 -1.36647014e-05 9.99999370e-01 -6.70271605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.370281693 meters Centerline goodness [0,1] 0.999852267690944 Centerline is valid? [True, True] Translation: X:78.47, Y:-2.33, Z:-0.67 [[ 9.99127502e-01 4.16155889e-02 3.51819952e-03 7.84686239e+01] [-4.16154229e-02 9.99133696e-01 -1.20404080e-04 -2.33428504e+00] [-3.52016238e-03 -2.61123338e-05 9.99993804e-01 -6.65714513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.400281693 meters Centerline goodness [0,1] 0.9998095520240388 Centerline is valid? [True, True] Translation: X:78.50, Y:-2.34, Z:-0.66 [[ 9.99215613e-01 3.92243008e-02 5.44177960e-03 7.84978614e+01] [-3.92238697e-02 9.99230431e-01 -1.85951948e-04 -2.33860921e+00] [-5.44488561e-03 -2.76415649e-05 9.99985176e-01 -6.61666800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.430281693 meters Centerline goodness [0,1] 0.9998733936823447 Centerline is valid? [True, True] Translation: X:78.53, Y:-2.34, Z:-0.66 [[ 9.99274349e-01 3.75523121e-02 6.37171251e-03 7.85272501e+01] [-3.75516879e-02 9.99294663e-01 -2.17607415e-04 -2.34139831e+00] [-6.37538997e-03 -2.18190512e-05 9.99979677e-01 -6.60276149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.460281693 meters Centerline goodness [0,1] 0.999768206338503 Centerline is valid? [True, True] Translation: X:78.56, Y:-2.34, Z:-0.66 [[ 9.99358412e-01 3.54474034e-02 5.12304950e-03 7.85565333e+01] [-3.54469720e-02 9.99371543e-01 -1.75021619e-04 -2.34405540e+00] [-5.12603394e-03 -6.68726414e-06 9.99986862e-01 -6.63452702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.490281693 meters Centerline goodness [0,1] 0.999806314158435 Centerline is valid? [True, True] Translation: X:78.59, Y:-2.35, Z:-0.66 [[ 9.99390108e-01 3.45444139e-02 5.10842301e-03 7.85858498e+01] [-3.45439734e-02 9.99403164e-01 -1.74466034e-04 -2.34611665e+00] [-5.11140094e-03 -2.10560027e-06 9.99986937e-01 -6.64595145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.520281693 meters Centerline goodness [0,1] 0.9997467553023108 Centerline is valid? [True, True] Translation: X:78.61, Y:-2.35, Z:-0.66 [[ 9.99403291e-01 3.41626761e-02 5.09640329e-03 7.86149235e+01] [-3.41622337e-02 9.99416285e-01 -1.73869085e-04 -2.34831923e+00] [-5.09936827e-03 -3.39184290e-07 9.99986998e-01 -6.64005885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.550281693 meters Centerline goodness [0,1] 0.9998513516383173 Centerline is valid? [True, True] Translation: X:78.64, Y:-2.35, Z:-0.66 [[ 9.99403156e-01 3.41662199e-02 5.09915307e-03 7.86445419e+01] [-3.41657767e-02 9.99416164e-01 -1.74027970e-04 -2.34983489e+00] [-5.10212188e-03 -2.92422445e-07 9.99986984e-01 -6.63479243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.580281693 meters Centerline goodness [0,1] 0.9998087019363615 Centerline is valid? [True, True] Translation: X:78.67, Y:-2.35, Z:-0.66 [[ 9.99407663e-01 3.40018723e-02 5.31004070e-03 7.86747337e+01] [-3.40013893e-02 9.99421769e-01 -1.81225312e-04 -2.35155878e+00] [-5.31313227e-03 5.69204173e-07 9.99985885e-01 -6.62691150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.610281693 meters Centerline goodness [0,1] 0.9998718195218869 Centerline is valid? [True, True] Translation: X:78.70, Y:-2.36, Z:-0.66 [[ 9.99434358e-01 3.30089854e-02 6.43201631e-03 7.87048366e+01] [-3.30082562e-02 9.99455055e-01 -2.19531961e-04 -2.35635625e+00] [-6.43575774e-03 7.09814282e-06 9.99979290e-01 -6.61002142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.640281693 meters Centerline goodness [0,1] 0.9997876992972847 Centerline is valid? [True, True] Translation: X:78.74, Y:-2.36, Z:-0.66 [[ 9.99463850e-01 3.20612325e-02 6.63998457e-03 7.87358998e+01] [-3.20604338e-02 9.99485906e-01 -2.26728158e-04 -2.35951350e+00] [-6.64384018e-03 1.37258126e-05 9.99977929e-01 -6.61315017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.670281693 meters Centerline goodness [0,1] 0.9998707119462161 Centerline is valid? [True, True] Translation: X:78.77, Y:-2.36, Z:-0.66 [[ 9.99491355e-01 3.11492385e-02 6.83779864e-03 7.87672703e+01] [-3.11483690e-02 9.99514745e-01 -2.33647621e-04 -2.36334813e+00] [-6.84175851e-03 2.05425018e-05 9.99976595e-01 -6.61974392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70028169300001 meters Centerline goodness [0,1] 0.9997665485260723 Centerline is valid? [True, True] Translation: X:78.80, Y:-2.37, Z:-0.67 [[ 9.99525964e-01 3.03390856e-02 5.23330382e-03 7.87978189e+01] [-3.03385647e-02 9.99539664e-01 -1.78916259e-04 -2.37047778e+00] [-5.23632290e-03 2.00605199e-05 9.99986290e-01 -6.65195126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73028169300001 meters Centerline goodness [0,1] 0.9997257268239166 Centerline is valid? [True, True] Translation: X:78.83, Y:-2.37, Z:-0.67 [[ 9.99532934e-01 3.03258679e-02 3.77568564e-03 7.88276412e+01] [-3.03255964e-02 9.99540065e-01 -1.29143330e-04 -2.37463739e+00] [-3.77786545e-03 1.45830923e-05 9.99992864e-01 -6.66942975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.760281693 meters Centerline goodness [0,1] 0.999722708075594 Centerline is valid? [True, True] Translation: X:78.86, Y:-2.38, Z:-0.67 [[ 9.99499099e-01 3.15582817e-02 2.37201359e-03 7.88583043e+01] [-3.15581781e-02 9.99501913e-01 -8.10946294e-05 -2.37905668e+00] [-2.37339133e-03 6.19758166e-06 9.99997183e-01 -6.68284557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.790281693 meters Centerline goodness [0,1] 0.9998303539241258 Centerline is valid? [True, True] Translation: X:78.89, Y:-2.38, Z:-0.67 [[ 9.99448000e-01 3.30900546e-02 2.95697359e-03 7.88877753e+01] [-3.30899002e-02 9.99452374e-01 -1.01118711e-04 -2.37930366e+00] [-2.95870029e-03 3.21693283e-06 9.99995623e-01 -6.67346570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.820281693 meters Centerline goodness [0,1] 0.9998101626273492 Centerline is valid? [True, True] Translation: X:78.92, Y:-2.38, Z:-0.67 [[ 9.99366318e-01 3.54137299e-02 3.58190008e-03 7.89174369e+01] [-3.54135184e-02 9.99372737e-01 -1.22453574e-04 -2.37762200e+00] [-3.58398982e-03 -4.47170701e-06 9.99993577e-01 -6.65931748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.850281693 meters Centerline goodness [0,1] 0.9998929359114366 Centerline is valid? [True, True] Translation: X:78.95, Y:-2.37, Z:-0.66 [[ 9.99128210e-01 4.15117325e-02 4.42678871e-03 7.89473953e+01] [-4.15114700e-02 9.99138016e-01 -1.51208497e-04 -2.37094540e+00] [-4.42924981e-03 -3.26858320e-05 9.99990190e-01 -6.64704457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.880281693 meters Centerline goodness [0,1] 0.9998721009549796 Centerline is valid? [True, True] Translation: X:78.98, Y:-2.37, Z:-0.67 [[ 9.99017847e-01 4.40893779e-02 4.41219221e-03 7.89759922e+01] [-4.40891427e-02 9.99027590e-01 -1.50617738e-04 -2.36820649e+00] [-4.41454239e-03 -4.40599636e-05 9.99990255e-01 -6.65402771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.910281693 meters Centerline goodness [0,1] 0.9997241964569853 Centerline is valid? [True, True] Translation: X:79.01, Y:-2.37, Z:-0.67 [[ 9.98950720e-01 4.55517609e-02 4.74301196e-03 7.90053395e+01] [-4.55515064e-02 9.98961978e-01 -1.61730350e-04 -2.36688434e+00] [-4.74545571e-03 -5.44906900e-05 9.99988739e-01 -6.65479604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.940281693 meters Centerline goodness [0,1] 0.9997847008418197 Centerline is valid? [True, True] Translation: X:79.04, Y:-2.37, Z:-0.66 [[ 9.98969688e-01 4.49693085e-02 6.10936878e-03 7.90354482e+01] [-4.49688763e-02 9.98988367e-01 -2.08149287e-04 -2.36828255e+00] [-6.11254867e-03 -6.67966211e-05 9.99981316e-01 -6.64991441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.970281693 meters Centerline goodness [0,1] 0.9997657481153371 Centerline is valid? [True, True] Translation: X:79.06, Y:-2.37, Z:-0.67 [[ 9.99042725e-01 4.33669623e-02 5.73934703e-03 7.90646035e+01] [-4.33665551e-02 9.99059209e-01 -1.95426406e-04 -2.37188173e+00] [-5.74242256e-03 -5.36563807e-05 9.99983511e-01 -6.65905280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.000281693 meters Centerline goodness [0,1] 0.999808 Centerline is valid? [True, True] Translation: X:79.09, Y:-2.38, Z:-0.67 [[ 9.99295316e-01 3.72961709e-02 4.22699709e-03 7.90949039e+01] [-3.72958960e-02 9.99304256e-01 -1.43887534e-04 -2.38321274e+00] [-4.22942263e-03 -1.38635045e-05 9.99991056e-01 -6.68845075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.030281693 meters Centerline goodness [0,1] 0.9996640137754352 Centerline is valid? [True, True] Translation: X:79.12, Y:-2.39, Z:-0.67 [[ 9.99401411e-01 3.43961167e-02 3.70494519e-03 7.91241883e+01] [-3.43958854e-02 9.99408279e-01 -1.26133073e-04 -2.38977067e+00] [-3.70709138e-03 -1.37729949e-06 9.99993129e-01 -6.69922733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06028169300001 meters Centerline goodness [0,1] 0.9996162946856814 Centerline is valid? [True, True] Translation: X:79.15, Y:-2.40, Z:-0.67 [[ 9.99499375e-01 3.14101562e-02 3.79499024e-03 7.91548009e+01] [-3.14098924e-02 9.99506579e-01 -1.29124653e-04 -2.39680513e+00] [-3.79717354e-03 9.85977501e-06 9.99992791e-01 -6.70242436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09028169300001 meters Centerline goodness [0,1] 0.999451962396189 Centerline is valid? [True, True] Translation: X:79.18, Y:-2.40, Z:-0.67 [[ 9.99573143e-01 2.90214835e-02 3.35929288e-03 7.91845758e+01] [-2.90212631e-02 9.99578788e-01 -1.14330794e-04 -2.40384397e+00] [-3.36119596e-03 1.67910681e-05 9.99994351e-01 -6.71725910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.120281693 meters Centerline goodness [0,1] 0.999340299206231 Centerline is valid? [True, True] Translation: X:79.22, Y:-2.41, Z:-0.67 [[ 9.99676498e-01 2.52487687e-02 3.06576766e-03 7.92155822e+01] [-2.52485674e-02 9.99681199e-01 -1.04347149e-04 -2.41325591e+00] [-3.06742493e-03 2.69071508e-05 9.99995295e-01 -6.72284565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.150281693 meters Centerline goodness [0,1] 0.9993411124572255 Centerline is valid? [True, True] Translation: X:79.25, Y:-2.42, Z:-0.67 [[ 9.99710623e-01 2.38120461e-02 3.41430186e-03 7.92456727e+01] [-2.38117877e-02 9.99716452e-01 -1.16334943e-04 -2.41763596e+00] [-3.41610392e-03 3.50006470e-05 9.99994164e-01 -6.70877013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.180281693 meters Centerline goodness [0,1] 0.9988622476928911 Centerline is valid? [True, True] Translation: X:79.28, Y:-2.43, Z:-0.67 [[ 9.99731340e-01 2.25671568e-02 5.28871456e-03 7.92758647e+01] [-2.25665192e-02 9.99745327e-01 -1.80207134e-04 -2.42627786e+00] [-5.29143443e-03 6.08108403e-05 9.99985998e-01 -6.66654233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.210281693 meters Centerline goodness [0,1] 0.9987272765840104 Centerline is valid? [True, True] Translation: X:79.31, Y:-2.43, Z:-0.66 [[ 9.99734843e-01 2.21466742e-02 6.30621432e-03 7.93067878e+01] [-2.21457564e-02 9.99754729e-01 -2.15330512e-04 -2.43105188e+00] [-6.30943644e-03 7.56175297e-05 9.99980092e-01 -6.64874182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.240281693 meters Centerline goodness [0,1] 0.9988653393277671 Centerline is valid? [True, True] Translation: X:79.34, Y:-2.43, Z:-0.67 [[ 9.99737565e-01 2.19792261e-02 6.45870025e-03 7.93384576e+01] [-2.19782539e-02 9.99758424e-01 -2.21477344e-04 -2.43313501e+00] [-6.46200789e-03 7.94682664e-05 9.99979118e-01 -6.65012187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.270281693 meters Centerline goodness [0,1] 0.9986497781778435 Centerline is valid? [True, True] Translation: X:79.37, Y:-2.44, Z:-0.67 [[ 9.99765841e-01 2.11025752e-02 4.79003227e-03 7.93690499e+01] [-2.11020278e-02 9.99777314e-01 -1.64805122e-04 -2.44483532e+00] [-4.79244340e-03 6.36871374e-05 9.99988514e-01 -6.68859391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.300281693 meters Centerline goodness [0,1] 0.9985066666666667 Centerline is valid? [True, True] Translation: X:79.40, Y:-2.45, Z:-0.67 [[ 9.99784038e-01 2.03986089e-02 3.97173438e-03 7.94014404e+01] [-2.03982250e-02 9.99791925e-01 -1.37149897e-04 -2.45164841e+00] [-3.97370563e-03 5.61039461e-05 9.99992103e-01 -6.70526295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.330281693 meters Centerline goodness [0,1] 0.9989188955436874 Centerline is valid? [True, True] Translation: X:79.43, Y:-2.45, Z:-0.67 [[ 9.99797960e-01 1.96897090e-02 4.04397307e-03 7.94332712e+01] [-1.96893027e-02 9.99806137e-01 -1.40242320e-04 -2.45401897e+00] [-4.04595042e-03 6.05909760e-05 9.99991813e-01 -6.70382257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.360281693 meters Centerline goodness [0,1] 0.9978222259810555 Centerline is valid? [True, True] Translation: X:79.46, Y:-2.47, Z:-0.67 [[ 9.99775243e-01 2.04834229e-02 5.46740050e-03 7.94643936e+01] [-2.04826858e-02 9.99790190e-01 -1.90791700e-04 -2.46649694e+00] [-5.47016145e-03 7.87617715e-05 9.99985035e-01 -6.68002576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.390281693 meters Centerline goodness [0,1] 0.9983932817755308 Centerline is valid? [True, True] Translation: X:79.50, Y:-2.47, Z:-0.67 [[ 9.99742118e-01 2.19642833e-02 5.76781600e-03 7.94962257e+01] [-2.19634823e-02 9.99758753e-01 -2.02191976e-04 -2.46577981e+00] [-5.77086554e-03 7.54585102e-05 9.99983346e-01 -6.67514100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.420281693 meters Centerline goodness [0,1] 0.9987446541415774 Centerline is valid? [True, True] Translation: X:79.53, Y:-2.47, Z:-0.67 [[ 9.99684080e-01 2.45282123e-02 5.48697925e-03 7.95272496e+01] [-2.45275214e-02 9.99699136e-01 -1.93181780e-04 -2.46807527e+00] [-5.49006682e-03 5.85387485e-05 9.99984928e-01 -6.68892272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45028169300001 meters Centerline goodness [0,1] 0.9995486879714599 Centerline is valid? [True, True] Translation: X:79.56, Y:-2.47, Z:-0.67 [[ 9.99548121e-01 2.98954031e-02 3.13352057e-03 7.95588510e+01] [-2.98952038e-02 9.99553032e-01 -1.10444410e-04 -2.46787273e+00] [-3.13542176e-03 1.67172661e-05 9.99995084e-01 -6.73029099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.480281693 meters Centerline goodness [0,1] 0.9994909538252699 Centerline is valid? [True, True] Translation: X:79.59, Y:-2.47, Z:-0.67 [[ 9.99480661e-01 3.21343961e-02 2.40595810e-03 7.95904095e+01] [-3.21342837e-02 9.99483557e-01 -8.53542639e-05 -2.46827536e+00] [-2.40745837e-03 7.99619583e-06 9.99997102e-01 -6.73847834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.510281693 meters Centerline goodness [0,1] 0.9994909538252699 Centerline is valid? [True, True] Translation: X:79.62, Y:-2.47, Z:-0.67 [[ 9.99479929e-01 3.21571747e-02 2.40595616e-03 7.96212238e+01] [-3.21570623e-02 9.99482824e-01 -8.54088919e-05 -2.46941606e+00] [-2.40745837e-03 7.99599086e-06 9.99997102e-01 -6.74007381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.540281693 meters Centerline goodness [0,1] 0.9996580027359782 Centerline is valid? [True, True] Translation: X:79.65, Y:-2.47, Z:-0.67 [[ 9.99362922e-01 3.54777410e-02 3.88334018e-03 7.96510944e+01] [-3.54774724e-02 9.99370467e-01 -1.38044906e-04 -2.47316302e+00] [-3.88579301e-03 1.85866406e-07 9.99992450e-01 -6.71737206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.570281693 meters Centerline goodness [0,1] 0.9996154503503675 Centerline is valid? [True, True] Translation: X:79.68, Y:-2.48, Z:-0.67 [[ 9.99318303e-01 3.66307441e-02 4.59535566e-03 7.96818964e+01] [-3.66303803e-02 9.99328869e-01 -1.63342564e-04 -2.47720860e+00] [-4.59825493e-03 -5.09841106e-06 9.99989428e-01 -6.70256610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.600281693 meters Centerline goodness [0,1] 0.9995067976154737 Centerline is valid? [True, True] Translation: X:79.71, Y:-2.48, Z:-0.67 [[ 9.99271219e-01 3.78563078e-02 4.89195956e-03 7.97132913e+01] [-3.78559096e-02 9.99283193e-01 -1.74003896e-04 -2.48083860e+00] [-4.89504012e-03 -1.13124934e-05 9.99988019e-01 -6.69322978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.630281693 meters Centerline goodness [0,1] 0.999548969072165 Centerline is valid? [True, True] Translation: X:79.75, Y:-2.49, Z:-0.67 [[ 9.99153774e-01 4.09079770e-02 4.27475679e-03 7.97456548e+01] [-4.09077011e-02 9.99162918e-01 -1.52005083e-04 -2.48614211e+00] [-4.27739669e-03 -2.29940205e-05 9.99990852e-01 -6.70688028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.660281693 meters Centerline goodness [0,1] 0.9995956586507767 Centerline is valid? [True, True] Translation: X:79.78, Y:-2.49, Z:-0.67 [[ 9.99096640e-01 4.23151722e-02 3.91542351e-03 7.97768488e+01] [-4.23149489e-02 9.99104312e-01 -1.39893763e-04 -2.48929017e+00] [-3.91783614e-03 -2.59135566e-05 9.99992325e-01 -6.71613773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.690281693 meters Centerline goodness [0,1] 0.9993195543080717 Centerline is valid? [True, True] Translation: X:79.81, Y:-2.49, Z:-0.67 [[ 9.99041806e-01 4.35826974e-02 4.00236176e-03 7.98082763e+01] [-4.35824729e-02 9.99049822e-01 -1.43327776e-04 -2.49337677e+00] [-4.00480542e-03 -3.12423831e-05 9.99991980e-01 -6.72094633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.720281693 meters Centerline goodness [0,1] 0.9994930184414542 Centerline is valid? [True, True] Translation: X:79.84, Y:-2.50, Z:-0.67 [[ 9.98923866e-01 4.62128032e-02 3.93544560e-03 7.98399826e+01] [-4.62126044e-02 9.98931617e-01 -1.41489690e-04 -2.49791620e+00] [-3.93777967e-03 -4.05297626e-05 9.99992246e-01 -6.72248188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.750281693 meters Centerline goodness [0,1] 0.9994276872204676 Centerline is valid? [True, True] Translation: X:79.87, Y:-2.50, Z:-0.67 [[ 9.98835433e-01 4.81395605e-02 3.21887786e-03 7.98724173e+01] [-4.81394364e-02 9.98840619e-01 -1.16072254e-04 -2.50117501e+00] [-3.22073362e-03 -3.90178856e-05 9.99994813e-01 -6.73183882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.780281693 meters Centerline goodness [0,1] 0.9992771186801037 Centerline is valid? [True, True] Translation: X:79.90, Y:-2.50, Z:-0.68 [[ 9.98605684e-01 5.27702807e-02 1.40937946e-03 7.99030426e+01] [-5.27702610e-02 9.98606678e-01 -5.11489827e-05 -2.50184105e+00] [-1.41011489e-03 -2.32956573e-05 9.99999006e-01 -6.76399998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81028169300001 meters Centerline goodness [0,1] 0.9992707931197186 Centerline is valid? [True, True] Translation: X:79.93, Y:-2.50, Z:-0.68 [[ 9.98458835e-01 5.54683928e-02 1.79206301e-03 7.99334649e+01] [-5.54683653e-02 9.98460443e-01 -6.51136307e-05 -2.50256869e+00] [-1.79291577e-03 -3.43895255e-05 9.99998392e-01 -6.75480871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84028169300001 meters Centerline goodness [0,1] 0.9989382710806277 Centerline is valid? [True, True] Translation: X:79.96, Y:-2.50, Z:-0.67 [[ 9.98314568e-01 5.79701441e-02 2.73586565e-03 7.99642297e+01] [-5.79700895e-02 9.98318315e-01 -9.93028030e-05 -2.50421130e+00] [-2.73702138e-03 -5.94629416e-05 9.99996253e-01 -6.73208138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.870281693 meters Centerline goodness [0,1] 0.9986615142160143 Centerline is valid? [True, True] Translation: X:80.00, Y:-2.51, Z:-0.67 [[ 9.98075301e-01 6.18630247e-02 4.31978597e-03 7.99956471e+01] [-6.18629238e-02 9.98084643e-01 -1.57120340e-04 -2.50638128e+00] [-4.32123198e-03 -1.10416660e-04 9.99990657e-01 -6.70956301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.900281693 meters Centerline goodness [0,1] 0.9984154854181834 Centerline is valid? [True, True] Translation: X:80.03, Y:-2.51, Z:-0.67 [[ 9.97975351e-01 6.34547399e-02 4.32376580e-03 8.00269755e+01] [-6.34546536e-02 9.97984710e-01 -1.57258352e-04 -2.50640463e+00] [-4.32503095e-03 -1.17423102e-04 9.99990640e-01 -6.71298413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.930281693 meters Centerline goodness [0,1] 0.9981163577207929 Centerline is valid? [True, True] Translation: X:80.06, Y:-2.51, Z:-0.67 [[ 9.97803649e-01 6.61652845e-02 3.16767528e-03 8.00575509e+01] [-6.61652503e-02 9.97808672e-01 -1.15712915e-04 -2.50512731e+00] [-3.16839004e-03 -9.41312595e-05 9.99994976e-01 -6.73675157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.960281693 meters Centerline goodness [0,1] 0.9975588528731241 Centerline is valid? [True, True] Translation: X:80.09, Y:-2.50, Z:-0.67 [[ 9.97730078e-01 6.72706638e-02 3.05757329e-03 8.00872473e+01] [-6.72706364e-02 9.97734759e-01 -1.11903304e-04 -2.50153540e+00] [-3.05817496e-03 -9.40356087e-05 9.99995319e-01 -6.74493232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.990281693 meters Centerline goodness [0,1] 0.9974041322837305 Centerline is valid? [True, True] Translation: X:80.12, Y:-2.51, Z:-0.67 [[ 9.97657858e-01 6.83098017e-02 3.54538158e-03 8.01177699e+01] [-6.83097717e-02 9.97664151e-01 -1.29689745e-04 -2.50527275e+00] [-3.54595919e-03 -1.12798214e-04 9.99993707e-01 -6.73881819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.020281693 meters Centerline goodness [0,1] 0.9974166275246594 Centerline is valid? [True, True] Translation: X:80.15, Y:-2.51, Z:-0.67 [[ 9.97530910e-01 7.00891015e-02 4.42725847e-03 8.01489587e+01] [-7.00890723e-02 9.97540724e-01 -1.61931319e-04 -2.51113121e+00] [-4.42772024e-03 -1.48770943e-04 9.99990187e-01 -6.73081555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.050281693 meters Centerline goodness [0,1] 0.9958181971783391 Centerline is valid? [True, True] Translation: X:80.18, Y:-2.50, Z:-0.67 [[ 9.97504429e-01 7.04878046e-02 4.04775932e-03 8.01799036e+01] [-7.04877831e-02 9.97512632e-01 -1.48148387e-04 -2.50155429e+00] [-4.04813370e-03 -1.37538909e-04 9.99991797e-01 -6.74918184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.080281693 meters Centerline goodness [0,1] 0.9975635819619577 Centerline is valid? [True, True] Translation: X:80.21, Y:-2.51, Z:-0.68 [[ 9.97471219e-01 7.10403638e-02 2.10547110e-03 8.02105012e+01] [-7.10403592e-02 9.97473439e-01 -7.70574806e-05 -2.50800991e+00] [-2.10562569e-03 -7.27108043e-05 9.99997781e-01 -6.77961616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.110281693 meters Centerline goodness [0,1] 0.9975586455790256 Centerline is valid? [True, True] Translation: X:80.24, Y:-2.51, Z:-0.68 [[ 9.97426722e-01 7.16847866e-02 1.10734556e-03 8.02408935e+01] [-7.16847857e-02 9.97427336e-01 -4.05577750e-05 -2.51028554e+00] [-1.10740410e-03 -3.89264204e-05 9.99999386e-01 -6.78904472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.140281693 meters Centerline goodness [0,1] 0.996244635193133 Centerline is valid? [True, True] Translation: X:80.27, Y:-2.50, Z:-0.68 [[ 9.97376330e-01 7.23832916e-02 1.05574308e-03 8.02708256e+01] [-7.23832911e-02 9.97376888e-01 -3.87150399e-05 -2.50435247e+00] [-1.05577607e-03 -3.78046944e-05 9.99999442e-01 -6.79162939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.170281693 meters Centerline goodness [0,1] 0.9970409162515435 Centerline is valid? [True, True] Translation: X:80.30, Y:-2.50, Z:-0.68 [[ 9.97307417e-01 7.32599717e-02 3.30045890e-03 8.03001293e+01] [-7.32599723e-02 9.97312871e-01 -1.20887880e-04 -2.50444330e+00] [-3.30044638e-03 -1.21229148e-04 9.99994546e-01 -6.75395209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20028169300001 meters Centerline goodness [0,1] 0.9970273483947681 Centerline is valid? [True, True] Translation: X:80.33, Y:-2.50, Z:-0.67 [[ 9.97247355e-01 7.40314788e-02 4.12948988e-03 8.03297959e+01] [-7.40314868e-02 9.97255893e-01 -1.51117103e-04 -2.50096672e+00] [-4.12934554e-03 -1.55011144e-04 9.99991462e-01 -6.74174536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.230281693 meters Centerline goodness [0,1] 0.9967113040861509 Centerline is valid? [True, True] Translation: X:80.36, Y:-2.50, Z:-0.67 [[ 9.97152500e-01 7.53137090e-02 3.83894922e-03 8.03606843e+01] [-7.53137256e-02 9.97159878e-01 -1.40430492e-04 -2.49746488e+00] [-3.83862247e-03 -1.49094952e-04 9.99992621e-01 -6.74817244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.260281693 meters Centerline goodness [0,1] 0.996365557316429 Centerline is valid? [True, True] Translation: X:80.39, Y:-2.49, Z:-0.68 [[ 9.97150173e-01 7.54024452e-02 2.45010056e-03 8.03905587e+01] [-7.54024522e-02 9.97153179e-01 -8.96570875e-05 -2.49445957e+00] [-2.44988593e-03 -9.53420102e-05 9.99996994e-01 -6.77630706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.290281693 meters Centerline goodness [0,1] 0.9967134940069596 Centerline is valid? [True, True] Translation: X:80.42, Y:-2.49, Z:-0.68 [[ 9.97198294e-01 7.47825537e-02 1.76992978e-03 8.04203350e+01] [-7.47825563e-02 9.97199862e-01 -6.48027845e-05 -2.49458331e+00] [-1.76981985e-03 -6.77386471e-05 9.99998432e-01 -6.78975944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.320281693 meters Centerline goodness [0,1] 0.9963671693490475 Centerline is valid? [True, True] Translation: X:80.45, Y:-2.49, Z:-0.68 [[ 9.97412523e-01 7.18632723e-02 1.98230360e-03 8.04494464e+01] [-7.18632699e-02 9.97414490e-01 -7.25184599e-05 -2.48947664e+00] [-1.98238975e-03 -7.01239985e-05 9.99998033e-01 -6.78734418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.350281693 meters Centerline goodness [0,1] 0.9976483050847458 Centerline is valid? [True, True] Translation: X:80.48, Y:-2.49, Z:-0.68 [[ 9.97542420e-01 7.00014272e-02 2.98683267e-03 8.04791246e+01] [-7.00014139e-02 9.97546886e-01 -1.09137595e-04 -2.49404381e+00] [-2.98714542e-03 -1.00213129e-04 9.99995533e-01 -6.76531623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.380281693 meters Centerline goodness [0,1] 0.9976985530717923 Centerline is valid? [True, True] Translation: X:80.51, Y:-2.50, Z:-0.67 [[ 9.97684586e-01 6.79067872e-02 3.75967761e-03 8.05091035e+01] [-6.79067517e-02 9.97691663e-01 -1.37244686e-04 -2.49624145e+00] [-3.76031886e-03 -1.18380586e-04 9.99992923e-01 -6.74187719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.410281693 meters Centerline goodness [0,1] 0.9985004284490145 Centerline is valid? [True, True] Translation: X:80.54, Y:-2.50, Z:-0.67 [[ 9.98027023e-01 6.25602329e-02 5.31769836e-03 8.05400831e+01] [-6.25600864e-02 9.98041180e-01 -1.94037525e-04 -2.50464811e+00] [-5.31942098e-03 -1.39020976e-04 9.99985842e-01 -6.72564872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.440281693 meters Centerline goodness [0,1] 0.9986635837169343 Centerline is valid? [True, True] Translation: X:80.57, Y:-2.51, Z:-0.67 [[ 9.98199631e-01 5.97526410e-02 5.20749351e-03 8.05702757e+01] [-5.97524621e-02 9.98213207e-01 -1.90074077e-04 -2.50788546e+00] [-5.20954623e-03 -1.21428685e-04 9.99986423e-01 -6.73301783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.470281693 meters Centerline goodness [0,1] 0.9990914661201378 Centerline is valid? [True, True] Translation: X:80.60, Y:-2.52, Z:-0.68 [[ 9.98470313e-01 5.50979135e-02 4.61024214e-03 8.06009815e+01] [-5.50977235e-02 9.98480953e-01 -1.68315079e-04 -2.51784290e+00] [-4.61251277e-03 -8.59562374e-05 9.99989359e-01 -6.75165883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.500281693 meters Centerline goodness [0,1] 0.999299124968142 Centerline is valid? [True, True] Translation: X:80.63, Y:-2.52, Z:-0.68 [[ 9.98576246e-01 5.31488213e-02 4.54793630e-03 8.06316895e+01] [-5.31486161e-02 9.98586600e-01 -1.66064809e-04 -2.52337250e+00] [-4.55033439e-03 -7.58881461e-05 9.99989644e-01 -6.75303084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.530281693 meters Centerline goodness [0,1] 0.9992529667890379 Centerline is valid? [True, True] Translation: X:80.66, Y:-2.53, Z:-0.68 [[ 9.98687001e-01 5.10031523e-02 4.79089183e-03 8.06635621e+01] [-5.10028963e-02 9.98698490e-01 -1.75665994e-04 -2.52988772e+00] [-4.79361596e-03 -6.89140149e-05 9.99988508e-01 -6.75123528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56028169300001 meters Centerline goodness [0,1] 0.9994639679238405 Centerline is valid? [True, True] Translation: X:80.70, Y:-2.54, Z:-0.68 [[ 9.98799300e-01 4.87512509e-02 4.82426766e-03 8.06954728e+01] [-4.87509614e-02 9.98810949e-01 -1.77647606e-04 -2.53686893e+00] [-4.82719190e-03 -5.77533822e-05 9.99988347e-01 -6.75053182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59028169300001 meters Centerline goodness [0,1] 0.9995122365016753 Centerline is valid? [True, True] Translation: X:80.73, Y:-2.55, Z:-0.68 [[ 9.99019714e-01 4.41254967e-02 3.54286642e-03 8.07259387e+01] [-4.41253102e-02 9.99025996e-01 -1.30817914e-04 -2.55073301e+00] [-3.54518806e-03 -2.56404047e-05 9.99993715e-01 -6.77824165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.620281693 meters Centerline goodness [0,1] 0.9995533245416259 Centerline is valid? [True, True] Translation: X:80.76, Y:-2.56, Z:-0.68 [[ 9.99086500e-01 4.26232583e-02 3.06960723e-03 8.07575664e+01] [-4.26231103e-02 9.99091216e-01 -1.13656739e-04 -2.55837253e+00] [-3.07166204e-03 -1.72832938e-05 9.99995282e-01 -6.79138809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.650281693 meters Centerline goodness [0,1] 0.9996381515931972 Centerline is valid? [True, True] Translation: X:80.79, Y:-2.57, Z:-0.68 [[ 9.99177929e-01 4.03930040e-02 3.44562425e-03 8.07893014e+01] [-4.03928020e-02 9.99183870e-01 -1.28207054e-04 -2.57039295e+00] [-3.44799084e-03 -1.10767600e-05 9.99994056e-01 -6.78095863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.680281693 meters Centerline goodness [0,1] 0.9997424671645635 Centerline is valid? [True, True] Translation: X:80.82, Y:-2.58, Z:-0.68 [[ 9.99199321e-01 3.97947933e-02 4.13427013e-03 8.08209669e+01] [-3.97944939e-02 9.99207873e-01 -1.54668793e-04 -2.57586478e+00] [-4.13715028e-03 -9.97623447e-06 9.99991442e-01 -6.77204045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.710281693 meters Centerline goodness [0,1] 0.9997226784990507 Centerline is valid? [True, True] Translation: X:80.85, Y:-2.58, Z:-0.68 [[ 9.99213746e-01 3.94214984e-02 4.22326369e-03 8.08529272e+01] [-3.94211795e-02 9.99222671e-01 -1.58765801e-04 -2.58084499e+00] [-4.22623961e-03 -7.84506519e-06 9.99991069e-01 -6.76919090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.740281693 meters Centerline goodness [0,1] 0.999616678734188 Centerline is valid? [True, True] Translation: X:80.89, Y:-2.59, Z:-0.68 [[ 9.99273734e-01 3.78860732e-02 4.08032985e-03 8.08856740e+01] [-3.78857601e-02 9.99282065e-01 -1.54044519e-04 -2.59114823e+00] [-4.08323659e-03 -6.53756628e-07 9.99991664e-01 -6.76969048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.770281693 meters Centerline goodness [0,1] 0.9996168663927971 Centerline is valid? [True, True] Translation: X:80.92, Y:-2.60, Z:-0.68 [[ 9.99311514e-01 3.69078287e-02 3.78290773e-03 8.09176591e+01] [-3.69075502e-02 9.99318674e-01 -1.43434042e-04 -2.59862422e+00] [-3.78562418e-03 3.71743247e-06 9.99992834e-01 -6.77457853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.800281693 meters Centerline goodness [0,1] 0.9991478846235781 Centerline is valid? [True, True] Translation: X:80.95, Y:-2.61, Z:-0.68 [[ 9.99403156e-01 3.43308933e-02 3.83695475e-03 8.09486554e+01] [-3.43305853e-02 9.99410521e-01 -1.46131582e-04 -2.61443643e+00] [-3.83970977e-03 1.43194616e-05 9.99992628e-01 -6.78711898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.830281693 meters Centerline goodness [0,1] 0.9995276942893946 Centerline is valid? [True, True] Translation: X:80.98, Y:-2.62, Z:-0.68 [[ 9.99428263e-01 3.36437566e-02 3.35343542e-03 8.09813782e+01] [-3.36435162e-02 9.99433888e-01 -1.28112509e-04 -2.62116914e+00] [-3.35584719e-03 1.52179034e-05 9.99994369e-01 -6.79771722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.860281693 meters Centerline goodness [0,1] 0.9995522769913013 Centerline is valid? [True, True] Translation: X:81.01, Y:-2.63, Z:-0.68 [[ 9.99437921e-01 3.34083694e-02 2.77919375e-03 8.10139480e+01] [-3.34082024e-02 9.99441785e-01 -1.06507439e-04 -2.62661454e+00] [-2.78120060e-03 1.35997059e-05 9.99996132e-01 -6.81120746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.890281693 meters Centerline goodness [0,1] 0.9994515577868247 Centerline is valid? [True, True] Translation: X:81.05, Y:-2.63, Z:-0.68 [[ 9.99421962e-01 3.38941049e-02 2.63285353e-03 8.10456051e+01] [-3.38939554e-02 9.99425430e-01 -1.01379302e-04 -2.63253556e+00] [-2.63477693e-03 1.20828811e-05 9.99996529e-01 -6.82362423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.920281693 meters Centerline goodness [0,1] 0.9996175745729583 Centerline is valid? [True, True] Translation: X:81.08, Y:-2.63, Z:-0.68 [[ 9.99294866e-01 3.74242114e-02 3.03287571e-03 8.10779655e+01] [-3.74240272e-02 9.99299469e-01 -1.17497023e-04 -2.63426296e+00] [-3.03514832e-03 3.91174826e-06 9.99995394e-01 -6.80510605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95028169300001 meters Centerline goodness [0,1] 0.9997014479773101 Centerline is valid? [True, True] Translation: X:81.11, Y:-2.63, Z:-0.68 [[ 9.99170470e-01 4.06143642e-02 2.97420319e-03 8.11106458e+01] [-4.06141999e-02 9.99174896e-01 -1.15621298e-04 -2.63389444e+00] [-2.97644505e-03 -5.26949643e-06 9.99995570e-01 -6.80464489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.980281693 meters Centerline goodness [0,1] 0.9995343915343915 Centerline is valid? [True, True] Translation: X:81.14, Y:-2.63, Z:-0.68 [[ 9.98819418e-01 4.85392953e-02 1.92532248e-03 8.11429953e+01] [-4.85392410e-02 9.98821274e-01 -7.49214806e-05 -2.62600238e+00] [-1.92668969e-03 -1.86206622e-05 9.99998144e-01 -6.82093758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.010281693 meters Centerline goodness [0,1] 0.9994867517803298 Centerline is valid? [True, True] Translation: X:81.17, Y:-2.62, Z:-0.68 [[ 9.98559009e-01 5.36093877e-02 2.43698507e-03 8.11748339e+01] [-5.36093143e-02 9.98561982e-01 -9.54808440e-05 -2.62114042e+00] [-2.43859931e-03 -3.53018418e-05 9.99997026e-01 -6.81515395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.040281693 meters Centerline goodness [0,1] 0.9991640946502057 Centerline is valid? [True, True] Translation: X:81.21, Y:-2.62, Z:-0.68 [[ 9.98293842e-01 5.82908107e-02 3.40390874e-03 8.12063969e+01] [-5.82906919e-02 9.98299643e-01 -1.34195976e-04 -2.61548553e+00] [-3.40594327e-03 -6.44491795e-05 9.99994198e-01 -6.79908318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.070281693 meters Centerline goodness [0,1] 0.9982586536419622 Centerline is valid? [True, True] Translation: X:81.24, Y:-2.60, Z:-0.68 [[ 9.97851023e-01 6.52993359e-02 5.41597053e-03 8.12365382e+01] [-6.52991315e-02 9.97865711e-01 -2.14761851e-04 -2.60139403e+00] [-5.41843509e-03 -1.39357839e-04 9.99985310e-01 -6.76390204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.100281693 meters Centerline goodness [0,1] 0.9985965210734488 Centerline is valid? [True, True] Translation: X:81.27, Y:-2.60, Z:-0.68 [[ 9.97647219e-01 6.83680876e-02 5.08249546e-03 8.12680615e+01] [-6.83679475e-02 9.97660154e-01 -2.01495005e-04 -2.59943787e+00] [-5.08437903e-03 -1.46458851e-04 9.99987064e-01 -6.77593315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.130281693 meters Centerline goodness [0,1] 0.998198389147944 Centerline is valid? [True, True] Translation: X:81.30, Y:-2.59, Z:-0.68 [[ 9.97452975e-01 7.12404897e-02 3.51500206e-03 8.12980961e+01] [-7.12404402e-02 9.97459162e-01 -1.39434972e-04 -2.59203594e+00] [-3.51600442e-03 -1.11330467e-04 9.99993813e-01 -6.80868287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.160281693 meters Centerline goodness [0,1] 0.9974628020985636 Centerline is valid? [True, True] Translation: X:81.33, Y:-2.59, Z:-0.69 [[ 9.97208238e-01 7.46700901e-02 3.26880893e-04 8.13296695e+01] [-7.46700899e-02 9.97208292e-01 -1.28546746e-05 -2.58541319e+00] [-3.26928197e-04 -1.15894383e-05 9.99999946e-01 -6.85937423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.190281693 meters Centerline goodness [0,1] 0.9969038943532931 Centerline is valid? [True, True] Translation: X:81.36, Y:-2.58, Z:-0.69 [[ 9.97177997e-01 7.50734196e-02 1.56005093e-04 8.13597897e+01] [-7.50734196e-02 9.97178009e-01 -6.19210756e-06 -2.57949032e+00] [-1.56029711e-04 -5.53720241e-06 9.99999988e-01 -6.86465015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.220281693 meters Centerline goodness [0,1] 0.9968841409131375 Centerline is valid? [True, True] Translation: X:81.39, Y:-2.58, Z:-0.68 [[ 9.97209079e-01 7.45876285e-02 3.27691162e-03 8.13904812e+01] [-7.45876033e-02 9.97214457e-01 -1.30066197e-04 -2.57572565e+00] [-3.27748497e-03 -1.14713791e-04 9.99994622e-01 -6.81383216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.250281693 meters Centerline goodness [0,1] 0.9971520265244097 Centerline is valid? [True, True] Translation: X:81.42, Y:-2.58, Z:-0.68 [[ 9.97233907e-01 7.42070857e-02 4.22407580e-03 8.14221839e+01] [-7.42070405e-02 9.97242843e-01 -1.67638928e-04 -2.57800931e+00] [-4.22486935e-03 -1.46280940e-04 9.99991065e-01 -6.80090461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.280281693 meters Centerline goodness [0,1] 0.9970459149223497 Centerline is valid? [True, True] Translation: X:81.45, Y:-2.58, Z:-0.68 [[ 9.97277223e-01 7.36199992e-02 4.27032665e-03 8.14535283e+01] [-7.36199474e-02 9.97286355e-01 -1.69512205e-04 -2.57749598e+00] [-4.27121799e-03 -1.45330562e-04 9.99990868e-01 -6.80572024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31028169300001 meters Centerline goodness [0,1] 0.9970889146714481 Centerline is valid? [True, True] Translation: X:81.48, Y:-2.58, Z:-0.68 [[ 9.97322691e-01 7.30354564e-02 3.64302541e-03 8.14847465e+01] [-7.30354142e-02 9.97329337e-01 -1.44793006e-04 -2.57660089e+00] [-3.64387114e-03 -1.21664520e-04 9.99993354e-01 -6.81764468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34028169300001 meters Centerline goodness [0,1] 0.9984230536593796 Centerline is valid? [True, True] Translation: X:81.52, Y:-2.58, Z:-0.68 [[ 9.97291460e-01 7.34264904e-02 4.27722266e-03 8.15170664e+01] [-7.34264327e-02 9.97300622e-01 -1.70738462e-04 -2.58039584e+00] [-4.27821355e-03 -1.43785192e-04 9.99990838e-01 -6.80119717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.370281693 meters Centerline goodness [0,1] 0.9951440734164759 Centerline is valid? [True, True] Translation: X:81.55, Y:-2.56, Z:-0.68 [[ 9.97051866e-01 7.64506344e-02 6.54811820e-03 8.15477696e+01] [-7.64505553e-02 9.97073339e-01 -2.62745127e-04 -2.56184429e+00] [-6.54904111e-03 -2.38636754e-04 9.99978526e-01 -6.76402600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.400281693 meters Centerline goodness [0,1] 0.9886819146427729 Centerline is valid? [True, True] Translation: X:81.58, Y:-2.55, Z:-0.68 [[ 9.96880685e-01 7.86553261e-02 6.49923467e-03 8.15786263e+01] [-7.86552949e-02 9.96901839e-01 -2.60798178e-04 -2.54885920e+00] [-6.49961216e-03 -2.51214554e-04 9.99978846e-01 -6.75829900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.430281693 meters Centerline goodness [0,1] 0.9886819146427729 Centerline is valid? [True, True] Translation: X:81.61, Y:-2.55, Z:-0.68 [[ 9.96879065e-01 7.86758519e-02 6.49923131e-03 8.16094576e+01] [-7.86758206e-02 9.96900219e-01 -2.60881915e-04 -2.55014410e+00] [-6.49961022e-03 -2.51264637e-04 9.99978846e-01 -6.75989565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.460281693 meters Centerline goodness [0,1] 0.9953736275450379 Centerline is valid? [True, True] Translation: X:81.64, Y:-2.56, Z:-0.68 [[ 9.96705848e-01 8.09038645e-02 5.65842737e-03 8.16399241e+01] [-8.09038760e-02 9.96721883e-01 -2.27230261e-04 -2.56043725e+00] [-5.65826219e-03 -2.31306977e-04 9.99983965e-01 -6.77700450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.490281693 meters Centerline goodness [0,1] 0.9944412250767283 Centerline is valid? [True, True] Translation: X:81.67, Y:-2.55, Z:-0.68 [[ 9.96379069e-01 8.49076508e-02 4.40922016e-03 8.16705192e+01] [-8.49076967e-02 9.96388805e-01 -1.77112286e-04 -2.55005781e+00] [-4.40833580e-03 -1.97905753e-04 9.99990264e-01 -6.80289192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.520281693 meters Centerline goodness [0,1] 0.9939157633146236 Centerline is valid? [True, True] Translation: X:81.70, Y:-2.55, Z:-0.68 [[ 9.96292200e-01 8.59109338e-02 4.60036914e-03 8.17007740e+01] [-8.59109944e-02 9.96302799e-01 -1.84803422e-04 -2.54541253e+00] [-4.59923728e-03 -2.11104080e-04 9.99989401e-01 -6.80607993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.550281693 meters Centerline goodness [0,1] 0.9930965204753356 Centerline is valid? [True, True] Translation: X:81.73, Y:-2.54, Z:-0.68 [[ 9.96365441e-01 8.50290220e-02 5.09641173e-03 8.17294913e+01] [-8.50290856e-02 9.96378449e-01 -2.04595732e-04 -2.53620098e+00] [-5.09535139e-03 -2.29491113e-04 9.99986992e-01 -6.80683240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.580281693 meters Centerline goodness [0,1] 0.987228742717217 Centerline is valid? [True, True] Translation: X:81.76, Y:-2.53, Z:-0.68 [[ 9.96526418e-01 8.31294721e-02 4.95865486e-03 8.17586861e+01] [-8.31295096e-02 9.96538732e-01 -1.98893740e-04 -2.52564487e+00] [-4.95802556e-03 -2.14007681e-04 9.99987686e-01 -6.80992770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.610281693 meters Centerline goodness [0,1] 0.9918725133507797 Centerline is valid? [True, True] Translation: X:81.79, Y:-2.53, Z:-0.68 [[ 9.96754684e-01 8.03826228e-02 4.32827518e-03 8.17885725e+01] [-8.03826262e-02 9.96764066e-01 -1.73461103e-04 -2.52727903e+00] [-4.32821243e-03 -1.75019959e-04 9.99990618e-01 -6.82373937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.640281693 meters Centerline goodness [0,1] 0.9964203528509332 Centerline is valid? [True, True] Translation: X:81.82, Y:-2.53, Z:-0.69 [[ 9.97287677e-01 7.35605584e-02 2.47673020e-03 8.18188696e+01] [-7.35605386e-02 9.97290749e-01 -9.92305689e-05 -2.53180857e+00] [-2.47731957e-03 -8.32281839e-05 9.99996928e-01 -6.85631091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.670281693 meters Centerline goodness [0,1] 0.9980521267811395 Centerline is valid? [True, True] Translation: X:81.85, Y:-2.54, Z:-0.69 [[ 9.97553191e-01 6.98942584e-02 1.55693343e-03 8.18481542e+01] [-6.98942460e-02 9.97554405e-01 -6.24552605e-05 -2.53858890e+00] [-1.55749107e-03 -4.65182439e-05 9.99998786e-01 -6.86651068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70028169300001 meters Centerline goodness [0,1] 0.9983256326565215 Centerline is valid? [True, True] Translation: X:81.88, Y:-2.54, Z:-0.69 [[ 9.97836321e-01 6.57322190e-02 1.39680993e-03 8.18770587e+01] [-6.57322049e-02 9.97837298e-01 -5.60330674e-05 -2.53885892e+00] [-1.39747222e-03 -3.59035665e-05 9.99999023e-01 -6.88103088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.730281693 meters Centerline goodness [0,1] 0.9990948275862069 Centerline is valid? [True, True] Translation: X:81.91, Y:-2.55, Z:-0.68 [[ 9.98337029e-01 5.75680659e-02 3.01576243e-03 8.19072842e+01] [-5.75679640e-02 9.98341582e-01 -1.20660368e-04 -2.55060167e+00] [-3.01770722e-03 -5.31515896e-05 9.99995445e-01 -6.84629478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.760281693 meters Centerline goodness [0,1] 0.9994176893048936 Centerline is valid? [True, True] Translation: X:81.94, Y:-2.56, Z:-0.68 [[ 9.98528869e-01 5.41024825e-02 3.60819347e-03 8.19375061e+01] [-5.41023140e-02 9.98535387e-01 -1.44366883e-04 -2.56078534e+00] [-3.61071947e-03 -5.10571155e-05 9.99993480e-01 -6.83366313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.790281693 meters Centerline goodness [0,1] 0.9996817718940937 Centerline is valid? [True, True] Translation: X:81.97, Y:-2.57, Z:-0.68 [[ 9.98735518e-01 5.01452637e-02 3.58009892e-03 8.19673034e+01] [-5.01450724e-02 9.98741934e-01 -1.43224090e-04 -2.56594834e+00] [-3.58277693e-03 -3.64813338e-05 9.99993581e-01 -6.83193624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.820281693 meters Centerline goodness [0,1] 0.999573851529873 Centerline is valid? [True, True] Translation: X:82.00, Y:-2.57, Z:-0.68 [[ 9.98754129e-01 4.97703441e-02 3.61981704e-03 8.19985573e+01] [-4.97701460e-02 9.98760688e-01 -1.44838329e-04 -2.56892043e+00] [-3.62253961e-03 -3.55009432e-05 9.99993438e-01 -6.82773449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.850281693 meters Centerline goodness [0,1] 0.9997464877997254 Centerline is valid? [True, True] Translation: X:82.03, Y:-2.57, Z:-0.68 [[ 9.98756807e-01 4.96843580e-02 4.03806234e-03 8.20294003e+01] [-4.96841103e-02 9.98764969e-01 -1.61695002e-04 -2.56926475e+00] [-4.04110892e-03 -3.91335501e-05 9.99991834e-01 -6.81917772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.880281693 meters Centerline goodness [0,1] 0.9996592917527309 Centerline is valid? [True, True] Translation: X:82.06, Y:-2.57, Z:-0.68 [[ 9.98689739e-01 5.09038095e-02 5.25430443e-03 8.20610876e+01] [-5.09034066e-02 9.98703559e-01 -2.10476750e-04 -2.56856994e+00] [-5.25820660e-03 -5.72610237e-05 9.99986174e-01 -6.79592322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.910281693 meters Centerline goodness [0,1] 0.99954923047202 Centerline is valid? [True, True] Translation: X:82.09, Y:-2.57, Z:-0.68 [[ 9.98621013e-01 5.21583978e-02 5.96443266e-03 8.20924736e+01] [-5.21579001e-02 9.98638822e-01 -2.39077625e-04 -2.56759388e+00] [-5.96878391e-03 -7.23443428e-05 9.99982184e-01 -6.78658531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.940281693 meters Centerline goodness [0,1] 0.9993394698713032 Centerline is valid? [True, True] Translation: X:82.12, Y:-2.57, Z:-0.68 [[ 9.98542117e-01 5.36199215e-02 6.20846819e-03 8.21240938e+01] [-5.36194095e-02 9.98561414e-01 -2.49008541e-04 -2.56567321e+00] [-6.21288859e-03 -8.42488826e-05 9.99980696e-01 -6.78171034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.970281693 meters Centerline goodness [0,1] 0.9992544784544274 Centerline is valid? [True, True] Translation: X:82.15, Y:-2.56, Z:-0.68 [[ 9.98374913e-01 5.66651904e-02 6.04892286e-03 8.21544912e+01] [-5.66647593e-02 9.98393232e-01 -2.42763186e-04 -2.55949662e+00] [-6.05295986e-03 -1.00392083e-04 9.99981676e-01 -6.78677398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.000281693 meters Centerline goodness [0,1] 0.999187270082984 Centerline is valid? [True, True] Translation: X:82.19, Y:-2.56, Z:-0.68 [[ 9.98322514e-01 5.75663409e-02 6.18661950e-03 8.21857781e+01] [-5.75659057e-02 9.98341677e-01 -2.48537139e-04 -2.56017381e+00] [-6.19066746e-03 -1.08018133e-04 9.99980832e-01 -6.78612525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.030281693 meters Centerline goodness [0,1] 0.9990822751040443 Centerline is valid? [True, True] Translation: X:82.22, Y:-2.56, Z:-0.68 [[ 9.98311984e-01 5.78234721e-02 5.44325255e-03 8.22173342e+01] [-5.78231385e-02 9.98326819e-01 -2.18786988e-04 -2.56262040e+00] [-5.44679602e-03 -9.63282740e-05 9.99985161e-01 -6.79779450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06028169300001 meters Centerline goodness [0,1] 0.9987564810521435 Centerline is valid? [True, True] Translation: X:82.25, Y:-2.56, Z:-0.68 [[ 9.98381794e-01 5.66784968e-02 4.61960264e-03 8.22479577e+01] [-5.66782438e-02 9.98392479e-01 -1.85777138e-04 -2.55997250e+00] [-4.62270610e-03 -7.63544521e-05 9.99989312e-01 -6.81792969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09028169300001 meters Centerline goodness [0,1] 0.9992700729927008 Centerline is valid? [True, True] Translation: X:82.28, Y:-2.57, Z:-0.68 [[ 9.98458705e-01 5.52687580e-02 5.05764717e-03 8.22783855e+01] [-5.52684363e-02 9.98471511e-01 -2.03458913e-04 -2.56850423e+00] [-5.06116154e-03 -7.63829281e-05 9.99987189e-01 -6.81848841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.120281693 meters Centerline goodness [0,1] 0.9991897654584222 Centerline is valid? [True, True] Translation: X:82.31, Y:-2.57, Z:-0.68 [[ 9.98526125e-01 5.38921118e-02 6.42015815e-03 8.23082978e+01] [-5.38915649e-02 9.98546760e-01 -2.58284020e-04 -2.57079888e+00] [-6.42474759e-03 -8.80890276e-05 9.99979357e-01 -6.79412742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.150281693 meters Centerline goodness [0,1] 0.9989051940122534 Centerline is valid? [True, True] Translation: X:82.34, Y:-2.57, Z:-0.68 [[ 9.98519438e-01 5.39972798e-02 6.57465009e-03 8.23399635e+01] [-5.39967068e-02 9.98541079e-01 -2.64762582e-04 -2.57081156e+00] [-6.57935465e-03 -9.06388686e-05 9.99978352e-01 -6.79123006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.180281693 meters Centerline goodness [0,1] 0.9991691521090754 Centerline is valid? [True, True] Translation: X:82.37, Y:-2.57, Z:-0.68 [[ 9.98488510e-01 5.47105258e-02 5.23965825e-03 8.23709085e+01] [-5.47101686e-02 9.98502255e-01 -2.11601671e-04 -2.57211456e+00] [-5.24338742e-03 -7.53807487e-05 9.99986251e-01 -6.81549931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.210281693 meters Centerline goodness [0,1] 0.9991709536159177 Centerline is valid? [True, True] Translation: X:82.40, Y:-2.57, Z:-0.68 [[ 9.98466449e-01 5.51641568e-02 4.65461169e-03 8.24019981e+01] [-5.51638794e-02 9.98477296e-01 -1.88070301e-04 -2.57211823e+00] [-4.65789883e-03 -6.89845515e-05 9.99989150e-01 -6.82980139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.240281693 meters Centerline goodness [0,1] 0.9993299615268232 Centerline is valid? [True, True] Translation: X:82.43, Y:-2.57, Z:-0.68 [[ 9.98465742e-01 5.52226619e-02 4.07675462e-03 8.24321266e+01] [-5.52224491e-02 9.98474063e-01 -1.64827649e-04 -2.57366882e+00] [-4.07963597e-03 -6.05536134e-05 9.99991676e-01 -6.84542694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.270281693 meters Centerline goodness [0,1] 0.9992503427004797 Centerline is valid? [True, True] Translation: X:82.46, Y:-2.58, Z:-0.69 [[ 9.98511940e-01 5.44117917e-02 3.64173353e-03 8.24625174e+01] [-5.44116166e-02 9.98518580e-01 -1.47221214e-04 -2.57583758e+00] [-3.64434916e-03 -5.11504686e-05 9.99993358e-01 -6.85869883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.300281693 meters Centerline goodness [0,1] 0.9993853197397147 Centerline is valid? [True, True] Translation: X:82.49, Y:-2.59, Z:-0.69 [[ 9.98720738e-01 5.04653475e-02 3.18371168e-03 8.24920880e+01] [-5.04651935e-02 9.98725812e-01 -1.28735580e-04 -2.58574151e+00] [-3.18615172e-03 -3.20957326e-05 9.99994924e-01 -6.87343792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.330281693 meters Centerline goodness [0,1] 0.9995084629851256 Centerline is valid? [True, True] Translation: X:82.52, Y:-2.59, Z:-0.69 [[ 9.98854720e-01 4.77552654e-02 2.94676253e-03 8.25234243e+01] [-4.77551216e-02 9.98859066e-01 -1.19158745e-04 -2.59259893e+00] [-2.94909092e-03 -2.17007281e-05 9.99995651e-01 -6.88194662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.360281693 meters Centerline goodness [0,1] 0.9996371165709651 Centerline is valid? [True, True] Translation: X:82.55, Y:-2.60, Z:-0.69 [[ 9.99008772e-01 4.44169488e-02 2.93379961e-03 8.25548675e+01] [-4.44167917e-02 9.99013080e-01 -1.18701025e-04 -2.60109131e+00] [-2.93617652e-03 -1.17266008e-05 9.99995689e-01 -6.87109085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.390281693 meters Centerline goodness [0,1] 0.9996604918624143 Centerline is valid? [True, True] Translation: X:82.59, Y:-2.60, Z:-0.69 [[ 9.99013419e-01 4.42711999e-02 3.50000945e-03 8.25863031e+01] [-4.42709755e-02 9.99019550e-01 -1.41601496e-04 -2.60298007e+00] [-3.50284673e-03 -1.34870383e-05 9.99993865e-01 -6.85873014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.420281693 meters Centerline goodness [0,1] 0.9995767195767196 Centerline is valid? [True, True] Translation: X:82.62, Y:-2.60, Z:-0.68 [[ 9.98957640e-01 4.54654376e-02 4.06551615e-03 8.26173734e+01] [-4.54651427e-02 9.98965912e-01 -1.64997559e-04 -2.60237395e+00] [-4.06881373e-03 -2.00136995e-05 9.99991722e-01 -6.84931114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45028169300001 meters Centerline goodness [0,1] 0.9994869163673679 Centerline is valid? [True, True] Translation: X:82.65, Y:-2.59, Z:-0.69 [[ 9.98699608e-01 5.08932117e-02 2.99580525e-03 8.26493487e+01] [-5.08930759e-02 9.98704100e-01 -1.21620969e-04 -2.59311034e+00] [-2.99811267e-03 -3.10029294e-05 9.99995505e-01 -6.87125495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.480281693 meters Centerline goodness [0,1] 0.9994490358126722 Centerline is valid? [True, True] Translation: X:82.68, Y:-2.59, Z:-0.69 [[ 9.98546048e-01 5.38741398e-02 1.83504193e-03 8.26799268e+01] [-5.38740937e-02 9.98547734e-01 -7.45684490e-05 -2.58887799e+00] [-1.83639427e-03 -2.44011910e-05 9.99998314e-01 -6.89750628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.510281693 meters Centerline goodness [0,1] 0.9992294025729392 Centerline is valid? [True, True] Translation: X:82.71, Y:-2.59, Z:-0.69 [[ 9.98433534e-01 5.59373563e-02 1.22100101e-03 8.27109513e+01] [-5.59373374e-02 9.98434280e-01 -4.96163875e-05 -2.58561025e+00] [-1.22186467e-03 -1.87608804e-05 9.99999253e-01 -6.91094945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.540281693 meters Centerline goodness [0,1] 0.9992735197965855 Centerline is valid? [True, True] Translation: X:82.74, Y:-2.58, Z:-0.69 [[ 9.98289547e-01 5.84455445e-02 1.44857703e-03 8.27411968e+01] [-5.84455205e-02 9.98290598e-01 -5.89063284e-05 -2.58171385e+00] [-1.44954364e-03 -2.58572667e-05 9.99998949e-01 -6.90503827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.570281693 meters Centerline goodness [0,1] 0.9986078985693481 Centerline is valid? [True, True] Translation: X:82.77, Y:-2.58, Z:-0.69 [[ 9.98292213e-01 5.83208248e-02 3.36729214e-03 8.27699280e+01] [-5.83206949e-02 9.98297890e-01 -1.36855494e-04 -2.58173049e+00] [-3.36954216e-03 -5.97610431e-05 9.99994321e-01 -6.87189578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.600281693 meters Centerline goodness [0,1] 0.9987999057068769 Centerline is valid? [True, True] Translation: X:82.80, Y:-2.58, Z:-0.69 [[ 9.98317938e-01 5.78150357e-02 4.32620470e-03 8.28004585e+01] [-5.78148175e-02 9.98327309e-01 -1.75603503e-04 -2.58420440e+00] [-4.32912082e-03 -7.48106082e-05 9.99990627e-01 -6.85711088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.630281693 meters Centerline goodness [0,1] 0.9987514020273845 Centerline is valid? [True, True] Translation: X:82.83, Y:-2.59, Z:-0.68 [[ 9.98316655e-01 5.78242413e-02 4.49582860e-03 8.28308667e+01] [-5.78240057e-02 9.98326776e-01 -1.82488649e-04 -2.58598328e+00] [-4.49885834e-03 -7.77853609e-05 9.99989877e-01 -6.84475629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.660281693 meters Centerline goodness [0,1] 0.9986475635011199 Centerline is valid? [True, True] Translation: X:82.86, Y:-2.59, Z:-0.68 [[ 9.98272527e-01 5.85762329e-02 4.55935797e-03 8.28614524e+01] [-5.85759984e-02 9.98282935e-01 -1.85067348e-04 -2.58592290e+00] [-4.56236980e-03 -8.23212962e-05 9.99989589e-01 -6.84477099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.690281693 meters Centerline goodness [0,1] 0.9982573584103709 Centerline is valid? [True, True] Translation: X:82.89, Y:-2.58, Z:-0.69 [[ 9.98097053e-01 6.15021028e-02 4.44572828e-03 8.28908624e+01] [-6.15019088e-02 9.98106950e-01 -1.80462838e-04 -2.58143653e+00] [-4.44841114e-03 -9.33013485e-05 9.99990101e-01 -6.85169421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.720281693 meters Centerline goodness [0,1] 0.9984857855787072 Centerline is valid? [True, True] Translation: X:82.92, Y:-2.58, Z:-0.68 [[ 9.97985953e-01 6.32749585e-02 4.50739325e-03 8.29213773e+01] [-6.32747774e-02 9.97996127e-01 -1.82909548e-04 -2.58204340e+00] [-4.50993460e-03 -1.02663145e-04 9.99989825e-01 -6.84629310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.750281693 meters Centerline goodness [0,1] 0.9976703428229461 Centerline is valid? [True, True] Translation: X:82.95, Y:-2.57, Z:-0.69 [[ 9.97764477e-01 6.66851960e-02 4.37412122e-03 8.29506577e+01] [-6.66850583e-02 9.97774058e-01 -1.77486639e-04 -2.57143507e+00] [-4.37622041e-03 -1.14598665e-04 9.99990418e-01 -6.85849272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.780281693 meters Centerline goodness [0,1] 0.9972043375127075 Centerline is valid? [True, True] Translation: X:82.98, Y:-2.57, Z:-0.69 [[ 9.97710101e-01 6.74911826e-02 4.41532597e-03 8.29790317e+01] [-6.74910497e-02 9.97719864e-01 -1.79273882e-04 -2.57038427e+00] [-4.41735783e-03 -1.19131622e-04 9.99990236e-01 -6.86953803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81028169300001 meters Centerline goodness [0,1] 0.9967544099981033 Centerline is valid? [True, True] Translation: X:83.01, Y:-2.57, Z:-0.69 [[ 9.97723856e-01 6.72855094e-02 4.44607741e-03 8.30088913e+01] [-6.72853730e-02 9.97733755e-01 -1.80409367e-04 -2.57195833e+00] [-4.44814044e-03 -1.19157248e-04 9.99990100e-01 -6.87556553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84028169300001 meters Centerline goodness [0,1] 0.9982501440430208 Centerline is valid? [True, True] Translation: X:83.04, Y:-2.58, Z:-0.69 [[ 9.97851581e-01 6.54590823e-02 2.70752278e-03 8.30383458e+01] [-6.54590250e-02 9.97855252e-01 -1.09852178e-04 -2.57985336e+00] [-2.70890665e-03 -6.76156316e-05 9.99996329e-01 -6.90245249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.870281693 meters Centerline goodness [0,1] 0.998949782454937 Centerline is valid? [True, True] Translation: X:83.07, Y:-2.59, Z:-0.69 [[ 9.97935441e-01 6.42123901e-02 1.27419400e-03 8.30673907e+01] [-6.42123764e-02 9.97936255e-01 -5.17366067e-05 -2.58627731e+00] [-1.27488652e-03 -3.01892313e-05 9.99999187e-01 -6.91988716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.900281693 meters Centerline goodness [0,1] 0.9993134962349559 Centerline is valid? [True, True] Translation: X:83.10, Y:-2.59, Z:-0.69 [[ 9.98159557e-01 6.06396443e-02 5.77122235e-04 8.30958528e+01] [-6.06396408e-02 9.98159723e-01 -2.34866232e-05 -2.58905320e+00] [-5.77484391e-04 -1.15530877e-05 9.99999833e-01 -6.93433081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.930281693 meters Centerline goodness [0,1] 0.9992922252010724 Centerline is valid? [True, True] Translation: X:83.13, Y:-2.59, Z:-0.69 [[ 9.98277664e-01 5.86574483e-02 1.00442738e-03 8.31257230e+01] [-5.86574369e-02 9.98278169e-01 -4.07605281e-05 -2.59277777e+00] [-1.00508884e-03 -1.82268112e-05 9.99999495e-01 -6.92647731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.960281693 meters Centerline goodness [0,1] 0.9993164584000854 Centerline is valid? [True, True] Translation: X:83.16, Y:-2.60, Z:-0.69 [[ 9.98388627e-01 5.67201322e-02 1.72486261e-03 8.31554640e+01] [-5.67200962e-02 9.98390117e-01 -6.98674438e-05 -2.59574780e+00] [-1.72604868e-03 -2.80795120e-05 9.99998510e-01 -6.91562454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.990281693 meters Centerline goodness [0,1] 0.9993657907532292 Centerline is valid? [True, True] Translation: X:83.19, Y:-2.60, Z:-0.69 [[ 9.98567686e-01 5.33980974e-02 3.34966047e-03 8.31852622e+01] [-5.33979434e-02 9.98573303e-01 -1.35445636e-04 -2.59944257e+00] [-3.35211406e-03 -4.36133446e-05 9.99994381e-01 -6.89599624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.020281693 meters Centerline goodness [0,1] 0.9994053560430692 Centerline is valid? [True, True] Translation: X:83.22, Y:-2.60, Z:-0.69 [[ 9.98653623e-01 5.17471640e-02 3.62922813e-03 8.32156170e+01] [-5.17469724e-02 9.98660217e-01 -1.46750131e-04 -2.60391668e+00] [-3.63195966e-03 -4.12490175e-05 9.99993404e-01 -6.88827487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.050281693 meters Centerline goodness [0,1] 0.9995308668301525 Centerline is valid? [True, True] Translation: X:83.25, Y:-2.61, Z:-0.69 [[ 9.98738963e-01 5.00771084e-02 3.57308940e-03 8.32456520e+01] [-5.00769120e-02 9.98745354e-01 -1.44480126e-04 -2.60836892e+00] [-3.57584158e-03 -3.46313519e-05 9.99993606e-01 -6.88825511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.080281693 meters Centerline goodness [0,1] 0.999508126603935 Centerline is valid? [True, True] Translation: X:83.28, Y:-2.62, Z:-0.69 [[ 9.98925062e-01 4.61969378e-02 3.81613273e-03 8.32763901e+01] [-4.61966855e-02 9.98932351e-01 -1.54276250e-04 -2.61678394e+00] [-3.81918553e-03 -2.21822709e-05 9.99992707e-01 -6.88270947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.110281693 meters Centerline goodness [0,1] 0.9996195629200659 Centerline is valid? [True, True] Translation: X:83.31, Y:-2.62, Z:-0.69 [[ 9.98995882e-01 4.46253325e-02 3.97591614e-03 8.33069407e+01] [-4.46250464e-02 9.99003793e-01 -1.60681136e-04 -2.62142034e+00] [-3.97912576e-03 -1.69056493e-05 9.99992083e-01 -6.88480623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.140281693 meters Centerline goodness [0,1] 0.9996584261987106 Centerline is valid? [True, True] Translation: X:83.34, Y:-2.63, Z:-0.69 [[ 9.99061313e-01 4.31916280e-02 3.31314768e-03 8.33390525e+01] [-4.31914203e-02 9.99066806e-01 -1.34246522e-04 -2.62806099e+00] [-3.31585420e-03 -8.97904758e-06 9.99994502e-01 -6.88819967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.170281693 meters Centerline goodness [0,1] 0.9997413124083815 Centerline is valid? [True, True] Translation: X:83.37, Y:-2.63, Z:-0.69 [[ 9.99041839e-01 4.36068316e-02 3.72128191e-03 8.33713829e+01] [-4.36065699e-02 9.99048770e-01 -1.51486720e-04 -2.63098172e+00] [-3.72434797e-03 -1.09307680e-05 9.99993065e-01 -6.88007463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20028169300001 meters Centerline goodness [0,1] 0.9996824993649988 Centerline is valid? [True, True] Translation: X:83.40, Y:-2.63, Z:-0.69 [[ 9.99004333e-01 4.44284276e-02 4.05683706e-03 8.34025886e+01] [-4.44281203e-02 9.99012570e-01 -1.65887754e-04 -2.63343203e+00] [-4.06020135e-03 -1.45150599e-05 9.99991757e-01 -6.86952377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.230281693 meters Centerline goodness [0,1] 0.9995943378098512 Centerline is valid? [True, True] Translation: X:83.43, Y:-2.64, Z:-0.68 [[ 9.98900868e-01 4.65942083e-02 5.10258458e-03 8.34334560e+01] [-4.65937455e-02 9.98913900e-01 -2.09610466e-04 -2.63610194e+00] [-5.10680929e-03 -2.83684507e-05 9.99986960e-01 -6.84676567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.260281693 meters Centerline goodness [0,1] 0.9995743594109134 Centerline is valid? [True, True] Translation: X:83.47, Y:-2.64, Z:-0.68 [[ 9.98817937e-01 4.82627578e-02 5.78237803e-03 8.34654975e+01] [-4.82621859e-02 9.98834673e-01 -2.38493428e-04 -2.63684192e+00] [-5.78715002e-03 -4.08586898e-05 9.99983253e-01 -6.83973474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.290281693 meters Centerline goodness [0,1] 0.9992962852390498 Centerline is valid? [True, True] Translation: X:83.50, Y:-2.63, Z:-0.68 [[ 9.98588234e-01 5.27520493e-02 6.22576497e-03 8.34973581e+01] [-5.27514671e-02 9.98607639e-01 -2.57817033e-04 -2.63417629e+00] [-6.23069684e-03 -7.09651800e-05 9.99980587e-01 -6.82088101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.320281693 meters Centerline goodness [0,1] 0.9992962852390498 Centerline is valid? [True, True] Translation: X:83.53, Y:-2.64, Z:-0.68 [[ 9.98579873e-01 5.29100824e-02 6.22572636e-03 8.35290076e+01] [-5.29094974e-02 9.98599278e-01 -2.58746280e-04 -2.63564870e+00] [-6.23069614e-03 -7.10212249e-05 9.99980587e-01 -6.82252038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.350281693 meters Centerline goodness [0,1] 0.9992187664956399 Centerline is valid? [True, True] Translation: X:83.56, Y:-2.63, Z:-0.68 [[ 9.98412779e-01 5.59518036e-02 6.42793282e-03 8.35604710e+01] [-5.59512363e-02 9.98433467e-01 -2.68180640e-04 -2.63238243e+00] [-6.43286844e-03 -9.18958107e-05 9.99979305e-01 -6.81850882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.380281693 meters Centerline goodness [0,1] 0.9988934286687096 Centerline is valid? [True, True] Translation: X:83.59, Y:-2.63, Z:-0.68 [[ 9.98218533e-01 5.93297102e-02 6.30443701e-03 8.35914538e+01] [-5.93292271e-02 9.98238435e-01 -2.63783762e-04 -2.62727645e+00] [-6.30898154e-03 -1.10723535e-04 9.99980092e-01 -6.81688911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.410281693 meters Centerline goodness [0,1] 0.997825628034621 Centerline is valid? [True, True] Translation: X:83.62, Y:-2.61, Z:-0.68 [[ 9.97765555e-01 6.65592491e-02 5.81061023e-03 8.36219346e+01] [-6.65589609e-02 9.97782464e-01 -2.43169142e-04 -2.61142581e+00] [-5.81391015e-03 -1.44122385e-04 9.99983089e-01 -6.83310847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.440281693 meters Centerline goodness [0,1] 0.9975994731587109 Centerline is valid? [True, True] Translation: X:83.65, Y:-2.61, Z:-0.69 [[ 9.97557593e-01 6.96762732e-02 4.90560345e-03 8.36527015e+01] [-6.96761056e-02 9.97569646e-01 -2.05255470e-04 -2.60601724e+00] [-4.90798253e-03 -1.37049191e-04 9.99987946e-01 -6.85201695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.470281693 meters Centerline goodness [0,1] 0.9970779427022678 Centerline is valid? [True, True] Translation: X:83.68, Y:-2.60, Z:-0.69 [[ 9.97392155e-01 7.20683724e-02 3.87797292e-03 8.36834597e+01] [-7.20682857e-02 9.97399687e-01 -1.62258357e-04 -2.60128554e+00] [-3.87958267e-03 -1.17643648e-04 9.99992467e-01 -6.87038024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.500281693 meters Centerline goodness [0,1] 0.9971842402781629 Centerline is valid? [True, True] Translation: X:83.71, Y:-2.59, Z:-0.69 [[ 9.97219114e-01 7.44820583e-02 2.54198527e-03 8.37129590e+01] [-7.44820287e-02 9.97222350e-01 -1.06450405e-04 -2.59384448e+00] [-2.54285317e-03 -8.31778406e-05 9.99996763e-01 -6.89618249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.530281693 meters Centerline goodness [0,1] 0.9955180877174261 Centerline is valid? [True, True] Translation: X:83.74, Y:-2.59, Z:-0.69 [[ 9.97210741e-01 7.45935097e-02 2.55865950e-03 8.37410102e+01] [-7.45934802e-02 9.97214020e-01 -1.07116591e-04 -2.58522247e+00] [-2.55952133e-03 -8.40415018e-05 9.99996721e-01 -6.90239538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56028169300001 meters Centerline goodness [0,1] 0.9961849759716719 Centerline is valid? [True, True] Translation: X:83.77, Y:-2.58, Z:-0.69 [[ 9.97342420e-01 7.27805709e-02 3.32954007e-03 8.37703901e+01] [-7.27805118e-02 9.97347972e-01 -1.39066559e-04 -2.58334244e+00] [-3.33083138e-03 -1.03628652e-04 9.99994447e-01 -6.88272837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59028169300001 meters Centerline goodness [0,1] 0.9968277310924369 Centerline is valid? [True, True] Translation: X:83.80, Y:-2.58, Z:-0.69 [[ 9.97510638e-01 7.04121218e-02 3.82875041e-03 8.37991954e+01] [-7.04120268e-02 9.97517980e-01 -1.59767047e-04 -2.58415634e+00] [-3.83049692e-03 -1.10220748e-04 9.99992658e-01 -6.87897448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.620281693 meters Centerline goodness [0,1] 0.9971515381693885 Centerline is valid? [True, True] Translation: X:83.83, Y:-2.59, Z:-0.69 [[ 9.97717947e-01 6.73702036e-02 4.48932452e-03 8.38285594e+01] [-6.73700431e-02 9.97728040e-01 -1.87150171e-04 -2.58513008e+00] [-4.49173330e-03 -1.15722902e-04 9.99989905e-01 -6.86195190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.650281693 meters Centerline goodness [0,1] 0.9988928867976751 Centerline is valid? [True, True] Translation: X:83.86, Y:-2.59, Z:-0.68 [[ 9.98111765e-01 6.11642352e-02 5.64271388e-03 8.38580534e+01] [-6.11638832e-02 9.98127709e-01 -2.35085134e-04 -2.59219743e+00] [-5.64652788e-03 -1.10489055e-04 9.99984052e-01 -6.84743819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.680281693 meters Centerline goodness [0,1] 0.9992092834398307 Centerline is valid? [True, True] Translation: X:83.89, Y:-2.59, Z:-0.69 [[ 9.98322546e-01 5.76053167e-02 5.80706299e-03 8.38876527e+01] [-5.76048843e-02 9.98339431e-01 -2.41835370e-04 -2.59368275e+00] [-5.81135096e-03 -9.30854888e-05 9.99983110e-01 -6.85088444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.710281693 meters Centerline goodness [0,1] 0.9993679686512451 Centerline is valid? [True, True] Translation: X:83.92, Y:-2.60, Z:-0.69 [[ 9.98531445e-01 5.39338354e-02 5.10833682e-03 8.39168242e+01] [-5.39334530e-02 9.98544509e-01 -2.12686731e-04 -2.59927612e+00] [-5.11237269e-03 -6.31358546e-05 9.99986930e-01 -6.86840296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.740281693 meters Centerline goodness [0,1] 0.999744 Centerline is valid? [True, True] Translation: X:83.95, Y:-2.62, Z:-0.69 [[ 9.98971133e-01 4.52654386e-02 2.77775560e-03 8.39472894e+01] [-4.52652922e-02 9.98974995e-01 -1.15567988e-04 -2.61577728e+00] [-2.78013962e-03 -1.02868352e-05 9.99996135e-01 -6.91265521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.770281693 meters Centerline goodness [0,1] 0.9998097653772987 Centerline is valid? [True, True] Translation: X:83.98, Y:-2.63, Z:-0.69 [[ 9.99188061e-01 4.02457397e-02 1.87058330e-03 8.39769815e+01] [-4.02456644e-02 9.99189812e-01 -7.78673637e-05 -2.62532842e+00] [-1.87220161e-03 2.52127237e-06 9.99998247e-01 -6.92980301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.800281693 meters Centerline goodness [0,1] 0.9995752723566014 Centerline is valid? [True, True] Translation: X:84.01, Y:-2.64, Z:-0.69 [[ 9.99550861e-01 2.98465707e-02 2.69409387e-03 8.40067828e+01] [-2.98463767e-02 9.99554491e-01 -1.12204177e-04 -2.64431053e+00] [-2.69624254e-03 3.17448418e-05 9.99996365e-01 -6.91174548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.830281693 meters Centerline goodness [0,1] 0.999033125945855 Centerline is valid? [True, True] Translation: X:84.04, Y:-2.65, Z:-0.69 [[ 9.99664972e-01 2.55683082e-02 4.02563139e-03 8.40380876e+01] [-2.55678406e-02 9.99673075e-01 -1.67582981e-04 -2.65388382e+00] [-4.02860013e-03 6.46001337e-05 9.99991883e-01 -6.89107404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.860281693 meters Centerline goodness [0,1] 0.9985858456000514 Centerline is valid? [True, True] Translation: X:84.07, Y:-2.66, Z:-0.69 [[ 9.99754635e-01 2.15818293e-02 4.98936277e-03 8.40700489e+01] [-2.15810569e-02 9.99767080e-01 -2.08605176e-04 -2.65955894e+00] [-4.99270273e-03 1.00878270e-04 9.99987531e-01 -6.87612389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.890281693 meters Centerline goodness [0,1] 0.9960434379998316 Centerline is valid? [True, True] Translation: X:84.10, Y:-2.68, Z:-0.69 [[ 9.99871385e-01 1.53986504e-02 4.48266814e-03 8.40993387e+01] [-1.53979640e-02 9.99881427e-01 -1.87609550e-04 -2.68086839e+00] [-4.48502555e-03 1.18561458e-04 9.99989935e-01 -6.88790088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.920281693 meters Centerline goodness [0,1] 0.995486905669972 Centerline is valid? [True, True] Translation: X:84.13, Y:-2.69, Z:-0.69 [[ 9.99904131e-01 1.34598075e-02 3.25011741e-03 8.41308820e+01] [-1.34594368e-02 9.99909408e-01 -1.35910593e-04 -2.68831686e+00] [-3.25165230e-03 9.21528136e-05 9.99994709e-01 -6.91773391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95028169300001 meters Centerline goodness [0,1] 0.9953716423272819 Centerline is valid? [True, True] Translation: X:84.16, Y:-2.70, Z:-0.70 [[ 9.99944686e-01 1.05059614e-02 4.98933111e-04 8.41605873e+01] [-1.05059522e-02 9.99944811e-01 -2.09245801e-05 -2.70063595e+00] [-4.99125408e-04 1.56816552e-05 9.99999875e-01 -6.97457017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.980281693 meters Centerline goodness [0,1] 0.994728451482623 Centerline is valid? [True, True] Translation: X:84.19, Y:-2.71, Z:-0.70 [[ 9.99952993e-01 9.67424217e-03 6.48670535e-04 8.41918109e+01] [-9.67422657e-03 9.99953203e-01 -2.71791245e-05 -2.70603495e+00] [-6.48903117e-04 2.09024611e-05 9.99999789e-01 -6.96480311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.010281693 meters Centerline goodness [0,1] 0.9925666258394222 Centerline is valid? [True, True] Translation: X:84.22, Y:-2.71, Z:-0.69 [[ 9.99948526e-01 9.31548251e-03 4.02094452e-03 8.42220091e+01] [-9.31487757e-03 9.99956601e-01 -1.69149845e-04 -2.71319594e+00] [-4.02234572e-03 1.31686532e-04 9.99991902e-01 -6.88153468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.040281693 meters Centerline goodness [0,1] 0.9939573182408137 Centerline is valid? [True, True] Translation: X:84.25, Y:-2.71, Z:-0.69 [[ 9.99931577e-01 1.03984969e-02 5.35848199e-03 8.42544473e+01] [-1.03974375e-02 9.99945920e-01 -2.25519375e-04 -2.70819443e+00] [-5.36053727e-03 1.69789463e-04 9.99985618e-01 -6.85672933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.070281693 meters Centerline goodness [0,1] 0.9947325596334204 Centerline is valid? [True, True] Translation: X:84.29, Y:-2.71, Z:-0.68 [[ 9.99906276e-01 1.21678831e-02 6.27542050e-03 8.42857704e+01] [-1.21664588e-02 9.99925951e-01 -2.65093545e-04 -2.70770957e+00] [-6.27818144e-03 1.88719055e-04 9.99980274e-01 -6.84653541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.100281693 meters Centerline goodness [0,1] 0.9959580488012424 Centerline is valid? [True, True] Translation: X:84.32, Y:-2.71, Z:-0.68 [[ 9.99867175e-01 1.46983945e-02 7.04199396e-03 8.43165231e+01] [-1.46966620e-02 9.99891954e-01 -2.97714026e-04 -2.71026297e+00] [-7.04560902e-03 1.94180678e-04 9.99975161e-01 -6.84025210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.130281693 meters Centerline goodness [0,1] 0.9958900590804007 Centerline is valid? [True, True] Translation: X:84.35, Y:-2.72, Z:-0.69 [[ 9.99871222e-01 1.46902559e-02 6.46035234e-03 8.43479025e+01] [-1.46887955e-02 9.99892076e-01 -2.73446180e-04 -2.71541141e+00] [-6.46367211e-03 1.78516171e-04 9.99979094e-01 -6.85602371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.160281693 meters Centerline goodness [0,1] 0.9967160678110673 Centerline is valid? [True, True] Translation: X:84.38, Y:-2.72, Z:-0.69 [[ 9.99895657e-01 1.39282785e-02 3.83111974e-03 8.43801355e+01] [-1.39277582e-02 9.99902991e-01 -1.62459839e-04 -2.72037058e+00] [-3.83301088e-03 1.09083978e-04 9.99992648e-01 -6.90912181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.190281693 meters Centerline goodness [0,1] 0.9938818565400844 Centerline is valid? [True, True] Translation: X:84.41, Y:-2.73, Z:-0.69 [[ 9.99900182e-01 1.36131161e-02 3.78270562e-03 8.44108125e+01] [-1.36126043e-02 9.99907331e-01 -1.61007612e-04 -2.73139684e+00] [-3.78454689e-03 1.09499065e-04 9.99992833e-01 -6.92265464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.220281693 meters Centerline goodness [0,1] 0.9965187305112981 Centerline is valid? [True, True] Translation: X:84.44, Y:-2.73, Z:-0.69 [[ 9.99902506e-01 1.31630084e-02 4.65988537e-03 8.44430951e+01] [-1.31622229e-02 9.99913354e-01 -1.99190968e-04 -2.72798752e+00] [-4.66210356e-03 1.37837099e-04 9.99989123e-01 -6.88936387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.250281693 meters Centerline goodness [0,1] 0.9970261654650093 Centerline is valid? [True, True] Translation: X:84.48, Y:-2.73, Z:-0.69 [[ 9.99898947e-01 1.34797992e-02 4.51566457e-03 8.44759495e+01] [-1.34790618e-02 9.99909135e-01 -1.93711150e-04 -2.73001428e+00] [-4.51786543e-03 1.32824653e-04 9.99989786e-01 -6.88640174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.280281693 meters Centerline goodness [0,1] 0.997281107948511 Centerline is valid? [True, True] Translation: X:84.51, Y:-2.73, Z:-0.69 [[ 9.99885249e-01 1.47049044e-02 3.64059493e-03 8.45077668e+01] [-1.47044313e-02 9.99891872e-01 -1.56698202e-04 -2.73194318e+00] [-3.64250552e-03 1.03147343e-04 9.99993361e-01 -6.91031342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31028169300001 meters Centerline goodness [0,1] 0.9960629921259843 Centerline is valid? [True, True] Translation: X:84.54, Y:-2.74, Z:-0.69 [[ 9.99867257e-01 1.59321397e-02 3.41116843e-03 8.45383521e+01] [-1.59317296e-02 9.99873071e-01 -1.47349894e-04 -2.74142707e+00] [-3.41308305e-03 9.29845212e-05 9.99994171e-01 -6.92460302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34028169300001 meters Centerline goodness [0,1] 0.9961689103867474 Centerline is valid? [True, True] Translation: X:84.57, Y:-2.74, Z:-0.69 [[ 9.99843716e-01 1.73096934e-02 3.59418247e-03 8.45708111e+01] [-1.73092450e-02 9.99850172e-01 -1.55840956e-04 -2.74292690e+00] [-3.59634152e-03 9.36040159e-05 9.99993529e-01 -6.92674379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.370281693 meters Centerline goodness [0,1] 0.9975949259322322 Centerline is valid? [True, True] Translation: X:84.60, Y:-2.74, Z:-0.69 [[ 9.99774038e-01 2.08211932e-02 4.28374299e-03 8.46013244e+01] [-2.08205845e-02 9.99783211e-01 -1.86652518e-04 -2.74233298e+00] [-4.28670065e-03 9.74203094e-05 9.99990807e-01 -6.91115133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.400281693 meters Centerline goodness [0,1] 0.9982115102092959 Centerline is valid? [True, True] Translation: X:84.63, Y:-2.74, Z:-0.69 [[ 9.99720371e-01 2.33067089e-02 3.99704111e-03 8.46332296e+01] [-2.33061992e-02 9.99728359e-01 -1.74034680e-04 -2.74063495e+00] [-4.00001152e-03 8.08301783e-05 9.99991997e-01 -6.92048396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.430281693 meters Centerline goodness [0,1] 0.9987266823709174 Centerline is valid? [True, True] Translation: X:84.67, Y:-2.74, Z:-0.69 [[ 9.99655578e-01 2.60314343e-02 3.33007978e-03 8.46653975e+01] [-2.60310944e-02 9.99661123e-01 -1.45368624e-04 -2.73996176e+00] [-3.33273545e-03 5.86329350e-05 9.99994445e-01 -6.92986467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.460281693 meters Centerline goodness [0,1] 0.9992990803084046 Centerline is valid? [True, True] Translation: X:84.70, Y:-2.74, Z:-0.69 [[ 9.99509817e-01 3.12112026e-02 2.44658314e-03 8.46972925e+01] [-3.12110335e-02 9.99512811e-01 -1.07236753e-04 -2.73687613e+00] [-2.44873818e-03 3.08237990e-05 9.99997001e-01 -6.94828243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.490281693 meters Centerline goodness [0,1] 0.9996988016608936 Centerline is valid? [True, True] Translation: X:84.73, Y:-2.73, Z:-0.70 [[ 9.99428876e-01 3.37293176e-02 2.06252268e-03 8.47295743e+01] [-3.37292035e-02 9.99431004e-01 -9.01108921e-05 -2.73328030e+00] [-2.06438849e-03 2.04921804e-05 9.99997869e-01 -6.95199623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.520281693 meters Centerline goodness [0,1] 0.999681339225017 Centerline is valid? [True, True] Translation: X:84.76, Y:-2.73, Z:-0.70 [[ 9.99264756e-01 3.82758735e-02 2.21472529e-03 8.47610755e+01] [-3.82757520e-02 9.99267210e-01 -9.72278216e-05 -2.72999248e+00] [-2.21682384e-03 1.23860595e-05 9.99997543e-01 -6.95724681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.550281693 meters Centerline goodness [0,1] 0.9998062516145699 Centerline is valid? [True, True] Translation: X:84.79, Y:-2.73, Z:-0.69 [[ 9.99171652e-01 4.05768443e-02 3.08698927e-03 8.47923634e+01] [-4.05766169e-02 9.99176421e-01 -1.36303241e-04 -2.72861136e+00] [-3.08997764e-03 1.09307536e-05 9.99995226e-01 -6.94126693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.580281693 meters Centerline goodness [0,1] 0.9997656732633193 Centerline is valid? [True, True] Translation: X:84.82, Y:-2.73, Z:-0.69 [[ 9.99071573e-01 4.29252719e-02 3.66231504e-03 8.48244214e+01] [-4.29249650e-02 9.99078286e-01 -1.62391258e-04 -2.72685050e+00] [-3.66591012e-03 5.03574413e-06 9.99993281e-01 -6.93183560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.610281693 meters Centerline goodness [0,1] 0.9997854215393859 Centerline is valid? [True, True] Translation: X:84.86, Y:-2.72, Z:-0.69 [[ 9.98820106e-01 4.83742979e-02 4.28048677e-03 8.48561413e+01] [-4.83739250e-02 9.98829278e-01 -1.90661333e-04 -2.71868665e+00] [-4.28469862e-03 -1.66275736e-05 9.99990820e-01 -6.92185255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.640281693 meters Centerline goodness [0,1] 0.9996791443850267 Centerline is valid? [True, True] Translation: X:84.89, Y:-2.71, Z:-0.69 [[ 9.98661613e-01 5.15443005e-02 4.26243284e-03 8.48880738e+01] [-5.15439563e-02 9.98670709e-01 -1.90620123e-04 -2.71434004e+00] [-4.26659221e-03 -2.93376525e-05 9.99990898e-01 -6.91797419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.670281693 meters Centerline goodness [0,1] 0.9995524964306263 Centerline is valid? [True, True] Translation: X:84.92, Y:-2.70, Z:-0.69 [[ 9.98337140e-01 5.75305835e-02 3.63123818e-03 8.49194157e+01] [-5.75303730e-02 9.98343743e-01 -1.62479752e-04 -2.70024762e+00] [-3.63457148e-03 -4.66969160e-05 9.99993394e-01 -6.93052132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70028169300001 meters Centerline goodness [0,1] 0.999618069553778 Centerline is valid? [True, True] Translation: X:84.95, Y:-2.69, Z:-0.69 [[ 9.98212733e-01 5.96538756e-02 3.57137950e-03 8.49502404e+01] [-5.96536854e-02 9.98219120e-01 -1.59843382e-04 -2.69446965e+00] [-3.57455458e-03 -5.34882497e-05 9.99993610e-01 -6.93596043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.730281693 meters Centerline goodness [0,1] 0.999619916381604 Centerline is valid? [True, True] Translation: X:84.98, Y:-2.69, Z:-0.69 [[ 9.98125166e-01 6.11005360e-02 3.58841763e-03 8.49797681e+01] [-6.11003530e-02 9.98131615e-01 -1.60684280e-04 -2.69051340e+00] [-3.59153098e-03 -5.88705602e-05 9.99993549e-01 -6.94051990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.760281693 meters Centerline goodness [0,1] 0.9995716335753604 Centerline is valid? [True, True] Translation: X:85.01, Y:-2.69, Z:-0.69 [[ 9.98087218e-01 6.16887247e-02 4.05042756e-03 8.50108432e+01] [-6.16884967e-02 9.98095435e-01 -1.81305783e-04 -2.68757285e+00] [-4.05389778e-03 -6.89058025e-05 9.99991781e-01 -6.93932792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.790281693 meters Centerline goodness [0,1] 0.9996592917527309 Centerline is valid? [True, True] Translation: X:85.04, Y:-2.69, Z:-0.69 [[ 9.98125931e-01 6.10777084e-02 3.76014370e-03 8.50415450e+01] [-6.10775076e-02 9.98133012e-01 -1.68312058e-04 -2.69132123e+00] [-3.76340367e-03 -6.16635760e-05 9.99992916e-01 -6.94775425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.820281693 meters Centerline goodness [0,1] 0.9995950899326571 Centerline is valid? [True, True] Translation: X:85.07, Y:-2.69, Z:-0.70 [[ 9.98181652e-01 6.01874006e-02 3.29646861e-03 8.50708154e+01] [-6.01872414e-02 9.98187094e-01 -1.47579201e-04 -2.69202058e+00] [-3.29937483e-03 -5.10945011e-05 9.99994556e-01 -6.95937753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.850281693 meters Centerline goodness [0,1] 0.9998291109497159 Centerline is valid? [True, True] Translation: X:85.10, Y:-2.69, Z:-0.70 [[ 9.98309920e-01 5.79850113e-02 3.87835577e-03 8.51010629e+01] [-5.79847745e-02 9.98317452e-01 -1.73557437e-04 -2.69491661e+00] [-3.88189398e-03 -5.16214730e-05 9.99992464e-01 -6.95358041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.880281693 meters Centerline goodness [0,1] 0.9996845160476171 Centerline is valid? [True, True] Translation: X:85.13, Y:-2.70, Z:-0.70 [[ 9.98371041e-01 5.69198260e-02 3.92407845e-03 8.51309812e+01] [-5.69195755e-02 9.98378751e-01 -1.75588815e-04 -2.69583491e+00] [-3.92771103e-03 -4.80540910e-05 9.99992285e-01 -6.95228118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.910281693 meters Centerline goodness [0,1] 0.9998273964918337 Centerline is valid? [True, True] Translation: X:85.16, Y:-2.70, Z:-0.70 [[ 9.98388895e-01 5.66379389e-02 3.42892891e-03 8.51612991e+01] [-5.66377457e-02 9.98394783e-01 -1.53486025e-04 -2.69726884e+00] [-3.43211787e-03 -4.09680605e-05 9.99994109e-01 -6.95170517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.940281693 meters Centerline goodness [0,1] 0.9997885656292287 Centerline is valid? [True, True] Translation: X:85.19, Y:-2.69, Z:-0.69 [[ 9.98311773e-01 5.79654500e-02 3.68921444e-03 8.51911410e+01] [-5.79652355e-02 9.98318589e-01 -1.65125709e-04 -2.69475268e+00] [-3.69258294e-03 -4.89992447e-05 9.99993181e-01 -6.94991494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.970281693 meters Centerline goodness [0,1] 0.9998086938038049 Centerline is valid? [True, True] Translation: X:85.22, Y:-2.69, Z:-0.69 [[ 9.98200505e-01 5.98042416e-02 4.38226788e-03 8.52206446e+01] [-5.98039564e-02 9.98210122e-01 -1.96201798e-04 -2.69154901e+00] [-4.38615786e-03 -6.62282237e-05 9.99990379e-01 -6.94182185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.000281693 meters Centerline goodness [0,1] 0.9994069053166702 Centerline is valid? [True, True] Translation: X:85.25, Y:-2.68, Z:-0.69 [[ 9.97923184e-01 6.41090000e-02 6.27334112e-03 8.52506512e+01] [-6.41085012e-02 9.97942895e-01 -2.80770821e-04 -2.68338415e+00] [-6.27843613e-03 -1.21986785e-04 9.99980283e-01 -6.90087433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.030281693 meters Centerline goodness [0,1] 0.9994003255375653 Centerline is valid? [True, True] Translation: X:85.28, Y:-2.68, Z:-0.69 [[ 9.97803036e-01 6.58290889e-02 7.45868528e-03 8.52813982e+01] [-6.58284324e-02 9.97830901e-01 -3.33752015e-04 -2.68122773e+00] [-7.46447724e-03 -1.57974785e-04 9.99972128e-01 -6.88148440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06028169300001 meters Centerline goodness [0,1] 0.9985278115598797 Centerline is valid? [True, True] Translation: X:85.31, Y:-2.67, Z:-0.69 [[ 9.97552532e-01 6.94953241e-02 7.70368113e-03 8.53110546e+01] [-6.94947334e-02 9.97582259e-01 -3.44655900e-04 -2.66853459e+00] [-7.70900760e-03 -1.91552902e-04 9.99970267e-01 -6.87278346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09028169300001 meters Centerline goodness [0,1] 0.998554114395067 Centerline is valid? [True, True] Translation: X:85.34, Y:-2.67, Z:-0.69 [[ 9.97426931e-01 7.13868316e-02 6.59064792e-03 8.53412343e+01] [-7.13864414e-02 9.97448690e-01 -2.94740214e-04 -2.66723615e+00] [-6.59487370e-03 -1.76501074e-04 9.99978238e-01 -6.89677176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.120281693 meters Centerline goodness [0,1] 0.9986338506201038 Centerline is valid? [True, True] Translation: X:85.37, Y:-2.66, Z:-0.69 [[ 9.97288192e-01 7.33914397e-02 5.47343205e-03 8.53712993e+01] [-7.33912010e-02 9.97303200e-01 -2.44719239e-04 -2.66272465e+00] [-5.47663159e-03 -1.57646144e-04 9.99984991e-01 -6.92092468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.150281693 meters Centerline goodness [0,1] 0.9969318707182785 Centerline is valid? [True, True] Translation: X:85.40, Y:-2.65, Z:-0.69 [[ 9.97000299e-01 7.73159337e-02 3.55672504e-03 8.54011518e+01] [-7.73158581e-02 9.97006636e-01 -1.58952705e-04 -2.64764063e+00] [-3.55836805e-03 -1.16515354e-04 9.99993662e-01 -6.94545239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.180281693 meters Centerline goodness [0,1] 0.9968133245522721 Centerline is valid? [True, True] Translation: X:85.43, Y:-2.64, Z:-0.69 [[ 9.96864465e-01 7.90357901e-02 3.81861510e-03 8.54307808e+01] [-7.90357155e-02 9.96871770e-01 -1.70655944e-04 -2.64403650e+00] [-3.82015752e-03 -1.31686130e-04 9.99992695e-01 -6.94087840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.210281693 meters Centerline goodness [0,1] 0.9949287456669662 Centerline is valid? [True, True] Translation: X:85.46, Y:-2.63, Z:-0.69 [[ 9.96632176e-01 8.18513228e-02 4.96665453e-03 8.54607473e+01] [-8.18512323e-02 9.96644534e-01 -2.21813365e-04 -2.63184704e+00] [-4.96814480e-03 -1.85460457e-04 9.99987641e-01 -6.92292480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.240281693 meters Centerline goodness [0,1] 0.9949287456669662 Centerline is valid? [True, True] Translation: X:85.49, Y:-2.63, Z:-0.69 [[ 9.96635943e-01 8.18054345e-02 4.96666205e-03 8.54890679e+01] [-8.18053443e-02 9.96648301e-01 -2.21644828e-04 -2.63302098e+00] [-4.96814704e-03 -1.85400296e-04 9.99987641e-01 -6.92439156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.270281693 meters Centerline goodness [0,1] 0.992775054926483 Centerline is valid? [True, True] Translation: X:85.52, Y:-2.63, Z:-0.69 [[ 9.96606331e-01 8.21601846e-02 5.05218827e-03 8.55175449e+01] [-8.21600971e-02 9.96619119e-01 -2.25226451e-04 -2.62601708e+00] [-5.05361207e-03 -1.90626172e-04 9.99987212e-01 -6.93244685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.300281693 meters Centerline goodness [0,1] 0.9947893404793807 Centerline is valid? [True, True] Translation: X:85.55, Y:-2.63, Z:-0.70 [[ 9.96745169e-01 8.04967264e-02 4.39820036e-03 8.55460153e+01] [-8.04966450e-02 9.96754860e-01 -1.95819324e-04 -2.62694348e+00] [-4.39969040e-03 -1.58858407e-04 9.99990309e-01 -6.95039920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.330281693 meters Centerline goodness [0,1] 0.995985136462649 Centerline is valid? [True, True] Translation: X:85.57, Y:-2.63, Z:-0.69 [[ 9.96865488e-01 7.89842915e-02 4.54756160e-03 8.55746952e+01] [-7.89841898e-02 9.96875848e-01 -2.02254307e-04 -2.62672412e+00] [-4.54932924e-03 -1.57565130e-04 9.99989639e-01 -6.94340341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.360281693 meters Centerline goodness [0,1] 0.9979460407796487 Centerline is valid? [True, True] Translation: X:85.60, Y:-2.63, Z:-0.69 [[ 9.97087918e-01 7.59760024e-02 6.58259135e-03 8.56044378e+01] [-7.59757259e-02 9.97109625e-01 -2.92406982e-04 -2.63163339e+00] [-6.58578111e-03 -2.08561688e-04 9.99978292e-01 -6.89829733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.390281693 meters Centerline goodness [0,1] 0.9963178170827747 Centerline is valid? [True, True] Translation: X:85.63, Y:-2.63, Z:-0.69 [[ 9.97176766e-01 7.46617352e-02 8.00771132e-03 8.56330274e+01] [-7.46612854e-02 9.97208888e-01 -3.55504344e-04 -2.62782051e+00] [-8.01190348e-03 -2.43365349e-04 9.99967875e-01 -6.87273693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.420281693 meters Centerline goodness [0,1] 0.9975496462967698 Centerline is valid? [True, True] Translation: X:85.66, Y:-2.63, Z:-0.69 [[ 9.97222121e-01 7.39951699e-02 8.52968273e-03 8.56614470e+01] [-7.39946389e-02 9.97258567e-01 -3.78260352e-04 -2.63090950e+00] [-8.53428862e-03 -2.53941202e-04 9.99963550e-01 -6.86492097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45028169300001 meters Centerline goodness [0,1] 0.9971516027548678 Centerline is valid? [True, True] Translation: X:85.69, Y:-2.62, Z:-0.69 [[ 9.97336542e-01 7.26066490e-02 6.93519436e-03 8.56898076e+01] [-7.26062664e-02 9.97360635e-01 -3.07250849e-04 -2.62434470e+00] [-6.93919831e-03 -1.97106070e-04 9.99975904e-01 -6.89860045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.480281693 meters Centerline goodness [0,1] 0.9988377598898024 Centerline is valid? [True, True] Translation: X:85.72, Y:-2.63, Z:-0.69 [[ 9.97437734e-01 7.13078356e-02 5.75841768e-03 8.57187525e+01] [-7.13075518e-02 9.97454344e-01 -2.54837724e-04 -2.62958868e+00] [-5.76193065e-03 -1.56433904e-04 9.99983388e-01 -6.92317783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.510281693 meters Centerline goodness [0,1] 0.9991439089119082 Centerline is valid? [True, True] Translation: X:85.75, Y:-2.63, Z:-0.69 [[ 9.97668455e-01 6.80285786e-02 5.45584584e-03 8.57479655e+01] [-6.80282762e-02 9.97683364e-01 -2.41209260e-04 -2.62794158e+00] [-5.45961575e-03 -1.30504917e-04 9.99985088e-01 -6.92955984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.540281693 meters Centerline goodness [0,1] 0.9992952031096493 Centerline is valid? [True, True] Translation: X:85.78, Y:-2.63, Z:-0.69 [[ 9.97789172e-01 6.61497387e-02 6.40164709e-03 8.57767297e+01] [-6.61492849e-02 9.97809697e-01 -2.82823456e-04 -2.63386115e+00] [-6.40633425e-03 -1.41266195e-04 9.99979469e-01 -6.91211508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.570281693 meters Centerline goodness [0,1] 0.9993155519431908 Centerline is valid? [True, True] Translation: X:85.81, Y:-2.63, Z:-0.69 [[ 9.97956509e-01 6.34489087e-02 7.55259898e-03 8.58050752e+01] [-6.34482026e-02 9.97985077e-01 -3.33302458e-04 -2.63438036e+00] [-7.55852876e-03 -1.46577473e-04 9.99971423e-01 -6.89324757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.600281693 meters Centerline goodness [0,1] 0.999807115302186 Centerline is valid? [True, True] Translation: X:85.83, Y:-2.65, Z:-0.69 [[ 9.98344663e-01 5.70829638e-02 7.03337795e-03 8.58341725e+01] [-5.70821949e-02 9.98369434e-01 -3.10176371e-04 -2.64630745e+00] [-7.03961535e-03 -9.18177256e-05 9.99975217e-01 -6.91686261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.630281693 meters Centerline goodness [0,1] 0.9997853201949293 Centerline is valid? [True, True] Translation: X:85.86, Y:-2.65, Z:-0.69 [[ 9.98511385e-01 5.42205985e-02 5.92791745e-03 8.58632934e+01] [-5.42200026e-02 9.98528980e-01 -2.61305325e-04 -2.65041409e+00] [-5.93336549e-03 -6.04953573e-05 9.99982396e-01 -6.94019891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.660281693 meters Centerline goodness [0,1] 0.9998927176758358 Centerline is valid? [True, True] Translation: X:85.89, Y:-2.66, Z:-0.70 [[ 9.98710271e-01 5.05577166e-02 4.65957042e-03 8.58914616e+01] [-5.05573090e-02 9.98721140e-01 -2.05310293e-04 -2.65586830e+00] [-4.66399150e-03 -3.05298425e-05 9.99989123e-01 -6.96658251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.690281693 meters Centerline goodness [0,1] 0.9998063599982787 Centerline is valid? [True, True] Translation: X:85.92, Y:-2.66, Z:-0.70 [[ 9.98772566e-01 4.93548172e-02 4.17903286e-03 8.59214876e+01] [-4.93544790e-02 9.98781308e-01 -1.84078104e-04 -2.65867896e+00] [-4.18302505e-03 -2.24018291e-05 9.99991251e-01 -6.97334746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.720281693 meters Centerline goodness [0,1] 0.9997857249994643 Centerline is valid? [True, True] Translation: X:85.95, Y:-2.66, Z:-0.70 [[ 9.98809854e-01 4.86253299e-02 3.80156509e-03 8.59502595e+01] [-4.86250449e-02 9.98817089e-01 -1.67405987e-04 -2.65989090e+00] [-3.80520835e-03 -1.76445242e-05 9.99992760e-01 -6.98386562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.750281693 meters Centerline goodness [0,1] 0.999872040946897 Centerline is valid? [True, True] Translation: X:85.98, Y:-2.66, Z:-0.70 [[ 9.98816824e-01 4.85224628e-02 3.24373516e-03 8.59787529e+01] [-4.85222553e-02 9.98822091e-01 -1.42686202e-04 -2.65843015e+00] [-3.24683782e-03 -1.48759664e-05 9.99994729e-01 -6.99959062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.780281693 meters Centerline goodness [0,1] 0.9998933014660378 Centerline is valid? [True, True] Translation: X:86.01, Y:-2.66, Z:-0.70 [[ 9.98793945e-01 4.89842946e-02 3.34592182e-03 8.60075641e+01] [-4.89840766e-02 9.98799549e-01 -1.47133226e-04 -2.65738994e+00] [-3.34911242e-03 -1.69411155e-05 9.99994392e-01 -6.99819647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81028169300001 meters Centerline goodness [0,1] 0.9999141483516484 Centerline is valid? [True, True] Translation: X:86.04, Y:-2.65, Z:-0.70 [[ 9.98656792e-01 5.17163706e-02 3.16687790e-03 8.60360993e+01] [-5.17161894e-02 9.98661813e-01 -1.39129380e-04 -2.64918678e+00] [-3.16983529e-03 -2.48363567e-05 9.99994976e-01 -7.00319225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84028169300001 meters Centerline goodness [0,1] 0.9998495982123673 Centerline is valid? [True, True] Translation: X:86.07, Y:-2.64, Z:-0.70 [[ 9.98533920e-01 5.40733582e-02 2.46623471e-03 8.60655238e+01] [-5.40732557e-02 9.98536965e-01 -1.08259137e-04 -2.64338530e+00] [-2.46848046e-03 -2.52569201e-05 9.99996953e-01 -7.01568941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.870281693 meters Centerline goodness [0,1] 0.9997443109179238 Centerline is valid? [True, True] Translation: X:86.09, Y:-2.64, Z:-0.70 [[ 9.98380409e-01 5.68455441e-02 2.26789149e-03 8.60936766e+01] [-5.68454646e-02 9.98382984e-01 -9.95546730e-05 -2.63544638e+00] [-2.26988351e-03 -2.95259100e-05 9.99997423e-01 -7.02489747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.900281693 meters Centerline goodness [0,1] 0.9995310968071955 Centerline is valid? [True, True] Translation: X:86.12, Y:-2.62, Z:-0.70 [[ 9.98016036e-01 6.29113566e-02 2.48040391e-03 8.61242563e+01] [-6.29112809e-02 9.98019118e-01 -1.08626423e-04 -2.61613092e+00] [-2.48232436e-03 -4.76344747e-05 9.99996918e-01 -7.01883570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.930281693 meters Centerline goodness [0,1] 0.9994450728875419 Centerline is valid? [True, True] Translation: X:86.15, Y:-2.61, Z:-0.70 [[ 9.97856474e-01 6.53983111e-02 2.34898546e-03 8.61536377e+01] [-6.53982500e-02 9.97859238e-01 -1.02892532e-04 -2.61017645e+00] [-2.35068584e-03 -5.09475597e-05 9.99997236e-01 -7.02035270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.960281693 meters Centerline goodness [0,1] 0.9991695766970445 Centerline is valid? [True, True] Translation: X:86.18, Y:-2.60, Z:-0.70 [[ 9.97670132e-01 6.81807544e-02 2.38597288e-03 8.61822636e+01] [-6.81806996e-02 9.97672983e-01 -1.04398317e-04 -2.59650608e+00] [-2.38753864e-03 -5.85222174e-05 9.99997148e-01 -7.03170280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.990281693 meters Centerline goodness [0,1] 0.9988895295449207 Centerline is valid? [True, True] Translation: X:86.21, Y:-2.59, Z:-0.70 [[ 9.97739922e-01 6.71408027e-02 2.67585362e-03 8.62102836e+01] [-6.71407303e-02 9.97743508e-01 -1.16957974e-04 -2.59221253e+00] [-2.67766823e-03 -6.29651268e-05 9.99996413e-01 -7.03824877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.020281693 meters Centerline goodness [0,1] 0.9992357174702248 Centerline is valid? [True, True] Translation: X:86.24, Y:-2.59, Z:-0.70 [[ 9.97918789e-01 6.44071051e-02 3.13301301e-03 8.62384064e+01] [-6.44069932e-02 9.97923705e-01 -1.36707063e-04 -2.59245758e+00] [-3.13531285e-03 -6.53654008e-05 9.99995083e-01 -7.03013744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.050281693 meters Centerline goodness [0,1] 0.9998498337445029 Centerline is valid? [True, True] Translation: X:86.27, Y:-2.61, Z:-0.70 [[ 9.98467757e-01 5.51353045e-02 4.71546352e-03 8.62678606e+01] [-5.51349496e-02 9.98478891e-01 -2.05331039e-04 -2.60649830e+00] [-4.71961177e-03 -5.49704215e-05 9.99988861e-01 -6.99676315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.080281693 meters Centerline goodness [0,1] 0.9997867258147074 Centerline is valid? [True, True] Translation: X:86.30, Y:-2.62, Z:-0.70 [[ 9.98746951e-01 4.97417012e-02 5.50363954e-03 8.62961710e+01] [-4.97411360e-02 9.98762115e-01 -2.39607848e-04 -2.61519822e+00] [-5.50874517e-03 -3.44496749e-05 9.99984826e-01 -6.98986642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.110281693 meters Centerline goodness [0,1] 0.9996572481309313 Centerline is valid? [True, True] Translation: X:86.33, Y:-2.63, Z:-0.70 [[ 9.99134715e-01 4.10375811e-02 6.76298300e-03 8.63253425e+01] [-4.10365304e-02 9.99157604e-01 -2.94098093e-04 -2.62780949e+00] [-6.76935496e-03 1.63142564e-05 9.99977088e-01 -6.96843886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.140281693 meters Centerline goodness [0,1] 0.9995974490984979 Centerline is valid? [True, True] Translation: X:86.35, Y:-2.63, Z:-0.70 [[ 9.99232913e-01 3.86026119e-02 6.58960939e-03 8.63539762e+01] [-3.86015626e-02 9.99254641e-01 -2.86387807e-04 -2.63296106e+00] [-6.59575308e-03 3.17989033e-05 9.99978247e-01 -6.96417088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.170281693 meters Centerline goodness [0,1] 0.9995716427500535 Centerline is valid? [True, True] Translation: X:86.38, Y:-2.63, Z:-0.70 [[ 9.99279877e-01 3.74735348e-02 5.95493467e-03 8.63835165e+01] [-3.74726590e-02 9.99297620e-01 -2.58620466e-04 -2.63348847e+00] [-5.96044347e-03 3.52869912e-05 9.99982236e-01 -6.98327900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20028169300001 meters Centerline goodness [0,1] 0.9995525345720313 Centerline is valid? [True, True] Translation: X:86.41, Y:-2.63, Z:-0.70 [[ 9.99279332e-01 3.77262018e-02 4.18926769e-03 8.64133503e+01] [-3.77257709e-02 9.99288113e-01 -1.81876224e-04 -2.63132261e+00] [-4.19314691e-03 2.37017988e-05 9.99991208e-01 -7.00735871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.230281693 meters Centerline goodness [0,1] 0.999575803851701 Centerline is valid? [True, True] Translation: X:86.44, Y:-2.63, Z:-0.70 [[ 9.99266887e-01 3.80708925e-02 4.03674208e-03 8.64422990e+01] [-3.80704954e-02 9.99275041e-01 -1.75190450e-04 -2.62980901e+00] [-4.04048526e-03 2.13812449e-05 9.99991837e-01 -7.00726736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.260281693 meters Centerline goodness [0,1] 0.9995474137931034 Centerline is valid? [True, True] Translation: X:86.47, Y:-2.63, Z:-0.70 [[ 9.99278029e-01 3.77673286e-02 4.12917416e-03 8.64708167e+01] [-3.77669114e-02 9.99286560e-01 -1.78988213e-04 -2.62968954e+00] [-4.13298815e-03 2.29128343e-05 9.99991459e-01 -7.00818523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.290281693 meters Centerline goodness [0,1] 0.9996358963375455 Centerline is valid? [True, True] Translation: X:86.50, Y:-2.63, Z:-0.70 [[ 9.99311317e-01 3.68532506e-02 4.32770678e-03 8.64997422e+01] [-3.68527845e-02 9.99320688e-01 -1.87432150e-04 -2.63364966e+00] [-4.33167440e-03 2.78150236e-05 9.99990618e-01 -7.01476625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.320281693 meters Centerline goodness [0,1] 0.9993376775985472 Centerline is valid? [True, True] Translation: X:86.53, Y:-2.64, Z:-0.70 [[ 9.99444663e-01 3.28485642e-02 5.59794226e-03 8.65291901e+01] [-3.28477228e-02 9.99460339e-01 -2.42200729e-04 -2.64009576e+00] [-5.60287722e-03 5.81865698e-05 9.99984302e-01 -7.00397563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.350281693 meters Centerline goodness [0,1] 0.9992728672555016 Centerline is valid? [True, True] Translation: X:86.56, Y:-2.64, Z:-0.70 [[ 9.99517977e-01 3.04900508e-02 5.84557764e-03 8.65588457e+01] [-3.04890939e-02 9.99535068e-01 -2.52773262e-04 -2.64412415e+00] [-5.85056691e-03 7.44250544e-05 9.99982883e-01 -7.00121969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.380281693 meters Centerline goodness [0,1] 0.9987131367292226 Centerline is valid? [True, True] Translation: X:86.59, Y:-2.65, Z:-0.70 [[ 9.99638467e-01 2.64097148e-02 5.04604055e-03 8.65885559e+01] [-2.64089503e-02 9.99651199e-01 -2.18094654e-04 -2.65478485e+00] [-5.05004031e-03 8.47551716e-05 9.99987245e-01 -7.01361083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.410281693 meters Centerline goodness [0,1] 0.9990191270230505 Centerline is valid? [True, True] Translation: X:86.62, Y:-2.66, Z:-0.70 [[ 9.99677371e-01 2.50749964e-02 4.04944008e-03 8.66189925e+01] [-2.50744929e-02 9.99685570e-01 -1.75068376e-04 -2.65678493e+00] [-4.05255665e-03 7.34742374e-05 9.99991786e-01 -7.02494395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.440281693 meters Centerline goodness [0,1] 0.9989409472168093 Centerline is valid? [True, True] Translation: X:86.65, Y:-2.66, Z:-0.70 [[ 9.99704343e-01 2.40449744e-02 3.61471300e-03 8.66484893e+01] [-2.40445664e-02 9.99710875e-01 -1.56291432e-04 -2.66220074e+00] [-3.61742592e-03 6.93310161e-05 9.99993455e-01 -7.03442969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.470281693 meters Centerline goodness [0,1] 0.9990158533193556 Centerline is valid? [True, True] Translation: X:86.68, Y:-2.67, Z:-0.70 [[ 9.99726876e-01 2.31352019e-02 3.30681534e-03 8.66789004e+01] [-2.31348557e-02 9.99732343e-01 -1.42925456e-04 -2.66962145e+00] [-3.30923686e-03 6.63837245e-05 9.99994522e-01 -7.04386517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.500281693 meters Centerline goodness [0,1] 0.9988631976320193 Centerline is valid? [True, True] Translation: X:86.71, Y:-2.67, Z:-0.71 [[ 9.99729487e-01 2.30419881e-02 3.16524810e-03 8.67088337e+01] [-2.30416704e-02 9.99734496e-01 -1.36806711e-04 -2.67424145e+00] [-3.16756001e-03 6.38370994e-05 9.99994981e-01 -7.05646815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.530281693 meters Centerline goodness [0,1] 0.9992183208687202 Centerline is valid? [True, True] Translation: X:86.74, Y:-2.68, Z:-0.71 [[ 9.99693164e-01 2.45885230e-02 2.99704444e-03 8.67376959e+01] [-2.45882452e-02 9.99697655e-01 -1.29495693e-04 -2.68027518e+00] [-2.99932241e-03 5.57638955e-05 9.99995500e-01 -7.05808778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56028169300001 meters Centerline goodness [0,1] 0.9994033158590121 Centerline is valid? [True, True] Translation: X:86.77, Y:-2.68, Z:-0.70 [[ 9.99645620e-01 2.64489591e-02 3.01459447e-03 8.67685752e+01] [-2.64486862e-02 9.99650164e-01 -1.30352147e-04 -2.68068583e+00] [-3.01698753e-03 5.05738893e-05 9.99995448e-01 -7.04975166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59028169300001 meters Centerline goodness [0,1] 0.9996997190227999 Centerline is valid? [True, True] Translation: X:86.80, Y:-2.67, Z:-0.70 [[ 9.99444483e-01 3.32158248e-02 2.72648265e-03 8.67985720e+01] [-3.32156266e-02 9.99448202e-01 -1.17948702e-04 -2.67401137e+00] [-2.72889594e-03 2.73213501e-05 9.99996276e-01 -7.04809582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.620281693 meters Centerline goodness [0,1] 0.999700521947463 Centerline is valid? [True, True] Translation: X:86.83, Y:-2.67, Z:-0.71 [[ 9.99310087e-01 3.70468834e-02 2.62261368e-03 8.68274082e+01] [-3.70467133e-02 9.99313528e-01 -1.13429458e-04 -2.67068452e+00] [-2.62501554e-03 1.61919842e-05 9.99996555e-01 -7.05596173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.650281693 meters Centerline goodness [0,1] 0.9998502417525994 Centerline is valid? [True, True] Translation: X:86.86, Y:-2.67, Z:-0.71 [[ 9.99176614e-01 4.04971559e-02 2.46469075e-03 8.68564411e+01] [-4.04970162e-02 9.99179654e-01 -1.06563182e-04 -2.66799421e+00] [-2.46698435e-03 6.66281834e-06 9.99996957e-01 -7.05917906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.680281693 meters Centerline goodness [0,1] 0.999892779791135 Centerline is valid? [True, True] Translation: X:86.88, Y:-2.67, Z:-0.71 [[ 9.99012038e-01 4.43145104e-02 3.34247603e-03 8.68848049e+01] [-4.43142756e-02 9.99017630e-01 -1.44327678e-04 -2.66762374e+00] [-3.34558829e-03 -3.93431610e-06 9.99994403e-01 -7.05362013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.710281693 meters Centerline goodness [0,1] 0.9998507685420086 Centerline is valid? [True, True] Translation: X:86.91, Y:-2.67, Z:-0.70 [[ 9.99012562e-01 4.42216526e-02 4.28317299e-03 8.69138240e+01] [-4.42212681e-02 9.99021744e-01 -1.84475895e-04 -2.67078276e+00] [-4.28714078e-03 -5.11360507e-06 9.99990810e-01 -7.03228582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.740281693 meters Centerline goodness [0,1] 0.9998724082934609 Centerline is valid? [True, True] Translation: X:86.94, Y:-2.68, Z:-0.70 [[ 9.99118555e-01 4.15926223e-02 5.67156459e-03 8.69422286e+01] [-4.15919077e-02 9.99134652e-01 -2.43938959e-04 -2.67793811e+00] [-5.67680278e-03 7.83274977e-06 9.99983887e-01 -7.00830740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.770281693 meters Centerline goodness [0,1] 0.9997653633668224 Centerline is valid? [True, True] Translation: X:86.97, Y:-2.68, Z:-0.70 [[ 9.99189207e-01 3.98110471e-02 6.00068780e-03 8.69714972e+01] [-3.98102163e-02 9.99207226e-01 -2.57885574e-04 -2.68292259e+00] [-6.00619731e-03 1.87878030e-05 9.99981962e-01 -7.01199183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.800281693 meters Centerline goodness [0,1] 0.9998514809471272 Centerline is valid? [True, True] Translation: X:87.00, Y:-2.69, Z:-0.70 [[ 9.99298267e-01 3.70126400e-02 5.74791691e-03 8.70002968e+01] [-3.70118321e-02 9.99314797e-01 -2.46897976e-04 -2.69345752e+00] [-5.75311676e-03 3.39837837e-05 9.99983450e-01 -7.01587249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.830281693 meters Centerline goodness [0,1] 0.9998080941617979 Centerline is valid? [True, True] Translation: X:87.03, Y:-2.70, Z:-0.70 [[ 9.99337413e-01 3.59713915e-02 5.54920689e-03 8.70303049e+01] [-3.59706228e-02 9.99352819e-01 -2.38303614e-04 -2.69823542e+00] [-5.55418767e-03 3.85372892e-05 9.99984575e-01 -7.01716242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.860281693 meters Centerline goodness [0,1] 0.9998502065010378 Centerline is valid? [True, True] Translation: X:87.06, Y:-2.70, Z:-0.70 [[ 9.99346332e-01 3.56806785e-02 5.81357455e-03 8.70608954e+01] [-3.56798298e-02 9.99363241e-01 -2.49656546e-04 -2.70230119e+00] [-5.81878062e-03 4.20660030e-05 9.99983070e-01 -7.01468755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.890281693 meters Centerline goodness [0,1] 0.9997464931553152 Centerline is valid? [True, True] Translation: X:87.09, Y:-2.71, Z:-0.70 [[ 9.99334351e-01 3.59116843e-02 6.41910660e-03 8.70908614e+01] [-3.59106544e-02 9.99354966e-01 -2.75673958e-04 -2.70835523e+00] [-6.42486597e-03 4.49761376e-05 9.99979359e-01 -7.00333147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.920281693 meters Centerline goodness [0,1] 0.999808592088473 Centerline is valid? [True, True] Translation: X:87.12, Y:-2.71, Z:-0.70 [[ 9.99313764e-01 3.64422857e-02 6.63035759e-03 8.71206108e+01] [-3.64411976e-02 9.99335758e-01 -2.84879275e-04 -2.71183143e+00] [-6.63633508e-03 4.30656095e-05 9.99977978e-01 -6.99686788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95028169300001 meters Centerline goodness [0,1] 0.9998712860667167 Centerline is valid? [True, True] Translation: X:87.15, Y:-2.72, Z:-0.70 [[ 9.99300677e-01 3.67877519e-02 6.69469411e-03 8.71518424e+01] [-3.67866483e-02 9.99323101e-01 -2.87945792e-04 -2.71652421e+00] [-6.70075536e-03 4.14690671e-05 9.99977549e-01 -7.00061492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.980281693 meters Centerline goodness [0,1] 0.9997644539614561 Centerline is valid? [True, True] Translation: X:87.18, Y:-2.72, Z:-0.70 [[ 9.99327063e-01 3.61780177e-02 6.04743761e-03 8.71831275e+01] [-3.61771052e-02 9.99345360e-01 -2.60233700e-04 -2.72204954e+00] [-6.05289346e-03 4.12797924e-05 9.99981680e-01 -7.01287708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.010281693 meters Centerline goodness [0,1] 0.9997467553023108 Centerline is valid? [True, True] Translation: X:87.21, Y:-2.74, Z:-0.70 [[ 9.99415762e-01 3.38711944e-02 4.56916961e-03 8.72129252e+01] [-3.38706490e-02 9.99426206e-01 -1.96703203e-04 -2.73523317e+00] [-4.57321042e-03 4.18275416e-05 9.99989542e-01 -7.04340729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.040281693 meters Centerline goodness [0,1] 0.9996382439937863 Centerline is valid? [True, True] Translation: X:87.24, Y:-2.74, Z:-0.70 [[ 9.99446668e-01 3.29552718e-02 4.50648362e-03 8.72424398e+01] [-3.29547318e-02 9.99456826e-01 -1.94062625e-04 -2.74367402e+00] [-4.51043121e-03 4.54452848e-05 9.99989827e-01 -7.04817861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.070281693 meters Centerline goodness [0,1] 0.9996576075326343 Centerline is valid? [True, True] Translation: X:87.27, Y:-2.75, Z:-0.70 [[ 9.99458065e-01 3.26030891e-02 4.54037772e-03 8.72738041e+01] [-3.26025373e-02 9.99468377e-01 -1.95508039e-04 -2.74743984e+00] [-4.54433812e-03 4.73742525e-05 9.99989673e-01 -7.04178044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.100281693 meters Centerline goodness [0,1] 0.9995306165991039 Centerline is valid? [True, True] Translation: X:87.30, Y:-2.75, Z:-0.70 [[ 9.99455360e-01 3.26208378e-02 4.98632521e-03 8.73037192e+01] [-3.26201719e-02 9.99467798e-01 -2.14836298e-04 -2.75442154e+00] [-4.99067962e-03 5.20645043e-05 9.99987545e-01 -7.03798355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.130281693 meters Centerline goodness [0,1] 0.9995306165991039 Centerline is valid? [True, True] Translation: X:87.33, Y:-2.76, Z:-0.70 [[ 9.99454632e-01 3.26431496e-02 4.98632289e-03 8.73345263e+01] [-3.26424837e-02 9.99467069e-01 -2.14890132e-04 -2.75579486e+00] [-4.99068022e-03 5.20069740e-05 9.99987545e-01 -7.03957912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.160281693 meters Centerline goodness [0,1] 0.9994860373479527 Centerline is valid? [True, True] Translation: X:87.36, Y:-2.76, Z:-0.70 [[ 9.99459121e-01 3.25422781e-02 4.73971244e-03 8.73649291e+01] [-3.25416748e-02 9.99470359e-01 -2.04367344e-04 -2.76281322e+00] [-4.74385267e-03 5.00186251e-05 9.99988747e-01 -7.04682198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.190281693 meters Centerline goodness [0,1] 0.9996795761861021 Centerline is valid? [True, True] Translation: X:87.40, Y:-2.77, Z:-0.71 [[ 9.99473198e-01 3.21506967e-02 4.43392559e-03 8.73959871e+01] [-3.21501648e-02 9.99483032e-01 -1.91219881e-04 -2.76703032e+00] [-4.43778124e-03 4.85677076e-05 9.99990152e-01 -7.05719871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.220281693 meters Centerline goodness [0,1] 0.9997221509788835 Centerline is valid? [True, True] Translation: X:87.43, Y:-2.78, Z:-0.71 [[ 9.99521490e-01 3.06389984e-02 4.24761718e-03 8.74259814e+01] [-3.06384962e-02 9.99530514e-01 -1.83284903e-04 -2.77823376e+00] [-4.25123865e-03 5.30565967e-05 9.99990962e-01 -7.06676118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.250281693 meters Centerline goodness [0,1] 0.999255651730078 Centerline is valid? [True, True] Translation: X:87.46, Y:-2.78, Z:-0.71 [[ 9.99543781e-01 2.98594209e-02 4.54376068e-03 8.74558708e+01] [-2.98588380e-02 9.99554106e-01 -1.96093916e-04 -2.78396186e+00] [-4.54758989e-03 6.03330404e-05 9.99989658e-01 -7.06180811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.280281693 meters Centerline goodness [0,1] 0.9991940956905327 Centerline is valid? [True, True] Translation: X:87.49, Y:-2.79, Z:-0.71 [[ 9.99578877e-01 2.86788038e-02 4.42664821e-03 8.74867971e+01] [-2.86782381e-02 9.99588676e-01 -1.91222968e-04 -2.79301188e+00] [-4.43031147e-03 6.41939685e-05 9.99990184e-01 -7.05847235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31028169300001 meters Centerline goodness [0,1] 0.9993781894592393 Centerline is valid? [True, True] Translation: X:87.52, Y:-2.80, Z:-0.71 [[ 9.99588656e-01 2.84076707e-02 3.93999635e-03 8.75176817e+01] [-2.84072190e-02 9.99596419e-01 -1.70575264e-04 -2.79774925e+00] [-3.94325189e-03 5.85807594e-05 9.99992224e-01 -7.06516689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34028169300001 meters Centerline goodness [0,1] 0.9993962394341901 Centerline is valid? [True, True] Translation: X:87.55, Y:-2.80, Z:-0.71 [[ 9.99572339e-01 2.90377120e-02 3.45689214e-03 8.75477204e+01] [-2.90373678e-02 9.99578316e-01 -1.49722111e-04 -2.80336763e+00] [-3.45978201e-03 4.92790319e-05 9.99994014e-01 -7.07721862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.370281693 meters Centerline goodness [0,1] 0.9992567897564394 Centerline is valid? [True, True] Translation: X:87.58, Y:-2.81, Z:-0.71 [[ 9.99541250e-01 3.00072213e-02 4.10573644e-03 8.75790751e+01] [-3.00067436e-02 9.99549680e-01 -1.77934212e-04 -2.80542878e+00] [-4.10922686e-03 5.46528042e-05 9.99991556e-01 -7.07062091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.400281693 meters Centerline goodness [0,1] 0.9993351919365215 Centerline is valid? [True, True] Translation: X:87.61, Y:-2.81, Z:-0.71 [[ 9.99504697e-01 3.10879103e-02 4.88911026e-03 8.76105413e+01] [-3.10872451e-02 9.99516652e-01 -2.12011333e-04 -2.80824948e+00] [-4.89333811e-03 5.99173540e-05 9.99988026e-01 -7.06373322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.430281693 meters Centerline goodness [0,1] 0.9996406679348975 Centerline is valid? [True, True] Translation: X:87.64, Y:-2.81, Z:-0.71 [[ 9.99427719e-01 3.36212421e-02 3.72100913e-03 8.76415325e+01] [-3.36208745e-02 9.99434646e-01 -1.61317798e-04 -2.81356280e+00] [-3.72432914e-03 3.61218976e-05 9.99993064e-01 -7.08678323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.460281693 meters Centerline goodness [0,1] 0.9998069994853319 Centerline is valid? [True, True] Translation: X:87.67, Y:-2.82, Z:-0.71 [[ 9.99400724e-01 3.45051191e-02 2.75503023e-03 8.76728192e+01] [-3.45049202e-02 9.99404521e-01 -1.19717919e-04 -2.81663973e+00] [-2.75752054e-03 2.45840772e-05 9.99996198e-01 -7.10633939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.490281693 meters Centerline goodness [0,1] 0.9997678296291606 Centerline is valid? [True, True] Translation: X:87.70, Y:-2.82, Z:-0.71 [[ 9.99306786e-01 3.71422727e-02 2.52963115e-03 8.77027347e+01] [-3.71421133e-02 9.99309988e-01 -1.09996581e-04 -2.81861743e+00] [-2.53197120e-03 1.59644831e-05 9.99996794e-01 -7.10863968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.520281693 meters Centerline goodness [0,1] 0.9999369906746198 Centerline is valid? [True, True] Translation: X:87.73, Y:-2.82, Z:-0.71 [[ 9.99242089e-01 3.88054010e-02 3.06402685e-03 8.77331335e+01] [-3.88051750e-02 9.99246787e-01 -1.33186660e-04 -2.82008084e+00] [-3.06688735e-03 1.41856177e-05 9.99995297e-01 -7.09801382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.550281693 meters Centerline goodness [0,1] 0.9998715285955935 Centerline is valid? [True, True] Translation: X:87.76, Y:-2.82, Z:-0.71 [[ 9.99175904e-01 4.04069746e-02 3.84574821e-03 8.77647485e+01] [-4.04066293e-02 9.99183305e-01 -1.67489351e-04 -2.82210266e+00] [-3.84937514e-03 1.19576012e-05 9.99992591e-01 -7.07734637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.580281693 meters Centerline goodness [0,1] 0.9999351603700182 Centerline is valid? [True, True] Translation: X:87.80, Y:-2.83, Z:-0.70 [[ 9.99052372e-01 4.30152639e-02 6.63670563e-03 8.77962353e+01] [-4.30142904e-02 9.99074415e-01 -2.89430474e-04 -2.82530944e+00] [-6.64301272e-03 3.68301835e-06 9.99977935e-01 -7.03142625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.610281693 meters Centerline goodness [0,1] 0.9998527958278132 Centerline is valid? [True, True] Translation: X:87.83, Y:-2.83, Z:-0.70 [[ 9.99011490e-01 4.38478576e-02 7.30806415e-03 8.78284735e+01] [-4.38466914e-02 9.99038220e-01 -3.19802860e-04 -2.82787612e+00] [-7.31505808e-03 -9.47701741e-07 9.99973245e-01 -7.02158633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.640281693 meters Centerline goodness [0,1] 0.9998072062036759 Centerline is valid? [True, True] Translation: X:87.86, Y:-2.83, Z:-0.71 [[ 9.99007512e-01 4.40744532e-02 6.43682396e-03 8.78607935e+01] [-4.40735473e-02 9.99028249e-01 -2.82589825e-04 -2.83307085e+00] [-6.44302397e-03 -1.38430710e-06 9.99979244e-01 -7.05356194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.670281693 meters Centerline goodness [0,1] 0.9998296386209247 Centerline is valid? [True, True] Translation: X:87.89, Y:-2.84, Z:-0.71 [[ 9.99015454e-01 4.40750656e-02 5.05087281e-03 8.78930424e+01] [-4.40745039e-02 9.99028222e-01 -2.22501246e-04 -2.83690172e+00] [-5.05577124e-03 -3.32530319e-07 9.99987220e-01 -7.07819560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70028169300001 meters Centerline goodness [0,1] 0.999764881906594 Centerline is valid? [True, True] Translation: X:87.93, Y:-2.84, Z:-0.71 [[ 9.99016204e-01 4.41241823e-02 4.43622545e-03 8.79250519e+01] [-4.41237465e-02 9.99026054e-01 -1.96115654e-04 -2.84059132e+00] [-4.44055825e-03 1.79828892e-07 9.99990141e-01 -7.08824920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.730281693 meters Centerline goodness [0,1] 0.9998729163577829 Centerline is valid? [True, True] Translation: X:87.96, Y:-2.84, Z:-0.71 [[ 9.98917707e-01 4.61682445e-02 5.64874467e-03 8.79565819e+01] [-4.61675639e-02 9.98933678e-01 -2.50886477e-04 -2.84196011e+00] [-5.65430427e-03 -1.01738366e-05 9.99984014e-01 -7.06037330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.760281693 meters Centerline goodness [0,1] 0.9997878254227578 Centerline is valid? [True, True] Translation: X:87.99, Y:-2.84, Z:-0.71 [[ 9.98852703e-01 4.75441693e-02 5.72974682e-03 8.79887809e+01] [-4.75434866e-02 9.98869136e-01 -2.55374972e-04 -2.84105340e+00] [-5.73540885e-03 -1.73301605e-05 9.99983552e-01 -7.05860652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.790281693 meters Centerline goodness [0,1] 0.9998097854802916 Centerline is valid? [True, True] Translation: X:88.02, Y:-2.83, Z:-0.71 [[ 9.98687932e-01 5.09976597e-02 4.65336245e-03 8.80211135e+01] [-5.09972444e-02 9.98698772e-01 -2.07939130e-04 -2.83477369e+00] [-4.65791177e-03 -2.96423624e-05 9.99989151e-01 -7.09294056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.820281693 meters Centerline goodness [0,1] 0.9995986904636182 Centerline is valid? [True, True] Translation: X:88.05, Y:-2.83, Z:-0.71 [[ 9.98603068e-01 5.27283062e-02 3.41160386e-03 8.80526268e+01] [-5.27280913e-02 9.98608895e-01 -1.52966634e-04 -2.83223832e+00] [-3.41492363e-03 -2.71344098e-05 9.99994169e-01 -7.11901291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.850281693 meters Centerline goodness [0,1] 0.9995905878296846 Centerline is valid? [True, True] Translation: X:88.08, Y:-2.83, Z:-0.71 [[ 9.98543299e-01 5.38766294e-02 2.93069820e-03 8.80828637e+01] [-5.38764755e-02 9.98547599e-01 -1.31496727e-04 -2.83037282e+00] [-2.93352625e-03 -2.65905143e-05 9.99995697e-01 -7.12997589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.880281693 meters Centerline goodness [0,1] 0.999571771154505 Centerline is valid? [True, True] Translation: X:88.11, Y:-2.83, Z:-0.71 [[ 9.98410028e-01 5.61748050e-02 4.66982125e-03 8.81139437e+01] [-5.61744393e-02 9.98420948e-01 -2.09528981e-04 -2.82839394e+00] [-4.67421760e-03 -5.31287541e-05 9.99989074e-01 -7.08213466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.910281693 meters Centerline goodness [0,1] 0.9994020671393183 Centerline is valid? [True, True] Translation: X:88.14, Y:-2.83, Z:-0.71 [[ 9.98355132e-01 5.69859372e-02 6.29552837e-03 8.81442092e+01] [-5.69852887e-02 9.98374978e-01 -2.82472407e-04 -2.82630133e+00] [-6.30139496e-03 -7.67447250e-05 9.99980143e-01 -7.05494946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.940281693 meters Centerline goodness [0,1] 0.9990688815998308 Centerline is valid? [True, True] Translation: X:88.17, Y:-2.82, Z:-0.70 [[ 9.98261141e-01 5.84304594e-02 7.78301322e-03 8.81749029e+01] [-5.84295120e-02 9.98291476e-01 -3.49243577e-04 -2.82073340e+00] [-7.79012222e-03 -1.06121373e-04 9.99969651e-01 -7.03707784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.970281693 meters Centerline goodness [0,1] 0.9991578856451891 Centerline is valid? [True, True] Translation: X:88.21, Y:-2.82, Z:-0.71 [[ 9.98239321e-01 5.88857253e-02 7.12246727e-03 8.82059025e+01] [-5.88849428e-02 9.98264725e-01 -3.19702617e-04 -2.82017800e+00] [-7.12893375e-03 -1.00266355e-04 9.99974584e-01 -7.05103835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.000281693 meters Centerline goodness [0,1] 0.999147594084303 Centerline is valid? [True, True] Translation: X:88.24, Y:-2.81, Z:-0.71 [[ 9.98304841e-01 5.80219923e-02 4.57083621e-03 8.82363254e+01] [-5.80216606e-02 9.98315303e-01 -2.05246680e-04 -2.81065671e+00] [-4.57504456e-03 -6.03087528e-05 9.99989533e-01 -7.10845830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.030281693 meters Centerline goodness [0,1] 0.9993841710730288 Centerline is valid? [True, True] Translation: X:88.27, Y:-2.82, Z:-0.71 [[ 9.98408797e-01 5.62268683e-02 4.29111027e-03 8.82665585e+01] [-5.62265594e-02 9.98418017e-01 -1.92685998e-04 -2.81881624e+00] [-4.29515593e-03 -4.88949712e-05 9.99990775e-01 -7.11844182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06028169300001 meters Centerline goodness [0,1] 0.9996564016664519 Centerline is valid? [True, True] Translation: X:88.30, Y:-2.82, Z:-0.71 [[ 9.98545292e-01 5.37406363e-02 4.38682363e-03 8.82965340e+01] [-5.37402894e-02 9.98554927e-01 -1.96983866e-04 -2.82418516e+00] [-4.39107039e-03 -3.90518600e-05 9.99990358e-01 -7.11979064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09028169300001 meters Centerline goodness [0,1] 0.9996175745729583 Centerline is valid? [True, True] Translation: X:88.33, Y:-2.83, Z:-0.71 [[ 9.98826746e-01 4.82717307e-02 3.86932931e-03 8.83270600e+01] [-4.82714199e-02 9.98834240e-01 -1.73716643e-04 -2.83292384e+00] [-3.87320420e-03 -1.32651910e-05 9.99992499e-01 -7.12491559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.120281693 meters Centerline goodness [0,1] 0.9996140320782229 Centerline is valid? [True, True] Translation: X:88.36, Y:-2.84, Z:-0.71 [[ 9.98979389e-01 4.49552896e-02 4.38214152e-03 8.83577059e+01] [-4.49548586e-02 9.98989000e-01 -1.96857174e-04 -2.83920638e+00] [-4.38656095e-03 -3.42293327e-07 9.99990379e-01 -7.11993394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.150281693 meters Centerline goodness [0,1] 0.9992378694216276 Centerline is valid? [True, True] Translation: X:88.39, Y:-2.85, Z:-0.71 [[ 9.99250006e-01 3.81861975e-02 6.42187089e-03 8.83892236e+01] [-3.81851297e-02 9.99270640e-01 -2.88849509e-04 -2.85153589e+00] [-6.42821710e-03 4.34129006e-05 9.99979338e-01 -7.08769345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.180281693 meters Centerline goodness [0,1] 0.9991111863545943 Centerline is valid? [True, True] Translation: X:88.42, Y:-2.86, Z:-0.71 [[ 9.99359556e-01 3.50941032e-02 6.99156045e-03 8.84212484e+01] [-3.50927537e-02 9.99384010e-01 -3.15638221e-04 -2.85893916e+00] [-6.99833076e-03 7.00829636e-05 9.99975509e-01 -7.08227798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.210281693 meters Centerline goodness [0,1] 0.9985872078088878 Centerline is valid? [True, True] Translation: X:88.45, Y:-2.86, Z:-0.71 [[ 9.99442857e-01 3.26406400e-02 6.96877626e-03 8.84528006e+01] [-3.26392329e-02 9.99467148e-01 -3.15570220e-04 -2.86406429e+00] [-6.97536335e-03 8.79388908e-05 9.99975668e-01 -7.09023797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.240281693 meters Centerline goodness [0,1] 0.9986924181689567 Centerline is valid? [True, True] Translation: X:88.48, Y:-2.87, Z:-0.71 [[ 9.99505338e-01 3.09169785e-02 5.76367027e-03 8.84845747e+01] [-3.09159847e-02 9.99521953e-01 -2.61472307e-04 -2.86896816e+00] [-5.76899889e-03 8.31534251e-05 9.99983356e-01 -7.10492234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.270281693 meters Centerline goodness [0,1] 0.9986943772607607 Centerline is valid? [True, True] Translation: X:88.52, Y:-2.87, Z:-0.71 [[ 9.99493424e-01 3.13425098e-02 5.52656176e-03 8.85165228e+01] [-3.13415976e-02 9.99508700e-01 -2.51610330e-04 -2.87125671e+00] [-5.53173266e-03 7.82715950e-05 9.99984697e-01 -7.10563215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.300281693 meters Centerline goodness [0,1] 0.9988759994061883 Centerline is valid? [True, True] Translation: X:88.55, Y:-2.87, Z:-0.71 [[ 9.99449347e-01 3.26306740e-02 6.02016585e-03 8.85472577e+01] [-3.26296080e-02 9.99467475e-01 -2.75222484e-04 -2.87310649e+00] [-6.02594066e-03 7.86352802e-05 9.99981841e-01 -7.08950995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.330281693 meters Centerline goodness [0,1] 0.9990405526416783 Centerline is valid? [True, True] Translation: X:88.58, Y:-2.87, Z:-0.71 [[ 9.99438601e-01 3.30621910e-02 5.41978998e-03 8.85807334e+01] [-3.30613293e-02 9.99453294e-01 -2.48531459e-04 -2.87381150e+00] [-5.42504394e-03 6.92064722e-05 9.99985282e-01 -7.10066854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.360281693 meters Centerline goodness [0,1] 0.9992254733218588 Centerline is valid? [True, True] Translation: X:88.61, Y:-2.88, Z:-0.71 [[ 9.99423819e-01 3.36471921e-02 4.46045670e-03 8.86133778e+01] [-3.36466113e-02 9.99433771e-01 -2.05203702e-04 -2.87532521e+00] [-4.46483559e-03 5.50062150e-05 9.99990031e-01 -7.12403519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.390281693 meters Centerline goodness [0,1] 0.999146539216523 Centerline is valid? [True, True] Translation: X:88.64, Y:-2.88, Z:-0.71 [[ 9.99395611e-01 3.45312713e-02 4.00053737e-03 8.86448239e+01] [-3.45308085e-02 9.99403617e-01 -1.84731543e-04 -2.87839025e+00] [-4.00453053e-03 4.64781031e-05 9.99991981e-01 -7.14246652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.420281693 meters Centerline goodness [0,1] 0.9991911623847939 Centerline is valid? [True, True] Translation: X:88.68, Y:-2.88, Z:-0.71 [[ 9.99387805e-01 3.47239734e-02 4.27336482e-03 8.86757198e+01] [-3.47234440e-02 9.99396940e-01 -1.98024912e-04 -2.88190335e+00] [-4.27766394e-03 4.95177383e-05 9.99990850e-01 -7.13560801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45028169300001 meters Centerline goodness [0,1] 0.9991694175274198 Centerline is valid? [True, True] Translation: X:88.71, Y:-2.88, Z:-0.71 [[ 9.99375314e-01 3.50344864e-02 4.64390554e-03 8.87079756e+01] [-3.50338612e-02 9.99386103e-01 -2.15948446e-04 -2.88487930e+00] [-4.64862030e-03 5.31196045e-05 9.99989194e-01 -7.12723620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.480281693 meters Centerline goodness [0,1] 0.9993844586419884 Centerline is valid? [True, True] Translation: X:88.74, Y:-2.88, Z:-0.71 [[ 9.99315327e-01 3.67095118e-02 4.61391283e-03 8.87401846e+01] [-3.67089091e-02 9.99325978e-01 -2.15284538e-04 -2.88450159e+00] [-4.61870594e-03 4.57654318e-05 9.99989333e-01 -7.12618373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.510281693 meters Centerline goodness [0,1] 0.9993844063767009 Centerline is valid? [True, True] Translation: X:88.77, Y:-2.88, Z:-0.71 [[ 9.99242410e-01 3.86758532e-02 4.33399177e-03 8.87710688e+01] [-3.86753370e-02 9.99251809e-01 -2.02890422e-04 -2.88394661e+00] [-4.33859607e-03 3.51181221e-05 9.99990588e-01 -7.13110110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.540281693 meters Centerline goodness [0,1] 0.9994617057468295 Centerline is valid? [True, True] Translation: X:88.80, Y:-2.88, Z:-0.71 [[ 9.99037768e-01 4.36937370e-02 3.79410925e-03 8.88025572e+01] [-4.36933750e-02 9.99044973e-01 -1.78268444e-04 -2.87781886e+00] [-3.79827498e-03 1.23194703e-05 9.99992786e-01 -7.14575789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.570281693 meters Centerline goodness [0,1] 0.9994836044410018 Centerline is valid? [True, True] Translation: X:88.83, Y:-2.88, Z:-0.72 [[ 9.98919129e-01 4.63712047e-02 3.20702291e-03 8.88326810e+01] [-4.63709596e-02 9.98924277e-01 -1.50763642e-04 -2.87556206e+00] [-3.21056414e-03 1.88795548e-06 9.99994846e-01 -7.16746087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.600281693 meters Centerline goodness [0,1] 0.999490521578534 Centerline is valid? [True, True] Translation: X:88.86, Y:-2.87, Z:-0.72 [[ 9.98807332e-01 4.87737183e-02 2.24465101e-03 8.88645424e+01] [-4.87736044e-02 9.98809854e-01 -1.05495910e-04 -2.87380755e+00] [-2.24712498e-03 -4.10963266e-06 9.99997475e-01 -7.18876869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.630281693 meters Centerline goodness [0,1] 0.9995507252577981 Centerline is valid? [True, True] Translation: X:88.90, Y:-2.87, Z:-0.72 [[ 9.98600519e-01 5.28192969e-02 2.66951164e-03 8.88956053e+01] [-5.28191499e-02 9.98604087e-01 -1.25608427e-04 -2.87184959e+00] [-2.67241978e-03 -1.55686947e-05 9.99996429e-01 -7.19167926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.660281693 meters Centerline goodness [0,1] 0.9994643124986607 Centerline is valid? [True, True] Translation: X:88.93, Y:-2.87, Z:-0.72 [[ 9.98538017e-01 5.39477037e-02 3.38721978e-03 8.89263063e+01] [-5.39474734e-02 9.98543762e-01 -1.59378720e-04 -2.87315498e+00] [-3.39088530e-03 -2.35862375e-05 9.99994251e-01 -7.17788754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.690281693 meters Centerline goodness [0,1] 0.9994645075611532 Centerline is valid? [True, True] Translation: X:88.96, Y:-2.87, Z:-0.72 [[ 9.98493766e-01 5.47554805e-02 3.46951944e-03 8.89571723e+01] [-5.47552438e-02 9.98499793e-01 -1.63230564e-04 -2.87257009e+00] [-3.47325221e-03 -2.69896830e-05 9.99993968e-01 -7.17670052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.720281693 meters Centerline goodness [0,1] 0.9996148661659927 Centerline is valid? [True, True] Translation: X:88.99, Y:-2.87, Z:-0.72 [[ 9.98491738e-01 5.48235557e-02 2.93700861e-03 8.89871827e+01] [-5.48233863e-02 9.98496058e-01 -1.38204743e-04 -2.87248368e+00] [-2.94016840e-03 -2.30204643e-05 9.99995677e-01 -7.18992118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.750281693 meters Centerline goodness [0,1] 0.9995488818714958 Centerline is valid? [True, True] Translation: X:89.02, Y:-2.88, Z:-0.72 [[ 9.98521808e-01 5.42337687e-02 3.59139472e-03 8.90173345e+01] [-5.42335113e-02 9.98528266e-01 -1.69070867e-04 -2.87790795e+00] [-3.59527849e-03 -2.59529985e-05 9.99993537e-01 -7.17546227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.780281693 meters Centerline goodness [0,1] 0.9995697814489761 Centerline is valid? [True, True] Translation: X:89.05, Y:-2.89, Z:-0.71 [[ 9.98605349e-01 5.24609294e-02 5.93362629e-03 8.90487788e+01] [-5.24601956e-02 9.98622977e-01 -2.79353453e-04 -2.88658915e+00] [-5.94011069e-03 -3.23153427e-05 9.99982357e-01 -7.12589301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81028169300001 meters Centerline goodness [0,1] 0.9997205743272289 Centerline is valid? [True, True] Translation: X:89.08, Y:-2.89, Z:-0.71 [[ 9.98642804e-01 5.15911207e-02 7.13487223e-03 8.90804428e+01] [-5.15900340e-02 9.98668291e-01 -3.36388451e-04 -2.89136545e+00] [-7.14272531e-03 -3.21563949e-05 9.99974490e-01 -7.10755172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84028169300001 meters Centerline goodness [0,1] 0.9995963973149801 Centerline is valid? [True, True] Translation: X:89.11, Y:-2.90, Z:-0.71 [[ 9.98654874e-01 5.11527315e-02 8.47592502e-03 8.91121326e+01] [-5.11511682e-02 9.98690842e-01 -4.01253940e-04 -2.89642488e+00] [-8.48535392e-03 -3.28392633e-05 9.99963998e-01 -7.08239194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.870281693 meters Centerline goodness [0,1] 0.9994727740520477 Centerline is valid? [True, True] Translation: X:89.14, Y:-2.90, Z:-0.71 [[ 9.98628225e-01 5.17505296e-02 7.97192460e-03 8.91449966e+01] [-5.17491546e-02 9.98660043e-01 -3.78794519e-04 -2.89973687e+00] [-7.98084538e-03 -3.42654600e-05 9.99968152e-01 -7.09765316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.900281693 meters Centerline goodness [0,1] 0.9995584060561455 Centerline is valid? [True, True] Translation: X:89.18, Y:-2.90, Z:-0.71 [[ 9.98588100e-01 5.26456719e-02 7.08803105e-03 8.91782152e+01] [-5.26445988e-02 9.98613254e-01 -3.38008143e-04 -2.90187373e+00] [-7.09599642e-03 -3.56156418e-05 9.99974822e-01 -7.11646390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.930281693 meters Centerline goodness [0,1] 0.9995986311208754 Centerline is valid? [True, True] Translation: X:89.21, Y:-2.90, Z:-0.72 [[ 9.98451580e-01 5.54559146e-02 4.36855763e-03 8.92092983e+01] [-5.54555318e-02 9.98461136e-01 -2.08798341e-04 -2.89911835e+00] [-4.37341412e-03 -3.37856536e-05 9.99990436e-01 -7.16096120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.960281693 meters Centerline goodness [0,1] 0.999636775420379 Centerline is valid? [True, True] Translation: X:89.24, Y:-2.90, Z:-0.72 [[ 9.98347069e-01 5.73829089e-02 3.21420197e-03 8.92410739e+01] [-5.73827104e-02 9.98352243e-01 -1.54025444e-04 -2.89840251e+00] [-3.21774417e-03 -3.06687702e-05 9.99994823e-01 -7.18677569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.990281693 meters Centerline goodness [0,1] 0.9994468085106383 Centerline is valid? [True, True] Translation: X:89.27, Y:-2.89, Z:-0.72 [[ 9.98053436e-01 6.23060976e-02 2.69970968e-03 8.92709819e+01] [-6.23059744e-02 9.98057087e-01 -1.29787112e-04 -2.89276335e+00] [-2.70255091e-03 -3.86735691e-05 9.99996347e-01 -7.18663988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.020281693 meters Centerline goodness [0,1] 0.9991318709240281 Centerline is valid? [True, True] Translation: X:89.30, Y:-2.89, Z:-0.72 [[ 9.97869274e-01 6.51243754e-02 3.96583094e-03 8.93001822e+01] [-6.51241321e-02 9.97877152e-01 -1.90593739e-04 -2.88916289e+00] [-3.96982439e-03 -6.80836625e-05 9.99992118e-01 -7.16188001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.050281693 meters Centerline goodness [0,1] 0.9991318709240281 Centerline is valid? [True, True] Translation: X:89.33, Y:-2.89, Z:-0.72 [[ 9.97869274e-01 6.51243748e-02 3.96583658e-03 8.93301517e+01] [-6.51241319e-02 9.97877152e-01 -1.90476268e-04 -2.89060236e+00] [-3.96982237e-03 -6.82012502e-05 9.99992118e-01 -7.16343247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.080281693 meters Centerline goodness [0,1] 0.998661311914324 Centerline is valid? [True, True] Translation: X:89.36, Y:-2.89, Z:-0.71 [[ 9.97689843e-01 6.77540858e-02 4.93578236e-03 8.93608731e+01] [-6.77537418e-02 9.97702047e-01 -2.37062063e-04 -2.88650331e+00] [-4.94050209e-03 -9.79033115e-05 9.99987791e-01 -7.14197428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.110281693 meters Centerline goodness [0,1] 0.9980829445970989 Centerline is valid? [True, True] Translation: X:89.39, Y:-2.88, Z:-0.72 [[ 9.97366937e-01 7.23368788e-02 5.15459597e-03 8.93919359e+01] [-7.23365648e-02 9.97380249e-01 -2.47571522e-04 -2.87797360e+00] [-5.15900076e-03 -1.25946114e-04 9.99986684e-01 -7.15045992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.140281693 meters Centerline goodness [0,1] 0.9977557868638725 Centerline is valid? [True, True] Translation: X:89.42, Y:-2.88, Z:-0.72 [[ 9.97216137e-01 7.44071014e-02 4.85379452e-03 8.94220053e+01] [-7.44068475e-02 9.97227941e-01 -2.33127875e-04 -2.87532802e+00] [-4.85768588e-03 -1.28676670e-04 9.99988193e-01 -7.16468323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.170281693 meters Centerline goodness [0,1] 0.9960518774808431 Centerline is valid? [True, True] Translation: X:89.45, Y:-2.87, Z:-0.72 [[ 9.96984157e-01 7.74642416e-02 4.67778308e-03 8.94511639e+01] [-7.74640396e-02 9.96995121e-01 -2.24627760e-04 -2.86917021e+00] [-4.68112752e-03 -1.38409655e-04 9.99989034e-01 -7.16350738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20028169300001 meters Centerline goodness [0,1] 0.9961308772815207 Centerline is valid? [True, True] Translation: X:89.48, Y:-2.87, Z:-0.72 [[ 9.96895332e-01 7.86041777e-02 4.59131244e-03 8.94805309e+01] [-7.86039956e-02 9.96905895e-01 -2.20372387e-04 -2.86876359e+00] [-4.59442863e-03 -1.41207299e-04 9.99989436e-01 -7.16108916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.230281693 meters Centerline goodness [0,1] 0.9954184418420433 Centerline is valid? [True, True] Translation: X:89.51, Y:-2.87, Z:-0.72 [[ 9.96796871e-01 7.98590574e-02 4.30447982e-03 8.95098150e+01] [-7.98589094e-02 9.96806156e-01 -2.06524781e-04 -2.86568296e+00] [-4.30722486e-03 -1.37887808e-04 9.99990714e-01 -7.15893580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.260281693 meters Centerline goodness [0,1] 0.9938007189444003 Centerline is valid? [True, True] Translation: X:89.54, Y:-2.85, Z:-0.72 [[ 9.96443836e-01 8.41504065e-02 4.28841264e-03 8.95391481e+01] [-8.41502999e-02 9.96453052e-01 -2.05599864e-04 -2.85418913e+00] [-4.29050318e-03 -1.56002492e-04 9.99990784e-01 -7.15677820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.290281693 meters Centerline goodness [0,1] 0.9915688367129135 Centerline is valid? [True, True] Translation: X:89.57, Y:-2.85, Z:-0.71 [[ 9.96227251e-01 8.66440372e-02 4.90663396e-03 8.95683788e+01] [-8.66439285e-02 9.96239316e-01 -2.35116198e-04 -2.84759791e+00] [-4.90855308e-03 -1.90900878e-04 9.99987935e-01 -7.14928815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.320281693 meters Centerline goodness [0,1] 0.987356834746393 Centerline is valid? [True, True] Translation: X:89.60, Y:-2.83, Z:-0.71 [[ 9.95852097e-01 9.08009319e-02 5.81312208e-03 8.95983801e+01] [-9.08008511e-02 9.95869032e-01 -2.78349613e-04 -2.83387614e+00] [-5.81438266e-03 -2.50641388e-04 9.99983065e-01 -7.13976130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.350281693 meters Centerline goodness [0,1] 0.9861896591895957 Centerline is valid? [True, True] Translation: X:89.63, Y:-2.83, Z:-0.71 [[ 9.95761365e-01 9.17752190e-02 6.05088615e-03 8.96277377e+01] [-9.17751497e-02 9.95779714e-01 -2.89701432e-04 -2.82951073e+00] [-6.05193709e-03 -2.66847488e-04 9.99981651e-01 -7.13710330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.380281693 meters Centerline goodness [0,1] 0.9848510602133175 Centerline is valid? [True, True] Translation: X:89.66, Y:-2.83, Z:-0.71 [[ 9.95787855e-01 9.14796294e-02 6.16646179e-03 8.96558889e+01] [-9.14795535e-02 9.95806911e-01 -2.94949751e-04 -2.82552999e+00] [-6.16758716e-03 -2.70397792e-04 9.99980944e-01 -7.14061749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.410281693 meters Centerline goodness [0,1] 0.987487455426729 Centerline is valid? [True, True] Translation: X:89.69, Y:-2.82, Z:-0.72 [[ 9.95920132e-01 9.01105494e-02 4.81460686e-03 8.96854909e+01] [-9.01104882e-02 9.95931748e-01 -2.30080744e-04 -2.82280682e+00] [-4.81575253e-03 -2.04704530e-04 9.99988383e-01 -7.16673385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.440281693 meters Centerline goodness [0,1] 0.9882074465816523 Centerline is valid? [True, True] Translation: X:89.71, Y:-2.82, Z:-0.72 [[ 9.96020643e-01 8.90224933e-02 4.22787025e-03 8.97140199e+01] [-8.90224367e-02 9.96029600e-01 -2.01933928e-04 -2.82007163e+00] [-4.22906057e-03 -1.75244951e-04 9.99991042e-01 -7.18062523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.470281693 meters Centerline goodness [0,1] 0.9879636979982407 Centerline is valid? [True, True] Translation: X:89.74, Y:-2.82, Z:-0.72 [[ 9.96145154e-01 8.76180257e-02 4.23246465e-03 8.97418556e+01] [-8.76179571e-02 9.96154131e-01 -2.01972278e-04 -2.81890874e+00] [-4.23388356e-03 -1.69646200e-04 9.99991023e-01 -7.18857163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.500281693 meters Centerline goodness [0,1] 0.9913964262078094 Centerline is valid? [True, True] Translation: X:89.77, Y:-2.82, Z:-0.72 [[ 9.96446794e-01 8.40970379e-02 4.63417130e-03 8.97713317e+01] [-8.40969188e-02 9.96457555e-01 -2.20885977e-04 -2.81684855e+00] [-4.63633086e-03 -1.69618404e-04 9.99989238e-01 -7.17825049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.530281693 meters Centerline goodness [0,1] 0.992558000682361 Centerline is valid? [True, True] Translation: X:89.80, Y:-2.82, Z:-0.72 [[ 9.96619126e-01 8.20189590e-02 4.81745963e-03 8.98007850e+01] [-8.20188067e-02 9.96630755e-01 -2.29516385e-04 -2.81736828e+00] [-4.82005312e-03 -1.66381870e-04 9.99988370e-01 -7.17673127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56028169300001 meters Centerline goodness [0,1] 0.9963615350041736 Centerline is valid? [True, True] Translation: X:89.83, Y:-2.83, Z:-0.72 [[ 9.96866521e-01 7.89446295e-02 4.98838643e-03 8.98299947e+01] [-7.89444282e-02 9.96878990e-01 -2.37549833e-04 -2.82528193e+00] [-4.99157091e-03 -1.56999838e-04 9.99987530e-01 -7.17097099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59028169300001 meters Centerline goodness [0,1] 0.9962148753261195 Centerline is valid? [True, True] Translation: X:89.86, Y:-2.82, Z:-0.72 [[ 9.96964237e-01 7.76949618e-02 5.07968861e-03 8.98591454e+01] [-7.76947375e-02 9.96977166e-01 -2.41778999e-04 -2.82425046e+00] [-5.08311856e-03 -1.53620058e-04 9.99987069e-01 -7.16986445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.620281693 meters Centerline goodness [0,1] 0.9950995078108281 Centerline is valid? [True, True] Translation: X:89.89, Y:-2.81, Z:-0.72 [[ 9.97050826e-01 7.66116948e-02 4.50542602e-03 8.98871795e+01] [-7.66115081e-02 9.97060997e-01 -2.14269919e-04 -2.81355367e+00] [-4.50860014e-03 -1.31529482e-04 9.99989828e-01 -7.17866325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.650281693 meters Centerline goodness [0,1] 0.9963434596823912 Centerline is valid? [True, True] Translation: X:89.92, Y:-2.81, Z:-0.72 [[ 9.97240135e-01 7.41484964e-02 3.75694001e-03 8.99166884e+01] [-7.41483499e-02 9.97247206e-01 -1.78465749e-04 -2.80961093e+00] [-3.75983089e-03 -1.00597695e-04 9.99992927e-01 -7.19935706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.680281693 meters Centerline goodness [0,1] 0.9964855080134651 Centerline is valid? [True, True] Translation: X:89.95, Y:-2.81, Z:-0.72 [[ 9.97340044e-01 7.28014345e-02 3.57599909e-03 8.99455228e+01] [-7.28012934e-02 9.97346451e-01 -1.69782649e-04 -2.80906381e+00] [-3.57887042e-03 -9.10063247e-05 9.99993592e-01 -7.20523982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.710281693 meters Centerline goodness [0,1] 0.9978447365084732 Centerline is valid? [True, True] Translation: X:89.97, Y:-2.81, Z:-0.72 [[ 9.97468542e-01 7.10193331e-02 3.57240048e-03 8.99744480e+01] [-7.10191814e-02 9.97474936e-01 -1.69464628e-04 -2.81353061e+00] [-3.57541520e-03 -8.46733222e-05 9.99993605e-01 -7.20181347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.740281693 meters Centerline goodness [0,1] 0.998258912457269 Centerline is valid? [True, True] Translation: X:90.00, Y:-2.81, Z:-0.72 [[ 9.97757089e-01 6.68104400e-02 4.14197940e-03 9.00031300e+01] [-6.68102009e-02 9.97765683e-01 -1.96234891e-04 -2.80994815e+00] [-4.14583544e-03 -8.09317222e-05 9.99991403e-01 -7.20032043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.770281693 meters Centerline goodness [0,1] 0.9988959425890146 Centerline is valid? [True, True] Translation: X:90.03, Y:-2.82, Z:-0.72 [[ 9.97907320e-01 6.45092944e-02 4.41942538e-03 9.00318115e+01] [-6.45089999e-02 9.97917103e-01 -2.09306133e-04 -2.81744667e+00] [-4.42372237e-03 -7.62245889e-05 9.99990212e-01 -7.19628310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.800281693 meters Centerline goodness [0,1] 0.9990792094049123 Centerline is valid? [True, True] Translation: X:90.06, Y:-2.82, Z:-0.72 [[ 9.98187030e-01 5.99818976e-02 4.98252142e-03 9.00604152e+01] [-5.99814682e-02 9.98199463e-01 -2.35709092e-04 -2.81845564e+00] [-4.98768849e-03 -6.35771911e-05 9.99987559e-01 -7.19006510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.830281693 meters Centerline goodness [0,1] 0.9992538268025413 Centerline is valid? [True, True] Translation: X:90.09, Y:-2.82, Z:-0.72 [[ 9.98312724e-01 5.78315207e-02 5.21737031e-03 9.00893082e+01] [-5.78310215e-02 9.98326356e-01 -2.46628962e-04 -2.81973133e+00] [-5.22290122e-03 -5.55130239e-05 9.99986359e-01 -7.19327728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.860281693 meters Centerline goodness [0,1] 0.9992293530847284 Centerline is valid? [True, True] Translation: X:90.12, Y:-2.82, Z:-0.72 [[ 9.98416998e-01 5.60246378e-02 4.97379669e-03 9.01175933e+01] [-5.60241628e-02 9.98429386e-01 -2.34897611e-04 -2.82040897e+00] [-4.97914483e-03 -4.41270275e-05 9.99987603e-01 -7.19990555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.890281693 meters Centerline goodness [0,1] 0.9990702981384834 Centerline is valid? [True, True] Translation: X:90.15, Y:-2.82, Z:-0.72 [[ 9.98575649e-01 5.31953759e-02 4.11407274e-03 9.01463598e+01] [-5.31950276e-02 9.98584123e-01 -1.94136346e-04 -2.81876292e+00] [-4.11857488e-03 -2.49883847e-05 9.99991518e-01 -7.22703847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.920281693 meters Centerline goodness [0,1] 0.9992142204854844 Centerline is valid? [True, True] Translation: X:90.18, Y:-2.82, Z:-0.72 [[ 9.98615657e-01 5.24835966e-02 3.49880688e-03 9.01756817e+01] [-5.24833405e-02 9.98621786e-01 -1.65023543e-04 -2.81902722e+00] [-3.50264581e-03 -1.88339787e-05 9.99993866e-01 -7.23766981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95028169300001 meters Centerline goodness [0,1] 0.9993194530103571 Centerline is valid? [True, True] Translation: X:90.20, Y:-2.82, Z:-0.72 [[ 9.98692466e-01 5.09628938e-02 4.01761138e-03 9.02043035e+01] [-5.09625447e-02 9.98700547e-01 -1.89299022e-04 -2.81980383e+00] [-4.02203791e-03 -1.56961925e-05 9.99991911e-01 -7.21690792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.980281693 meters Centerline goodness [0,1] 0.9993235816352414 Centerline is valid? [True, True] Translation: X:90.23, Y:-2.82, Z:-0.72 [[ 9.98750629e-01 4.97425849e-02 4.78090331e-03 9.02328327e+01] [-4.97420778e-02 9.98762071e-01 -2.24999365e-04 -2.82116167e+00] [-4.78617694e-03 -1.30938073e-05 9.99988546e-01 -7.20929580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.010281693 meters Centerline goodness [0,1] 0.9993785359163381 Centerline is valid? [True, True] Translation: X:90.26, Y:-2.82, Z:-0.72 [[ 9.98827401e-01 4.81304087e-02 5.22376839e-03 9.02616602e+01] [-4.81297822e-02 9.98841060e-01 -2.45649625e-04 -2.82409394e+00] [-5.22953757e-03 -6.05725836e-06 9.99986326e-01 -7.19873342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.040281693 meters Centerline goodness [0,1] 0.9990309465124607 Centerline is valid? [True, True] Translation: X:90.29, Y:-2.83, Z:-0.72 [[ 9.99019837e-01 4.39635036e-02 5.15517236e-03 9.02895518e+01] [-4.39628392e-02 9.99033138e-01 -2.42193563e-04 -2.83188879e+00] [-5.16083570e-03 1.53201599e-05 9.99986683e-01 -7.19804449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.070281693 meters Centerline goodness [0,1] 0.9990673223673054 Centerline is valid? [True, True] Translation: X:90.32, Y:-2.84, Z:-0.72 [[ 9.99107105e-01 4.19925966e-02 4.64921853e-03 9.03194084e+01] [-4.19920353e-02 9.99117922e-01 -2.18320487e-04 -2.83623855e+00] [-4.65428540e-03 2.28954009e-05 9.99989168e-01 -7.20987959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.100281693 meters Centerline goodness [0,1] 0.9987579208858761 Centerline is valid? [True, True] Translation: X:90.35, Y:-2.84, Z:-0.72 [[ 9.99191509e-01 3.99630235e-02 4.39149827e-03 9.03482352e+01] [-3.99625035e-02 9.99201159e-01 -2.06117459e-04 -2.84225323e+00] [-4.39622724e-03 3.04555492e-05 9.99990336e-01 -7.21392019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.130281693 meters Centerline goodness [0,1] 0.9987761674718196 Centerline is valid? [True, True] Translation: X:90.38, Y:-2.84, Z:-0.72 [[ 9.99201203e-01 3.97054336e-02 4.52047385e-03 9.03776586e+01] [-3.97048802e-02 9.99211428e-01 -2.12125681e-04 -2.84442585e+00] [-4.52533168e-03 3.24713625e-05 9.99989760e-01 -7.21004305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.160281693 meters Centerline goodness [0,1] 0.9987592255856241 Centerline is valid? [True, True] Translation: X:90.41, Y:-2.85, Z:-0.72 [[ 9.99167592e-01 4.04230411e-02 5.48647378e-03 9.04073650e+01] [-4.04222376e-02 9.99182654e-01 -2.57312547e-04 -2.84612478e+00] [-5.49239079e-03 3.53228117e-05 9.99984916e-01 -7.18763796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.190281693 meters Centerline goodness [0,1] 0.9985070488621579 Centerline is valid? [True, True] Translation: X:90.44, Y:-2.85, Z:-0.72 [[ 9.99148220e-01 4.08348475e-02 5.94563882e-03 9.04354233e+01] [-4.08339121e-02 9.99165909e-01 -2.78688647e-04 -2.84946519e+00] [-5.95205982e-03 3.56675727e-05 9.99982286e-01 -7.17917565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.220281693 meters Centerline goodness [0,1] 0.9986337922937346 Centerline is valid? [True, True] Translation: X:90.46, Y:-2.85, Z:-0.72 [[ 9.99122649e-01 4.14169882e-02 6.21005301e-03 9.04638655e+01] [-4.14159803e-02 9.99141948e-01 -2.90871339e-04 -2.85143583e+00] [-6.21677148e-03 3.34207099e-05 9.99980675e-01 -7.17895027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.250281693 meters Centerline goodness [0,1] 0.9986875510994448 Centerline is valid? [True, True] Translation: X:90.49, Y:-2.85, Z:-0.72 [[ 9.99025456e-01 4.36497540e-02 6.54498080e-03 9.04934247e+01] [-4.36486833e-02 9.99046895e-01 -3.06410477e-04 -2.85304581e+00] [-6.55211749e-03 2.04320725e-05 9.99978534e-01 -7.18080235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.280281693 meters Centerline goodness [0,1] 0.9988240576425563 Centerline is valid? [True, True] Translation: X:90.52, Y:-2.85, Z:-0.72 [[ 9.98967047e-01 4.50142724e-02 6.20916692e-03 9.05225160e+01] [-4.50133360e-02 9.98986344e-01 -2.90548199e-04 -2.85416234e+00] [-6.21595178e-03 1.07527596e-05 9.99980681e-01 -7.18631893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31028169300001 meters Centerline goodness [0,1] 0.9989505921658492 Centerline is valid? [True, True] Translation: X:90.55, Y:-2.86, Z:-0.72 [[ 9.98924982e-01 4.60078106e-02 5.67112282e-03 9.05526314e+01] [-4.60070464e-02 9.98941080e-01 -2.65206799e-04 -2.85540252e+00] [-5.67731914e-03 4.01008594e-06 9.99983884e-01 -7.19360025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34028169300001 meters Centerline goodness [0,1] 0.9991657754010695 Centerline is valid? [True, True] Translation: X:90.58, Y:-2.86, Z:-0.72 [[ 9.98823445e-01 4.82807018e-02 4.54957776e-03 9.05812477e+01] [-4.82802339e-02 9.98833807e-01 -2.12681757e-04 -2.85543414e+00] [-4.55454050e-03 -7.22315278e-06 9.99989628e-01 -7.20797863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.370281693 meters Centerline goodness [0,1] 0.9990698657647183 Centerline is valid? [True, True] Translation: X:90.61, Y:-2.86, Z:-0.72 [[ 9.98764292e-01 4.94814610e-02 4.63400595e-03 9.06086299e+01] [-4.94809889e-02 9.98775042e-01 -2.16543887e-04 -2.85576135e+00] [-4.63904440e-03 -1.30188946e-05 9.99989239e-01 -7.21411485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.400281693 meters Centerline goodness [0,1] 0.9989093941791587 Centerline is valid? [True, True] Translation: X:90.64, Y:-2.86, Z:-0.72 [[ 9.98611919e-01 5.23937507e-02 5.39728551e-03 9.06374796e+01] [-5.23931545e-02 9.98626504e-01 -2.51877390e-04 -2.85696728e+00] [-5.40306916e-03 -3.12530505e-05 9.99985403e-01 -7.20431553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.430281693 meters Centerline goodness [0,1] 0.9990633714370862 Centerline is valid? [True, True] Translation: X:90.67, Y:-2.86, Z:-0.72 [[ 9.98481136e-01 5.47941440e-02 5.74650146e-03 9.06657321e+01] [-5.47935096e-02 9.98497671e-01 -2.67897833e-04 -2.85605239e+00] [-5.75254755e-03 -4.73800502e-05 9.99983453e-01 -7.19671750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.460281693 meters Centerline goodness [0,1] 0.9990055225238569 Centerline is valid? [True, True] Translation: X:90.70, Y:-2.86, Z:-0.72 [[ 9.98330216e-01 5.74768199e-02 5.76154134e-03 9.06953944e+01] [-5.74762282e-02 9.98346839e-01 -2.68350810e-04 -2.85531793e+00] [-5.76744053e-03 -6.32489425e-05 9.99983366e-01 -7.19545884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.490281693 meters Centerline goodness [0,1] 0.998176923239989 Centerline is valid? [True, True] Translation: X:90.72, Y:-2.84, Z:-0.72 [[ 9.98004499e-01 6.29783579e-02 4.55492575e-03 9.07243042e+01] [-6.29780458e-02 9.98014890e-01 -2.12078604e-04 -2.84499732e+00] [-4.55924008e-03 -7.52049220e-05 9.99989604e-01 -7.21620660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.520281693 meters Centerline goodness [0,1] 0.9985889295106151 Centerline is valid? [True, True] Translation: X:90.75, Y:-2.85, Z:-0.72 [[ 9.97860886e-01 6.52796128e-02 3.49619171e-03 9.07528574e+01] [-6.52794432e-02 9.97867009e-01 -1.62728281e-04 -2.84873255e+00] [-3.49935720e-03 -6.58492611e-05 9.99993875e-01 -7.23413719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.550281693 meters Centerline goodness [0,1] 0.9976096467826272 Centerline is valid? [True, True] Translation: X:90.78, Y:-2.84, Z:-0.73 [[ 9.97586557e-01 6.93710081e-02 2.95378868e-03 9.07812889e+01] [-6.93709053e-02 9.97590928e-01 -1.37378392e-04 -2.83987953e+00] [-2.95620286e-03 -6.78601570e-05 9.99995628e-01 -7.25652872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.580281693 meters Centerline goodness [0,1] 0.9973878140463398 Centerline is valid? [True, True] Translation: X:90.81, Y:-2.84, Z:-0.72 [[ 9.97488752e-01 7.07287360e-02 3.69269635e-03 9.08104291e+01] [-7.07285855e-02 9.97495583e-01 -1.71505455e-04 -2.84148695e+00] [-3.69557866e-03 -9.01044271e-05 9.99993167e-01 -7.24039673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.610281693 meters Centerline goodness [0,1] 0.9976148011259858 Centerline is valid? [True, True] Translation: X:90.84, Y:-2.84, Z:-0.72 [[ 9.97381488e-01 7.21516674e-02 4.92984699e-03 9.08392502e+01] [-7.21514180e-02 9.97393664e-01 -2.28653924e-04 -2.84242880e+00] [-4.93349591e-03 -1.27640259e-04 9.99987822e-01 -7.20455160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.640281693 meters Centerline goodness [0,1] 0.9968372133052197 Centerline is valid? [True, True] Translation: X:90.87, Y:-2.84, Z:-0.72 [[ 9.97319593e-01 7.30120362e-02 4.78242835e-03 9.08667833e+01] [-7.30118124e-02 9.97331051e-01 -2.21600317e-04 -2.83907196e+00] [-4.78584378e-03 -1.28167423e-04 9.99988540e-01 -7.20578109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.670281693 meters Centerline goodness [0,1] 0.9958306878306878 Centerline is valid? [True, True] Translation: X:90.90, Y:-2.83, Z:-0.72 [[ 9.97183713e-01 7.48775826e-02 4.24144607e-03 9.08951699e+01] [-7.48774246e-02 9.97192726e-01 -1.96256230e-04 -2.83241826e+00] [-4.24423436e-03 -1.21885042e-04 9.99990986e-01 -7.21890472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70028169300001 meters Centerline goodness [0,1] 0.991549235812508 Centerline is valid? [True, True] Translation: X:90.93, Y:-2.81, Z:-0.72 [[ 9.96874749e-01 7.88961375e-02 4.01664567e-03 9.09252473e+01] [-7.88960295e-02 9.96882833e-01 -1.85588180e-04 -2.81361450e+00] [-4.01876731e-03 -1.31889225e-04 9.99991916e-01 -7.23331598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.730281693 meters Centerline goodness [0,1] 0.987392647121039 Centerline is valid? [True, True] Translation: X:90.95, Y:-2.80, Z:-0.72 [[ 9.96746342e-01 8.04760611e-02 4.50920984e-03 9.09539677e+01] [-8.04759415e-02 9.96756530e-01 -2.08241832e-04 -2.80132636e+00] [-4.51134283e-03 -1.55318623e-04 9.99989812e-01 -7.22587144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.760281693 meters Centerline goodness [0,1] 0.9906542056074766 Centerline is valid? [True, True] Translation: X:90.98, Y:-2.80, Z:-0.72 [[ 9.96631712e-01 8.18280508e-02 5.42226381e-03 9.09828853e+01] [-8.18278995e-02 9.96646443e-01 -2.50129301e-04 -2.80303492e+00] [-5.42454753e-03 -1.94405664e-04 9.99985268e-01 -7.20468202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.790281693 meters Centerline goodness [0,1] 0.991904741508545 Centerline is valid? [True, True] Translation: X:91.01, Y:-2.80, Z:-0.72 [[ 9.96687306e-01 8.11649521e-02 5.16379646e-03 9.10116764e+01] [-8.11648071e-02 9.96700666e-01 -2.37985119e-04 -2.80456540e+00] [-5.16607542e-03 -1.81921796e-04 9.99986639e-01 -7.21326722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.820281693 meters Centerline goodness [0,1] 0.9936259566394509 Centerline is valid? [True, True] Translation: X:91.04, Y:-2.81, Z:-0.72 [[ 9.96862590e-01 7.90209971e-02 4.54528403e-03 9.10405013e+01] [-7.90208633e-02 9.96872940e-01 -2.09299076e-04 -2.80764723e+00] [-4.54760967e-03 -1.50529849e-04 9.99989648e-01 -7.22778256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.850281693 meters Centerline goodness [0,1] 0.994996043880846 Centerline is valid? [True, True] Translation: X:91.07, Y:-2.81, Z:-0.72 [[ 9.97104263e-01 7.59295776e-02 4.21755257e-03 9.10697160e+01] [-7.59294356e-02 9.97113175e-01 -1.94005160e-04 -2.80924210e+00] [-4.22010797e-03 -1.26793014e-04 9.99991087e-01 -7.24134519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.880281693 meters Centerline goodness [0,1] 0.9975464049498614 Centerline is valid? [True, True] Translation: X:91.10, Y:-2.82, Z:-0.72 [[ 9.97643048e-01 6.83970552e-02 5.49473966e-03 9.10997447e+01] [-6.83967009e-02 9.97658172e-01 -2.52597038e-04 -2.81812776e+00] [-5.49914881e-03 -1.23820386e-04 9.99984872e-01 -7.22212304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.910281693 meters Centerline goodness [0,1] 0.9980750518255278 Centerline is valid? [True, True] Translation: X:91.13, Y:-2.82, Z:-0.72 [[ 9.97892060e-01 6.45880025e-02 6.31089729e-03 9.11282401e+01] [-6.45874593e-02 9.97912008e-01 -2.90064692e-04 -2.82336474e+00] [-6.31645489e-03 -1.18151569e-04 9.99980044e-01 -7.20972841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.940281693 meters Centerline goodness [0,1] 0.9980750518255278 Centerline is valid? [True, True] Translation: X:91.16, Y:-2.82, Z:-0.72 [[ 9.97895006e-01 6.45424687e-02 6.31090794e-03 9.11565415e+01] [-6.45419260e-02 9.97914954e-01 -2.89832975e-04 -2.82457321e+00] [-6.31645594e-03 -1.18095274e-04 9.99980044e-01 -7.21119437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.970281693 meters Centerline goodness [0,1] 0.9989782016348774 Centerline is valid? [True, True] Translation: X:91.19, Y:-2.84, Z:-0.72 [[ 9.98284546e-01 5.81088185e-02 7.16454735e-03 9.11855138e+01] [-5.81079556e-02 9.98310251e-01 -3.28723157e-04 -2.83563381e+00] [-7.17154277e-03 -8.81579521e-05 9.99974280e-01 -7.20007144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.000281693 meters Centerline goodness [0,1] 0.9990991570683997 Centerline is valid? [True, True] Translation: X:91.21, Y:-2.84, Z:-0.72 [[ 9.98453021e-01 5.51516938e-02 7.06079938e-03 9.12136303e+01] [-5.51507832e-02 9.98477985e-01 -3.23755878e-04 -2.84311277e+00] [-7.06790842e-03 -6.61535813e-05 9.99975020e-01 -7.20681027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.030281693 meters Centerline goodness [0,1] 0.9989531703982225 Centerline is valid? [True, True] Translation: X:91.24, Y:-2.85, Z:-0.72 [[ 9.98616290e-01 5.21993554e-02 6.38213562e-03 9.12416888e+01] [-5.21985530e-02 9.98636683e-01 -2.92354782e-04 -2.84811410e+00] [-6.38869548e-03 -4.11879966e-05 9.99979591e-01 -7.21594835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06028169300001 meters Centerline goodness [0,1] 0.9990899663499185 Centerline is valid? [True, True] Translation: X:91.27, Y:-2.86, Z:-0.72 [[ 9.98788489e-01 4.88988129e-02 5.51901910e-03 9.12709421e+01] [-4.88981637e-02 9.98803737e-01 -2.52595313e-04 -2.85580086e+00] [-5.52476851e-03 -1.75806079e-05 9.99984738e-01 -7.24165385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09028169300001 meters Centerline goodness [0,1] 0.9987881364941001 Centerline is valid? [True, True] Translation: X:91.30, Y:-2.87, Z:-0.73 [[ 9.99114830e-01 4.18626233e-02 4.13254195e-03 9.12999745e+01] [-4.18621993e-02 9.99123376e-01 -1.89075455e-04 -2.87191539e+00] [-4.13683446e-03 1.59107966e-05 9.99991443e-01 -7.26828538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.120281693 meters Centerline goodness [0,1] 0.9984522453191169 Centerline is valid? [True, True] Translation: X:91.33, Y:-2.89, Z:-0.73 [[ 9.99341016e-01 3.59571852e-02 4.96130885e-03 9.13287846e+01] [-3.59565020e-02 9.99353330e-01 -2.26856749e-04 -2.88602236e+00] [-4.96625766e-03 4.83159421e-05 9.99987667e-01 -7.25916058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.150281693 meters Centerline goodness [0,1] 0.9981535326952056 Centerline is valid? [True, True] Translation: X:91.36, Y:-2.89, Z:-0.72 [[ 9.99419635e-01 3.36349845e-02 5.39270481e-03 9.13582906e+01] [-3.36341443e-02 9.99434182e-01 -2.46448275e-04 -2.89361627e+00] [-5.39794281e-03 6.49262333e-05 9.99985429e-01 -7.24912836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.180281693 meters Centerline goodness [0,1] 0.9979542258023271 Centerline is valid? [True, True] Translation: X:91.39, Y:-2.90, Z:-0.72 [[ 9.99493681e-01 3.13235674e-02 5.58717337e-03 9.13884320e+01] [-3.13226297e-02 9.99509293e-01 -2.55278439e-04 -2.90127767e+00] [-5.59242794e-03 8.01442239e-05 9.99984359e-01 -7.24588917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.210281693 meters Centerline goodness [0,1] 0.9979489172442084 Centerline is valid? [True, True] Translation: X:91.42, Y:-2.91, Z:-0.72 [[ 9.99561921e-01 2.90459100e-02 5.68338955e-03 9.14189884e+01] [-2.90449026e-02 9.99578074e-01 -2.59740619e-04 -2.90748173e+00] [-5.68853599e-03 9.45533368e-05 9.99983816e-01 -7.24900519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.240281693 meters Centerline goodness [0,1] 0.9971805308233698 Centerline is valid? [True, True] Translation: X:91.45, Y:-2.93, Z:-0.72 [[ 9.99678807e-01 2.47373908e-02 5.50863286e-03 9.14486086e+01] [-2.47363786e-02 9.99693977e-01 -2.51816940e-04 -2.92600243e+00] [-5.51317639e-03 1.15472430e-04 9.99984796e-01 -7.24873046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.270281693 meters Centerline goodness [0,1] 0.9972425696724763 Centerline is valid? [True, True] Translation: X:91.48, Y:-2.93, Z:-0.72 [[ 9.99720301e-01 2.30207160e-02 5.41912775e-03 9.14793042e+01] [-2.30197109e-02 9.99734981e-01 -2.47793392e-04 -2.93275041e+00] [-5.42339595e-03 1.22977331e-04 9.99985286e-01 -7.24735615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.300281693 meters Centerline goodness [0,1] 0.9970498298807011 Centerline is valid? [True, True] Translation: X:91.51, Y:-2.94, Z:-0.72 [[ 9.99771978e-01 2.05023471e-02 5.97034695e-03 9.15103390e+01] [-2.05010810e-02 9.99789793e-01 -2.73206730e-04 -2.94115817e+00] [-5.97469332e-03 1.50745867e-04 9.99982140e-01 -7.24249060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.330281693 meters Centerline goodness [0,1] 0.9966672363698513 Centerline is valid? [True, True] Translation: X:91.54, Y:-2.95, Z:-0.72 [[ 9.99789669e-01 1.96566294e-02 5.85097000e-03 9.15424374e+01] [-1.96553976e-02 9.99806778e-01 -2.67971245e-04 -2.94853671e+00] [-5.85510688e-03 1.52911741e-04 9.99982847e-01 -7.24347828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.360281693 meters Centerline goodness [0,1] 0.9964219173441734 Centerline is valid? [True, True] Translation: X:91.57, Y:-2.96, Z:-0.72 [[ 9.99804910e-01 1.88955746e-02 5.75321768e-03 9.15731889e+01] [-1.88943660e-02 9.99821451e-01 -2.64362229e-04 -2.95710305e+00] [-5.75718572e-03 1.55607254e-04 9.99983415e-01 -7.24496584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.390281693 meters Centerline goodness [0,1] 0.9964112038393749 Centerline is valid? [True, True] Translation: X:91.60, Y:-2.97, Z:-0.72 [[ 9.99830899e-01 1.75366374e-02 5.53536123e-03 9.16039134e+01] [-1.75354951e-02 9.99846209e-01 -2.54834801e-04 -2.97372263e+00] [-5.53897889e-03 1.57726408e-04 9.99984647e-01 -7.24823233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.420281693 meters Centerline goodness [0,1] 0.9961352863304437 Centerline is valid? [True, True] Translation: X:91.64, Y:-2.98, Z:-0.72 [[ 9.99835297e-01 1.73909989e-02 5.18963923e-03 9.16359690e+01] [-1.73899892e-02 9.99848754e-01 -2.39633230e-04 -2.98122043e+00] [-5.19302178e-03 1.49345992e-04 9.99986505e-01 -7.24746366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45028169300001 meters Centerline goodness [0,1] 0.9963240794169819 Centerline is valid? [True, True] Translation: X:91.67, Y:-2.99, Z:-0.72 [[ 9.99821919e-01 1.80324648e-02 5.56428405e-03 9.16675807e+01] [-1.80313088e-02 9.99837389e-01 -2.57852235e-04 -2.98960915e+00] [-5.56802895e-03 1.57474992e-04 9.99984486e-01 -7.23985328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.480281693 meters Centerline goodness [0,1] 0.996280529755762 Centerline is valid? [True, True] Translation: X:91.70, Y:-2.99, Z:-0.72 [[ 9.99797255e-01 1.91207099e-02 6.31253451e-03 9.16993808e+01] [-1.91192367e-02 9.99817168e-01 -2.93640007e-04 -2.99430929e+00] [-6.31699498e-03 1.72889631e-04 9.99980033e-01 -7.22606522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.510281693 meters Centerline goodness [0,1] 0.9969001859888407 Centerline is valid? [True, True] Translation: X:91.73, Y:-3.00, Z:-0.72 [[ 9.99713272e-01 2.29389472e-02 6.86866863e-03 9.17293237e+01] [-2.29372861e-02 9.99736854e-01 -3.20519785e-04 -3.00071929e+00] [-6.87421355e-03 1.62879266e-04 9.99976359e-01 -7.22329999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.540281693 meters Centerline goodness [0,1] 0.9970975806109911 Centerline is valid? [True, True] Translation: X:91.76, Y:-3.00, Z:-0.72 [[ 9.99652239e-01 2.56837719e-02 5.97865586e-03 9.17611618e+01] [-2.56825604e-02 9.99670110e-01 -2.79320838e-04 -3.00174045e+00] [-5.98385758e-03 1.25676511e-04 9.99982089e-01 -7.23945792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.570281693 meters Centerline goodness [0,1] 0.9978674855522146 Centerline is valid? [True, True] Translation: X:91.79, Y:-3.00, Z:-0.73 [[ 9.99572736e-01 2.88013098e-02 4.98291761e-03 9.17927059e+01] [-2.88005064e-02 9.99585152e-01 -2.32935557e-04 -3.00147054e+00] [-4.98755931e-03 8.93254815e-05 9.99987558e-01 -7.25822205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.600281693 meters Centerline goodness [0,1] 0.9983460559796438 Centerline is valid? [True, True] Translation: X:91.82, Y:-3.00, Z:-0.73 [[ 9.99352588e-01 3.57817295e-02 3.75128572e-03 9.18237708e+01] [-3.57813228e-02 9.99359628e-01 -1.75514104e-04 -2.99781098e+00] [-3.75516370e-03 4.11745086e-05 9.99992948e-01 -7.28230930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.630281693 meters Centerline goodness [0,1] 0.9988514792521854 Centerline is valid? [True, True] Translation: X:91.86, Y:-3.00, Z:-0.73 [[ 9.99239922e-01 3.88119329e-02 3.63493337e-03 9.18557101e+01] [-3.88115708e-02 9.99246533e-01 -1.70130066e-04 -2.99696595e+00] [-3.63879764e-03 2.89232806e-05 9.99993379e-01 -7.28363183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.660281693 meters Centerline goodness [0,1] 0.9988351406302948 Centerline is valid? [True, True] Translation: X:91.89, Y:-2.99, Z:-0.73 [[ 9.99025846e-01 4.38471709e-02 4.97843104e-03 9.18855897e+01] [-4.38465530e-02 9.99038250e-01 -2.33246374e-04 -2.99291977e+00] [-4.98387023e-03 1.47321163e-05 9.99987580e-01 -7.26263875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.690281693 meters Centerline goodness [0,1] 0.9992541766109785 Centerline is valid? [True, True] Translation: X:91.92, Y:-2.99, Z:-0.73 [[ 9.98920889e-01 4.61276013e-02 5.41304252e-03 9.19175294e+01] [-4.61269042e-02 9.98935556e-01 -2.53613891e-04 -2.99095155e+00] [-5.41897924e-03 3.65331916e-06 9.99985317e-01 -7.25531787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.720281693 meters Centerline goodness [0,1] 0.9990786569818517 Centerline is valid? [True, True] Translation: X:91.95, Y:-2.99, Z:-0.73 [[ 9.98805664e-01 4.85337134e-02 5.63248123e-03 9.19485069e+01] [-4.85329962e-02 9.98821545e-01 -2.64023875e-04 -2.98921219e+00] [-5.63865767e-03 -9.65264841e-06 9.99984103e-01 -7.25753299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.750281693 meters Centerline goodness [0,1] 0.9989430069338745 Centerline is valid? [True, True] Translation: X:91.98, Y:-2.98, Z:-0.73 [[ 9.98510468e-01 5.43440048e-02 4.85541564e-03 9.19793291e+01] [-5.43435400e-02 9.98522272e-01 -2.27698443e-04 -2.98155963e+00] [-4.86061470e-03 -3.65011952e-05 9.99988186e-01 -7.26753830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.780281693 meters Centerline goodness [0,1] 0.9989893994452448 Centerline is valid? [True, True] Translation: X:92.01, Y:-2.98, Z:-0.73 [[ 9.98320781e-01 5.77719450e-02 4.24497416e-03 9.20101797e+01] [-5.77716205e-02 9.98329805e-01 -1.99123494e-04 -2.97728813e+00] [-4.24938798e-03 -4.64499148e-05 9.99990970e-01 -7.27120260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81028169300001 meters Centerline goodness [0,1] 0.9976720842321082 Centerline is valid? [True, True] Translation: X:92.04, Y:-2.96, Z:-0.73 [[ 9.97811507e-01 6.60430993e-02 3.24109473e-03 9.20406653e+01] [-6.60429537e-02 9.97816769e-01 -1.52055310e-04 -2.95909865e+00] [-3.24406088e-03 -6.23289309e-05 9.99994736e-01 -7.30177354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84028169300001 meters Centerline goodness [0,1] 0.9975220857573799 Centerline is valid? [True, True] Translation: X:92.07, Y:-2.96, Z:-0.73 [[ 9.97524672e-01 7.02575875e-02 2.89830039e-03 9.20704812e+01] [-7.02574888e-02 9.97528880e-01 -1.35973545e-04 -2.95553308e+00] [-2.90069151e-03 -6.79903408e-05 9.99995791e-01 -7.30745169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.870281693 meters Centerline goodness [0,1] 0.9941142723583282 Centerline is valid? [True, True] Translation: X:92.10, Y:-2.94, Z:-0.73 [[ 9.97209120e-01 7.46113089e-02 2.66916359e-03 9.21003874e+01] [-7.46112410e-02 9.97212689e-01 -1.25127671e-04 -2.94116075e+00] [-2.67105974e-03 -7.43711533e-05 9.99996430e-01 -7.31428051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.900281693 meters Centerline goodness [0,1] 0.9911549692022421 Centerline is valid? [True, True] Translation: X:92.13, Y:-2.93, Z:-0.73 [[ 9.96608568e-01 8.22130493e-02 3.51796230e-03 9.21313384e+01] [-8.22129789e-02 9.96614770e-01 -1.64887340e-04 -2.92857357e+00] [-3.51960908e-03 -1.24894025e-04 9.99993798e-01 -7.28895174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.930281693 meters Centerline goodness [0,1] 0.9883671921099216 Centerline is valid? [True, True] Translation: X:92.16, Y:-2.92, Z:-0.73 [[ 9.96363336e-01 8.51218020e-02 3.79227584e-03 9.21610949e+01] [-8.51217413e-02 9.96370542e-01 -1.77720196e-04 -2.91925860e+00] [-3.79363979e-03 -1.45731235e-04 9.99992794e-01 -7.28483725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.960281693 meters Centerline goodness [0,1] 0.9871198874056383 Centerline is valid? [True, True] Translation: X:92.19, Y:-2.91, Z:-0.73 [[ 9.96197137e-01 8.70065703e-02 4.59570459e-03 9.21906070e+01] [-8.70065011e-02 9.96207721e-01 -2.15364783e-04 -2.90987267e+00] [-4.59701454e-03 -1.85310396e-04 9.99989417e-01 -7.28417798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.990281693 meters Centerline goodness [0,1] 0.9870022650775842 Centerline is valid? [True, True] Translation: X:92.22, Y:-2.91, Z:-0.73 [[ 9.96251074e-01 8.63850502e-02 4.62833423e-03 9.22188746e+01] [-8.63849740e-02 9.96261808e-01 -2.16749520e-04 -2.90660739e+00] [-4.62975654e-03 -1.83881590e-04 9.99989266e-01 -7.29000104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.020281693 meters Centerline goodness [0,1] 0.9830554911589285 Centerline is valid? [True, True] Translation: X:92.25, Y:-2.90, Z:-0.73 [[ 9.96342075e-01 8.53456364e-02 4.31187402e-03 9.22471090e+01] [-8.53455615e-02 9.96351391e-01 -2.01708812e-04 -2.89876778e+00] [-4.31335665e-03 -1.67028333e-04 9.99990683e-01 -7.29658060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.050281693 meters Centerline goodness [0,1] 0.9897549259251387 Centerline is valid? [True, True] Translation: X:92.28, Y:-2.91, Z:-0.73 [[ 9.96627966e-01 8.19450031e-02 4.20871321e-03 9.22770821e+01] [-8.19449026e-02 9.96636842e-01 -1.96614166e-04 -2.90615122e+00] [-4.21067019e-03 -1.48931418e-04 9.99991124e-01 -7.30916092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.080281693 meters Centerline goodness [0,1] 0.9919490892006748 Centerline is valid? [True, True] Translation: X:92.31, Y:-2.91, Z:-0.73 [[ 9.96822729e-01 7.95204745e-02 4.57616091e-03 9.23072465e+01] [-7.95203303e-02 9.96833221e-01 -2.13736952e-04 -2.91081156e+00] [-4.57866568e-03 -1.50839975e-04 9.99989506e-01 -7.31033704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.110281693 meters Centerline goodness [0,1] 0.9948208798057293 Centerline is valid? [True, True] Translation: X:92.34, Y:-2.91, Z:-0.73 [[ 9.97161003e-01 7.51854668e-02 4.13266422e-03 9.23370884e+01] [-7.51853124e-02 9.97169560e-01 -1.92913962e-04 -2.91299258e+00] [-4.13547129e-03 -1.18349371e-04 9.99991442e-01 -7.31982809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.140281693 meters Centerline goodness [0,1] 0.9951454243495295 Centerline is valid? [True, True] Translation: X:92.37, Y:-2.91, Z:-0.73 [[ 9.97267142e-01 7.37893890e-02 3.65710733e-03 9.23654149e+01] [-7.37892592e-02 9.97273842e-01 -1.70587154e-04 -2.91286331e+00] [-3.65972500e-03 -9.97342779e-05 9.99993298e-01 -7.32558909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.170281693 meters Centerline goodness [0,1] 0.9953033519912501 Centerline is valid? [True, True] Translation: X:92.39, Y:-2.91, Z:-0.73 [[ 9.97316811e-01 7.31174932e-02 3.60700280e-03 9.23942288e+01] [-7.31173632e-02 9.97323329e-01 -1.68089457e-04 -2.91337830e+00] [-3.60963832e-03 -9.60960928e-05 9.99993481e-01 -7.32207560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20028169300001 meters Centerline goodness [0,1] 0.9948051948051948 Centerline is valid? [True, True] Translation: X:92.42, Y:-2.91, Z:-0.73 [[ 9.97311277e-01 7.30946235e-02 5.23383020e-03 9.24226514e+01] [-7.30943512e-02 9.97325000e-01 -2.43559226e-04 -2.90924868e+00] [-5.23763257e-03 -1.39659060e-04 9.99986274e-01 -7.28725762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.230281693 meters Centerline goodness [0,1] 0.9939512657137937 Centerline is valid? [True, True] Translation: X:92.45, Y:-2.90, Z:-0.73 [[ 9.97300182e-01 7.32052951e-02 5.77332622e-03 9.24504339e+01] [-7.32049677e-02 9.97316881e-01 -2.68283367e-04 -2.90486165e+00] [-5.77747546e-03 -1.55077109e-04 9.99983298e-01 -7.28100273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.260281693 meters Centerline goodness [0,1] 0.996081338699428 Centerline is valid? [True, True] Translation: X:92.48, Y:-2.91, Z:-0.73 [[ 9.97409675e-01 7.17997210e-02 4.32895927e-03 9.24789998e+01] [-7.17995246e-02 9.97419063e-01 -2.00966825e-04 -2.90717039e+00] [-4.33221586e-03 -1.10370961e-04 9.99990610e-01 -7.31564491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.290281693 meters Centerline goodness [0,1] 0.996449577585285 Centerline is valid? [True, True] Translation: X:92.51, Y:-2.91, Z:-0.73 [[ 9.97511287e-01 7.03576157e-02 4.58684929e-03 9.25079037e+01] [-7.03573810e-02 9.97521826e-01 -2.12717910e-04 -2.91049322e+00] [-4.59044860e-03 -1.10530186e-04 9.99989458e-01 -7.31779970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.320281693 meters Centerline goodness [0,1] 0.9964086108336698 Centerline is valid? [True, True] Translation: X:92.54, Y:-2.91, Z:-0.73 [[ 9.97646610e-01 6.83422282e-02 5.53009401e-03 9.25353181e+01] [-6.83418577e-02 9.97661929e-01 -2.56156752e-04 -2.91208487e+00] [-5.53467058e-03 -1.22382982e-04 9.99984676e-01 -7.30311188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.350281693 meters Centerline goodness [0,1] 0.9978076243587833 Centerline is valid? [True, True] Translation: X:92.56, Y:-2.92, Z:-0.73 [[ 9.97952219e-01 6.36963963e-02 5.84278316e-03 9.25637401e+01] [-6.36959051e-02 9.97969317e-01 -2.70309049e-04 -2.92062665e+00] [-5.84813604e-03 -1.02405846e-04 9.99982894e-01 -7.29175018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.380281693 meters Centerline goodness [0,1] 0.9982446122284965 Centerline is valid? [True, True] Translation: X:92.59, Y:-2.93, Z:-0.73 [[ 9.98115762e-01 6.11630091e-02 4.90020566e-03 9.25924799e+01] [-6.11626337e-02 9.98127788e-01 -2.26572177e-04 -2.92653233e+00] [-4.90488927e-03 -7.35642224e-05 9.99987968e-01 -7.31842922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.410281693 meters Centerline goodness [0,1] 0.9992522805443398 Centerline is valid? [True, True] Translation: X:92.62, Y:-2.94, Z:-0.74 [[ 9.98363257e-01 5.71300021e-02 2.63991055e-03 9.26216748e+01] [-5.71298792e-02 9.98366747e-01 -1.21997503e-04 -2.93799094e+00] [-2.64256863e-03 -2.90199458e-05 9.99996508e-01 -7.36209594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.440281693 meters Centerline goodness [0,1] 0.9992588671254632 Centerline is valid? [True, True] Translation: X:92.65, Y:-2.94, Z:-0.74 [[ 9.98420509e-01 5.61401148e-02 2.18491853e-03 9.26489738e+01] [-5.61400281e-02 9.98422900e-01 -1.01040928e-04 -2.94055569e+00] [-2.18714514e-03 -2.17800532e-05 9.99997608e-01 -7.37134505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.470281693 meters Centerline goodness [0,1] 0.9992955341132269 Centerline is valid? [True, True] Translation: X:92.68, Y:-2.94, Z:-0.74 [[ 9.98412527e-01 5.62566148e-02 2.76038848e-03 9.26777832e+01] [-5.62564776e-02 9.98416342e-01 -1.27396017e-04 -2.94233001e+00] [-2.76318384e-03 -2.80959538e-05 9.99996182e-01 -7.35854840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.500281693 meters Centerline goodness [0,1] 0.9987648273952765 Centerline is valid? [True, True] Translation: X:92.71, Y:-2.94, Z:-0.73 [[ 9.98258028e-01 5.88905581e-02 3.57926825e-03 9.27067904e+01] [-5.88903451e-02 9.98264444e-01 -1.64970456e-04 -2.93927634e+00] [-3.58277143e-03 -4.61012597e-05 9.99993581e-01 -7.32491264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.530281693 meters Centerline goodness [0,1] 0.9990347697389589 Centerline is valid? [True, True] Translation: X:92.74, Y:-2.94, Z:-0.73 [[ 9.98162683e-01 6.04389124e-02 4.28909570e-03 9.27357749e+01] [-6.04386218e-02 9.98171896e-01 -1.97456776e-04 -2.94103714e+00] [-4.29318886e-03 -6.21330470e-05 9.99990782e-01 -7.31387348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56028169300001 meters Centerline goodness [0,1] 0.9980399676168563 Centerline is valid? [True, True] Translation: X:92.76, Y:-2.94, Z:-0.73 [[ 9.97991690e-01 6.30882063e-02 5.69778826e-03 9.27638209e+01] [-6.30877386e-02 9.98007950e-01 -2.61951418e-04 -2.93689306e+00] [-5.70296403e-03 -9.80352386e-05 9.99983733e-01 -7.29398014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59028169300001 meters Centerline goodness [0,1] 0.9965440474928443 Centerline is valid? [True, True] Translation: X:92.79, Y:-2.93, Z:-0.73 [[ 9.97909532e-01 6.42698478e-02 6.77881223e-03 9.27918719e+01] [-6.42692162e-02 9.97932548e-01 -3.11194229e-04 -2.93321947e+00] [-6.78479777e-03 -1.25125261e-04 9.99976975e-01 -7.27588091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.620281693 meters Centerline goodness [0,1] 0.9959039365325745 Centerline is valid? [True, True] Translation: X:92.82, Y:-2.93, Z:-0.73 [[ 9.97827905e-01 6.54536685e-02 7.43571278e-03 9.28204778e+01] [-6.54529445e-02 9.97855599e-01 -3.40926365e-04 -2.93175887e+00] [-7.44208251e-03 -1.46503456e-04 9.99972297e-01 -7.26095275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.650281693 meters Centerline goodness [0,1] 0.9951729168454475 Centerline is valid? [True, True] Translation: X:92.85, Y:-2.93, Z:-0.73 [[ 9.97678014e-01 6.78501676e-02 5.91053897e-03 9.28489443e+01] [-6.78497534e-02 9.97695513e-01 -2.70797488e-04 -2.92513172e+00] [-5.91529187e-03 -1.30859911e-04 9.99982496e-01 -7.29717534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.680281693 meters Centerline goodness [0,1] 0.9950510754393757 Centerline is valid? [True, True] Translation: X:92.88, Y:-2.92, Z:-0.73 [[ 9.97655112e-01 6.82794899e-02 4.71057737e-03 9.28775180e+01] [-6.82792321e-02 9.97666227e-01 -2.15721378e-04 -2.92371795e+00] [-4.71431329e-03 -1.06419070e-04 9.99988882e-01 -7.32087786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.710281693 meters Centerline goodness [0,1] 0.995062674242908 Centerline is valid? [True, True] Translation: X:92.91, Y:-2.92, Z:-0.73 [[ 9.97640623e-01 6.85115098e-02 4.40014954e-03 9.29050458e+01] [-6.85112877e-02 9.97650321e-01 -2.01347276e-04 -2.91961947e+00] [-4.40360521e-03 -1.00587690e-04 9.99990299e-01 -7.32047582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.740281693 meters Centerline goodness [0,1] 0.994989535104966 Centerline is valid? [True, True] Translation: X:92.93, Y:-2.92, Z:-0.73 [[ 9.97602281e-01 6.90936493e-02 3.96934703e-03 9.29340709e+01] [-6.90934742e-02 9.97610174e-01 -1.81385809e-04 -2.91613072e+00] [-3.97239359e-03 -9.33050802e-05 9.99992106e-01 -7.32470823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.770281693 meters Centerline goodness [0,1] 0.9952149039790732 Centerline is valid? [True, True] Translation: X:92.96, Y:-2.91, Z:-0.73 [[ 9.97545869e-01 6.99524590e-02 2.98216759e-03 9.29627010e+01] [-6.99523642e-02 9.97550324e-01 -1.36202814e-04 -2.91205141e+00] [-2.98438997e-03 -7.27411192e-05 9.99995544e-01 -7.34343575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.800281693 meters Centerline goodness [0,1] 0.9951310781791508 Centerline is valid? [True, True] Translation: X:92.99, Y:-2.91, Z:-0.74 [[ 9.97371252e-01 7.24271736e-02 2.21128698e-03 9.29927619e+01] [-7.24271278e-02 9.97373702e-01 -1.00898502e-04 -2.90618498e+00] [-2.21278727e-03 -5.95238991e-05 9.99997550e-01 -7.35726568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.830281693 meters Centerline goodness [0,1] 0.9940345569593284 Centerline is valid? [True, True] Translation: X:93.02, Y:-2.90, Z:-0.73 [[ 9.97320114e-01 7.30828035e-02 3.39018455e-03 9.30211140e+01] [-7.30826999e-02 9.97325872e-01 -1.54612622e-04 -2.90227515e+00] [-3.39241828e-03 -9.35655624e-05 9.99994241e-01 -7.34411953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.860281693 meters Centerline goodness [0,1] 0.992277093648174 Centerline is valid? [True, True] Translation: X:93.05, Y:-2.90, Z:-0.73 [[ 9.97326003e-01 7.29223712e-02 4.81361110e-03 9.30494921e+01] [-7.29221622e-02 9.97337611e-01 -2.19142955e-04 -2.89552204e+00] [-4.81677582e-03 -1.32461962e-04 9.99988390e-01 -7.31540868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.890281693 meters Centerline goodness [0,1] 0.992277093648174 Centerline is valid? [True, True] Translation: X:93.08, Y:-2.90, Z:-0.73 [[ 9.97330569e-01 7.28598960e-02 4.81362298e-03 9.30769642e+01] [-7.28596876e-02 9.97342177e-01 -2.18881669e-04 -2.89662346e+00] [-4.81677692e-03 -1.32421687e-04 9.99988390e-01 -7.31683172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.920281693 meters Centerline goodness [0,1] 0.9947678359600067 Centerline is valid? [True, True] Translation: X:93.11, Y:-2.90, Z:-0.73 [[ 9.97466947e-01 7.07670614e-02 7.19115766e-03 9.31053043e+01] [-7.07665460e-02 9.97492852e-01 -3.26414369e-04 -2.90364799e+00] [-7.19622775e-03 -1.83305846e-04 9.99974090e-01 -7.27266778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95028169300001 meters Centerline goodness [0,1] 0.9950909246136771 Centerline is valid? [True, True] Translation: X:93.13, Y:-2.91, Z:-0.73 [[ 9.97594768e-01 6.89766865e-02 6.84797870e-03 9.31336360e+01] [-6.89761790e-02 9.97618259e-01 -3.10535028e-04 -2.90729419e+00] [-6.85308826e-03 -1.62559286e-04 9.99976504e-01 -7.28146124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.980281693 meters Centerline goodness [0,1] 0.9968415474297827 Centerline is valid? [True, True] Translation: X:93.16, Y:-2.91, Z:-0.73 [[ 9.97887184e-01 6.47790239e-02 4.98461531e-03 9.31625799e+01] [-6.47787035e-02 9.97899629e-01 -2.25867246e-04 -2.91095663e+00] [-4.98877723e-03 -9.75068878e-05 9.99987551e-01 -7.32375354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.010281693 meters Centerline goodness [0,1] 0.9972248313551362 Centerline is valid? [True, True] Translation: X:93.19, Y:-2.91, Z:-0.73 [[ 9.98029754e-01 6.25775420e-02 4.54543396e-03 9.31914461e+01] [-6.25772531e-02 9.98040102e-01 -2.05886488e-04 -2.91382082e+00] [-4.54940925e-03 -7.89599305e-05 9.99989648e-01 -7.33447864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.040281693 meters Centerline goodness [0,1] 0.99796117742004 Centerline is valid? [True, True] Translation: X:93.22, Y:-2.92, Z:-0.73 [[ 9.98340816e-01 5.73534551e-02 5.11827775e-03 9.32201465e+01] [-5.73530216e-02 9.98353934e-01 -2.31568528e-04 -2.92226424e+00] [-5.12313398e-03 -6.23643807e-05 9.99986875e-01 -7.32669934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.070281693 meters Centerline goodness [0,1] 0.9982815317704465 Centerline is valid? [True, True] Translation: X:93.25, Y:-2.93, Z:-0.73 [[ 9.98518937e-01 5.40722578e-02 6.01033711e-03 9.32485393e+01] [-5.40716015e-02 9.98537024e-01 -2.71752013e-04 -2.92853525e+00] [-6.01623838e-03 -5.36390220e-05 9.99981901e-01 -7.31457857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.100281693 meters Centerline goodness [0,1] 0.9982785003825555 Centerline is valid? [True, True] Translation: X:93.28, Y:-2.94, Z:-0.73 [[ 9.98712719e-01 5.03414412e-02 6.21651330e-03 9.32768009e+01] [-5.03406686e-02 9.98732065e-01 -2.80785164e-04 -2.93598656e+00] [-6.22276630e-03 -3.25197217e-05 9.99980638e-01 -7.31621776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.130281693 meters Centerline goodness [0,1] 0.9984902290173729 Centerline is valid? [True, True] Translation: X:93.30, Y:-2.95, Z:-0.73 [[ 9.99043397e-01 4.34357068e-02 5.06255374e-03 9.33048133e+01] [-4.34351067e-02 9.99056224e-01 -2.28475250e-04 -2.94962977e+00] [-5.06769981e-03 8.36412864e-06 9.99987159e-01 -7.33948051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.160281693 meters Centerline goodness [0,1] 0.9985939796766153 Centerline is valid? [True, True] Translation: X:93.33, Y:-2.96, Z:-0.74 [[ 9.99148447e-01 4.10536404e-02 4.12073453e-03 9.33329774e+01] [-4.10532231e-02 9.99156944e-01 -1.85853991e-04 -2.95599432e+00] [-4.12489050e-03 1.65262927e-05 9.99991492e-01 -7.35824259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.190281693 meters Centerline goodness [0,1] 0.9985353739041838 Centerline is valid? [True, True] Translation: X:93.36, Y:-2.96, Z:-0.74 [[ 9.99231200e-01 3.89622379e-02 4.35361359e-03 9.33614315e+01] [-3.89617526e-02 9.99240683e-01 -1.96256609e-04 -2.96347821e+00] [-4.35795442e-03 2.64813111e-05 9.99990504e-01 -7.35433618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.220281693 meters Centerline goodness [0,1] 0.9985712484766988 Centerline is valid? [True, True] Translation: X:93.39, Y:-2.97, Z:-0.73 [[ 9.99210331e-01 3.93302985e-02 5.64280376e-03 9.33896272e+01] [-3.93294910e-02 9.99226264e-01 -2.54053671e-04 -2.96609614e+00] [-5.64842973e-03 3.19244533e-05 9.99984047e-01 -7.33633790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.250281693 meters Centerline goodness [0,1] 0.9985119680285702 Centerline is valid? [True, True] Translation: X:93.42, Y:-2.97, Z:-0.73 [[ 9.99151793e-01 4.06412028e-02 6.63235458e-03 9.34186664e+01] [-4.06401177e-02 9.99173805e-01 -2.98353645e-04 -2.96681422e+00] [-6.63900041e-03 2.85609081e-05 9.99977961e-01 -7.30963953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.280281693 meters Centerline goodness [0,1] 0.9985234324844854 Centerline is valid? [True, True] Translation: X:93.45, Y:-2.96, Z:-0.73 [[ 9.98969611e-01 4.49822789e-02 6.02591573e-03 9.34488039e+01] [-4.49814631e-02 9.98987785e-01 -2.70908594e-04 -2.96342896e+00] [-6.03200229e-03 -4.25053632e-07 9.99981807e-01 -7.31996797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31028169300001 meters Centerline goodness [0,1] 0.9984590030605911 Centerline is valid? [True, True] Translation: X:93.48, Y:-2.96, Z:-0.73 [[ 9.98843836e-01 4.77730931e-02 5.35946446e-03 9.34774494e+01] [-4.77724882e-02 9.98858214e-01 -2.40886968e-04 -2.96030357e+00] [-5.36485302e-03 -1.54264899e-05 9.99985609e-01 -7.33712769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34028169300001 meters Centerline goodness [0,1] 0.9984546994072819 Centerline is valid? [True, True] Translation: X:93.51, Y:-2.96, Z:-0.73 [[ 9.98712038e-01 5.04814044e-02 5.08860589e-03 9.35051252e+01] [-5.04808954e-02 9.98725001e-01 -2.28497938e-04 -2.95619326e+00] [-5.09365282e-03 -2.86737403e-05 9.99987027e-01 -7.33686787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.370281693 meters Centerline goodness [0,1] 0.9979269788890299 Centerline is valid? [True, True] Translation: X:93.53, Y:-2.95, Z:-0.73 [[ 9.98440328e-01 5.55556418e-02 5.52099200e-03 9.35346177e+01] [-5.55551219e-02 9.98455591e-01 -2.47584934e-04 -2.94528463e+00] [-5.52622007e-03 -5.95206015e-05 9.99984729e-01 -7.32823658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.400281693 meters Centerline goodness [0,1] 0.9980798041822287 Centerline is valid? [True, True] Translation: X:93.56, Y:-2.94, Z:-0.73 [[ 9.98303426e-01 5.80161226e-02 4.93956657e-03 9.35630213e+01] [-5.80157376e-02 9.98315644e-01 -2.21325192e-04 -2.93946027e+00] [-4.94408701e-03 -6.56229000e-05 9.99987776e-01 -7.33666984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.430281693 meters Centerline goodness [0,1] 0.9972528642616807 Centerline is valid? [True, True] Translation: X:93.59, Y:-2.93, Z:-0.74 [[ 9.98002771e-01 6.30814275e-02 3.34693887e-03 9.35931680e+01] [-6.30812798e-02 9.98008382e-01 -1.49783864e-04 -2.92739796e+00] [-3.34972163e-03 -6.16444764e-05 9.99994388e-01 -7.37025418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.460281693 meters Centerline goodness [0,1] 0.9966588850099591 Centerline is valid? [True, True] Translation: X:93.62, Y:-2.92, Z:-0.74 [[ 9.97875864e-01 6.50898479e-02 2.65945352e-03 9.36208509e+01] [-6.50897616e-02 9.97879406e-01 -1.19092326e-04 -2.92106795e+00] [-2.66156560e-03 -5.42638385e-05 9.99996457e-01 -7.38387000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.490281693 meters Centerline goodness [0,1] 0.9966781626219241 Centerline is valid? [True, True] Translation: X:93.65, Y:-2.92, Z:-0.74 [[ 9.97801409e-01 6.62256003e-02 2.55295701e-03 9.36500344e+01] [-6.62255250e-02 9.97804674e-01 -1.14111271e-04 -2.91598104e+00] [-2.55490952e-03 -5.52105309e-05 9.99996735e-01 -7.38938390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.520281693 meters Centerline goodness [0,1] 0.9970446514616126 Centerline is valid? [True, True] Translation: X:93.68, Y:-2.91, Z:-0.73 [[ 9.97808880e-01 6.59338130e-02 5.49289475e-03 9.36785676e+01] [-6.59334628e-02 9.97823992e-01 -2.45016420e-04 -2.91335477e+00] [-5.49709703e-03 -1.17686012e-04 9.99984884e-01 -7.34275098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.550281693 meters Centerline goodness [0,1] 0.9957344370301546 Centerline is valid? [True, True] Translation: X:93.71, Y:-2.91, Z:-0.73 [[ 9.97918777e-01 6.41182619e-02 6.85291021e-03 9.37067875e+01] [-6.41176767e-02 9.97942298e-01 -3.05287812e-04 -2.90728628e+00] [-6.85838349e-03 -1.34740241e-04 9.99976472e-01 -7.31186331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.580281693 meters Centerline goodness [0,1] 0.9976563984544898 Centerline is valid? [True, True] Translation: X:93.74, Y:-2.91, Z:-0.73 [[ 9.98256350e-01 5.86353666e-02 6.79367452e-03 9.37365524e+01] [-5.86346666e-02 9.98279462e-01 -3.02338253e-04 -2.91454251e+00] [-6.79971346e-03 -9.65337601e-05 9.99976877e-01 -7.32080514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.610281693 meters Centerline goodness [0,1] 0.9982556531727967 Centerline is valid? [True, True] Translation: X:93.77, Y:-2.92, Z:-0.74 [[ 9.98414030e-01 5.60075286e-02 5.70802860e-03 9.37655248e+01] [-5.60069919e-02 9.98430344e-01 -2.53952678e-04 -2.91942978e+00] [-5.71329223e-03 -6.61395953e-05 9.99983677e-01 -7.35013658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.640281693 meters Centerline goodness [0,1] 0.9981954440269197 Centerline is valid? [True, True] Translation: X:93.79, Y:-2.92, Z:-0.74 [[ 9.98556899e-01 5.35116498e-02 4.54128824e-03 9.37937830e+01] [-5.35112850e-02 9.98567224e-01 -2.01885495e-04 -2.92053140e+00] [-4.54558482e-03 -4.14160159e-05 9.99989668e-01 -7.37555519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.670281693 meters Centerline goodness [0,1] 0.9983974358974359 Centerline is valid? [True, True] Translation: X:93.82, Y:-2.93, Z:-0.74 [[ 9.98750290e-01 4.98357252e-02 3.77610468e-03 9.38222952e+01] [-4.98354472e-02 9.98757428e-01 -1.67740372e-04 -2.92625282e+00] [-3.77977207e-03 -2.06531205e-05 9.99992856e-01 -7.38200518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70028169300001 meters Centerline goodness [0,1] 0.9984499416073893 Centerline is valid? [True, True] Translation: X:93.85, Y:-2.93, Z:-0.74 [[ 9.98812995e-01 4.85019351e-02 4.49031062e-03 9.38500612e+01] [-4.85015296e-02 9.98823088e-01 -1.99217392e-04 -2.92582301e+00] [-4.49468835e-03 -1.88060137e-05 9.99989899e-01 -7.36909644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.730281693 meters Centerline goodness [0,1] 0.998561942223914 Centerline is valid? [True, True] Translation: X:93.88, Y:-2.93, Z:-0.73 [[ 9.98918311e-01 4.61000285e-02 6.08245742e-03 9.38791260e+01] [-4.60992427e-02 9.98936828e-01 -2.69405128e-04 -2.92704868e+00] [-6.08841031e-03 -1.12829659e-05 9.99981465e-01 -7.34073218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.760281693 meters Centerline goodness [0,1] 0.9987040302534577 Centerline is valid? [True, True] Translation: X:93.91, Y:-2.93, Z:-0.73 [[ 9.98965930e-01 4.50512137e-02 6.12038369e-03 9.39076298e+01] [-4.50504000e-02 9.98984679e-01 -2.70817890e-04 -2.92842445e+00] [-6.12637021e-03 -5.18788851e-06 9.99981234e-01 -7.34347011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.790281693 meters Centerline goodness [0,1] 0.9987111496122885 Centerline is valid? [True, True] Translation: X:93.94, Y:-2.93, Z:-0.74 [[ 9.99033000e-01 4.35952942e-02 5.70224570e-03 9.39368101e+01] [-4.35945655e-02 9.99049273e-01 -2.52082072e-04 -2.93103723e+00] [-5.70781401e-03 3.25138484e-06 9.99983710e-01 -7.35918103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.820281693 meters Centerline goodness [0,1] 0.998900471528556 Centerline is valid? [True, True] Translation: X:93.96, Y:-2.94, Z:-0.74 [[ 9.99230644e-01 3.87760869e-02 5.87663055e-03 9.39647474e+01] [-3.87752311e-02 9.99247924e-01 -2.59535857e-04 -2.94072699e+00] [-5.88227466e-03 3.14684743e-05 9.99982699e-01 -7.35584532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.850281693 meters Centerline goodness [0,1] 0.9989338109860116 Centerline is valid? [True, True] Translation: X:93.99, Y:-2.95, Z:-0.73 [[ 9.99354409e-01 3.53397872e-02 6.47035703e-03 9.39944214e+01] [-3.53386791e-02 9.99375353e-01 -2.85544327e-04 -2.94867408e+00] [-6.47640642e-03 5.67061108e-05 9.99979026e-01 -7.34450832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.880281693 meters Centerline goodness [0,1] 0.9989434759640782 Centerline is valid? [True, True] Translation: X:94.02, Y:-2.96, Z:-0.73 [[ 9.99556340e-01 2.87903454e-02 7.63149644e-03 9.40239823e+01] [-2.87886142e-02 9.99585465e-01 -3.36629041e-04 -2.96453391e+00] [-7.63802459e-03 1.16779485e-04 9.99970823e-01 -7.33184055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.910281693 meters Centerline goodness [0,1] 0.9988487368084425 Centerline is valid? [True, True] Translation: X:94.05, Y:-2.97, Z:-0.73 [[ 9.99616756e-01 2.67904440e-02 6.97227615e-03 9.40537721e+01] [-2.67889501e-02 9.99641064e-01 -3.07578503e-04 -2.97192690e+00] [-6.97801371e-03 1.20680667e-04 9.99975646e-01 -7.34825352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.940281693 meters Centerline goodness [0,1] 0.9988754031573587 Centerline is valid? [True, True] Translation: X:94.08, Y:-2.98, Z:-0.74 [[ 9.99642894e-01 2.61139652e-02 5.66965383e-03 9.40843593e+01] [-2.61129655e-02 9.99658967e-01 -2.50297540e-04 -2.97709447e+00] [-5.67425655e-03 1.02156683e-04 9.99983896e-01 -7.36744432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.970281693 meters Centerline goodness [0,1] 0.9988659462929282 Centerline is valid? [True, True] Translation: X:94.12, Y:-2.98, Z:-0.74 [[ 9.99575433e-01 2.88999201e-02 3.70783459e-03 9.41150789e+01] [-2.88995117e-02 9.99582308e-01 -1.63689337e-04 -2.97551866e+00] [-3.71101647e-03 5.64652313e-05 9.99993113e-01 -7.39396947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.000281693 meters Centerline goodness [0,1] 0.9988016776512882 Centerline is valid? [True, True] Translation: X:94.14, Y:-2.97, Z:-0.74 [[ 9.99491467e-01 3.17197799e-02 3.26543240e-03 9.41446815e+01] [-3.17194781e-02 9.99496800e-01 -1.44201223e-04 -2.97408159e+00] [-3.26836326e-03 4.05500808e-05 9.99994658e-01 -7.39671719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.030281693 meters Centerline goodness [0,1] 0.9989598811292719 Centerline is valid? [True, True] Translation: X:94.17, Y:-2.97, Z:-0.74 [[ 9.99297293e-01 3.72652472e-02 4.02756349e-03 9.41731334e+01] [-3.72648333e-02 9.99305409e-01 -1.77765292e-04 -2.97117082e+00] [-4.03139045e-03 2.75538924e-05 9.99991874e-01 -7.39284846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06028169300001 meters Centerline goodness [0,1] 0.998932467920661 Centerline is valid? [True, True] Translation: X:94.20, Y:-2.97, Z:-0.74 [[ 9.99220347e-01 3.91750930e-02 4.89999404e-03 9.42022418e+01] [-3.91745048e-02 9.99232361e-01 -2.16003285e-04 -2.96996314e+00] [-4.90469456e-03 2.38800376e-05 9.99987972e-01 -7.37520678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09028169300001 meters Centerline goodness [0,1] 0.9989864222818169 Centerline is valid? [True, True] Translation: X:94.23, Y:-2.97, Z:-0.74 [[ 9.99187038e-01 3.99087907e-02 5.70536284e-03 9.42299072e+01] [-3.99080069e-02 9.99203327e-01 -2.51202856e-04 -2.97232143e+00] [-5.71084273e-03 2.33089780e-05 9.99983693e-01 -7.36411375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.120281693 meters Centerline goodness [0,1] 0.998870514022675 Centerline is valid? [True, True] Translation: X:94.26, Y:-2.98, Z:-0.73 [[ 9.99203861e-01 3.92046799e-02 7.39170023e-03 9.42582765e+01] [-3.92033486e-02 9.99231200e-01 -3.24972616e-04 -2.98039945e+00] [-7.39875794e-03 3.49344919e-05 9.99972628e-01 -7.34626947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.150281693 meters Centerline goodness [0,1] 0.9990430215001169 Centerline is valid? [True, True] Translation: X:94.29, Y:-2.99, Z:-0.73 [[ 9.99237904e-01 3.83166889e-02 7.44603141e-03 9.42868782e+01] [-3.83153156e-02 9.99265645e-01 -3.27045628e-04 -2.98730709e+00] [-7.45309469e-03 4.14993440e-05 9.99972224e-01 -7.34571035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.180281693 meters Centerline goodness [0,1] 0.9990057539346759 Centerline is valid? [True, True] Translation: X:94.32, Y:-3.00, Z:-0.74 [[ 9.99351384e-01 3.56985973e-02 4.73517074e-03 9.43162469e+01] [-3.56980131e-02 9.99362601e-01 -2.07863689e-04 -2.99889004e+00] [-4.73957299e-03 3.86926776e-05 9.99988767e-01 -7.39766245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.210281693 meters Centerline goodness [0,1] 0.9992096550250988 Centerline is valid? [True, True] Translation: X:94.35, Y:-3.00, Z:-0.74 [[ 9.99414152e-01 3.40595811e-02 3.36133795e-03 9.43460591e+01] [-3.40592772e-02 9.99419804e-01 -1.47619448e-04 -3.00433685e+00] [-3.36441557e-03 3.30482241e-05 9.99994340e-01 -7.42368181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.240281693 meters Centerline goodness [0,1] 0.999189558095888 Centerline is valid? [True, True] Translation: X:94.37, Y:-3.01, Z:-0.74 [[ 9.99462954e-01 3.26375918e-02 2.93093910e-03 9.43738812e+01] [-3.26373547e-02 9.99467251e-01 -1.28716409e-04 -3.01202551e+00] [-2.93357864e-03 3.29891840e-05 9.99995697e-01 -7.43477031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.270281693 meters Centerline goodness [0,1] 0.9990493091646596 Centerline is valid? [True, True] Translation: X:94.40, Y:-3.02, Z:-0.74 [[ 9.99473017e-01 3.21663697e-02 4.36046327e-03 9.44025196e+01] [-3.21658417e-02 9.99482527e-01 -1.91177103e-04 -3.02128950e+00] [-4.36435632e-03 5.08183849e-05 9.99990475e-01 -7.39846282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.300281693 meters Centerline goodness [0,1] 0.9991506168645021 Centerline is valid? [True, True] Translation: X:94.43, Y:-3.03, Z:-0.74 [[ 9.99463596e-01 3.22857397e-02 5.49110348e-03 9.44322503e+01] [-3.22849054e-02 9.99478678e-01 -2.40531162e-04 -3.02706384e+00] [-5.49600657e-03 6.31223840e-05 9.99984895e-01 -7.37848166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.330281693 meters Centerline goodness [0,1] 0.9990190851903188 Centerline is valid? [True, True] Translation: X:94.46, Y:-3.03, Z:-0.74 [[ 9.99456682e-01 3.24897473e-02 5.54594753e-03 9.44622662e+01] [-3.24889001e-02 9.99472067e-01 -2.42817707e-04 -3.02934476e+00] [-5.55090873e-03 6.25040447e-05 9.99984592e-01 -7.37860388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.360281693 meters Centerline goodness [0,1] 0.9992321801817173 Centerline is valid? [True, True] Translation: X:94.49, Y:-3.03, Z:-0.74 [[ 9.99438630e-01 3.30514447e-02 5.47968793e-03 9.44921493e+01] [-3.30506260e-02 9.99453650e-01 -2.39916669e-04 -3.03250589e+00] [-5.48462370e-03 5.86748709e-05 9.99984958e-01 -7.38116848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.390281693 meters Centerline goodness [0,1] 0.9990854371822958 Centerline is valid? [True, True] Translation: X:94.52, Y:-3.03, Z:-0.74 [[ 9.99399508e-01 3.42730638e-02 5.09711113e-03 9.45223481e+01] [-3.42723713e-02 9.99412505e-01 -2.23166345e-04 -3.03283610e+00] [-5.10176520e-03 4.83422497e-05 9.99986985e-01 -7.39217773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.420281693 meters Centerline goodness [0,1] 0.9991400438577632 Centerline is valid? [True, True] Translation: X:94.55, Y:-3.03, Z:-0.74 [[ 9.99267267e-01 3.80015079e-02 4.56219169e-03 9.45527327e+01] [-3.80009919e-02 9.99277681e-01 -1.99752839e-04 -3.02926968e+00] [-4.56648725e-03 2.62386638e-05 9.99989573e-01 -7.39833389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45028169300001 meters Centerline goodness [0,1] 0.9991507250684728 Centerline is valid? [True, True] Translation: X:94.58, Y:-3.03, Z:-0.74 [[ 9.99168464e-01 4.04295782e-02 5.27537112e-03 9.45819720e+01] [-4.04289225e-02 9.99182390e-01 -2.30908204e-04 -3.02538351e+00] [-5.28039345e-03 1.74386256e-05 9.99986058e-01 -7.38724390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.480281693 meters Centerline goodness [0,1] 0.9986656782802076 Centerline is valid? [True, True] Translation: X:94.61, Y:-3.01, Z:-0.74 [[ 9.98929804e-01 4.58191193e-02 6.31304084e-03 9.46112766e+01] [-4.58182896e-02 9.98949753e-01 -2.76068309e-04 -3.01370786e+00] [-6.31905980e-03 -1.34798713e-05 9.99980034e-01 -7.36731770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.510281693 meters Centerline goodness [0,1] 0.9986656500190622 Centerline is valid? [True, True] Translation: X:94.64, Y:-3.01, Z:-0.74 [[ 9.98831641e-01 4.79758799e-02 5.80245662e-03 9.46401688e+01] [-4.79752168e-02 9.98848494e-01 -2.53499644e-04 -3.00943040e+00] [-5.80793692e-03 -2.51706492e-05 9.99983133e-01 -7.37933724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.540281693 meters Centerline goodness [0,1] 0.9984402992939193 Centerline is valid? [True, True] Translation: X:94.67, Y:-3.00, Z:-0.74 [[ 9.98740082e-01 4.99884574e-02 4.40491308e-03 9.46687780e+01] [-4.99880954e-02 9.98749795e-01 -1.92310521e-04 -3.00196766e+00] [-4.40901934e-03 -2.81249898e-05 9.99990280e-01 -7.41269669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.570281693 meters Centerline goodness [0,1] 0.9985031518141378 Centerline is valid? [True, True] Translation: X:94.70, Y:-3.00, Z:-0.74 [[ 9.98741089e-01 4.99662486e-02 4.42850815e-03 9.46971961e+01] [-4.99658836e-02 9.98750906e-01 -1.93085777e-04 -3.00052297e+00] [-4.43262430e-03 -2.84316236e-05 9.99990175e-01 -7.41933855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.600281693 meters Centerline goodness [0,1] 0.9986578610992757 Centerline is valid? [True, True] Translation: X:94.73, Y:-3.00, Z:-0.74 [[ 9.98756723e-01 4.96207391e-02 4.77400288e-03 9.47258254e+01] [-4.96203121e-02 9.98768132e-01 -2.07920472e-04 -3.00010576e+00] [-4.77843911e-03 -2.92255438e-05 9.99988583e-01 -7.41418860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.630281693 meters Centerline goodness [0,1] 0.998516414810419 Centerline is valid? [True, True] Translation: X:94.75, Y:-3.00, Z:-0.74 [[ 9.98812145e-01 4.82929562e-02 6.48757423e-03 9.47538113e+01] [-4.82921421e-02 9.98833214e-01 -2.82167539e-04 -3.00016653e+00] [-6.49363133e-03 -3.14664916e-05 9.99978916e-01 -7.38135487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.660281693 meters Centerline goodness [0,1] 0.9984505009339446 Centerline is valid? [True, True] Translation: X:94.78, Y:-3.00, Z:-0.74 [[ 9.98842097e-01 4.75673811e-02 7.19794853e-03 9.47823397e+01] [-4.75663630e-02 9.98868031e-01 -3.12659633e-04 -3.00047264e+00] [-7.20467308e-03 -3.00826294e-05 9.99974046e-01 -7.37122193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.690281693 meters Centerline goodness [0,1] 0.9986398316791703 Centerline is valid? [True, True] Translation: X:94.81, Y:-3.00, Z:-0.74 [[ 9.98864715e-01 4.70751305e-02 7.29476548e-03 9.48111858e+01] [-4.70740741e-02 9.98891351e-01 -3.16543351e-04 -3.00033109e+00] [-7.30157946e-03 -2.72103469e-05 9.99973343e-01 -7.37024457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.720281693 meters Centerline goodness [0,1] 0.9989407901705328 Centerline is valid? [True, True] Translation: X:94.84, Y:-3.00, Z:-0.74 [[ 9.98898621e-01 4.65031476e-02 6.24525165e-03 9.48390793e+01] [-4.65023637e-02 9.98918143e-01 -2.70749367e-04 -2.99891451e+00] [-6.25108588e-03 -1.99677941e-05 9.99980462e-01 -7.39522076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.750281693 meters Centerline goodness [0,1] 0.998867012975908 Centerline is valid? [True, True] Translation: X:94.87, Y:-3.00, Z:-0.74 [[ 9.98930704e-01 4.58562333e-02 5.88674515e-03 9.48666247e+01] [-4.58555274e-02 9.98948050e-01 -2.54900260e-04 -2.99988658e+00] [-5.89224135e-03 -1.53121073e-05 9.99982640e-01 -7.40140038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.780281693 meters Centerline goodness [0,1] 0.998867012975908 Centerline is valid? [True, True] Translation: X:94.89, Y:-3.00, Z:-0.74 [[ 9.98932661e-01 4.58135876e-02 5.88675945e-03 9.48949254e+01] [-4.58128829e-02 9.98950006e-01 -2.54569634e-04 -3.00101738e+00] [-5.89224114e-03 -1.53914993e-05 9.99982640e-01 -7.40286628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81028169300001 meters Centerline goodness [0,1] 0.9989359664616628 Centerline is valid? [True, True] Translation: X:94.92, Y:-3.00, Z:-0.74 [[ 9.98965642e-01 4.50855218e-02 5.91108222e-03 9.49232199e+01] [-4.50848000e-02 9.98983131e-01 -2.55367623e-04 -3.00260631e+00] [-5.91658480e-03 -1.13964777e-05 9.99982497e-01 -7.40937768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84028169300001 meters Centerline goodness [0,1] 0.998759623609923 Centerline is valid? [True, True] Translation: X:94.95, Y:-3.00, Z:-0.74 [[ 9.99007746e-01 4.41375758e-02 5.94953025e-03 9.49516338e+01] [-4.41368294e-02 9.99025462e-01 -2.56747693e-04 -3.00387127e+00] [-5.95506443e-03 -6.10046760e-06 9.99982268e-01 -7.40752870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.870281693 meters Centerline goodness [0,1] 0.9988072925540978 Centerline is valid? [True, True] Translation: X:94.98, Y:-3.00, Z:-0.74 [[ 9.99009126e-01 4.41003749e-02 5.99365608e-03 9.49809087e+01] [-4.40996193e-02 9.99027105e-01 -2.58228956e-04 -3.00456784e+00] [-5.99921287e-03 -6.34486726e-06 9.99982005e-01 -7.40957114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.900281693 meters Centerline goodness [0,1] 0.9988154666215416 Centerline is valid? [True, True] Translation: X:95.01, Y:-3.00, Z:-0.74 [[ 9.98989647e-01 4.46620224e-02 4.99898729e-03 9.50090123e+01] [-4.46615048e-02 9.99002154e-01 -2.15185838e-04 -3.00314705e+00] [-5.00360971e-03 -8.29387108e-06 9.99987482e-01 -7.42951423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.930281693 meters Centerline goodness [0,1] 0.998835981117027 Centerline is valid? [True, True] Translation: X:95.04, Y:-3.00, Z:-0.74 [[ 9.98982631e-01 4.48126634e-02 5.05263691e-03 9.50380768e+01] [-4.48121380e-02 9.98995408e-01 -2.17201656e-04 -3.00237616e+00] [-5.05729446e-03 -9.43878089e-06 9.99987212e-01 -7.43249796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.960281693 meters Centerline goodness [0,1] 0.9989591741365393 Centerline is valid? [True, True] Translation: X:95.07, Y:-3.00, Z:-0.74 [[ 9.98985701e-01 4.46992761e-02 5.43549269e-03 9.50670616e+01] [-4.46986679e-02 9.99000488e-01 -2.33393450e-04 -3.00227557e+00] [-5.44049237e-03 -9.80256312e-06 9.99985200e-01 -7.42658008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.990281693 meters Centerline goodness [0,1] 0.9991054122558521 Centerline is valid? [True, True] Translation: X:95.09, Y:-3.00, Z:-0.74 [[ 9.99031947e-01 4.35001753e-02 6.55013138e-03 9.50945329e+01] [-4.34992686e-02 9.99053419e-01 -2.80893519e-04 -3.00431248e+00] [-6.55615007e-03 -4.30432528e-06 9.99978508e-01 -7.41058161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.020281693 meters Centerline goodness [0,1] 0.9991614886800971 Centerline is valid? [True, True] Translation: X:95.12, Y:-3.01, Z:-0.74 [[ 9.99070622e-01 4.26341371e-02 6.34209370e-03 9.51232228e+01] [-4.26332717e-02 9.99090752e-01 -2.71636568e-04 -3.00770793e+00] [-6.34790815e-03 9.99910561e-07 9.99979852e-01 -7.41301639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.050281693 meters Centerline goodness [0,1] 0.9991576819407008 Centerline is valid? [True, True] Translation: X:95.15, Y:-3.02, Z:-0.74 [[ 9.99196421e-01 3.98026152e-02 4.71838343e-03 9.51519006e+01] [-3.98021054e-02 9.99207562e-01 -2.01934339e-04 -3.01699794e+00] [-4.72268192e-03 1.39704746e-05 9.99988848e-01 -7.44984341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.080281693 meters Centerline goodness [0,1] 0.9991476485755076 Centerline is valid? [True, True] Translation: X:95.18, Y:-3.02, Z:-0.75 [[ 9.99277725e-01 3.78261634e-02 3.63443540e-03 9.51809717e+01] [-3.78258481e-02 9.99284334e-01 -1.55478436e-04 -3.02242286e+00] [-3.63771551e-03 1.78905371e-05 9.99993383e-01 -7.46971801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.110281693 meters Centerline goodness [0,1] 0.9993197423524159 Centerline is valid? [True, True] Translation: X:95.21, Y:-3.03, Z:-0.75 [[ 9.99413172e-01 3.41381130e-02 2.81073452e-03 9.52093856e+01] [-3.41379101e-02 9.99417124e-01 -1.20143058e-04 -3.03340838e+00] [-2.81319767e-03 2.41199524e-05 9.99996043e-01 -7.49217670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.140281693 meters Centerline goodness [0,1] 0.9995073997130068 Centerline is valid? [True, True] Translation: X:95.24, Y:-3.04, Z:-0.75 [[ 9.99448624e-01 3.30535717e-02 3.14780861e-03 9.52389498e+01] [-3.30533123e-02 9.99453581e-01 -1.34405437e-04 -3.03848491e+00] [-3.15053116e-03 3.02858281e-05 9.99995037e-01 -7.48799691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.170281693 meters Centerline goodness [0,1] 0.9994877049180327 Centerline is valid? [True, True] Translation: X:95.27, Y:-3.04, Z:-0.75 [[ 9.99459122e-01 3.27282972e-02 3.21290156e-03 9.52689535e+01] [-3.27280255e-02 9.99464285e-01 -1.37114604e-04 -3.03982841e+00] [-3.21566788e-03 3.18885177e-05 9.99994829e-01 -7.47495461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20028169300001 meters Centerline goodness [0,1] 0.9994694059468981 Centerline is valid? [True, True] Translation: X:95.30, Y:-3.04, Z:-0.75 [[ 9.99406303e-01 3.43131962e-02 3.10578737e-03 9.52975421e+01] [-3.43129501e-02 9.99411129e-01 -1.32498106e-04 -3.04135073e+00] [-3.10850489e-03 2.58507149e-05 9.99995168e-01 -7.47328729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.230281693 meters Centerline goodness [0,1] 0.999408196478769 Centerline is valid? [True, True] Translation: X:95.33, Y:-3.04, Z:-0.75 [[ 9.99360064e-01 3.56492794e-02 2.93126240e-03 9.53259897e+01] [-3.56490662e-02 9.99364362e-01 -1.24957749e-04 -3.04246115e+00] [-2.93385383e-03 2.03810169e-05 9.99995696e-01 -7.48062543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.260281693 meters Centerline goodness [0,1] 0.9992301276704947 Centerline is valid? [True, True] Translation: X:95.35, Y:-3.04, Z:-0.75 [[ 9.99228052e-01 3.91041450e-02 3.76374853e-03 9.53548950e+01] [-3.91038187e-02 9.99235140e-01 -1.60283579e-04 -3.03852267e+00] [-3.76713755e-03 1.29829079e-05 9.99992904e-01 -7.46644717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.290281693 meters Centerline goodness [0,1] 0.9992310813985775 Centerline is valid? [True, True] Translation: X:95.38, Y:-3.04, Z:-0.75 [[ 9.99152317e-01 4.09941304e-02 3.75883050e-03 9.53835756e+01] [-4.09938190e-02 9.99159387e-01 -1.59901234e-04 -3.03740592e+00] [-3.76222579e-03 5.67687084e-06 9.99992923e-01 -7.46613229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.320281693 meters Centerline goodness [0,1] 0.9990885775450942 Centerline is valid? [True, True] Translation: X:95.41, Y:-3.04, Z:-0.75 [[ 9.99080832e-01 4.26753545e-02 4.03800904e-03 9.54118121e+01] [-4.26750096e-02 9.99088992e-01 -1.71584824e-04 -3.03632299e+00] [-4.04165283e-03 -8.94966390e-07 9.99991832e-01 -7.46663540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.350281693 meters Centerline goodness [0,1] 0.9990424920739621 Centerline is valid? [True, True] Translation: X:95.44, Y:-3.03, Z:-0.74 [[ 9.98949401e-01 4.55446098e-02 5.07769062e-03 9.54403144e+01] [-4.55441033e-02 9.98962306e-01 -2.15393022e-04 -3.03164916e+00] [-5.08223152e-03 -1.60921366e-05 9.99987085e-01 -7.44911439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.380281693 meters Centerline goodness [0,1] 0.9989339246497942 Centerline is valid? [True, True] Translation: X:95.47, Y:-3.03, Z:-0.74 [[ 9.98908674e-01 4.63972521e-02 5.36252706e-03 9.54680785e+01] [-4.63967015e-02 9.98923067e-01 -2.27116436e-04 -3.03122751e+00] [-5.36728956e-03 -2.19349893e-05 9.99985596e-01 -7.43662989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.410281693 meters Centerline goodness [0,1] 0.9987955435109906 Centerline is valid? [True, True] Translation: X:95.50, Y:-3.03, Z:-0.74 [[ 9.98871464e-01 4.71112764e-02 6.02707994e-03 9.54964028e+01] [-4.71105959e-02 9.98889647e-01 -2.54910402e-04 -3.03179372e+00] [-6.03239691e-03 -2.93166005e-05 9.99981804e-01 -7.42898316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.440281693 meters Centerline goodness [0,1] 0.998757737368545 Centerline is valid? [True, True] Translation: X:95.53, Y:-3.03, Z:-0.74 [[ 9.98883061e-01 4.68110254e-02 6.43110640e-03 9.55250857e+01] [-4.68102466e-02 9.98903763e-01 -2.71650363e-04 -3.03440741e+00] [-6.43677261e-03 -2.96947305e-05 9.99979283e-01 -7.42997619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.470281693 meters Centerline goodness [0,1] 0.9989132287759973 Centerline is valid? [True, True] Translation: X:95.55, Y:-3.04, Z:-0.74 [[ 9.98909697e-01 4.61712458e-02 6.90175386e-03 9.55533121e+01] [-4.61703361e-02 9.98933539e-01 -2.91174887e-04 -3.03513418e+00] [-6.90783731e-03 -2.77988764e-05 9.99976140e-01 -7.42280062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.500281693 meters Centerline goodness [0,1] 0.9991452626180606 Centerline is valid? [True, True] Translation: X:95.58, Y:-3.04, Z:-0.74 [[ 9.98999465e-01 4.42310083e-02 6.60958211e-03 9.55821668e+01] [-4.42301336e-02 9.99021330e-01 -2.78519309e-04 -3.04158421e+00] [-6.61543270e-03 -1.41020590e-05 9.99978118e-01 -7.42976658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.530281693 meters Centerline goodness [0,1] 0.9990861757517798 Centerline is valid? [True, True] Translation: X:95.61, Y:-3.04, Z:-0.74 [[ 9.99023308e-01 4.37852575e-02 5.93974422e-03 9.56111650e+01] [-4.37845443e-02 9.99040966e-01 -2.50116757e-04 -3.04490745e+00] [-5.94499922e-03 -1.01965235e-05 9.99982328e-01 -7.44227811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56028169300001 meters Centerline goodness [0,1] 0.9988948162632038 Centerline is valid? [True, True] Translation: X:95.64, Y:-3.04, Z:-0.75 [[ 9.98961804e-01 4.52860808e-02 4.94830982e-03 9.56398396e+01] [-4.52856050e-02 9.98974059e-01 -2.08200085e-04 -3.04428381e+00] [-4.95266171e-03 -1.61032713e-05 9.99987735e-01 -7.46081329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.590281693 meters Centerline goodness [0,1] 0.9989731082728964 Centerline is valid? [True, True] Translation: X:95.67, Y:-3.04, Z:-0.75 [[ 9.98894045e-01 4.67818202e-02 4.70622206e-03 9.56690117e+01] [-4.67814074e-02 9.98905131e-01 -1.97815462e-04 -3.04199771e+00] [-4.71032353e-03 -2.25670042e-05 9.99988906e-01 -7.46533161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.620281693 meters Centerline goodness [0,1] 0.9990032447564312 Centerline is valid? [True, True] Translation: X:95.70, Y:-3.04, Z:-0.75 [[ 9.98825301e-01 4.82341538e-02 4.63513956e-03 9.56971186e+01] [-4.82337700e-02 9.98836055e-01 -1.94628964e-04 -3.03785364e+00] [-4.63913228e-03 -2.91699216e-05 9.99989239e-01 -7.47016119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.650281693 meters Centerline goodness [0,1] 0.9989486557813204 Centerline is valid? [True, True] Translation: X:95.73, Y:-3.03, Z:-0.75 [[ 9.98652997e-01 5.16286602e-02 5.16458009e-03 9.57260545e+01] [-5.16282307e-02 9.98666350e-01 -2.16538040e-04 -3.03427515e+00] [-5.16887191e-03 -5.03917696e-05 9.99986640e-01 -7.45736962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.680281693 meters Centerline goodness [0,1] 0.9988745673454653 Centerline is valid? [True, True] Translation: X:95.75, Y:-3.03, Z:-0.75 [[ 9.98592017e-01 5.27974644e-02 5.13924279e-03 9.57539439e+01] [-5.27970558e-02 9.98605240e-01 -2.15240720e-04 -3.03062331e+00] [-5.14343894e-03 -5.63992236e-05 9.99986771e-01 -7.45463657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.710281693 meters Centerline goodness [0,1] 0.9986751067275136 Centerline is valid? [True, True] Translation: X:95.78, Y:-3.03, Z:-0.75 [[ 9.98531381e-01 5.39754110e-02 4.66230574e-03 9.57823354e+01] [-5.39750886e-02 9.98542263e-01 -1.95025601e-04 -3.02904980e+00] [-4.66603591e-03 -5.69091834e-05 9.99989112e-01 -7.47199500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.740281693 meters Centerline goodness [0,1] 0.9986123268077112 Centerline is valid? [True, True] Translation: X:95.81, Y:-3.03, Z:-0.75 [[ 9.98533469e-01 5.39252715e-02 4.79336094e-03 9.58116235e+01] [-5.39249316e-02 9.98544972e-01 -2.00228561e-04 -3.02925601e+00] [-4.79718384e-03 -5.85467411e-05 9.99988492e-01 -7.48358797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.770281693 meters Centerline goodness [0,1] 0.9985305392282137 Centerline is valid? [True, True] Translation: X:95.84, Y:-3.03, Z:-0.75 [[ 9.98559298e-01 5.34761037e-02 4.43120298e-03 9.58404514e+01] [-5.34758095e-02 9.98569128e-01 -1.84921408e-04 -3.02999431e+00] [-4.43475137e-03 -5.23071746e-05 9.99990165e-01 -7.49791538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.800281693 meters Centerline goodness [0,1] 0.9986951034290971 Centerline is valid? [True, True] Translation: X:95.87, Y:-3.03, Z:-0.75 [[ 9.98581001e-01 5.31352017e-02 3.55452347e-03 9.58695108e+01] [-5.31350107e-02 9.98587327e-01 -1.48226721e-04 -3.02995344e+00] [-3.55737815e-03 -4.08532557e-05 9.99993672e-01 -7.50507621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.830281693 meters Centerline goodness [0,1] 0.998815917452531 Centerline is valid? [True, True] Translation: X:95.90, Y:-3.03, Z:-0.75 [[ 9.98563357e-01 5.34739143e-02 3.42961284e-03 9.58974743e+01] [-5.34737388e-02 9.98569246e-01 -1.42899340e-04 -3.02673518e+00] [-3.43234729e-03 -4.07001764e-05 9.99994109e-01 -7.50550333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.860281693 meters Centerline goodness [0,1] 0.9984887186036612 Centerline is valid? [True, True] Translation: X:95.93, Y:-3.02, Z:-0.75 [[ 9.98445204e-01 5.55859676e-02 4.16840188e-03 9.59262033e+01] [-5.55857283e-02 9.98453903e-01 -1.73336679e-04 -3.02299291e+00] [-4.17159221e-03 -5.86364783e-05 9.99991297e-01 -7.48561528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.890281693 meters Centerline goodness [0,1] 0.9982757152588556 Centerline is valid? [True, True] Translation: X:95.95, Y:-3.02, Z:-0.75 [[ 9.98380694e-01 5.67549107e-02 3.85624869e-03 9.59538339e+01] [-5.67547151e-02 9.98388139e-01 -1.60224197e-04 -3.01780854e+00] [-3.85912647e-03 -5.88955508e-05 9.99992552e-01 -7.50088439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.920281693 meters Centerline goodness [0,1] 0.9981910274963821 Centerline is valid? [True, True] Translation: X:95.98, Y:-3.02, Z:-0.75 [[ 9.98356195e-01 5.72266356e-02 3.16554180e-03 9.59822078e+01] [-5.72265067e-02 9.98361212e-01 -1.31358878e-04 -3.01636030e+00] [-3.16787137e-03 -5.00099492e-05 9.99994981e-01 -7.51846511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95028169300001 meters Centerline goodness [0,1] 0.9985958044338539 Centerline is valid? [True, True] Translation: X:96.01, Y:-3.02, Z:-0.75 [[ 9.98474629e-01 5.51121049e-02 3.32737764e-03 9.60113327e+01] [-5.51119515e-02 9.98480172e-01 -1.37846266e-04 -3.01922472e+00] [-3.32991759e-03 -4.57422756e-05 9.99994455e-01 -7.51889121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.980281693 meters Centerline goodness [0,1] 0.9990223997959791 Centerline is valid? [True, True] Translation: X:96.04, Y:-3.02, Z:-0.75 [[ 9.98589203e-01 5.29428869e-02 4.08094119e-03 9.60397622e+01] [-5.29426387e-02 9.98597541e-01 -1.68903993e-04 -3.02377470e+00] [-4.08416010e-03 -4.73900917e-05 9.99991659e-01 -7.50178670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.010281693 meters Centerline goodness [0,1] 0.9990172620064947 Centerline is valid? [True, True] Translation: X:96.07, Y:-3.03, Z:-0.75 [[ 9.98718094e-01 5.03405019e-02 5.29183772e-03 9.60680271e+01] [-5.03400496e-02 9.98732112e-01 -2.18708287e-04 -3.02827217e+00] [-5.29613814e-03 -4.79634497e-05 9.99985974e-01 -7.48289368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.040281693 meters Centerline goodness [0,1] 0.9990194615564982 Centerline is valid? [True, True] Translation: X:96.10, Y:-3.04, Z:-0.75 [[ 9.98932984e-01 4.57670453e-02 6.18642489e-03 9.60965056e+01] [-4.57663415e-02 9.98952139e-01 -2.55358927e-04 -3.03637566e+00] [-6.19162940e-03 -2.80435795e-05 9.99980831e-01 -7.45986914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.070281693 meters Centerline goodness [0,1] 0.9991814226013528 Centerline is valid? [True, True] Translation: X:96.13, Y:-3.04, Z:-0.75 [[ 9.99011787e-01 4.40593392e-02 5.85019772e-03 9.61255127e+01] [-4.40586820e-02 9.99028916e-01 -2.41226727e-04 -3.03973910e+00] [-5.85514497e-03 -1.67636575e-05 9.99982858e-01 -7.46279578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.100281693 meters Centerline goodness [0,1] 0.9995686959522115 Centerline is valid? [True, True] Translation: X:96.15, Y:-3.04, Z:-0.75 [[ 9.99108101e-01 4.18932104e-02 5.28792581e-03 9.61544977e+01] [-4.18926443e-02 9.99122094e-01 -2.17824378e-04 -3.04172653e+00] [-5.29240887e-03 -3.89509381e-06 9.99985995e-01 -7.47174294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.130281693 meters Centerline goodness [0,1] 0.9994256907663838 Centerline is valid? [True, True] Translation: X:96.18, Y:-3.04, Z:-0.75 [[ 9.99115170e-01 4.16724531e-02 5.68185137e-03 9.61823091e+01] [-4.16717976e-02 9.99131326e-01 -2.33770575e-04 -3.04147191e+00] [-5.68665749e-03 -3.20923264e-06 9.99983831e-01 -7.46384270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.160281693 meters Centerline goodness [0,1] 0.9993644606389289 Centerline is valid? [True, True] Translation: X:96.21, Y:-3.04, Z:-0.74 [[ 9.99080363e-01 4.23258234e-02 6.85219233e-03 9.62100326e+01] [-4.23248884e-02 9.99103861e-01 -2.81468505e-04 -3.04001090e+00] [-6.85796520e-03 -8.80861955e-06 9.99976484e-01 -7.44067129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.190281693 meters Centerline goodness [0,1] 0.9992775794662587 Centerline is valid? [True, True] Translation: X:96.24, Y:-3.04, Z:-0.74 [[ 9.99013774e-01 4.36131613e-02 8.32899646e-03 9.62392688e+01] [-4.36118289e-02 9.99048493e-01 -3.41605495e-04 -3.03769064e+00] [-8.33596986e-03 -2.19741741e-05 9.99965255e-01 -7.41546212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.220281693 meters Centerline goodness [0,1] 0.9991986841550335 Centerline is valid? [True, True] Translation: X:96.27, Y:-3.03, Z:-0.74 [[ 9.98902991e-01 4.59578242e-02 8.98293449e-03 9.62678188e+01] [-4.59563736e-02 9.98943380e-01 -3.67941589e-04 -3.03052882e+00] [-8.99035274e-03 -4.52851398e-05 9.99959585e-01 -7.39826139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.250281693 meters Centerline goodness [0,1] 0.9990906399357103 Centerline is valid? [True, True] Translation: X:96.30, Y:-3.03, Z:-0.74 [[ 9.98886340e-01 4.65420208e-02 7.74076847e-03 9.62969649e+01] [-4.65409643e-02 9.98916332e-01 -3.16670979e-04 -3.02817534e+00] [-7.74711855e-03 -4.39445138e-05 9.99969990e-01 -7.42327199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.280281693 meters Centerline goodness [0,1] 0.9991729929174266 Centerline is valid? [True, True] Translation: X:96.33, Y:-3.03, Z:-0.75 [[ 9.98894458e-01 4.66772184e-02 5.57658567e-03 9.63255964e+01] [-4.66766732e-02 9.98910024e-01 -2.27954785e-04 -3.02570396e+00] [-5.58114762e-03 -3.25936955e-05 9.99984425e-01 -7.47799074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31028169300001 meters Centerline goodness [0,1] 0.9991303794515027 Centerline is valid? [True, True] Translation: X:96.35, Y:-3.03, Z:-0.75 [[ 9.98920845e-01 4.61497639e-02 5.22925647e-03 9.63538684e+01] [-4.61492783e-02 9.98934532e-01 -2.13542721e-04 -3.02596511e+00] [-5.23353981e-03 -2.80141365e-05 9.99986305e-01 -7.48903692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.340281693 meters Centerline goodness [0,1] 0.9993760354583988 Centerline is valid? [True, True] Translation: X:96.38, Y:-3.03, Z:-0.75 [[ 9.98966891e-01 4.51766494e-02 4.92148749e-03 9.63830758e+01] [-4.51762088e-02 9.98979014e-01 -2.00723368e-04 -3.02824431e+00] [-4.92553073e-03 -2.18181475e-05 9.99987869e-01 -7.50020497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.370281693 meters Centerline goodness [0,1] 0.9993217321265817 Centerline is valid? [True, True] Translation: X:96.41, Y:-3.03, Z:-0.75 [[ 9.99088457e-01 4.24630993e-02 4.37500041e-03 9.64103705e+01] [-4.24627258e-02 9.99098036e-01 -1.78264847e-04 -3.03058053e+00] [-4.37862399e-03 -7.67209186e-06 9.99990414e-01 -7.51286146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.400281693 meters Centerline goodness [0,1] 0.9994643928357185 Centerline is valid? [True, True] Translation: X:96.44, Y:-3.03, Z:-0.75 [[ 9.99138056e-01 4.13097373e-02 4.08048161e-03 9.64390336e+01] [-4.13094037e-02 9.99146388e-01 -1.66031342e-04 -3.03283876e+00] [-4.08385718e-03 -2.67402985e-06 9.99991661e-01 -7.51646559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.430281693 meters Centerline goodness [0,1] 0.9995549244431257 Centerline is valid? [True, True] Translation: X:96.47, Y:-3.03, Z:-0.75 [[ 9.99174715e-01 4.03799619e-02 4.39858488e-03 9.64669368e+01] [-4.03795662e-02 9.99184397e-01 -1.78765782e-04 -3.03424078e+00] [-4.40221594e-03 1.00530036e-06 9.99990310e-01 -7.50803780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.460281693 meters Centerline goodness [0,1] 0.9995488624889901 Centerline is valid? [True, True] Translation: X:96.50, Y:-3.03, Z:-0.75 [[ 9.99184515e-01 3.98653151e-02 6.40790007e-03 9.64959027e+01] [-3.98644678e-02 9.99205062e-01 -2.59944281e-04 -3.03404501e+00] [-6.41316895e-03 4.28477395e-06 9.99979435e-01 -7.46532573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.490281693 meters Centerline goodness [0,1] 0.9995488915621241 Centerline is valid? [True, True] Translation: X:96.52, Y:-3.03, Z:-0.75 [[ 9.99170464e-01 4.01344824e-02 6.89983441e-03 9.65233355e+01] [-4.01335090e-02 9.99194287e-01 -2.79532248e-04 -3.03315463e+00] [-6.90549401e-03 2.38579940e-06 9.99976157e-01 -7.45940990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.520281693 meters Centerline goodness [0,1] 0.9994002356217201 Centerline is valid? [True, True] Translation: X:96.55, Y:-3.03, Z:-0.75 [[ 9.99142806e-01 4.09201250e-02 6.26079748e-03 9.65516339e+01] [-4.09193412e-02 9.99162421e-01 -2.53292683e-04 -3.02985258e+00] [-6.26591833e-03 -3.11214567e-06 9.99980369e-01 -7.47494077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.550281693 meters Centerline goodness [0,1] 0.9996128116328594 Centerline is valid? [True, True] Translation: X:96.58, Y:-3.03, Z:-0.75 [[ 9.99166652e-01 4.03715467e-02 6.01160270e-03 9.65799666e+01] [-4.03708164e-02 9.99184737e-01 -2.42843322e-04 -3.03022841e+00] [-6.01650562e-03 -5.23592433e-08 9.99981901e-01 -7.48487211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.580281693 meters Centerline goodness [0,1] 0.9995335227513676 Centerline is valid? [True, True] Translation: X:96.61, Y:-3.03, Z:-0.75 [[ 9.99214016e-01 3.92216626e-02 5.74548595e-03 9.66074363e+01] [-3.92209779e-02 9.99230535e-01 -2.31830379e-04 -3.03203953e+00] [-5.75015777e-03 6.30458632e-06 9.99983468e-01 -7.48289141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.610281693 meters Centerline goodness [0,1] 0.9997211437396769 Centerline is valid? [True, True] Translation: X:96.64, Y:-3.04, Z:-0.75 [[ 9.99292505e-01 3.70849732e-02 6.26060667e-03 9.66363485e+01] [-3.70841207e-02 9.99312116e-01 -2.52238214e-04 -3.03509441e+00] [-6.26565434e-03 1.98906627e-05 9.99980370e-01 -7.47860390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.640281693 meters Centerline goodness [0,1] 0.9999138395261173 Centerline is valid? [True, True] Translation: X:96.66, Y:-3.04, Z:-0.75 [[ 9.99323205e-01 3.61848694e-02 6.61718456e-03 9.66641014e+01] [-3.61838995e-02 9.99345113e-01 -2.66263208e-04 -3.03689322e+00] [-6.62248575e-03 2.66474615e-05 9.99978071e-01 -7.47186779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.670281693 meters Centerline goodness [0,1] 0.9998296930216716 Centerline is valid? [True, True] Translation: X:96.69, Y:-3.04, Z:-0.75 [[ 9.99354045e-01 3.53637101e-02 6.39539383e-03 9.66933477e+01] [-3.53627896e-02 9.99374508e-01 -2.56989877e-04 -3.03730829e+00] [-6.40048168e-03 3.06649072e-05 9.99979516e-01 -7.47971569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70028169300001 meters Centerline goodness [0,1] 0.9998296930216716 Centerline is valid? [True, True] Translation: X:96.72, Y:-3.04, Z:-0.75 [[ 9.99355677e-01 3.53175460e-02 6.39540571e-03 9.67216498e+01] [-3.53166264e-02 9.99376140e-01 -2.56694033e-04 -3.03835783e+00] [-6.40048168e-03 3.06644847e-05 9.99979516e-01 -7.48118150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.730281693 meters Centerline goodness [0,1] 0.9999359234498815 Centerline is valid? [True, True] Translation: X:96.75, Y:-3.04, Z:-0.75 [[ 9.99401465e-01 3.42785518e-02 4.65756435e-03 9.67499868e+01] [-3.42780535e-02 9.99412317e-01 -1.86785341e-04 -3.03865151e+00] [-4.66122991e-03 2.70213031e-05 9.99989136e-01 -7.51177590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.760281693 meters Centerline goodness [0,1] 0.9998297183967987 Centerline is valid? [True, True] Translation: X:96.78, Y:-3.04, Z:-0.75 [[ 9.99439001e-01 3.32098514e-02 4.33454636e-03 9.67784544e+01] [-3.32094103e-02 9.99448400e-01 -1.73703202e-04 -3.03923581e+00] [-4.33792409e-03 2.96580263e-05 9.99990591e-01 -7.52318664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.790281693 meters Centerline goodness [0,1] 0.999872608760271 Centerline is valid? [True, True] Translation: X:96.81, Y:-3.04, Z:-0.75 [[ 9.99465871e-01 3.22758798e-02 5.12250859e-03 9.68061917e+01] [-3.22752530e-02 9.99478997e-01 -2.05003500e-04 -3.04114880e+00] [-5.12645642e-03 3.95637412e-05 9.99986859e-01 -7.50977553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.820281693 meters Centerline goodness [0,1] 0.9998736416477129 Centerline is valid? [True, True] Translation: X:96.84, Y:-3.04, Z:-0.75 [[ 9.99501534e-01 3.09806244e-02 6.07318275e-03 9.68351450e+01] [-3.09797217e-02 9.99519984e-01 -2.42671000e-04 -3.04325112e+00] [-6.07778563e-03 5.44045252e-05 9.99981529e-01 -7.49276458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.850281693 meters Centerline goodness [0,1] 0.9998082086689681 Centerline is valid? [True, True] Translation: X:96.86, Y:-3.05, Z:-0.75 [[ 9.99548734e-01 2.91992480e-02 7.05205662e-03 9.68646048e+01] [-2.91979883e-02 9.99573608e-01 -2.81543924e-04 -3.04686902e+00] [-7.05727055e-03 7.55110067e-05 9.99975094e-01 -7.47880247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.880281693 meters Centerline goodness [0,1] 0.9997875007968721 Centerline is valid? [True, True] Translation: X:96.89, Y:-3.06, Z:-0.75 [[ 9.99657940e-01 2.52379829e-02 6.85914368e-03 9.68937132e+01] [-2.52366988e-02 9.99681466e-01 -2.73712269e-04 -3.05672953e+00] [-6.86386676e-03 1.00516500e-04 9.99976438e-01 -7.48804244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.910281693 meters Centerline goodness [0,1] 0.9998089334239131 Centerline is valid? [True, True] Translation: X:96.92, Y:-3.06, Z:-0.75 [[ 9.99726221e-01 2.26159733e-02 6.00005280e-03 9.69240701e+01] [-2.26149438e-02 9.99744221e-01 -2.39380661e-04 -3.06434913e+00] [-6.00393194e-03 1.03624267e-04 9.99981971e-01 -7.50532769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.940281693 meters Centerline goodness [0,1] 0.9997012186012763 Centerline is valid? [True, True] Translation: X:96.95, Y:-3.07, Z:-0.75 [[ 9.99735560e-01 2.22846839e-02 5.67470548e-03 9.69543492e+01] [-2.22837577e-02 9.99751661e-01 -2.26400466e-04 -3.06610307e+00] [-5.67834149e-03 9.98868350e-05 9.99983873e-01 -7.51105889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.970281693 meters Centerline goodness [0,1] 0.9996999378442677 Centerline is valid? [True, True] Translation: X:96.98, Y:-3.07, Z:-0.75 [[ 9.99737354e-01 2.22893651e-02 5.32985518e-03 9.69837422e+01] [-2.22885481e-02 9.99751557e-01 -2.12640381e-04 -3.06893445e+00] [-5.33327063e-03 9.37897983e-05 9.99985774e-01 -7.51818931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.000281693 meters Centerline goodness [0,1] 0.9998502193217075 Centerline is valid? [True, True] Translation: X:97.01, Y:-3.07, Z:-0.75 [[ 9.99730481e-01 2.27151920e-02 4.79433522e-03 9.70133202e+01] [-2.27145361e-02 9.99741973e-01 -1.91227325e-04 -3.07211813e+00] [-4.79744192e-03 8.22746852e-05 9.99988489e-01 -7.52858217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.030281693 meters Centerline goodness [0,1] 0.9997891096208191 Centerline is valid? [True, True] Translation: X:97.04, Y:-3.08, Z:-0.75 [[ 9.99686453e-01 2.47127450e-02 4.03429468e-03 9.70426109e+01] [-2.47122969e-02 9.99694592e-01 -1.60876495e-04 -3.07709464e+00] [-4.03703827e-03 6.11293651e-05 9.99991849e-01 -7.54591791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06028169300001 meters Centerline goodness [0,1] 0.999639379733141 Centerline is valid? [True, True] Translation: X:97.07, Y:-3.07, Z:-0.75 [[ 9.99639724e-01 2.64776018e-02 4.39977620e-03 9.70723532e+01] [-2.64770862e-02 9.99649405e-01 -1.75405260e-04 -3.07399432e+00] [-4.40287797e-03 5.88488118e-05 9.99990306e-01 -7.53431304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.090281693 meters Centerline goodness [0,1] 0.9996332096314836 Centerline is valid? [True, True] Translation: X:97.10, Y:-3.07, Z:-0.75 [[ 9.99462778e-01 3.22617373e-02 5.77374349e-03 9.71028209e+01] [-3.22609469e-02 9.99479454e-01 -2.30016110e-04 -3.06512160e+00] [-5.77815871e-03 4.36261079e-05 9.99983305e-01 -7.50803361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.120281693 meters Centerline goodness [0,1] 0.9996215466128422 Centerline is valid? [True, True] Translation: X:97.13, Y:-3.06, Z:-0.75 [[ 9.99333350e-01 3.60649277e-02 5.67244534e-03 9.71312315e+01] [-3.60642268e-02 9.99349449e-01 -2.25818270e-04 -3.06200114e+00] [-5.67689924e-03 2.10953732e-05 9.99983886e-01 -7.50753857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.150281693 meters Centerline goodness [0,1] 0.999657629512336 Centerline is valid? [True, True] Translation: X:97.16, Y:-3.06, Z:-0.75 [[ 9.99213410e-01 3.92211345e-02 5.85353383e-03 9.71605035e+01] [-3.92204436e-02 9.99230555e-01 -2.32811215e-04 -3.05758210e+00] [-5.85816098e-03 3.04989392e-06 9.99982841e-01 -7.50331437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.180281693 meters Centerline goodness [0,1] 0.9995098665984742 Centerline is valid? [True, True] Translation: X:97.19, Y:-3.05, Z:-0.75 [[ 9.99043912e-01 4.32802012e-02 6.17132113e-03 9.71896918e+01] [-4.32795125e-02 9.99062973e-01 -2.45164186e-04 -3.04978785e+00] [-6.17614919e-03 -2.21619818e-05 9.99980927e-01 -7.50164297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.210281693 meters Centerline goodness [0,1] 0.9991966173361522 Centerline is valid? [True, True] Translation: X:97.22, Y:-3.05, Z:-0.75 [[ 9.99016231e-01 4.39569026e-02 5.86179936e-03 9.72174762e+01] [-4.39562944e-02 9.99033428e-01 -2.32612474e-04 -3.04918351e+00] [-5.86635843e-03 -2.52793410e-05 9.99982792e-01 -7.51371163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.240281693 meters Centerline goodness [0,1] 0.9993585083180088 Centerline is valid? [True, True] Translation: X:97.25, Y:-3.05, Z:-0.76 [[ 9.99063155e-01 4.30651149e-02 4.26703259e-03 9.72462691e+01] [-4.30647852e-02 9.99072267e-01 -1.69160765e-04 -3.05261245e+00] [-4.27035886e-03 -1.47565544e-05 9.99990882e-01 -7.55608621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.270281693 meters Centerline goodness [0,1] 0.9995710271754285 Centerline is valid? [True, True] Translation: X:97.27, Y:-3.05, Z:-0.76 [[ 9.99100054e-01 4.22546388e-02 3.69157303e-03 9.72745177e+01] [-4.22543870e-02 9.99106874e-01 -1.46227763e-04 -3.05404453e+00] [-3.69445479e-03 -9.88898934e-06 9.99993175e-01 -7.56558454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.300281693 meters Centerline goodness [0,1] 0.9996596251622099 Centerline is valid? [True, True] Translation: X:97.30, Y:-3.05, Z:-0.75 [[ 9.99116048e-01 4.17996737e-02 4.46205364e-03 9.73021074e+01] [-4.17993026e-02 9.99126012e-01 -1.76432759e-04 -3.05174749e+00] [-4.46552869e-03 -1.02339291e-05 9.99990029e-01 -7.54452548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.330281693 meters Centerline goodness [0,1] 0.9995981897390348 Centerline is valid? [True, True] Translation: X:97.33, Y:-3.05, Z:-0.75 [[ 9.99106267e-01 4.19652081e-02 5.05845989e-03 9.73297093e+01] [-4.19647349e-02 9.99119073e-01 -1.99696487e-04 -3.05071085e+00] [-5.06238405e-03 -1.27589160e-05 9.99987186e-01 -7.53380808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.360281693 meters Centerline goodness [0,1] 0.9996994289149383 Centerline is valid? [True, True] Translation: X:97.36, Y:-3.05, Z:-0.75 [[ 9.99112411e-01 4.17246275e-02 5.78322759e-03 9.73588127e+01] [-4.17240070e-02 9.99129148e-01 -2.27955873e-04 -3.05146747e+00] [-5.78770263e-03 -1.35458866e-05 9.99983251e-01 -7.51866694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.390281693 meters Centerline goodness [0,1] 0.9995552355133853 Centerline is valid? [True, True] Translation: X:97.39, Y:-3.05, Z:-0.75 [[ 9.99102150e-01 4.19453711e-02 5.95646172e-03 9.73868756e+01] [-4.19447184e-02 9.99119906e-01 -2.34498678e-04 -3.05102412e+00] [-5.96105560e-03 -1.55539763e-05 9.99982233e-01 -7.51238463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.420281693 meters Centerline goodness [0,1] 0.9995722108145106 Centerline is valid? [True, True] Translation: X:97.42, Y:-3.05, Z:-0.75 [[ 9.99084930e-01 4.22659569e-02 6.54917169e-03 9.74155612e+01] [-4.22651773e-02 9.99106395e-01 -2.57453446e-04 -3.04863304e+00] [-6.55420083e-03 -1.95840445e-05 9.99978521e-01 -7.50071611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45028169300001 meters Centerline goodness [0,1] 0.9997231745490939 Centerline is valid? [True, True] Translation: X:97.44, Y:-3.05, Z:-0.75 [[ 9.99088764e-01 4.21512093e-02 6.70197246e-03 9.74443952e+01] [-4.21503923e-02 9.99111243e-01 -2.63164345e-04 -3.04899432e+00] [-6.70710873e-03 -1.95662277e-05 9.99977507e-01 -7.50828512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.480281693 meters Centerline goodness [0,1] 0.9997451146983857 Centerline is valid? [True, True] Translation: X:97.47, Y:-3.05, Z:-0.75 [[ 9.99136290e-01 4.10888369e-02 6.19527430e-03 9.74718271e+01] [-4.10881200e-02 9.99155497e-01 -2.43000985e-04 -3.05019880e+00] [-6.20002700e-03 -1.17610711e-05 9.99980780e-01 -7.51913517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.510281693 meters Centerline goodness [0,1] 0.9997857066323798 Centerline is valid? [True, True] Translation: X:97.50, Y:-3.05, Z:-0.75 [[ 9.99170267e-01 4.03046796e-02 5.85744253e-03 9.75002858e+01] [-4.03040270e-02 9.99187436e-01 -2.29451860e-04 -3.05251177e+00] [-5.86193097e-03 -6.81704572e-06 9.99982819e-01 -7.52777727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.540281693 meters Centerline goodness [0,1] 0.9996611533492874 Centerline is valid? [True, True] Translation: X:97.53, Y:-3.06, Z:-0.75 [[ 9.99225691e-01 3.90153462e-02 5.08152886e-03 9.75286530e+01] [-3.90148394e-02 9.99238612e-01 -1.98865146e-04 -3.05574861e+00] [-5.08541863e-03 4.56130496e-07 9.99987069e-01 -7.54175221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.570281693 meters Centerline goodness [0,1] 0.9997247686998497 Centerline is valid? [True, True] Translation: X:97.56, Y:-3.06, Z:-0.76 [[ 9.99353911e-01 3.57979449e-02 3.20425678e-03 9.75565751e+01] [-3.57977270e-02 9.99359048e-01 -1.25362516e-04 -3.06390782e+00] [-3.20669072e-03 1.05764114e-05 9.99994858e-01 -7.58378843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.600281693 meters Centerline goodness [0,1] 0.9997658129484149 Centerline is valid? [True, True] Translation: X:97.59, Y:-3.07, Z:-0.76 [[ 9.99423281e-01 3.38416419e-02 2.80160942e-03 9.75853750e+01] [-3.38414680e-02 9.99427207e-01 -1.09467196e-04 -3.07008931e+00] [-2.80370923e-03 1.45934882e-05 9.99996069e-01 -7.59792934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.630281693 meters Centerline goodness [0,1] 0.9997013779275629 Centerline is valid? [True, True] Translation: X:97.61, Y:-3.08, Z:-0.76 [[ 9.99477220e-01 3.21818185e-02 3.10124008e-03 9.76140243e+01] [-3.21815979e-02 9.99482031e-01 -1.21017541e-04 -3.07566360e+00] [-3.10352829e-03 2.11514146e-05 9.99995184e-01 -7.59200895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.660281693 meters Centerline goodness [0,1] 0.9996833639414856 Centerline is valid? [True, True] Translation: X:97.64, Y:-3.09, Z:-0.76 [[ 9.99550691e-01 2.96621095e-02 4.31002321e-03 9.76427054e+01] [-2.96616612e-02 9.99559982e-01 -1.67905332e-04 -3.08554343e+00] [-4.31310715e-03 3.99874423e-05 9.99990698e-01 -7.56767609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.690281693 meters Centerline goodness [0,1] 0.9996121441961688 Centerline is valid? [True, True] Translation: X:97.67, Y:-3.09, Z:-0.76 [[ 9.99574299e-01 2.88246160e-02 4.51242706e-03 9.76724797e+01] [-2.88241169e-02 9.99584483e-01 -1.75631526e-04 -3.08877122e+00] [-4.51561459e-03 4.54900349e-05 9.99989804e-01 -7.56538036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.720281693 meters Centerline goodness [0,1] 0.9994839708443527 Centerline is valid? [True, True] Translation: X:97.70, Y:-3.10, Z:-0.76 [[ 9.99567350e-01 2.91639274e-02 3.81810714e-03 9.77013310e+01] [-2.91635727e-02 9.99574642e-01 -1.48554234e-04 -3.09511687e+00] [-3.82081550e-03 3.71403165e-05 9.99992700e-01 -7.57591087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.750281693 meters Centerline goodness [0,1] 0.9996555658407422 Centerline is valid? [True, True] Translation: X:97.73, Y:-3.10, Z:-0.76 [[ 9.99529857e-01 3.03546303e-02 4.31980128e-03 9.77307529e+01] [-3.03541881e-02 9.99539191e-01 -1.67897615e-04 -3.09602353e+00] [-4.32290714e-03 3.66946190e-05 9.99990656e-01 -7.57625171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.780281693 meters Centerline goodness [0,1] 0.9997642823468906 Centerline is valid? [True, True] Translation: X:97.76, Y:-3.10, Z:-0.76 [[ 9.99473855e-01 3.21020007e-02 4.63399570e-03 9.77591848e+01] [-3.21015111e-02 9.99484597e-01 -1.80004067e-04 -3.09636061e+00] [-4.63738582e-03 3.11510938e-05 9.99989247e-01 -7.56797176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81028169300001 meters Centerline goodness [0,1] 0.99963661237228 Centerline is valid? [True, True] Translation: X:97.79, Y:-3.09, Z:-0.75 [[ 9.99335955e-01 3.59788920e-02 5.75912623e-03 9.77875757e+01] [-3.59782015e-02 9.99352550e-01 -2.23475770e-04 -3.09424568e+00] [-5.76343789e-03 1.61243685e-05 9.99983391e-01 -7.54337091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.840281693 meters Centerline goodness [0,1] 0.9997666426237855 Centerline is valid? [True, True] Translation: X:97.82, Y:-3.09, Z:-0.75 [[ 9.99247898e-01 3.83309654e-02 5.86313407e-03 9.78155638e+01] [-3.83302915e-02 9.99265099e-01 -2.27308984e-04 -3.09240085e+00] [-5.86753821e-03 2.40238648e-06 9.99982786e-01 -7.53565074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.870281693 meters Centerline goodness [0,1] 0.9998495594240275 Centerline is valid? [True, True] Translation: X:97.84, Y:-3.08, Z:-0.75 [[ 9.99018199e-01 4.40076957e-02 5.09514241e-03 9.78441899e+01] [-4.40072616e-02 9.99031192e-01 -1.97343484e-04 -3.08486555e+00] [-5.09889082e-03 -2.70735329e-05 9.99987000e-01 -7.54683363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.900281693 meters Centerline goodness [0,1] 0.9998510765041273 Centerline is valid? [True, True] Translation: X:97.87, Y:-3.08, Z:-0.76 [[ 9.98879020e-01 4.70835895e-02 4.88247043e-03 9.78728183e+01] [-4.70832289e-02 9.98890952e-01 -1.88832168e-04 -3.08118709e+00] [-4.88594643e-03 -4.12619814e-05 9.99988063e-01 -7.55161675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.930281693 meters Centerline goodness [0,1] 0.9993846937259977 Centerline is valid? [True, True] Translation: X:97.90, Y:-3.08, Z:-0.75 [[ 9.98758435e-01 4.95380660e-02 5.25057300e-03 9.79005500e+01] [-4.95376843e-02 9.98772235e-01 -2.02803630e-04 -3.07572624e+00] [-5.25417303e-03 -5.75493915e-05 9.99986195e-01 -7.54844917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.960281693 meters Centerline goodness [0,1] 0.9991873569855221 Centerline is valid? [True, True] Translation: X:97.93, Y:-3.07, Z:-0.75 [[ 9.98614766e-01 5.22474351e-02 6.22528019e-03 9.79291162e+01] [-5.22469539e-02 9.98634166e-01 -2.40016341e-04 -3.07387536e+00] [-6.22931773e-03 -8.55680646e-05 9.99980594e-01 -7.53564979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.990281693 meters Centerline goodness [0,1] 0.9987802007318796 Centerline is valid? [True, True] Translation: X:97.96, Y:-3.07, Z:-0.75 [[ 9.98595335e-01 5.26353505e-02 6.07257661e-03 9.79574589e+01] [-5.26349015e-02 9.98613795e-01 -2.33834135e-04 -3.07340389e+00] [-6.07646672e-03 -8.61237949e-05 9.99981534e-01 -7.54316424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.020281693 meters Centerline goodness [0,1] 0.9989725147701002 Centerline is valid? [True, True] Translation: X:97.99, Y:-3.07, Z:-0.75 [[ 9.98617667e-01 5.22219046e-02 5.96897223e-03 9.79864615e+01] [-5.22214657e-02 9.98635502e-01 -2.29471441e-04 -3.07470756e+00] [-5.97281102e-03 -8.25542443e-05 9.99982159e-01 -7.54991596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.050281693 meters Centerline goodness [0,1] 0.9990298587905573 Centerline is valid? [True, True] Translation: X:98.01, Y:-3.08, Z:-0.76 [[ 9.98633615e-01 5.19256810e-02 5.88440782e-03 9.80148030e+01] [-5.19252509e-02 9.98650949e-01 -2.25946473e-04 -3.07586370e+00] [-5.88820188e-03 -7.99116091e-05 9.99982661e-01 -7.55963903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.080281693 meters Centerline goodness [0,1] 0.9991009696684291 Centerline is valid? [True, True] Translation: X:98.04, Y:-3.07, Z:-0.76 [[ 9.98603934e-01 5.26290962e-02 4.51235008e-03 9.80429755e+01] [-5.26288511e-02 9.98614127e-01 -1.73114530e-04 -3.07273914e+00] [-4.51520740e-03 -6.46069502e-05 9.99989804e-01 -7.57757674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.110281693 meters Centerline goodness [0,1] 0.9991682838924314 Centerline is valid? [True, True] Translation: X:98.07, Y:-3.07, Z:-0.76 [[ 9.98560614e-01 5.35150890e-02 3.58264668e-03 9.80723585e+01] [-5.35149408e-02 9.98567039e-01 -1.37281336e-04 -3.07051652e+00] [-3.58485951e-03 -5.46413891e-05 9.99993573e-01 -7.59173622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.140281693 meters Centerline goodness [0,1] 0.9991014697387844 Centerline is valid? [True, True] Translation: X:98.10, Y:-3.06, Z:-0.76 [[ 9.98395594e-01 5.65911706e-02 1.91781415e-03 9.81019696e+01] [-5.65911339e-02 9.98397435e-01 -7.34343541e-05 -3.06415518e+00] [-1.91889647e-03 -3.52147419e-05 9.99998158e-01 -7.62630692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.170281693 meters Centerline goodness [0,1] 0.9988071147087016 Centerline is valid? [True, True] Translation: X:98.13, Y:-3.06, Z:-0.76 [[ 9.98340241e-01 5.75611541e-02 1.86451221e-03 9.81294086e+01] [-5.75611209e-02 9.98341982e-01 -7.15069238e-05 -3.06104850e+00] [-1.86553684e-03 -3.59351734e-05 9.99998259e-01 -7.63455933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20028169300001 meters Centerline goodness [0,1] 0.99831778885056 Centerline is valid? [True, True] Translation: X:98.16, Y:-3.06, Z:-0.76 [[ 9.98281367e-01 5.85577787e-02 2.30207325e-03 9.81572644e+01] [-5.85577313e-02 9.98284020e-01 -8.80079294e-05 -3.05782617e+00] [-2.30327649e-03 -4.69475109e-05 9.99997346e-01 -7.62399791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.230281693 meters Centerline goodness [0,1] 0.9979571860237477 Centerline is valid? [True, True] Translation: X:98.19, Y:-3.05, Z:-0.76 [[ 9.98219984e-01 5.95703844e-02 2.86914000e-03 9.81862038e+01] [-5.95703159e-02 9.98224106e-01 -1.09419340e-04 -3.05339377e+00] [-2.87056286e-03 -6.16910035e-05 9.99995878e-01 -7.61506856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.260281693 meters Centerline goodness [0,1] 0.9980332214549885 Centerline is valid? [True, True] Translation: X:98.22, Y:-3.05, Z:-0.76 [[ 9.98238792e-01 5.92390296e-02 3.17034943e-03 9.82153513e+01] [-5.92389447e-02 9.98243824e-01 -1.20739769e-04 -3.05456031e+00] [-3.17193424e-03 -6.72810337e-05 9.99994967e-01 -7.61012549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.290281693 meters Centerline goodness [0,1] 0.9981866666666667 Centerline is valid? [True, True] Translation: X:98.24, Y:-3.05, Z:-0.76 [[ 9.98326382e-01 5.76482905e-02 4.59452741e-03 9.82429213e+01] [-5.76480969e-02 9.98336950e-01 -1.74663049e-04 -3.05346867e+00] [-4.59695551e-03 -9.04950317e-05 9.99989430e-01 -7.58337547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.320281693 meters Centerline goodness [0,1] 0.9981751824817519 Centerline is valid? [True, True] Translation: X:98.27, Y:-3.06, Z:-0.76 [[ 9.98360560e-01 5.69187535e-02 6.03716121e-03 9.82719568e+01] [-5.69184086e-02 9.98378807e-01 -2.29071122e-04 -3.05613433e+00] [-6.04041225e-03 -1.14930035e-04 9.99981750e-01 -7.56122227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.350281693 meters Centerline goodness [0,1] 0.997632932366422 Centerline is valid? [True, True] Translation: X:98.30, Y:-3.05, Z:-0.75 [[ 9.98395794e-01 5.61865971e-02 6.99323475e-03 9.82994095e+01] [-5.61861190e-02 9.98420277e-01 -2.64960833e-04 -3.05439439e+00] [-6.99707463e-03 -1.28386938e-04 9.99975512e-01 -7.54352725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.380281693 meters Centerline goodness [0,1] 0.9970548351555216 Centerline is valid? [True, True] Translation: X:98.33, Y:-3.05, Z:-0.76 [[ 9.98440335e-01 5.54810507e-02 6.22506681e-03 9.83271413e+01] [-5.54806602e-02 9.98459734e-01 -2.35528629e-04 -3.04802571e+00] [-6.22854593e-03 -1.10209534e-04 9.99980596e-01 -7.55092912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.410281693 meters Centerline goodness [0,1] 0.9976071489073353 Centerline is valid? [True, True] Translation: X:98.36, Y:-3.05, Z:-0.76 [[ 9.98473883e-01 5.49807547e-02 5.19831284e-03 9.83559500e+01] [-5.49804769e-02 9.98487410e-01 -1.96436683e-04 -3.04692996e+00] [-5.20125016e-03 -8.96688216e-05 9.99986469e-01 -7.57276530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.440281693 meters Centerline goodness [0,1] 0.9989998084739631 Centerline is valid? [True, True] Translation: X:98.38, Y:-3.05, Z:-0.76 [[ 9.98542911e-01 5.38097751e-02 4.06986289e-03 9.83842550e+01] [-5.38095955e-02 9.98551202e-01 -1.53677829e-04 -3.05326260e+00] [-4.07223585e-03 -6.55437697e-05 9.99991706e-01 -7.59754094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.470281693 meters Centerline goodness [0,1] 0.9991300657755146 Centerline is valid? [True, True] Translation: X:98.41, Y:-3.05, Z:-0.76 [[ 9.98777388e-01 4.93025481e-02 3.60377898e-03 9.84126384e+01] [-4.93023785e-02 9.98783889e-01 -1.35938826e-04 -3.05433155e+00] [-3.60609851e-03 -4.19022493e-05 9.99993497e-01 -7.61484659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.500281693 meters Centerline goodness [0,1] 0.999571688617625 Centerline is valid? [True, True] Translation: X:98.44, Y:-3.06, Z:-0.76 [[ 9.98907891e-01 4.65180369e-02 4.37013290e-03 9.84418423e+01] [-4.65177620e-02 9.98917449e-01 -1.64584328e-04 -3.05966291e+00] [-4.37305815e-03 -3.88842187e-05 9.99990437e-01 -7.59912106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.530281693 meters Centerline goodness [0,1] 0.9999144878893473 Centerline is valid? [True, True] Translation: X:98.47, Y:-3.07, Z:-0.76 [[ 9.99155047e-01 4.07774825e-02 5.13704799e-03 9.84702679e+01] [-4.07770278e-02 9.99168252e-01 -1.93280445e-04 -3.06916771e+00] [-5.14065675e-03 -1.63564162e-05 9.99986787e-01 -7.57638860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56028169300001 meters Centerline goodness [0,1] 0.9998091764905437 Centerline is valid? [True, True] Translation: X:98.50, Y:-3.07, Z:-0.76 [[ 9.99271633e-01 3.79016089e-02 4.43525892e-03 9.84981983e+01] [-3.79012422e-02 9.99281476e-01 -1.66715113e-04 -3.07229168e+00] [-4.43839085e-03 -1.50813957e-06 9.99990150e-01 -7.58412665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.590281693 meters Centerline goodness [0,1] 0.9998091764905437 Centerline is valid? [True, True] Translation: X:98.53, Y:-3.07, Z:-0.76 [[ 9.99273185e-01 3.78606719e-02 4.43526865e-03 9.85265025e+01] [-3.78603060e-02 9.99283028e-01 -1.66455764e-04 -3.07325935e+00] [-4.43839082e-03 -1.58584644e-06 9.99990150e-01 -7.58559259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.620281693 meters Centerline goodness [0,1] 0.9997653983961782 Centerline is valid? [True, True] Translation: X:98.55, Y:-3.08, Z:-0.76 [[ 9.99367584e-01 3.53213808e-02 4.10279074e-03 9.85549120e+01] [-3.53210469e-02 9.99376005e-01 -1.53827742e-04 -3.07715048e+00] [-4.10566403e-03 8.81559451e-06 9.99991572e-01 -7.60080069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.650281693 meters Centerline goodness [0,1] 0.9997198638107141 Centerline is valid? [True, True] Translation: X:98.58, Y:-3.08, Z:-0.76 [[ 9.99459078e-01 3.26179108e-02 4.19789456e-03 9.85831217e+01] [-3.26175381e-02 9.99467894e-01 -1.57221754e-04 -3.08079126e+00] [-4.20078908e-03 2.02117235e-05 9.99991176e-01 -7.60312039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.680281693 meters Centerline goodness [0,1] 0.9996151543658599 Centerline is valid? [True, True] Translation: X:98.61, Y:-3.09, Z:-0.76 [[ 9.99610282e-01 2.75656990e-02 4.40634616e-03 9.86116780e+01] [-2.75652406e-02 9.99619993e-01 -1.64739252e-04 -3.08894548e+00] [-4.40921287e-03 4.32130587e-05 9.99990278e-01 -7.60451866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.710281693 meters Centerline goodness [0,1] 0.999616032765204 Centerline is valid? [True, True] Translation: X:98.64, Y:-3.09, Z:-0.76 [[ 9.99671696e-01 2.53027017e-02 4.03414397e-03 9.86413509e+01] [-2.53022996e-02 9.99679834e-01 -1.50685520e-04 -3.09363272e+00] [-4.03666513e-03 4.85629296e-05 9.99991851e-01 -7.61396321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.740281693 meters Centerline goodness [0,1] 0.9994903917613335 Centerline is valid? [True, True] Translation: X:98.67, Y:-3.11, Z:-0.77 [[ 9.99773856e-01 2.11348078e-02 2.35714678e-03 9.86706308e+01] [-2.11346590e-02 9.99776634e-01 -8.80083219e-05 -3.10880644e+00] [-2.35848032e-03 3.81709258e-05 9.99997218e-01 -7.65482658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.770281693 meters Centerline goodness [0,1] 0.999537251272559 Centerline is valid? [True, True] Translation: X:98.70, Y:-3.11, Z:-0.77 [[ 9.99815714e-01 1.91233905e-02 1.68324907e-03 9.87005758e+01] [-1.91233117e-02 9.99817131e-01 -6.28835629e-05 -3.10580967e+00] [-1.68414380e-03 3.06826777e-05 9.99998581e-01 -7.65981276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.800281693 meters Centerline goodness [0,1] 0.9994859823092245 Centerline is valid? [True, True] Translation: X:98.73, Y:-3.11, Z:-0.77 [[ 9.99856465e-01 1.68205101e-02 2.02985366e-03 9.87295312e+01] [-1.68203909e-02 9.99858524e-01 -7.57880820e-05 -3.11054284e+00] [-2.03084128e-03 4.16342716e-05 9.99997937e-01 -7.65899368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.830281693 meters Centerline goodness [0,1] 0.9986308110305286 Centerline is valid? [True, True] Translation: X:98.76, Y:-3.12, Z:-0.76 [[ 9.99916196e-01 1.21204852e-02 4.54918184e-03 9.87595880e+01] [-1.21198395e-02 9.99926538e-01 -1.69496613e-04 -3.12149625e+00] [-4.55090203e-03 1.14347055e-04 9.99989638e-01 -7.60514952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.860281693 meters Centerline goodness [0,1] 0.9979952575986204 Centerline is valid? [True, True] Translation: X:98.79, Y:-3.12, Z:-0.75 [[ 9.99934054e-01 9.88292059e-03 5.84944209e-03 9.87903682e+01] [-9.88181459e-03 9.99951150e-01 -2.17950607e-04 -3.12485372e+00] [-5.85131033e-03 1.60133132e-04 9.99982868e-01 -7.53944600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.890281693 meters Centerline goodness [0,1] 0.9967612357778292 Centerline is valid? [True, True] Translation: X:98.82, Y:-3.14, Z:-0.76 [[ 9.99948713e-01 7.31378410e-03 7.00564757e-03 9.88207206e+01] [-7.31213219e-03 9.99973232e-01 -2.61382324e-04 -3.14306982e+00] [-7.00737174e-03 2.10142698e-04 9.99975426e-01 -7.56215145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.920281693 meters Centerline goodness [0,1] 0.9975863983937802 Centerline is valid? [True, True] Translation: X:98.85, Y:-3.15, Z:-0.76 [[ 9.99951607e-01 7.46317660e-03 6.40977817e-03 9.88532258e+01] [-7.46179099e-03 9.99972132e-01 -2.40058818e-04 -3.14733398e+00] [-6.41139114e-03 1.92218776e-04 9.99979428e-01 -7.57525797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95028169300001 meters Centerline goodness [0,1] 0.9989526557657369 Centerline is valid? [True, True] Translation: X:98.88, Y:-3.15, Z:-0.76 [[ 9.99932898e-01 1.08792500e-02 3.98021923e-03 9.88841578e+01] [-1.08787409e-02 9.99940814e-01 -1.49534119e-04 -3.15008422e+00] [-3.98161047e-03 1.06224311e-04 9.99992068e-01 -7.61528800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.980281693 meters Centerline goodness [0,1] 0.999187739136011 Centerline is valid? [True, True] Translation: X:98.92, Y:-3.15, Z:-0.76 [[ 9.99897581e-01 1.39519045e-02 3.18926125e-03 9.89150313e+01] [-1.39515931e-02 9.99902665e-01 -1.19887402e-04 -3.14836788e+00] [-3.19062348e-03 7.53798481e-05 9.99994907e-01 -7.62539022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.010281693 meters Centerline goodness [0,1] 0.9994689212728894 Centerline is valid? [True, True] Translation: X:98.94, Y:-3.15, Z:-0.76 [[ 9.99841765e-01 1.75616924e-02 2.83416611e-03 9.89449336e+01] [-1.75614608e-02 9.99845780e-01 -1.06589302e-04 -3.14584842e+00] [-2.83560091e-03 5.68003385e-05 9.99995978e-01 -7.62332091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.040281693 meters Centerline goodness [0,1] 0.999765162998228 Centerline is valid? [True, True] Translation: X:98.97, Y:-3.14, Z:-0.76 [[ 9.99707972e-01 2.39861513e-02 2.93875197e-03 9.89739662e+01] [-2.39859298e-02 9.99712290e-01 -1.10571132e-04 -3.14005202e+00] [-2.94055864e-03 4.00501435e-05 9.99995676e-01 -7.62410510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.070281693 meters Centerline goodness [0,1] 0.999828082692225 Centerline is valid? [True, True] Translation: X:99.00, Y:-3.14, Z:-0.76 [[ 9.99647084e-01 2.63668458e-02 3.23978446e-03 9.90040922e+01] [-2.63665895e-02 9.99652334e-01 -1.21819166e-04 -3.13575444e+00] [-3.24187008e-03 3.63541073e-05 9.99994744e-01 -7.62207146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.100281693 meters Centerline goodness [0,1] 0.9996817381341367 Centerline is valid? [True, True] Translation: X:99.03, Y:-3.14, Z:-0.76 [[ 9.99598135e-01 2.82024568e-02 2.86182760e-03 9.90323004e+01] [-2.82022643e-02 9.99602231e-01 -1.07581352e-04 -3.13960893e+00] [-2.86372331e-03 2.68281008e-05 9.99995899e-01 -7.64067519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.130281693 meters Centerline goodness [0,1] 0.9997879424051572 Centerline is valid? [True, True] Translation: X:99.06, Y:-3.14, Z:-0.76 [[ 9.99611549e-01 2.77390085e-02 2.70159585e-03 9.90607330e+01] [-2.77388356e-02 9.99615199e-01 -1.01465087e-04 -3.14257717e+00] [-2.70337081e-03 2.64865498e-05 9.99996346e-01 -7.64960609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.160281693 meters Centerline goodness [0,1] 0.9999359972692168 Centerline is valid? [True, True] Translation: X:99.09, Y:-3.15, Z:-0.77 [[ 9.99668829e-01 2.56766148e-02 1.71546439e-03 9.90904994e+01] [-2.56765421e-02 9.99670301e-01 -6.44024838e-05 -3.14606061e+00] [-1.71655244e-03 2.03339619e-05 9.99998527e-01 -7.65427701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.190281693 meters Centerline goodness [0,1] 0.9996823110809895 Centerline is valid? [True, True] Translation: X:99.12, Y:-3.15, Z:-0.77 [[ 9.99687016e-01 2.49329429e-02 2.05371757e-03 9.91189831e+01] [-2.49328372e-02 9.99689126e-01 -7.70354555e-05 -3.15121300e+00] [-2.05499985e-03 2.58063386e-05 9.99997888e-01 -7.65154004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.220281693 meters Centerline goodness [0,1] 0.9996418790815251 Centerline is valid? [True, True] Translation: X:99.15, Y:-3.15, Z:-0.76 [[ 9.99675965e-01 2.52205798e-02 3.44780985e-03 9.91472292e+01] [-2.52202844e-02 9.99681910e-01 -1.29150850e-04 -3.15203099e+00] [-3.44997040e-03 4.21542556e-05 9.99994048e-01 -7.62331628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.250281693 meters Centerline goodness [0,1] 0.9998307379823967 Centerline is valid? [True, True] Translation: X:99.18, Y:-3.15, Z:-0.76 [[ 9.99596955e-01 2.79475560e-02 4.98621256e-03 9.91769870e+01] [-2.79469727e-02 9.99609390e-01 -1.86631886e-04 -3.14660599e+00] [-4.98948080e-03 4.72071185e-05 9.99987551e-01 -7.58836555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.280281693 meters Centerline goodness [0,1] 0.9998733081357292 Centerline is valid? [True, True] Translation: X:99.21, Y:-3.15, Z:-0.76 [[ 9.99542286e-01 2.98927073e-02 4.65238932e-03 9.92060074e+01] [-2.98922209e-02 9.99553113e-01 -1.74045052e-04 -3.14535824e+00] [-4.65551291e-03 3.48951396e-05 9.99989162e-01 -7.59826886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31028169300001 meters Centerline goodness [0,1] 0.9998503282088563 Centerline is valid? [True, True] Translation: X:99.24, Y:-3.14, Z:-0.76 [[ 9.99424169e-01 3.37652976e-02 3.35202485e-03 9.92359859e+01] [-3.37650672e-02 9.99429790e-01 -1.25314584e-04 -3.14044873e+00] [-3.35434478e-03 1.20610794e-05 9.99994374e-01 -7.61836528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.340281693 meters Centerline goodness [0,1] 0.9999144421629022 Centerline is valid? [True, True] Translation: X:99.26, Y:-3.14, Z:-0.76 [[ 9.99349633e-01 3.59365076e-02 2.97979399e-03 9.92644868e+01] [-3.59363352e-02 9.99354075e-01 -1.11393429e-04 -3.13786348e+00] [-2.98187235e-03 4.23810677e-06 9.99995554e-01 -7.62281904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.370281693 meters Centerline goodness [0,1] 0.9998306519898391 Centerline is valid? [True, True] Translation: X:99.29, Y:-3.13, Z:-0.76 [[ 9.99272547e-01 3.79983573e-02 3.24054264e-03 9.92922714e+01] [-3.79981647e-02 9.99277802e-01 -1.20998725e-04 -3.13481772e+00] [-3.24280008e-03 -2.22396849e-06 9.99994742e-01 -7.61654662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.400281693 meters Centerline goodness [0,1] 0.9997450713800136 Centerline is valid? [True, True] Translation: X:99.32, Y:-3.13, Z:-0.76 [[ 9.99097045e-01 4.23166883e-02 3.79368231e-03 9.93212799e+01] [-4.23164567e-02 9.99104248e-01 -1.41336996e-04 -3.12503573e+00] [-3.79626503e-03 -1.93258179e-05 9.99992794e-01 -7.60146245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.430281693 meters Centerline goodness [0,1] 0.9996154585656605 Centerline is valid? [True, True] Translation: X:99.35, Y:-3.12, Z:-0.76 [[ 9.99002387e-01 4.45166592e-02 3.53528629e-03 9.93499232e+01] [-4.45164723e-02 9.99008642e-01 -1.31568903e-04 -3.12089815e+00] [-3.53763857e-03 -2.59408264e-05 9.99993742e-01 -7.60695222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.460281693 meters Centerline goodness [0,1] 0.9995300852254523 Centerline is valid? [True, True] Translation: X:99.38, Y:-3.11, Z:-0.77 [[ 9.98881370e-01 4.72594281e-02 1.59849049e-03 9.93779689e+01] [-4.72593934e-02 9.98882649e-01 -5.95456919e-05 -3.11111792e+00] [-1.59951851e-03 -1.60646087e-05 9.99998721e-01 -7.65546308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.490281693 meters Centerline goodness [0,1] 0.9995296029421198 Centerline is valid? [True, True] Translation: X:99.41, Y:-3.11, Z:-0.77 [[ 9.98853553e-01 4.78609557e-02 9.53159122e-04 9.94068672e+01] [-4.78609436e-02 9.98854008e-01 -3.55579404e-05 -3.10967744e+00] [-9.53768646e-04 -1.01019199e-05 9.99999545e-01 -7.66386948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.520281693 meters Centerline goodness [0,1] 0.9995354533552937 Centerline is valid? [True, True] Translation: X:99.43, Y:-3.11, Z:-0.77 [[ 9.98876177e-01 4.73927152e-02 5.59976907e-04 9.94345855e+01] [-4.73927109e-02 9.98876334e-01 -2.10130580e-05 -3.10736121e+00] [-5.60343545e-04 -5.54938063e-06 9.99999843e-01 -7.66790633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.550281693 meters Centerline goodness [0,1] 0.999573969538822 Centerline is valid? [True, True] Translation: X:99.46, Y:-3.10, Z:-0.77 [[ 9.98927069e-01 4.63012729e-02 9.49978684e-04 9.94634901e+01] [-4.63012602e-02 9.98927521e-01 -3.53401126e-05 -3.10325981e+00] [-9.50596144e-04 -8.68301510e-06 9.99999548e-01 -7.65662357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.580281693 meters Centerline goodness [0,1] 0.9994889485115626 Centerline is valid? [True, True] Translation: X:99.49, Y:-3.10, Z:-0.76 [[ 9.98957739e-01 4.55929059e-02 2.17305232e-03 9.94922241e+01] [-4.55928388e-02 9.98960103e-01 -8.04387535e-05 -3.10219582e+00] [-2.17446000e-03 -1.87207086e-05 9.99997636e-01 -7.63759989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.610281693 meters Centerline goodness [0,1] 0.9994932004392263 Centerline is valid? [True, True] Translation: X:99.52, Y:-3.10, Z:-0.76 [[ 9.98971173e-01 4.50854049e-02 4.88891820e-03 9.95207481e+01] [-4.50850617e-02 9.98983135e-01 -1.80458496e-04 -3.09797991e+00] [-4.89208288e-03 -4.01443434e-05 9.99988033e-01 -7.58841940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.640281693 meters Centerline goodness [0,1] 0.9991193401494973 Centerline is valid? [True, True] Translation: X:99.55, Y:-3.10, Z:-0.76 [[ 9.98968920e-01 4.49952946e-02 6.04321590e-03 9.95501063e+01] [-4.49947704e-02 9.98987198e-01 -2.22740223e-04 -3.09575031e+00] [-6.04711758e-03 -4.94025516e-05 9.99981715e-01 -7.56657474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.670281693 meters Centerline goodness [0,1] 0.9989825550586091 Centerline is valid? [True, True] Translation: X:99.58, Y:-3.09, Z:-0.76 [[ 9.98977223e-01 4.47883773e-02 6.20556768e-03 9.95787191e+01] [-4.47878223e-02 9.98996496e-01 -2.28441770e-04 -3.09392969e+00] [-6.20957190e-03 -4.97257375e-05 9.99980719e-01 -7.56990710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70028169300001 meters Centerline goodness [0,1] 0.99948625738505 Centerline is valid? [True, True] Translation: X:99.61, Y:-3.09, Z:-0.76 [[ 9.99081062e-01 4.26773322e-02 3.95942347e-03 9.96071493e+01] [-4.26770901e-02 9.99088907e-01 -1.45665206e-04 -3.09463974e+00] [-3.96203267e-03 -2.34453231e-05 9.99992151e-01 -7.61729443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.730281693 meters Centerline goodness [0,1] 0.9998509496635721 Centerline is valid? [True, True] Translation: X:99.64, Y:-3.10, Z:-0.76 [[ 9.99152865e-01 4.10653357e-02 2.68138917e-03 9.96352097e+01] [-4.10652189e-02 9.99156463e-01 -9.86280789e-05 -3.09631227e+00] [-2.68317751e-03 -1.15673056e-05 9.99996400e-01 -7.64664728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.760281693 meters Centerline goodness [0,1] 0.999830841773624 Centerline is valid? [True, True] Translation: X:99.66, Y:-3.10, Z:-0.77 [[ 9.99226784e-01 3.92545494e-02 2.21664449e-03 9.96626935e+01] [-3.92544654e-02 9.99229243e-01 -8.14493025e-05 -3.09930195e+00] [-2.21813326e-03 -5.62686982e-06 9.99997540e-01 -7.66338817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.790281693 meters Centerline goodness [0,1] 0.9998937120020407 Centerline is valid? [True, True] Translation: X:99.69, Y:-3.11, Z:-0.77 [[ 9.99376299e-01 3.52541692e-02 2.03870842e-03 9.96917103e+01] [-3.52540900e-02 9.99378379e-01 -7.47884826e-05 -3.10576903e+00] [-2.04007772e-03 2.86902689e-06 9.99997919e-01 -7.65719955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.820281693 meters Centerline goodness [0,1] 0.9999364702892719 Centerline is valid? [True, True] Translation: X:99.72, Y:-3.11, Z:-0.77 [[ 9.99444954e-01 3.32560289e-02 1.95444642e-03 9.97196195e+01] [-3.32559523e-02 9.99446865e-01 -7.16550747e-05 -3.10929559e+00] [-1.95574831e-03 6.61832589e-06 9.99998087e-01 -7.65823149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.850281693 meters Centerline goodness [0,1] 0.9997895932838177 Centerline is valid? [True, True] Translation: X:99.75, Y:-3.11, Z:-0.77 [[ 9.99524985e-01 3.07320738e-02 2.31181315e-03 9.97484864e+01] [-3.07319605e-02 9.99527658e-01 -8.45506891e-05 -3.11288899e+00] [-2.31331960e-03 1.34639760e-05 9.99997324e-01 -7.65524920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.880281693 meters Centerline goodness [0,1] 0.9998063224945662 Centerline is valid? [True, True] Translation: X:99.78, Y:-3.11, Z:-0.77 [[ 9.99521939e-01 3.08286108e-02 2.34322964e-03 9.97768223e+01] [-3.08284949e-02 9.99524685e-01 -8.55950948e-05 -3.11377950e+00] [-2.34475465e-03 1.33159321e-05 9.99997251e-01 -7.65807861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.910281693 meters Centerline goodness [0,1] 0.9998722371278906 Centerline is valid? [True, True] Translation: X:99.80, Y:-3.11, Z:-0.77 [[ 9.99478488e-01 3.22032593e-02 2.38791545e-03 9.98044830e+01] [-3.22031430e-02 9.99481340e-01 -8.71506173e-05 -3.11170760e+00] [-2.38948346e-03 1.02067847e-05 9.99997145e-01 -7.65287877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.940281693 meters Centerline goodness [0,1] 0.9998935875880562 Centerline is valid? [True, True] Translation: X:99.83, Y:-3.11, Z:-0.77 [[ 9.99447261e-01 3.31779324e-02 2.09690658e-03 9.98334225e+01] [-3.31778451e-02 9.99449461e-01 -7.64263118e-05 -3.10961575e+00] [-2.09828781e-03 6.81322642e-06 9.99997799e-01 -7.65253256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.970281693 meters Centerline goodness [0,1] 0.9998943766107566 Centerline is valid? [True, True] Translation: X:99.86, Y:-3.11, Z:-0.77 [[ 9.99414148e-01 3.41975279e-02 1.37491875e-03 9.98618455e+01] [-3.41974913e-02 9.99415093e-01 -5.01310615e-05 -3.10841623e+00] [-1.37582891e-03 3.08291993e-06 9.99999054e-01 -7.66492602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.000281693 meters Centerline goodness [0,1] 0.9999144147035539 Centerline is valid? [True, True] Translation: X:99.89, Y:-3.11, Z:-0.77 [[ 9.99347898e-01 3.61065640e-02 -3.07212210e-04 9.98902553e+01] [-3.61065624e-02 9.99347945e-01 1.08926562e-05 -3.10746538e+00] [ 3.07405187e-04 2.06823717e-07 9.99999953e-01 -7.68983805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.030281693 meters Centerline goodness [0,1] 0.9998937052233253 Centerline is valid? [True, True] Translation: X:99.92, Y:-3.11, Z:-0.77 [[ 9.99320405e-01 3.68544419e-02 -6.91009611e-04 9.99179546e+01] [-3.68544336e-02 9.99320644e-01 2.47029670e-05 -3.10677462e+00] [ 6.91450583e-04 7.80588867e-07 9.99999761e-01 -7.70415118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06028169300001 meters Centerline goodness [0,1] 0.9997033458351874 Centerline is valid? [True, True] Translation: X:99.95, Y:-3.10, Z:-0.77 [[ 9.99282178e-01 3.78525004e-02 1.52238860e-03 9.99455427e+01] [-3.78524600e-02 9.99283337e-01 -5.53287230e-05 -3.10298879e+00] [-1.52339189e-03 -2.33714698e-06 9.99998840e-01 -7.67090283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.090281693 meters Centerline goodness [0,1] 0.9996604702487055 Centerline is valid? [True, True] Translation: X:99.97, Y:-3.10, Z:-0.76 [[ 9.99285372e-01 3.76733326e-02 3.07642026e-03 9.99748567e+01] [-3.76731688e-02 9.99290108e-01 -1.11194117e-04 -3.10425647e+00] [-3.07842538e-03 -4.78384478e-06 9.99995262e-01 -7.63842565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.120281693 meters Centerline goodness [0,1] 0.9997014479773101 Centerline is valid? [True, True] Translation: X:100.00, Y:-3.11, Z:-0.76 [[ 9.99298592e-01 3.72009310e-02 4.29133700e-03 1.00004124e+02] [-3.72006088e-02 9.99307806e-01 -1.54902595e-04 -3.10611592e+00] [-4.29412908e-03 -4.84640419e-06 9.99990780e-01 -7.61924392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.150281693 meters Centerline goodness [0,1] 0.9997677659080353 Centerline is valid? [True, True] Translation: X:100.03, Y:-3.11, Z:-0.76 [[ 9.99316152e-01 3.67067388e-02 4.45462118e-03 1.00033156e+02] [-3.67063877e-02 9.99326081e-01 -1.60585689e-04 -3.10766826e+00] [-4.45751370e-03 -3.03717886e-06 9.99990065e-01 -7.61273846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.180281693 meters Centerline goodness [0,1] 0.9998511176808389 Centerline is valid? [True, True] Translation: X:100.06, Y:-3.11, Z:-0.76 [[ 9.99360983e-01 3.55713787e-02 3.50739524e-03 1.00061703e+02] [-3.55711544e-02 9.99367138e-01 -1.26330018e-04 -3.10835549e+00] [-3.50966927e-03 1.48719413e-06 9.99993841e-01 -7.62618120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.210281693 meters Centerline goodness [0,1] 0.9997865756055917 Centerline is valid? [True, True] Translation: X:100.09, Y:-3.12, Z:-0.76 [[ 9.99509970e-01 3.10324296e-02 4.09985147e-03 1.00089559e+02] [-3.10320858e-02 9.99518378e-01 -1.47455821e-04 -3.11690912e+00] [-4.10245281e-03 2.01566202e-05 9.99991585e-01 -7.62633576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.240281693 meters Centerline goodness [0,1] 0.9995966372282609 Centerline is valid? [True, True] Translation: X:100.12, Y:-3.12, Z:-0.76 [[ 9.99624730e-01 2.69818506e-02 4.73062409e-03 1.00118552e+02] [-2.69813490e-02 9.99635923e-01 -1.69825383e-04 -3.12409300e+00] [-4.73348398e-03 4.21230331e-05 9.99988796e-01 -7.61109299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.270281693 meters Centerline goodness [0,1] 0.9996565786649496 Centerline is valid? [True, True] Translation: X:100.15, Y:-3.13, Z:-0.76 [[ 9.99748947e-01 2.17462331e-02 5.39852609e-03 1.00148180e+02] [-2.17455051e-02 9.99763520e-01 -1.93519041e-04 -3.13326817e+00] [-5.40145776e-03 7.60767807e-05 9.99985409e-01 -7.60528983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.300281693 meters Centerline goodness [0,1] 0.9994629199965627 Centerline is valid? [True, True] Translation: X:100.18, Y:-3.14, Z:-0.76 [[ 9.99855939e-01 1.61391060e-02 5.25649775e-03 1.00176822e+02] [-1.61383390e-02 9.99869751e-01 -1.88305171e-04 -3.14474253e+00] [-5.25885218e-03 1.03446901e-04 9.99986167e-01 -7.61111751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.330281693 meters Centerline goodness [0,1] 0.9979127619696712 Centerline is valid? [True, True] Translation: X:100.21, Y:-3.17, Z:-0.76 [[ 9.99974475e-01 5.94135977e-03 3.96859530e-03 1.00205938e+02] [-5.94084270e-03 9.99982343e-01 -1.42066540e-04 -3.17090573e+00] [-3.96936929e-03 1.18486113e-04 9.99992115e-01 -7.63612393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.360281693 meters Centerline goodness [0,1] 0.9971676858706148 Centerline is valid? [True, True] Translation: X:100.24, Y:-3.19, Z:-0.76 [[ 9.99995032e-01 -4.47192359e-04 3.12010736e-03 1.00236080e+02] [ 4.47543118e-04 9.99999894e-01 -1.11721621e-04 -3.18792259e+00] [-3.12005707e-03 1.13117449e-04 9.99995126e-01 -7.64137914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.390281693 meters Centerline goodness [0,1] 0.9967824419347965 Centerline is valid? [True, True] Translation: X:100.27, Y:-3.20, Z:-0.76 [[ 9.99995265e-01 -1.82320204e-03 2.47901052e-03 1.00267710e+02] [ 1.82342668e-03 9.99998334e-01 -8.83609720e-05 -3.19502898e+00] [-2.47884529e-03 9.28808475e-05 9.99996923e-01 -7.64270345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.420281693 meters Centerline goodness [0,1] 0.9960952585282128 Centerline is valid? [True, True] Translation: X:100.30, Y:-3.20, Z:-0.76 [[ 9.99994929e-01 -2.20025214e-03 2.30222005e-03 1.00298932e+02] [ 2.20044840e-03 9.99997576e-01 -8.27166062e-05 -3.20167020e+00] [-2.30203247e-03 8.77821032e-05 9.99997346e-01 -7.64620783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45028169300001 meters Centerline goodness [0,1] 0.9960060334388477 Centerline is valid? [True, True] Translation: X:100.33, Y:-3.21, Z:-0.76 [[ 9.99996426e-01 -1.78479481e-03 1.99044146e-03 1.00329469e+02] [ 1.78494068e-03 9.99998404e-01 -7.15078608e-05 -3.21015601e+00] [-1.99031066e-03 7.50604252e-05 9.99998017e-01 -7.64893810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.480281693 meters Centerline goodness [0,1] 0.9960060334388477 Centerline is valid? [True, True] Translation: X:100.36, Y:-3.21, Z:-0.77 [[ 9.99996466e-01 -1.76226653e-03 1.99043761e-03 1.00360307e+02] [ 1.76241256e-03 9.99998444e-01 -7.16147102e-05 -3.21130899e+00] [-1.99030831e-03 7.51224294e-05 9.99998017e-01 -7.65053462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.510281693 meters Centerline goodness [0,1] 0.9967984974281263 Centerline is valid? [True, True] Translation: X:100.39, Y:-3.22, Z:-0.76 [[ 9.99994922e-01 5.12842648e-04 3.14530264e-03 1.00390205e+02] [-5.12488658e-04 9.99999862e-01 -1.13350347e-04 -3.22120386e+00] [-3.14536033e-03 1.11737840e-04 9.99995047e-01 -7.63988349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.540281693 meters Centerline goodness [0,1] 0.9966111087429131 Centerline is valid? [True, True] Translation: X:100.42, Y:-3.23, Z:-0.76 [[ 9.99989290e-01 2.16975343e-03 4.08794097e-03 1.00420306e+02] [-2.16916934e-03 9.99997637e-01 -1.47309035e-04 -3.22653163e+00] [-4.08825094e-03 1.38440021e-04 9.99991633e-01 -7.63251608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.570281693 meters Centerline goodness [0,1] 0.9976964855554851 Centerline is valid? [True, True] Translation: X:100.45, Y:-3.23, Z:-0.76 [[ 9.99972466e-01 6.03850628e-03 4.31316324e-03 1.00450970e+02] [-6.03789179e-03 9.99981760e-01 -1.55476225e-04 -3.23168676e+00] [-4.31402341e-03 1.29429531e-04 9.99990686e-01 -7.62265500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.600281693 meters Centerline goodness [0,1] 0.9986854659175236 Centerline is valid? [True, True] Translation: X:100.48, Y:-3.23, Z:-0.76 [[ 9.99961409e-01 7.91245406e-03 3.81755128e-03 1.00482630e+02] [-7.91198630e-03 9.99968690e-01 -1.37616157e-04 -3.23418611e+00] [-3.81852064e-03 1.07406433e-04 9.99992704e-01 -7.63739842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.630281693 meters Centerline goodness [0,1] 0.9992474251187993 Centerline is valid? [True, True] Translation: X:100.51, Y:-3.24, Z:-0.77 [[ 9.99949873e-01 9.66597236e-03 2.61142387e-03 1.00513972e+02] [-9.66575929e-03 9.99953281e-01 -9.41996635e-05 -3.23677092e+00] [-2.61221240e-03 6.89535471e-05 9.99996586e-01 -7.65695573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.660281693 meters Centerline goodness [0,1] 0.9993387230956292 Centerline is valid? [True, True] Translation: X:100.54, Y:-3.24, Z:-0.77 [[ 9.99916279e-01 1.29258056e-02 5.99304550e-04 1.00543797e+02] [-1.29257949e-02 9.99916458e-01 -2.16452554e-05 -3.24047224e+00] [-5.99534266e-04 1.38969556e-05 9.99999820e-01 -7.69301319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.690281693 meters Centerline goodness [0,1] 0.9995145938416732 Centerline is valid? [True, True] Translation: X:100.57, Y:-3.24, Z:-0.77 [[ 9.99865586e-01 1.63929346e-02 2.84503320e-04 1.00572785e+02] [-1.63929323e-02 9.99865627e-01 -1.03853537e-05 -3.24227620e+00] [-2.84635337e-04 5.72011412e-06 9.99999959e-01 -7.70701018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.720281693 meters Centerline goodness [0,1] 0.9995679039018278 Centerline is valid? [True, True] Translation: X:100.60, Y:-3.24, Z:-0.77 [[ 9.99837359e-01 1.80202766e-02 7.24874173e-04 1.00602820e+02] [-1.80202623e-02 9.99837622e-01 -2.62702202e-05 -3.24149423e+00] [-7.25229866e-04 1.32035248e-05 9.99999737e-01 -7.69468259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.750281693 meters Centerline goodness [0,1] 0.9997017278479664 Centerline is valid? [True, True] Translation: X:100.63, Y:-3.25, Z:-0.77 [[ 9.99809845e-01 1.94800349e-02 8.95275352e-04 1.00631715e+02] [-1.94800137e-02 9.99810246e-01 -3.24461580e-05 -3.24687786e+00] [-8.95737522e-04 1.50000121e-05 9.99999599e-01 -7.70184744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.780281693 meters Centerline goodness [0,1] 0.9997448925359808 Centerline is valid? [True, True] Translation: X:100.66, Y:-3.25, Z:-0.77 [[ 9.99770382e-01 2.14057374e-02 9.88406781e-04 1.00661536e+02] [-2.14057125e-02 9.99770871e-01 -3.57109210e-05 -3.24854082e+00] [-9.88944727e-04 1.45451697e-05 9.99999511e-01 -7.69417935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81028169300001 meters Centerline goodness [0,1] 0.9998936645328683 Centerline is valid? [True, True] Translation: X:100.69, Y:-3.25, Z:-0.77 [[ 9.99681580e-01 2.52025074e-02 1.25369997e-03 1.00691083e+02] [-2.52024705e-02 9.99682366e-01 -4.52392815e-05 -3.24875410e+00] [-1.25444190e-03 1.36285398e-05 9.99999213e-01 -7.68519008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.840281693 meters Centerline goodness [0,1] 0.9999365991800161 Centerline is valid? [True, True] Translation: X:100.72, Y:-3.25, Z:-0.77 [[ 9.99563975e-01 2.95150194e-02 8.50204616e-04 1.00720103e+02] [-2.95150040e-02 9.99564337e-01 -3.06483038e-05 -3.25012586e+00] [-8.50738798e-04 5.54114779e-06 9.99999638e-01 -7.69466904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.870281693 meters Centerline goodness [0,1] 0.9999361090405707 Centerline is valid? [True, True] Translation: X:100.75, Y:-3.25, Z:-0.77 [[ 9.99479738e-01 3.22483664e-02 5.44258656e-04 1.00749546e+02] [-3.22483604e-02 9.99479886e-01 -1.96890007e-05 -3.24961997e+00] [-5.44610518e-04 2.12730797e-06 9.99999852e-01 -7.69745726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.900281693 meters Centerline goodness [0,1] 0.9998293224099676 Centerline is valid? [True, True] Translation: X:100.78, Y:-3.25, Z:-0.77 [[ 9.99379634e-01 3.52093908e-02 8.03344898e-04 1.00778388e+02] [-3.52093788e-02 9.99379957e-01 -2.90859964e-05 -3.24843721e+00] [-8.03870890e-04 7.82677631e-07 9.99999677e-01 -7.69558303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.930281693 meters Centerline goodness [0,1] 0.9997891096208191 Centerline is valid? [True, True] Translation: X:100.81, Y:-3.25, Z:-0.77 [[ 9.99258291e-01 3.84913639e-02 1.13263885e-03 1.00806256e+02] [-3.84913422e-02 9.99258933e-01 -4.09049178e-05 -3.24619418e+00] [-1.13337397e-03 -2.72221117e-06 9.99999358e-01 -7.69371064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.960281693 meters Centerline goodness [0,1] 0.9991941811395975 Centerline is valid? [True, True] Translation: X:100.84, Y:-3.24, Z:-0.77 [[ 9.99001056e-01 4.46659871e-02 1.35663026e-03 1.00835264e+02] [-4.46659621e-02 9.99001977e-01 -4.87687263e-05 -3.24173720e+00] [-1.35745461e-03 -1.18751867e-05 9.99999079e-01 -7.68624353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.990281693 meters Centerline goodness [0,1] 0.998540177325519 Centerline is valid? [True, True] Translation: X:100.86, Y:-3.24, Z:-0.77 [[ 9.98844539e-01 4.80334409e-02 1.54095775e-03 1.00863941e+02] [-4.80334126e-02 9.98845728e-01 -5.53633160e-05 -3.23903547e+00] [-1.54183836e-03 -1.87181136e-05 9.99998811e-01 -7.67924247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.020281693 meters Centerline goodness [0,1] 0.9986249206685001 Centerline is valid? [True, True] Translation: X:100.89, Y:-3.24, Z:-0.77 [[ 9.98834432e-01 4.82374890e-02 1.70963918e-03 1.00892168e+02] [-4.82374546e-02 9.98835895e-01 -6.13565552e-05 -3.23611509e+00] [-1.71060867e-03 -2.11836026e-05 9.99998537e-01 -7.68713271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.050281693 meters Centerline goodness [0,1] 0.9989560919491255 Centerline is valid? [True, True] Translation: X:100.92, Y:-3.24, Z:-0.77 [[ 9.98886702e-01 4.70991431e-02 2.65084199e-03 1.00920745e+02] [-4.70990574e-02 9.98890219e-01 -9.47825461e-05 -3.24123975e+00] [-2.65236432e-03 -3.01751343e-05 9.99996482e-01 -7.67034397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.080281693 meters Centerline goodness [0,1] 0.999018310640659 Centerline is valid? [True, True] Translation: X:100.95, Y:-3.25, Z:-0.76 [[ 9.99118086e-01 4.16729591e-02 5.13943397e-03 1.00949817e+02] [-4.16725675e-02 9.99131304e-01 -1.83296122e-04 -3.25067362e+00] [-5.14260785e-03 -3.10389387e-05 9.99986776e-01 -7.63223956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.110281693 meters Centerline goodness [0,1] 0.9993443455087667 Centerline is valid? [True, True] Translation: X:100.98, Y:-3.26, Z:-0.76 [[ 9.99268482e-01 3.78657536e-02 5.35584839e-03 1.00979138e+02] [-3.78652744e-02 9.99282835e-01 -1.90886568e-04 -3.25759747e+00] [-5.35923543e-03 -1.20537382e-05 9.99985639e-01 -7.62557120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.140281693 meters Centerline goodness [0,1] 0.9997450334643578 Centerline is valid? [True, True] Translation: X:101.01, Y:-3.26, Z:-0.76 [[ 9.99419767e-01 3.37298383e-02 4.73571623e-03 1.01008643e+02] [-3.37294174e-02 9.99430987e-01 -1.68741891e-04 -3.26418697e+00] [-4.73871318e-03 8.91103166e-06 9.99988772e-01 -7.63704058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.170281693 meters Centerline goodness [0,1] 0.9998940206447784 Centerline is valid? [True, True] Translation: X:101.04, Y:-3.28, Z:-0.77 [[ 9.99627915e-01 2.70766767e-02 3.29914783e-03 1.01037508e+02] [-2.70764364e-02 9.99633359e-01 -1.17491168e-04 -3.27556246e+00] [-3.30111949e-03 2.81182848e-05 9.99994551e-01 -7.66821916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20028169300001 meters Centerline goodness [0,1] 0.9997655933684233 Centerline is valid? [True, True] Translation: X:101.07, Y:-3.28, Z:-0.77 [[ 9.99679630e-01 2.50786803e-02 3.42009712e-03 1.01066377e+02] [-2.50784104e-02 9.99685480e-01 -1.21775646e-04 -3.28057540e+00] [-3.42207540e-03 3.59660334e-05 9.99994144e-01 -7.66958977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.230281693 meters Centerline goodness [0,1] 0.9998286167227233 Centerline is valid? [True, True] Translation: X:101.10, Y:-3.28, Z:-0.77 [[ 9.99716757e-01 2.35234152e-02 3.61310021e-03 1.01096424e+02] [-2.35231043e-02 9.99723285e-01 -1.28522907e-04 -3.28499012e+00] [-3.61512371e-03 4.34951703e-05 9.99993464e-01 -7.66036180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.260281693 meters Centerline goodness [0,1] 0.9998504561088679 Centerline is valid? [True, True] Translation: X:101.13, Y:-3.29, Z:-0.77 [[ 9.99716789e-01 2.36467817e-02 2.67805621e-03 1.01125985e+02] [-2.36466113e-02 9.99720375e-01 -9.52912135e-05 -3.28627060e+00] [-2.67956069e-03 3.19372718e-05 9.99996409e-01 -7.67272534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.290281693 meters Centerline goodness [0,1] 0.999726430976431 Centerline is valid? [True, True] Translation: X:101.16, Y:-3.29, Z:-0.77 [[ 9.99700857e-01 2.44088026e-02 1.55132113e-03 1.01155056e+02] [-2.44087464e-02 9.99702061e-01 -5.52064534e-05 -3.28762273e+00] [-1.55220646e-03 1.73241348e-05 9.99998795e-01 -7.69265719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.320281693 meters Centerline goodness [0,1] 0.9998296204796183 Centerline is valid? [True, True] Translation: X:101.19, Y:-3.29, Z:-0.77 [[ 9.99679763e-01 2.52834922e-02 1.05675547e-03 1.01185080e+02] [-2.52834665e-02 9.99680321e-01 -3.76617520e-05 -3.28544441e+00] [-1.05736987e-03 1.09312498e-05 9.99999441e-01 -7.70041182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.350281693 meters Centerline goodness [0,1] 0.9997008802666438 Centerline is valid? [True, True] Translation: X:101.21, Y:-3.29, Z:-0.77 [[ 9.99663045e-01 2.58430596e-02 2.43582919e-03 1.01213639e+02] [-2.58429253e-02 9.99666012e-01 -8.66273546e-05 -3.28710371e+00] [-2.43725437e-03 2.36492133e-05 9.99997030e-01 -7.68969988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.380281693 meters Centerline goodness [0,1] 0.9996830561835739 Centerline is valid? [True, True] Translation: X:101.24, Y:-3.29, Z:-0.77 [[ 9.99677952e-01 2.50236410e-02 4.22020995e-03 1.01243693e+02] [-2.50232317e-02 9.99686859e-01 -1.49775042e-04 -3.28763161e+00] [-4.22263634e-03 4.41235163e-05 9.99991084e-01 -7.65562546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.410281693 meters Centerline goodness [0,1] 0.9997445340940541 Centerline is valid? [True, True] Translation: X:101.27, Y:-3.29, Z:-0.77 [[ 9.99702177e-01 2.40879996e-02 3.91486019e-03 1.01274570e+02] [-2.40876402e-02 9.99709841e-01 -1.38938195e-04 -3.28930590e+00] [-3.91707100e-03 4.45970718e-05 9.99992327e-01 -7.66224612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.440281693 meters Centerline goodness [0,1] 0.9997432990352322 Centerline is valid? [True, True] Translation: X:101.30, Y:-3.29, Z:-0.77 [[ 9.99732031e-01 2.29611779e-02 2.94124855e-03 1.01304166e+02] [-2.29609701e-02 9.99736357e-01 -1.04411360e-04 -3.29359980e+00] [-2.94287052e-03 3.68494613e-05 9.99995669e-01 -7.68381659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.470281693 meters Centerline goodness [0,1] 0.9998302783435167 Centerline is valid? [True, True] Translation: X:101.33, Y:-3.30, Z:-0.77 [[ 9.99760749e-01 2.17661416e-02 2.16348506e-03 1.01334737e+02] [-2.17660265e-02 9.99763089e-01 -7.67561712e-05 -3.29722124e+00] [-2.16464319e-03 2.96473341e-05 9.99997657e-01 -7.70011564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.500281693 meters Centerline goodness [0,1] 0.9997021783526209 Centerline is valid? [True, True] Translation: X:101.36, Y:-3.30, Z:-0.77 [[ 9.99795210e-01 2.02213290e-02 7.97606081e-04 1.01363899e+02] [-2.02213129e-02 9.99795528e-01 -2.82728808e-05 -3.30340356e+00] [-7.98014708e-04 1.21384487e-05 9.99999682e-01 -7.73039000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.530281693 meters Centerline goodness [0,1] 0.9997219667643348 Centerline is valid? [True, True] Translation: X:101.39, Y:-3.30, Z:-0.77 [[ 9.99791903e-01 2.03731008e-02 1.04289889e-03 1.01393647e+02] [-2.03730732e-02 9.99792447e-01 -3.71005691e-05 -3.30452134e+00] [-1.04343829e-03 1.58457932e-05 9.99999455e-01 -7.72460165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56028169300001 meters Centerline goodness [0,1] 0.9997445884681694 Centerline is valid? [True, True] Translation: X:101.42, Y:-3.31, Z:-0.77 [[ 9.99746252e-01 2.23711476e-02 2.63892598e-03 1.01422419e+02] [-2.23709783e-02 9.99749734e-01 -9.36649613e-05 -3.30558640e+00] [-2.64036094e-03 3.46058381e-05 9.99996514e-01 -7.69081220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.590281693 meters Centerline goodness [0,1] 0.9997664791423416 Centerline is valid? [True, True] Translation: X:101.45, Y:-3.31, Z:-0.77 [[ 9.99721709e-01 2.34051487e-02 2.95013979e-03 1.01453100e+02] [-2.34049422e-02 9.99726061e-01 -1.04512913e-04 -3.30583215e+00] [-2.95177777e-03 3.54359763e-05 9.99995643e-01 -7.68374984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.620281693 meters Centerline goodness [0,1] 0.9996171923183259 Centerline is valid? [True, True] Translation: X:101.48, Y:-3.31, Z:-0.77 [[ 9.99705187e-01 2.41314493e-02 2.68564308e-03 1.01483940e+02] [-2.41312808e-02 9.99708794e-01 -9.51427389e-05 -3.30683423e+00] [-2.68715693e-03 3.03066824e-05 9.99996389e-01 -7.69152781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.650281693 meters Centerline goodness [0,1] 0.9997435952223243 Centerline is valid? [True, True] Translation: X:101.51, Y:-3.31, Z:-0.77 [[ 9.99705146e-01 2.42072444e-02 1.90549045e-03 1.01514045e+02] [-2.42071597e-02 9.99706961e-01 -6.75047187e-05 -3.31052181e+00] [-1.90656617e-03 2.13583029e-05 9.99998182e-01 -7.71106340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.680281693 meters Centerline goodness [0,1] 0.999493467845761 Centerline is valid? [True, True] Translation: X:101.54, Y:-3.32, Z:-0.77 [[ 9.99704918e-01 2.42519692e-02 1.38539904e-03 1.01543608e+02] [-2.42519244e-02 9.99705878e-01 -4.91234853e-05 -3.31709468e+00] [-1.38618291e-03 1.55103970e-05 9.99999039e-01 -7.73277503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.710281693 meters Centerline goodness [0,1] 0.9997874420779662 Centerline is valid? [True, True] Translation: X:101.57, Y:-3.32, Z:-0.77 [[ 9.99710573e-01 2.40469782e-02 7.16019025e-04 1.01574324e+02] [-2.40469662e-02 9.99710830e-01 -2.53577210e-05 -3.32180658e+00] [-7.16421751e-04 8.13229649e-06 9.99999743e-01 -7.73403003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.740281693 meters Centerline goodness [0,1] 0.9997022290284159 Centerline is valid? [True, True] Translation: X:101.60, Y:-3.32, Z:-0.77 [[ 9.99700912e-01 2.44205020e-02 1.31337450e-03 1.01603749e+02] [-2.44204618e-02 9.99701775e-01 -4.66006434e-05 -3.32353966e+00] [-1.31412083e-03 1.45134939e-05 9.99999136e-01 -7.71967434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.770281693 meters Centerline goodness [0,1] 0.999766603012943 Centerline is valid? [True, True] Translation: X:101.63, Y:-3.33, Z:-0.77 [[ 9.99663261e-01 2.57916512e-02 2.85561085e-03 1.01634481e+02] [-2.57914677e-02 9.99667340e-01 -1.01066198e-04 -3.32558844e+00] [-2.85726756e-03 2.73817698e-05 9.99995918e-01 -7.67837016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.800281693 meters Centerline goodness [0,1] 0.9996805111821087 Centerline is valid? [True, True] Translation: X:101.66, Y:-3.33, Z:-0.77 [[ 9.99642345e-01 2.64912801e-02 3.65985854e-03 1.01663862e+02] [-2.64909834e-02 9.99649044e-01 -1.29547573e-04 -3.32785817e+00] [-3.66200597e-03 3.25479883e-05 9.99993294e-01 -7.66326003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.830281693 meters Centerline goodness [0,1] 0.9998498466290568 Centerline is valid? [True, True] Translation: X:101.69, Y:-3.33, Z:-0.76 [[ 9.99584509e-01 2.84268990e-02 4.76660734e-03 1.01694027e+02] [-2.84264180e-02 9.99595874e-01 -1.68645817e-04 -3.32848047e+00] [-4.76947511e-03 3.30781730e-05 9.99988625e-01 -7.64688668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.860281693 meters Centerline goodness [0,1] 0.9998516351921324 Centerline is valid? [True, True] Translation: X:101.72, Y:-3.33, Z:-0.76 [[ 9.99544731e-01 2.97633032e-02 4.94732823e-03 1.01724274e+02] [-2.97628014e-02 9.99556974e-01 -1.75026036e-04 -3.32994968e+00] [-4.95034579e-03 2.77000044e-05 9.99987747e-01 -7.64360468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.890281693 meters Centerline goodness [0,1] 0.9998080614203455 Centerline is valid? [True, True] Translation: X:101.75, Y:-3.33, Z:-0.76 [[ 9.99496841e-01 3.12995146e-02 5.13860699e-03 1.01754327e+02] [-3.12989919e-02 9.99510050e-01 -1.82124873e-04 -3.32982098e+00] [-5.14178975e-03 2.12000163e-05 9.99986781e-01 -7.64235366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.920281693 meters Centerline goodness [0,1] 0.9996994869813467 Centerline is valid? [True, True] Translation: X:101.78, Y:-3.33, Z:-0.76 [[ 9.99392313e-01 3.45442136e-02 4.65848562e-03 1.01783877e+02] [-3.45438193e-02 9.99403171e-01 -1.65108190e-04 -3.32858701e+00] [-4.66140883e-03 4.08597070e-06 9.99989136e-01 -7.64801893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95028169300001 meters Centerline goodness [0,1] 0.9997456118036123 Centerline is valid? [True, True] Translation: X:101.81, Y:-3.33, Z:-0.77 [[ 9.99335007e-01 3.62211757e-02 4.19172976e-03 1.01814733e+02] [-3.62208711e-02 9.99343798e-01 -1.48565214e-04 -3.32744572e+00] [-4.19436034e-03 -3.36168405e-06 9.99991204e-01 -7.65961250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.980281693 meters Centerline goodness [0,1] 0.9996773638475437 Centerline is valid? [True, True] Translation: X:101.84, Y:-3.32, Z:-0.77 [[ 9.99209977e-01 3.96162343e-02 3.15843466e-03 1.01844898e+02] [-3.96160785e-02 9.99214969e-01 -1.11923137e-04 -3.32371502e+00] [-3.16038917e-03 -1.32900804e-05 9.99995006e-01 -7.69515558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.010281693 meters Centerline goodness [0,1] 0.9994090458200544 Centerline is valid? [True, True] Translation: X:101.87, Y:-3.32, Z:-0.77 [[ 9.99135079e-01 4.14965491e-02 2.67034534e-03 1.01873252e+02] [-4.14964440e-02 9.99138647e-01 -9.47572270e-05 -3.32231458e+00] [-2.67197733e-03 -1.61345664e-05 9.99996430e-01 -7.70866165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.040281693 meters Centerline goodness [0,1] 0.9992336349121873 Centerline is valid? [True, True] Translation: X:101.90, Y:-3.32, Z:-0.77 [[ 9.99058284e-01 4.33142635e-02 2.53379134e-03 1.01902646e+02] [-4.33141750e-02 9.99061497e-01 -8.98010557e-05 -3.32084579e+00] [-2.53530303e-03 -2.00325928e-05 9.99996786e-01 -7.70727765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.070281693 meters Centerline goodness [0,1] 0.9990813732401889 Centerline is valid? [True, True] Translation: X:101.93, Y:-3.31, Z:-0.77 [[ 9.98911346e-01 4.65490002e-02 3.05190504e-03 1.01932479e+02] [-4.65488873e-02 9.98916007e-01 -1.08068038e-04 -3.31470511e+00] [-3.05362726e-03 -3.41123943e-05 9.99995337e-01 -7.68938965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.100281693 meters Centerline goodness [0,1] 0.9991238567398923 Centerline is valid? [True, True] Translation: X:101.96, Y:-3.31, Z:-0.77 [[ 9.98854706e-01 4.77107734e-02 3.59973615e-03 1.01961243e+02] [-4.77106240e-02 9.98861192e-01 -1.27400372e-04 -3.31418458e+00] [-3.60171511e-03 -4.44911973e-05 9.99993513e-01 -7.67905862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.130281693 meters Centerline goodness [0,1] 0.9980962051021703 Centerline is valid? [True, True] Translation: X:101.99, Y:-3.31, Z:-0.77 [[ 9.98735662e-01 5.01237518e-02 3.83240582e-03 1.01989547e+02] [-5.01236013e-02 9.98743013e-01 -1.35376001e-04 -3.30865021e+00] [-3.83437409e-03 -5.68891414e-05 9.99992647e-01 -7.68737729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.160281693 meters Centerline goodness [0,1] 0.9981815106149031 Centerline is valid? [True, True] Translation: X:102.02, Y:-3.31, Z:-0.77 [[ 9.98690054e-01 5.10680683e-02 3.19810893e-03 1.02019758e+02] [-5.10679682e-02 9.98695174e-01 -1.12989928e-04 -3.30634872e+00] [-3.19970613e-03 -5.04790079e-05 9.99994880e-01 -7.70461143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.190281693 meters Centerline goodness [0,1] 0.9979866482992477 Centerline is valid? [True, True] Translation: X:102.05, Y:-3.29, Z:-0.78 [[ 9.98579312e-01 5.32698425e-02 1.29705690e-03 1.02048978e+02] [-5.32698278e-02 9.98580154e-01 -4.58653110e-05 -3.29473438e+00] [-1.29765851e-03 -2.32938469e-05 9.99999158e-01 -7.75105599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.220281693 meters Centerline goodness [0,1] 0.998034491503931 Centerline is valid? [True, True] Translation: X:102.08, Y:-3.30, Z:-0.77 [[ 9.98540104e-01 5.40071428e-02 9.42701910e-04 1.02078159e+02] [-5.40071353e-02 9.98540549e-01 -3.34430027e-05 -3.29532471e+00] [-9.43132244e-04 -1.75184502e-05 9.99999555e-01 -7.74970417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.250281693 meters Centerline goodness [0,1] 0.998191643264403 Centerline is valid? [True, True] Translation: X:102.11, Y:-3.29, Z:-0.77 [[ 9.98523965e-01 5.42913337e-02 1.53050467e-03 1.02107429e+02] [-5.42913146e-02 9.98525138e-01 -5.40783537e-05 -3.29366964e+00] [-1.53118338e-03 -2.90945786e-05 9.99998827e-01 -7.74094938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.280281693 meters Centerline goodness [0,1] 0.9983117854471631 Centerline is valid? [True, True] Translation: X:102.14, Y:-3.30, Z:-0.77 [[ 9.98525921e-01 5.42138198e-02 2.61679658e-03 1.02136687e+02] [-5.42137643e-02 9.98529348e-01 -9.21793588e-05 -3.29528313e+00] [-2.61794558e-03 -4.98229138e-05 9.99996572e-01 -7.71596244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31028169300001 meters Centerline goodness [0,1] 0.9978855221703 Centerline is valid? [True, True] Translation: X:102.16, Y:-3.29, Z:-0.77 [[ 9.98552016e-01 5.36180027e-02 4.35663175e-03 1.02164842e+02] [-5.36178448e-02 9.98561517e-01 -1.53108025e-04 -3.29271153e+00] [-4.35857416e-03 -8.07068785e-05 9.99990498e-01 -7.68976285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.340281693 meters Centerline goodness [0,1] 0.9985392365362721 Centerline is valid? [True, True] Translation: X:102.19, Y:-3.30, Z:-0.77 [[ 9.98615959e-01 5.23950560e-02 4.57440409e-03 1.02194037e+02] [-5.23948705e-02 9.98626433e-01 -1.60465580e-04 -3.29594620e+00] [-4.57652844e-03 -7.94318207e-05 9.99989524e-01 -7.69117819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.370281693 meters Centerline goodness [0,1] 0.9985392365362721 Centerline is valid? [True, True] Translation: X:102.22, Y:-3.30, Z:-0.77 [[ 9.98618490e-01 5.23467809e-02 4.57440967e-03 1.02222351e+02] [-5.23465956e-02 9.98628964e-01 -1.60306608e-04 -3.29684976e+00] [-4.57652952e-03 -7.93696300e-05 9.99989524e-01 -7.69264413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.400281693 meters Centerline goodness [0,1] 0.9986390217969165 Centerline is valid? [True, True] Translation: X:102.25, Y:-3.30, Z:-0.77 [[ 9.98743828e-01 4.99830630e-02 3.52988165e-03 1.02251412e+02] [-4.99829385e-02 9.98750064e-01 -1.23548306e-04 -3.29735751e+00] [-3.53164485e-03 -5.30407494e-05 9.99993762e-01 -7.71715088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.430281693 meters Centerline goodness [0,1] 0.9988140618382042 Centerline is valid? [True, True] Translation: X:102.28, Y:-3.30, Z:-0.77 [[ 9.98816295e-01 4.85638028e-02 2.75064163e-03 1.02280032e+02] [-4.85637218e-02 9.98820082e-01 -9.62625475e-05 -3.29664358e+00] [-2.75207097e-03 -3.74327937e-05 9.99996212e-01 -7.73682907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.460281693 meters Centerline goodness [0,1] 0.999140616607584 Centerline is valid? [True, True] Translation: X:102.31, Y:-3.30, Z:-0.77 [[ 9.98896928e-01 4.68798949e-02 2.68374757e-03 1.02309825e+02] [-4.68798120e-02 9.98900533e-01 -9.38020649e-05 -3.30153486e+00] [-2.68519431e-03 -3.21149871e-05 9.99996394e-01 -7.73678561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.490281693 meters Centerline goodness [0,1] 0.999721812073356 Centerline is valid? [True, True] Translation: X:102.34, Y:-3.30, Z:-0.77 [[ 9.99022335e-01 4.41033288e-02 3.04491857e-03 1.02339585e+02] [-4.41032095e-02 9.99026974e-01 -1.06338632e-04 -3.30472468e+00] [-3.04664567e-03 -2.80560134e-05 9.99995359e-01 -7.72605358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.520281693 meters Centerline goodness [0,1] 0.9996832837144486 Centerline is valid? [True, True] Translation: X:102.37, Y:-3.31, Z:-0.77 [[ 9.99063668e-01 4.31580430e-02 3.02822757e-03 1.02367546e+02] [-4.31579207e-02 9.99068257e-01 -1.05760164e-04 -3.30503098e+00] [-3.02997044e-03 -2.50308673e-05 9.99995409e-01 -7.72601178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.550281693 meters Centerline goodness [0,1] 0.9995730509777132 Centerline is valid? [True, True] Translation: X:102.40, Y:-3.31, Z:-0.77 [[ 9.99110930e-01 4.20382571e-02 3.18362044e-03 1.02396008e+02] [-4.20381169e-02 9.99116001e-01 -1.10962076e-04 -3.30651187e+00] [-3.18547077e-03 -2.29699850e-05 9.99994926e-01 -7.72891680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.580281693 meters Centerline goodness [0,1] 0.9996372869060574 Centerline is valid? [True, True] Translation: X:102.42, Y:-3.31, Z:-0.77 [[ 9.99207038e-01 3.96875409e-02 3.19293476e-03 1.02424934e+02] [-3.96873884e-02 9.99212139e-01 -1.11137673e-04 -3.30899343e+00] [-3.19482995e-03 -1.56696966e-05 9.99994896e-01 -7.74319864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.610281693 meters Centerline goodness [0,1] 0.9996617050067659 Centerline is valid? [True, True] Translation: X:102.45, Y:-3.31, Z:-0.77 [[ 9.99257485e-01 3.83867149e-02 3.30737259e-03 1.02454019e+02] [-3.83865447e-02 9.99262958e-01 -1.14934505e-04 -3.31058007e+00] [-3.30934688e-03 -1.21094413e-05 9.99994524e-01 -7.74640408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.640281693 meters Centerline goodness [0,1] 0.9998293187685349 Centerline is valid? [True, True] Translation: X:102.48, Y:-3.32, Z:-0.77 [[ 9.99390679e-01 3.47417898e-02 3.35833238e-03 1.02483952e+02] [-3.47415943e-02 9.99396322e-01 -1.16564370e-04 -3.31557386e+00] [-3.36035469e-03 -1.80476005e-07 9.99994354e-01 -7.74370621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.670281693 meters Centerline goodness [0,1] 0.9999571404080233 Centerline is valid? [True, True] Translation: X:102.51, Y:-3.32, Z:-0.77 [[ 9.99468092e-01 3.24438117e-02 3.30638087e-03 1.02513500e+02] [-3.24436099e-02 9.99473561e-01 -1.14685889e-04 -3.32002450e+00] [-3.30836111e-03 7.35395577e-06 9.99994527e-01 -7.74284972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70028169300001 meters Centerline goodness [0,1] 0.9998934878469633 Centerline is valid? [True, True] Translation: X:102.54, Y:-3.32, Z:-0.77 [[ 9.99535891e-01 3.02152746e-02 3.87807605e-03 1.02543406e+02] [-3.02149805e-02 9.99543414e-01 -1.34405093e-04 -3.32469515e+00] [-3.88036647e-03 1.71667224e-05 9.99992471e-01 -7.73561561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.730281693 meters Centerline goodness [0,1] 0.9996811563396748 Centerline is valid? [True, True] Translation: X:102.57, Y:-3.33, Z:-0.77 [[ 9.99620731e-01 2.69672564e-02 5.58227234e-03 1.02572637e+02] [-2.69665974e-02 9.99636317e-01 -1.93290622e-04 -3.33218492e+00] [-5.58545467e-03 4.26824219e-05 9.99984400e-01 -7.70861786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.760281693 meters Centerline goodness [0,1] 0.9995565410199556 Centerline is valid? [True, True] Translation: X:102.60, Y:-3.34, Z:-0.77 [[ 9.99639247e-01 2.61081813e-02 6.30392805e-03 1.02603095e+02] [-2.61073243e-02 9.99659122e-01 -2.18210887e-04 -3.33528657e+00] [-6.30747627e-03 5.35534730e-05 9.99980106e-01 -7.69324677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.790281693 meters Centerline goodness [0,1] 0.9998300981183367 Centerline is valid? [True, True] Translation: X:102.63, Y:-3.34, Z:-0.77 [[ 9.99625606e-01 2.67420486e-02 5.78879359e-03 1.02633053e+02] [-2.67413365e-02 9.99642366e-01 -2.00379474e-04 -3.33682727e+00] [-5.79208188e-03 4.55043756e-05 9.99983225e-01 -7.69770957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.820281693 meters Centerline goodness [0,1] 0.9998498917075891 Centerline is valid? [True, True] Translation: X:102.66, Y:-3.34, Z:-0.77 [[ 9.99591408e-01 2.81609603e-02 4.89659887e-03 1.02663220e+02] [-2.81604679e-02 9.99603401e-01 -1.69496095e-04 -3.33637544e+00] [-4.89943006e-03 3.15363246e-05 9.99987997e-01 -7.71665846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.850281693 meters Centerline goodness [0,1] 0.9998281380910439 Centerline is valid? [True, True] Translation: X:102.69, Y:-3.34, Z:-0.77 [[ 9.99546220e-01 2.98056084e-02 4.35666392e-03 1.02692894e+02] [-2.98052342e-02 9.99555714e-01 -1.50815308e-04 -3.33562930e+00] [-4.35922346e-03 2.08954825e-05 9.99990498e-01 -7.72986738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.880281693 meters Centerline goodness [0,1] 0.9998508162482418 Centerline is valid? [True, True] Translation: X:102.72, Y:-3.33, Z:-0.77 [[ 9.99406498e-01 3.42140138e-02 4.00673912e-03 1.02722775e+02] [-3.42137329e-02 9.99414529e-01 -1.38661710e-04 -3.33011302e+00] [-4.00913746e-03 1.49391253e-06 9.99991963e-01 -7.73539185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.910281693 meters Centerline goodness [0,1] 0.999808278124534 Centerline is valid? [True, True] Translation: X:102.75, Y:-3.33, Z:-0.77 [[ 9.99310447e-01 3.69562162e-02 3.58716946e-03 1.02752630e+02] [-3.69560088e-02 9.99316886e-01 -1.24125311e-04 -3.32604635e+00] [-3.58930622e-03 -8.52774570e-06 9.99993558e-01 -7.74552302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.940281693 meters Centerline goodness [0,1] 0.9994476311875929 Centerline is valid? [True, True] Translation: X:102.78, Y:-3.32, Z:-0.78 [[ 9.99081170e-01 4.27510380e-02 3.02719076e-03 1.02781823e+02] [-4.27509169e-02 9.99085756e-01 -1.04722625e-04 -3.31589644e+00] [-3.02890017e-03 -2.47887777e-05 9.99995413e-01 -7.75509500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.970281693 meters Centerline goodness [0,1] 0.9994264715253733 Centerline is valid? [True, True] Translation: X:102.81, Y:-3.31, Z:-0.77 [[ 9.98955852e-01 4.55435867e-02 3.60388667e-03 1.02810973e+02] [-4.55434337e-02 9.98962352e-01 -1.24538423e-04 -3.31099473e+00] [-3.60581903e-03 -3.97249869e-05 9.99993498e-01 -7.74608923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.000281693 meters Centerline goodness [0,1] 0.9989220038046924 Centerline is valid? [True, True] Translation: X:102.84, Y:-3.31, Z:-0.77 [[ 9.98867474e-01 4.73606940e-02 4.55352428e-03 1.02840081e+02] [-4.73604699e-02 9.98877851e-01 -1.57084067e-04 -3.30759877e+00] [-4.55585416e-03 -5.87508851e-05 9.99989620e-01 -7.72616932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.030281693 meters Centerline goodness [0,1] 0.9989718104703967 Centerline is valid? [True, True] Translation: X:102.87, Y:-3.31, Z:-0.77 [[ 9.98857161e-01 4.73620003e-02 6.41976195e-03 1.02869173e+02] [-4.73615566e-02 9.98877787e-01 -2.21209866e-04 -3.31037609e+00] [-6.42303455e-03 -8.30928599e-05 9.99979369e-01 -7.69797251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06028169300001 meters Centerline goodness [0,1] 0.9987440395095368 Centerline is valid? [True, True] Translation: X:102.90, Y:-3.31, Z:-0.77 [[ 9.98937556e-01 4.57823792e-02 5.26614552e-03 1.02897285e+02] [-4.57820598e-02 9.98951435e-01 -1.81256303e-04 -3.31346458e+00] [-5.26892197e-03 -6.00312606e-05 9.99986117e-01 -7.72390202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.090281693 meters Centerline goodness [0,1] 0.9991752315695978 Centerline is valid? [True, True] Translation: X:102.93, Y:-3.32, Z:-0.77 [[ 9.98960450e-01 4.53749205e-02 4.37448710e-03 1.02925806e+02] [-4.53746964e-02 9.98970027e-01 -1.50507536e-04 -3.31694344e+00] [-4.37681076e-03 -4.81399485e-05 9.99990421e-01 -7.74718149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.120281693 meters Centerline goodness [0,1] 0.9989152859603972 Centerline is valid? [True, True] Translation: X:102.95, Y:-3.32, Z:-0.78 [[ 9.98970621e-01 4.51907970e-02 3.93579292e-03 1.02954256e+02] [-4.51906147e-02 9.98978373e-01 -1.35265722e-04 -3.31874714e+00] [-3.93788477e-03 -4.27344192e-05 9.99992246e-01 -7.75588086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.150281693 meters Centerline goodness [0,1] 0.999113100768646 Centerline is valid? [True, True] Translation: X:102.98, Y:-3.32, Z:-0.78 [[ 9.98943083e-01 4.58373239e-02 3.41421700e-03 1.02983352e+02] [-4.58371909e-02 9.98948917e-01 -1.17225903e-04 -3.31966411e+00] [-3.41600169e-03 -3.93961114e-05 9.99994165e-01 -7.75733477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.180281693 meters Centerline goodness [0,1] 0.9988704899516229 Centerline is valid? [True, True] Translation: X:103.01, Y:-3.31, Z:-0.78 [[ 9.98774904e-01 4.93560395e-02 3.55992087e-03 1.03013563e+02] [-4.93559181e-02 9.98781247e-01 -1.22022219e-04 -3.31370564e+00] [-3.56160474e-03 -5.38304334e-05 9.99993656e-01 -7.75488994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.210281693 meters Centerline goodness [0,1] 0.9980855544447045 Centerline is valid? [True, True] Translation: X:103.04, Y:-3.30, Z:-0.77 [[ 9.98530207e-01 5.40725479e-02 3.68584471e-03 1.03043084e+02] [-5.40724500e-02 9.98537007e-01 -1.26266208e-04 -3.30408567e+00] [-3.68727988e-03 -7.32220309e-05 9.99993199e-01 -7.74550768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.240281693 meters Centerline goodness [0,1] 0.9977490996398559 Centerline is valid? [True, True] Translation: X:103.07, Y:-3.30, Z:-0.77 [[ 9.98416771e-01 5.61273344e-02 3.69788872e-03 1.03072000e+02] [-5.61272504e-02 9.98423615e-01 -1.26567864e-04 -3.30042360e+00] [-3.69916334e-03 -8.11848479e-05 9.99993155e-01 -7.74923833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.270281693 meters Centerline goodness [0,1] 0.9971870005327651 Centerline is valid? [True, True] Translation: X:103.10, Y:-3.30, Z:-0.78 [[ 9.98344842e-01 5.73965459e-02 3.63493079e-03 1.03100335e+02] [-5.73964737e-02 9.98351456e-01 -1.24263796e-04 -3.29523849e+00] [-3.63607076e-03 -8.45740891e-05 9.99993386e-01 -7.75154558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.300281693 meters Centerline goodness [0,1] 0.996809596733027 Centerline is valid? [True, True] Translation: X:103.13, Y:-3.29, Z:-0.78 [[ 9.98315483e-01 5.78739981e-02 4.09842483e-03 1.03128989e+02] [-5.78739115e-02 9.98323891e-01 -1.39819787e-04 -3.29043582e+00] [-4.09964735e-03 -9.76076174e-05 9.99991592e-01 -7.75330972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.330281693 meters Centerline goodness [0,1] 0.9972595173351462 Centerline is valid? [True, True] Translation: X:103.16, Y:-3.29, Z:-0.78 [[ 9.98356850e-01 5.71337701e-02 4.39692185e-03 1.03158375e+02] [-5.71336642e-02 9.98366527e-01 -1.49800320e-04 -3.28999070e+00] [-4.39829826e-03 -1.01658081e-04 9.99990322e-01 -7.75400272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.360281693 meters Centerline goodness [0,1] 0.9968733495299461 Centerline is valid? [True, True] Translation: X:103.19, Y:-3.29, Z:-0.77 [[ 9.98418041e-01 5.60034493e-02 5.00295743e-03 1.03186755e+02] [-5.60033000e-02 9.98430569e-01 -1.70034385e-04 -3.28835550e+00] [-5.00462815e-03 -1.10416729e-04 9.99987471e-01 -7.74699712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.390281693 meters Centerline goodness [0,1] 0.997070396031135 Centerline is valid? [True, True] Translation: X:103.21, Y:-3.29, Z:-0.77 [[ 9.98557448e-01 5.33185032e-02 6.33717954e-03 1.03214555e+02] [-5.33182120e-02 9.98577549e-01 -2.15010872e-04 -3.28647623e+00] [-6.33962928e-03 -1.23186374e-04 9.99979897e-01 -7.72134495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.420281693 meters Centerline goodness [0,1] 0.997870770528091 Centerline is valid? [True, True] Translation: X:103.24, Y:-3.29, Z:-0.77 [[ 9.98626253e-01 5.20833997e-02 5.73818423e-03 1.03243509e+02] [-5.20831423e-02 9.98642733e-01 -1.94394642e-04 -3.28685680e+00] [-5.74052072e-03 -1.04735073e-04 9.99983518e-01 -7.73133628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45028169300001 meters Centerline goodness [0,1] 0.9990820008112551 Centerline is valid? [True, True] Translation: X:103.27, Y:-3.29, Z:-0.78 [[ 9.98798852e-01 4.88792923e-02 3.41587635e-03 1.03272295e+02] [-4.88791826e-02 9.98804692e-01 -1.15661859e-04 -3.28861064e+00] [-3.41744680e-03 -5.14423115e-05 9.99994159e-01 -7.78232343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.480281693 meters Centerline goodness [0,1] 0.9992530783840884 Centerline is valid? [True, True] Translation: X:103.30, Y:-3.29, Z:-0.78 [[ 9.98877901e-01 4.72816982e-02 2.71643448e-03 1.03301553e+02] [-4.72816231e-02 9.98881594e-01 -9.18773503e-05 -3.29027644e+00] [-2.71774052e-03 -3.66631763e-05 9.99996306e-01 -7.80368559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.510281693 meters Centerline goodness [0,1] 0.9994730851915862 Centerline is valid? [True, True] Translation: X:103.33, Y:-3.29, Z:-0.78 [[ 9.98951879e-01 4.56937664e-02 2.68748482e-03 1.03330289e+02] [-4.56936874e-02 9.98955494e-01 -9.08441729e-05 -3.29382970e+00] [-2.68882874e-03 -3.20521338e-05 9.99996385e-01 -7.80142098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.540281693 meters Centerline goodness [0,1] 0.9997220381021616 Centerline is valid? [True, True] Translation: X:103.36, Y:-3.30, Z:-0.78 [[ 9.99093883e-01 4.23827524e-02 3.88770892e-03 1.03359262e+02] [-4.23825630e-02 9.99101447e-01 -1.31131073e-04 -3.29804946e+00] [-3.88977331e-03 -3.37588158e-05 9.99992434e-01 -7.77196683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.570281693 meters Centerline goodness [0,1] 0.9997041107471204 Centerline is valid? [True, True] Translation: X:103.39, Y:-3.30, Z:-0.78 [[ 9.99157249e-01 4.08137588e-02 4.36217652e-03 1.03387003e+02] [-4.08135064e-02 9.99166771e-01 -1.46908148e-04 -3.29866224e+00] [-4.36453771e-03 -3.12513783e-05 9.99990475e-01 -7.75902253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.600281693 meters Centerline goodness [0,1] 0.9998940026711327 Centerline is valid? [True, True] Translation: X:103.42, Y:-3.30, Z:-0.78 [[ 9.99273726e-01 3.77921726e-02 4.87560172e-03 1.03415825e+02] [-3.77918231e-02 9.99285620e-01 -1.63843545e-04 -3.30116956e+00] [-4.87831069e-03 -2.05333273e-05 9.99988101e-01 -7.75147805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.630281693 meters Centerline goodness [0,1] 0.9998303467288728 Centerline is valid? [True, True] Translation: X:103.44, Y:-3.30, Z:-0.78 [[ 9.99312374e-01 3.67346117e-02 5.03456987e-03 1.03444254e+02] [-3.67342267e-02 9.99325056e-01 -1.68945231e-04 -3.30173246e+00] [-5.03737796e-03 -1.61119717e-05 9.99987312e-01 -7.75779761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.660281693 meters Centerline goodness [0,1] 0.9999361430395913 Centerline is valid? [True, True] Translation: X:103.47, Y:-3.30, Z:-0.78 [[ 9.99340091e-01 3.59615601e-02 5.11351534e-03 1.03473272e+02] [-3.59611538e-02 9.99353174e-01 -1.71418121e-04 -3.30208392e+00] [-5.11637224e-03 -1.25829102e-05 9.99986911e-01 -7.76278995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.690281693 meters Centerline goodness [0,1] 0.9998086531306474 Centerline is valid? [True, True] Translation: X:103.50, Y:-3.30, Z:-0.78 [[ 9.99384654e-01 3.47666781e-02 4.64670158e-03 1.03502223e+02] [-3.47663305e-02 9.99395456e-01 -1.55578558e-04 -3.30135209e+00] [-4.64930140e-03 -6.06594015e-06 9.99989192e-01 -7.77000212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.720281693 meters Centerline goodness [0,1] 0.9999153564551283 Centerline is valid? [True, True] Translation: X:103.53, Y:-3.30, Z:-0.78 [[ 9.99434132e-01 3.34093347e-02 3.90277487e-03 1.03531245e+02] [-3.34090798e-02 9.99441752e-01 -1.30530979e-04 -3.30285361e+00] [-3.90495710e-03 6.89987756e-08 9.99992376e-01 -7.78101780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.750281693 meters Centerline goodness [0,1] 0.9998305156561162 Centerline is valid? [True, True] Translation: X:103.56, Y:-3.31, Z:-0.78 [[ 9.99560560e-01 2.95166011e-02 2.73093361e-03 1.03559962e+02] [-2.95164619e-02 9.99564290e-01 -9.12563225e-05 -3.30878302e+00] [-2.73243729e-03 1.06087230e-05 9.99996267e-01 -7.79602138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.780281693 meters Centerline goodness [0,1] 0.9997866666666667 Centerline is valid? [True, True] Translation: X:103.59, Y:-3.31, Z:-0.78 [[ 9.99617601e-01 2.75310561e-02 2.58686991e-03 1.03589725e+02] [-2.75309248e-02 9.99620949e-01 -8.63377437e-05 -3.31221595e+00] [-2.58826632e-03 1.50858073e-05 9.99996650e-01 -7.79995481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81028169300001 meters Centerline goodness [0,1] 0.9997862654156069 Centerline is valid? [True, True] Translation: X:103.62, Y:-3.32, Z:-0.78 [[ 9.99658816e-01 2.59238593e-02 3.19450159e-03 1.03619341e+02] [-2.59236512e-02 9.99663920e-01 -1.06513371e-04 -3.31575230e+00] [-3.19618922e-03 2.36638853e-05 9.99994892e-01 -7.79477942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.840281693 meters Centerline goodness [0,1] 0.9991298996201269 Centerline is valid? [True, True] Translation: X:103.65, Y:-3.32, Z:-0.78 [[ 9.99700191e-01 2.38078937e-02 5.71947460e-03 1.03648204e+02] [-2.38071936e-02 9.99716550e-01 -1.90466256e-04 -3.32069254e+00] [-5.72238802e-03 5.42445136e-05 9.99983626e-01 -7.75544363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.870281693 meters Centerline goodness [0,1] 0.9992302099816106 Centerline is valid? [True, True] Translation: X:103.68, Y:-3.32, Z:-0.78 [[ 9.99702259e-01 2.36148234e-02 6.14279783e-03 1.03678005e+02] [-2.36140133e-02 9.99721129e-01 -2.04379506e-04 -3.32309661e+00] [-6.14591117e-03 5.92625438e-05 9.99981112e-01 -7.75175119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.900281693 meters Centerline goodness [0,1] 0.9992436021347229 Centerline is valid? [True, True] Translation: X:103.71, Y:-3.33, Z:-0.78 [[ 9.99706194e-01 2.36408647e-02 5.35109999e-03 1.03706907e+02] [-2.36402501e-02 9.99720514e-01 -1.78084897e-04 -3.32708224e+00] [-5.35381451e-03 5.15312330e-05 9.99985667e-01 -7.76710775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.930281693 meters Centerline goodness [0,1] 0.9992516250427643 Centerline is valid? [True, True] Translation: X:103.74, Y:-3.33, Z:-0.78 [[ 9.99700115e-01 2.38554306e-02 5.53155765e-03 1.03736911e+02] [-2.38547775e-02 9.99715417e-01 -1.84031177e-04 -3.32778432e+00] [-5.53437361e-03 5.20219117e-05 9.99984684e-01 -7.76444037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.960281693 meters Centerline goodness [0,1] 0.9993000021212057 Centerline is valid? [True, True] Translation: X:103.77, Y:-3.33, Z:-0.78 [[ 9.99691710e-01 2.42294321e-02 5.42401697e-03 1.03767764e+02] [-2.42288096e-02 9.99706423e-01 -1.80453371e-04 -3.32943907e+00] [-5.42679689e-03 4.89802649e-05 9.99985274e-01 -7.76589788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.990281693 meters Centerline goodness [0,1] 0.9991863651935594 Centerline is valid? [True, True] Translation: X:103.80, Y:-3.33, Z:-0.78 [[ 9.99691501e-01 2.43322704e-02 4.98430560e-03 1.03796968e+02] [-2.43317460e-02 9.99703925e-01 -1.65826581e-04 -3.33276917e+00] [-4.98686481e-03 4.44985656e-05 9.99987565e-01 -7.77835964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.020281693 meters Centerline goodness [0,1] 0.999147594084303 Centerline is valid? [True, True] Translation: X:103.83, Y:-3.34, Z:-0.78 [[ 9.99707849e-01 2.40392492e-02 2.51617776e-03 1.03827197e+02] [-2.40391148e-02 9.99711015e-01 -8.36831410e-05 -3.33757993e+00] [-2.51746231e-03 2.31720069e-05 9.99996831e-01 -7.82737909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.050281693 meters Centerline goodness [0,1] 0.9993406359672445 Centerline is valid? [True, True] Translation: X:103.86, Y:-3.34, Z:-0.79 [[ 9.99723559e-01 2.34453923e-02 1.76622750e-03 1.03856316e+02] [-2.34453251e-02 9.99725119e-01 -5.87800286e-05 -3.34221591e+00] [-1.76712012e-03 1.73540015e-05 9.99998438e-01 -7.85018458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.080281693 meters Centerline goodness [0,1] 0.9991321649309965 Centerline is valid? [True, True] Translation: X:103.89, Y:-3.35, Z:-0.78 [[ 9.99758147e-01 2.18597202e-02 2.40826449e-03 1.03885552e+02] [-2.18595908e-02 9.99761047e-01 -8.00443974e-05 -3.35251349e+00] [-2.40943877e-03 2.73813623e-05 9.99997097e-01 -7.84024998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.110281693 meters Centerline goodness [0,1] 0.9992776408600323 Centerline is valid? [True, True] Translation: X:103.92, Y:-3.36, Z:-0.78 [[ 9.99761996e-01 2.15576883e-02 3.34911038e-03 1.03916404e+02] [-2.15574362e-02 9.99767605e-01 -1.11373803e-04 -3.35553266e+00] [-3.35073303e-03 3.91490621e-05 9.99994386e-01 -7.82165886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.140281693 meters Centerline goodness [0,1] 0.9990283295906028 Centerline is valid? [True, True] Translation: X:103.95, Y:-3.36, Z:-0.78 [[ 9.99750415e-01 2.19586059e-02 4.11429083e-03 1.03946158e+02] [-2.19582287e-02 9.99758880e-01 -1.36844791e-04 -3.35791170e+00] [-4.11630371e-03 4.64680973e-05 9.99991527e-01 -7.81130509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.170281693 meters Centerline goodness [0,1] 0.9990812947334686 Centerline is valid? [True, True] Translation: X:103.98, Y:-3.36, Z:-0.78 [[ 9.99682622e-01 2.49236249e-02 3.66997348e-03 1.03975913e+02] [-2.49233452e-02 9.99689358e-01 -1.21927792e-04 -3.36026939e+00] [-3.67187231e-03 3.04210787e-05 9.99993258e-01 -7.81628648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20028169300001 meters Centerline goodness [0,1] 0.9992788053622943 Centerline is valid? [True, True] Translation: X:104.01, Y:-3.36, Z:-0.78 [[ 9.99645342e-01 2.64388322e-02 3.19041084e-03 1.04005223e+02] [-2.64386282e-02 9.99650433e-01 -1.06105258e-04 -3.36238484e+00] [-3.19210088e-03 2.17175412e-05 9.99994905e-01 -7.83043745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.230281693 meters Centerline goodness [0,1] 0.9995755788044055 Centerline is valid? [True, True] Translation: X:104.03, Y:-3.37, Z:-0.78 [[ 9.99576380e-01 2.88948313e-02 3.48548073e-03 1.04034551e+02] [-2.88946029e-02 9.99582457e-01 -1.15891892e-04 -3.36526781e+00] [-3.48737407e-03 1.51312165e-05 9.99993919e-01 -7.82404251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.260281693 meters Centerline goodness [0,1] 0.9996200206877626 Centerline is valid? [True, True] Translation: X:104.06, Y:-3.37, Z:-0.78 [[ 9.99542608e-01 2.98702034e-02 4.72705092e-03 1.04063690e+02] [-2.98697948e-02 9.99553786e-01 -1.57021851e-04 -3.36686272e+00] [-4.72963192e-03 1.57539891e-05 9.99988815e-01 -7.79958844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.290281693 meters Centerline goodness [0,1] 0.9996200206877626 Centerline is valid? [True, True] Translation: X:104.09, Y:-3.37, Z:-0.78 [[ 9.99542608e-01 2.98702028e-02 4.72705488e-03 1.04093673e+02] [-2.98697948e-02 9.99553786e-01 -1.56902417e-04 -3.36785800e+00] [-4.72963231e-03 1.56344915e-05 9.99988815e-01 -7.80114079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.320281693 meters Centerline goodness [0,1] 0.9996416223964921 Centerline is valid? [True, True] Translation: X:104.12, Y:-3.37, Z:-0.78 [[ 9.99515577e-01 3.06100359e-02 5.62459613e-03 1.04123412e+02] [-3.06094700e-02 9.99531403e-01 -1.86688856e-04 -3.36988103e+00] [-5.62767502e-03 1.44325130e-05 9.99984164e-01 -7.78334944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.350281693 meters Centerline goodness [0,1] 0.9997655084203795 Centerline is valid? [True, True] Translation: X:104.15, Y:-3.37, Z:-0.78 [[ 9.99496957e-01 3.14341568e-02 4.21024278e-03 1.04153726e+02] [-3.14338472e-02 9.99505825e-01 -1.39700515e-04 -3.37296579e+00] [-4.21255355e-03 7.28611206e-06 9.99991127e-01 -7.82478645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.380281693 meters Centerline goodness [0,1] 0.9999150526673463 Centerline is valid? [True, True] Translation: X:104.18, Y:-3.37, Z:-0.79 [[ 9.99502977e-01 3.14405123e-02 2.30047086e-03 1.04183653e+02] [-3.14404198e-02 9.99505625e-01 -7.63660066e-05 -3.37482450e+00] [-2.30173455e-03 4.00028126e-06 9.99997351e-01 -7.86061527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.410281693 meters Centerline goodness [0,1] 0.9997030312029358 Centerline is valid? [True, True] Translation: X:104.21, Y:-3.38, Z:-0.79 [[ 9.99506454e-01 3.14079097e-02 6.26192949e-04 1.04212398e+02] [-3.14079027e-02 9.99506650e-01 -2.09307638e-05 -3.37795358e+00] [-6.26541408e-04 1.25302632e-06 9.99999804e-01 -7.89796797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.440281693 meters Centerline goodness [0,1] 0.999850723988655 Centerline is valid? [True, True] Translation: X:104.24, Y:-3.38, Z:-0.79 [[ 9.99499829e-01 3.15928104e-02 1.40906716e-03 1.04241659e+02] [-3.15927758e-02 9.99500823e-01 -4.67760508e-05 -3.38039062e+00] [-1.40984157e-03 2.23631193e-06 9.99999006e-01 -7.88297813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.470281693 meters Centerline goodness [0,1] 0.999828421910522 Centerline is valid? [True, True] Translation: X:104.27, Y:-3.38, Z:-0.79 [[ 9.99489825e-01 3.18318334e-02 2.61243605e-03 1.04270444e+02] [-3.18317158e-02 9.99493239e-01 -8.65890793e-05 -3.38297877e+00] [-2.61386846e-03 3.38658189e-06 9.99996584e-01 -7.85988442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.500281693 meters Centerline goodness [0,1] 0.9997855549837021 Centerline is valid? [True, True] Translation: X:104.30, Y:-3.39, Z:-0.78 [[ 9.99479585e-01 3.20157021e-02 3.94378333e-03 1.04300144e+02] [-3.20154365e-02 9.99487366e-01 -1.30471840e-04 -3.38715025e+00] [-3.94593876e-03 4.14199548e-06 9.99992215e-01 -7.84034871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.530281693 meters Centerline goodness [0,1] 0.9998726168740181 Centerline is valid? [True, True] Translation: X:104.33, Y:-3.39, Z:-0.79 [[ 9.99497450e-01 3.15249550e-02 3.32047911e-03 1.04330217e+02] [-3.15247644e-02 9.99502965e-01 -1.09749222e-04 -3.39086013e+00] [-3.32228855e-03 5.01674574e-06 9.99994481e-01 -7.85555633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56028169300001 meters Centerline goodness [0,1] 0.9998295950752977 Centerline is valid? [True, True] Translation: X:104.36, Y:-3.40, Z:-0.79 [[ 9.99576257e-01 2.90537326e-02 1.78514832e-03 1.04360018e+02] [-2.90536736e-02 9.99577851e-01 -5.90031237e-05 -3.40011267e+00] [-1.78610899e-03 7.11300481e-06 9.99998405e-01 -7.88388566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.590281693 meters Centerline goodness [0,1] 0.9998298451590948 Centerline is valid? [True, True] Translation: X:104.39, Y:-3.41, Z:-0.79 [[ 9.99617878e-01 2.76055589e-02 1.42545045e-03 1.04389119e+02] [-2.76055199e-02 9.99618894e-01 -4.70742388e-05 -3.40644438e+00] [-1.42620671e-03 7.70595008e-06 9.99998983e-01 -7.89821853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.620281693 meters Centerline goodness [0,1] 0.9994690227895419 Centerline is valid? [True, True] Translation: X:104.42, Y:-3.42, Z:-0.79 [[ 9.99685057e-01 2.50154937e-02 2.00313437e-03 1.04418623e+02] [-2.50154111e-02 9.99687063e-01 -6.62661349e-05 -3.41907863e+00] [-2.00416519e-03 1.61360351e-05 9.99997992e-01 -7.89344715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.650281693 meters Centerline goodness [0,1] 0.9994698672547606 Centerline is valid? [True, True] Translation: X:104.45, Y:-3.42, Z:-0.79 [[ 9.99700577e-01 2.42945331e-02 2.92108328e-03 1.04449386e+02] [-2.42943547e-02 9.99704844e-01 -9.65457477e-05 -3.42436779e+00] [-2.92256664e-03 2.55510063e-05 9.99995729e-01 -7.87086278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.680281693 meters Centerline goodness [0,1] 0.9993236245270656 Centerline is valid? [True, True] Translation: X:104.48, Y:-3.43, Z:-0.79 [[ 9.99710679e-01 2.37967089e-02 3.50362861e-03 1.04479246e+02] [-2.37964492e-02 9.99716818e-01 -1.15818598e-04 -3.42924005e+00] [-3.50539255e-03 3.24111693e-05 9.99993856e-01 -7.85630041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.710281693 meters Centerline goodness [0,1] 0.9991297149285729 Centerline is valid? [True, True] Translation: X:104.51, Y:-3.44, Z:-0.79 [[ 9.99751874e-01 2.21136224e-02 2.67912630e-03 1.04509645e+02] [-2.21134649e-02 9.99755464e-01 -8.83968162e-05 -3.44015466e+00] [-2.68042593e-03 2.91301171e-05 9.99996407e-01 -7.88279630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.740281693 meters Centerline goodness [0,1] 0.9990028218021344 Centerline is valid? [True, True] Translation: X:104.54, Y:-3.45, Z:-0.79 [[ 9.99780747e-01 2.07789289e-02 2.58727548e-03 1.04540014e+02] [-2.07787770e-02 9.99784094e-01 -8.55808486e-05 -3.44796268e+00] [-2.58849515e-03 3.18016644e-05 9.99996649e-01 -7.89042819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.770281693 meters Centerline goodness [0,1] 0.9988370089593384 Centerline is valid? [True, True] Translation: X:104.57, Y:-3.45, Z:-0.79 [[ 9.99814951e-01 1.89634601e-02 3.23272907e-03 1.04570774e+02] [-1.89632134e-02 9.99820176e-01 -1.06958224e-04 -3.45417918e+00] [-3.23417605e-03 4.56355005e-05 9.99994769e-01 -7.87923506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.800281693 meters Centerline goodness [0,1] 0.9984349885796464 Centerline is valid? [True, True] Translation: X:104.60, Y:-3.46, Z:-0.79 [[ 9.99843195e-01 1.73248060e-02 3.66554228e-03 1.04601607e+02] [-1.73244781e-02 9.99849913e-01 -1.21189421e-04 -3.46362152e+00] [-3.66709171e-03 5.76668105e-05 9.99993275e-01 -7.87229982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.830281693 meters Centerline goodness [0,1] 0.998491509352642 Centerline is valid? [True, True] Translation: X:104.63, Y:-3.48, Z:-0.79 [[ 9.99892154e-01 1.43319682e-02 3.20538733e-03 1.04633229e+02] [-1.43317002e-02 9.99897290e-01 -1.06560126e-04 -3.47766973e+00] [-3.20658532e-03 6.06099841e-05 9.99994857e-01 -7.87074724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.860281693 meters Centerline goodness [0,1] 0.9982094897045658 Centerline is valid? [True, True] Translation: X:104.66, Y:-3.48, Z:-0.79 [[ 9.99897720e-01 1.40745407e-02 2.54113165e-03 1.04664252e+02] [-1.40743720e-02 9.99900948e-01 -8.42755661e-05 -3.48435913e+00] [-2.54206609e-03 4.85021143e-05 9.99996768e-01 -7.88804197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.890281693 meters Centerline goodness [0,1] 0.9982031316847779 Centerline is valid? [True, True] Translation: X:104.70, Y:-3.49, Z:-0.79 [[ 9.99887111e-01 1.48211382e-02 2.46979055e-03 1.04695105e+02] [-1.48209799e-02 9.99890160e-01 -8.24106153e-05 -3.49257296e+00] [-2.47074069e-03 4.57965959e-05 9.99996947e-01 -7.87873724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.920281693 meters Centerline goodness [0,1] 0.9981196256153473 Centerline is valid? [True, True] Translation: X:104.73, Y:-3.50, Z:-0.79 [[ 9.99867731e-01 1.59468447e-02 3.19666932e-03 1.04726615e+02] [-1.59465834e-02 9.99872839e-01 -1.07222703e-04 -3.49566005e+00] [-3.19797270e-03 5.62325667e-05 9.99994885e-01 -7.86217713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95028169300001 meters Centerline goodness [0,1] 0.9981926429938337 Centerline is valid? [True, True] Translation: X:104.76, Y:-3.50, Z:-0.78 [[ 9.99844252e-01 1.72536102e-02 3.71271001e-03 1.04758322e+02] [-1.72532664e-02 9.99851144e-01 -1.24617649e-04 -3.49841145e+00] [-3.71430745e-03 6.05418655e-05 9.99993100e-01 -7.84852528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.980281693 meters Centerline goodness [0,1] 0.99849458261773 Centerline is valid? [True, True] Translation: X:104.79, Y:-3.50, Z:-0.78 [[ 9.99782930e-01 2.03280726e-02 4.56744756e-03 1.04789203e+02] [-2.03275837e-02 9.99793362e-01 -1.53433027e-04 -3.50362467e+00] [-4.56962275e-03 6.05545489e-05 9.99989557e-01 -7.84667189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.010281693 meters Centerline goodness [0,1] 0.9988892211731534 Centerline is valid? [True, True] Translation: X:104.82, Y:-3.51, Z:-0.79 [[ 9.99749972e-01 2.19153477e-02 4.43969140e-03 1.04821267e+02] [-2.19148987e-02 9.99759829e-01 -1.49754897e-04 -3.50656765e+00] [-4.44190704e-03 5.24220670e-05 9.99990133e-01 -7.85333404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.040281693 meters Centerline goodness [0,1] 0.9987133850838444 Centerline is valid? [True, True] Translation: X:104.85, Y:-3.51, Z:-0.79 [[ 9.99714200e-01 2.35657358e-02 4.02178463e-03 1.04852092e+02] [-2.35653784e-02 9.99722289e-01 -1.36224608e-04 -3.50995554e+00] [-4.02387797e-03 4.14107980e-05 9.99991903e-01 -7.85874938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.070281693 meters Centerline goodness [0,1] 0.9991746031746032 Centerline is valid? [True, True] Translation: X:104.88, Y:-3.51, Z:-0.79 [[ 9.99657201e-01 2.58498911e-02 4.15486535e-03 1.04884589e+02] [-2.58495265e-02 9.99665835e-01 -1.41443252e-04 -3.51439653e+00] [-4.15713323e-03 3.39934631e-05 9.99991359e-01 -7.85062695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.100281693 meters Centerline goodness [0,1] 0.9991786707101339 Centerline is valid? [True, True] Translation: X:104.92, Y:-3.52, Z:-0.78 [[ 9.99629868e-01 2.67859324e-02 4.75817383e-03 1.04915840e+02] [-2.67854634e-02 9.99641192e-01 -1.62261159e-04 -3.51914147e+00] [-4.76081288e-03 3.47512102e-05 9.99988667e-01 -7.83669352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.130281693 meters Centerline goodness [0,1] 0.9993686735831983 Centerline is valid? [True, True] Translation: X:104.95, Y:-3.52, Z:-0.78 [[ 9.99608998e-01 2.74648583e-02 5.24714698e-03 1.04947856e+02] [-2.74642928e-02 9.99622769e-01 -1.79795808e-04 -3.52199698e+00] [-5.25010566e-03 3.56163261e-05 9.99986217e-01 -7.82664843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.160281693 meters Centerline goodness [0,1] 0.9996403942970766 Centerline is valid? [True, True] Translation: X:104.98, Y:-3.53, Z:-0.78 [[ 9.99539800e-01 2.97724543e-02 5.81289494e-03 1.04979344e+02] [-2.97717936e-02 9.99556702e-01 -2.00176656e-04 -3.52604539e+00] [-5.81627785e-03 2.70242262e-05 9.99983085e-01 -7.81786623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.190281693 meters Centerline goodness [0,1] 0.9996350443313797 Centerline is valid? [True, True] Translation: X:105.01, Y:-3.53, Z:-0.78 [[ 9.99495059e-01 3.11518260e-02 6.26019787e-03 1.05012099e+02] [-3.11510803e-02 9.99514664e-01 -2.16601009e-04 -3.52683644e+00] [-6.26390709e-03 2.14797119e-05 9.99980381e-01 -7.81843048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.220281693 meters Centerline goodness [0,1] 0.9997246754346951 Centerline is valid? [True, True] Translation: X:105.04, Y:-3.53, Z:-0.78 [[ 9.99437261e-01 3.29010220e-02 6.53337229e-03 1.05044333e+02] [-3.29002389e-02 9.99458615e-01 -2.27337881e-04 -3.52835712e+00] [-6.53731486e-03 1.22604403e-05 9.99978631e-01 -7.80953539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.250281693 meters Centerline goodness [0,1] 0.9996992675015574 Centerline is valid? [True, True] Translation: X:105.08, Y:-3.53, Z:-0.78 [[ 9.99296366e-01 3.70125274e-02 6.07014457e-03 1.05076146e+02] [-3.70119214e-02 9.99314802e-01 -2.12187209e-04 -3.52693224e+00] [-6.07383890e-03 -1.26298067e-05 9.99981554e-01 -7.81804175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.280281693 meters Centerline goodness [0,1] 0.9994659146745284 Centerline is valid? [True, True] Translation: X:105.11, Y:-3.53, Z:-0.78 [[ 9.99205673e-01 3.95174550e-02 5.13752154e-03 1.05108687e+02] [-3.95170514e-02 9.99218880e-01 -1.80094623e-04 -3.52624527e+00] [-5.14062540e-03 -2.30681337e-05 9.99986787e-01 -7.83852541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31028169300001 meters Centerline goodness [0,1] 0.9994876611732559 Centerline is valid? [True, True] Translation: X:105.14, Y:-3.52, Z:-0.78 [[ 9.99115609e-01 4.17740480e-02 4.78845898e-03 1.05140418e+02] [-4.17737194e-02 9.99127083e-01 -1.68665509e-04 -3.52411786e+00] [-4.79132490e-03 -3.15153993e-05 9.99988521e-01 -7.84873286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.340281693 meters Centerline goodness [0,1] 0.998804950917627 Centerline is valid? [True, True] Translation: X:105.17, Y:-3.52, Z:-0.78 [[ 9.98918855e-01 4.62356452e-02 4.83600606e-03 1.05172078e+02] [-4.62353586e-02 9.98930559e-01 -1.71099602e-04 -3.51610951e+00] [-4.83874513e-03 -5.26798557e-05 9.99988292e-01 -7.83805500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.370281693 meters Centerline goodness [0,1] 0.9988874863610107 Centerline is valid? [True, True] Translation: X:105.20, Y:-3.51, Z:-0.78 [[ 9.98807929e-01 4.85268055e-02 5.27926611e-03 1.05204585e+02] [-4.85264913e-02 9.98821878e-01 -1.87667032e-04 -3.51461086e+00] [-5.28215337e-03 -6.87409410e-05 9.99986047e-01 -7.83614557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.400281693 meters Centerline goodness [0,1] 0.9980384213556214 Centerline is valid? [True, True] Translation: X:105.24, Y:-3.51, Z:-0.78 [[ 9.98618658e-01 5.23182926e-02 4.85515626e-03 1.05236132e+02] [-5.23180679e-02 9.98630457e-01 -1.73360482e-04 -3.50616685e+00] [-4.85757684e-03 -8.08913827e-05 9.99988199e-01 -7.84379300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.430281693 meters Centerline goodness [0,1] 0.9980963381245722 Centerline is valid? [True, True] Translation: X:105.27, Y:-3.50, Z:-0.79 [[ 9.98543171e-01 5.37768754e-02 4.42520692e-03 1.05267904e+02] [-5.37767026e-02 9.98552974e-01 -1.58100636e-04 -3.50226267e+00] [-4.42730569e-03 -8.01027263e-05 9.99990196e-01 -7.86035142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.460281693 meters Centerline goodness [0,1] 0.9976997910819423 Centerline is valid? [True, True] Translation: X:105.30, Y:-3.50, Z:-0.79 [[ 9.98486290e-01 5.48480834e-02 4.10086268e-03 1.05299466e+02] [-5.48479437e-02 9.98494708e-01 -1.46598721e-04 -3.49971665e+00] [-4.10273034e-03 -7.85470726e-05 9.99991581e-01 -7.87117369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.490281693 meters Centerline goodness [0,1] 0.9980358248468156 Centerline is valid? [True, True] Translation: X:105.33, Y:-3.50, Z:-0.79 [[ 9.98484858e-01 5.49113518e-02 3.56817303e-03 1.05329957e+02] [-5.49112461e-02 9.98491231e-01 -1.27642107e-04 -3.49778853e+00] [-3.56979848e-03 -6.84841167e-05 9.99993626e-01 -7.88285703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.520281693 meters Centerline goodness [0,1] 0.9982451689289188 Centerline is valid? [True, True] Translation: X:105.36, Y:-3.50, Z:-0.79 [[ 9.98488427e-01 5.48829111e-02 2.95403166e-03 1.05360942e+02] [-5.48828384e-02 9.98492796e-01 -1.05722423e-04 -3.49757464e+00] [-2.95538169e-03 -5.65630263e-05 9.99995631e-01 -7.89192676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.550281693 meters Centerline goodness [0,1] 0.9979122283766511 Centerline is valid? [True, True] Translation: X:105.39, Y:-3.49, Z:-0.79 [[ 9.98531308e-01 5.40822483e-02 3.21512156e-03 1.05390388e+02] [-5.40821580e-02 9.98536483e-01 -1.15089235e-04 -3.49323896e+00] [-3.21664046e-03 -5.89605078e-05 9.99994825e-01 -7.87909434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.580281693 meters Centerline goodness [0,1] 0.9978036366708201 Centerline is valid? [True, True] Translation: X:105.42, Y:-3.49, Z:-0.79 [[ 9.98527609e-01 5.41049277e-02 3.90782564e-03 1.05420327e+02] [-5.41047947e-02 9.98535253e-01 -1.39827125e-04 -3.48986274e+00] [-3.90966700e-03 -7.18108596e-05 9.99992355e-01 -7.86851649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.610281693 meters Centerline goodness [0,1] 0.9975789496039247 Centerline is valid? [True, True] Translation: X:105.45, Y:-3.48, Z:-0.79 [[ 9.98509919e-01 5.43992998e-02 4.31939492e-03 1.05451307e+02] [-5.43991403e-02 9.98519259e-01 -1.54488592e-04 -3.48479680e+00] [-4.32140308e-03 -8.07129784e-05 9.99990659e-01 -7.87058216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.640281693 meters Centerline goodness [0,1] 0.9976550342151825 Centerline is valid? [True, True] Translation: X:105.48, Y:-3.48, Z:-0.79 [[ 9.98514468e-01 5.43324966e-02 4.10332438e-03 1.05481635e+02] [-5.43323521e-02 9.98522896e-01 -1.46760558e-04 -3.48460443e+00] [-4.10523721e-03 -7.64007246e-05 9.99991571e-01 -7.87577800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.670281693 meters Centerline goodness [0,1] 0.99813915684555 Centerline is valid? [True, True] Translation: X:105.51, Y:-3.48, Z:-0.79 [[ 9.98539103e-01 5.38693610e-02 4.21328195e-03 1.05512002e+02] [-5.38692045e-02 9.98547989e-01 -1.50693328e-04 -3.48400540e+00] [-4.21528197e-03 -7.64929657e-05 9.99991113e-01 -7.87079084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70028169300001 meters Centerline goodness [0,1] 0.998167379352474 Centerline is valid? [True, True] Translation: X:105.54, Y:-3.48, Z:-0.78 [[ 9.98632041e-01 5.18174258e-02 7.00001434e-03 1.05542051e+02] [-5.18169435e-02 9.98656568e-01 -2.50364318e-04 -3.48134824e+00] [-7.00358354e-03 -1.12697518e-04 9.99975468e-01 -7.81989349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.730281693 meters Centerline goodness [0,1] 0.9975800172555291 Centerline is valid? [True, True] Translation: X:105.57, Y:-3.48, Z:-0.78 [[ 9.98685369e-01 5.04897657e-02 8.84974648e-03 1.05571936e+02] [-5.04889424e-02 9.98724570e-01 -3.16563366e-04 -3.48321538e+00] [-8.85444246e-03 -1.30667138e-04 9.99960790e-01 -7.78838746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.760281693 meters Centerline goodness [0,1] 0.9979631262861702 Centerline is valid? [True, True] Translation: X:105.60, Y:-3.49, Z:-0.78 [[ 9.98745787e-01 4.90879088e-02 9.86051658e-03 1.05603793e+02] [-4.90868103e-02 9.98794453e-01 -3.53537905e-04 -3.48751207e+00] [-9.86598370e-03 -1.30926814e-04 9.99951321e-01 -7.77273965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.790281693 meters Centerline goodness [0,1] 0.9985848857348034 Centerline is valid? [True, True] Translation: X:105.64, Y:-3.49, Z:-0.78 [[ 9.98954524e-01 4.48435271e-02 8.88356956e-03 1.05635188e+02] [-4.48424557e-02 9.98994020e-01 -3.19854017e-04 -3.49225790e+00] [-8.88897625e-03 -7.88414567e-05 9.99960489e-01 -7.79539918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.820281693 meters Centerline goodness [0,1] 0.9991272510536847 Centerline is valid? [True, True] Translation: X:105.67, Y:-3.50, Z:-0.78 [[ 9.99096252e-01 4.19077861e-02 7.10050653e-03 1.05667601e+02] [-4.19070206e-02 9.99121482e-01 -2.56623128e-04 -3.49606944e+00] [-7.10502312e-03 -4.11698683e-05 9.99974758e-01 -7.83893220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.850281693 meters Centerline goodness [0,1] 0.999852382960776 Centerline is valid? [True, True] Translation: X:105.70, Y:-3.50, Z:-0.79 [[ 9.99331120e-01 3.63856945e-02 3.65963097e-03 1.05698334e+02] [-3.63854534e-02 9.99337821e-01 -1.32466694e-04 -3.50286668e+00] [-3.66202753e-03 -7.79241758e-07 9.99993295e-01 -7.90472345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.880281693 meters Centerline goodness [0,1] 0.9999152111243005 Centerline is valid? [True, True] Translation: X:105.73, Y:-3.51, Z:-0.79 [[ 9.99425102e-01 3.37519377e-02 3.20516923e-03 1.05729827e+02] [-3.37517372e-02 9.99430241e-01 -1.16637188e-04 -3.50698449e+00] [-3.20727979e-03 8.39010385e-06 9.99994857e-01 -7.91606105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.910281693 meters Centerline goodness [0,1] 0.9995740511990459 Centerline is valid? [True, True] Translation: X:105.76, Y:-3.51, Z:-0.79 [[ 9.99502919e-01 3.13827535e-02 3.00625095e-03 1.05760726e+02] [-3.13825662e-02 9.99507440e-01 -1.09458196e-04 -3.51083679e+00] [-3.00820529e-03 1.50599167e-05 9.99995475e-01 -7.90971912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.940281693 meters Centerline goodness [0,1] 0.9995327301304108 Centerline is valid? [True, True] Translation: X:105.79, Y:-3.52, Z:-0.79 [[ 9.99619916e-01 2.73624117e-02 3.36467787e-03 1.05791628e+02] [-2.73621540e-02 9.99625579e-01 -1.22596624e-04 -3.51537260e+00] [-3.36677261e-03 3.04851928e-05 9.99994332e-01 -7.89922674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.970281693 meters Centerline goodness [0,1] 0.9992510645582351 Centerline is valid? [True, True] Translation: X:105.82, Y:-3.52, Z:-0.79 [[ 9.99664547e-01 2.55981967e-02 3.94028094e-03 1.05822247e+02] [-2.55978295e-02 9.99672312e-01 -1.43602459e-04 -3.52021100e+00] [-3.94266572e-03 4.26916475e-05 9.99992227e-01 -7.88815542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.000281693 meters Centerline goodness [0,1] 0.9988909032739682 Centerline is valid? [True, True] Translation: X:105.85, Y:-3.52, Z:-0.79 [[ 9.99695899e-01 2.41576732e-02 4.95144385e-03 1.05853155e+02] [-2.41570729e-02 9.99708159e-01 -1.81021873e-04 -3.52144616e+00] [-4.95437189e-03 6.13544342e-05 9.99987725e-01 -7.87258384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.030281693 meters Centerline goodness [0,1] 0.9988369588628042 Centerline is valid? [True, True] Translation: X:105.88, Y:-3.52, Z:-0.79 [[ 9.99730397e-01 2.24874407e-02 5.78349812e-03 1.05884889e+02] [-2.24865924e-02 9.99747122e-01 -2.11669010e-04 -3.52235492e+00] [-5.78679550e-03 8.15607783e-05 9.99983253e-01 -7.86251270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06028169300001 meters Centerline goodness [0,1] 0.9984075756932353 Centerline is valid? [True, True] Translation: X:105.92, Y:-3.53, Z:-0.79 [[ 9.99812818e-01 1.85920054e-02 5.35417726e-03 1.05915278e+02] [-1.85912187e-02 9.99827149e-01 -1.96679423e-04 -3.52855506e+00] [-5.35690845e-03 9.71019282e-05 9.99985647e-01 -7.87604357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.090281693 meters Centerline goodness [0,1] 0.9978525863702393 Centerline is valid? [True, True] Translation: X:105.95, Y:-3.53, Z:-0.79 [[ 9.99839775e-01 1.72692551e-02 4.71147976e-03 1.05947016e+02] [-1.72686310e-02 9.99850871e-01 -1.73102413e-04 -3.53292629e+00] [-4.71376649e-03 9.17138723e-05 9.99988886e-01 -7.89157314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.120281693 meters Centerline goodness [0,1] 0.9975043356879997 Centerline is valid? [True, True] Translation: X:105.98, Y:-3.54, Z:-0.79 [[ 9.99864234e-01 1.59559637e-02 4.11359491e-03 1.05977421e+02] [-1.59554741e-02 9.99872692e-01 -1.51834149e-04 -3.54064021e+00] [-4.11549388e-03 8.61791785e-05 9.99991528e-01 -7.90177363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.150281693 meters Centerline goodness [0,1] 0.997564414818613 Centerline is valid? [True, True] Translation: X:106.01, Y:-3.54, Z:-0.79 [[ 9.99889633e-01 1.41906581e-02 4.39860475e-03 1.06009790e+02] [-1.41900811e-02 9.99899303e-01 -1.62355157e-04 -3.54051759e+00] [-4.40046575e-03 9.99206800e-05 9.99990313e-01 -7.88002508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.180281693 meters Centerline goodness [0,1] 0.997564414818613 Centerline is valid? [True, True] Translation: X:106.04, Y:-3.54, Z:-0.79 [[ 9.99887320e-01 1.43526979e-02 4.39857827e-03 1.06041452e+02] [-1.43521193e-02 9.99896990e-01 -1.63069212e-04 -3.54183532e+00] [-4.40046566e-03 9.99219169e-05 9.99990313e-01 -7.88166477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.210281693 meters Centerline goodness [0,1] 0.996820759580684 Centerline is valid? [True, True] Translation: X:106.07, Y:-3.55, Z:-0.79 [[ 9.99889269e-01 1.37071318e-02 5.79353569e-03 1.06072667e+02] [-1.37061103e-02 9.99906044e-01 -2.15983295e-04 -3.54668009e+00] [-5.79595187e-03 1.36552540e-04 9.99983194e-01 -7.86439372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.240281693 meters Centerline goodness [0,1] 0.9961694792619863 Centerline is valid? [True, True] Translation: X:106.10, Y:-3.55, Z:-0.78 [[ 9.99890775e-01 1.28811710e-02 7.24658711e-03 1.06104696e+02] [-1.28795417e-02 9.99917018e-01 -2.71452307e-04 -3.55273079e+00] [-7.24948240e-03 1.78089937e-04 9.99973706e-01 -7.84013649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.270281693 meters Centerline goodness [0,1] 0.994580119965724 Centerline is valid? [True, True] Translation: X:106.13, Y:-3.56, Z:-0.78 [[ 9.99902770e-01 1.10828135e-02 8.46298960e-03 1.06134963e+02] [-1.10805167e-02 9.99938559e-01 -3.18237252e-04 -3.56352706e+00] [-8.46599659e-03 2.24432012e-04 9.99964138e-01 -7.82594014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.300281693 meters Centerline goodness [0,1] 0.9929565584141712 Centerline is valid? [True, True] Translation: X:106.17, Y:-3.57, Z:-0.78 [[ 9.99908305e-01 1.10411517e-02 7.84058356e-03 1.06166905e+02] [-1.10391726e-02 9.99939023e-01 -2.95653707e-04 -3.57071909e+00] [-7.84336982e-03 2.09073042e-04 9.99969218e-01 -7.83449547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.330281693 meters Centerline goodness [0,1] 0.9947001689189189 Centerline is valid? [True, True] Translation: X:106.20, Y:-3.57, Z:-0.79 [[ 9.99912026e-01 1.14776893e-02 6.64853997e-03 1.06198776e+02] [-1.14762696e-02 9.99934114e-01 -2.51655832e-04 -3.57301977e+00] [-6.65099036e-03 1.75333256e-04 9.99977867e-01 -7.86116756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.360281693 meters Centerline goodness [0,1] 0.996237502377983 Centerline is valid? [True, True] Translation: X:106.23, Y:-3.58, Z:-0.79 [[ 9.99907821e-01 1.27033607e-02 4.79315721e-03 1.06230989e+02] [-1.27026344e-02 9.99919302e-01 -1.81942940e-04 -3.58152969e+00] [-4.79508170e-03 1.21040445e-04 9.99988496e-01 -7.89951534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.390281693 meters Centerline goodness [0,1] 0.9948424927238486 Centerline is valid? [True, True] Translation: X:106.26, Y:-3.59, Z:-0.78 [[ 9.99899222e-01 1.35791442e-02 4.14155429e-03 1.06262704e+02] [-1.35786072e-02 9.99907794e-01 -1.57736403e-04 -3.58570281e+00] [-4.14331434e-03 1.01483967e-04 9.99991411e-01 -7.82895194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.420281693 meters Centerline goodness [0,1] 0.9964658292527145 Centerline is valid? [True, True] Translation: X:106.29, Y:-3.59, Z:-0.79 [[ 9.99881830e-01 1.47695260e-02 4.26457432e-03 1.06293943e+02] [-1.47689643e-02 9.99890920e-01 -1.63169936e-04 -3.59277135e+00] [-4.26651908e-03 1.00167308e-04 9.99990893e-01 -7.90653405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45028169300001 meters Centerline goodness [0,1] 0.9975430500363202 Centerline is valid? [True, True] Translation: X:106.33, Y:-3.60, Z:-0.79 [[ 9.99857376e-01 1.65583625e-02 3.32403776e-03 1.06326266e+02] [-1.65580309e-02 9.99862898e-01 -1.27254752e-04 -3.59525058e+00] [-3.32568916e-03 7.21970819e-05 9.99994467e-01 -7.92723901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.480281693 meters Centerline goodness [0,1] 0.9985244429237415 Centerline is valid? [True, True] Translation: X:106.36, Y:-3.59, Z:-0.79 [[ 9.99813058e-01 1.91052534e-02 2.97287304e-03 1.06358609e+02] [-1.91049983e-02 9.99817476e-01 -1.14171075e-04 -3.59436233e+00] [-2.97451169e-03 5.73529971e-05 9.99995574e-01 -7.93524128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.510281693 meters Centerline goodness [0,1] 0.9985133585354458 Centerline is valid? [True, True] Translation: X:106.39, Y:-3.60, Z:-0.79 [[ 9.99743399e-01 2.24404853e-02 3.09196277e-03 1.06389062e+02] [-2.24402227e-02 9.99748179e-01 -1.19599405e-04 -3.59758964e+00] [-3.09386802e-03 5.01843824e-05 9.99995213e-01 -7.93993122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.540281693 meters Centerline goodness [0,1] 0.9995937219347389 Centerline is valid? [True, True] Translation: X:106.42, Y:-3.59, Z:-0.79 [[ 9.99477782e-01 3.19324491e-02 4.94799548e-03 1.06419814e+02] [-3.19318924e-02 9.99490029e-01 -1.91485749e-04 -3.58720182e+00] [-4.95158676e-03 3.33868927e-05 9.99987740e-01 -7.89931552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.570281693 meters Centerline goodness [0,1] 0.9998512663607003 Centerline is valid? [True, True] Translation: X:106.45, Y:-3.58, Z:-0.79 [[ 9.99269687e-01 3.78340753e-02 5.35493656e-03 1.06452356e+02] [-3.78335075e-02 9.99284035e-01 -2.07330868e-04 -3.58236315e+00] [-5.35894678e-03 4.58341934e-06 9.99985641e-01 -7.89120041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.600281693 meters Centerline goodness [0,1] 0.9994696760781485 Centerline is valid? [True, True] Translation: X:106.48, Y:-3.58, Z:-0.79 [[ 9.99027440e-01 4.38100477e-02 4.98531554e-03 1.06483418e+02] [-4.38096261e-02 9.99039879e-01 -1.93789026e-04 -3.57526435e+00] [-4.98901894e-03 -2.48042555e-05 9.99987554e-01 -7.90064421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.630281693 meters Centerline goodness [0,1] 0.9986231147263176 Centerline is valid? [True, True] Translation: X:106.52, Y:-3.56, Z:-0.79 [[ 9.98459402e-01 5.53537136e-02 3.84555688e-03 1.06515420e+02] [-5.53535460e-02 9.98466806e-01 -1.50063243e-04 -3.56222885e+00] [-3.84796745e-03 -6.30331540e-05 9.99992595e-01 -7.92377382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.660281693 meters Centerline goodness [0,1] 0.9973205620490316 Centerline is valid? [True, True] Translation: X:106.55, Y:-3.55, Z:-0.79 [[ 9.98138899e-01 6.08678673e-02 3.72031657e-03 1.06545694e+02] [-6.08677487e-02 9.98145829e-01 -1.45209221e-04 -3.54992622e+00] [-3.72225705e-03 -8.15083224e-05 9.99993069e-01 -7.93184211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.690281693 meters Centerline goodness [0,1] 0.9968255330101669 Centerline is valid? [True, True] Translation: X:106.58, Y:-3.55, Z:-0.79 [[ 9.97812000e-01 6.59959373e-02 3.96844052e-03 1.06576132e+02] [-6.59958415e-02 9.97819886e-01 -1.55227221e-04 -3.54897277e+00] [-3.97003323e-03 -1.07012987e-04 9.99992114e-01 -7.92581499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.720281693 meters Centerline goodness [0,1] 0.9954753062705425 Centerline is valid? [True, True] Translation: X:106.61, Y:-3.54, Z:-0.79 [[ 9.97480909e-01 7.08260156e-02 3.93849570e-03 1.06605534e+02] [-7.08259590e-02 9.97488677e-01 -1.54024164e-04 -3.54042392e+00] [-3.93951378e-03 -1.25311571e-04 9.99992232e-01 -7.93125328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.750281693 meters Centerline goodness [0,1] 0.9909290760463577 Centerline is valid? [True, True] Translation: X:106.64, Y:-3.52, Z:-0.79 [[ 9.96868680e-01 7.89891233e-02 3.68134818e-03 1.06636407e+02] [-7.89891298e-02 9.96875467e-01 -1.43870808e-04 -3.52494413e+00] [-3.68120992e-03 -1.47366186e-04 9.99993213e-01 -7.94302146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.780281693 meters Centerline goodness [0,1] 0.9743611368811672 Centerline is valid? [True, True] Translation: X:106.67, Y:-3.50, Z:-0.80 [[ 9.96613366e-01 8.21480997e-02 3.67276636e-03 1.06666449e+02] [-8.21481276e-02 9.96620120e-01 -1.43515600e-04 -3.50302296e+00] [-3.67214239e-03 -1.58681314e-04 9.99993245e-01 -7.95367112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81028169300001 meters Centerline goodness [0,1] 0.9486152678834886 Centerline is valid? [True, False] Translation: X:106.67, Y:-3.49, Z:-0.80 [[ 9.96624633e-01 8.20081995e-02 3.74100709e-03 1.06666292e+02] [-8.20021015e-02 9.96630610e-01 -1.75555924e-03 -3.49385771e+00] [-3.87237243e-03 1.44286314e-03 9.99991461e-01 -7.95088935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.840281693 meters Centerline goodness [0,1] 0.9334561704470847 Centerline is valid? [False, False] Translation: X:106.67, Y:-3.49, Z:-0.80 [[ 9.96653514e-01 8.16598578e-02 3.66625502e-03 1.06666580e+02] [-8.16503834e-02 9.96657473e-01 -2.66378555e-03 -3.48936322e+00] [-3.87152482e-03 2.35552010e-03 9.99989731e-01 -7.95009177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.870281693 meters Centerline goodness [0,1] 0.9294384788421544 Centerline is valid? [False, False] Translation: X:106.67, Y:-3.49, Z:-0.80 [[ 9.96679826e-01 8.13438183e-02 3.53670398e-03 1.06667179e+02] [-8.13317246e-02 9.96681155e-01 -3.43873398e-03 -3.48563112e+00] [-3.80468596e-03 3.13967055e-03 9.99987833e-01 -7.95240258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.900281693 meters Centerline goodness [0,1] 0.9368692245454159 Centerline is valid? [False, False] Translation: X:106.67, Y:-3.48, Z:-0.80 [[ 9.96732788e-01 8.06952988e-02 3.46675053e-03 1.06667783e+02] [-8.06779313e-02 9.96728240e-01 -4.88751776e-03 -3.47880764e+00] [-3.84980786e-03 4.59185894e-03 9.99982047e-01 -7.95721580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.930281693 meters Centerline goodness [0,1] 0.9814999681400141 Centerline is valid? [False, True] Translation: X:106.67, Y:-3.48, Z:-0.80 [[ 9.96759777e-01 8.03627944e-02 3.43061900e-03 1.06667777e+02] [-8.03428899e-02 9.96751601e-01 -5.59168246e-03 -3.47544136e+00] [-3.86883821e-03 5.29793831e-03 9.99978482e-01 -7.95414580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.960281693 meters Centerline goodness [0,1] 0.9815631860519641 Centerline is valid? [True, True] Translation: X:106.70, Y:-3.48, Z:-0.79 [[ 9.96795968e-01 7.98822343e-02 4.07757294e-03 1.06695809e+02] [-7.98823682e-02 9.96804289e-01 -1.30264708e-04 -3.47500112e+00] [-4.07494803e-03 -1.95878848e-04 9.99991678e-01 -7.94631613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.990281693 meters Centerline goodness [0,1] 0.982759714847799 Centerline is valid? [True, True] Translation: X:106.72, Y:-3.47, Z:-0.79 [[ 9.96969933e-01 7.77048256e-02 3.59355521e-03 1.06724979e+02] [-7.77049163e-02 9.96976395e-01 -1.14600180e-04 -3.47224043e+00] [-3.59159471e-03 -1.64983973e-04 9.99993537e-01 -7.94467197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.020281693 meters Centerline goodness [0,1] 0.9844651201953437 Centerline is valid? [True, True] Translation: X:106.76, Y:-3.47, Z:-0.80 [[ 9.97107591e-01 7.59401474e-02 3.08959558e-03 1.06755322e+02] [-7.59402061e-02 9.97112368e-01 -9.84583874e-05 -3.47260201e+00] [-3.08815092e-03 -1.36450920e-04 9.99995222e-01 -7.95539288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.050281693 meters Centerline goodness [0,1] 0.9860800135186515 Centerline is valid? [True, True] Translation: X:106.79, Y:-3.47, Z:-0.80 [[ 9.97269897e-01 7.37849827e-02 2.92027012e-03 1.06785434e+02] [-7.37850260e-02 9.97274166e-01 -9.30597053e-05 -3.47414085e+00] [-2.91917636e-03 -1.22666564e-04 9.99995732e-01 -7.96337883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.080281693 meters Centerline goodness [0,1] 0.9903407394771632 Centerline is valid? [True, True] Translation: X:106.82, Y:-3.48, Z:-0.80 [[ 9.97578010e-01 6.94665483e-02 3.53736312e-03 1.06815511e+02] [-6.94665852e-02 9.97584273e-01 -1.12573558e-04 -3.47939015e+00] [-3.53663792e-03 -1.33427631e-04 9.99993737e-01 -7.96638215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.110281693 meters Centerline goodness [0,1] 0.9899011374508345 Centerline is valid? [True, True] Translation: X:106.84, Y:-3.48, Z:-0.80 [[ 9.97708301e-01 6.75450550e-02 3.97633624e-03 1.06844300e+02] [-6.75450864e-02 9.97716215e-01 -1.26543717e-04 -3.47878887e+00] [-3.97580254e-03 -1.42328258e-04 9.99992086e-01 -7.96062491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.140281693 meters Centerline goodness [0,1] 0.9906573878992956 Centerline is valid? [True, True] Translation: X:106.87, Y:-3.48, Z:-0.79 [[ 9.97923639e-01 6.41744936e-02 5.48141683e-03 1.06873614e+02] [-6.41745034e-02 9.97938677e-01 -1.74282114e-04 -3.47868133e+00] [-5.48130233e-03 -1.77846962e-04 9.99984962e-01 -7.93170500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.170281693 meters Centerline goodness [0,1] 0.9936401922831497 Centerline is valid? [True, True] Translation: X:106.90, Y:-3.49, Z:-0.79 [[ 9.98010070e-01 6.27929168e-02 5.74025395e-03 1.06903282e+02] [-6.27929055e-02 9.98026562e-01 -1.82379010e-04 -3.48531357e+00] [-5.74037802e-03 -1.78431135e-04 9.99983508e-01 -7.93124156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20028169300001 meters Centerline goodness [0,1] 0.9941835600034215 Centerline is valid? [True, True] Translation: X:106.93, Y:-3.48, Z:-0.79 [[ 9.98093022e-01 6.14853977e-02 5.46488314e-03 1.06931948e+02] [-6.14853686e-02 9.98107970e-01 -1.73495070e-04 -3.48416933e+00] [-5.46521083e-03 -1.62846135e-04 9.99985052e-01 -7.93957057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.230281693 meters Centerline goodness [0,1] 0.9948737747463698 Centerline is valid? [True, True] Translation: X:106.96, Y:-3.48, Z:-0.80 [[ 9.98244617e-01 5.91654476e-02 2.67117139e-03 1.06961288e+02] [-5.91654324e-02 9.98248188e-01 -8.47872439e-05 -3.48318619e+00] [-2.67150848e-03 -7.34026006e-05 9.99996429e-01 -7.99279347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.260281693 meters Centerline goodness [0,1] 0.9952561266167461 Centerline is valid? [True, True] Translation: X:106.99, Y:-3.48, Z:-0.80 [[ 9.98332210e-01 5.77091226e-02 1.56674101e-03 1.06989850e+02] [-5.77091155e-02 9.98333439e-01 -4.97770950e-05 -3.48373114e+00] [-1.56700253e-03 -4.07211606e-05 9.99998771e-01 -8.00633504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.290281693 meters Centerline goodness [0,1] 0.9947986900404546 Centerline is valid? [True, True] Translation: X:107.02, Y:-3.48, Z:-0.80 [[ 9.98426704e-01 5.60450713e-02 1.75101028e-03 1.07018052e+02] [-5.60450600e-02 9.98428239e-01 -5.55516874e-05 -3.47827350e+00] [-1.75137151e-03 -4.26711878e-05 9.99998465e-01 -8.01404991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.320281693 meters Centerline goodness [0,1] 0.9949417989417989 Centerline is valid? [True, True] Translation: X:107.05, Y:-3.48, Z:-0.80 [[ 9.98514551e-01 5.44116600e-02 2.83949260e-03 1.07046847e+02] [-5.44116246e-02 9.98518586e-01 -8.97455696e-05 -3.47889584e+00] [-2.84016935e-03 -6.48891486e-05 9.99995965e-01 -7.98990691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.350281693 meters Centerline goodness [0,1] 0.9963146524336002 Centerline is valid? [True, True] Translation: X:107.08, Y:-3.49, Z:-0.79 [[ 9.98715519e-01 5.04026685e-02 5.18482587e-03 1.07076544e+02] [-5.04024986e-02 9.98728973e-01 -1.63505644e-04 -3.48652782e+00] [-5.18647694e-03 -9.80325548e-05 9.99986545e-01 -7.94686309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.380281693 meters Centerline goodness [0,1] 0.9962384564992287 Centerline is valid? [True, True] Translation: X:107.11, Y:-3.49, Z:-0.80 [[ 9.98819347e-01 4.83081973e-02 5.12156619e-03 1.07106504e+02] [-4.83080047e-02 9.98832474e-01 -1.61391965e-04 -3.48931177e+00] [-5.12338318e-03 -8.62112268e-05 9.99986872e-01 -7.95115139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.410281693 meters Centerline goodness [0,1] 0.9971127717391305 Centerline is valid? [True, True] Translation: X:107.14, Y:-3.49, Z:-0.80 [[ 9.98922611e-01 4.61917524e-02 4.46525044e-03 1.07136257e+02] [-4.61915852e-02 9.98932589e-01 -1.40619310e-04 -3.49233586e+00] [-4.46697964e-03 -6.57891878e-05 9.99990021e-01 -7.96041752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.440281693 meters Centerline goodness [0,1] 0.9976412588452793 Centerline is valid? [True, True] Translation: X:107.17, Y:-3.49, Z:-0.80 [[ 9.99081417e-01 4.27044957e-02 3.55646976e-03 1.07165432e+02] [-4.27043678e-02 9.99087746e-01 -1.11937138e-04 -3.49220027e+00] [-3.55800558e-03 -4.00424783e-05 9.99993669e-01 -7.98490479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.470281693 meters Centerline goodness [0,1] 0.9979801416027044 Centerline is valid? [True, True] Translation: X:107.19, Y:-3.50, Z:-0.80 [[ 9.99151714e-01 4.10404613e-02 3.39591240e-03 1.07194980e+02] [-4.10403353e-02 9.99157485e-01 -1.06806797e-04 -3.49784906e+00] [-3.39743469e-03 -3.26531885e-05 9.99994228e-01 -7.99340947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.500281693 meters Centerline goodness [0,1] 0.9988130060621476 Centerline is valid? [True, True] Translation: X:107.23, Y:-3.50, Z:-0.80 [[ 9.99249932e-01 3.85408463e-02 3.76514157e-03 1.07225177e+02] [-3.85406741e-02 9.99257025e-01 -1.18307347e-04 -3.50271909e+00] [-3.76690383e-03 -2.68924863e-05 9.99992905e-01 -7.98098090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.530281693 meters Centerline goodness [0,1] 0.9990619736926258 Centerline is valid? [True, True] Translation: X:107.25, Y:-3.50, Z:-0.80 [[ 9.99290908e-01 3.74352124e-02 4.03562182e-03 1.07254394e+02] [-3.74350055e-02 9.99299056e-01 -1.26816948e-04 -3.50439797e+00] [-4.03754050e-03 -2.43465018e-05 9.99991849e-01 -7.97339194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56028169300001 meters Centerline goodness [0,1] 0.9990663526216395 Centerline is valid? [True, True] Translation: X:107.28, Y:-3.51, Z:-0.80 [[ 9.99334085e-01 3.62384282e-02 4.26186761e-03 1.07283979e+02] [-3.62381871e-02 9.99343172e-01 -1.33816855e-04 -3.50539026e+00] [-4.26391761e-03 -2.07146114e-05 9.99990909e-01 -7.97015760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.590281693 meters Centerline goodness [0,1] 0.9992752850900565 Centerline is valid? [True, True] Translation: X:107.31, Y:-3.51, Z:-0.80 [[ 9.99377259e-01 3.50643565e-02 3.94770184e-03 1.07314651e+02] [-3.50641406e-02 9.99385056e-01 -1.23903468e-04 -3.50684301e+00] [-3.94961882e-03 -1.45964638e-05 9.99992200e-01 -7.97609680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.620281693 meters Centerline goodness [0,1] 0.9994075954723368 Centerline is valid? [True, True] Translation: X:107.34, Y:-3.51, Z:-0.80 [[ 9.99466496e-01 3.25282834e-02 2.93847043e-03 1.07344160e+02] [-3.25281529e-02 9.99470815e-01 -9.22057947e-05 -3.51083340e+00] [-2.93991473e-03 -3.42641300e-06 9.99995678e-01 -7.99976416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.650281693 meters Centerline goodness [0,1] 0.9996582365003418 Centerline is valid? [True, True] Translation: X:107.37, Y:-3.51, Z:-0.80 [[ 9.99530232e-01 3.04651516e-02 3.34506547e-03 1.07374824e+02] [-3.04649707e-02 9.99535830e-01 -1.05035967e-04 -3.51452063e+00] [-3.34671272e-03 3.07930349e-06 9.99994400e-01 -7.99485530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.680281693 meters Centerline goodness [0,1] 0.9997860871053307 Centerline is valid? [True, True] Translation: X:107.40, Y:-3.52, Z:-0.80 [[ 9.99597494e-01 2.80962520e-02 3.93063837e-03 1.07404925e+02] [-2.80959839e-02 9.99605222e-01 -1.23416405e-04 -3.51878564e+00] [-3.93255418e-03 1.29315764e-05 9.99992267e-01 -7.98849555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.710281693 meters Centerline goodness [0,1] 0.9996183772552845 Centerline is valid? [True, True] Translation: X:107.43, Y:-3.53, Z:-0.80 [[ 9.99710299e-01 2.35460092e-02 4.99025015e-03 1.07434911e+02] [-2.35455200e-02 9.99722754e-01 -1.56761778e-04 -3.52801632e+00] [-4.99255774e-03 3.92183292e-05 9.99987536e-01 -7.96877399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.740281693 meters Centerline goodness [0,1] 0.9995930606125508 Centerline is valid? [True, True] Translation: X:107.47, Y:-3.53, Z:-0.80 [[ 9.99740500e-01 2.21359971e-02 5.37861303e-03 1.07465951e+02] [-2.21354080e-02 9.99754968e-01 -1.69040436e-04 -3.53199969e+00] [-5.38103697e-03 4.99387758e-05 9.99985521e-01 -7.96749827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.770281693 meters Centerline goodness [0,1] 0.9995974490984979 Centerline is valid? [True, True] Translation: X:107.50, Y:-3.54, Z:-0.80 [[ 9.99753521e-01 2.16000344e-02 5.13174941e-03 1.07496977e+02] [-2.15994900e-02 9.99766691e-01 -1.61481816e-04 -3.53582813e+00] [-5.13404014e-03 5.05988439e-05 9.99986819e-01 -7.97467092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.800281693 meters Centerline goodness [0,1] 0.9996778488896525 Centerline is valid? [True, True] Translation: X:107.53, Y:-3.54, Z:-0.80 [[ 9.99755214e-01 2.18554633e-02 3.44259830e-03 1.07527872e+02] [-2.18552188e-02 9.99761140e-01 -1.08629543e-04 -3.53978147e+00] [-3.44415015e-03 3.33642127e-05 9.99994068e-01 -7.99921424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.830281693 meters Centerline goodness [0,1] 0.9997417299786927 Centerline is valid? [True, True] Translation: X:107.56, Y:-3.54, Z:-0.80 [[ 9.99742000e-01 2.25323717e-02 2.86804118e-03 1.07558776e+02] [-2.25322032e-02 9.99746114e-01 -9.10659856e-05 -3.54096597e+00] [-2.86936495e-03 2.64192041e-05 9.99995883e-01 -8.00787395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.860281693 meters Centerline goodness [0,1] 0.999742262505638 Centerline is valid? [True, True] Translation: X:107.59, Y:-3.54, Z:-0.80 [[ 9.99688636e-01 2.46824941e-02 3.66122640e-03 1.07589050e+02] [-2.46822339e-02 9.99695340e-01 -1.16251187e-04 -3.54340295e+00] [-3.66298034e-03 2.58477442e-05 9.99993291e-01 -7.99647872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.890281693 meters Centerline goodness [0,1] 0.9998306949970371 Centerline is valid? [True, True] Translation: X:107.62, Y:-3.55, Z:-0.80 [[ 9.99656652e-01 2.58669128e-02 4.18099589e-03 1.07619589e+02] [-2.58665838e-02 9.99665395e-01 -1.32751271e-04 -3.54610399e+00] [-4.18303077e-03 2.45576103e-05 9.99991251e-01 -7.99220688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.920281693 meters Centerline goodness [0,1] 0.9998079754208539 Centerline is valid? [True, True] Translation: X:107.65, Y:-3.55, Z:-0.80 [[ 9.99626878e-01 2.69396981e-02 4.51199024e-03 1.07649867e+02] [-2.69393257e-02 9.99637060e-01 -1.43318635e-04 -3.54758737e+00] [-4.51421362e-03 2.17151852e-05 9.99989811e-01 -7.98724296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95028169300001 meters Centerline goodness [0,1] 0.9998285138582238 Centerline is valid? [True, True] Translation: X:107.68, Y:-3.55, Z:-0.80 [[ 9.99591677e-01 2.81876935e-02 4.68326068e-03 1.07681269e+02] [-2.81873058e-02 9.99602648e-01 -1.48763541e-04 -3.54805188e+00] [-4.68559308e-03 1.66942959e-05 9.99989022e-01 -7.99015245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.980281693 meters Centerline goodness [0,1] 0.9997234101402098 Centerline is valid? [True, True] Translation: X:107.71, Y:-3.55, Z:-0.80 [[ 9.99515827e-01 3.07247969e-02 4.90894683e-03 1.07711596e+02] [-3.07244009e-02 9.99527882e-01 -1.56068718e-04 -3.54874524e+00] [-4.91142441e-03 5.16870366e-06 9.99987939e-01 -7.98853589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.010281693 meters Centerline goodness [0,1] 0.999724821133737 Centerline is valid? [True, True] Translation: X:107.74, Y:-3.55, Z:-0.80 [[ 9.99478845e-01 3.19097532e-02 4.87919441e-03 1.07742019e+02] [-3.19093748e-02 9.99490754e-01 -1.55394524e-04 -3.54955499e+00] [-4.88166830e-03 -3.78503986e-07 9.99988085e-01 -7.98903357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.040281693 meters Centerline goodness [0,1] 0.9996371630418543 Centerline is valid? [True, True] Translation: X:107.77, Y:-3.55, Z:-0.80 [[ 9.99451620e-01 3.27565536e-02 4.84433411e-03 1.07772130e+02] [-3.27561906e-02 9.99463360e-01 -1.54288465e-04 -3.55028065e+00] [-4.84678841e-03 -4.47807520e-06 9.99988254e-01 -7.99277350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.070281693 meters Centerline goodness [0,1] 0.9994091705176088 Centerline is valid? [True, True] Translation: X:107.80, Y:-3.55, Z:-0.80 [[ 9.99379132e-01 3.48760783e-02 5.00095557e-03 1.07801915e+02] [-3.48757177e-02 9.99391644e-01 -1.59324497e-04 -3.54841719e+00] [-5.00346982e-03 -1.51863374e-05 9.99987482e-01 -7.98840206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.100281693 meters Centerline goodness [0,1] 0.9994091705176088 Centerline is valid? [True, True] Translation: X:107.83, Y:-3.55, Z:-0.80 [[ 9.99378347e-01 3.48985665e-02 5.00095686e-03 1.07832734e+02] [-3.48982064e-02 9.99390859e-01 -1.59284073e-04 -3.54944490e+00] [-5.00346936e-03 -1.53393714e-05 9.99987482e-01 -7.98978548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.130281693 meters Centerline goodness [0,1] 0.9991172924560799 Centerline is valid? [True, True] Translation: X:107.86, Y:-3.55, Z:-0.80 [[ 9.99338440e-01 3.59159897e-02 5.72049092e-03 1.07864102e+02] [-3.59155343e-02 9.99354812e-01 -1.82346556e-04 -3.55015773e+00] [-5.72334929e-03 -2.32285654e-05 9.99983621e-01 -7.98279394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.160281693 meters Centerline goodness [0,1] 0.9990878622035552 Centerline is valid? [True, True] Translation: X:107.89, Y:-3.55, Z:-0.80 [[ 9.99308886e-01 3.66888298e-02 5.97323813e-03 1.07894867e+02] [-3.66883463e-02 9.99326738e-01 -1.90531571e-04 -3.55074839e+00] [-5.97620696e-03 -2.87483367e-05 9.99982142e-01 -7.98144018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.190281693 meters Centerline goodness [0,1] 0.9987570451964083 Centerline is valid? [True, True] Translation: X:107.93, Y:-3.55, Z:-0.80 [[ 9.99300367e-01 3.70086623e-02 5.39774701e-03 1.07926044e+02] [-3.70082718e-02 9.99314944e-01 -1.72244218e-04 -3.55286200e+00] [-5.40042378e-03 -2.76375776e-05 9.99985417e-01 -7.99253435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.220281693 meters Centerline goodness [0,1] 0.999000829099258 Centerline is valid? [True, True] Translation: X:107.96, Y:-3.55, Z:-0.80 [[ 9.99302844e-01 3.70355634e-02 4.71099063e-03 1.07955956e+02] [-3.70352658e-02 9.99313948e-01 -1.50434032e-04 -3.55418740e+00] [-4.71333006e-03 -2.41436347e-05 9.99988892e-01 -8.00633503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.250281693 meters Centerline goodness [0,1] 0.9993592618696738 Centerline is valid? [True, True] Translation: X:107.99, Y:-3.56, Z:-0.80 [[ 9.99355199e-01 3.56463173e-02 4.30421806e-03 1.07986815e+02] [-3.56460550e-02 9.99364468e-01 -1.37667264e-04 -3.55878540e+00] [-4.30638993e-03 -1.58498977e-05 9.99990727e-01 -8.02289515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.280281693 meters Centerline goodness [0,1] 0.9995959080371765 Centerline is valid? [True, True] Translation: X:108.02, Y:-3.56, Z:-0.80 [[ 9.99406793e-01 3.41809693e-02 4.20992842e-03 1.08018261e+02] [-3.41807052e-02 9.99415660e-01 -1.34696079e-04 -3.56365264e+00] [-4.21207243e-03 -9.28214556e-06 9.99991129e-01 -8.02690168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31028169300001 meters Centerline goodness [0,1] 0.9995949604553497 Centerline is valid? [True, True] Translation: X:108.05, Y:-3.57, Z:-0.80 [[ 9.99462607e-01 3.25336438e-02 4.00751998e-03 1.08049855e+02] [-3.25333908e-02 9.99470641e-01 -1.28307555e-04 -3.56845865e+00] [-4.00957287e-03 -2.13961007e-06 9.99991962e-01 -8.02852508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.340281693 meters Centerline goodness [0,1] 0.9999368620435652 Centerline is valid? [True, True] Translation: X:108.08, Y:-3.58, Z:-0.80 [[ 9.99544604e-01 2.99906771e-02 3.33821418e-03 1.08080173e+02] [-2.99904871e-02 9.99550178e-01 -1.06951700e-04 -3.57508433e+00] [-3.33992014e-03 6.78832546e-06 9.99994422e-01 -8.03802713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.370281693 meters Centerline goodness [0,1] 0.9998294279439671 Centerline is valid? [True, True] Translation: X:108.11, Y:-3.58, Z:-0.80 [[ 9.99580526e-01 2.87598709e-02 3.41212437e-03 1.08111825e+02] [-2.87596652e-02 9.99586349e-01 -1.09348194e-04 -3.57919693e+00] [-3.41385778e-03 1.11707711e-05 9.99994173e-01 -8.04285247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.400281693 meters Centerline goodness [0,1] 0.9998711506249195 Centerline is valid? [True, True] Translation: X:108.14, Y:-3.58, Z:-0.80 [[ 9.99605903e-01 2.78295091e-02 3.68194657e-03 1.08143175e+02] [-2.78292629e-02 9.99612684e-01 -1.18087160e-04 -3.58368948e+00] [-3.68380680e-03 1.55747631e-05 9.99993215e-01 -8.04049178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.430281693 meters Centerline goodness [0,1] 0.9999360804534027 Centerline is valid? [True, True] Translation: X:108.17, Y:-3.59, Z:-0.80 [[ 9.99629010e-01 2.69023999e-02 4.25470754e-03 1.08173411e+02] [-2.69020623e-02 9.99638065e-01 -1.36571946e-04 -3.58831002e+00] [-4.25684172e-03 2.20608719e-05 9.99990939e-01 -8.03384676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.460281693 meters Centerline goodness [0,1] 0.9998520084566597 Centerline is valid? [True, True] Translation: X:108.20, Y:-3.59, Z:-0.80 [[ 9.99644541e-01 2.62727079e-02 4.53165462e-03 1.08204992e+02] [-2.62723182e-02 9.99654812e-01 -1.45516714e-04 -3.59191120e+00] [-4.53391346e-03 2.64079165e-05 9.99989721e-01 -8.02067901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.490281693 meters Centerline goodness [0,1] 0.9999366767983789 Centerline is valid? [True, True] Translation: X:108.24, Y:-3.59, Z:-0.80 [[ 9.99625445e-01 2.70205399e-02 4.34277565e-03 1.08236366e+02] [-2.70201887e-02 9.99634878e-01 -1.39544891e-04 -3.59342789e+00] [-4.34496059e-03 2.21500067e-05 9.99990560e-01 -8.02110746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.520281693 meters Centerline goodness [0,1] 0.9999135247319266 Centerline is valid? [True, True] Translation: X:108.27, Y:-3.59, Z:-0.80 [[ 9.99595050e-01 2.81125093e-02 4.40723440e-03 1.08267894e+02] [-2.81121577e-02 9.99604765e-01 -1.41716042e-04 -3.59209493e+00] [-4.40947650e-03 1.77617860e-05 9.99990278e-01 -8.02440795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.550281693 meters Centerline goodness [0,1] 0.9997226252453699 Centerline is valid? [True, True] Translation: X:108.30, Y:-3.59, Z:-0.80 [[ 9.99507310e-01 3.10357709e-02 4.68165030e-03 1.08298078e+02] [-3.10354056e-02 9.99518274e-01 -1.50663558e-04 -3.58968251e+00] [-4.68407099e-03 5.29241205e-06 9.99989030e-01 -8.02172681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.580281693 meters Centerline goodness [0,1] 0.9996992933393475 Centerline is valid? [True, True] Translation: X:108.33, Y:-3.59, Z:-0.80 [[ 9.99465184e-01 3.22804322e-02 5.22689725e-03 1.08329485e+02] [-3.22799923e-02 9.99478851e-01 -1.68532742e-04 -3.58904304e+00] [-5.22961357e-03 -2.81595197e-07 9.99986325e-01 -8.01343995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.610281693 meters Centerline goodness [0,1] 0.9994497005100853 Centerline is valid? [True, True] Translation: X:108.36, Y:-3.59, Z:-0.80 [[ 9.99420261e-01 3.36050567e-02 5.46282029e-03 1.08359872e+02] [-3.36045953e-02 9.99435191e-01 -1.76260345e-04 -3.58788522e+00] [-5.46565808e-03 -7.41770475e-06 9.99985063e-01 -8.00040142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.640281693 meters Centerline goodness [0,1] 0.9994073823230613 Centerline is valid? [True, True] Translation: X:108.39, Y:-3.59, Z:-0.80 [[ 9.99434380e-01 3.33337595e-02 4.44744643e-03 1.08391016e+02] [-3.33334508e-02 9.99444276e-01 -1.43540362e-04 -3.58992069e+00] [-4.44975961e-03 -4.78956434e-06 9.99990100e-01 -8.02099841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.670281693 meters Centerline goodness [0,1] 0.9996342355523044 Centerline is valid? [True, True] Translation: X:108.42, Y:-3.59, Z:-0.80 [[ 9.99461784e-01 3.25898358e-02 3.74776163e-03 1.08422192e+02] [-3.25896111e-02 9.99468810e-01 -1.21028403e-04 -3.59317668e+00] [-3.74971515e-03 -1.17483048e-06 9.99992970e-01 -8.03582405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70028169300001 meters Centerline goodness [0,1] 0.9998721091335394 Centerline is valid? [True, True] Translation: X:108.45, Y:-3.60, Z:-0.80 [[ 9.99487514e-01 3.17119259e-02 4.36624279e-03 1.08452528e+02] [-3.17116119e-02 9.99497050e-01 -1.41128029e-04 -3.59795570e+00] [-4.36852223e-03 2.59510573e-06 9.99990458e-01 -8.03141678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.730281693 meters Centerline goodness [0,1] 0.9997216691288243 Centerline is valid? [True, True] Translation: X:108.48, Y:-3.60, Z:-0.80 [[ 9.99476570e-01 3.18911918e-02 5.43488833e-03 1.08483572e+02] [-3.18907076e-02 9.99491347e-01 -1.75760240e-04 -3.59892907e+00] [-5.43772906e-03 2.34580756e-06 9.99985215e-01 -8.01431014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.760281693 meters Centerline goodness [0,1] 0.9996561136544372 Centerline is valid? [True, True] Translation: X:108.51, Y:-3.60, Z:-0.80 [[ 9.99447272e-01 3.27559938e-02 5.67411156e-03 1.08514664e+02] [-3.27554792e-02 9.99463378e-01 -1.83635287e-04 -3.59857508e+00] [-5.67708187e-03 -2.32445666e-06 9.99983885e-01 -8.00768783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.790281693 meters Centerline goodness [0,1] 0.9994208369977906 Centerline is valid? [True, True] Translation: X:108.55, Y:-3.60, Z:-0.80 [[ 9.99334137e-01 3.61411631e-02 5.00979025e-03 1.08545894e+02] [-3.61408039e-02 9.99346695e-01 -1.62241823e-04 -3.59560489e+00] [-5.01238094e-03 -1.89240545e-05 9.99987438e-01 -8.00907259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.820281693 meters Centerline goodness [0,1] 0.9993762636039059 Centerline is valid? [True, True] Translation: X:108.58, Y:-3.60, Z:-0.80 [[ 9.99270192e-01 3.78904256e-02 4.83716139e-03 1.08577743e+02] [-3.78901107e-02 9.99281900e-01 -1.56763953e-04 -3.59502012e+00] [-4.83962767e-03 -2.66310353e-05 9.99988289e-01 -8.01871868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.850281693 meters Centerline goodness [0,1] 0.9989399817676864 Centerline is valid? [True, True] Translation: X:108.61, Y:-3.59, Z:-0.80 [[ 9.99203609e-01 3.96326545e-02 4.62611941e-03 1.08608478e+02] [-3.96323847e-02 9.99214317e-01 -1.50028860e-04 -3.59332272e+00] [-4.62843079e-03 -3.34347654e-05 9.99989288e-01 -8.00994295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.880281693 meters Centerline goodness [0,1] 0.9985001795559687 Centerline is valid? [True, True] Translation: X:108.64, Y:-3.59, Z:-0.80 [[ 9.99109562e-01 4.17908511e-02 5.79720875e-03 1.08639909e+02] [-4.17904630e-02 9.99126379e-01 -1.88104515e-04 -3.59216098e+00] [-5.80000524e-03 -5.43310183e-05 9.99983178e-01 -8.00012916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.910281693 meters Centerline goodness [0,1] 0.9986592892104703 Centerline is valid? [True, True] Translation: X:108.67, Y:-3.59, Z:-0.80 [[ 9.99070404e-01 4.27133714e-02 5.82198778e-03 1.08670993e+02] [-4.27129949e-02 9.99087366e-01 -1.89041172e-04 -3.59414319e+00] [-5.82474902e-03 -5.98090947e-05 9.99983034e-01 -8.00790703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.940281693 meters Centerline goodness [0,1] 0.9979637289214127 Centerline is valid? [True, True] Translation: X:108.70, Y:-3.59, Z:-0.80 [[ 9.98962300e-01 4.52775339e-02 4.92616989e-03 1.08701477e+02] [-4.52772951e-02 9.98974445e-01 -1.60049018e-04 -3.58830813e+00] [-4.92836446e-03 -6.31607130e-05 9.99987854e-01 -8.02728036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.970281693 meters Centerline goodness [0,1] 0.9981662205172522 Centerline is valid? [True, True] Translation: X:108.73, Y:-3.59, Z:-0.80 [[ 9.98866938e-01 4.74169612e-02 4.05859435e-03 1.08732168e+02] [-4.74168166e-02 9.98875181e-01 -1.31905470e-04 -3.59026259e+00] [-4.06028372e-03 -6.06896108e-05 9.99991755e-01 -8.03625617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.000281693 meters Centerline goodness [0,1] 0.9981381214287243 Centerline is valid? [True, True] Translation: X:108.76, Y:-3.59, Z:-0.80 [[ 9.98765310e-01 4.95653319e-02 3.33667827e-03 1.08762690e+02] [-4.95652461e-02 9.98770882e-01 -1.08442992e-04 -3.58795671e+00] [-3.33795211e-03 -5.70741810e-05 9.99994427e-01 -8.04414435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.030281693 meters Centerline goodness [0,1] 0.9980388813096862 Centerline is valid? [True, True] Translation: X:108.79, Y:-3.58, Z:-0.81 [[ 9.98643704e-01 5.19857279e-02 2.86986219e-03 1.08792293e+02] [-5.19856745e-02 9.98647826e-01 -9.32685102e-05 -3.58332174e+00] [-2.87083026e-03 -5.60497108e-05 9.99995878e-01 -8.05580542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06028169300001 meters Centerline goodness [0,1] 0.9971899429537291 Centerline is valid? [True, True] Translation: X:108.82, Y:-3.58, Z:-0.81 [[ 9.98448432e-01 5.55944344e-02 3.16024805e-03 1.08821633e+02] [-5.55943876e-02 9.98453431e-01 -1.02745261e-04 -3.57745189e+00] [-3.16107257e-03 -7.31062105e-05 9.99995001e-01 -8.06158828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.090281693 meters Centerline goodness [0,1] 0.9967160678110673 Centerline is valid? [True, True] Translation: X:108.85, Y:-3.58, Z:-0.81 [[ 9.98390389e-01 5.66159855e-02 3.35574815e-03 1.08851391e+02] [-5.66159387e-02 9.98396025e-01 -1.09017059e-04 -3.57832999e+00] [-3.35653773e-03 -8.11472482e-05 9.99994364e-01 -8.06284933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.120281693 meters Centerline goodness [0,1] 0.9967408097183128 Centerline is valid? [True, True] Translation: X:108.88, Y:-3.58, Z:-0.81 [[ 9.98365238e-01 5.70650501e-02 3.22990101e-03 1.08879701e+02] [-5.70650093e-02 9.98370459e-01 -1.04871386e-04 -3.57803618e+00] [-3.23062225e-03 -7.96143855e-05 9.99994778e-01 -8.06641949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.150281693 meters Centerline goodness [0,1] 0.9972509323388385 Centerline is valid? [True, True] Translation: X:108.91, Y:-3.58, Z:-0.81 [[ 9.98393836e-01 5.65774446e-02 2.95654792e-03 1.08909384e+02] [-5.65774085e-02 9.98398211e-01 -9.58884957e-05 -3.57855968e+00] [-2.95723728e-03 -7.15393362e-05 9.99995625e-01 -8.06686958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.180281693 meters Centerline goodness [0,1] 0.9975172940627255 Centerline is valid? [True, True] Translation: X:108.94, Y:-3.58, Z:-0.81 [[ 9.98413161e-01 5.62372070e-02 2.92172080e-03 1.08938105e+02] [-5.62371706e-02 9.98417434e-01 -9.47098419e-05 -3.57859356e+00] [-2.92242320e-03 -6.97497582e-05 9.99995727e-01 -8.06005151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.210281693 meters Centerline goodness [0,1] 0.9976770453722055 Centerline is valid? [True, True] Translation: X:108.97, Y:-3.58, Z:-0.80 [[ 9.98478350e-01 5.50326723e-02 3.51985558e-03 1.08968265e+02] [-5.50326125e-02 9.98484551e-01 -1.13921302e-04 -3.58076803e+00] [-3.52079081e-03 -7.99588950e-05 9.99993799e-01 -8.04905031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.240281693 meters Centerline goodness [0,1] 0.9970857179059405 Centerline is valid? [True, True] Translation: X:109.00, Y:-3.58, Z:-0.80 [[ 9.98518544e-01 5.42563259e-02 4.11915051e-03 1.08997022e+02] [-5.42562375e-02 9.98527037e-01 -1.33269425e-04 -3.57968204e+00] [-4.12031386e-03 -9.04176160e-05 9.99991507e-01 -8.04205029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.270281693 meters Centerline goodness [0,1] 0.9973835354179962 Centerline is valid? [True, True] Translation: X:109.03, Y:-3.58, Z:-0.80 [[ 9.98561484e-01 5.34381630e-02 4.39609388e-03 1.09027110e+02] [-5.34380552e-02 9.98571156e-01 -1.42064857e-04 -3.58232002e+00] [-4.39740424e-03 -9.30582132e-05 9.99990327e-01 -8.04230241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.300281693 meters Centerline goodness [0,1] 0.9979412076833281 Centerline is valid? [True, True] Translation: X:109.06, Y:-3.59, Z:-0.81 [[ 9.98603215e-01 5.26680437e-02 4.20670361e-03 1.09057221e+02] [-5.26679384e-02 9.98612072e-01 -1.35896451e-04 -3.58713234e+00] [-4.20802241e-03 -8.58517732e-05 9.99991143e-01 -8.05050034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.330281693 meters Centerline goodness [0,1] 0.9984822898185161 Centerline is valid? [True, True] Translation: X:109.09, Y:-3.59, Z:-0.81 [[ 9.98698496e-01 5.09536243e-02 2.24565635e-03 1.09087418e+02] [-5.09535899e-02 9.98701020e-01 -7.25453364e-05 -3.59357464e+00] [-2.24643573e-03 -4.19733343e-05 9.99997476e-01 -8.09056045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.360281693 meters Centerline goodness [0,1] 0.9985233625145027 Centerline is valid? [True, True] Translation: X:109.12, Y:-3.60, Z:-0.81 [[ 9.98753862e-01 4.98872742e-02 1.40854198e-03 1.09117149e+02] [-4.98872596e-02 9.98754854e-01 -4.55393400e-05 -3.59565095e+00] [-1.40905998e-03 -2.47857078e-05 9.99999007e-01 -8.10306337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.390281693 meters Centerline goodness [0,1] 0.9983921450928268 Centerline is valid? [True, True] Translation: X:109.15, Y:-3.60, Z:-0.81 [[ 9.98829757e-01 4.82512650e-02 3.30638902e-03 1.09146558e+02] [-4.82511758e-02 9.98835228e-01 -1.06799597e-04 -3.60134744e+00] [-3.30769105e-03 -5.28625420e-05 9.99994528e-01 -8.06412020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.420281693 meters Centerline goodness [0,1] 0.9984552008238929 Centerline is valid? [True, True] Translation: X:109.18, Y:-3.61, Z:-0.80 [[ 9.98849650e-01 4.77156377e-02 4.75329702e-03 1.09177134e+02] [-4.77154479e-02 9.98860958e-01 -1.53387803e-04 -3.60509717e+00] [-4.75520181e-03 -7.35943431e-05 9.99988691e-01 -8.03873309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45028169300001 meters Centerline goodness [0,1] 0.9984543717665243 Centerline is valid? [True, True] Translation: X:109.21, Y:-3.61, Z:-0.80 [[ 9.98856477e-01 4.74218375e-02 6.07514202e-03 1.09207505e+02] [-4.74215221e-02 9.98874948e-01 -1.96043437e-04 -3.60851658e+00] [-6.07760390e-03 -9.22732241e-05 9.99981527e-01 -8.02170697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.480281693 meters Centerline goodness [0,1] 0.9982117005875841 Centerline is valid? [True, True] Translation: X:109.24, Y:-3.61, Z:-0.80 [[ 9.98863122e-01 4.72414204e-02 6.38053183e-03 1.09238335e+02] [-4.72410669e-02 9.98883496e-01 -2.06189168e-04 -3.61348526e+00] [-6.38314861e-03 -9.54683748e-05 9.99979623e-01 -8.02065256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.510281693 meters Centerline goodness [0,1] 0.9983732623484176 Centerline is valid? [True, True] Translation: X:109.27, Y:-3.62, Z:-0.80 [[ 9.98866336e-01 4.72802744e-02 5.53343830e-03 1.09269587e+02] [-4.72800049e-02 9.98881659e-01 -1.79570373e-04 -3.61578431e+00] [-5.53574016e-03 -8.22541894e-05 9.99984674e-01 -8.03781192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.540281693 meters Centerline goodness [0,1] 0.998780618247941 Centerline is valid? [True, True] Translation: X:109.30, Y:-3.62, Z:-0.81 [[ 9.98876431e-01 4.72251441e-02 3.95734864e-03 1.09300615e+02] [-4.72250039e-02 9.98884269e-01 -1.28896477e-04 -3.62296257e+00] [-3.95902046e-03 -5.81341521e-05 9.99992161e-01 -8.06760738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.570281693 meters Centerline goodness [0,1] 0.9986362667803111 Centerline is valid? [True, True] Translation: X:109.33, Y:-3.62, Z:-0.81 [[ 9.98874846e-01 4.72458223e-02 4.10776674e-03 1.09330470e+02] [-4.72456711e-02 9.98883291e-01 -1.33902587e-04 -3.62491198e+00] [-4.10950590e-03 -6.03222701e-05 9.99991554e-01 -8.06273237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.600281693 meters Centerline goodness [0,1] 0.9986030859102165 Centerline is valid? [True, True] Translation: X:109.36, Y:-3.63, Z:-0.81 [[ 9.98879972e-01 4.70640098e-02 4.87661879e-03 1.09361864e+02] [-4.70637941e-02 9.98891873e-01 -1.59037549e-04 -3.62914830e+00] [-4.87869983e-03 -7.06527605e-05 9.99988097e-01 -8.05105448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.630281693 meters Centerline goodness [0,1] 0.9986316599675019 Centerline is valid? [True, True] Translation: X:109.39, Y:-3.63, Z:-0.80 [[ 9.98880397e-01 4.70051358e-02 5.33564770e-03 1.09392587e+02] [-4.70048757e-02 9.98894645e-01 -1.74199576e-04 -3.63207530e+00] [-5.33793819e-03 -7.67969158e-05 9.99985750e-01 -8.04771608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.660281693 meters Centerline goodness [0,1] 0.9987904509283819 Centerline is valid? [True, True] Translation: X:109.42, Y:-3.64, Z:-0.80 [[ 9.98887757e-01 4.68572016e-02 5.25844173e-03 1.09423688e+02] [-4.68569443e-02 9.98901595e-01 -1.72195969e-04 -3.63550533e+00] [-5.26073445e-03 -7.43900657e-05 9.99986159e-01 -8.04736201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.690281693 meters Centerline goodness [0,1] 0.998544549443132 Centerline is valid? [True, True] Translation: X:109.46, Y:-3.64, Z:-0.81 [[ 9.98883833e-01 4.70488010e-02 4.18315835e-03 1.09456030e+02] [-4.70486379e-02 9.98892590e-01 -1.37462911e-04 -3.64108513e+00] [-4.18499334e-03 -5.95024233e-05 9.99991241e-01 -8.07050714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.720281693 meters Centerline goodness [0,1] 0.9988257899231426 Centerline is valid? [True, True] Translation: X:109.49, Y:-3.64, Z:-0.81 [[ 9.98861842e-01 4.75380007e-02 3.89354032e-03 1.09487090e+02] [-4.75378605e-02 9.98869429e-01 -1.28609937e-04 -3.64340157e+00] [-3.89525225e-03 -5.66270174e-05 9.99992412e-01 -8.08258031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.750281693 meters Centerline goodness [0,1] 0.9988004198530515 Centerline is valid? [True, True] Translation: X:109.52, Y:-3.65, Z:-0.81 [[ 9.98811297e-01 4.86092203e-02 3.62437771e-03 1.09518483e+02] [-4.86091055e-02 9.98817872e-01 -1.19797018e-04 -3.64563390e+00] [-3.62591647e-03 -5.65231438e-05 9.99993425e-01 -8.08551424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.780281693 meters Centerline goodness [0,1] 0.9987464944335854 Centerline is valid? [True, True] Translation: X:109.55, Y:-3.65, Z:-0.81 [[ 9.98791516e-01 4.90081345e-02 3.70287910e-03 1.09549071e+02] [-4.90080171e-02 9.98798378e-01 -1.22490116e-04 -3.64665348e+00] [-3.70443265e-03 -5.91286742e-05 9.99993137e-01 -8.08221943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81028169300001 meters Centerline goodness [0,1] 0.9989572249414769 Centerline is valid? [True, True] Translation: X:109.58, Y:-3.65, Z:-0.81 [[ 9.98782781e-01 4.91875061e-02 3.68041361e-03 1.09580144e+02] [-4.91873912e-02 9.98789560e-01 -1.21780000e-04 -3.64913174e+00] [-3.68194874e-03 -5.93981764e-05 9.99993220e-01 -8.08487589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.840281693 meters Centerline goodness [0,1] 0.9986138530684252 Centerline is valid? [True, True] Translation: X:109.61, Y:-3.65, Z:-0.81 [[ 9.98788030e-01 4.90587490e-02 3.96361448e-03 1.09610877e+02] [-4.90586143e-02 9.98795893e-01 -1.31258923e-04 -3.65050625e+00] [-3.96528126e-03 -6.33495927e-05 9.99992136e-01 -8.08506280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.870281693 meters Centerline goodness [0,1] 0.9987941949097799 Centerline is valid? [True, True] Translation: X:109.64, Y:-3.65, Z:-0.81 [[ 9.98813964e-01 4.85095042e-02 4.18251869e-03 1.09642517e+02] [-4.85093492e-02 9.98822719e-01 -1.38556677e-04 -3.65344840e+00] [-4.18431600e-03 -6.44989157e-05 9.99991244e-01 -8.08120615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.900281693 meters Centerline goodness [0,1] 0.9989371426142041 Centerline is valid? [True, True] Translation: X:109.67, Y:-3.65, Z:-0.81 [[ 9.98832806e-01 4.81554556e-02 3.75198870e-03 1.09673941e+02] [-4.81553282e-02 9.98839851e-01 -1.24321719e-04 -3.65352439e+00] [-3.75362261e-03 -5.65016364e-05 9.99992954e-01 -8.09167485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.930281693 meters Centerline goodness [0,1] 0.999085534430692 Centerline is valid? [True, True] Translation: X:109.71, Y:-3.66, Z:-0.81 [[ 9.98909491e-01 4.66494433e-02 1.91248279e-03 1.09705366e+02] [-4.66494072e-02 9.98911322e-01 -6.35252307e-05 -3.65641752e+00] [-1.91336413e-03 -2.57602324e-05 9.99998169e-01 -8.12696573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.960281693 meters Centerline goodness [0,1] 0.9989758689112206 Centerline is valid? [True, True] Translation: X:109.74, Y:-3.66, Z:-0.81 [[ 9.98956963e-01 4.56224593e-02 1.89158191e-03 1.09735838e+02] [-4.56224219e-02 9.98958753e-01 -6.29353456e-05 -3.65923674e+00] [-1.89248357e-03 -2.34288463e-05 9.99998209e-01 -8.12978913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.990281693 meters Centerline goodness [0,1] 0.9989758689112206 Centerline is valid? [True, True] Translation: X:109.77, Y:-3.66, Z:-0.81 [[ 9.98956963e-01 4.56224593e-02 1.89158191e-03 1.09765824e+02] [-4.56224219e-02 9.98958753e-01 -6.29353456e-05 -3.66023439e+00] [-1.89248357e-03 -2.34288463e-05 9.99998209e-01 -8.13113510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.020281693 meters Centerline goodness [0,1] 0.9994645534375669 Centerline is valid? [True, True] Translation: X:109.80, Y:-3.67, Z:-0.81 [[ 9.99095441e-01 4.23921477e-02 3.34735552e-03 1.09795965e+02] [-4.23920125e-02 9.99101048e-01 -1.11357436e-04 -3.66564235e+00] [-3.34906709e-03 -3.06444307e-05 9.99994391e-01 -8.09268703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.050281693 meters Centerline goodness [0,1] 0.9995709903687338 Centerline is valid? [True, True] Translation: X:109.83, Y:-3.67, Z:-0.81 [[ 9.99164291e-01 4.06497540e-02 4.27985837e-03 1.09828042e+02] [-4.06495168e-02 9.99173457e-01 -1.42413263e-04 -3.66955832e+00] [-4.28210995e-03 -3.16799281e-05 9.99990831e-01 -8.07365770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.080281693 meters Centerline goodness [0,1] 0.9995763968314483 Centerline is valid? [True, True] Translation: X:109.86, Y:-3.67, Z:-0.81 [[ 9.99229298e-01 3.89685626e-02 4.71807877e-03 1.09858652e+02] [-3.89682518e-02 9.99240437e-01 -1.57826544e-04 -3.67318777e+00] [-4.72064537e-03 -2.61503749e-05 9.99988857e-01 -8.06896332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.110281693 meters Centerline goodness [0,1] 0.9995515886573283 Centerline is valid? [True, True] Translation: X:109.89, Y:-3.68, Z:-0.81 [[ 9.99331569e-01 3.62803014e-02 4.48933041e-03 1.09890311e+02] [-3.62799911e-02 9.99341653e-01 -1.50571146e-04 -3.68196128e+00] [-4.49183764e-03 -1.24023676e-05 9.99989912e-01 -8.08877892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.140281693 meters Centerline goodness [0,1] 0.9997872612006978 Centerline is valid? [True, True] Translation: X:109.92, Y:-3.69, Z:-0.81 [[ 9.99367150e-01 3.53534004e-02 3.92899411e-03 1.09921927e+02] [-3.53531534e-02 9.99374873e-01 -1.32326110e-04 -3.68651365e+00] [-3.93121616e-03 -6.65996407e-06 9.99992273e-01 -8.10173813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.170281693 meters Centerline goodness [0,1] 0.9996173713411135 Centerline is valid? [True, True] Translation: X:109.95, Y:-3.69, Z:-0.81 [[ 9.99390547e-01 3.47077264e-02 3.72932665e-03 1.09953331e+02] [-3.47074971e-02 9.99397505e-01 -1.26186591e-04 -3.69033703e+00] [-3.73145940e-03 -3.32590728e-06 9.99993038e-01 -8.10313658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.200281693 meters Centerline goodness [0,1] 0.999746069365385 Centerline is valid? [True, True] Translation: X:109.98, Y:-3.69, Z:-0.81 [[ 9.99379979e-01 3.50353662e-02 3.49011931e-03 1.09984335e+02] [-3.50351658e-02 9.99386073e-01 -1.18579695e-04 -3.69471757e+00] [-3.49213111e-03 -3.77073529e-06 9.99993902e-01 -8.09089354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.230281693 meters Centerline goodness [0,1] 0.9998711699911966 Centerline is valid? [True, True] Translation: X:110.02, Y:-3.70, Z:-0.81 [[ 9.99343826e-01 3.60578768e-02 3.42748579e-03 1.10016596e+02] [-3.60576879e-02 9.99349703e-01 -1.16926037e-04 -3.69684867e+00] [-3.42947301e-03 -6.73789980e-06 9.99994119e-01 -8.08953352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.260281693 meters Centerline goodness [0,1] 0.9996140734546858 Centerline is valid? [True, True] Translation: X:110.05, Y:-3.70, Z:-0.81 [[ 9.99295266e-01 3.73518212e-02 3.71656011e-03 1.10047812e+02] [-3.73516053e-02 9.99302177e-01 -1.27492855e-04 -3.69777227e+00] [-3.71872870e-03 -1.14164801e-05 9.99993085e-01 -8.08694567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.290281693 meters Centerline goodness [0,1] 0.9997441146366428 Centerline is valid? [True, True] Translation: X:110.08, Y:-3.70, Z:-0.81 [[ 9.99246710e-01 3.85897509e-02 4.10408180e-03 1.10078643e+02] [-3.85894952e-02 9.99255138e-01 -1.41509652e-04 -3.69773830e+00] [-4.10648565e-03 -1.69713912e-05 9.99991568e-01 -8.08489031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.320281693 meters Centerline goodness [0,1] 0.9994268002717391 Centerline is valid? [True, True] Translation: X:110.11, Y:-3.69, Z:-0.81 [[ 9.99110982e-01 4.18909390e-02 4.73237067e-03 1.10110379e+02] [-4.18906323e-02 9.99122189e-01 -1.63958371e-04 -3.69479950e+00] [-4.73508491e-03 -3.44293903e-05 9.99988789e-01 -8.07876434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.350281693 meters Centerline goodness [0,1] 0.9996564311788705 Centerline is valid? [True, True] Translation: X:110.14, Y:-3.70, Z:-0.81 [[ 9.99035764e-01 4.36590345e-02 4.62929651e-03 1.10142716e+02] [-4.36587595e-02 9.99046489e-01 -1.60509228e-04 -3.69578496e+00] [-4.63189010e-03 -4.17548834e-05 9.99989272e-01 -8.08252312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.380281693 meters Centerline goodness [0,1] 0.9993366855675618 Centerline is valid? [True, True] Translation: X:110.17, Y:-3.69, Z:-0.81 [[ 9.98972587e-01 4.51615968e-02 3.76837332e-03 1.10173720e+02] [-4.51614233e-02 9.98979694e-01 -1.31157731e-04 -3.69387118e+00] [-3.77045172e-03 -3.91621244e-05 9.99992891e-01 -8.09875651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.410281693 meters Centerline goodness [0,1] 0.9995919594536552 Centerline is valid? [True, True] Translation: X:110.21, Y:-3.69, Z:-0.81 [[ 9.98885408e-01 4.71526828e-02 2.13678472e-03 1.10205268e+02] [-4.71526308e-02 9.98887693e-01 -7.47048954e-05 -3.69392142e+00] [-2.13793050e-03 -2.61333912e-05 9.99997714e-01 -8.12778703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.440281693 meters Centerline goodness [0,1] 0.9995057271183891 Centerline is valid? [True, True] Translation: X:110.24, Y:-3.69, Z:-0.81 [[ 9.98838696e-01 4.81434740e-02 1.86172905e-03 1.10236213e+02] [-4.81434362e-02 9.98840430e-01 -6.51186538e-05 -3.69404001e+00] [-1.86270528e-03 -2.45870024e-05 9.99998265e-01 -8.13579032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.470281693 meters Centerline goodness [0,1] 0.9993008326447594 Centerline is valid? [True, True] Translation: X:110.27, Y:-3.69, Z:-0.81 [[ 9.98756232e-01 4.97927909e-02 2.58222567e-03 1.10266602e+02] [-4.97927235e-02 9.98759569e-01 -9.04480985e-05 -3.69060069e+00] [-2.58352626e-03 -3.82404468e-05 9.99996662e-01 -8.11308985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.500281693 meters Centerline goodness [0,1] 0.9993800902075629 Centerline is valid? [True, True] Translation: X:110.30, Y:-3.69, Z:-0.81 [[ 9.98713658e-01 5.06006460e-02 3.25651074e-03 1.10297973e+02] [-5.06005428e-02 9.98718965e-01 -1.14105406e-04 -3.69073906e+00] [-3.25811285e-03 -5.08225842e-05 9.99994691e-01 -8.10000375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.530281693 meters Centerline goodness [0,1] 0.9988051294087524 Centerline is valid? [True, True] Translation: X:110.33, Y:-3.68, Z:-0.81 [[ 9.98654166e-01 5.17456990e-02 3.49854915e-03 1.10328837e+02] [-5.17455866e-02 9.98660292e-01 -1.22689721e-04 -3.68348531e+00] [-3.50021078e-03 -5.85098766e-05 9.99993873e-01 -8.10507765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56028169300001 meters Centerline goodness [0,1] 0.998834844504703 Centerline is valid? [True, True] Translation: X:110.36, Y:-3.68, Z:-0.81 [[ 9.98544265e-01 5.37834610e-02 4.08540242e-03 1.10360145e+02] [-5.37833246e-02 9.98552619e-01 -1.43322982e-04 -3.68289770e+00] [-4.08719769e-03 -7.66121826e-05 9.99991644e-01 -8.09966028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.590281693 meters Centerline goodness [0,1] 0.9988970666214181 Centerline is valid? [True, True] Translation: X:110.39, Y:-3.68, Z:-0.81 [[ 9.98495879e-01 5.46989043e-02 3.74282430e-03 1.10390374e+02] [-5.46987959e-02 9.98502892e-01 -1.31391863e-04 -3.68083603e+00] [-3.74440787e-03 -7.35337489e-05 9.99992987e-01 -8.10094228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.620281693 meters Centerline goodness [0,1] 0.9990092539893337 Centerline is valid? [True, True] Translation: X:110.42, Y:-3.68, Z:-0.81 [[ 9.98453593e-01 5.55159678e-02 2.89831784e-03 1.10421313e+02] [-5.55159064e-02 9.98457798e-01 -1.01705849e-04 -3.67914375e+00] [-2.89949435e-03 -5.93541714e-05 9.99995795e-01 -8.11677044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.650281693 meters Centerline goodness [0,1] 0.9989700454896575 Centerline is valid? [True, True] Translation: X:110.45, Y:-3.67, Z:-0.81 [[ 9.98334181e-01 5.76868690e-02 1.04312703e-03 1.10452264e+02] [-5.76868621e-02 9.98334726e-01 -3.66859927e-05 -3.67301412e+00] [-1.04350623e-03 -2.35498445e-05 9.99999455e-01 -8.14051742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.680281693 meters Centerline goodness [0,1] 0.9988755463147622 Centerline is valid? [True, True] Translation: X:110.48, Y:-3.67, Z:-0.81 [[ 9.98248676e-01 5.91502966e-02 9.06982155e-04 1.10482157e+02] [-5.91502919e-02 9.98249088e-01 -3.19814213e-05 -3.66910640e+00] [-9.07285819e-04 -2.17228477e-05 9.99999588e-01 -8.14190312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.710281693 meters Centerline goodness [0,1] 0.9983018827874593 Centerline is valid? [True, True] Translation: X:110.51, Y:-3.66, Z:-0.81 [[ 9.98145184e-01 6.08605052e-02 1.48012350e-03 1.10511460e+02] [-6.08604948e-02 9.98146281e-01 -5.21252401e-05 -3.66450883e+00] [-1.48055213e-03 -3.80524909e-05 9.99998903e-01 -8.13298829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.740281693 meters Centerline goodness [0,1] 0.9974640924008012 Centerline is valid? [True, True] Translation: X:110.54, Y:-3.65, Z:-0.81 [[ 9.97925878e-01 6.43152387e-02 2.73712821e-03 1.10541561e+02] [-6.43152167e-02 9.97929629e-01 -9.61437453e-05 -3.65317486e+00] [-2.73764485e-03 -8.00946625e-05 9.99996249e-01 -8.10492364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.770281693 meters Centerline goodness [0,1] 0.9969616487835972 Centerline is valid? [True, True] Translation: X:110.57, Y:-3.65, Z:-0.81 [[ 9.97858181e-01 6.53316077e-02 3.29102265e-03 1.10571399e+02] [-6.53315818e-02 9.97863603e-01 -1.15502180e-04 -3.64876444e+00] [-3.29153766e-03 -9.97529195e-05 9.99994578e-01 -8.09920993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.800281693 meters Centerline goodness [0,1] 0.9964556317252796 Centerline is valid? [True, True] Translation: X:110.60, Y:-3.64, Z:-0.81 [[ 9.97890663e-01 6.47573505e-02 4.55085030e-03 1.10600230e+02] [-6.47572956e-02 9.97901031e-01 -1.59570056e-04 -3.64276777e+00] [-4.55163154e-03 -1.35467290e-04 9.99989632e-01 -8.08712282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.830281693 meters Centerline goodness [0,1] 0.9970362473347548 Centerline is valid? [True, True] Translation: X:110.63, Y:-3.65, Z:-0.81 [[ 9.98016084e-01 6.27703556e-02 4.87629076e-03 1.10630222e+02] [-6.27702697e-02 9.98027988e-01 -1.70809112e-04 -3.64524556e+00] [-4.87739641e-03 -1.35615846e-04 9.99988096e-01 -8.08686802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.860281693 meters Centerline goodness [0,1] 0.9974226255138774 Centerline is valid? [True, True] Translation: X:110.66, Y:-3.65, Z:-0.81 [[ 9.98207216e-01 5.96846455e-02 4.48307338e-03 1.10659804e+02] [-5.96845420e-02 9.98217276e-01 -1.56987163e-04 -3.64822509e+00] [-4.48445102e-03 -1.10864463e-04 9.99989939e-01 -8.08996272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.890281693 meters Centerline goodness [0,1] 0.9985055827159967 Centerline is valid? [True, True] Translation: X:110.69, Y:-3.65, Z:-0.81 [[ 9.98423723e-01 5.59672788e-02 4.21096864e-03 1.10689933e+02] [-5.59671549e-02 9.98432600e-01 -1.47360503e-04 -3.65212622e+00] [-4.21261573e-03 -8.85477119e-05 9.99991123e-01 -8.09466086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.920281693 meters Centerline goodness [0,1] 0.9992808038075093 Centerline is valid? [True, True] Translation: X:110.72, Y:-3.66, Z:-0.81 [[ 9.98759352e-01 4.95714361e-02 4.73591552e-03 1.10719489e+02] [-4.95712074e-02 9.98770578e-01 -1.65730727e-04 -3.65772197e+00] [-4.73830859e-03 -6.92399370e-05 9.99988772e-01 -8.08345975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.950281693 meters Centerline goodness [0,1] 0.9992753314293021 Centerline is valid? [True, True] Translation: X:110.75, Y:-3.66, Z:-0.81 [[ 9.98841037e-01 4.77811158e-02 5.79210708e-03 1.10748636e+02] [-4.77807438e-02 9.98857827e-01 -2.02676413e-04 -3.65821261e+00] [-5.79517560e-03 -7.43096664e-05 9.99983205e-01 -8.06600071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.980281693 meters Centerline goodness [0,1] 0.998856029150072 Centerline is valid? [True, True] Translation: X:110.78, Y:-3.65, Z:-0.80 [[ 9.98859628e-01 4.73215691e-02 6.33338088e-03 1.10778486e+02] [-4.73211153e-02 9.98879704e-01 -2.21581589e-04 -3.65345849e+00] [-6.33677121e-03 -7.83737434e-05 9.99979919e-01 -8.04996539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.010281693 meters Centerline goodness [0,1] 0.9992159023480546 Centerline is valid? [True, True] Translation: X:110.81, Y:-3.65, Z:-0.81 [[ 9.98866960e-01 4.73332501e-02 4.93559911e-03 1.10809510e+02] [-4.73329744e-02 9.98879152e-01 -1.72719490e-04 -3.65198788e+00] [-4.93824242e-03 -6.10927943e-05 9.99987805e-01 -8.08038370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.040281693 meters Centerline goodness [0,1] 0.9994482524457271 Centerline is valid? [True, True] Translation: X:110.84, Y:-3.65, Z:-0.81 [[ 9.98904793e-01 4.66124108e-02 4.06176006e-03 1.10839901e+02] [-4.66122181e-02 9.98913050e-01 -1.42139811e-04 -3.65277480e+00] [-4.06397061e-03 -4.73435068e-05 9.99991741e-01 -8.09822014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.070281693 meters Centerline goodness [0,1] 0.9995770776062592 Centerline is valid? [True, True] Translation: X:110.87, Y:-3.66, Z:-0.81 [[ 9.99078256e-01 4.28274752e-02 2.90624658e-03 1.10868884e+02] [-4.28273605e-02 9.99082483e-01 -1.01721043e-04 -3.65761833e+00] [-2.90793650e-03 -2.28395873e-05 9.99995772e-01 -8.12539484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.100281693 meters Centerline goodness [0,1] 0.9996815016137252 Centerline is valid? [True, True] Translation: X:110.90, Y:-3.66, Z:-0.81 [[ 9.99191891e-01 4.00556228e-02 3.33346749e-03 1.10899080e+02] [-4.00554567e-02 9.99197451e-01 -1.16615425e-04 -3.66320509e+00] [-3.33546332e-03 -1.70023750e-05 9.99994437e-01 -8.11974920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.130281693 meters Centerline goodness [0,1] 0.9995532200072336 Centerline is valid? [True, True] Translation: X:110.93, Y:-3.67, Z:-0.81 [[ 9.99314137e-01 3.67995171e-02 4.12931846e-03 1.10929627e+02] [-3.67992344e-02 9.99322668e-01 -1.44456855e-04 -3.66969927e+00] [-4.13183749e-03 -7.59798049e-06 9.99991464e-01 -8.10496016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.160281693 meters Centerline goodness [0,1] 0.9995698092103849 Centerline is valid? [True, True] Translation: X:110.96, Y:-3.68, Z:-0.81 [[ 9.99421247e-01 3.36517406e-02 4.97311352e-03 1.10960918e+02] [-3.36512914e-02 9.99433620e-01 -1.73987409e-04 -3.67580835e+00] [-4.97615182e-03 6.53502083e-06 9.99987619e-01 -8.09594730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.190281693 meters Centerline goodness [0,1] 0.9994724291472344 Centerline is valid? [True, True] Translation: X:110.99, Y:-3.69, Z:-0.81 [[ 9.99551426e-01 2.94652107e-02 5.36176295e-03 1.10991334e+02] [-2.94646270e-02 9.99565806e-01 -1.87839457e-04 -3.68701183e+00] [-5.36496963e-03 2.97728522e-05 9.99985608e-01 -8.08090449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.220281693 meters Centerline goodness [0,1] 0.9994019394250074 Centerline is valid? [True, True] Translation: X:111.02, Y:-3.69, Z:-0.81 [[ 9.99585802e-01 2.82380021e-02 5.55326413e-03 1.11023683e+02] [-2.82373520e-02 9.99601227e-01 -1.95442152e-04 -3.69199869e+00] [-5.55656853e-03 3.85517259e-05 9.99984561e-01 -8.07915617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.250281693 meters Centerline goodness [0,1] 0.9994448714663934 Centerline is valid? [True, True] Translation: X:111.06, Y:-3.69, Z:-0.81 [[ 9.99580664e-01 2.85877811e-02 4.60810434e-03 1.11055359e+02] [-2.85873345e-02 9.99591285e-01 -1.62777555e-04 -3.69412224e+00] [-4.61087439e-03 3.09758763e-05 9.99989369e-01 -8.09608980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.280281693 meters Centerline goodness [0,1] 0.9995138448530966 Centerline is valid? [True, True] Translation: X:111.09, Y:-3.70, Z:-0.81 [[ 9.99542860e-01 3.00123576e-02 3.65091865e-03 1.11086445e+02] [-3.00120851e-02 9.99549528e-01 -1.29424177e-04 -3.69576926e+00] [-3.65315834e-03 1.97933312e-05 9.99993327e-01 -8.11213412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31028169300001 meters Centerline goodness [0,1] 0.9998720982285605 Centerline is valid? [True, True] Translation: X:111.12, Y:-3.69, Z:-0.82 [[ 9.99426052e-01 3.38508662e-02 1.29792368e-03 1.11117648e+02] [-3.38508348e-02 9.99426895e-01 -4.61798683e-05 -3.69430318e+00] [-1.29874306e-03 2.21756355e-06 9.99999157e-01 -8.15326512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.340281693 meters Centerline goodness [0,1] 0.9998931509776685 Centerline is valid? [True, True] Translation: X:111.15, Y:-3.69, Z:-0.82 [[ 9.99347230e-01 3.61217855e-02 5.75010627e-04 1.11147727e+02] [-3.61217797e-02 9.99347395e-01 -2.05049174e-05 -3.69367294e+00] [-5.75376047e-04 -2.78874775e-07 9.99999834e-01 -8.16347569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.370281693 meters Centerline goodness [0,1] 0.9999364285562925 Centerline is valid? [True, True] Translation: X:111.18, Y:-3.69, Z:-0.82 [[ 9.99275335e-01 3.80621040e-02 2.83367253e-04 1.11177766e+02] [-3.80621026e-02 9.99275376e-01 -1.01550709e-05 -3.69142137e+00] [-2.83548442e-04 -6.37841640e-07 9.99999960e-01 -8.17793445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.400281693 meters Centerline goodness [0,1] 0.9998308632317808 Centerline is valid? [True, True] Translation: X:111.21, Y:-3.69, Z:-0.82 [[ 9.99196603e-01 4.00597039e-02 1.17029357e-03 1.11207426e+02] [-4.00596825e-02 9.99197288e-01 -4.17900942e-05 -3.68832846e+00] [-1.17102826e-03 -5.12506873e-06 9.99999314e-01 -8.16395458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.430281693 meters Centerline goodness [0,1] 0.9994403426824806 Centerline is valid? [True, True] Translation: X:111.24, Y:-3.68, Z:-0.81 [[ 9.99042200e-01 4.35036815e-02 4.70238693e-03 1.11237280e+02] [-4.35033749e-02 9.99053266e-01 -1.67524814e-04 -3.68387824e+00] [-4.70522297e-03 -3.72053427e-05 9.99988930e-01 -8.09516001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.460281693 meters Centerline goodness [0,1] 0.9990173459796633 Centerline is valid? [True, True] Translation: X:111.27, Y:-3.68, Z:-0.81 [[ 9.98978446e-01 4.47726948e-02 6.12124580e-03 1.11267614e+02] [-4.47721999e-02 9.98997199e-01 -2.17933797e-04 -3.68291843e+00] [-6.12486489e-03 -5.63504750e-05 9.99981241e-01 -8.06999524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.490281693 meters Centerline goodness [0,1] 0.9984977678099147 Centerline is valid? [True, True] Translation: X:111.30, Y:-3.68, Z:-0.81 [[ 9.98933227e-01 4.57315095e-02 6.40608416e-03 1.11298390e+02] [-4.57309870e-02 9.98953765e-01 -2.28097457e-04 -3.67910264e+00] [-6.40981313e-03 -6.51024229e-05 9.99979455e-01 -8.05146318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.520281693 meters Centerline goodness [0,1] 0.9987556417935631 Centerline is valid? [True, True] Translation: X:111.33, Y:-3.68, Z:-0.81 [[ 9.98923186e-01 4.61259582e-02 4.98637347e-03 1.11329580e+02] [-4.61256463e-02 9.98935630e-01 -1.77599387e-04 -3.68090326e+00] [-4.98925807e-03 -5.25915539e-05 9.99987552e-01 -8.09072391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.550281693 meters Centerline goodness [0,1] 0.9989268313622802 Centerline is valid? [True, True] Translation: X:111.36, Y:-3.68, Z:-0.81 [[ 9.98929929e-01 4.60009602e-02 4.78637397e-03 1.11360262e+02] [-4.60006709e-02 9.98941394e-01 -1.70575783e-04 -3.68230323e+00] [-4.78915374e-03 -4.97831593e-05 9.99988531e-01 -8.10362793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.580281693 meters Centerline goodness [0,1] 0.9984468415565626 Centerline is valid? [True, True] Translation: X:111.39, Y:-3.68, Z:-0.81 [[ 9.98913969e-01 4.63048879e-02 5.17110418e-03 1.11390330e+02] [-4.63045543e-02 9.98927352e-01 -1.84294847e-04 -3.68219909e+00] [-5.17409116e-03 -5.53509766e-05 9.99986613e-01 -8.09607457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.610281693 meters Centerline goodness [0,1] 0.998531914893617 Centerline is valid? [True, True] Translation: X:111.42, Y:-3.68, Z:-0.81 [[ 9.98904899e-01 4.63187793e-02 6.60100292e-03 1.11420590e+02] [-4.63182354e-02 9.98926707e-01 -2.35323187e-04 -3.68350222e+00] [-6.60481799e-03 -7.06813234e-05 9.99978185e-01 -8.07906318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.640281693 meters Centerline goodness [0,1] 0.9987974316576116 Centerline is valid? [True, True] Translation: X:111.45, Y:-3.69, Z:-0.81 [[ 9.98910797e-01 4.62177837e-02 6.41377431e-03 1.11451749e+02] [-4.62172678e-02 9.98931385e-01 -2.28695193e-04 -3.68590576e+00] [-6.41749024e-03 -6.79810276e-05 9.99979405e-01 -8.08875236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.670281693 meters Centerline goodness [0,1] 0.9989560697089778 Centerline is valid? [True, True] Translation: X:111.48, Y:-3.69, Z:-0.81 [[ 9.98936185e-01 4.58304194e-02 5.10606385e-03 1.11482476e+02] [-4.58300865e-02 9.98949233e-01 -1.82249660e-04 -3.68937099e+00] [-5.10905115e-03 -5.19555677e-05 9.99986947e-01 -8.11180978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.700281693 meters Centerline goodness [0,1] 0.9989902389767755 Centerline is valid? [True, True] Translation: X:111.51, Y:-3.69, Z:-0.81 [[ 9.98933912e-01 4.59234523e-02 4.69859857e-03 1.11512865e+02] [-4.59231684e-02 9.98944961e-01 -1.68352058e-04 -3.69100380e+00] [-4.70137267e-03 -4.76019532e-05 9.99988947e-01 -8.11330071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.730281693 meters Centerline goodness [0,1] 0.9989215770856699 Centerline is valid? [True, True] Translation: X:111.54, Y:-3.69, Z:-0.81 [[ 9.98900036e-01 4.66462306e-02 4.77995243e-03 1.11542845e+02] [-4.66459448e-02 9.98911471e-01 -1.71320353e-04 -3.69359441e+00] [-4.78274076e-03 -5.18334902e-05 9.99988561e-01 -8.11403032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.760281693 meters Centerline goodness [0,1] 0.998539957916434 Centerline is valid? [True, True] Translation: X:111.57, Y:-3.69, Z:-0.81 [[ 9.98765755e-01 4.94014288e-02 5.14437129e-03 1.11572796e+02] [-4.94011343e-02 9.98779002e-01 -1.84381648e-04 -3.69149939e+00] [-5.14719873e-03 -6.99837007e-05 9.99986751e-01 -8.12284824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.790281693 meters Centerline goodness [0,1] 0.9984992601986895 Centerline is valid? [True, True] Translation: X:111.60, Y:-3.69, Z:-0.81 [[ 9.98664308e-01 5.14358701e-02 4.89409574e-03 1.11603623e+02] [-5.14356279e-02 9.98676297e-01 -1.75411413e-04 -3.69099082e+00] [-4.89663985e-03 -7.65537700e-05 9.99988008e-01 -8.12612231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.820281693 meters Centerline goodness [0,1] 0.9984194887572967 Centerline is valid? [True, True] Translation: X:111.63, Y:-3.69, Z:-0.81 [[ 9.98580167e-01 5.30334238e-02 5.01056111e-03 1.11633339e+02] [-5.30331901e-02 9.98592734e-01 -1.79588297e-04 -3.69037262e+00] [-5.01303410e-03 -8.63927284e-05 9.99987431e-01 -8.13018087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.850281693 meters Centerline goodness [0,1] 0.997928293590394 Centerline is valid? [True, True] Translation: X:111.66, Y:-3.69, Z:-0.81 [[ 9.98535678e-01 5.38434597e-02 5.23272093e-03 1.11663949e+02] [-5.38432158e-02 9.98549384e-01 -1.87574006e-04 -3.69176393e+00] [-5.23522990e-03 -9.44471852e-05 9.99986292e-01 -8.13078925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.880281693 meters Centerline goodness [0,1] 0.9977410280453499 Centerline is valid? [True, True] Translation: X:111.69, Y:-3.70, Z:-0.81 [[ 9.98548447e-01 5.36199427e-02 5.08922337e-03 1.11693825e+02] [-5.36197091e-02 9.98561412e-01 -1.82430140e-04 -3.69750451e+00] [-5.09168397e-03 -9.07173433e-05 9.99987033e-01 -8.13771314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.910281693 meters Centerline goodness [0,1] 0.9977410280453499 Centerline is valid? [True, True] Translation: X:111.72, Y:-3.70, Z:-0.81 [[ 9.98548447e-01 5.36199427e-02 5.08922337e-03 1.11723810e+02] [-5.36197091e-02 9.98561412e-01 -1.82430140e-04 -3.69857937e+00] [-5.09168397e-03 -9.07173433e-05 9.99987033e-01 -8.13905921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.940281693 meters Centerline goodness [0,1] 0.9980189255832578 Centerline is valid? [True, True] Translation: X:111.75, Y:-3.70, Z:-0.82 [[ 9.98586831e-01 5.29708148e-02 4.29352857e-03 1.11753296e+02] [-5.29706426e-02 9.98596058e-01 -1.53909571e-04 -3.70095690e+00] [-4.29565342e-03 -7.37388969e-05 9.99990771e-01 -8.15630960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.970281693 meters Centerline goodness [0,1] 0.9985637111987652 Centerline is valid? [True, True] Translation: X:111.78, Y:-3.71, Z:-0.82 [[ 9.98631553e-01 5.21532746e-02 3.88049574e-03 1.11783996e+02] [-5.21531279e-02 9.98639090e-01 -1.39056806e-04 -3.70840453e+00] [-3.88246701e-03 -6.35134770e-05 9.99992461e-01 -8.17304738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.000281693 meters Centerline goodness [0,1] 0.9984825817482368 Centerline is valid? [True, True] Translation: X:111.81, Y:-3.71, Z:-0.82 [[ 9.98614633e-01 5.24523929e-02 4.19062006e-03 1.11813902e+02] [-5.24522244e-02 9.98623423e-01 -1.50173580e-04 -3.70788484e+00] [-4.19272831e-03 -6.98418092e-05 9.99991208e-01 -8.16951470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.030281693 meters Centerline goodness [0,1] 0.9982489082048145 Centerline is valid? [True, True] Translation: X:111.84, Y:-3.71, Z:-0.81 [[ 9.98546873e-01 5.36717310e-02 4.84642537e-03 1.11843820e+02] [-5.36715203e-02 9.98558630e-01 -1.73608049e-04 -3.70570199e+00] [-4.84875772e-03 -8.67592433e-05 9.99988241e-01 -8.14565149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06028169300001 meters Centerline goodness [0,1] 0.9969798800459398 Centerline is valid? [True, True] Translation: X:111.87, Y:-3.70, Z:-0.81 [[ 9.98250297e-01 5.86855370e-02 7.23551870e-03 1.11874432e+02] [-5.86851997e-02 9.98276505e-01 -2.59101121e-04 -3.69912222e+00] [-7.23825381e-03 -1.65970089e-04 9.99973790e-01 -8.10221812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.090281693 meters Centerline goodness [0,1] 0.9962210171228489 Centerline is valid? [True, True] Translation: X:111.90, Y:-3.69, Z:-0.81 [[ 9.98045524e-01 6.20589243e-02 7.33636447e-03 1.11904913e+02] [-6.20586690e-02 9.98072469e-01 -2.62660703e-04 -3.69365561e+00] [-7.33852384e-03 -1.93137675e-04 9.99973054e-01 -8.10856586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.120281693 meters Centerline goodness [0,1] 0.9955575299866726 Centerline is valid? [True, True] Translation: X:111.93, Y:-3.69, Z:-0.81 [[ 9.97813555e-01 6.58012545e-02 6.18906137e-03 1.11934120e+02] [-6.58011448e-02 9.97832732e-01 -2.21562058e-04 -3.68613746e+00] [-6.19022707e-03 -1.86169699e-04 9.99980823e-01 -8.13761877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.150281693 meters Centerline goodness [0,1] 0.9932741629951259 Centerline is valid? [True, True] Translation: X:111.96, Y:-3.67, Z:-0.82 [[ 9.97415608e-01 7.18081096e-02 2.38739971e-03 1.11963903e+02] [-7.18081104e-02 9.97418462e-01 -8.54885314e-05 -3.67173574e+00] [-2.38737531e-03 -8.61670664e-05 9.99997147e-01 -8.21553879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.180281693 meters Centerline goodness [0,1] 0.9933276304533789 Centerline is valid? [True, True] Translation: X:111.99, Y:-3.67, Z:-0.82 [[ 9.97318663e-01 7.31518528e-02 2.07148378e-03 1.11992630e+02] [-7.31518561e-02 9.97320811e-01 -7.42857160e-05 -3.66750414e+00] [-2.07136802e-03 -7.74463522e-05 9.99997852e-01 -8.22321380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.210281693 meters Centerline goodness [0,1] 0.9932568973219034 Centerline is valid? [True, True] Translation: X:112.02, Y:-3.67, Z:-0.82 [[ 9.97277444e-01 7.36870774e-02 2.81306669e-03 1.12021393e+02] [-7.36870861e-02 9.97281406e-01 -1.00681366e-04 -3.66564702e+00] [-2.81283802e-03 -1.06879432e-04 9.99996038e-01 -8.20024882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.240281693 meters Centerline goodness [0,1] 0.9919636988189394 Centerline is valid? [True, True] Translation: X:112.05, Y:-3.66, Z:-0.81 [[ 9.97240427e-01 7.40019063e-02 5.93709460e-03 1.12049404e+02] [-7.40019539e-02 9.97258074e-01 -2.11964280e-04 -3.65574342e+00] [-5.93650129e-03 -2.27977252e-04 9.99982353e-01 -8.14706776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.270281693 meters Centerline goodness [0,1] 0.9911869135176262 Centerline is valid? [True, True] Translation: X:112.08, Y:-3.65, Z:-0.81 [[ 9.97238942e-01 7.39920802e-02 6.29800845e-03 1.12077342e+02] [-7.39921360e-02 9.97258800e-01 -2.24467678e-04 -3.65186293e+00] [-6.29735318e-03 -2.42155188e-04 9.99980142e-01 -8.14366138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.300281693 meters Centerline goodness [0,1] 0.9909530822638334 Centerline is valid? [True, True] Translation: X:112.11, Y:-3.64, Z:-0.82 [[ 9.97317883e-01 7.29660219e-02 5.74462669e-03 1.12105865e+02] [-7.29660530e-02 9.97334404e-01 -2.04451895e-04 -3.64328895e+00] [-5.74423188e-03 -2.15259204e-04 9.99983479e-01 -8.15890481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.330281693 meters Centerline goodness [0,1] 0.9929738387613455 Centerline is valid? [True, True] Translation: X:112.13, Y:-3.64, Z:-0.82 [[ 9.97362310e-01 7.23655982e-02 5.62510524e-03 1.12134404e+02] [-7.23656199e-02 9.97378151e-01 -1.99944389e-04 -3.64321277e+00] [-5.62482617e-03 -2.07647230e-04 9.99984159e-01 -8.15982875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.360281693 meters Centerline goodness [0,1] 0.9931235629736864 Centerline is valid? [True, True] Translation: X:112.16, Y:-3.64, Z:-0.82 [[ 9.97407681e-01 7.16996160e-02 6.08954680e-03 1.12162200e+02] [-7.16996310e-02 9.97426246e-01 -2.16132029e-04 -3.63824180e+00] [-6.08937038e-03 -2.21046513e-04 9.99981435e-01 -8.15414662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.390281693 meters Centerline goodness [0,1] 0.9923320659062104 Centerline is valid? [True, True] Translation: X:112.19, Y:-3.63, Z:-0.81 [[ 9.97531296e-01 6.98120917e-02 7.58845612e-03 1.12190915e+02] [-6.98120640e-02 9.97560125e-01 -2.68862855e-04 -3.63049103e+00] [-7.58871111e-03 -2.61566671e-04 9.99971171e-01 -8.13172942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.420281693 meters Centerline goodness [0,1] 0.9925597761573681 Centerline is valid? [True, True] Translation: X:112.22, Y:-3.63, Z:-0.81 [[ 9.97624965e-01 6.84414398e-02 7.75875018e-03 1.12219739e+02] [-6.84413722e-02 9.97655102e-01 -2.74537786e-04 -3.62972770e+00] [-7.75934647e-03 -2.57133760e-04 9.99969863e-01 -8.12674564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.450281693 meters Centerline goodness [0,1] 0.9961545856566045 Centerline is valid? [True, True] Translation: X:112.25, Y:-3.63, Z:-0.81 [[ 9.97848080e-01 6.51570771e-02 7.33243339e-03 1.12249602e+02] [-6.51569298e-02 9.97874996e-01 -2.59227408e-04 -3.63047713e+00] [-7.33374243e-03 -2.19089275e-04 9.99973084e-01 -8.14182535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.480281693 meters Centerline goodness [0,1] 0.995613756277414 Centerline is valid? [True, True] Translation: X:112.28, Y:-3.62, Z:-0.81 [[ 9.97951444e-01 6.35798822e-02 7.10728476e-03 1.12278237e+02] [-6.35797051e-02 9.97976732e-01 -2.51090286e-04 -3.62434519e+00] [-7.10886911e-03 -2.01303155e-04 9.99974711e-01 -8.14494470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.510281693 meters Centerline goodness [0,1] 0.9960819196475845 Centerline is valid? [True, True] Translation: X:112.31, Y:-3.62, Z:-0.81 [[ 9.98046634e-01 6.20697750e-02 7.08937858e-03 1.12307283e+02] [-6.20695630e-02 9.98071794e-01 -2.50126950e-04 -3.62320367e+00] [-7.09123413e-03 -1.90396270e-04 9.99974839e-01 -8.14753535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.540281693 meters Centerline goodness [0,1] 0.9966709781387163 Centerline is valid? [True, True] Translation: X:112.34, Y:-3.63, Z:-0.82 [[ 9.98113228e-01 6.10040808e-02 6.96325990e-03 1.12336136e+02] [-6.10038526e-02 9.98137500e-01 -2.45362892e-04 -3.62556225e+00] [-6.96525897e-03 -1.79885732e-04 9.99975726e-01 -8.15793991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.570281693 meters Centerline goodness [0,1] 0.997249173685894 Centerline is valid? [True, True] Translation: X:112.37, Y:-3.62, Z:-0.82 [[ 9.98249666e-01 5.88535198e-02 5.81950167e-03 1.12365117e+02] [-5.88533253e-02 9.98266620e-01 -2.04821018e-04 -3.62203010e+00] [-5.82146870e-03 -1.38034511e-04 9.99983046e-01 -8.17907073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.600281693 meters Centerline goodness [0,1] 0.9977254368436717 Centerline is valid? [True, True] Translation: X:112.39, Y:-3.62, Z:-0.82 [[ 9.98302625e-01 5.80382859e-02 4.84000373e-03 1.12394127e+02] [-5.80381427e-02 9.98314352e-01 -1.70153001e-04 -3.61993006e+00] [-4.84172057e-03 -1.11040639e-04 9.99988273e-01 -8.19877686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.630281693 meters Centerline goodness [0,1] 0.9979942148934823 Centerline is valid? [True, True] Translation: X:112.42, Y:-3.62, Z:-0.82 [[ 9.98424455e-01 5.59291892e-02 4.53139250e-03 1.12422082e+02] [-5.59290429e-02 9.98434733e-01 -1.59100816e-04 -3.61542477e+00] [-4.53319804e-03 -9.45863002e-05 9.99989721e-01 -8.20173085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.660281693 meters Centerline goodness [0,1] 0.9980529761650049 Centerline is valid? [True, True] Translation: X:112.45, Y:-3.62, Z:-0.82 [[ 9.98508296e-01 5.43347272e-02 5.37784647e-03 1.12450634e+02] [-5.43345000e-02 9.98522772e-01 -1.88464419e-04 -3.61678766e+00] [-5.38014233e-03 -1.04019313e-04 9.99985522e-01 -8.19535161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.690281693 meters Centerline goodness [0,1] 0.9980903477688896 Centerline is valid? [True, True] Translation: X:112.48, Y:-3.62, Z:-0.82 [[ 9.98616260e-01 5.22497351e-02 5.96069107e-03 1.12478732e+02] [-5.22494206e-02 9.98634044e-01 -2.08570030e-04 -3.61718155e+00] [-5.96344676e-03 -1.03161231e-04 9.99982213e-01 -8.18043823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.720281693 meters Centerline goodness [0,1] 0.9984632226011536 Centerline is valid? [True, True] Translation: X:112.51, Y:-3.62, Z:-0.82 [[ 9.98859980e-01 4.73012421e-02 6.42900037e-03 1.12507226e+02] [-4.73007759e-02 9.98880667e-01 -2.24639802e-04 -3.61730475e+00] [-6.43242992e-03 -7.97129971e-05 9.99979309e-01 -8.18012715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.750281693 meters Centerline goodness [0,1] 0.9989385640895003 Centerline is valid? [True, True] Translation: X:112.54, Y:-3.62, Z:-0.82 [[ 9.98971205e-01 4.48621949e-02 6.62686241e-03 1.12537049e+02] [-4.48616467e-02 9.98993183e-01 -2.31424207e-04 -3.62101952e+00] [-6.63057256e-03 -6.61058407e-05 9.99978015e-01 -8.18567916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.780281693 meters Centerline goodness [0,1] 0.9990638497053255 Centerline is valid? [True, True] Translation: X:112.57, Y:-3.63, Z:-0.82 [[ 9.99089465e-01 4.21890681e-02 6.35002293e-03 1.12566485e+02] [-4.21885116e-02 9.99109644e-01 -2.21620307e-04 -3.62656029e+00] [-6.35371911e-03 -4.64795022e-05 9.99979814e-01 -8.19673745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81028169300001 meters Centerline goodness [0,1] 0.9997873652427226 Centerline is valid? [True, True] Translation: X:112.60, Y:-3.63, Z:-0.82 [[ 9.99321051e-01 3.64520914e-02 5.35561905e-03 1.12595538e+02] [-3.64516137e-02 9.99335402e-01 -1.86809801e-04 -3.63426785e+00] [-5.35886932e-03 -8.53799056e-06 9.99985641e-01 -8.21164950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.840281693 meters Centerline goodness [0,1] 0.9996591030148078 Centerline is valid? [True, True] Translation: X:112.63, Y:-3.64, Z:-0.82 [[ 9.99421857e-01 3.36166310e-02 5.08661434e-03 1.12625011e+02] [-3.36161639e-02 9.99434801e-01 -1.77316051e-04 -3.63753848e+00] [-5.08970016e-03 6.22107586e-06 9.99987047e-01 -8.21716919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.870281693 meters Centerline goodness [0,1] 0.9996812986019632 Centerline is valid? [True, True] Translation: X:112.65, Y:-3.64, Z:-0.82 [[ 9.99516597e-01 3.06373030e-02 5.28477474e-03 1.12653806e+02] [-3.06367579e-02 9.99530567e-01 -1.84090916e-04 -3.64218402e+00] [-5.28793395e-03 2.20935615e-05 9.99986019e-01 -8.21623594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.900281693 meters Centerline goodness [0,1] 0.9995111063875013 Centerline is valid? [True, True] Translation: X:112.68, Y:-3.66, Z:-0.82 [[ 9.99694324e-01 2.40113306e-02 5.89199106e-03 1.12683310e+02] [-2.40105390e-02 9.99711684e-01 -2.05058004e-04 -3.65526738e+00] [-5.89521602e-03 6.35254416e-05 9.99982621e-01 -8.21302539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.930281693 meters Centerline goodness [0,1] 0.999529240579462 Centerline is valid? [True, True] Translation: X:112.71, Y:-3.66, Z:-0.82 [[ 9.99770036e-01 2.06297390e-02 5.85567683e-03 1.12713613e+02] [-2.06288994e-02 9.99787181e-01 -2.03744218e-04 -3.66118193e+00] [-5.85863382e-03 8.29011955e-05 9.99982835e-01 -8.21233879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.960281693 meters Centerline goodness [0,1] 0.9988274671157823 Centerline is valid? [True, True] Translation: X:112.74, Y:-3.67, Z:-0.82 [[ 9.99831854e-01 1.73619118e-02 5.90142346e-03 1.12743442e+02] [-1.73610021e-02 9.99849265e-01 -2.05352405e-04 -3.67155020e+00] [-5.90409922e-03 1.02863251e-04 9.99982565e-01 -8.21591812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.990281693 meters Centerline goodness [0,1] 0.9972811543319561 Centerline is valid? [True, True] Translation: X:112.77, Y:-3.69, Z:-0.82 [[ 9.99914322e-01 1.13675414e-02 6.49064976e-03 1.12773291e+02] [-1.13663142e-02 9.99935376e-01 -2.25934858e-04 -3.68668941e+00] [-6.49279863e-03 1.52140736e-04 9.99978910e-01 -8.20397949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.020281693 meters Centerline goodness [0,1] 0.9972714288759565 Centerline is valid? [True, True] Translation: X:112.80, Y:-3.69, Z:-0.82 [[ 9.99936221e-01 9.29606600e-03 6.41388936e-03 1.12804806e+02] [-9.29482292e-03 9.99956777e-01 -2.23591980e-04 -3.69221374e+00] [-6.41569066e-03 1.63961753e-04 9.99979406e-01 -8.21125705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.050281693 meters Centerline goodness [0,1] 0.9959911763458194 Centerline is valid? [True, True] Translation: X:112.83, Y:-3.71, Z:-0.82 [[ 9.99958550e-01 7.06003460e-03 5.74931161e-03 1.12834958e+02] [-7.05899492e-03 9.99975065e-01 -2.01107917e-04 -3.70830589e+00] [-5.75058808e-03 1.60515219e-04 9.99983452e-01 -8.21827423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.080281693 meters Centerline goodness [0,1] 0.9962964530601879 Centerline is valid? [True, True] Translation: X:112.87, Y:-3.71, Z:-0.82 [[ 9.99963484e-01 6.68288150e-03 5.32633788e-03 1.12866859e+02] [-6.68198143e-03 9.99977658e-01 -1.86761706e-04 -3.71487156e+00] [-5.32746698e-03 1.51164396e-04 9.99985798e-01 -8.22124044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.110281693 meters Centerline goodness [0,1] 0.9975711089805049 Centerline is valid? [True, True] Translation: X:112.90, Y:-3.71, Z:-0.82 [[ 9.99963559e-01 6.87153350e-03 5.06577754e-03 1.12899037e+02] [-6.87071807e-03 9.99976380e-01 -1.78353601e-04 -3.71466441e+00] [-5.06688345e-03 1.43541572e-04 9.99987153e-01 -8.22693104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.140281693 meters Centerline goodness [0,1] 0.9977079450763662 Centerline is valid? [True, True] Translation: X:112.93, Y:-3.72, Z:-0.82 [[ 9.99959121e-01 7.44344132e-03 5.13345722e-03 1.12931437e+02] [-7.44260721e-03 9.99972287e-01 -1.81569784e-04 -3.71963811e+00] [-5.13466646e-03 1.43356055e-04 9.99986807e-01 -8.22706736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.170281693 meters Centerline goodness [0,1] 0.9978555352668903 Centerline is valid? [True, True] Translation: X:112.96, Y:-3.73, Z:-0.82 [[ 9.99932137e-01 1.03723093e-02 5.30430702e-03 1.12961536e+02] [-1.03714559e-02 9.99946197e-01 -1.88376563e-04 -3.72807326e+00] [-5.30597554e-03 1.33350393e-04 9.99985914e-01 -8.22846320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.200281693 meters Centerline goodness [0,1] 0.9977927265083035 Centerline is valid? [True, True] Translation: X:112.99, Y:-3.73, Z:-0.82 [[ 9.99896055e-01 1.33954741e-02 5.33292531e-03 1.12991836e+02] [-1.33946538e-02 9.99910270e-01 -1.89506007e-04 -3.73281870e+00] [-5.33498531e-03 1.18053621e-04 9.99985762e-01 -8.22664697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.230281693 meters Centerline goodness [0,1] 0.999444693620384 Centerline is valid? [True, True] Translation: X:113.02, Y:-3.73, Z:-0.82 [[ 9.99761218e-01 2.10089839e-02 6.01073142e-03 1.13022831e+02] [-2.10080788e-02 9.99779283e-01 -2.13682198e-04 -3.72658399e+00] [-6.01389400e-03 8.73572550e-05 9.99981913e-01 -8.20409028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.260281693 meters Centerline goodness [0,1] 0.9997044106158816 Centerline is valid? [True, True] Translation: X:113.05, Y:-3.72, Z:-0.82 [[ 9.99669567e-01 2.48733376e-02 6.48651157e-03 1.13054738e+02] [-2.48723638e-02 9.99690608e-01 -2.30770171e-04 -3.72255940e+00] [-6.49024473e-03 6.93590414e-05 9.99978936e-01 -8.19335046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.290281693 meters Centerline goodness [0,1] 0.9997226725829849 Centerline is valid? [True, True] Translation: X:113.09, Y:-3.72, Z:-0.82 [[ 9.99574521e-01 2.82842053e-02 7.12610776e-03 1.13086144e+02] [-2.82831149e-02 9.99599920e-01 -2.53753763e-04 -3.72013007e+00] [-7.13043397e-03 5.20972717e-05 9.99974577e-01 -8.19056148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.320281693 meters Centerline goodness [0,1] 0.9997205503009459 Centerline is valid? [True, True] Translation: X:113.12, Y:-3.72, Z:-0.82 [[ 9.99392881e-01 3.41017948e-02 7.13694669e-03 1.13116426e+02] [-3.41008485e-02 9.99418365e-01 -2.54274645e-04 -3.71645957e+00] [-7.14146681e-03 1.07443329e-05 9.99974499e-01 -8.19207924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.350281693 meters Centerline goodness [0,1] 0.9996187813711164 Centerline is valid? [True, True] Translation: X:113.15, Y:-3.72, Z:-0.82 [[ 9.99307805e-01 3.64859228e-02 7.25864282e-03 1.13146742e+02] [-3.64850062e-02 9.99334167e-01 -2.58697670e-04 -3.71597196e+00] [-7.26324860e-03 -6.31302798e-06 9.99973622e-01 -8.19097555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.380281693 meters Centerline goodness [0,1] 0.9994915577399741 Centerline is valid? [True, True] Translation: X:113.18, Y:-3.72, Z:-0.82 [[ 9.99239151e-01 3.82754307e-02 7.49069683e-03 1.13178533e+02] [-3.82745039e-02 9.99267227e-01 -2.67093698e-04 -3.71579429e+00] [-7.49543098e-03 -1.98122248e-05 9.99971909e-01 -8.19238471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.410281693 meters Centerline goodness [0,1] 0.9993855020871739 Centerline is valid? [True, True] Translation: X:113.21, Y:-3.71, Z:-0.82 [[ 9.99175291e-01 3.98355926e-02 7.86530988e-03 1.13208971e+02] [-3.98346168e-02 9.99206247e-01 -2.80741950e-04 -3.71487693e+00] [-7.87025029e-03 -3.28011858e-05 9.99969029e-01 -8.18677450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.440281693 meters Centerline goodness [0,1] 0.9994017860957997 Centerline is valid? [True, True] Translation: X:113.24, Y:-3.71, Z:-0.82 [[ 9.99067126e-01 4.25434247e-02 7.41175912e-03 1.13240660e+02] [-4.25426305e-02 9.99094617e-01 -2.64846206e-04 -3.71187160e+00] [-7.41631610e-03 -5.07165920e-05 9.99972497e-01 -8.18976724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.470281693 meters Centerline goodness [0,1] 0.9992006899307966 Centerline is valid? [True, True] Translation: X:113.27, Y:-3.70, Z:-0.82 [[ 9.98929984e-01 4.58971644e-02 5.68657417e-03 1.13270151e+02] [-4.58967509e-02 9.98946168e-01 -2.03265620e-04 -3.70433257e+00] [-5.68991079e-03 -5.79471556e-05 9.99983811e-01 -8.21815349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.500281693 meters Centerline goodness [0,1] 0.998998316318919 Centerline is valid? [True, True] Translation: X:113.30, Y:-3.70, Z:-0.82 [[ 9.98861319e-01 4.73736410e-02 5.63946128e-03 1.13300024e+02] [-4.73732582e-02 9.98877237e-01 -2.01516593e-04 -3.70183158e+00] [-5.64267607e-03 -6.58725252e-05 9.99984078e-01 -8.22104719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.530281693 meters Centerline goodness [0,1] 0.999022981181768 Centerline is valid? [True, True] Translation: X:113.33, Y:-3.70, Z:-0.82 [[ 9.98814738e-01 4.82720950e-02 6.23892279e-03 1.13328514e+02] [-4.82716447e-02 9.98834220e-01 -2.22818058e-04 -3.69880889e+00] [-6.24240548e-03 -7.86091042e-05 9.99980513e-01 -8.21977431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56028169300001 meters Centerline goodness [0,1] 0.9991289938817132 Centerline is valid? [True, True] Translation: X:113.36, Y:-3.70, Z:-0.82 [[ 9.98883883e-01 4.65643150e-02 7.92161850e-03 1.13358112e+02] [-4.65635377e-02 9.98915290e-01 -2.82633706e-04 -3.69973899e+00] [-7.92618649e-03 -8.65403271e-05 9.99968584e-01 -8.19085720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.590281693 meters Centerline goodness [0,1] 0.999383516506877 Centerline is valid? [True, True] Translation: X:113.39, Y:-3.70, Z:-0.82 [[ 9.99002668e-01 4.39361180e-02 7.95527560e-03 1.13387897e+02] [-4.39352518e-02 9.99034340e-01 -2.83687484e-04 -3.70381516e+00] [-7.96005764e-03 -6.61124837e-05 9.99968316e-01 -8.19052147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.620281693 meters Centerline goodness [0,1] 0.9996383671211896 Centerline is valid? [True, True] Translation: X:113.42, Y:-3.71, Z:-0.82 [[ 9.99160430e-01 4.04026953e-02 6.78654107e-03 1.13418685e+02] [-4.04019836e-02 9.99183477e-01 -2.41992239e-04 -3.71056764e+00] [-6.79077684e-03 -3.24006509e-05 9.99976942e-01 -8.21125817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.650281693 meters Centerline goodness [0,1] 0.9999785591766723 Centerline is valid? [True, True] Translation: X:113.45, Y:-3.73, Z:-0.82 [[ 9.99470538e-01 3.19901019e-02 5.93943374e-03 1.13449278e+02] [-3.19894077e-02 9.99488185e-01 -2.11866286e-04 -3.72664102e+00] [-5.94317148e-03 2.17551439e-05 9.99982339e-01 -8.23283409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.680281693 meters Centerline goodness [0,1] 0.9998490468386095 Centerline is valid? [True, True] Translation: X:113.48, Y:-3.73, Z:-0.82 [[ 9.99583849e-01 2.79787457e-02 7.02271824e-03 1.13480329e+02] [-2.79776749e-02 9.99608517e-01 -2.50691621e-04 -3.73476839e+00] [-7.02698301e-03 5.41079675e-05 9.99975309e-01 -8.22322717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.710281693 meters Centerline goodness [0,1] 0.9994260936105088 Centerline is valid? [True, True] Translation: X:113.51, Y:-3.75, Z:-0.82 [[ 9.99709020e-01 2.26349467e-02 8.33869665e-03 1.13510704e+02] [-2.26332493e-02 9.99743791e-01 -2.97884764e-04 -3.74699974e+00] [-8.34330281e-03 1.09066286e-04 9.99965188e-01 -8.20023696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.740281693 meters Centerline goodness [0,1] 0.9995349132190348 Centerline is valid? [True, True] Translation: X:113.54, Y:-3.75, Z:-0.82 [[ 9.99746556e-01 2.10554869e-02 7.96802185e-03 1.13541154e+02] [-2.10538838e-02 9.99778302e-01 -2.85025878e-04 -3.75420673e+00] [-7.97225672e-03 1.17195834e-04 9.99968214e-01 -8.19811180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.770281693 meters Centerline goodness [0,1] 0.9996571306118076 Centerline is valid? [True, True] Translation: X:113.57, Y:-3.76, Z:-0.82 [[ 9.99779167e-01 1.98345855e-02 6.94311554e-03 1.13572963e+02] [-1.98333339e-02 9.99803269e-01 -2.49074253e-04 -3.75891622e+00] [-6.94668990e-03 1.11314121e-04 9.99975865e-01 -8.22195273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.800281693 meters Centerline goodness [0,1] 0.9996571306118076 Centerline is valid? [True, True] Translation: X:113.60, Y:-3.76, Z:-0.82 [[ 9.99775973e-01 1.99949542e-02 6.94307548e-03 1.13604629e+02] [-1.99936988e-02 9.99800075e-01 -2.50186882e-04 -3.76019664e+00] [-6.94668986e-03 1.11313074e-04 9.99975865e-01 -8.22337425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.830281693 meters Centerline goodness [0,1] 0.9995532295123819 Centerline is valid? [True, True] Translation: X:113.64, Y:-3.77, Z:-0.83 [[ 9.99811233e-01 1.87604536e-02 5.05405305e-03 1.13635967e+02] [-1.87597695e-02 9.99824003e-01 -1.82726790e-04 -3.76957333e+00] [-5.05659160e-03 8.78794267e-05 9.99987211e-01 -8.25663931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.860281693 meters Centerline goodness [0,1] 0.9993785092794993 Centerline is valid? [True, True] Translation: X:113.67, Y:-3.77, Z:-0.83 [[ 9.99819059e-01 1.83790805e-02 4.90499460e-03 1.13667656e+02] [-1.83784281e-02 9.99831087e-01 -1.78051585e-04 -3.77441028e+00] [-4.90743851e-03 8.78732775e-05 9.99987955e-01 -8.26598506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.890281693 meters Centerline goodness [0,1] 0.9993606546895979 Centerline is valid? [True, True] Translation: X:113.70, Y:-3.78, Z:-0.83 [[ 9.99831591e-01 1.76491754e-02 5.02957286e-03 1.13698368e+02] [-1.76484761e-02 9.99844237e-01 -1.83388346e-04 -3.78325427e+00] [-5.03202609e-03 9.45931658e-05 9.99987335e-01 -8.27691388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.920281693 meters Centerline goodness [0,1] 0.9992321146708758 Centerline is valid? [True, True] Translation: X:113.73, Y:-3.79, Z:-0.83 [[ 9.99834375e-01 1.76562009e-02 4.41376043e-03 1.13730455e+02] [-1.76556600e-02 9.99844114e-01 -1.61502530e-04 -3.78796263e+00] [-4.41592390e-03 8.35479280e-05 9.99990246e-01 -8.28336707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.950281693 meters Centerline goodness [0,1] 0.9993841579953281 Centerline is valid? [True, True] Translation: X:113.76, Y:-3.79, Z:-0.83 [[ 9.99837627e-01 1.76557868e-02 3.60450612e-03 1.13761845e+02] [-1.76554242e-02 9.99844122e-01 -1.32380269e-04 -3.79267998e+00] [-3.60628154e-03 6.87196892e-05 9.99993495e-01 -8.29512118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.980281693 meters Centerline goodness [0,1] 0.9995772027735498 Centerline is valid? [True, True] Translation: X:113.79, Y:-3.79, Z:-0.83 [[ 9.99807232e-01 1.93083990e-02 3.56145574e-03 1.13792899e+02] [-1.93080538e-02 9.99813574e-01 -1.31307651e-04 -3.79411454e+00] [-3.56332713e-03 6.25175600e-05 9.99993649e-01 -8.28768736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.010281693 meters Centerline goodness [0,1] 0.9996144949884348 Centerline is valid? [True, True] Translation: X:113.82, Y:-3.79, Z:-0.83 [[ 9.99765290e-01 2.12114984e-02 4.40869735e-03 1.13824035e+02] [-2.12109844e-02 9.99775008e-01 -1.63315772e-04 -3.79023410e+00] [-4.41116961e-03 6.97646299e-05 9.99990268e-01 -8.26680410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.040281693 meters Centerline goodness [0,1] 0.9998068503734227 Centerline is valid? [True, True] Translation: X:113.86, Y:-3.78, Z:-0.83 [[ 9.99617341e-01 2.70986703e-02 5.55283396e-03 1.13855210e+02] [-2.70979449e-02 9.99632762e-01 -2.05848910e-04 -3.78096116e+00] [-5.55637298e-03 5.52997519e-05 9.99984562e-01 -8.25798257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.070281693 meters Centerline goodness [0,1] 0.9998935672016689 Centerline is valid? [True, True] Translation: X:113.89, Y:-3.77, Z:-0.83 [[ 9.99510537e-01 3.08610231e-02 5.12679250e-03 1.13886430e+02] [-3.08604536e-02 9.99523685e-01 -1.90161627e-04 -3.77430759e+00] [-5.13021911e-03 3.18534080e-05 9.99986840e-01 -8.26861666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.100281693 meters Centerline goodness [0,1] 0.9999785926829791 Centerline is valid? [True, True] Translation: X:113.92, Y:-3.77, Z:-0.83 [[ 9.99385639e-01 3.46812770e-02 5.05508635e-03 1.13917125e+02] [-3.46807717e-02 9.99398423e-01 -1.87599495e-04 -3.76687079e+00] [-5.05855152e-03 1.21699449e-05 9.99987205e-01 -8.27331127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.130281693 meters Centerline goodness [0,1] 0.9998091319746357 Centerline is valid? [True, True] Translation: X:113.95, Y:-3.75, Z:-0.83 [[ 9.99092743e-01 4.23138157e-02 4.82001295e-03 1.13946923e+02] [-4.23134452e-02 9.99104369e-01 -1.78871915e-04 -3.74965198e+00] [-4.82326475e-03 -2.52417216e-05 9.99988368e-01 -8.26846516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.160281693 meters Centerline goodness [0,1] 0.9995526680157631 Centerline is valid? [True, True] Translation: X:113.98, Y:-3.74, Z:-0.83 [[ 9.98961607e-01 4.53008631e-02 4.85166802e-03 1.13977104e+02] [-4.53005232e-02 9.98973388e-01 -1.79988221e-04 -3.74216353e+00] [-4.85484086e-03 -3.99817769e-05 9.99988214e-01 -8.27575623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.190281693 meters Centerline goodness [0,1] 0.9997885253875273 Centerline is valid? [True, True] Translation: X:114.01, Y:-3.74, Z:-0.83 [[ 9.98869136e-01 4.73235479e-02 4.57498860e-03 1.14007442e+02] [-4.73232673e-02 9.98879612e-01 -1.69629815e-04 -3.73647222e+00] [-4.57789032e-03 -4.70654215e-05 9.99989520e-01 -8.27968688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.220281693 meters Centerline goodness [0,1] 0.9993419237056064 Centerline is valid? [True, True] Translation: X:114.04, Y:-3.73, Z:-0.83 [[ 9.98842642e-01 4.78433284e-02 4.93896873e-03 1.14036529e+02] [-4.78430083e-02 9.98854851e-01 -1.83004827e-04 -3.73328122e+00] [-4.94206844e-03 -5.35020971e-05 9.99987786e-01 -8.28230254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.250281693 meters Centerline goodness [0,1] 0.9997214604045251 Centerline is valid? [True, True] Translation: X:114.07, Y:-3.73, Z:-0.83 [[ 9.98938158e-01 4.56171309e-02 6.45237146e-03 1.14066061e+02] [-4.56165397e-02 9.98958995e-01 -2.38843115e-04 -3.73473830e+00] [-6.45654985e-03 -5.57453576e-05 9.99979155e-01 -8.25972718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.280281693 meters Centerline goodness [0,1] 0.999661260956091 Centerline is valid? [True, True] Translation: X:114.10, Y:-3.73, Z:-0.82 [[ 9.99037718e-01 4.32173189e-02 7.47669413e-03 1.14095164e+02] [-4.32164585e-02 9.99065694e-01 -2.76686135e-04 -3.73487607e+00] [-7.48166625e-03 -4.66963568e-05 9.99972011e-01 -8.23668772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31028169300001 meters Centerline goodness [0,1] 0.9997678933153274 Centerline is valid? [True, True] Translation: X:114.12, Y:-3.74, Z:-0.82 [[ 9.99198912e-01 3.89686417e-02 9.10932169e-03 1.14124744e+02] [-3.89671874e-02 9.99240434e-01 -3.37143890e-04 -3.73811238e+00] [-9.11554060e-03 -1.80908372e-05 9.99958452e-01 -8.20899525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.340281693 meters Centerline goodness [0,1] 0.9998517671473647 Centerline is valid? [True, True] Translation: X:114.16, Y:-3.74, Z:-0.82 [[ 9.99264106e-01 3.73527105e-02 8.71900183e-03 1.14156079e+02] [-3.73513162e-02 9.99302144e-01 -3.22747978e-04 -3.74007891e+00] [-8.72497273e-03 -3.15572458e-06 9.99961937e-01 -8.22550951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.370281693 meters Centerline goodness [0,1] 0.999936604539115 Centerline is valid? [True, True] Translation: X:114.19, Y:-3.74, Z:-0.83 [[ 9.99302868e-01 3.66429286e-02 7.14655223e-03 1.14187792e+02] [-3.66419727e-02 9.99328422e-01 -2.64687216e-04 -3.74041996e+00] [-7.15145168e-03 2.63892250e-06 9.99974428e-01 -8.26049462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.400281693 meters Centerline goodness [0,1] 0.9999359029142808 Centerline is valid? [True, True] Translation: X:114.22, Y:-3.74, Z:-0.83 [[ 9.99377805e-01 3.50609219e-02 3.83862812e-03 1.14218140e+02] [-3.50606343e-02 9.99385177e-01 -1.42220247e-04 -3.74032477e+00] [-3.84125441e-03 7.54702227e-06 9.99992622e-01 -8.33035161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.430281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.25, Y:-3.74, Z:-0.83 [[ 9.99427400e-01 3.36528951e-02 3.51497114e-03 1.14247502e+02] [-3.36526451e-02 9.99433581e-01 -1.30264748e-04 -3.74224708e+00] [-3.51736397e-03 1.19020820e-05 9.99993814e-01 -8.33802212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.460281693 meters Centerline goodness [0,1] 0.9999574694311536 Centerline is valid? [True, True] Translation: X:114.28, Y:-3.74, Z:-0.83 [[ 9.99479211e-01 3.20410105e-02 3.83147983e-03 1.14276691e+02] [-3.20407013e-02 9.99486555e-01 -1.42068901e-04 -3.74439331e+00] [-3.83406460e-03 1.92316126e-05 9.99992650e-01 -8.33434767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.490281693 meters Centerline goodness [0,1] 0.9999786666666667 Centerline is valid? [True, True] Translation: X:114.31, Y:-3.75, Z:-0.83 [[ 9.99543548e-01 2.97844535e-02 5.05778342e-03 1.14305834e+02] [-2.97838866e-02 9.99556344e-01 -1.87393758e-04 -3.74835063e+00] [-5.06112092e-03 3.66677744e-05 9.99987192e-01 -8.31683093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.520281693 meters Centerline goodness [0,1] 0.9999787852430151 Centerline is valid? [True, True] Translation: X:114.34, Y:-3.75, Z:-0.83 [[ 9.99558534e-01 2.92867025e-02 5.00262904e-03 1.14335612e+02] [-2.92861419e-02 9.99571052e-01 -1.85292736e-04 -3.75239901e+00] [-5.00590979e-03 3.87032312e-05 9.99987470e-01 -8.31655200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.550281693 meters Centerline goodness [0,1] 0.9999146921452793 Centerline is valid? [True, True] Translation: X:114.37, Y:-3.75, Z:-0.83 [[ 9.99586957e-01 2.83984939e-02 4.40924605e-03 1.14365954e+02] [-2.83980500e-02 9.99596681e-01 -1.63269085e-04 -3.74991112e+00] [-4.41210432e-03 3.79876581e-05 9.99990266e-01 -8.32007977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.580281693 meters Centerline goodness [0,1] 0.9999574531452763 Centerline is valid? [True, True] Translation: X:114.40, Y:-3.75, Z:-0.83 [[ 9.99605344e-01 2.76743111e-02 4.82574716e-03 1.14395395e+02] [-2.76737709e-02 9.99616992e-01 -1.78687601e-04 -3.75184459e+00] [-4.82884391e-03 4.50704596e-05 9.99988340e-01 -8.31923535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.610281693 meters Centerline goodness [0,1] 0.9999366058787482 Centerline is valid? [True, True] Translation: X:114.42, Y:-3.76, Z:-0.83 [[ 9.99625418e-01 2.68359228e-02 5.37181201e-03 1.14424700e+02] [-2.68352417e-02 9.99639850e-01 -1.98857364e-04 -3.75552027e+00] [-5.37521388e-03 5.46290025e-05 9.99985552e-01 -8.31196176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.640281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.46, Y:-3.76, Z:-0.83 [[ 9.99696435e-01 2.39068525e-02 5.95817513e-03 1.14456217e+02] [-2.39059620e-02 9.99714187e-01 -2.20646953e-04 -3.75979747e+00] [-5.96174719e-03 7.81440643e-05 9.99982226e-01 -8.30621935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.670281693 meters Centerline goodness [0,1] 0.9998934946534316 Centerline is valid? [True, True] Translation: X:114.49, Y:-3.76, Z:-0.83 [[ 9.99738128e-01 2.22547879e-02 5.32923322e-03 1.14487551e+02] [-2.22540508e-02 9.99752328e-01 -1.97579743e-04 -3.76499345e+00] [-5.33231042e-03 7.89309753e-05 9.99985780e-01 -8.32335574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.700281693 meters Centerline goodness [0,1] 0.9995736607618683 Centerline is valid? [True, True] Translation: X:114.52, Y:-3.77, Z:-0.83 [[ 9.99819376e-01 1.85910724e-02 3.94808592e-03 1.14518928e+02] [-1.85906376e-02 9.99827168e-01 -1.46802751e-04 -3.77405397e+00] [-3.95013278e-03 7.33788005e-05 9.99992196e-01 -8.34729656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.730281693 meters Centerline goodness [0,1] 0.9993870088143905 Centerline is valid? [True, True] Translation: X:114.55, Y:-3.78, Z:-0.83 [[ 9.99859127e-01 1.63073325e-02 3.97466775e-03 1.14549749e+02] [-1.63068712e-02 9.99867023e-01 -1.48452032e-04 -3.77970482e+00] [-3.97656007e-03 8.36167239e-05 9.99992090e-01 -8.34720360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.760281693 meters Centerline goodness [0,1] 0.999384144917072 Centerline is valid? [True, True] Translation: X:114.58, Y:-3.79, Z:-0.83 [[ 9.99887634e-01 1.44329339e-02 4.05091191e-03 1.14581237e+02] [-1.44324389e-02 9.99895835e-01 -1.51394382e-04 -3.78523863e+00] [-4.05267501e-03 9.29128313e-05 9.99991784e-01 -8.34446139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.790281693 meters Centerline goodness [0,1] 0.9987730061349693 Centerline is valid? [True, True] Translation: X:114.61, Y:-3.79, Z:-0.83 [[ 9.99911690e-01 1.25522237e-02 4.36506124e-03 1.14611619e+02] [-1.25516307e-02 9.99921212e-01 -1.63229106e-04 -3.79244110e+00] [-4.36676622e-03 1.08426054e-04 9.99990460e-01 -8.34313784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.820281693 meters Centerline goodness [0,1] 0.9986765145369936 Centerline is valid? [True, True] Translation: X:114.64, Y:-3.80, Z:-0.83 [[ 9.99908026e-01 1.27512028e-02 4.62012715e-03 1.14643228e+02] [-1.27505375e-02 9.99918694e-01 -1.73418522e-04 -3.79534136e+00] [-4.62196280e-03 1.14493468e-04 9.99989312e-01 -8.34317746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.850281693 meters Centerline goodness [0,1] 0.9986030267753201 Centerline is valid? [True, True] Translation: X:114.67, Y:-3.80, Z:-0.83 [[ 9.99892969e-01 1.34869200e-02 5.67044976e-03 1.14674114e+02] [-1.34859241e-02 9.99909038e-01 -2.13827076e-04 -3.80281968e+00] [-5.67281783e-03 1.37332935e-04 9.99983900e-01 -8.32330067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.880281693 meters Centerline goodness [0,1] 0.99842052464195 Centerline is valid? [True, True] Translation: X:114.71, Y:-3.80, Z:-0.83 [[ 9.99889954e-01 1.34644170e-02 6.22803539e-03 1.14705981e+02] [-1.34632107e-02 9.99909339e-01 -2.35579414e-04 -3.80472999e+00] [-6.23064269e-03 1.51704137e-04 9.99980578e-01 -8.31424772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.910281693 meters Centerline goodness [0,1] 0.9973458336008905 Centerline is valid? [True, True] Translation: X:114.74, Y:-3.81, Z:-0.83 [[ 9.99891386e-01 1.29218929e-02 7.08805963e-03 1.14736985e+02] [-1.29203083e-02 9.99916493e-01 -2.69316298e-04 -3.81231540e+00] [-7.09094781e-03 1.77707132e-04 9.99974843e-01 -8.30421323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.940281693 meters Centerline goodness [0,1] 0.9966929805845957 Centerline is valid? [True, True] Translation: X:114.77, Y:-3.82, Z:-0.83 [[ 9.99914940e-01 1.07022003e-02 7.45490952e-03 1.14768687e+02] [-1.07003795e-02 9.99942709e-01 -2.84091001e-04 -3.82359784e+00] [-7.45752282e-03 2.04296475e-04 9.99972171e-01 -8.30622185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.970281693 meters Centerline goodness [0,1] 0.9964342982530171 Centerline is valid? [True, True] Translation: X:114.80, Y:-3.83, Z:-0.83 [[ 9.99921966e-01 1.02875414e-02 7.08718222e-03 1.14799161e+02] [-1.02858823e-02 9.99947062e-01 -2.70506624e-04 -3.83222874e+00] [-7.08958988e-03 1.97587593e-04 9.99974849e-01 -8.31584741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.000281693 meters Centerline goodness [0,1] 0.9984069234246841 Centerline is valid? [True, True] Translation: X:114.83, Y:-3.83, Z:-0.83 [[ 9.99895859e-01 1.30091910e-02 6.24751649e-03 1.14830209e+02] [-1.30079524e-02 9.99915364e-01 -2.38854639e-04 -3.83250289e+00] [-6.25009504e-03 1.57562368e-04 9.99980456e-01 -8.32218705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.030281693 meters Centerline goodness [0,1] 0.9980252680751672 Centerline is valid? [True, True] Translation: X:114.86, Y:-3.84, Z:-0.83 [[ 9.99839431e-01 1.68284150e-02 6.15770767e-03 1.14860848e+02] [-1.68272833e-02 9.99858383e-01 -2.35566843e-04 -3.83587994e+00] [-6.16079985e-03 1.31911528e-04 9.99981013e-01 -8.32029651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06028169300001 meters Centerline goodness [0,1] 0.9989497149226219 Centerline is valid? [True, True] Translation: X:114.89, Y:-3.83, Z:-0.83 [[ 9.99755543e-01 2.13797783e-02 5.63547012e-03 1.14892149e+02] [-2.13789020e-02 9.99771422e-01 -2.15712035e-04 -3.83090357e+00] [-5.63879385e-03 9.51791392e-05 9.99984097e-01 -8.32071372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.090281693 meters Centerline goodness [0,1] 0.999872413719778 Centerline is valid? [True, True] Translation: X:114.92, Y:-3.82, Z:-0.83 [[ 9.99459331e-01 3.24144744e-02 5.50893476e-03 1.14922188e+02] [-3.24138039e-02 9.99474512e-01 -2.10967198e-04 -3.81642547e+00] [-5.51287828e-03 3.22876036e-05 9.99984803e-01 -8.32328189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.120281693 meters Centerline goodness [0,1] 0.9999576576195114 Centerline is valid? [True, True] Translation: X:114.95, Y:-3.81, Z:-0.83 [[ 9.99284897e-01 3.73888906e-02 5.63608280e-03 1.14952488e+02] [-3.73882679e-02 9.99300791e-01 -2.15836391e-04 -3.80879944e+00] [-5.64021188e-03 4.95867190e-06 9.99984094e-01 -8.32318075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.150281693 meters Centerline goodness [0,1] 0.9996187409980514 Centerline is valid? [True, True] Translation: X:114.98, Y:-3.80, Z:-0.83 [[ 9.98984297e-01 4.45847664e-02 6.52475080e-03 1.14983764e+02] [-4.45840854e-02 9.99005604e-01 -2.49868342e-04 -3.79504807e+00] [-6.52940293e-03 -4.12854966e-05 9.99978682e-01 -8.31582657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.180281693 meters Centerline goodness [0,1] 0.9996982498491249 Centerline is valid? [True, True] Translation: X:115.01, Y:-3.79, Z:-0.83 [[ 9.98910225e-01 4.61772477e-02 6.78408484e-03 1.15014473e+02] [-4.61765481e-02 9.98933260e-01 -2.59799659e-04 -3.79291499e+00] [-6.78884482e-03 -5.37490843e-05 9.99976954e-01 -8.32080461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.210281693 meters Centerline goodness [0,1] 0.9997231096911608 Centerline is valid? [True, True] Translation: X:115.04, Y:-3.79, Z:-0.83 [[ 9.98904328e-01 4.64324701e-02 5.84539091e-03 1.15044668e+02] [-4.64319550e-02 9.98921430e-01 -2.23869895e-04 -3.78814084e+00] [-5.84948108e-03 -4.77883204e-05 9.99982890e-01 -8.33870125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.240281693 meters Centerline goodness [0,1] 0.9998318762609281 Centerline is valid? [True, True] Translation: X:115.07, Y:-3.79, Z:-0.84 [[ 9.98959062e-01 4.53648011e-02 4.77772284e-03 1.15073951e+02] [-4.53644445e-02 9.98970487e-01 -1.83024639e-04 -3.78675114e+00] [-4.78110699e-03 -3.39046209e-05 9.99988570e-01 -8.35502244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.270281693 meters Centerline goodness [0,1] 0.9998072144631994 Centerline is valid? [True, True] Translation: X:115.10, Y:-3.79, Z:-0.84 [[ 9.99029752e-01 4.38187347e-02 4.41278032e-03 1.15104133e+02] [-4.38184157e-02 9.99039498e-01 -1.68996448e-04 -3.78788663e+00] [-4.41594704e-03 -2.45285623e-05 9.99990249e-01 -8.37129256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.300281693 meters Centerline goodness [0,1] 0.9998716879450824 Centerline is valid? [True, True] Translation: X:115.13, Y:-3.79, Z:-0.84 [[ 9.99096566e-01 4.22551765e-02 4.53343360e-03 1.15134627e+02] [-4.22548237e-02 9.99106851e-01 -1.73617112e-04 -3.78905644e+00] [-4.53672079e-03 -1.80991767e-05 9.99989709e-01 -8.36991967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.330281693 meters Centerline goodness [0,1] 0.9998725383978077 Centerline is valid? [True, True] Translation: X:115.16, Y:-3.79, Z:-0.84 [[ 9.99213156e-01 3.93177324e-02 5.21383956e-03 1.15164722e+02] [-3.93172258e-02 9.99226759e-01 -1.99674650e-04 -3.78973555e+00] [-5.21765876e-03 -5.47616933e-06 9.99986388e-01 -8.36546194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.360281693 meters Centerline goodness [0,1] 0.9999789553432383 Centerline is valid? [True, True] Translation: X:115.19, Y:-3.79, Z:-0.84 [[ 9.99271824e-01 3.78277193e-02 4.98860728e-03 1.15193918e+02] [-3.78272370e-02 9.99284276e-01 -1.91043068e-04 -3.79027087e+00] [-4.99226354e-03 2.19872469e-06 9.99987539e-01 -8.36800431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.390281693 meters Centerline goodness [0,1] 0.9999783601307048 Centerline is valid? [True, True] Translation: X:115.22, Y:-3.79, Z:-0.84 [[ 9.99389049e-01 3.47437694e-02 3.79456277e-03 1.15223967e+02] [-3.47434682e-02 9.99396253e-01 -1.45276630e-04 -3.79247959e+00] [-3.79731927e-03 1.33516022e-05 9.99992790e-01 -8.40278192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.420281693 meters Centerline goodness [0,1] 0.9999785711224446 Centerline is valid? [True, True] Translation: X:115.25, Y:-3.80, Z:-0.84 [[ 9.99443446e-01 3.32113969e-02 3.13075871e-03 1.15252926e+02] [-3.32111843e-02 9.99448349e-01 -1.19878953e-04 -3.79598636e+00] [-3.13301297e-03 1.58360291e-05 9.99995092e-01 -8.41984740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.450281693 meters Centerline goodness [0,1] 0.9999785287928887 Centerline is valid? [True, True] Translation: X:115.28, Y:-3.80, Z:-0.84 [[ 9.99512394e-01 3.10655338e-02 3.14755154e-03 1.15283485e+02] [-3.10653085e-02 9.99517350e-01 -1.20467381e-04 -3.79995505e+00] [-3.14977476e-03 2.26289809e-05 9.99995039e-01 -8.42093206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.480281693 meters Centerline goodness [0,1] 0.9998936826213612 Centerline is valid? [True, True] Translation: X:115.31, Y:-3.81, Z:-0.84 [[ 9.99651056e-01 2.62522404e-02 2.93024333e-03 1.15313472e+02] [-2.62520245e-02 9.99655350e-01 -1.12131681e-04 -3.80960780e+00] [-2.93217713e-03 3.51677331e-05 9.99995701e-01 -8.42181669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.510281693 meters Centerline goodness [0,1] 0.9996822033898305 Centerline is valid? [True, True] Translation: X:115.34, Y:-3.82, Z:-0.84 [[ 9.99714664e-01 2.36679077e-02 3.22814655e-03 1.15343898e+02] [-2.36676321e-02 9.99719875e-01 -1.23531944e-04 -3.81665637e+00] [-3.23016600e-03 4.70941106e-05 9.99994782e-01 -8.42374561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.540281693 meters Centerline goodness [0,1] 0.999470776265374 Centerline is valid? [True, True] Translation: X:115.37, Y:-3.82, Z:-0.84 [[ 9.99758015e-01 2.16929347e-02 3.65073537e-03 1.15374233e+02] [-2.16925683e-02 9.99764679e-01 -1.39931146e-04 -3.82304046e+00] [-3.65291179e-03 6.07034584e-05 9.99993326e-01 -8.41735228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.570281693 meters Centerline goodness [0,1] 0.9993390614672836 Centerline is valid? [True, True] Translation: X:115.40, Y:-3.83, Z:-0.84 [[ 9.99791561e-01 1.97986110e-02 4.98485893e-03 1.15404693e+02] [-1.97979041e-02 9.99803984e-01 -1.91131642e-04 -3.82865387e+00] [-4.98766596e-03 9.24020440e-05 9.99987557e-01 -8.39900370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.600281693 meters Centerline goodness [0,1] 0.9991549950355958 Centerline is valid? [True, True] Translation: X:115.44, Y:-3.83, Z:-0.84 [[ 9.99790407e-01 1.98223128e-02 5.12025884e-03 1.15436036e+02] [-1.98215673e-02 9.99803514e-01 -1.96297864e-04 -3.83079545e+00] [-5.12314386e-03 9.47651657e-05 9.99986872e-01 -8.39875857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.630281693 meters Centerline goodness [0,1] 0.9992214951501251 Centerline is valid? [True, True] Translation: X:115.47, Y:-3.83, Z:-0.84 [[ 9.99786361e-01 2.00287414e-02 5.10713525e-03 1.15468497e+02] [-2.00280014e-02 9.99799400e-01 -1.95998823e-04 -3.83246908e+00] [-5.11003637e-03 9.36712375e-05 9.99986939e-01 -8.40107722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.660281693 meters Centerline goodness [0,1] 0.9988858290062856 Centerline is valid? [True, True] Translation: X:115.50, Y:-3.83, Z:-0.84 [[ 9.99763305e-01 2.11613391e-02 5.05283281e-03 1.15500060e+02] [-2.11606252e-02 9.99776070e-01 -1.94715158e-04 -3.83465124e+00] [-5.05582177e-03 8.77479689e-05 9.99987215e-01 -8.40632194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.690281693 meters Centerline goodness [0,1] 0.999229056021929 Centerline is valid? [True, True] Translation: X:115.53, Y:-3.83, Z:-0.84 [[ 9.99755713e-01 2.15202462e-02 5.03922666e-03 1.15531517e+02] [-2.15195373e-02 9.99768409e-01 -1.94870051e-04 -3.83272328e+00] [-5.04225328e-03 8.63806206e-05 9.99987284e-01 -8.40888128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.720281693 meters Centerline goodness [0,1] 0.9997431121957485 Centerline is valid? [True, True] Translation: X:115.56, Y:-3.83, Z:-0.84 [[ 9.99721659e-01 2.32023993e-02 4.27233217e-03 1.15562716e+02] [-2.32019047e-02 9.99730786e-01 -1.65297463e-04 -3.82953494e+00] [-4.27501730e-03 6.61252103e-05 9.99990860e-01 -8.41308391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.750281693 meters Centerline goodness [0,1] 0.9997431121957485 Centerline is valid? [True, True] Translation: X:115.59, Y:-3.83, Z:-0.84 [[ 9.99721118e-01 2.32256905e-02 4.27232831e-03 1.15593531e+02] [-2.32251957e-02 9.99730245e-01 -1.65397177e-04 -3.83077160e+00] [-4.27501729e-03 6.61253897e-05 9.99990860e-01 -8.41446742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.780281693 meters Centerline goodness [0,1] 0.9997016324964835 Centerline is valid? [True, True] Translation: X:115.62, Y:-3.83, Z:-0.84 [[ 9.99691661e-01 2.45221634e-02 3.90459717e-03 1.15623642e+02] [-2.45217597e-02 9.99699285e-01 -1.51249863e-04 -3.83007336e+00] [-3.90713198e-03 5.54556335e-05 9.99992366e-01 -8.42833827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81028169300001 meters Centerline goodness [0,1] 0.9998266559771186 Centerline is valid? [True, True] Translation: X:115.65, Y:-3.83, Z:-0.84 [[ 9.99669051e-01 2.55378908e-02 3.09904746e-03 1.15654463e+02] [-2.55376412e-02 9.99673854e-01 -1.20087110e-04 -3.82682263e+00] [-3.10110349e-03 4.09050047e-05 9.99995191e-01 -8.44399633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.840281693 meters Centerline goodness [0,1] 0.9999142587670411 Centerline is valid? [True, True] Translation: X:115.68, Y:-3.83, Z:-0.85 [[ 9.99671663e-01 2.55609926e-02 1.78912482e-03 1.15684206e+02] [-2.55609094e-02 9.99673264e-01 -6.93593336e-05 -3.82608327e+00] [-1.79031314e-03 2.36049030e-05 9.99998397e-01 -8.47665859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.870281693 meters Centerline goodness [0,1] 0.9998515407944688 Centerline is valid? [True, True] Translation: X:115.71, Y:-3.83, Z:-0.85 [[ 9.99693172e-01 2.46810716e-02 2.09916915e-03 1.15714931e+02] [-2.46809552e-02 9.99695376e-01 -8.13177400e-05 -3.82715430e+00] [-2.10053670e-03 2.94832896e-05 9.99997793e-01 -8.47362936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.900281693 meters Centerline goodness [0,1] 0.9997664791423416 Centerline is valid? [True, True] Translation: X:115.75, Y:-3.83, Z:-0.85 [[ 9.99714058e-01 2.36990781e-02 3.18687210e-03 1.15745690e+02] [-2.36988049e-02 9.99719136e-01 -1.23453242e-04 -3.82759582e+00] [-3.18890275e-03 4.78928810e-05 9.99994914e-01 -8.45414715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.930281693 meters Centerline goodness [0,1] 0.999616400988833 Centerline is valid? [True, True] Translation: X:115.78, Y:-3.83, Z:-0.85 [[ 9.99759811e-01 2.15405958e-02 4.04026604e-03 1.15775858e+02] [-2.15401392e-02 9.99767972e-01 -1.56506937e-04 -3.83049533e+00] [-4.04269984e-03 6.94414527e-05 9.99991826e-01 -8.45068518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.960281693 meters Centerline goodness [0,1] 0.9994296336980861 Centerline is valid? [True, True] Translation: X:115.81, Y:-3.83, Z:-0.85 [[ 9.99785297e-01 2.04224691e-02 3.50465873e-03 1.15806397e+02] [-2.04221185e-02 9.99791438e-01 -1.35793157e-04 -3.83429477e+00] [-3.50670102e-03 6.41914461e-05 9.99993849e-01 -8.46153197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.990281693 meters Centerline goodness [0,1] 0.9992853088937002 Centerline is valid? [True, True] Translation: X:115.84, Y:-3.84, Z:-0.85 [[ 9.99816606e-01 1.89612646e-02 2.68803740e-03 1.15837408e+02] [-1.89610531e-02 9.99820218e-01 -1.04150420e-04 -3.83667523e+00] [-2.68952896e-03 5.31632993e-05 9.99996382e-01 -8.47615887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.020281693 meters Centerline goodness [0,1] 0.9987292443239579 Centerline is valid? [True, True] Translation: X:115.87, Y:-3.85, Z:-0.85 [[ 9.99879826e-01 1.53740156e-02 1.99306627e-03 1.15867740e+02] [-1.53738921e-02 9.99881812e-01 -7.72704262e-05 -3.84521912e+00] [-1.99401867e-03 4.66199546e-05 9.99998011e-01 -8.48406773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.050281693 meters Centerline goodness [0,1] 0.9988987483851839 Centerline is valid? [True, True] Translation: X:115.90, Y:-3.85, Z:-0.85 [[ 9.99900577e-01 1.39544872e-02 2.02692766e-03 1.15898302e+02] [-1.39543564e-02 9.99902630e-01 -7.86347462e-05 -3.84866894e+00] [-2.02782760e-03 5.03424571e-05 9.99997943e-01 -8.48032472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.080281693 meters Centerline goodness [0,1] 0.998628169678263 Centerline is valid? [True, True] Translation: X:115.93, Y:-3.85, Z:-0.85 [[ 9.99913574e-01 1.29854646e-02 2.05493850e-03 1.15928819e+02] [-1.29853282e-02 9.99915684e-01 -7.97214278e-05 -3.84983269e+00] [-2.05580045e-03 5.30304870e-05 9.99997885e-01 -8.48094307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.110281693 meters Centerline goodness [0,1] 0.9981607425467299 Centerline is valid? [True, True] Translation: X:115.96, Y:-3.86, Z:-0.85 [[ 9.99924957e-01 1.19482751e-02 2.70521908e-03 1.15958659e+02] [-1.19480351e-02 9.99928614e-01 -1.04864259e-04 -3.85681130e+00] [-2.70627891e-03 7.25343377e-05 9.99996335e-01 -8.47213881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.140281693 meters Centerline goodness [0,1] 0.998511113474423 Centerline is valid? [True, True] Translation: X:115.99, Y:-3.86, Z:-0.85 [[ 9.99926435e-01 1.17634536e-02 2.95747869e-03 1.15989890e+02] [-1.17631654e-02 9.99930805e-01 -1.14842491e-04 -3.85725326e+00] [-2.95862500e-03 8.00447311e-05 9.99995620e-01 -8.46539475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.170281693 meters Centerline goodness [0,1] 0.9979230456287604 Centerline is valid? [True, True] Translation: X:116.02, Y:-3.86, Z:-0.85 [[ 9.99934873e-01 1.09591603e-02 3.18527723e-03 1.16021117e+02] [-1.09588217e-02 9.99939943e-01 -1.23752880e-04 -3.86056828e+00] [-3.18644216e-03 8.88379355e-05 9.99994919e-01 -8.45965738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.200281693 meters Centerline goodness [0,1] 0.9975206086164149 Centerline is valid? [True, True] Translation: X:116.05, Y:-3.87, Z:-0.85 [[ 9.99940907e-01 1.03741576e-02 3.24955745e-03 1.16051925e+02] [-1.03738022e-02 9.99946183e-01 -1.26224286e-04 -3.86636681e+00] [-3.25069204e-03 9.25065609e-05 9.99994712e-01 -8.46272259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.230281693 meters Centerline goodness [0,1] 0.9968518676082703 Centerline is valid? [True, True] Translation: X:116.08, Y:-3.87, Z:-0.85 [[ 9.99960461e-01 8.37780198e-03 2.98131948e-03 1.16082743e+02] [-8.37749223e-03 9.99964901e-01 -1.16369151e-04 -3.87311102e+00] [-2.98218976e-03 9.13885687e-05 9.99995549e-01 -8.46740607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.260281693 meters Centerline goodness [0,1] 0.9968257349808266 Centerline is valid? [True, True] Translation: X:116.11, Y:-3.88, Z:-0.85 [[ 9.99965596e-01 7.59007517e-03 3.34640475e-03 1.16114402e+02] [-7.58968022e-03 9.99971189e-01 -1.30704683e-04 -3.87625043e+00] [-3.34730040e-03 1.05302045e-04 9.99994392e-01 -8.46379722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.290281693 meters Centerline goodness [0,1] 0.996537308390693 Centerline is valid? [True, True] Translation: X:116.15, Y:-3.88, Z:-0.85 [[ 9.99964306e-01 7.63076531e-03 3.62733612e-03 1.16145582e+02] [-7.63030159e-03 9.99970879e-01 -1.41662540e-04 -3.88160846e+00] [-3.62831149e-03 1.13979815e-04 9.99993411e-01 -8.45234956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.320281693 meters Centerline goodness [0,1] 0.9969894843962008 Centerline is valid? [True, True] Translation: X:116.18, Y:-3.89, Z:-0.84 [[ 9.99953056e-01 8.57610968e-03 4.50961452e-03 1.16176216e+02] [-8.57539892e-03 9.99963215e-01 -1.76924351e-04 -3.88562613e+00] [-4.51096596e-03 1.38244302e-04 9.99989816e-01 -8.43710462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.350281693 meters Centerline goodness [0,1] 0.9962902603250847 Centerline is valid? [True, True] Translation: X:116.21, Y:-3.89, Z:-0.84 [[ 9.99938917e-01 9.96163378e-03 4.78832697e-03 1.16207589e+02] [-9.96084492e-03 9.99950372e-01 -1.88566280e-04 -3.88665608e+00] [-4.78996776e-03 1.40858980e-04 9.99988518e-01 -8.43751559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.380281693 meters Centerline goodness [0,1] 0.9979416882400374 Centerline is valid? [True, True] Translation: X:116.24, Y:-3.88, Z:-0.85 [[ 9.99899564e-01 1.35435653e-02 4.17539249e-03 1.16239577e+02] [-1.35429953e-02 9.99908276e-01 -1.64758989e-04 -3.88394755e+00] [-4.17724093e-03 1.08195120e-04 9.99991269e-01 -8.45083699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.410281693 meters Centerline goodness [0,1] 0.9976595116602708 Centerline is valid? [True, True] Translation: X:116.27, Y:-3.89, Z:-0.85 [[ 9.99867960e-01 1.57918944e-02 3.83137816e-03 1.16270689e+02] [-1.57914308e-02 9.99875296e-01 -1.51225184e-04 -3.88676047e+00] [-3.83328850e-03 9.07022731e-05 9.99992649e-01 -8.46128586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.440281693 meters Centerline goodness [0,1] 0.9985165405726153 Centerline is valid? [True, True] Translation: X:116.30, Y:-3.89, Z:-0.85 [[ 9.99835488e-01 1.78518007e-02 3.21103021e-03 1.16302467e+02] [-1.78514841e-02 9.99840641e-01 -1.27231510e-04 -3.88641564e+00] [-3.21278982e-03 6.98889236e-05 9.99994837e-01 -8.47167113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.470281693 meters Centerline goodness [0,1] 0.9991938392345716 Centerline is valid? [True, True] Translation: X:116.33, Y:-3.88, Z:-0.85 [[ 9.99798362e-01 1.98815417e-02 2.82140265e-03 1.16333603e+02] [-1.98813051e-02 9.99802341e-01 -1.11881964e-04 -3.88281721e+00] [-2.82306936e-03 5.57662379e-05 9.99996014e-01 -8.47688576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.500281693 meters Centerline goodness [0,1] 0.9994073446925601 Centerline is valid? [True, True] Translation: X:116.36, Y:-3.88, Z:-0.85 [[ 9.99688393e-01 2.47993859e-02 2.84717252e-03 1.16364392e+02] [-2.47991647e-02 9.99692447e-01 -1.12984845e-04 -3.87685121e+00] [-2.84909882e-03 4.23421375e-05 9.99995940e-01 -8.48090441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.530281693 meters Centerline goodness [0,1] 0.9998068379370292 Centerline is valid? [True, True] Translation: X:116.40, Y:-3.87, Z:-0.85 [[ 9.99635082e-01 2.68208954e-02 3.21589630e-03 1.16395456e+02] [-2.68206235e-02 9.99640254e-01 -1.27666758e-04 -3.87399887e+00] [-3.21816353e-03 4.13678266e-05 9.99994821e-01 -8.47979473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56028169300001 meters Centerline goodness [0,1] 0.9998297872340426 Centerline is valid? [True, True] Translation: X:116.43, Y:-3.87, Z:-0.85 [[ 9.99590099e-01 2.84096427e-02 3.53912402e-03 1.16426243e+02] [-2.84093232e-02 9.99596364e-01 -1.40520446e-04 -3.87059194e+00] [-3.54168764e-03 3.99187286e-05 9.99993727e-01 -8.47003635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.590281693 meters Centerline goodness [0,1] 0.9998490728762398 Centerline is valid? [True, True] Translation: X:116.46, Y:-3.87, Z:-0.85 [[ 9.99594070e-01 2.83192827e-02 3.11651952e-03 1.16456281e+02] [-2.83190345e-02 9.99598928e-01 -1.23740991e-04 -3.87029377e+00] [-3.11877382e-03 3.54339368e-05 9.99995136e-01 -8.48239758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.620281693 meters Centerline goodness [0,1] 0.9998501648186995 Centerline is valid? [True, True] Translation: X:116.49, Y:-3.87, Z:-0.85 [[ 9.99609221e-01 2.78895242e-02 1.89194206e-03 1.16486833e+02] [-2.78894319e-02 9.99611011e-01 -7.51193066e-05 -3.87144064e+00] [-1.89330116e-03 2.23247622e-05 9.99998207e-01 -8.50546339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.650281693 meters Centerline goodness [0,1] 0.9997641560000857 Centerline is valid? [True, True] Translation: X:116.52, Y:-3.88, Z:-0.85 [[ 9.99661111e-01 2.60139158e-02 9.69561730e-04 1.16517124e+02] [-2.60138907e-02 9.99661581e-01 -3.84573265e-05 -3.87715790e+00] [-9.70234038e-04 1.32222209e-05 9.99999529e-01 -8.53145815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.680281693 meters Centerline goodness [0,1] 0.9997432166395618 Centerline is valid? [True, True] Translation: X:116.55, Y:-3.88, Z:-0.85 [[ 9.99688295e-01 2.49359520e-02 1.22888980e-03 1.16546932e+02] [-2.49359109e-02 9.99689051e-01 -4.87719556e-05 -3.88031700e+00] [-1.22972385e-03 1.81132667e-05 9.99999244e-01 -8.52897746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.710281693 meters Centerline goodness [0,1] 0.9994710561949899 Centerline is valid? [True, True] Translation: X:116.58, Y:-3.88, Z:-0.85 [[ 9.99714320e-01 2.38526074e-02 1.52681416e-03 1.16576119e+02] [-2.38525425e-02 9.99715486e-01 -6.06863619e-05 -3.88312892e+00] [-1.52782729e-03 2.42506253e-05 9.99998833e-01 -8.52506718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.740281693 meters Centerline goodness [0,1] 0.9995080634811995 Centerline is valid? [True, True] Translation: X:116.61, Y:-3.89, Z:-0.85 [[ 9.99739851e-01 2.27492316e-02 1.64419908e-03 1.16606525e+02] [-2.27491550e-02 9.99741202e-01 -6.53010595e-05 -3.88655096e+00] [-1.64525912e-03 2.78799317e-05 9.99998646e-01 -8.53123015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.770281693 meters Centerline goodness [0,1] 0.9997232982844494 Centerline is valid? [True, True] Translation: X:116.64, Y:-3.88, Z:-0.85 [[ 9.99771070e-01 2.13814294e-02 8.01344758e-04 1.16636648e+02] [-2.13814107e-02 9.99771391e-01 -3.18695926e-05 -3.88480813e+00] [-8.01842980e-04 1.47284153e-05 9.99999678e-01 -8.53192688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.800281693 meters Centerline goodness [0,1] 0.9996770512627295 Centerline is valid? [True, True] Translation: X:116.67, Y:-3.89, Z:-0.85 [[ 9.99766990e-01 2.15809090e-02 4.79756997e-04 1.16666241e+02] [-2.15809023e-02 9.99767105e-01 -1.90951880e-05 -3.88711233e+00] [-4.80057355e-04 8.73714978e-06 9.99999885e-01 -8.53770669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.830281693 meters Centerline goodness [0,1] 0.9995125982750217 Centerline is valid? [True, True] Translation: X:116.70, Y:-3.89, Z:-0.86 [[ 9.99731978e-01 2.31478371e-02 3.86220330e-04 1.16695191e+02] [-2.31478328e-02 9.99732053e-01 -1.54247750e-05 -3.89302698e+00] [-3.86473894e-04 6.48047716e-06 9.99999925e-01 -8.55341857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.860281693 meters Centerline goodness [0,1] 0.9996187329224121 Centerline is valid? [True, True] Translation: X:116.73, Y:-3.89, Z:-0.85 [[ 9.99711457e-01 2.40110194e-02 6.88778224e-04 1.16725891e+02] [-2.40110063e-02 9.99711694e-01 -2.73234482e-05 -3.89296358e+00] [-6.89235709e-04 1.07773059e-05 9.99999762e-01 -8.54797891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.890281693 meters Centerline goodness [0,1] 0.9994100543592769 Centerline is valid? [True, True] Translation: X:116.76, Y:-3.89, Z:-0.85 [[ 9.99699269e-01 2.44293185e-02 2.13998900e-03 1.16756872e+02] [-2.44291928e-02 9.99701559e-01 -8.48680277e-05 -3.89430024e+00] [-2.14142360e-03 3.25643015e-05 9.99997707e-01 -8.52641097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.920281693 meters Centerline goodness [0,1] 0.9992799966117487 Centerline is valid? [True, True] Translation: X:116.79, Y:-3.90, Z:-0.85 [[ 9.99721620e-01 2.34587997e-02 2.52344675e-03 1.16787924e+02] [-2.34586218e-02 9.99724804e-01 -1.00089454e-04 -3.89737617e+00] [-2.52510028e-03 4.08650084e-05 9.99996811e-01 -8.51779132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.950281693 meters Centerline goodness [0,1] 0.999251144678848 Centerline is valid? [True, True] Translation: X:116.82, Y:-3.90, Z:-0.85 [[ 9.99750418e-01 2.22075893e-02 2.43417932e-03 1.16818073e+02] [-2.22074198e-02 9.99753380e-01 -9.66376629e-05 -3.89903854e+00] [-2.43572509e-03 4.25567018e-05 9.99997033e-01 -8.52039914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.980281693 meters Centerline goodness [0,1] 0.9992606362752968 Centerline is valid? [True, True] Translation: X:116.85, Y:-3.90, Z:-0.85 [[ 9.99780611e-01 2.08464292e-02 2.03856772e-03 1.16848818e+02] [-2.08463075e-02 9.99782689e-01 -8.09317613e-05 -3.90054681e+00] [-2.03981185e-03 3.84173963e-05 9.99997919e-01 -8.52527616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.010281693 meters Centerline goodness [0,1] 0.9993610087541801 Centerline is valid? [True, True] Translation: X:116.88, Y:-3.91, Z:-0.85 [[ 9.99820596e-01 1.88442494e-02 1.91583124e-03 1.16879269e+02] [-1.88441382e-02 9.99822431e-01 -7.60590859e-05 -3.90880226e+00] [-1.91692433e-03 3.99432518e-05 9.99998162e-01 -8.53484227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.040281693 meters Centerline goodness [0,1] 0.9991742361684558 Centerline is valid? [True, True] Translation: X:116.91, Y:-3.91, Z:-0.85 [[ 9.99817879e-01 1.89272693e-02 2.44261655e-03 1.16909777e+02] [-1.89270889e-02 9.99820862e-01 -9.69498336e-05 -3.91217886e+00] [-2.44401398e-03 5.07005565e-05 9.99997012e-01 -8.52749813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.070281693 meters Centerline goodness [0,1] 0.9989829000063569 Centerline is valid? [True, True] Translation: X:116.94, Y:-3.91, Z:-0.85 [[ 9.99806281e-01 1.94523213e-02 3.00144235e-03 1.16940697e+02] [-1.94520512e-02 9.99810784e-01 -1.19175277e-04 -3.91418942e+00] [-3.00319267e-03 6.07679802e-05 9.99995489e-01 -8.51654445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.100281693 meters Centerline goodness [0,1] 0.9993224788803964 Centerline is valid? [True, True] Translation: X:116.97, Y:-3.92, Z:-0.85 [[ 9.99768843e-01 2.13167831e-02 2.80274193e-03 1.16972211e+02] [-2.13165548e-02 9.99772770e-01 -1.11294974e-04 -3.91557423e+00] [-2.80447752e-03 5.15244460e-05 9.99996066e-01 -8.51484595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.130281693 meters Centerline goodness [0,1] 0.9995141734611972 Centerline is valid? [True, True] Translation: X:117.00, Y:-3.92, Z:-0.85 [[ 9.99737746e-01 2.27885436e-02 2.26318890e-03 1.17003820e+02] [-2.27883985e-02 9.99740307e-01 -8.99002576e-05 -3.91550186e+00] [-2.26464986e-03 3.83022304e-05 9.99997435e-01 -8.52122951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.160281693 meters Centerline goodness [0,1] 0.9997864799077594 Centerline is valid? [True, True] Translation: X:117.03, Y:-3.91, Z:-0.85 [[ 9.99669810e-01 2.56535725e-02 1.47137187e-03 1.17034901e+02] [-2.56535142e-02 9.99670893e-01 -5.84777075e-05 -3.91277127e+00] [-1.47238779e-03 2.07125396e-05 9.99998916e-01 -8.53142083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.190281693 meters Centerline goodness [0,1] 0.9998294897480711 Centerline is valid? [True, True] Translation: X:117.07, Y:-3.91, Z:-0.85 [[ 9.99625436e-01 2.72569583e-02 2.45896093e-03 1.17065513e+02] [-2.72568002e-02 9.99628460e-01 -9.78133875e-05 -3.91157580e+00] [-2.46071342e-03 3.07533435e-05 9.99996972e-01 -8.52054903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.220281693 meters Centerline goodness [0,1] 0.9999151517722673 Centerline is valid? [True, True] Translation: X:117.09, Y:-3.91, Z:-0.85 [[ 9.99541975e-01 3.01116938e-02 3.02093802e-03 1.17094756e+02] [-3.01114681e-02 9.99546540e-01 -1.20184877e-04 -3.91011602e+00] [-3.02318711e-03 2.91649509e-05 9.99995430e-01 -8.52045060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.250281693 meters Centerline goodness [0,1] 0.9999362705527467 Centerline is valid? [True, True] Translation: X:117.12, Y:-3.91, Z:-0.85 [[ 9.99513515e-01 3.11096357e-02 2.21876106e-03 1.17124991e+02] [-3.11095166e-02 9.99515978e-01 -8.82075011e-05 -3.91106436e+00] [-2.22043123e-03 1.91400057e-05 9.99997535e-01 -8.53617351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.280281693 meters Centerline goodness [0,1] 0.9999360122856411 Centerline is valid? [True, True] Translation: X:117.16, Y:-3.91, Z:-0.86 [[ 9.99499260e-01 3.16206873e-02 1.16660025e-03 1.17155822e+02] [-3.16206547e-02 9.99499941e-01 -4.64049504e-05 -3.90983147e+00] [-1.16748424e-03 9.49305001e-06 9.99999318e-01 -8.55221752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31028169300001 meters Centerline goodness [0,1] 0.9999364568330086 Centerline is valid? [True, True] Translation: X:117.19, Y:-3.91, Z:-0.86 [[ 9.99490706e-01 3.19073326e-02 5.00499590e-04 1.17185475e+02] [-3.19073266e-02 9.99490831e-01 -1.99536366e-05 -3.91055445e+00] [-5.00881418e-04 3.97387046e-06 9.99999875e-01 -8.57495167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.340281693 meters Centerline goodness [0,1] 0.9998296821443018 Centerline is valid? [True, True] Translation: X:117.22, Y:-3.91, Z:-0.86 [[ 9.99522404e-01 3.08647993e-02 1.52558597e-03 1.17216242e+02] [-3.08647427e-02 9.99523568e-01 -6.06674999e-05 -3.90834530e+00] [-1.52673162e-03 1.35517070e-05 9.99998834e-01 -8.55378610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.370281693 meters Centerline goodness [0,1] 0.9997889894705746 Centerline is valid? [True, True] Translation: X:117.25, Y:-3.91, Z:-0.85 [[ 9.99558767e-01 2.95950856e-02 2.53021780e-03 1.17246681e+02] [-2.95949258e-02 9.99561969e-01 -1.00595852e-04 -3.91120509e+00] [-2.53208663e-03 2.56698581e-05 9.99996794e-01 -8.53506447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.400281693 meters Centerline goodness [0,1] 0.9997424284702398 Centerline is valid? [True, True] Translation: X:117.28, Y:-3.92, Z:-0.85 [[ 9.99646074e-01 2.64238785e-02 3.08321457e-03 1.17277806e+02] [-2.64236260e-02 9.99650828e-01 -1.22612439e-04 -3.91591803e+00] [-3.08537789e-03 4.10993343e-05 9.99995239e-01 -8.52071678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.430281693 meters Centerline goodness [0,1] 0.9997236159537376 Centerline is valid? [True, True] Translation: X:117.31, Y:-3.92, Z:-0.85 [[ 9.99690014e-01 2.48161838e-02 2.00798961e-03 1.17308133e+02] [-2.48160734e-02 9.99692031e-01 -7.98923391e-05 -3.92126075e+00] [-2.00935384e-03 3.00371560e-05 9.99997981e-01 -8.54145013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.460281693 meters Centerline goodness [0,1] 0.9997211078454509 Centerline is valid? [True, True] Translation: X:117.34, Y:-3.92, Z:-0.86 [[ 9.99729539e-01 2.32123357e-02 1.42666347e-03 1.17338167e+02] [-2.32122782e-02 9.99730557e-01 -5.67994867e-05 -3.92325485e+00] [-1.42759752e-03 2.36680152e-05 9.99998981e-01 -8.55722649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.490281693 meters Centerline goodness [0,1] 0.999426288725511 Centerline is valid? [True, True] Translation: X:117.37, Y:-3.93, Z:-0.86 [[ 9.99770600e-01 2.13853302e-02 1.18945420e-03 1.17368237e+02] [-2.13852890e-02 9.99771307e-01 -4.73182626e-05 -3.93006582e+00] [-1.19019409e-03 2.18705860e-05 9.99999291e-01 -8.56593454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.520281693 meters Centerline goodness [0,1] 0.9982576546331513 Centerline is valid? [True, True] Translation: X:117.40, Y:-3.94, Z:-0.85 [[ 9.99839802e-01 1.76206598e-02 3.14383141e-03 1.17398888e+02] [-1.76203533e-02 9.99844742e-01 -1.25185873e-04 -3.93937332e+00] [-3.14554917e-03 6.97703979e-05 9.99995050e-01 -8.52578856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.550281693 meters Centerline goodness [0,1] 0.9980227490166897 Centerline is valid? [True, True] Translation: X:117.43, Y:-3.94, Z:-0.85 [[ 9.99868426e-01 1.55811587e-02 4.51210689e-03 1.17430457e+02] [-1.55805061e-02 9.99878600e-01 -1.79740127e-04 -3.94274650e+00] [-4.51435968e-03 1.09415569e-04 9.99989804e-01 -8.50011447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.580281693 meters Centerline goodness [0,1] 0.9944225304322009 Centerline is valid? [True, True] Translation: X:117.46, Y:-3.96, Z:-0.85 [[ 9.99924457e-01 1.12790419e-02 4.88511381e-03 1.17460034e+02] [-1.12782251e-02 9.99936380e-01 -1.94716923e-04 -3.96183321e+00] [-4.88699924e-03 1.39606800e-04 9.99988049e-01 -8.49374456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.610281693 meters Centerline goodness [0,1] 0.9952492028504782 Centerline is valid? [True, True] Translation: X:117.49, Y:-3.97, Z:-0.85 [[ 9.99948739e-01 9.27791404e-03 4.05457942e-03 1.17491757e+02] [-9.27733479e-03 9.99956952e-01 -1.61647305e-04 -3.96613623e+00] [-4.05590462e-03 1.24023328e-04 9.99991767e-01 -8.51382713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.640281693 meters Centerline goodness [0,1] 0.9952492028504782 Centerline is valid? [True, True] Translation: X:117.52, Y:-3.97, Z:-0.85 [[ 9.99947363e-01 9.42504260e-03 4.05455729e-03 1.17523420e+02] [-9.42446232e-03 9.99955576e-01 -1.62200325e-04 -3.96755752e+00] [-4.05590591e-03 1.23979765e-04 9.99991767e-01 -8.51524911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.670281693 meters Centerline goodness [0,1] 0.995940170940171 Centerline is valid? [True, True] Translation: X:117.55, Y:-3.97, Z:-0.85 [[ 9.99966261e-01 7.63693149e-03 3.02565685e-03 1.17554888e+02] [-7.63659931e-03 9.99970833e-01 -1.21326215e-04 -3.97216676e+00] [-3.02649517e-03 9.82163929e-05 9.99995415e-01 -8.53571282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.700281693 meters Centerline goodness [0,1] 0.9927871472431341 Centerline is valid? [True, True] Translation: X:117.59, Y:-3.99, Z:-0.86 [[ 9.99979161e-01 5.98976770e-03 2.40816420e-03 1.17585704e+02] [-5.98955199e-03 9.99982058e-01 -9.67777128e-05 -3.98743938e+00] [-2.40870067e-03 8.23518714e-05 9.99997096e-01 -8.55251500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.730281693 meters Centerline goodness [0,1] 0.9948907906501469 Centerline is valid? [True, True] Translation: X:117.62, Y:-3.99, Z:-0.85 [[ 9.99974571e-01 6.56766724e-03 2.77889663e-03 1.17616740e+02] [-6.56738030e-03 9.99978428e-01 -1.12370601e-04 -3.98564799e+00] [-2.77957469e-03 9.41176722e-05 9.99996133e-01 -8.53973964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.760281693 meters Centerline goodness [0,1] 0.997025092696387 Centerline is valid? [True, True] Translation: X:117.65, Y:-3.98, Z:-0.85 [[ 9.99960518e-01 8.38099996e-03 2.95314625e-03 1.17648326e+02] [-8.38068360e-03 9.99964874e-01 -1.19484244e-04 -3.98031493e+00] [-2.95404392e-03 9.47301421e-05 9.99995632e-01 -8.52905901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.790281693 meters Centerline goodness [0,1] 0.9965723716226224 Centerline is valid? [True, True] Translation: X:117.68, Y:-3.99, Z:-0.85 [[ 9.99904364e-01 1.36282414e-02 2.35235056e-03 1.17678076e+02] [-1.36280550e-02 9.99907129e-01 -9.52604810e-05 -3.98954855e+00] [-2.35343033e-03 6.31934078e-05 9.99997229e-01 -8.54700964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.820281693 meters Centerline goodness [0,1] 0.9973842421685476 Centerline is valid? [True, True] Translation: X:117.71, Y:-3.99, Z:-0.85 [[ 9.99858455e-01 1.66372806e-02 2.50417041e-03 1.17709612e+02] [-1.66370789e-02 9.99861589e-01 -1.01347311e-04 -3.98764255e+00] [-2.50550995e-03 5.96708854e-05 9.99996859e-01 -8.54380732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.850281693 meters Centerline goodness [0,1] 0.9990584005649596 Centerline is valid? [True, True] Translation: X:117.74, Y:-3.98, Z:-0.85 [[ 9.99753328e-01 2.18671363e-02 3.88724959e-03 1.17740900e+02] [-2.18666890e-02 9.99760883e-01 -1.57531064e-04 -3.98123888e+00] [-3.88976484e-03 7.24909274e-05 9.99992432e-01 -8.51370811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.880281693 meters Centerline goodness [0,1] 0.9991068010718387 Centerline is valid? [True, True] Translation: X:117.77, Y:-3.98, Z:-0.85 [[ 9.99709565e-01 2.36954588e-02 4.39436803e-03 1.17772596e+02] [-2.36949047e-02 9.99719220e-01 -1.78122945e-04 -3.98195638e+00] [-4.39735488e-03 7.39470801e-05 9.99990329e-01 -8.50092648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.910281693 meters Centerline goodness [0,1] 0.9990580377213076 Centerline is valid? [True, True] Translation: X:117.81, Y:-3.99, Z:-0.85 [[ 9.99684381e-01 2.47178161e-02 4.49077556e-03 1.17805073e+02] [-2.47172447e-02 9.99694466e-01 -1.82711652e-04 -3.98579492e+00] [-4.49391970e-03 7.16543864e-05 9.99989900e-01 -8.50687777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.940281693 meters Centerline goodness [0,1] 0.9988190885894435 Centerline is valid? [True, True] Translation: X:117.84, Y:-3.99, Z:-0.85 [[ 9.99692583e-01 2.45013726e-02 3.79769978e-03 1.17837586e+02] [-2.45009606e-02 9.99699794e-01 -1.54971322e-04 -3.98971342e+00] [-3.80035670e-03 6.18763880e-05 9.99992777e-01 -8.52610020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.970281693 meters Centerline goodness [0,1] 0.9991047257689766 Centerline is valid? [True, True] Translation: X:117.87, Y:-3.99, Z:-0.86 [[ 9.99710765e-01 2.38838046e-02 2.81955297e-03 1.17869684e+02] [-2.38835744e-02 9.99714740e-01 -1.15302763e-04 -3.99446007e+00] [-2.82150253e-03 4.79284101e-05 9.99996018e-01 -8.55349297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.000281693 meters Centerline goodness [0,1] 0.9991317054575488 Centerline is valid? [True, True] Translation: X:117.90, Y:-4.00, Z:-0.86 [[ 9.99724063e-01 2.34206059e-02 1.80904926e-03 1.17901180e+02] [-2.34205103e-02 9.99725699e-01 -7.40367714e-05 -3.99981399e+00] [-1.81028702e-03 3.16474850e-05 9.99998361e-01 -8.57705022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.030281693 meters Centerline goodness [0,1] 0.9993389769068384 Centerline is valid? [True, True] Translation: X:117.93, Y:-4.01, Z:-0.86 [[ 9.99736743e-01 2.29014432e-02 1.40285500e-03 1.17932158e+02] [-2.29013851e-02 9.99737727e-01 -5.74681107e-05 -4.00869666e+00] [-1.40380317e-03 2.53256591e-05 9.99999014e-01 -8.58710860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06028169300001 meters Centerline goodness [0,1] 0.9995694758368313 Centerline is valid? [True, True] Translation: X:117.96, Y:-4.01, Z:-0.86 [[ 9.99728258e-01 2.32169447e-02 2.09358448e-03 1.17963327e+02] [-2.32168142e-02 9.99730450e-01 -8.66211181e-05 -4.00720466e+00] [-2.09503123e-03 3.79912178e-05 9.99997805e-01 -8.56218116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.090281693 meters Centerline goodness [0,1] 0.9994041538985359 Centerline is valid? [True, True] Translation: X:117.99, Y:-4.01, Z:-0.85 [[ 9.99694734e-01 2.44990146e-02 3.19952892e-03 1.17994106e+02] [-2.44987159e-02 9.99699853e-01 -1.32506095e-04 -4.01013752e+00] [-3.20181486e-03 5.40812950e-05 9.99994873e-01 -8.54211487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.120281693 meters Centerline goodness [0,1] 0.9992561421406104 Centerline is valid? [True, True] Translation: X:118.02, Y:-4.01, Z:-0.85 [[ 9.99567232e-01 2.91729095e-02 3.78026677e-03 1.18024915e+02] [-2.91725256e-02 9.99574379e-01 -1.56661465e-04 -4.01047357e+00] [-3.78322808e-03 4.63137380e-05 9.99992842e-01 -8.52937884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.150281693 meters Centerline goodness [0,1] 0.9998713964205337 Centerline is valid? [True, True] Translation: X:118.06, Y:-4.01, Z:-0.85 [[ 9.99469068e-01 3.23979330e-02 3.45761145e-03 1.18057718e+02] [-3.23976314e-02 9.99475049e-01 -1.43220312e-04 -4.00511998e+00] [-3.46043642e-03 3.11258506e-05 9.99994012e-01 -8.53893773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.180281693 meters Centerline goodness [0,1] 0.9999357835477449 Centerline is valid? [True, True] Translation: X:118.09, Y:-4.00, Z:-0.85 [[ 9.99272858e-01 3.80128750e-02 2.96239701e-03 1.18089217e+02] [-3.80126769e-02 9.99277249e-01 -1.23175446e-04 -4.00054428e+00] [-2.96493818e-03 1.04772402e-05 9.99995605e-01 -8.54949597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.210281693 meters Centerline goodness [0,1] 0.9998940228910556 Centerline is valid? [True, True] Translation: X:118.12, Y:-4.00, Z:-0.85 [[ 9.99192821e-01 4.00405621e-02 3.23402892e-03 1.18120715e+02] [-4.00403353e-02 9.99198055e-01 -1.34882317e-04 -3.99987170e+00] [-3.23683617e-03 5.28184066e-06 9.99994761e-01 -8.54119278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.240281693 meters Centerline goodness [0,1] 0.9998092048080388 Centerline is valid? [True, True] Translation: X:118.15, Y:-4.00, Z:-0.85 [[ 9.99131186e-01 4.15124853e-02 3.68598520e-03 1.18151354e+02] [-4.15122004e-02 9.99137985e-01 -1.53802234e-04 -3.99998233e+00] [-3.68919254e-03 6.55252711e-07 9.99993195e-01 -8.53252070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.270281693 meters Centerline goodness [0,1] 0.9997663055024432 Centerline is valid? [True, True] Translation: X:118.18, Y:-4.00, Z:-0.85 [[ 9.99083133e-01 4.25670360e-02 4.57603671e-03 1.18183318e+02] [-4.25666065e-02 9.99093613e-01 -1.91259701e-04 -4.00068629e+00] [-4.58003041e-03 -3.70201212e-06 9.99989512e-01 -8.51814404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.300281693 meters Centerline goodness [0,1] 0.9997249899515559 Centerline is valid? [True, True] Translation: X:118.21, Y:-4.00, Z:-0.85 [[ 9.99061550e-01 4.30096822e-02 5.11735217e-03 1.18214551e+02] [-4.30091466e-02 9.99074655e-01 -2.14713724e-04 -4.00288575e+00] [-5.12185162e-03 -5.58072394e-06 9.99986883e-01 -8.51560156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.330281693 meters Centerline goodness [0,1] 0.9997861191316437 Centerline is valid? [True, True] Translation: X:118.25, Y:-4.01, Z:-0.85 [[ 9.99075551e-01 4.27674220e-02 4.35790170e-03 1.18245847e+02] [-4.27670300e-02 9.99085055e-01 -1.83158302e-04 -4.00613640e+00] [-4.36174766e-03 -3.38553066e-06 9.99990488e-01 -8.53321701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.360281693 meters Centerline goodness [0,1] 0.9998311523849726 Centerline is valid? [True, True] Translation: X:118.28, Y:-4.01, Z:-0.86 [[ 9.99154246e-01 4.10419598e-02 2.51999281e-03 1.18276901e+02] [-4.10418227e-02 9.99157424e-01 -1.06115399e-04 -4.01219900e+00] [-2.52222471e-03 2.60055323e-06 9.99996819e-01 -8.57280384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.390281693 meters Centerline goodness [0,1] 0.9998308846844942 Centerline is valid? [True, True] Translation: X:118.31, Y:-4.01, Z:-0.86 [[ 9.99168458e-01 4.07377399e-02 1.68171535e-03 1.18308104e+02] [-4.07376786e-02 9.99169874e-01 -7.06750623e-05 -4.01397196e+00] [-1.68319846e-03 2.10711359e-06 9.99998583e-01 -8.58592630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.420281693 meters Centerline goodness [0,1] 0.9999364352911264 Centerline is valid? [True, True] Translation: X:118.34, Y:-4.01, Z:-0.86 [[ 9.99160617e-01 4.09567719e-02 7.77031795e-04 1.18339626e+02] [-4.09567587e-02 9.99160919e-01 -3.28666380e-05 -4.01375162e+00] [-7.77725914e-04 1.01434659e-06 9.99999698e-01 -8.59840790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.450281693 meters Centerline goodness [0,1] 0.9996833104613111 Centerline is valid? [True, True] Translation: X:118.37, Y:-4.01, Z:-0.86 [[ 9.99055008e-01 4.34264254e-02 1.79920059e-03 1.18370257e+02] [-4.34263585e-02 9.99056628e-01 -7.62972930e-05 -4.00939432e+00] [-1.80081659e-03 -1.90753703e-06 9.99998379e-01 -8.58018372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.480281693 meters Centerline goodness [0,1] 0.9996552392854834 Centerline is valid? [True, True] Translation: X:118.40, Y:-4.01, Z:-0.86 [[ 9.98987410e-01 4.48716476e-02 3.26941416e-03 1.18401760e+02] [-4.48714339e-02 9.98992760e-01 -1.38704918e-04 -4.00825062e+00] [-3.27234500e-03 -8.13883480e-06 9.99994646e-01 -8.55272296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.510281693 meters Centerline goodness [0,1] 0.9997038729191785 Centerline is valid? [True, True] Translation: X:118.43, Y:-4.01, Z:-0.85 [[ 9.98933124e-01 4.59834247e-02 4.25900628e-03 1.18433253e+02] [-4.59830718e-02 9.98942203e-01 -1.80808569e-04 -4.00688259e+00] [-4.26281531e-03 -1.52265228e-05 9.99990914e-01 -8.53503450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.540281693 meters Centerline goodness [0,1] 0.9994858832098025 Centerline is valid? [True, True] Translation: X:118.47, Y:-4.01, Z:-0.85 [[ 9.98914471e-01 4.63609697e-02 4.53206556e-03 1.18465819e+02] [-4.63605734e-02 9.98924752e-01 -1.92510866e-04 -4.00581074e+00] [-4.53611745e-03 -1.78072686e-05 9.99989712e-01 -8.52957149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.570281693 meters Centerline goodness [0,1] 0.9995319348112847 Centerline is valid? [True, True] Translation: X:118.50, Y:-4.01, Z:-0.85 [[ 9.98928834e-01 4.61022742e-02 3.97045439e-03 1.18496919e+02] [-4.61019657e-02 9.98936725e-01 -1.69231914e-04 -4.00696442e+00] [-3.97403468e-03 -1.39951136e-05 9.99992103e-01 -8.54244453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.600281693 meters Centerline goodness [0,1] 0.9997432441106617 Centerline is valid? [True, True] Translation: X:118.53, Y:-4.01, Z:-0.86 [[ 9.98984908e-01 4.49444072e-02 3.02548071e-03 1.18529116e+02] [-4.49442219e-02 9.98989490e-01 -1.29249073e-04 -4.01303797e+00] [-3.02823245e-03 -6.86000295e-06 9.99995415e-01 -8.56584223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.630281693 meters Centerline goodness [0,1] 0.999747171480943 Centerline is valid? [True, True] Translation: X:118.56, Y:-4.02, Z:-0.86 [[ 9.99036274e-01 4.37923719e-02 2.95836408e-03 1.18560734e+02] [-4.37921883e-02 9.99040654e-01 -1.26836391e-04 -4.01777917e+00] [-2.96108046e-03 -2.83908120e-06 9.99995616e-01 -8.56298952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.660281693 meters Centerline goodness [0,1] 0.999893912711379 Centerline is valid? [True, True] Translation: X:118.59, Y:-4.02, Z:-0.86 [[ 9.99085893e-01 4.26153272e-02 3.36340950e-03 1.18592753e+02] [-4.26150811e-02 9.99091554e-01 -1.44824703e-04 -4.02185422e+00] [-3.36652578e-03 1.36034897e-06 9.99994333e-01 -8.55571176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.690281693 meters Centerline goodness [0,1] 0.9998313161556952 Centerline is valid? [True, True] Translation: X:118.62, Y:-4.03, Z:-0.86 [[ 9.99109433e-01 4.20651525e-02 3.29608270e-03 1.18624159e+02] [-4.20649114e-02 9.99114870e-01 -1.42468841e-04 -4.02671970e+00] [-3.29915821e-03 3.69253635e-06 9.99994558e-01 -8.56480303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.720281693 meters Centerline goodness [0,1] 0.9997443054697321 Centerline is valid? [True, True] Translation: X:118.66, Y:-4.03, Z:-0.86 [[ 9.99071284e-01 4.29940022e-02 2.84342659e-03 1.18655379e+02] [-4.29938250e-02 9.99075330e-01 -1.23452437e-04 -4.02935558e+00] [-2.84610508e-03 1.08799915e-06 9.99995950e-01 -8.56893822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.750281693 meters Centerline goodness [0,1] 0.9995779344110075 Centerline is valid? [True, True] Translation: X:118.69, Y:-4.03, Z:-0.86 [[ 9.99020605e-01 4.41568111e-02 2.82976555e-03 1.18686323e+02] [-4.41566407e-02 9.99024612e-01 -1.22715116e-04 -4.03159663e+00] [-2.83242414e-03 -2.35801136e-06 9.99995989e-01 -8.57393574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.780281693 meters Centerline goodness [0,1] 0.9995082212576707 Centerline is valid? [True, True] Translation: X:118.72, Y:-4.03, Z:-0.86 [[ 9.98900132e-01 4.67639268e-02 3.41495804e-03 1.18718048e+02] [-4.67636916e-02 9.98905969e-01 -1.48735402e-04 -4.03264704e+00] [-3.41817742e-03 -1.11242323e-05 9.99994158e-01 -8.55482918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81028169300001 meters Centerline goodness [0,1] 0.9995729050995131 Centerline is valid? [True, True] Translation: X:118.75, Y:-4.03, Z:-0.86 [[ 9.98833179e-01 4.81214776e-02 4.07472691e-03 1.18750393e+02] [-4.81211509e-02 9.98841490e-01 -1.78237249e-04 -4.03369062e+00] [-4.07858334e-03 -1.80512696e-05 9.99991682e-01 -8.55224212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.840281693 meters Centerline goodness [0,1] 0.9995128976237876 Centerline is valid? [True, True] Translation: X:118.78, Y:-4.04, Z:-0.86 [[ 9.98757399e-01 4.97564068e-02 2.82113854e-03 1.18782576e+02] [-4.97562561e-02 9.98761383e-01 -1.23624488e-04 -4.03756648e+00] [-2.82379533e-03 -1.68984196e-05 9.99996013e-01 -8.58063850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.870281693 meters Centerline goodness [0,1] 0.9992402819398134 Centerline is valid? [True, True] Translation: X:118.81, Y:-4.04, Z:-0.86 [[ 9.98742806e-01 5.00990866e-02 1.69941356e-03 1.18813659e+02] [-5.00990323e-02 9.98744252e-01 -7.44908819e-05 -4.04059916e+00] [-1.70101145e-03 -1.07417422e-05 9.99998553e-01 -8.60937366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.900281693 meters Centerline goodness [0,1] 0.9994043693760769 Centerline is valid? [True, True] Translation: X:118.84, Y:-4.04, Z:-0.86 [[ 9.98680652e-01 5.13385182e-02 1.14538827e-03 1.18844878e+02] [-5.13384940e-02 9.98681309e-01 -5.05846886e-05 -4.04190200e+00] [-1.14647480e-03 -8.28455911e-06 9.99999343e-01 -8.62107514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.930281693 meters Centerline goodness [0,1] 0.9995541401273885 Centerline is valid? [True, True] Translation: X:118.87, Y:-4.04, Z:-0.86 [[ 9.98627988e-01 5.23321418e-02 1.86764381e-03 1.18874999e+02] [-5.23320790e-02 9.98629735e-01 -8.25132997e-05 -4.04058164e+00] [-1.86940274e-03 -1.53375927e-05 9.99998253e-01 -8.60199738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.960281693 meters Centerline goodness [0,1] 0.999302222316199 Centerline is valid? [True, True] Translation: X:118.91, Y:-4.04, Z:-0.86 [[ 9.98537417e-01 5.39866160e-02 2.91086174e-03 1.18906502e+02] [-5.39864695e-02 9.98541659e-01 -1.28928705e-04 -4.03990143e+00] [-2.91357713e-03 -2.84070121e-05 9.99995755e-01 -8.58312626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.990281693 meters Centerline goodness [0,1] 0.9990544828020927 Centerline is valid? [True, True] Translation: X:118.94, Y:-4.04, Z:-0.86 [[ 9.98447280e-01 5.56014069e-02 3.39298769e-03 1.18937337e+02] [-5.56012171e-02 9.98453044e-01 -1.50315829e-04 -4.03785577e+00] [-3.39609666e-03 -3.85718145e-05 9.99994233e-01 -8.57352596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.020281693 meters Centerline goodness [0,1] 0.9987689434138473 Centerline is valid? [True, True] Translation: X:118.97, Y:-4.03, Z:-0.86 [[ 9.98274812e-01 5.85882919e-02 3.84851797e-03 1.18968631e+02] [-5.85880684e-02 9.98282229e-01 -1.70882724e-04 -4.03298032e+00] [-3.85191883e-03 -5.48893151e-05 9.99992580e-01 -8.56012540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.050281693 meters Centerline goodness [0,1] 0.9986766275346851 Centerline is valid? [True, True] Translation: X:119.00, Y:-4.03, Z:-0.86 [[ 9.98199732e-01 5.98299607e-02 4.20360029e-03 1.19000055e+02] [-5.98297047e-02 9.98208581e-01 -1.86752729e-04 -4.03112137e+00] [-4.20724329e-03 -6.50836397e-05 9.99991147e-01 -8.55271670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.080281693 meters Centerline goodness [0,1] 0.9986344627464367 Centerline is valid? [True, True] Translation: X:119.03, Y:-4.03, Z:-0.85 [[ 9.98030433e-01 6.25538322e-02 4.71931014e-03 1.19031644e+02] [-6.25535393e-02 9.98041588e-01 -2.09782085e-04 -4.02761687e+00] [-4.72319046e-03 -8.58406470e-05 9.99988842e-01 -8.54777739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.110281693 meters Centerline goodness [0,1] 0.9984978863114525 Centerline is valid? [True, True] Translation: X:119.06, Y:-4.03, Z:-0.86 [[ 9.97976789e-01 6.34456701e-02 4.12012940e-03 1.19063440e+02] [-6.34454542e-02 9.97985291e-01 -1.83230756e-04 -4.02547635e+00] [-4.12345373e-03 -7.85434395e-05 9.99991495e-01 -8.56142767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.140281693 meters Centerline goodness [0,1] 0.9982867657945388 Centerline is valid? [True, True] Translation: X:119.09, Y:-4.02, Z:-0.86 [[ 9.97940281e-01 6.40843680e-02 2.89646286e-03 1.19093243e+02] [-6.40842637e-02 9.97944483e-01 -1.28904173e-04 -4.01882609e+00] [-2.89876987e-03 -5.69790225e-05 9.99995797e-01 -8.59077846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.170281693 meters Centerline goodness [0,1] 0.9983793926987377 Centerline is valid? [True, True] Translation: X:119.12, Y:-4.02, Z:-0.86 [[ 9.97922835e-01 6.43995479e-02 1.64750102e-03 1.19123339e+02] [-6.43995146e-02 9.97924194e-01 -7.33214969e-05 -4.01746908e+00] [-1.64880300e-03 -3.29290700e-05 9.99998640e-01 -8.61206162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.200281693 meters Centerline goodness [0,1] 0.9988286906891558 Centerline is valid? [True, True] Translation: X:119.15, Y:-4.02, Z:-0.86 [[ 9.97948308e-01 6.40105566e-02 1.35003975e-03 1.19153195e+02] [-6.40105339e-02 9.97949221e-01 -6.01157753e-05 -4.01955353e+00] [-1.35111916e-03 -2.64243287e-05 9.99999087e-01 -8.60866131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.230281693 meters Centerline goodness [0,1] 0.9986923340764877 Centerline is valid? [True, True] Translation: X:119.18, Y:-4.02, Z:-0.86 [[ 9.97990603e-01 6.33360749e-02 1.81578985e-03 1.19182571e+02] [-6.33360328e-02 9.97992255e-01 -8.07457810e-05 -4.01989716e+00] [-1.81725833e-03 -3.44213948e-05 9.99998348e-01 -8.60109737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.260281693 meters Centerline goodness [0,1] 0.9986952861952862 Centerline is valid? [True, True] Translation: X:119.21, Y:-4.02, Z:-0.86 [[ 9.98117317e-01 6.12297090e-02 3.57002617e-03 1.19212472e+02] [-6.12295331e-02 9.98123699e-01 -1.58652870e-04 -4.02242526e+00] [-3.57304199e-03 -6.02368578e-05 9.99993615e-01 -8.57922065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.290281693 meters Centerline goodness [0,1] 0.998923641889325 Centerline is valid? [True, True] Translation: X:119.24, Y:-4.03, Z:-0.86 [[ 9.98214281e-01 5.95652499e-02 4.49773193e-03 1.19243075e+02] [-5.95649538e-02 9.98224412e-01 -1.99880350e-04 -4.02567362e+00] [-4.50165173e-03 -6.83837741e-05 9.99989865e-01 -8.56659118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.320281693 meters Centerline goodness [0,1] 0.9992149207494324 Centerline is valid? [True, True] Translation: X:119.27, Y:-4.03, Z:-0.86 [[ 9.98322395e-01 5.76611768e-02 5.25199066e-03 1.19273920e+02] [-5.76607467e-02 9.98336208e-01 -2.33408555e-04 -4.02951708e+00] [-5.25671105e-03 -6.98167151e-05 9.99986181e-01 -8.55242454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.350281693 meters Centerline goodness [0,1] 0.9993615527038243 Centerline is valid? [True, True] Translation: X:119.30, Y:-4.04, Z:-0.85 [[ 9.98510010e-01 5.42685858e-02 5.71676568e-03 1.19304555e+02] [-5.42680192e-02 9.98526373e-01 -2.54301248e-04 -4.03626080e+00] [-5.72214187e-03 -5.63152088e-05 9.99983627e-01 -8.54579427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.380281693 meters Centerline goodness [0,1] 0.9993976421994665 Centerline is valid? [True, True] Translation: X:119.34, Y:-4.04, Z:-0.85 [[ 9.98570321e-01 5.30972307e-02 6.16429323e-03 1.19336483e+02] [-5.30965435e-02 9.98589346e-01 -2.75185909e-04 -4.03950850e+00] [-6.17020916e-03 -5.25101829e-05 9.99980963e-01 -8.53759234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.410281693 meters Centerline goodness [0,1] 0.9995546884939989 Centerline is valid? [True, True] Translation: X:119.37, Y:-4.04, Z:-0.85 [[ 9.98592627e-01 5.26928015e-02 6.01950578e-03 1.19369086e+02] [-5.26921333e-02 9.98610768e-01 -2.69655870e-04 -4.04147696e+00] [-6.02535222e-03 -4.79042372e-05 9.99981846e-01 -8.54122951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.440281693 meters Centerline goodness [0,1] 0.9995743775271334 Centerline is valid? [True, True] Translation: X:119.40, Y:-4.04, Z:-0.86 [[ 9.98605232e-01 5.26473313e-02 3.98104254e-03 1.19401458e+02] [-5.26470372e-02 9.98613167e-01 -1.78726362e-04 -4.04280118e+00] [-3.98493097e-03 -3.11130148e-05 9.99992060e-01 -8.58101814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.470281693 meters Centerline goodness [0,1] 0.9996601962366733 Centerline is valid? [True, True] Translation: X:119.43, Y:-4.04, Z:-0.86 [[ 9.98605693e-01 5.26895561e-02 3.23749973e-03 1.19432155e+02] [-5.26893600e-02 9.98610940e-01 -1.45904038e-04 -4.04389895e+00] [-3.24069027e-03 -2.48811857e-05 9.99994749e-01 -8.59622036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.500281693 meters Centerline goodness [0,1] 0.9995535429555457 Centerline is valid? [True, True] Translation: X:119.46, Y:-4.05, Z:-0.86 [[ 9.98616607e-01 5.24952238e-02 3.02047042e-03 1.19463751e+02] [-5.24950521e-02 9.98621175e-01 -1.36137314e-04 -4.04512534e+00] [-3.02345227e-03 -2.26107698e-05 9.99995429e-01 -8.60046006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.530281693 meters Centerline goodness [0,1] 0.9996181991727648 Centerline is valid? [True, True] Translation: X:119.49, Y:-4.04, Z:-0.86 [[ 9.98614384e-01 5.24617197e-02 4.13281901e-03 1.19494352e+02] [-5.24613975e-02 9.98622935e-01 -1.86405142e-04 -4.04407183e+00] [-4.13690699e-03 -3.06666049e-05 9.99991442e-01 -8.57862232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56028169300001 meters Centerline goodness [0,1] 0.9996181991727648 Centerline is valid? [True, True] Translation: X:119.53, Y:-4.05, Z:-0.86 [[ 9.98613227e-01 5.24837312e-02 4.13281713e-03 1.19525154e+02] [-5.24834090e-02 9.98621779e-01 -1.86446825e-04 -4.04550888e+00] [-4.13690662e-03 -3.07160661e-05 9.99991442e-01 -8.58000571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.590281693 meters Centerline goodness [0,1] 0.9995344900550148 Centerline is valid? [True, True] Translation: X:119.56, Y:-4.05, Z:-0.86 [[ 9.98596453e-01 5.27716589e-02 4.50294501e-03 1.19556942e+02] [-5.27712789e-02 9.98606605e-01 -2.03253005e-04 -4.04560205e+00] [-4.50739662e-03 -3.46584364e-05 9.99989841e-01 -8.57027445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.620281693 meters Centerline goodness [0,1] 0.9993626513702996 Centerline is valid? [True, True] Translation: X:119.59, Y:-4.04, Z:-0.86 [[ 9.98579548e-01 5.31925597e-02 3.07196021e-03 1.19587442e+02] [-5.31923847e-02 9.98584273e-01 -1.38714388e-04 -4.04245363e+00] [-3.07498972e-03 -2.48875380e-05 9.99995272e-01 -8.60263904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.650281693 meters Centerline goodness [0,1] 0.9994672349493873 Centerline is valid? [True, True] Translation: X:119.62, Y:-4.04, Z:-0.86 [[ 9.98566769e-01 5.34781760e-02 2.11952953e-03 1.19617840e+02] [-5.34780933e-02 9.98569018e-01 -9.57419141e-05 -4.04072216e+00] [-2.12161663e-03 -1.77437041e-05 9.99997749e-01 -8.62565448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.680281693 meters Centerline goodness [0,1] 0.9994882947422284 Centerline is valid? [True, True] Translation: X:119.65, Y:-4.04, Z:-0.86 [[ 9.98546373e-01 5.38719693e-02 1.71825311e-03 1.19648320e+02] [-5.38719155e-02 9.98547851e-01 -7.76157345e-05 -4.03895827e+00] [-1.71993926e-03 -1.50626760e-05 9.99998521e-01 -8.63399727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.710281693 meters Centerline goodness [0,1] 0.9993233814014463 Centerline is valid? [True, True] Translation: X:119.68, Y:-4.03, Z:-0.86 [[ 9.98515987e-01 5.44070529e-02 2.38673092e-03 1.19678539e+02] [-5.44069505e-02 9.98518839e-01 -1.07834388e-04 -4.03373873e+00] [-2.38906274e-03 -2.21803910e-05 9.99997146e-01 -8.61092287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.740281693 meters Centerline goodness [0,1] 0.9993392586908796 Centerline is valid? [True, True] Translation: X:119.71, Y:-4.03, Z:-0.86 [[ 9.98481465e-01 5.49914426e-02 3.27191068e-03 1.19708559e+02] [-5.49912536e-02 9.98486825e-01 -1.47774061e-04 -4.03078196e+00] [-3.27508602e-03 -3.23768089e-05 9.99994636e-01 -8.59350862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.770281693 meters Centerline goodness [0,1] 0.9991940785985451 Centerline is valid? [True, True] Translation: X:119.74, Y:-4.03, Z:-0.86 [[ 9.98440182e-01 5.56861395e-02 4.03194420e-03 1.19738291e+02] [-5.56858583e-02 9.98448322e-01 -1.82051075e-04 -4.02773680e+00] [-4.03582564e-03 -4.27551650e-05 9.99991855e-01 -8.58158759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.800281693 meters Centerline goodness [0,1] 0.9991313927375959 Centerline is valid? [True, True] Translation: X:119.77, Y:-4.03, Z:-0.86 [[ 9.98397953e-01 5.64072518e-02 4.44400710e-03 1.19768684e+02] [-5.64069178e-02 9.98407842e-01 -2.00551050e-04 -4.02685778e+00] [-4.44824407e-03 -5.04429851e-05 9.99990105e-01 -8.58082263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.830281693 meters Centerline goodness [0,1] 0.9993578904561118 Centerline is valid? [True, True] Translation: X:119.80, Y:-4.02, Z:-0.86 [[ 9.98366351e-01 5.69852235e-02 4.16086639e-03 1.19799258e+02] [-5.69849358e-02 9.98375021e-01 -1.87773356e-04 -4.02278643e+00] [-4.16480538e-03 -4.96401042e-05 9.99991326e-01 -8.59127591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.860281693 meters Centerline goodness [0,1] 0.9993250511484677 Centerline is valid? [True, True] Translation: X:119.83, Y:-4.02, Z:-0.86 [[ 9.98375080e-01 5.68753689e-02 3.52029045e-03 1.19829288e+02] [-5.68751622e-02 9.98381285e-01 -1.58853833e-04 -4.02050826e+00] [-3.52362698e-03 -4.16213819e-05 9.99993791e-01 -8.60157474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.890281693 meters Centerline goodness [0,1] 0.9992384981491275 Centerline is valid? [True, True] Translation: X:119.86, Y:-4.02, Z:-0.86 [[ 9.98408935e-01 5.63169876e-02 2.82753603e-03 1.19858541e+02] [-5.63168518e-02 9.98412939e-01 -1.27691080e-04 -4.01518104e+00] [-2.83023973e-03 -3.17500118e-05 9.99995994e-01 -8.61328249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.920281693 meters Centerline goodness [0,1] 0.9993475881808233 Centerline is valid? [True, True] Translation: X:119.89, Y:-4.01, Z:-0.86 [[ 9.98426142e-01 5.60055945e-02 2.93469897e-03 1.19888636e+02] [-5.60054472e-02 9.98430454e-01 -1.32406864e-04 -4.01394104e+00] [-2.93750836e-03 -3.21606546e-05 9.99995685e-01 -8.61410971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.950281693 meters Centerline goodness [0,1] 0.9994298986486486 Centerline is valid? [True, True] Translation: X:119.92, Y:-4.01, Z:-0.86 [[ 9.98444970e-01 5.55801964e-02 4.29937180e-03 1.19918926e+02] [-5.55798770e-02 9.98454225e-01 -1.93846918e-04 -4.01221763e+00] [-4.30349999e-03 -4.54130754e-05 9.99990739e-01 -8.58845275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.980281693 meters Centerline goodness [0,1] 0.9994066539521085 Centerline is valid? [True, True] Translation: X:119.95, Y:-4.01, Z:-0.86 [[ 9.98462642e-01 5.52232418e-02 4.76936081e-03 1.19948668e+02] [-5.52228454e-02 9.98474031e-01 -2.14856212e-04 -4.01212341e+00] [-4.77394797e-03 -4.88517736e-05 9.99988603e-01 -8.58228617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.010281693 meters Centerline goodness [0,1] 0.9993797587475404 Centerline is valid? [True, True] Translation: X:119.98, Y:-4.01, Z:-0.86 [[ 9.98488408e-01 5.47772917e-02 4.51070639e-03 1.19978259e+02] [-5.47769331e-02 9.98498596e-01 -2.03111075e-04 -4.01403729e+00] [-4.51505988e-03 -4.42786083e-05 9.99989806e-01 -8.58577797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.040281693 meters Centerline goodness [0,1] 0.9993222779930957 Centerline is valid? [True, True] Translation: X:120.01, Y:-4.01, Z:-0.86 [[ 9.98500105e-01 5.46212108e-02 3.75022754e-03 1.20007340e+02] [-5.46209621e-02 9.98507147e-01 -1.68788700e-04 -4.01279705e+00] [-3.75384844e-03 -3.63055018e-05 9.99992954e-01 -8.60227942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.070281693 meters Centerline goodness [0,1] 0.9994007747126928 Centerline is valid? [True, True] Translation: X:120.04, Y:-4.01, Z:-0.86 [[ 9.98529167e-01 5.41448422e-02 2.79989802e-03 1.20036579e+02] [-5.41447016e-02 9.98533092e-01 -1.26035872e-04 -4.00892203e+00] [-2.80261502e-03 -2.57491482e-05 9.99996072e-01 -8.62887959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.100281693 meters Centerline goodness [0,1] 0.9994633120089305 Centerline is valid? [True, True] Translation: X:120.07, Y:-4.01, Z:-0.86 [[ 9.98543760e-01 5.38759897e-02 2.78161557e-03 1.20065416e+02] [-5.38758501e-02 9.98547634e-01 -1.25137169e-04 -4.00923267e+00] [-2.78431753e-03 -2.49069646e-05 9.99996123e-01 -8.63066221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.130281693 meters Centerline goodness [0,1] 0.99953166577967 Centerline is valid? [True, True] Translation: X:120.09, Y:-4.01, Z:-0.86 [[ 9.98596139e-01 5.29118057e-02 2.46834875e-03 1.20093951e+02] [-5.29116932e-02 9.98599189e-01 -1.10930406e-04 -4.00621913e+00] [-2.47076059e-03 -1.98298364e-05 9.99996947e-01 -8.63125645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.160281693 meters Centerline goodness [0,1] 0.9995788054923764 Centerline is valid? [True, True] Translation: X:120.12, Y:-4.01, Z:-0.86 [[ 9.98650552e-01 5.18669259e-02 2.62604730e-03 1.20122156e+02] [-5.18667951e-02 9.98654005e-01 -1.17915912e-04 -4.00679879e+00] [-2.62862859e-03 -1.84478670e-05 9.99996545e-01 -8.62798736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.190281693 meters Centerline goodness [0,1] 0.9996183934363672 Centerline is valid? [True, True] Translation: X:120.15, Y:-4.01, Z:-0.86 [[ 9.98730071e-01 5.03047621e-02 2.77066173e-03 1.20151035e+02] [-5.03046108e-02 9.98733914e-01 -1.24307555e-04 -4.00662568e+00] [-2.77340710e-03 -1.52273671e-05 9.99996154e-01 -8.63582730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.220281693 meters Centerline goodness [0,1] 0.9998085187864346 Centerline is valid? [True, True] Translation: X:120.18, Y:-4.01, Z:-0.86 [[ 9.98822495e-01 4.84426075e-02 2.63377021e-03 1.20180049e+02] [-4.84424646e-02 9.98825968e-01 -1.18064760e-04 -4.01162746e+00] [-2.63639745e-03 -9.66058196e-06 9.99996525e-01 -8.63674678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.250281693 meters Centerline goodness [0,1] 0.9998522645730447 Centerline is valid? [True, True] Translation: X:120.21, Y:-4.02, Z:-0.87 [[ 9.99066463e-01 4.31552308e-02 1.95678310e-03 1.20209173e+02] [-4.31551419e-02 9.99068379e-01 -8.76705095e-05 -4.01855711e+00] [-1.95874356e-03 3.14341362e-06 9.99998082e-01 -8.65124054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.280281693 meters Centerline goodness [0,1] 0.9998720054611003 Centerline is valid? [True, True] Translation: X:120.24, Y:-4.02, Z:-0.86 [[ 9.99185903e-01 4.02878905e-02 2.10183186e-03 1.20238153e+02] [-4.02877816e-02 9.99188113e-01 -9.41417845e-05 -4.02404511e+00] [-2.10391819e-03 9.38700087e-06 9.99997787e-01 -8.64861552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31028169300001 meters Centerline goodness [0,1] 0.9998927774918511 Centerline is valid? [True, True] Translation: X:120.27, Y:-4.03, Z:-0.86 [[ 9.99407869e-01 3.43021081e-02 2.69764528e-03 1.20268220e+02] [-3.43019070e-02 9.99411509e-01 -1.20764833e-04 -4.03321200e+00] [-2.70020022e-03 2.81589472e-05 9.99996354e-01 -8.63355670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.340281693 meters Centerline goodness [0,1] 0.9996592409592368 Centerline is valid? [True, True] Translation: X:120.30, Y:-4.04, Z:-0.86 [[ 9.99489921e-01 3.17817124e-02 3.13369856e-03 1.20297791e+02] [-3.17814289e-02 9.99494833e-01 -1.40207465e-04 -4.03866192e+00] [-3.13657155e-03 4.05425300e-05 9.99995080e-01 -8.63294154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.370281693 meters Centerline goodness [0,1] 0.99970375386178 Centerline is valid? [True, True] Translation: X:120.33, Y:-4.05, Z:-0.86 [[ 9.99599652e-01 2.81178502e-02 3.15001950e-03 1.20327424e+02] [-2.81175449e-02 9.99604614e-01 -1.41198571e-04 -4.04541902e+00] [-3.15274422e-03 5.25712275e-05 9.99995029e-01 -8.64317425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.400281693 meters Centerline goodness [0,1] 0.9994522048753766 Centerline is valid? [True, True] Translation: X:120.36, Y:-4.05, Z:-0.86 [[ 9.99626535e-01 2.71678141e-02 2.94973271e-03 1.20357826e+02] [-2.71675422e-02 9.99630885e-01 -1.32203419e-04 -4.05017314e+00] [-2.95223560e-03 5.20170573e-05 9.99995641e-01 -8.64662947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.430281693 meters Centerline goodness [0,1] 0.9994456526374141 Centerline is valid? [True, True] Translation: X:120.39, Y:-4.05, Z:-0.87 [[ 9.99650187e-01 2.63089372e-02 2.70995417e-03 1.20388454e+02] [-2.63087045e-02 9.99653859e-01 -1.21503505e-04 -4.05196261e+00] [-2.71221278e-03 5.01656180e-05 9.99996321e-01 -8.65014368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.460281693 meters Centerline goodness [0,1] 0.999615072067063 Centerline is valid? [True, True] Translation: X:120.42, Y:-4.06, Z:-0.87 [[ 9.99676930e-01 2.53311854e-02 2.08976717e-03 1.20418650e+02] [-2.53310449e-02 9.99679113e-01 -9.36698227e-05 -4.05689378e+00] [-2.09146936e-03 4.07035746e-05 9.99997812e-01 -8.65460239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.490281693 meters Centerline goodness [0,1] 0.999469653577717 Centerline is valid? [True, True] Translation: X:120.45, Y:-4.06, Z:-0.87 [[ 9.99672179e-01 2.54893568e-02 2.41405656e-03 1.20447833e+02] [-2.54891696e-02 9.99675092e-01 -1.08287031e-04 -4.06040751e+00] [-2.41603239e-03 4.67192352e-05 9.99997080e-01 -8.65066343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.520281693 meters Centerline goodness [0,1] 0.9993031947465107 Centerline is valid? [True, True] Translation: X:120.48, Y:-4.06, Z:-0.87 [[ 9.99667990e-01 2.56501652e-02 2.44519357e-03 1.20478477e+02] [-2.56499738e-02 9.99670979e-01 -1.09611125e-04 -4.06251893e+00] [-2.44720059e-03 4.68555819e-05 9.99997005e-01 -8.65266289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.550281693 meters Centerline goodness [0,1] 0.9992808038075093 Centerline is valid? [True, True] Translation: X:120.51, Y:-4.06, Z:-0.86 [[ 9.99668509e-01 2.54405383e-02 3.95612260e-03 1.20509162e+02] [-2.54400353e-02 9.99676334e-01 -1.77419281e-04 -4.06180032e+00] [-3.95935578e-03 7.67165696e-05 9.99992159e-01 -8.62462053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.580281693 meters Centerline goodness [0,1] 0.9988021938764788 Centerline is valid? [True, True] Translation: X:120.54, Y:-4.07, Z:-0.86 [[ 9.99671803e-01 2.51856563e-02 4.68703200e-03 1.20539496e+02] [-2.51849475e-02 9.99682787e-01 -2.10202705e-04 -4.06859916e+00] [-4.69083931e-03 9.20910626e-05 9.99988994e-01 -8.61222039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.610281693 meters Centerline goodness [0,1] 0.9984736061055756 Centerline is valid? [True, True] Translation: X:120.57, Y:-4.07, Z:-0.86 [[ 9.99683802e-01 2.46308023e-02 5.06161225e-03 1.20570630e+02] [-2.46299680e-02 9.99696611e-01 -2.27120091e-04 -4.07193484e+00] [-5.06567076e-03 1.02380928e-04 9.99987164e-01 -8.60805327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.640281693 meters Centerline goodness [0,1] 0.999085748304382 Centerline is valid? [True, True] Translation: X:120.60, Y:-4.07, Z:-0.86 [[ 9.99693351e-01 2.45598949e-02 3.16466603e-03 1.20602639e+02] [-2.45595689e-02 9.99698358e-01 -1.41859284e-04 -4.07180528e+00] [-3.16719548e-03 6.40929494e-05 9.99994982e-01 -8.64565840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.670281693 meters Centerline goodness [0,1] 0.9997027853260869 Centerline is valid? [True, True] Translation: X:120.63, Y:-4.07, Z:-0.87 [[ 9.99680620e-01 2.51742002e-02 2.21754749e-03 1.20633560e+02] [-2.51740406e-02 9.99683079e-01 -9.98792302e-05 -4.06801417e+00] [-2.21935908e-03 4.40227004e-05 9.99997536e-01 -8.65863319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.700281693 meters Centerline goodness [0,1] 0.9998300945099289 Centerline is valid? [True, True] Translation: X:120.66, Y:-4.06, Z:-0.87 [[ 9.99605652e-01 2.80609243e-02 1.06057313e-03 1.20662989e+02] [-2.80608895e-02 9.99606215e-01 -4.76895072e-05 -4.06455868e+00] [-1.06149370e-03 1.79100756e-05 9.99999436e-01 -8.66803684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.730281693 meters Centerline goodness [0,1] 0.9997045104371135 Centerline is valid? [True, True] Translation: X:120.69, Y:-4.07, Z:-0.87 [[ 9.99555442e-01 2.97931343e-02 1.13475647e-03 1.20692107e+02] [-2.97930954e-02 9.99556086e-01 -5.11810957e-05 -4.06664161e+00] [-1.13577759e-03 1.73504348e-05 9.99999355e-01 -8.67826666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.760281693 meters Centerline goodness [0,1] 0.9998730964467005 Centerline is valid? [True, True] Translation: X:120.72, Y:-4.06, Z:-0.87 [[ 9.99507069e-01 3.13568831e-02 1.53797489e-03 1.20722497e+02] [-3.13568135e-02 9.99508252e-01 -6.92967209e-05 -4.06348876e+00] [-1.53939152e-03 2.10365705e-05 9.99998815e-01 -8.67115957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.790281693 meters Centerline goodness [0,1] 0.9998312627871169 Centerline is valid? [True, True] Translation: X:120.75, Y:-4.06, Z:-0.87 [[ 9.99453048e-01 3.30229092e-02 1.75833860e-03 1.20751911e+02] [-3.30228209e-02 9.99454595e-01 -7.92553659e-05 -4.06183490e+00] [-1.75999684e-03 2.11467163e-05 9.99998451e-01 -8.67255044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.820281693 meters Centerline goodness [0,1] 0.9999150725068473 Centerline is valid? [True, True] Translation: X:120.78, Y:-4.06, Z:-0.87 [[ 9.99364122e-01 3.56264039e-02 1.45269863e-03 1.20781861e+02] [-3.56263463e-02 9.99365178e-01 -6.55089934e-05 -4.05514100e+00] [-1.45411028e-03 1.37129930e-05 9.99998943e-01 -8.67493283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.850281693 meters Centerline goodness [0,1] 0.9999364702892719 Centerline is valid? [True, True] Translation: X:120.81, Y:-4.06, Z:-0.87 [[ 9.99331005e-01 3.65482421e-02 1.32970220e-03 1.20811199e+02] [-3.65481948e-02 9.99331890e-01 -5.99035992e-05 -4.05553349e+00] [-1.33100318e-03 1.12653092e-05 9.99999114e-01 -8.68835903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.880281693 meters Centerline goodness [0,1] 0.9999360054608674 Centerline is valid? [True, True] Translation: X:120.84, Y:-4.05, Z:-0.87 [[ 9.99299738e-01 3.73865232e-02 1.51029957e-03 1.20841157e+02] [-3.73864631e-02 9.99300879e-01 -6.80496361e-05 -4.05371946e+00] [-1.51178783e-03 1.15372244e-05 9.99998857e-01 -8.68209178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.910281693 meters Centerline goodness [0,1] 0.9998508480354555 Centerline is valid? [True, True] Translation: X:120.87, Y:-4.05, Z:-0.87 [[ 9.99243679e-01 3.88198694e-02 2.25579154e-03 1.20871073e+02] [-3.88197391e-02 9.99246225e-01 -1.01536056e-04 -4.05202791e+00] [-2.25803280e-03 1.38900228e-05 9.99997451e-01 -8.67447434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.940281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.90, Y:-4.05, Z:-0.87 [[ 9.99238353e-01 3.89322493e-02 2.64447799e-03 1.20899565e+02] [-3.89320707e-02 9.99241852e-01 -1.18972587e-04 -4.05244975e+00] [-2.64710496e-03 1.59269677e-05 9.99996496e-01 -8.66732822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.970281693 meters Centerline goodness [0,1] 0.9999142991815572 Centerline is valid? [True, True] Translation: X:120.93, Y:-4.05, Z:-0.87 [[ 9.99248718e-01 3.86296353e-02 3.12268733e-03 1.20929149e+02] [-3.86293854e-02 9.99253597e-01 -1.40334767e-04 -4.05259122e+00] [-3.12577763e-03 1.96018439e-05 9.99995115e-01 -8.65676415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.000281693 meters Centerline goodness [0,1] 0.999871696176546 Centerline is valid? [True, True] Translation: X:120.96, Y:-4.06, Z:-0.87 [[ 9.99283554e-01 3.77071368e-02 3.24821085e-03 1.20958591e+02] [-3.77068619e-02 9.99288833e-01 -1.45849181e-04 -4.05681638e+00] [-3.25140038e-03 2.32648503e-05 9.99994714e-01 -8.66137127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.030281693 meters Centerline goodness [0,1] 0.9999786634804131 Centerline is valid? [True, True] Translation: X:120.99, Y:-4.06, Z:-0.87 [[ 9.99350630e-01 3.58808093e-02 3.29940329e-03 1.20988869e+02] [-3.58805155e-02 9.99356076e-01 -1.48202870e-04 -4.06152130e+00] [-3.30259637e-03 2.97223407e-05 9.99994546e-01 -8.66130279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06028169300001 meters Centerline goodness [0,1] 0.9999358946963546 Centerline is valid? [True, True] Translation: X:121.02, Y:-4.07, Z:-0.87 [[ 9.99432307e-01 3.34895601e-02 3.67597907e-03 1.21019188e+02] [-3.34891792e-02 9.99439066e-01 -1.65117932e-04 -4.06731175e+00] [-3.67944682e-03 4.19186740e-05 9.99993230e-01 -8.66071761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.090281693 meters Centerline goodness [0,1] 0.9996179317371371 Centerline is valid? [True, True] Translation: X:121.05, Y:-4.08, Z:-0.87 [[ 9.99581363e-01 2.85888134e-02 4.44737420e-03 1.21049951e+02] [-2.85882074e-02 9.99591254e-01 -1.99766715e-04 -4.07684359e+00] [-4.45126745e-03 7.25406290e-05 9.99990090e-01 -8.65075678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.120281693 meters Centerline goodness [0,1] 0.9994864662458542 Centerline is valid? [True, True] Translation: X:121.08, Y:-4.08, Z:-0.87 [[ 9.99636688e-01 2.66419923e-02 4.08619638e-03 1.21080335e+02] [-2.66414642e-02 9.99645036e-01 -1.83621382e-04 -4.08287073e+00] [-4.08963797e-03 7.46924150e-05 9.99991635e-01 -8.66053514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.150281693 meters Centerline goodness [0,1] 0.9992763339931464 Centerline is valid? [True, True] Translation: X:121.11, Y:-4.09, Z:-0.87 [[ 9.99690028e-01 2.46162205e-02 3.72696822e-03 1.21111556e+02] [-2.46157668e-02 9.99696972e-01 -1.67560632e-04 -4.09050229e+00] [-3.72996355e-03 7.57665126e-05 9.99993041e-01 -8.65620042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.180281693 meters Centerline goodness [0,1] 0.9994468908885911 Centerline is valid? [True, True] Translation: X:121.14, Y:-4.09, Z:-0.87 [[ 9.99696621e-01 2.43931110e-02 3.41204756e-03 1.21142991e+02] [-2.43927274e-02 9.99702441e-01 -1.53993728e-04 -4.09273475e+00] [-3.41478867e-03 7.07178636e-05 9.99994167e-01 -8.65808390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.210281693 meters Centerline goodness [0,1] 0.9991662034463591 Centerline is valid? [True, True] Translation: X:121.17, Y:-4.09, Z:-0.87 [[ 9.99694018e-01 2.45724216e-02 2.84001481e-03 1.21174290e+02] [-2.45721565e-02 9.99698051e-01 -1.28223484e-04 -4.09230762e+00] [-2.84230803e-03 5.83989621e-05 9.99995959e-01 -8.67116915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.240281693 meters Centerline goodness [0,1] 0.9995308568260332 Centerline is valid? [True, True] Translation: X:121.20, Y:-4.09, Z:-0.87 [[ 9.99664528e-01 2.58093697e-02 2.16968900e-03 1.21204377e+02] [-2.58092177e-02 9.99666882e-01 -9.80122211e-05 -4.09250459e+00] [-2.17149587e-03 4.19813648e-05 9.99997641e-01 -8.69027272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.270281693 meters Centerline goodness [0,1] 0.9996120271580989 Centerline is valid? [True, True] Translation: X:121.23, Y:-4.09, Z:-0.87 [[ 9.99637916e-01 2.67663425e-02 2.75679442e-03 1.21234907e+02] [-2.67661006e-02 9.99641716e-01 -1.24599965e-04 -4.09067196e+00] [-2.75914179e-03 5.07662120e-05 9.99996192e-01 -8.68193284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.300281693 meters Centerline goodness [0,1] 0.9995305765373619 Centerline is valid? [True, True] Translation: X:121.27, Y:-4.09, Z:-0.87 [[ 9.99609595e-01 2.76474177e-02 4.03470829e-03 1.21265899e+02] [-2.76469068e-02 9.99617735e-01 -1.82358360e-04 -4.08863216e+00] [-4.03820770e-03 7.07399626e-05 9.99991844e-01 -8.66367197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.330281693 meters Centerline goodness [0,1] 0.9996153846153846 Centerline is valid? [True, True] Translation: X:121.30, Y:-4.09, Z:-0.87 [[ 9.99614838e-01 2.74832881e-02 3.85287065e-03 1.21297573e+02] [-2.74828211e-02 9.99622261e-01 -1.74125141e-04 -4.08865524e+00] [-3.85620080e-03 6.81703195e-05 9.99992563e-01 -8.66588676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.360281693 meters Centerline goodness [0,1] 0.9993869051394262 Centerline is valid? [True, True] Translation: X:121.33, Y:-4.10, Z:-0.87 [[ 9.99635636e-01 2.68126961e-02 3.11035830e-03 1.21327763e+02] [-2.68123883e-02 9.99640473e-01 -1.40636694e-04 -4.09981440e+00] [-3.11301089e-03 5.71893166e-05 9.99995153e-01 -8.68911707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.390281693 meters Centerline goodness [0,1] 0.999575317450206 Centerline is valid? [True, True] Translation: X:121.36, Y:-4.10, Z:-0.87 [[ 9.99714745e-01 2.38393292e-02 1.45453993e-03 1.21359058e+02] [-2.38392588e-02 9.99715802e-01 -6.57256595e-05 -4.09883769e+00] [-1.45569341e-03 3.10317569e-05 9.99998940e-01 -8.71973584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.420281693 meters Centerline goodness [0,1] 0.9988077431662006 Centerline is valid? [True, True] Translation: X:121.39, Y:-4.10, Z:-0.87 [[ 9.99768338e-01 2.15144131e-02 6.32114413e-04 1.21390217e+02] [-2.15143994e-02 9.99768538e-01 -2.85175514e-05 -4.10054191e+00] [-6.32581641e-04 1.49113831e-05 9.99999800e-01 -8.65385288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.450281693 meters Centerline goodness [0,1] 0.9988077431662006 Centerline is valid? [True, True] Translation: X:121.42, Y:-4.10, Z:-0.87 [[ 9.99768338e-01 2.15144136e-02 6.32109771e-04 1.21420194e+02] [-2.15143998e-02 9.99768538e-01 -2.86200730e-05 -4.10189916e+00] [-6.32579206e-04 1.50139805e-05 9.99999800e-01 -8.65519910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.480281693 meters Centerline goodness [0,1] 0.9983429100221662 Centerline is valid? [True, True] Translation: X:121.45, Y:-4.11, Z:-0.87 [[ 9.99880403e-01 1.53536027e-02 1.85665153e-03 1.21450153e+02] [-1.53534731e-02 9.99882125e-01 -8.40575269e-05 -4.11390764e+00] [-1.85772326e-03 5.55414246e-05 9.99998273e-01 -8.71604240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.510281693 meters Centerline goodness [0,1] 0.9952925353059852 Centerline is valid? [True, True] Translation: X:121.48, Y:-4.13, Z:-0.87 [[ 9.99921495e-01 1.22765484e-02 2.50784018e-03 1.21479808e+02] [-1.22763022e-02 9.99924637e-01 -1.13531244e-04 -4.12763187e+00] [-2.50904496e-03 8.27353269e-05 9.99996849e-01 -8.70821582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.540281693 meters Centerline goodness [0,1] 0.9924103472266144 Centerline is valid? [True, True] Translation: X:121.51, Y:-4.14, Z:-0.87 [[ 9.99951235e-01 9.26312417e-03 3.42386788e-03 1.21510356e+02] [-9.26264748e-03 9.99957089e-01 -1.55058157e-04 -4.13678556e+00] [-3.42515728e-03 1.23336514e-04 9.99994127e-01 -8.69491087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.570281693 meters Centerline goodness [0,1] 0.9931692255635918 Centerline is valid? [True, True] Translation: X:121.54, Y:-4.14, Z:-0.87 [[ 9.99972528e-01 6.39496819e-03 3.74789903e-03 1.21541284e+02] [-6.39437671e-03 9.99979541e-01 -1.69776964e-04 -4.14099312e+00] [-3.74890807e-03 1.45806821e-04 9.99992962e-01 -8.69235875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.600281693 meters Centerline goodness [0,1] 0.9822841745698343 Centerline is valid? [True, True] Translation: X:121.57, Y:-4.17, Z:-0.87 [[ 9.99995336e-01 8.18538536e-04 2.94258531e-03 1.21570456e+02] [-8.18149747e-04 9.99999656e-01 -1.33326465e-04 -4.16735220e+00] [-2.94269344e-03 1.30918368e-04 9.99995662e-01 -8.70851394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.630281693 meters Centerline goodness [0,1] 0.9629360775438747 Centerline is valid? [True, True] Translation: X:121.60, Y:-4.18, Z:-0.87 [[ 9.99997882e-01 -1.69054213e-03 1.17369788e-03 1.21599311e+02] [ 1.69060556e-03 9.99998570e-01 -5.30559401e-05 -4.18338643e+00] [-1.17360650e-03 5.50400879e-05 9.99999310e-01 -8.73078392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.660281693 meters Centerline goodness [0,1] 0.9838476885851339 Centerline is valid? [True, True] Translation: X:121.63, Y:-4.18, Z:-0.87 [[ 9.99999103e-01 -9.34624404e-04 9.59371583e-04 1.21630052e+02] [ 9.34666582e-04 9.99999562e-01 -4.35167064e-05 -4.18293818e+00] [-9.59330491e-04 4.44133599e-05 9.99999539e-01 -8.72298603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.690281693 meters Centerline goodness [0,1] 0.9877449415969873 Centerline is valid? [True, True] Translation: X:121.66, Y:-4.19, Z:-0.87 [[ 9.99998310e-01 1.16534978e-03 1.42170872e-03 1.21660545e+02] [-1.16525927e-03 9.99999319e-01 -6.44881315e-05 -4.18677360e+00] [-1.42178290e-03 6.28313632e-05 9.99998987e-01 -8.71233507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.720281693 meters Centerline goodness [0,1] 0.9935183006396132 Centerline is valid? [True, True] Translation: X:121.69, Y:-4.18, Z:-0.87 [[ 9.99987079e-01 4.39075827e-03 2.56187020e-03 1.21692005e+02] [-4.39047501e-03 9.99990355e-01 -1.16183251e-04 -4.18239567e+00] [-2.56235562e-03 1.04933923e-04 9.99996712e-01 -8.68706219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.750281693 meters Centerline goodness [0,1] 0.9963449506568338 Centerline is valid? [True, True] Translation: X:121.72, Y:-4.18, Z:-0.86 [[ 9.99910064e-01 1.22060239e-02 5.55669301e-03 1.21723032e+02] [-1.22048111e-02 9.99925487e-01 -2.52115855e-04 -4.18116216e+00] [-5.55935629e-03 1.84274792e-04 9.99984530e-01 -8.63831559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.780281693 meters Centerline goodness [0,1] 0.9958690068493151 Centerline is valid? [True, True] Translation: X:121.75, Y:-4.19, Z:-0.86 [[ 9.99851734e-01 1.59947686e-02 6.37792381e-03 1.21752439e+02] [-1.59932478e-02 9.99872058e-01 -2.89387943e-04 -4.18697929e+00] [-6.38173650e-03 1.87341321e-04 9.99979619e-01 -8.62232364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81028169300001 meters Centerline goodness [0,1] 0.9979817931982137 Centerline is valid? [True, True] Translation: X:121.78, Y:-4.18, Z:-0.86 [[ 9.99787956e-01 1.95463827e-02 6.47936545e-03 1.21784100e+02] [-1.95448874e-02 9.99808937e-01 -2.94037506e-04 -4.18327788e+00] [-6.48387485e-03 1.67336689e-04 9.99978965e-01 -8.63101419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.840281693 meters Centerline goodness [0,1] 0.9995325613513226 Centerline is valid? [True, True] Translation: X:121.81, Y:-4.19, Z:-0.87 [[ 9.99660434e-01 2.56720951e-02 4.46757705e-03 1.21814216e+02] [-2.56714450e-02 9.99670414e-01 -2.02813745e-04 -4.18697733e+00] [-4.47131125e-03 8.80557182e-05 9.99990000e-01 -8.66885223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.870281693 meters Centerline goodness [0,1] 0.9997857204079883 Centerline is valid? [True, True] Translation: X:121.85, Y:-4.18, Z:-0.87 [[ 9.99575888e-01 2.89216634e-02 3.40320503e-03 1.21846353e+02] [-2.89213056e-02 9.99581680e-01 -1.54318936e-04 -4.18421514e+00] [-3.40624456e-03 5.58283548e-05 9.99994197e-01 -8.68836412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.900281693 meters Centerline goodness [0,1] 0.999873292082867 Centerline is valid? [True, True] Translation: X:121.88, Y:-4.18, Z:-0.87 [[ 9.99469207e-01 3.24716253e-02 2.62642981e-03 1.21877281e+02] [-3.24714237e-02 9.99472657e-01 -1.19359032e-04 -4.18266356e+00] [-2.62892056e-03 3.40117618e-05 9.99996544e-01 -8.69687076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.930281693 meters Centerline goodness [0,1] 0.9999787748864456 Centerline is valid? [True, True] Translation: X:121.91, Y:-4.17, Z:-0.87 [[ 9.99193248e-01 4.00807432e-02 2.52743316e-03 1.21907960e+02] [-4.00805792e-02 9.99196444e-01 -1.15535878e-04 -4.17327087e+00] [-2.53003299e-03 1.41416841e-05 9.99996799e-01 -8.70435095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.960281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.94, Y:-4.17, Z:-0.87 [[ 9.99053138e-01 4.34303208e-02 2.57569800e-03 1.21939680e+02] [-4.34301616e-02 9.99056458e-01 -1.17751585e-04 -4.16836377e+00] [-2.57838171e-03 5.77711023e-06 9.99996676e-01 -8.70843958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.990281693 meters Centerline goodness [0,1] 0.9999788503024407 Centerline is valid? [True, True] Translation: X:121.97, Y:-4.16, Z:-0.87 [[ 9.98863017e-01 4.76144444e-02 2.35309109e-03 1.21970787e+02] [-4.76143230e-02 9.98865789e-01 -1.07619759e-04 -4.16303800e+00] [-2.35554645e-03 -4.54344186e-06 9.99997226e-01 -8.72205821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.020281693 meters Centerline goodness [0,1] 0.9999367182061721 Centerline is valid? [True, True] Translation: X:122.00, Y:-4.16, Z:-0.87 [[ 9.98838922e-01 4.81152772e-02 2.39332175e-03 1.22000864e+02] [-4.81151529e-02 9.98841789e-01 -1.09540548e-04 -4.16323631e+00] [-2.39582036e-03 -5.74167951e-06 9.99997130e-01 -8.72567703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.050281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.03, Y:-4.17, Z:-0.87 [[ 9.98842168e-01 4.80377493e-02 2.58824834e-03 1.22032330e+02] [-4.80376036e-02 9.98845521e-01 -1.18474910e-04 -4.16529031e+00] [-2.59095153e-03 -5.99551199e-06 9.99996643e-01 -8.72431648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.080281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.06, Y:-4.17, Z:-0.87 [[ 9.98855007e-01 4.77573822e-02 2.81187641e-03 1.22063727e+02] [-4.77572089e-02 9.98858965e-01 -1.28783105e-04 -4.16793767e+00] [-2.81481830e-03 -5.65171988e-06 9.99996038e-01 -8.72089604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.110281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.09, Y:-4.17, Z:-0.87 [[ 9.98853417e-01 4.78249358e-02 2.15081371e-03 1.22094557e+02] [-4.78248345e-02 9.98855733e-01 -9.85316809e-05 -4.16893153e+00] [-2.15306487e-03 -4.44360337e-06 9.99997682e-01 -8.73140047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.140281693 meters Centerline goodness [0,1] 0.9999358412284266 Centerline is valid? [True, True] Translation: X:122.12, Y:-4.17, Z:-0.87 [[ 9.98767138e-01 4.96222140e-02 1.35625764e-03 1.22124631e+02] [-4.96221754e-02 9.98768059e-01 -6.21606332e-05 -4.16520396e+00] [-1.35767136e-03 -5.21645677e-06 9.99999078e-01 -8.74499564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.170281693 meters Centerline goodness [0,1] 0.999936440677966 Centerline is valid? [True, True] Translation: X:122.15, Y:-4.16, Z:-0.87 [[ 9.98699676e-01 5.09648549e-02 1.24085996e-03 1.22154682e+02] [-5.09648235e-02 9.98700447e-01 -5.69541244e-05 -4.16240531e+00] [-1.24215006e-03 -6.36014330e-06 9.99999229e-01 -8.74944788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.200281693 meters Centerline goodness [0,1] 0.9998924384209961 Centerline is valid? [True, True] Translation: X:122.19, Y:-4.16, Z:-0.87 [[ 9.98629890e-01 5.23022944e-02 1.67717334e-03 1.22185033e+02] [-5.23022389e-02 9.98631298e-01 -7.69124927e-05 -4.16212490e+00] [-1.67890049e-03 -1.09128065e-05 9.99998591e-01 -8.74144969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.230281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.22, Y:-4.16, Z:-0.87 [[ 9.98591726e-01 5.30189556e-02 1.88569414e-03 1.22215156e+02] [-5.30188868e-02 9.98593506e-01 -8.64749239e-05 -4.16190706e+00] [-1.88762673e-03 -1.36242606e-05 9.99998218e-01 -8.73624060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.260281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.25, Y:-4.17, Z:-0.87 [[ 9.98624519e-01 5.23866195e-02 2.17071647e-03 1.22245544e+02] [-5.23865268e-02 9.98626878e-01 -9.95455932e-05 -4.16542555e+00] [-2.17295067e-03 -1.43076265e-05 9.99997639e-01 -8.73405877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.290281693 meters Centerline goodness [0,1] 0.999978700291806 Centerline is valid? [True, True] Translation: X:122.28, Y:-4.17, Z:-0.88 [[ 9.98678635e-01 5.13711176e-02 1.41155083e-03 1.22275878e+02] [-5.13710777e-02 9.98679632e-01 -6.45415115e-05 -4.16717964e+00] [-1.41300264e-03 -8.05665880e-06 9.99999002e-01 -8.76058781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.320281693 meters Centerline goodness [0,1] 0.9998707342295761 Centerline is valid? [True, True] Translation: X:122.31, Y:-4.17, Z:-0.88 [[ 9.98805067e-01 4.88526416e-02 1.36279697e-03 1.22306637e+02] [-4.88526017e-02 9.98805997e-01 -6.25736214e-05 -4.17366827e+00] [-1.36422667e-03 -4.07732724e-06 9.99999069e-01 -8.76035389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.350281693 meters Centerline goodness [0,1] 0.9998719562944152 Centerline is valid? [True, True] Translation: X:122.34, Y:-4.18, Z:-0.88 [[ 9.98844179e-01 4.80274980e-02 1.91456589e-03 1.22336778e+02] [-4.80274180e-02 9.98846014e-01 -8.77638903e-05 -4.17582403e+00] [-1.91657158e-03 -4.28920525e-06 9.99998163e-01 -8.75326684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.380281693 meters Centerline goodness [0,1] 0.9998304905180634 Centerline is valid? [True, True] Translation: X:122.37, Y:-4.18, Z:-0.87 [[ 9.98863824e-01 4.75396959e-02 3.32242879e-03 1.22367244e+02] [-4.75394508e-02 9.98869349e-01 -1.52764049e-04 -4.17658476e+00] [-3.32593464e-03 -5.35595770e-06 9.99994469e-01 -8.72400455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.410281693 meters Centerline goodness [0,1] 0.9998734897843001 Centerline is valid? [True, True] Translation: X:122.40, Y:-4.18, Z:-0.87 [[ 9.98848949e-01 4.78493268e-02 3.34955157e-03 1.22398916e+02] [-4.78490793e-02 9.98854565e-01 -1.54038667e-04 -4.17724984e+00] [-3.35308552e-03 -6.41159821e-06 9.99994378e-01 -8.72318394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.440281693 meters Centerline goodness [0,1] 0.9998067840274796 Centerline is valid? [True, True] Translation: X:122.43, Y:-4.18, Z:-0.87 [[ 9.98808810e-01 4.87112696e-02 2.85891389e-03 1.22429861e+02] [-4.87110927e-02 9.98812901e-01 -1.31521107e-04 -4.17704014e+00] [-2.86192664e-03 -7.89637943e-06 9.99995905e-01 -8.72842332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.470281693 meters Centerline goodness [0,1] 0.999829841539934 Centerline is valid? [True, True] Translation: X:122.46, Y:-4.17, Z:-0.87 [[ 9.98748475e-01 4.99550337e-02 2.44525269e-03 1.22460173e+02] [-4.99549079e-02 9.98751468e-01 -1.12556894e-04 -4.17469861e+00] [-2.44782250e-03 -9.73634726e-06 9.99997004e-01 -8.74837568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.500281693 meters Centerline goodness [0,1] 0.999807844225719 Centerline is valid? [True, True] Translation: X:122.49, Y:-4.17, Z:-0.87 [[ 9.98614205e-01 5.25283144e-02 3.23199559e-03 1.22490426e+02] [-5.25281077e-02 9.98619435e-01 -1.48854348e-04 -4.16985085e+00] [-3.23535268e-03 -2.11225467e-05 9.99994766e-01 -8.74177486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.530281693 meters Centerline goodness [0,1] 0.9998091157818829 Centerline is valid? [True, True] Translation: X:122.52, Y:-4.17, Z:-0.87 [[ 9.98541368e-01 5.38357432e-02 4.10466980e-03 1.22520568e+02] [-5.38354212e-02 9.98549804e-01 -1.88985633e-04 -4.16701542e+00] [-4.10889141e-03 -3.22666548e-05 9.99991558e-01 -8.72828993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56028169300001 meters Centerline goodness [0,1] 0.9997472300627712 Centerline is valid? [True, True] Translation: X:122.55, Y:-4.16, Z:-0.87 [[ 9.98426071e-01 5.59811723e-02 3.38956797e-03 1.22551532e+02] [-5.59809652e-02 9.98431824e-01 -1.56019005e-04 -4.16491121e+00] [-3.39298666e-03 -3.39778449e-05 9.99994243e-01 -8.73198791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.590281693 meters Centerline goodness [0,1] 0.9998297836124173 Centerline is valid? [True, True] Translation: X:122.58, Y:-4.17, Z:-0.87 [[ 9.98417698e-01 5.61621626e-02 2.81293117e-03 1.22582213e+02] [-5.61620207e-02 9.98421660e-01 -1.29476890e-04 -4.16660253e+00] [-2.81576311e-03 -2.87078794e-05 9.99996035e-01 -8.74934902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.620281693 meters Centerline goodness [0,1] 0.9998519521170848 Centerline is valid? [True, True] Translation: X:122.61, Y:-4.17, Z:-0.88 [[ 9.98431712e-01 5.59353646e-02 2.31346101e-03 1.22612893e+02] [-5.59352680e-02 9.98434392e-01 -1.06486693e-04 -4.16815035e+00] [-2.31579541e-03 -2.30843704e-05 9.99997318e-01 -8.76274374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.650281693 meters Centerline goodness [0,1] 0.9997461660497091 Centerline is valid? [True, True] Translation: X:122.64, Y:-4.17, Z:-0.88 [[ 9.98495784e-01 5.47447987e-02 3.02913576e-03 1.22642717e+02] [-5.47446276e-02 9.98500379e-01 -1.39445637e-04 -4.16956254e+00] [-3.03222712e-03 -2.65930282e-05 9.99995402e-01 -8.75742595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.680281693 meters Centerline goodness [0,1] 0.9998516068854405 Centerline is valid? [True, True] Translation: X:122.67, Y:-4.17, Z:-0.87 [[ 9.98510783e-01 5.44292601e-02 3.69756429e-03 1.22673178e+02] [-5.44290032e-02 9.98517629e-01 -1.70152466e-04 -4.17269817e+00] [-3.70134440e-03 -3.13556664e-05 9.99993150e-01 -8.73643006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.710281693 meters Centerline goodness [0,1] 0.9998499399759904 Centerline is valid? [True, True] Translation: X:122.70, Y:-4.17, Z:-0.87 [[ 9.98479477e-01 5.49281460e-02 4.65111757e-03 1.22704034e+02] [-5.49277449e-02 9.98490309e-01 -2.14032553e-04 -4.17231031e+00] [-4.65585224e-03 -4.17682878e-05 9.99989161e-01 -8.71562897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.740281693 meters Centerline goodness [0,1] 0.9998095439636018 Centerline is valid? [True, True] Translation: X:122.73, Y:-4.17, Z:-0.87 [[ 9.98441296e-01 5.56606581e-02 4.10717743e-03 1.22733975e+02] [-5.56603515e-02 9.98449743e-01 -1.88998194e-04 -4.17055863e+00] [-4.11133001e-03 -3.99033370e-05 9.99991548e-01 -8.72621541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.770281693 meters Centerline goodness [0,1] 0.9997878209208572 Centerline is valid? [True, True] Translation: X:122.76, Y:-4.17, Z:-0.87 [[ 9.98426381e-01 5.59826604e-02 3.27161421e-03 1.22763412e+02] [-5.59824675e-02 9.98431741e-01 -1.50596771e-04 -4.16993252e+00] [-3.27491428e-03 -3.27932466e-05 9.99994637e-01 -8.73862720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.800281693 meters Centerline goodness [0,1] 0.9997845245534271 Centerline is valid? [True, True] Translation: X:122.79, Y:-4.17, Z:-0.88 [[ 9.98411983e-01 5.62769461e-02 2.53320694e-03 1.22793522e+02] [-5.62768315e-02 9.98415197e-01 -1.16567379e-04 -4.17063802e+00] [-2.53575236e-03 -2.61785921e-05 9.99996785e-01 -8.75284987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.830281693 meters Centerline goodness [0,1] 0.9997638116505271 Centerline is valid? [True, True] Translation: X:122.82, Y:-4.17, Z:-0.87 [[ 9.98439845e-01 5.57793386e-02 2.55769318e-03 1.22823966e+02] [-5.57792201e-02 9.98443120e-01 -1.17694131e-04 -4.17182237e+00] [-2.56027606e-03 -2.51556207e-05 9.99996722e-01 -8.74774621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.860281693 meters Centerline goodness [0,1] 0.9998299211259222 Centerline is valid? [True, True] Translation: X:122.85, Y:-4.17, Z:-0.87 [[ 9.98497195e-01 5.47260663e-02 2.90002830e-03 1.22853320e+02] [-5.47259094e-02 9.98501406e-01 -1.33466276e-04 -4.17155361e+00] [-2.90298642e-03 -2.54409837e-05 9.99995786e-01 -8.74721957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.890281693 meters Centerline goodness [0,1] 0.9998300511970769 Centerline is valid? [True, True] Translation: X:122.88, Y:-4.17, Z:-0.87 [[ 9.98633113e-01 5.21391508e-02 3.66259004e-03 1.22883904e+02] [-5.21388835e-02 9.98639829e-01 -1.68491974e-04 -4.17240280e+00] [-3.66639332e-03 -2.27016908e-05 9.99993278e-01 -8.73759762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.920281693 meters Centerline goodness [0,1] 0.9998091845821142 Centerline is valid? [True, True] Translation: X:122.91, Y:-4.17, Z:-0.87 [[ 9.98711277e-01 5.05834102e-02 4.13575206e-03 1.22913567e+02] [-5.05830560e-02 9.98719840e-01 -1.90263172e-04 -4.17341227e+00] [-4.14008180e-03 -1.91810025e-05 9.99991430e-01 -8.73058675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.950281693 meters Centerline goodness [0,1] 0.9997239563426339 Centerline is valid? [True, True] Translation: X:122.94, Y:-4.18, Z:-0.87 [[ 9.98883778e-01 4.68917279e-02 5.68885061e-03 1.22944150e+02] [-4.68909983e-02 9.98899978e-01 -2.61639798e-04 -4.17701230e+00] [-5.69486149e-03 -5.40813404e-06 9.99983784e-01 -8.70926874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.980281693 meters Centerline goodness [0,1] 0.9997427928410674 Centerline is valid? [True, True] Translation: X:122.98, Y:-4.18, Z:-0.87 [[ 9.98943692e-01 4.55014023e-02 6.41265583e-03 1.22975811e+02] [-4.55004463e-02 9.98964275e-01 -2.94974146e-04 -4.17869421e+00] [-6.41943582e-03 2.88386000e-06 9.99979395e-01 -8.69967725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.010281693 meters Centerline goodness [0,1] 0.9997022036926743 Centerline is valid? [True, True] Translation: X:123.01, Y:-4.18, Z:-0.87 [[ 9.98997097e-01 4.43452901e-02 6.18834396e-03 1.23006910e+02] [-4.43443753e-02 9.99016264e-01 -2.85016413e-04 -4.18101574e+00] [-6.19489540e-03 1.03123220e-05 9.99980811e-01 -8.70135280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.040281693 meters Centerline goodness [0,1] 0.9996800477795316 Centerline is valid? [True, True] Translation: X:123.04, Y:-4.18, Z:-0.87 [[ 9.99097729e-01 4.22511348e-02 4.30921503e-03 1.23039048e+02] [-4.22506699e-02 9.99107022e-01 -1.98914515e-04 -4.18436965e+00] [-4.31377136e-03 1.66678189e-05 9.99990696e-01 -8.73586915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.070281693 meters Centerline goodness [0,1] 0.9997426990865818 Centerline is valid? [True, True] Translation: X:123.07, Y:-4.19, Z:-0.88 [[ 9.99161565e-01 4.07746836e-02 3.68669721e-03 1.23070424e+02] [-4.07743313e-02 9.99168367e-01 -1.70684646e-04 -4.18866101e+00] [-3.69059084e-03 2.02189245e-05 9.99993190e-01 -8.75669836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.100281693 meters Centerline goodness [0,1] 0.999700822737472 Centerline is valid? [True, True] Translation: X:123.10, Y:-4.19, Z:-0.88 [[ 9.99245983e-01 3.86847795e-02 3.30945893e-03 1.23101944e+02] [-3.86844825e-02 9.99251463e-01 -1.53721578e-04 -4.19345596e+00] [-3.31292836e-03 2.55809636e-05 9.99994512e-01 -8.76160313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.130281693 meters Centerline goodness [0,1] 0.9995500128567755 Centerline is valid? [True, True] Translation: X:123.13, Y:-4.20, Z:-0.88 [[ 9.99327309e-01 3.64528674e-02 4.01468204e-03 1.23132959e+02] [-3.64524105e-02 9.99335373e-01 -1.86951439e-04 -4.19851217e+00] [-4.01882869e-03 4.04808408e-05 9.99991924e-01 -8.75120121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.160281693 meters Centerline goodness [0,1] 0.9993190330268982 Centerline is valid? [True, True] Translation: X:123.16, Y:-4.21, Z:-0.87 [[ 9.99444592e-01 3.28292293e-02 5.72269170e-03 1.23163235e+02] [-3.28282396e-02 9.99460972e-01 -2.66815198e-04 -4.20876514e+00] [-5.72836635e-03 7.88011120e-05 9.99983590e-01 -8.72678143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.190281693 meters Centerline goodness [0,1] 0.9993825057490844 Centerline is valid? [True, True] Translation: X:123.20, Y:-4.22, Z:-0.87 [[ 9.99504961e-01 3.10196667e-02 5.25479219e-03 1.23195396e+02] [-3.10188035e-02 9.99518771e-01 -2.45707716e-04 -4.21578093e+00] [-5.25988520e-03 8.25887147e-05 9.99986163e-01 -8.73832095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.220281693 meters Centerline goodness [0,1] 0.9993392586908796 Centerline is valid? [True, True] Translation: X:123.23, Y:-4.22, Z:-0.87 [[ 9.99506675e-01 3.09433632e-02 5.37726492e-03 1.23227893e+02] [-3.09424534e-02 9.99521136e-01 -2.52322879e-04 -4.22020577e+00] [-5.38249766e-03 8.58126329e-05 9.99985511e-01 -8.73748681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.250281693 meters Centerline goodness [0,1] 0.9992513368983957 Centerline is valid? [True, True] Translation: X:123.26, Y:-4.22, Z:-0.87 [[ 9.99491966e-01 3.14134051e-02 5.38588559e-03 1.23259900e+02] [-3.14124945e-02 9.99506474e-01 -2.53597287e-04 -4.22325709e+00] [-5.39119387e-03 8.42843493e-05 9.99985464e-01 -8.73675852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.280281693 meters Centerline goodness [0,1] 0.9992977528089888 Centerline is valid? [True, True] Translation: X:123.29, Y:-4.23, Z:-0.87 [[ 9.99463188e-01 3.23585752e-02 5.12435071e-03 1.23290494e+02] [-3.23577593e-02 9.99476321e-01 -2.42067276e-04 -4.22679551e+00] [-5.12950014e-03 7.61248245e-05 9.99986841e-01 -8.74085109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.310281693 meters Centerline goodness [0,1] 0.9995778453225261 Centerline is valid? [True, True] Translation: X:123.32, Y:-4.22, Z:-0.88 [[ 9.99333882e-01 3.63712764e-02 2.98712071e-03 1.23322638e+02] [-3.63710167e-02 9.99338346e-01 -1.41259217e-04 -4.22349137e+00] [-2.99028205e-03 3.25205046e-05 9.99995529e-01 -8.77200884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.340281693 meters Centerline goodness [0,1] 0.9996799863460841 Centerline is valid? [True, True] Translation: X:123.35, Y:-4.22, Z:-0.88 [[ 9.99247124e-01 3.87456928e-02 1.98916432e-03 1.23352883e+02] [-3.87455814e-02 9.99249104e-01 -9.45120733e-05 -4.22155704e+00] [-1.99133260e-03 1.73695894e-05 9.99998017e-01 -8.79553495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.370281693 meters Centerline goodness [0,1] 0.9996799863460841 Centerline is valid? [True, True] Translation: X:123.38, Y:-4.22, Z:-0.88 [[ 9.99246249e-01 3.87682364e-02 1.98916458e-03 1.23383682e+02] [-3.87681250e-02 9.99248229e-01 -9.45064671e-05 -4.22306707e+00] [-1.99133304e-03 1.73190515e-05 9.99998017e-01 -8.79691835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.400281693 meters Centerline goodness [0,1] 0.9995930954726517 Centerline is valid? [True, True] Translation: X:123.41, Y:-4.22, Z:-0.88 [[ 9.99156307e-01 4.10556428e-02 1.05234718e-03 1.23414809e+02] [-4.10556129e-02 9.99156862e-01 -5.00125017e-05 -4.22042712e+00] [-1.05351320e-03 6.76554819e-06 9.99999445e-01 -8.80637000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.430281693 meters Centerline goodness [0,1] 0.9996130280554659 Centerline is valid? [True, True] Translation: X:123.45, Y:-4.22, Z:-0.88 [[ 9.99023826e-01 4.41359661e-02 1.84728681e-03 1.23445812e+02] [-4.41358790e-02 9.99025533e-01 -8.78807589e-05 -4.21679291e+00] [-1.84936540e-03 6.26334459e-06 9.99998290e-01 -8.80186973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.460281693 meters Centerline goodness [0,1] 0.999743529462053 Centerline is valid? [True, True] Translation: X:123.48, Y:-4.22, Z:-0.88 [[ 9.98985667e-01 4.49334258e-02 2.93669416e-03 1.23476123e+02] [-4.49332092e-02 9.98989984e-01 -1.39707007e-04 -4.21764007e+00] [-2.94000557e-03 7.61020423e-06 9.99995678e-01 -8.78407287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49028169300001 meters Centerline goodness [0,1] 0.999745951095586 Centerline is valid? [True, True] Translation: X:123.51, Y:-4.22, Z:-0.87 [[ 9.98909476e-01 4.64353591e-02 4.85955089e-03 1.23506797e+02] [-4.64347839e-02 9.98921297e-01 -2.31187096e-04 -4.21595780e+00] [-4.86504413e-03 5.28278600e-06 9.99988166e-01 -8.74478514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.520281693 meters Centerline goodness [0,1] 0.9997033269760542 Centerline is valid? [True, True] Translation: X:123.54, Y:-4.21, Z:-0.87 [[ 9.98847860e-01 4.76510542e-02 5.68582641e-03 1.23538502e+02] [-4.76502859e-02 9.98864043e-01 -2.70581772e-04 -4.21436108e+00] [-5.69226107e-03 -6.61229664e-07 9.99983799e-01 -8.72828292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.550281693 meters Centerline goodness [0,1] 0.9997242140099283 Centerline is valid? [True, True] Translation: X:123.57, Y:-4.21, Z:-0.87 [[ 9.98767563e-01 4.93024633e-02 5.71165534e-03 1.23569945e+02] [-4.93017143e-02 9.98783894e-01 -2.71938096e-04 -4.21210789e+00] [-5.71811658e-03 -9.99145113e-06 9.99983651e-01 -8.73129402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.580281693 meters Centerline goodness [0,1] 0.9996821697213688 Centerline is valid? [True, True] Translation: X:123.60, Y:-4.20, Z:-0.88 [[ 9.98528139e-01 5.40403520e-02 4.60389793e-03 1.23600472e+02] [-5.40399153e-02 9.98538752e-01 -2.19276606e-04 -4.20414089e+00] [-4.60902028e-03 -2.98403928e-05 9.99989378e-01 -8.75410228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.610281693 meters Centerline goodness [0,1] 0.9997025959128181 Centerline is valid? [True, True] Translation: X:123.63, Y:-4.20, Z:-0.88 [[ 9.98411082e-01 5.62248223e-02 3.75244206e-03 1.23630030e+02] [-5.62245476e-02 9.98418133e-01 -1.78731389e-04 -4.19872689e+00] [-3.75655534e-03 -3.25319575e-05 9.99992944e-01 -8.76987902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.640281693 meters Centerline goodness [0,1] 0.9995581923756627 Centerline is valid? [True, True] Translation: X:123.66, Y:-4.19, Z:-0.88 [[ 9.98283410e-01 5.84716723e-02 3.36118335e-03 1.23659171e+02] [-5.84714647e-02 9.98289067e-01 -1.60086655e-04 -4.19288638e+00] [-3.36479312e-03 -3.67214619e-05 9.99994338e-01 -8.78423848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.670281693 meters Centerline goodness [0,1] 0.9991111111111111 Centerline is valid? [True, True] Translation: X:123.69, Y:-4.18, Z:-0.88 [[ 9.98014650e-01 6.28091346e-02 4.66586331e-03 1.23688829e+02] [-6.28087829e-02 9.98025555e-01 -2.22014333e-04 -4.18275817e+00] [-4.67059534e-03 -7.14836386e-05 9.99989090e-01 -8.76057087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.700281693 meters Centerline goodness [0,1] 0.9985312586474808 Centerline is valid? [True, True] Translation: X:123.72, Y:-4.18, Z:-0.87 [[ 9.97914724e-01 6.43095707e-02 5.52114602e-03 1.23718943e+02] [-6.43091023e-02 9.97929993e-01 -2.62514858e-04 -4.17985766e+00] [-5.52659943e-03 -9.30925020e-05 9.99984724e-01 -8.74454644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.730281693 meters Centerline goodness [0,1] 0.9979767750637527 Centerline is valid? [True, True] Translation: X:123.75, Y:-4.17, Z:-0.87 [[ 9.97829317e-01 6.55360700e-02 6.45579471e-03 1.23747482e+02] [-6.55354565e-02 9.97850194e-01 -3.06755224e-04 -4.17363066e+00] [-6.46201953e-03 -1.16994098e-04 9.99979114e-01 -8.73732237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.760281693 meters Centerline goodness [0,1] 0.9980735476689927 Centerline is valid? [True, True] Translation: X:123.78, Y:-4.17, Z:-0.87 [[ 9.97882994e-01 6.47260151e-02 6.33037513e-03 1.23776507e+02] [-6.47254105e-02 9.97903067e-01 -3.00546065e-04 -4.17360086e+00] [-6.33655390e-03 -1.09826322e-04 9.99979918e-01 -8.74302165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.790281693 meters Centerline goodness [0,1] 0.998129291469144 Centerline is valid? [True, True] Translation: X:123.81, Y:-4.17, Z:-0.88 [[ 9.97945217e-01 6.37911059e-02 6.00328215e-03 1.23806344e+02] [-6.37905463e-02 9.97963268e-01 -2.84846551e-04 -4.17396363e+00] [-6.00922575e-03 -9.86913944e-05 9.99981940e-01 -8.75014046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.820281693 meters Centerline goodness [0,1] 0.9986399472979578 Centerline is valid? [True, True] Translation: X:123.83, Y:-4.17, Z:-0.88 [[ 9.98036127e-01 6.24817102e-02 4.46381668e-03 1.23834859e+02] [-6.24813880e-02 9.98046107e-01 -2.11730196e-04 -4.17037712e+00] [-4.46832413e-03 -6.75910776e-05 9.99990015e-01 -8.77538795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.850281693 meters Centerline goodness [0,1] 0.9991439272338148 Centerline is valid? [True, True] Translation: X:123.86, Y:-4.17, Z:-0.88 [[ 9.98062405e-01 6.21225723e-02 3.49585330e-03 1.23863945e+02] [-6.21223728e-02 9.98068526e-01 -1.65748294e-04 -4.16958913e+00] [-3.49939786e-03 -5.17435608e-05 9.99993876e-01 -8.79870982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.880281693 meters Centerline goodness [0,1] 0.9987132973337833 Centerline is valid? [True, True] Translation: X:123.89, Y:-4.16, Z:-0.88 [[ 9.98057420e-01 6.22467253e-02 2.59446134e-03 1.23891957e+02] [-6.22466159e-02 9.98060792e-01 -1.22967811e-04 -4.16458938e+00] [-2.59708448e-03 -3.87675023e-05 9.99996627e-01 -8.81368098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.910281693 meters Centerline goodness [0,1] 0.9987321443664948 Centerline is valid? [True, True] Translation: X:123.92, Y:-4.16, Z:-0.88 [[ 9.98068663e-01 6.20517608e-02 2.91951239e-03 1.23919788e+02] [-6.20516220e-02 9.98072932e-01 -1.38184298e-04 -4.15698678e+00] [-2.92246087e-03 -4.32430619e-05 9.99995729e-01 -8.81533141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.940281693 meters Centerline goodness [0,1] 0.9989317837075651 Centerline is valid? [True, True] Translation: X:123.95, Y:-4.16, Z:-0.88 [[ 9.98074001e-01 6.19183538e-02 3.79564548e-03 1.23948619e+02] [-6.19181194e-02 9.98081216e-01 -1.79356596e-04 -4.15993930e+00] [-3.79946792e-03 -5.60080743e-05 9.99992780e-01 -8.79572657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.970281693 meters Centerline goodness [0,1] 0.998582160617924 Centerline is valid? [True, True] Translation: X:123.98, Y:-4.15, Z:-0.88 [[ 9.98089781e-01 6.16294152e-02 4.31324986e-03 1.23976531e+02] [-6.16291108e-02 9.98099099e-01 -2.03581818e-04 -4.15135880e+00] [-4.31759742e-03 -6.26288209e-05 9.99990677e-01 -8.78589391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.000281693 meters Centerline goodness [0,1] 0.9986448429923561 Centerline is valid? [True, True] Translation: X:124.01, Y:-4.15, Z:-0.88 [[ 9.98242520e-01 5.91186717e-02 4.10529808e-03 1.24006012e+02] [-5.91183758e-02 9.98250961e-01 -1.93505967e-04 -4.14972836e+00] [-4.10955757e-03 -4.95326704e-05 9.99991555e-01 -8.78925254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.030281693 meters Centerline goodness [0,1] 0.9988255141045079 Centerline is valid? [True, True] Translation: X:124.03, Y:-4.15, Z:-0.88 [[ 9.98375249e-01 5.68098698e-02 4.41608494e-03 1.24034754e+02] [-5.68095054e-02 9.98385014e-01 -2.08006962e-04 -4.15179935e+00] [-4.42076988e-03 -4.32065991e-05 9.99990227e-01 -8.78969538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.060281693 meters Centerline goodness [0,1] 0.999464874352498 Centerline is valid? [True, True] Translation: X:124.06, Y:-4.16, Z:-0.88 [[ 9.98678989e-01 5.11595220e-02 4.79384482e-03 1.24064071e+02] [-5.11590285e-02 9.98690494e-01 -2.25591226e-04 -4.16038728e+00] [-4.79910839e-03 -1.99552267e-05 9.99988484e-01 -8.79146702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.090281693 meters Centerline goodness [0,1] 0.9993480272566669 Centerline is valid? [True, True] Translation: X:124.09, Y:-4.17, Z:-0.88 [[ 9.98824769e-01 4.82968024e-02 4.06197035e-03 1.24092995e+02] [-4.82964247e-02 9.98833029e-01 -1.91079392e-04 -4.16503375e+00] [-4.06645867e-03 -5.32381533e-06 9.99991732e-01 -8.80496391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.120281693 meters Centerline goodness [0,1] 0.9994069304414132 Centerline is valid? [True, True] Translation: X:124.12, Y:-4.17, Z:-0.88 [[ 9.98955383e-01 4.55494617e-02 3.65924007e-03 1.24121974e+02] [-4.55491372e-02 9.98962085e-01 -1.72035777e-04 -4.17095827e+00] [-3.66327822e-03 5.18083725e-06 9.99993290e-01 -8.81400086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.150281693 meters Centerline goodness [0,1] 0.9995116876499437 Centerline is valid? [True, True] Translation: X:124.15, Y:-4.18, Z:-0.88 [[ 9.99089797e-01 4.24472579e-02 4.21986509e-03 1.24150468e+02] [-4.24467995e-02 9.99098709e-01 -1.98170702e-04 -4.17775894e+00] [-4.22447357e-03 1.88705586e-05 9.99991077e-01 -8.79563650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.180281693 meters Centerline goodness [0,1] 0.9994042299672327 Centerline is valid? [True, True] Translation: X:124.18, Y:-4.18, Z:-0.88 [[ 9.99090945e-01 4.23580210e-02 4.80440260e-03 1.24180567e+02] [-4.23574264e-02 9.99102496e-01 -2.25486489e-04 -4.17805864e+00] [-4.80964179e-03 2.17793799e-05 9.99988433e-01 -8.77693121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.210281693 meters Centerline goodness [0,1] 0.9993441513106396 Centerline is valid? [True, True] Translation: X:124.21, Y:-4.18, Z:-0.88 [[ 9.98999699e-01 4.43862271e-02 5.42817228e-03 1.24210848e+02] [-4.43854988e-02 9.99014446e-01 -2.54627522e-04 -4.17516884e+00] [-5.43412448e-03 1.34406835e-05 9.99985235e-01 -8.76907729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24028169300001 meters Centerline goodness [0,1] 0.9993386807748101 Centerline is valid? [True, True] Translation: X:124.24, Y:-4.17, Z:-0.88 [[ 9.98947846e-01 4.55442027e-02 5.37833510e-03 1.24240464e+02] [-4.55435051e-02 9.98962324e-01 -2.52169163e-04 -4.17471610e+00] [-5.38423898e-03 6.95560992e-06 9.99985505e-01 -8.77902094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.270281693 meters Centerline goodness [0,1] 0.9993022370702415 Centerline is valid? [True, True] Translation: X:124.27, Y:-4.17, Z:-0.88 [[ 9.98910322e-01 4.63698793e-02 5.29170098e-03 1.24268785e+02] [-4.63692163e-02 9.98924339e-01 -2.47980813e-04 -4.17454484e+00] [-5.29750774e-03 2.33856664e-06 9.99985968e-01 -8.78349161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.300281693 meters Centerline goodness [0,1] 0.9992804232804233 Centerline is valid? [True, True] Translation: X:124.30, Y:-4.18, Z:-0.88 [[ 9.98988358e-01 4.44711949e-02 6.67626586e-03 1.24297919e+02] [-4.44700987e-02 9.99010667e-01 -3.12626297e-04 -4.17909215e+00] [-6.68356367e-03 1.54158300e-05 9.99977665e-01 -8.76569200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.330281693 meters Centerline goodness [0,1] 0.9996151543658599 Centerline is valid? [True, True] Translation: X:124.33, Y:-4.19, Z:-0.88 [[ 9.99082045e-01 4.21860470e-02 7.44345635e-03 1.24328207e+02] [-4.21846217e-02 9.99109772e-01 -3.48440486e-04 -4.18556671e+00] [-7.45152931e-03 3.41212423e-05 9.99972236e-01 -8.75408220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.360281693 meters Centerline goodness [0,1] 0.9995307167235495 Centerline is valid? [True, True] Translation: X:124.36, Y:-4.19, Z:-0.87 [[ 9.99195554e-01 3.93015890e-02 7.97684249e-03 1.24358738e+02] [-3.92998603e-02 9.99227392e-01 -3.73409172e-04 -4.19400131e+00] [-7.98535509e-03 5.96199889e-05 9.99968115e-01 -8.74381081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.390281693 meters Centerline goodness [0,1] 0.9997243660418964 Centerline is valid? [True, True] Translation: X:124.39, Y:-4.21, Z:-0.88 [[ 9.99428839e-01 3.31124660e-02 6.74981442e-03 1.24389063e+02] [-3.31110848e-02 9.99451628e-01 -3.16293857e-04 -4.21111550e+00] [-6.75658627e-03 9.26195243e-05 9.99977170e-01 -8.77601129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.420281693 meters Centerline goodness [0,1] 0.9997667465383065 Centerline is valid? [True, True] Translation: X:124.42, Y:-4.22, Z:-0.88 [[ 9.99514501e-01 3.06875180e-02 5.38874327e-03 1.24419699e+02] [-3.06865996e-02 9.99529023e-01 -2.53045145e-04 -4.21891695e+00] [-5.39397062e-03 8.75600852e-05 9.99985449e-01 -8.80588468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.450281693 meters Centerline goodness [0,1] 0.9997205923442303 Centerline is valid? [True, True] Translation: X:124.45, Y:-4.22, Z:-0.88 [[ 9.99571893e-01 2.89339860e-02 4.34224997e-03 1.24450455e+02] [-2.89333729e-02 9.99581322e-01 -2.03979398e-04 -4.22419494e+00] [-4.34633390e-03 7.82561355e-05 9.99990552e-01 -8.82384913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.480281693 meters Centerline goodness [0,1] 0.9994742818690331 Centerline is valid? [True, True] Translation: X:124.48, Y:-4.23, Z:-0.88 [[ 9.99594860e-01 2.81986056e-02 3.86705171e-03 1.24480710e+02] [-2.81981135e-02 9.99602338e-01 -1.81739251e-04 -4.23457155e+00] [-3.87063872e-03 7.26220580e-05 9.99992506e-01 -8.83292196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.510281693 meters Centerline goodness [0,1] 0.999490575649516 Centerline is valid? [True, True] Translation: X:124.51, Y:-4.24, Z:-0.88 [[ 9.99574851e-01 2.88683581e-02 4.09091527e-03 1.24511039e+02] [-2.88678127e-02 9.99583219e-01 -1.92313230e-04 -4.23757773e+00] [-4.09476202e-03 7.41356923e-05 9.99991614e-01 -8.82580868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.540281693 meters Centerline goodness [0,1] 0.9995740330550349 Centerline is valid? [True, True] Translation: X:124.54, Y:-4.24, Z:-0.88 [[ 9.99536969e-01 3.00700540e-02 4.65179051e-03 1.24541494e+02] [-3.00693618e-02 9.99547791e-01 -2.18681707e-04 -4.24047666e+00] [-4.65626269e-03 7.87040792e-05 9.99989156e-01 -8.82154777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.570281693 meters Centerline goodness [0,1] 0.9997223823862301 Centerline is valid? [True, True] Translation: X:124.57, Y:-4.24, Z:-0.88 [[ 9.99424648e-01 3.37142435e-02 3.70443755e-03 1.24572569e+02] [-3.37138295e-02 9.99431512e-01 -1.74176317e-04 -4.24169366e+00] [-3.70820385e-03 4.91853279e-05 9.99993123e-01 -8.84289093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.600281693 meters Centerline goodness [0,1] 0.9997853063678132 Centerline is valid? [True, True] Translation: X:124.60, Y:-4.24, Z:-0.89 [[ 9.99370765e-01 3.53471389e-02 2.94176896e-03 1.24604265e+02] [-3.53468848e-02 9.99375094e-01 -1.38322238e-04 -4.24339445e+00] [-2.94481993e-03 3.42528322e-05 9.99995663e-01 -8.86335141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.630281693 meters Centerline goodness [0,1] 0.9997667316990415 Centerline is valid? [True, True] Translation: X:124.64, Y:-4.24, Z:-0.89 [[ 9.99267862e-01 3.81902342e-02 2.29025929e-03 1.24635116e+02] [-3.81900876e-02 9.99270487e-01 -1.07763121e-04 -4.24499118e+00] [-2.29270402e-03 2.02190203e-05 9.99997372e-01 -8.87486349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.660281693 meters Centerline goodness [0,1] 0.999723909442297 Centerline is valid? [True, True] Translation: X:124.66, Y:-4.25, Z:-0.89 [[ 9.99205942e-01 3.97681076e-02 2.44615932e-03 1.24664950e+02] [-3.97679451e-02 9.99208936e-01 -1.15068423e-04 -4.24642855e+00] [-2.44880030e-03 1.76983227e-05 9.99997002e-01 -8.87129401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.690281693 meters Centerline goodness [0,1] 0.9995490368716043 Centerline is valid? [True, True] Translation: X:124.69, Y:-4.25, Z:-0.89 [[ 9.99150606e-01 4.11399341e-02 2.36057661e-03 1.24694737e+02] [-4.11397863e-02 9.99153394e-01 -1.11153211e-04 -4.24632723e+00] [-2.36315097e-03 1.39451810e-05 9.99997208e-01 -8.86978637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.720281693 meters Centerline goodness [0,1] 0.9992537472548559 Centerline is valid? [True, True] Translation: X:124.72, Y:-4.24, Z:-0.89 [[ 9.98961419e-01 4.54933893e-02 2.53663997e-03 1.24724150e+02] [-4.54932329e-02 9.98964640e-01 -1.19380425e-04 -4.24208659e+00] [-2.53944466e-03 3.85648610e-06 9.99996776e-01 -8.86245692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.750281693 meters Centerline goodness [0,1] 0.9994257518397209 Centerline is valid? [True, True] Translation: X:124.75, Y:-4.24, Z:-0.89 [[ 9.98842195e-01 4.80301925e-02 2.71481359e-03 1.24753179e+02] [-4.80300227e-02 9.98845884e-01 -1.27718652e-04 -4.23824329e+00] [-2.71781473e-03 -2.82177998e-06 9.99996307e-01 -8.85671318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.780281693 meters Centerline goodness [0,1] 0.9991641663094728 Centerline is valid? [True, True] Translation: X:124.78, Y:-4.23, Z:-0.88 [[ 9.98700583e-01 5.08317090e-02 3.64457725e-03 1.24783544e+02] [-5.08314224e-02 9.98707233e-01 -1.71283152e-04 -4.23338836e+00] [-3.64857228e-03 -1.41984623e-05 9.99993344e-01 -8.83304436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.810281693 meters Centerline goodness [0,1] 0.9989437661075669 Centerline is valid? [True, True] Translation: X:124.81, Y:-4.22, Z:-0.88 [[ 9.98383514e-01 5.65306579e-02 5.88583473e-03 1.24813207e+02] [-5.65300106e-02 9.98400862e-01 -2.76413367e-04 -4.21951959e+00] [-5.89204830e-03 -5.67597509e-05 9.99982640e-01 -8.78740699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.840281693 meters Centerline goodness [0,1] 0.9987583756127845 Centerline is valid? [True, True] Translation: X:124.84, Y:-4.21, Z:-0.88 [[ 9.98267027e-01 5.84699960e-02 6.64848313e-03 1.24842646e+02] [-5.84692145e-02 9.98289163e-01 -3.12011417e-04 -4.21479433e+00] [-6.65535197e-03 -7.72608772e-05 9.99977850e-01 -8.77763041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.870281693 meters Centerline goodness [0,1] 0.9986913204998311 Centerline is valid? [True, True] Translation: X:124.87, Y:-4.21, Z:-0.88 [[ 9.98168711e-01 6.01242379e-02 6.65580790e-03 1.24871995e+02] [-6.01234927e-02 9.98190898e-01 -3.12173010e-04 -4.20913189e+00] [-6.66253603e-03 -8.85690869e-05 9.99977801e-01 -8.77856955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.900281693 meters Centerline goodness [0,1] 0.9985345028991356 Centerline is valid? [True, True] Translation: X:124.90, Y:-4.20, Z:-0.88 [[ 9.98087558e-01 6.14177752e-02 7.00590052e-03 1.24901583e+02] [-6.14169828e-02 9.98112141e-01 -3.28388051e-04 -4.20305748e+00] [-7.01284324e-03 -1.02521244e-04 9.99975404e-01 -8.77791061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.930281693 meters Centerline goodness [0,1] 0.998837909959542 Centerline is valid? [True, True] Translation: X:124.93, Y:-4.21, Z:-0.88 [[ 9.98113378e-01 6.09639765e-02 7.28544672e-03 1.24930903e+02] [-6.09631088e-02 9.98139962e-01 -3.41321522e-04 -4.20629081e+00] [-7.29270383e-03 -1.03465904e-04 9.99973403e-01 -8.78451263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.960281693 meters Centerline goodness [0,1] 0.9990593466735078 Centerline is valid? [True, True] Translation: X:124.96, Y:-4.21, Z:-0.88 [[ 9.98151612e-01 6.03192050e-02 7.41302338e-03 1.24961087e+02] [-6.03182903e-02 9.98179134e-01 -3.47115903e-04 -4.20501681e+00] [-7.42046301e-03 -1.00666598e-04 9.99972463e-01 -8.78141473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99028169300001 meters Centerline goodness [0,1] 0.9987628778021884 Centerline is valid? [True, True] Translation: X:124.99, Y:-4.20, Z:-0.88 [[ 9.98260022e-01 5.85705859e-02 6.81287796e-03 1.24989924e+02] [-5.85697738e-02 9.98283266e-01 -3.18829343e-04 -4.19611008e+00] [-6.81985609e-03 -8.07541347e-05 9.99976741e-01 -8.78445289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.020281693 meters Centerline goodness [0,1] 0.998878900052882 Centerline is valid? [True, True] Translation: X:125.02, Y:-4.20, Z:-0.88 [[ 9.98327012e-01 5.75420984e-02 5.66426391e-03 1.25019107e+02] [-5.75415216e-02 9.98343079e-01 -2.64891902e-04 -4.19513642e+00] [-5.67012111e-03 -6.14816225e-05 9.99983923e-01 -8.81094595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.050281693 meters Centerline goodness [0,1] 0.999169240600703 Centerline is valid? [True, True] Translation: X:125.05, Y:-4.20, Z:-0.88 [[ 9.98393949e-01 5.64784770e-02 4.43895469e-03 1.25047346e+02] [-5.64781129e-02 9.98403816e-01 -2.07445677e-04 -4.19804589e+00] [-4.44358552e-03 -4.35912756e-05 9.99990126e-01 -8.84025107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.080281693 meters Centerline goodness [0,1] 0.9993172022361627 Centerline is valid? [True, True] Translation: X:125.08, Y:-4.20, Z:-0.89 [[ 9.98573997e-01 5.32513534e-02 3.77714223e-03 1.25076507e+02] [-5.32510672e-02 9.98581140e-01 -1.76375952e-04 -4.19945299e+00] [-3.78117525e-03 -2.50124151e-05 9.99992851e-01 -8.86368568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.110281693 meters Centerline goodness [0,1] 0.9995293513606024 Centerline is valid? [True, True] Translation: X:125.10, Y:-4.20, Z:-0.89 [[ 9.98702623e-01 5.07780064e-02 3.82948342e-03 1.25104624e+02] [-5.07776947e-02 9.98709965e-01 -1.78635791e-04 -4.20176757e+00] [-3.83361402e-03 -1.60483070e-05 9.99992652e-01 -8.86169242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.140281693 meters Centerline goodness [0,1] 0.9996569468267581 Centerline is valid? [True, True] Translation: X:125.13, Y:-4.21, Z:-0.89 [[ 9.98928770e-01 4.60880463e-02 4.14786799e-03 1.25133849e+02] [-4.60876409e-02 9.98937381e-01 -1.93331181e-04 -4.20704315e+00] [-4.15237065e-03 1.95862781e-06 9.99991379e-01 -8.86350042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.170281693 meters Centerline goodness [0,1] 0.9996167848246791 Centerline is valid? [True, True] Translation: X:125.16, Y:-4.21, Z:-0.89 [[ 9.99015917e-01 4.41788608e-02 3.92756492e-03 1.25162051e+02] [-4.41784828e-02 9.99023637e-01 -1.82986957e-04 -4.21079956e+00] [-3.93181435e-03 9.29302346e-06 9.99992270e-01 -8.86928692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.200281693 meters Centerline goodness [0,1] 0.9997889182058047 Centerline is valid? [True, True] Translation: X:125.19, Y:-4.22, Z:-0.89 [[ 9.99085082e-01 4.26084159e-02 3.67715913e-03 1.25190078e+02] [-4.26080744e-02 9.99091849e-01 -1.71207975e-04 -4.21509720e+00] [-3.68111461e-03 1.43746639e-05 9.99993225e-01 -8.87727208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.230281693 meters Centerline goodness [0,1] 0.9997889182058047 Centerline is valid? [True, True] Translation: X:125.22, Y:-4.22, Z:-0.89 [[ 9.99086837e-01 4.25672396e-02 3.67716442e-03 1.25218377e+02] [-4.25668982e-02 9.99093604e-01 -1.71094158e-04 -4.21631785e+00] [-3.68111446e-03 1.44124374e-05 9.99993225e-01 -8.87854296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.260281693 meters Centerline goodness [0,1] 0.9997439453750133 Centerline is valid? [True, True] Translation: X:125.25, Y:-4.22, Z:-0.89 [[ 9.99197793e-01 3.99543620e-02 2.72392476e-03 1.25248220e+02] [-3.99541652e-02 9.99201506e-01 -1.26642190e-04 -4.22078468e+00] [-2.72680963e-03 1.77084565e-05 9.99996282e-01 -8.90082640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.290281693 meters Centerline goodness [0,1] 0.9997655234156844 Centerline is valid? [True, True] Translation: X:125.28, Y:-4.22, Z:-0.89 [[ 9.99253617e-01 3.85595498e-02 2.31722165e-03 1.25278048e+02] [-3.85594037e-02 9.99256304e-01 -1.07700397e-04 -4.22316115e+00] [-2.31965122e-03 1.82693262e-05 9.99997309e-01 -8.90988360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.320281693 meters Centerline goodness [0,1] 0.999872854418309 Centerline is valid? [True, True] Translation: X:125.31, Y:-4.23, Z:-0.89 [[ 9.99343886e-01 3.61799171e-02 1.67671591e-03 1.25306431e+02] [-3.61798372e-02 9.99345292e-01 -7.79349700e-05 -4.23107666e+00] [-1.67843783e-03 1.72205272e-05 9.99998591e-01 -8.92293967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.350281693 meters Centerline goodness [0,1] 0.9998283998283999 Centerline is valid? [True, True] Translation: X:125.34, Y:-4.23, Z:-0.89 [[ 9.99376399e-01 3.52283401e-02 2.40358409e-03 1.25335586e+02] [-3.52281736e-02 9.99379289e-01 -1.11584198e-04 -4.23415218e+00] [-2.40602308e-03 2.68407367e-05 9.99997105e-01 -8.91068182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.380281693 meters Centerline goodness [0,1] 0.9998285065060344 Centerline is valid? [True, True] Translation: X:125.37, Y:-4.24, Z:-0.89 [[ 9.99419404e-01 3.39306133e-02 3.09320059e-03 1.25365071e+02] [-3.39303316e-02 9.99424190e-01 -1.43506651e-04 -4.23672548e+00] [-3.09628876e-03 3.84700103e-05 9.99995206e-01 -8.88921825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.410281693 meters Centerline goodness [0,1] 0.9996391577517405 Centerline is valid? [True, True] Translation: X:125.39, Y:-4.24, Z:-0.89 [[ 9.99446764e-01 3.30574718e-02 3.65654987e-03 1.25393874e+02] [-3.30570728e-02 9.99453451e-01 -1.69532236e-04 -4.24304078e+00] [-3.66015570e-03 4.85636093e-05 9.99993300e-01 -8.88740440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.440281693 meters Centerline goodness [0,1] 0.9997043107271844 Centerline is valid? [True, True] Translation: X:125.42, Y:-4.25, Z:-0.89 [[ 9.99480124e-01 3.19725345e-02 4.15191285e-03 1.25424258e+02] [-3.19720109e-02 9.99488746e-01 -1.92442097e-04 -4.24748081e+00] [-4.15594303e-03 5.95970482e-05 9.99991362e-01 -8.88475098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.470281693 meters Centerline goodness [0,1] 0.9995988514483574 Centerline is valid? [True, True] Translation: X:125.45, Y:-4.25, Z:-0.89 [[ 9.99515084e-01 3.07779326e-02 4.72405351e-03 1.25454953e+02] [-3.07772414e-02 9.99526245e-01 -2.18960946e-04 -4.25181026e+00] [-4.72855463e-03 7.34614329e-05 9.99988818e-01 -8.87918170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.500281693 meters Centerline goodness [0,1] 0.9994473611494888 Centerline is valid? [True, True] Translation: X:125.49, Y:-4.26, Z:-0.89 [[ 9.99592625e-01 2.82018283e-02 4.38653129e-03 1.25486339e+02] [-2.82012075e-02 9.99602246e-01 -2.03314602e-04 -4.25537114e+00] [-4.39052038e-03 7.95262970e-05 9.99990358e-01 -8.88524535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.530281693 meters Centerline goodness [0,1] 0.9993114577729962 Centerline is valid? [True, True] Translation: X:125.52, Y:-4.26, Z:-0.89 [[ 9.99639383e-01 2.65489771e-02 4.03192841e-03 1.25517066e+02] [-2.65484389e-02 9.99647511e-01 -1.86965501e-04 -4.25862944e+00] [-4.03547094e-03 7.98566730e-05 9.99991854e-01 -8.89622895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.560281693 meters Centerline goodness [0,1] 0.9990511310948653 Centerline is valid? [True, True] Translation: X:125.55, Y:-4.27, Z:-0.89 [[ 9.99709071e-01 2.38502874e-02 3.59670738e-03 1.25547562e+02] [-2.38498416e-02 9.99715538e-01 -1.66791904e-04 -4.26594101e+00] [-3.59966229e-03 8.09624785e-05 9.99993518e-01 -8.90115466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.590281693 meters Centerline goodness [0,1] 0.9984454524159373 Centerline is valid? [True, True] Translation: X:125.58, Y:-4.28, Z:-0.89 [[ 9.99727506e-01 2.30596705e-02 3.62850533e-03 1.25576976e+02] [-2.30592111e-02 9.99734087e-01 -1.68409139e-04 -4.27529702e+00] [-3.63142392e-03 8.46927783e-05 9.99993403e-01 -8.89656419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.620281693 meters Centerline goodness [0,1] 0.9987288135593221 Centerline is valid? [True, True] Translation: X:125.61, Y:-4.27, Z:-0.89 [[ 9.99743180e-01 2.21829792e-02 4.63576741e-03 1.25607197e+02] [-2.21822184e-02 9.99753921e-01 -2.15481210e-04 -4.27324610e+00] [-4.63940667e-03 1.12594265e-04 9.99989232e-01 -8.87925767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.650281693 meters Centerline goodness [0,1] 0.9976485677640017 Centerline is valid? [True, True] Translation: X:125.64, Y:-4.28, Z:-0.89 [[ 9.99758203e-01 2.13072629e-02 5.43466746e-03 1.25638397e+02] [-2.13062042e-02 9.99772965e-01 -2.52637409e-04 -4.27661506e+00] [-5.43881661e-03 1.36784188e-04 9.99985200e-01 -8.86403947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.680281693 meters Centerline goodness [0,1] 0.9970102415131147 Centerline is valid? [True, True] Translation: X:125.67, Y:-4.29, Z:-0.89 [[ 9.99815139e-01 1.83542316e-02 5.72795392e-03 1.25668890e+02] [-1.83530062e-02 9.99831534e-01 -2.66419660e-04 -4.28680214e+00] [-5.73187889e-03 1.61245236e-04 9.99983560e-01 -8.87415996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.710281693 meters Centerline goodness [0,1] 0.9961098543309583 Centerline is valid? [True, True] Translation: X:125.70, Y:-4.30, Z:-0.89 [[ 9.99877155e-01 1.49224429e-02 4.79546935e-03 1.25698304e+02] [-1.49215439e-02 9.99888643e-01 -2.23190117e-04 -4.30183760e+00] [-4.79826588e-03 1.51606892e-04 9.99988477e-01 -8.89746818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74028169300001 meters Centerline goodness [0,1] 0.9948167662618604 Centerline is valid? [True, True] Translation: X:125.73, Y:-4.31, Z:-0.89 [[ 9.99905833e-01 1.29267107e-02 4.60704044e-03 1.25729820e+02] [-1.29258587e-02 9.99916435e-01 -2.14654239e-04 -4.31024453e+00] [-4.60943022e-03 1.55084072e-04 9.99989364e-01 -8.89759396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.770281693 meters Centerline goodness [0,1] 0.9946023749550198 Centerline is valid? [True, True] Translation: X:125.76, Y:-4.32, Z:-0.89 [[ 9.99929524e-01 1.11546452e-02 4.06447456e-03 1.25761744e+02] [-1.11539653e-02 9.99937775e-01 -1.89921894e-04 -4.31896195e+00] [-4.06634016e-03 1.44573501e-04 9.99991722e-01 -8.91184453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.800281693 meters Centerline goodness [0,1] 0.993818578486942 Centerline is valid? [True, True] Translation: X:125.79, Y:-4.33, Z:-0.89 [[ 9.99949401e-01 9.55477827e-03 3.14673265e-03 1.25793213e+02] [-9.55436292e-03 9.99954345e-01 -1.47000821e-04 -4.32778571e+00] [-3.14799355e-03 1.16928357e-04 9.99995038e-01 -8.92466364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.830281693 meters Centerline goodness [0,1] 0.9923604184792989 Centerline is valid? [True, True] Translation: X:125.82, Y:-4.34, Z:-0.89 [[ 9.99963957e-01 8.28848950e-03 1.83985412e-03 1.25824050e+02] [-8.28834537e-03 9.99965647e-01 -8.59470922e-05 -4.34215494e+00] [-1.84050328e-03 7.06946481e-05 9.99998304e-01 -8.93775464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.860281693 meters Centerline goodness [0,1] 0.9927469956396895 Centerline is valid? [True, True] Translation: X:125.86, Y:-4.35, Z:-0.89 [[ 9.99961558e-01 8.47366994e-03 2.25395126e-03 1.25855634e+02] [-8.47345246e-03 9.99964094e-01 -1.06020856e-04 -4.34737994e+00] [-2.25476872e-03 8.69180309e-05 9.99997454e-01 -8.93227141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.890281693 meters Centerline goodness [0,1] 0.9925118544424657 Centerline is valid? [True, True] Translation: X:125.89, Y:-4.36, Z:-0.89 [[ 9.99941388e-01 9.92624692e-03 4.32331363e-03 1.25887207e+02] [-9.92545955e-03 9.99950721e-01 -2.03540246e-04 -4.35572506e+00] [-4.32512097e-03 1.60617442e-04 9.99990634e-01 -8.90177587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.920281693 meters Centerline goodness [0,1] 0.9929669679817521 Centerline is valid? [True, True] Translation: X:125.92, Y:-4.36, Z:-0.89 [[ 9.99927778e-01 1.09774266e-02 4.89242392e-03 1.25919087e+02] [-1.09764297e-02 9.99939731e-01 -2.30560845e-04 -4.36139156e+00] [-4.89466002e-03 1.76842846e-04 9.99988005e-01 -8.89517750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.950281693 meters Centerline goodness [0,1] 0.9942461870412286 Centerline is valid? [True, True] Translation: X:125.95, Y:-4.37, Z:-0.89 [[ 9.99898121e-01 1.35021707e-02 4.63028787e-03 1.25949516e+02] [-1.35013019e-02 9.99908829e-01 -2.18851983e-04 -4.37021873e+00] [-4.63282070e-03 1.56314772e-04 9.99989256e-01 -8.89708653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.980281693 meters Centerline goodness [0,1] 0.9964790226106138 Centerline is valid? [True, True] Translation: X:125.98, Y:-4.37, Z:-0.89 [[ 9.99871706e-01 1.55223754e-02 3.95325288e-03 1.25980818e+02] [-1.55217576e-02 9.99879513e-01 -1.86922288e-04 -4.36668175e+00] [-3.95567804e-03 1.25536874e-04 9.99992168e-01 -8.90549733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.010281693 meters Centerline goodness [0,1] 0.99641615064891 Centerline is valid? [True, True] Translation: X:126.01, Y:-4.37, Z:-0.89 [[ 9.99838276e-01 1.76941857e-02 3.21511870e-03 1.26010983e+02] [-1.76937881e-02 9.99843441e-01 -1.52088930e-04 -4.36978308e+00] [-3.21730644e-03 9.51767050e-05 9.99994820e-01 -8.91198382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.040281693 meters Centerline goodness [0,1] 0.9979169323640692 Centerline is valid? [True, True] Translation: X:126.04, Y:-4.37, Z:-0.89 [[ 9.99746430e-01 2.21392406e-02 4.11445877e-03 1.26042051e+02] [-2.21386267e-02 9.99754892e-01 -1.94687394e-04 -4.36506381e+00] [-4.11776051e-03 1.03549560e-04 9.99991517e-01 -8.89090978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.070281693 meters Centerline goodness [0,1] 0.9982238010657194 Centerline is valid? [True, True] Translation: X:126.07, Y:-4.37, Z:-0.89 [[ 9.99690203e-01 2.43852884e-02 4.98545661e-03 1.26073168e+02] [-2.43844141e-02 9.99702628e-01 -2.36100687e-04 -4.36691733e+00] [-4.98973146e-03 1.14460105e-04 9.99987545e-01 -8.88218613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.100281693 meters Centerline goodness [0,1] 0.9980082213840743 Centerline is valid? [True, True] Translation: X:126.11, Y:-4.37, Z:-0.89 [[ 9.99637438e-01 2.63412324e-02 5.57954869e-03 1.26105504e+02] [-2.63401625e-02 9.99653003e-01 -2.65154346e-04 -4.36759615e+00] [-5.58459709e-03 1.18091992e-04 9.99984399e-01 -8.87207134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.130281693 meters Centerline goodness [0,1] 0.998547070638007 Centerline is valid? [True, True] Translation: X:126.14, Y:-4.37, Z:-0.89 [[ 9.99594688e-01 2.78508050e-02 5.89846661e-03 1.26137650e+02] [-2.78496299e-02 9.99612084e-01 -2.81274737e-04 -4.36735687e+00] [-5.90401223e-03 1.16890621e-04 9.99982564e-01 -8.87291824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.160281693 meters Centerline goodness [0,1] 0.9986834281831309 Centerline is valid? [True, True] Translation: X:126.17, Y:-4.37, Z:-0.89 [[ 9.99544681e-01 2.97773166e-02 4.87261841e-03 1.26168944e+02] [-2.97765344e-02 9.99556554e-01 -2.33003114e-04 -4.37134237e+00] [-4.87739588e-03 8.78073331e-05 9.99988102e-01 -8.89111873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.190281693 meters Centerline goodness [0,1] 0.9988430885251521 Centerline is valid? [True, True] Translation: X:126.20, Y:-4.37, Z:-0.89 [[ 9.99538739e-01 3.00840607e-02 4.15440777e-03 1.26200839e+02] [-3.00834926e-02 9.99547369e-01 -1.99170385e-04 -4.37365291e+00] [-4.15851922e-03 7.40994202e-05 9.99991351e-01 -8.90021734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.220281693 meters Centerline goodness [0,1] 0.9987356149411739 Centerline is valid? [True, True] Translation: X:126.23, Y:-4.38, Z:-0.89 [[ 9.99528158e-01 3.04201109e-02 4.25177158e-03 1.26232972e+02] [-3.04195160e-02 9.99537199e-01 -2.04527868e-04 -4.37809840e+00] [-4.25602562e-03 7.50945294e-05 9.99990940e-01 -8.89014694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.250281693 meters Centerline goodness [0,1] 0.9985447950059052 Centerline is valid? [True, True] Translation: X:126.26, Y:-4.38, Z:-0.89 [[ 9.99521294e-01 3.05259021e-02 5.03504766e-03 1.26264725e+02] [-3.05250645e-02 9.99533972e-01 -2.43135263e-04 -4.38392918e+00] [-5.04012311e-03 8.93237179e-05 9.99987295e-01 -8.88455179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.280281693 meters Centerline goodness [0,1] 0.9981194269534717 Centerline is valid? [True, True] Translation: X:126.30, Y:-4.39, Z:-0.89 [[ 9.99508206e-01 3.08306043e-02 5.72882354e-03 1.26297912e+02] [-3.08295188e-02 9.99524619e-01 -2.77707767e-04 -4.38638710e+00] [-5.73466206e-03 1.00954319e-04 9.99983552e-01 -8.87197452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.310281693 meters Centerline goodness [0,1] 0.998464622339745 Centerline is valid? [True, True] Translation: X:126.33, Y:-4.39, Z:-0.89 [[ 9.99507972e-01 3.08809053e-02 5.49389599e-03 1.26331393e+02] [-3.08799028e-02 9.99523066e-01 -2.67236899e-04 -4.38763946e+00] [-5.49952828e-03 9.74544367e-05 9.99984873e-01 -8.87428007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.340281693 meters Centerline goodness [0,1] 0.99890414491072 Centerline is valid? [True, True] Translation: X:126.36, Y:-4.39, Z:-0.89 [[ 9.99499812e-01 3.12594417e-02 4.79309791e-03 1.26364285e+02] [-3.12586793e-02 9.99511301e-01 -2.33897740e-04 -4.38590076e+00] [-4.79806704e-03 8.39548368e-05 9.99988486e-01 -8.88879430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.370281693 meters Centerline goodness [0,1] 0.9988981416735533 Centerline is valid? [True, True] Translation: X:126.40, Y:-4.39, Z:-0.89 [[ 9.99488354e-01 3.19004110e-02 2.32233524e-03 1.26395627e+02] [-3.19002336e-02 9.99491052e-01 -1.13408363e-04 -4.39110007e+00] [-2.32477106e-03 3.92673017e-05 9.99997297e-01 -8.93639972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.400281693 meters Centerline goodness [0,1] 0.9989628971151607 Centerline is valid? [True, True] Translation: X:126.43, Y:-4.39, Z:-0.90 [[ 9.99474199e-01 3.23864161e-02 1.56358392e-03 1.26427262e+02] [-3.23863357e-02 9.99475422e-01 -7.67541907e-05 -4.39166611e+00] [-1.56524949e-03 2.60750797e-05 9.99998775e-01 -8.95292967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.430281693 meters Centerline goodness [0,1] 0.9990444236813046 Centerline is valid? [True, True] Translation: X:126.46, Y:-4.39, Z:-0.90 [[ 9.99401183e-01 3.45800641e-02 1.22219444e-03 1.26457970e+02] [-3.45800165e-02 9.99401931e-01 -6.00369766e-05 -4.38954555e+00] [-1.22353957e-03 1.77375214e-05 9.99999251e-01 -8.95446030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.460281693 meters Centerline goodness [0,1] 0.9991456824928985 Centerline is valid? [True, True] Translation: X:126.49, Y:-4.39, Z:-0.89 [[ 9.99350033e-01 3.60074725e-02 1.72428086e-03 1.26488400e+02] [-3.60073798e-02 9.99351520e-01 -8.47395146e-05 -4.38829312e+00] [-1.72621396e-03 2.25976008e-05 9.99998510e-01 -8.94889234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49028169300001 meters Centerline goodness [0,1] 0.9993235101367778 Centerline is valid? [True, True] Translation: X:126.52, Y:-4.39, Z:-0.89 [[ 9.99304405e-01 3.72330130e-02 2.09954707e-03 1.26520270e+02] [-3.72328784e-02 9.99306611e-01 -1.03188570e-04 -4.38558804e+00] [-2.10193329e-03 2.49446118e-05 9.99997791e-01 -8.94307520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.520281693 meters Centerline goodness [0,1] 0.9994496189669771 Centerline is valid? [True, True] Translation: X:126.55, Y:-4.38, Z:-0.89 [[ 9.99265848e-01 3.82574466e-02 2.03315679e-03 1.26550494e+02] [-3.82573223e-02 9.99267916e-01 -9.99936453e-05 -4.38464211e+00] [-2.03549385e-03 2.21371001e-05 9.99997928e-01 -8.94703738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.550281693 meters Centerline goodness [0,1] 0.9995963458678564 Centerline is valid? [True, True] Translation: X:126.58, Y:-4.38, Z:-0.90 [[ 9.99184628e-01 4.03519713e-02 1.34088880e-03 1.26581029e+02] [-4.03519192e-02 9.99185527e-01 -6.59453700e-05 -4.38011422e+00] [-1.34245771e-03 1.17841635e-05 9.99999099e-01 -8.96078507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.580281693 meters Centerline goodness [0,1] 0.9995096471591515 Centerline is valid? [True, True] Translation: X:126.61, Y:-4.37, Z:-0.89 [[ 9.99137136e-01 4.14922038e-02 1.83857656e-03 1.26611475e+02] [-4.14921076e-02 9.99138828e-01 -9.04875687e-05 -4.37365670e+00] [-1.84074776e-03 1.41230738e-05 9.99998306e-01 -8.94602972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.610281693 meters Centerline goodness [0,1] 0.9995115839544712 Centerline is valid? [True, True] Translation: X:126.64, Y:-4.38, Z:-0.89 [[ 9.99138124e-01 4.14210452e-02 2.70295151e-03 1.26641967e+02] [-4.14208369e-02 9.99141780e-01 -1.33008184e-04 -4.37647912e+00] [-2.70614112e-03 2.09350335e-05 9.99996338e-01 -8.94016802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.640281693 meters Centerline goodness [0,1] 0.9994738503630433 Centerline is valid? [True, True] Translation: X:126.67, Y:-4.38, Z:-0.89 [[ 9.99166450e-01 4.06464096e-02 3.77821621e-03 1.26673694e+02] [-4.06459969e-02 9.99173593e-01 -1.85977718e-04 -4.37829283e+00] [-3.78265319e-03 3.22533322e-05 9.99992845e-01 -8.92075323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.670281693 meters Centerline goodness [0,1] 0.9994893182398502 Centerline is valid? [True, True] Translation: X:126.71, Y:-4.38, Z:-0.89 [[ 9.99208826e-01 3.95279988e-02 4.38859286e-03 1.26705931e+02] [-3.95274308e-02 9.99218462e-01 -2.16119088e-04 -4.37933502e+00] [-4.39370576e-03 4.24782992e-05 9.99990347e-01 -8.91061406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.700281693 meters Centerline goodness [0,1] 0.9989554020636139 Centerline is valid? [True, True] Translation: X:126.74, Y:-4.39, Z:-0.89 [[ 9.99364299e-01 3.54138067e-02 4.10609097e-03 1.26737146e+02] [-3.54132722e-02 9.99372733e-01 -2.02828871e-04 -4.38606845e+00] [-4.11069830e-03 5.72898154e-05 9.99991549e-01 -8.91952334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.730281693 meters Centerline goodness [0,1] 0.9990094836670179 Centerline is valid? [True, True] Translation: X:126.77, Y:-4.39, Z:-0.89 [[ 9.99427157e-01 3.36903074e-02 3.21272819e-03 1.26768041e+02] [-3.36899702e-02 9.99432319e-01 -1.59034664e-04 -4.39135595e+00] [-3.21626231e-03 5.07068455e-05 9.99994827e-01 -8.93217714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.760281693 meters Centerline goodness [0,1] 0.9988239067678819 Centerline is valid? [True, True] Translation: X:126.80, Y:-4.40, Z:-0.89 [[ 9.99554517e-01 2.97077240e-02 2.86693547e-03 1.26799712e+02] [-2.97074377e-02 9.99558627e-01 -1.42430112e-04 -4.39960302e+00] [-2.86990135e-03 5.71973547e-05 9.99995880e-01 -8.93681879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.790281693 meters Centerline goodness [0,1] 0.9979776046323499 Centerline is valid? [True, True] Translation: X:126.83, Y:-4.41, Z:-0.89 [[ 9.99623407e-01 2.72487818e-02 3.24778771e-03 1.26830444e+02] [-2.72484009e-02 9.99628680e-01 -1.61484177e-04 -4.40989697e+00] [-3.25098199e-03 7.29263413e-05 9.99994713e-01 -8.92715867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.820281693 meters Centerline goodness [0,1] 0.9972198460222412 Centerline is valid? [True, True] Translation: X:126.86, Y:-4.42, Z:-0.89 [[ 9.99692820e-01 2.45073523e-02 3.69540528e-03 1.26861955e+02] [-2.45068392e-02 9.99699645e-01 -1.84062441e-04 -4.41706118e+00] [-3.69880623e-03 9.34431972e-05 9.99993155e-01 -8.91858505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.850281693 meters Centerline goodness [0,1] 0.9955833952648901 Centerline is valid? [True, True] Translation: X:126.89, Y:-4.43, Z:-0.89 [[ 9.99786563e-01 2.03023703e-02 3.82638834e-03 1.26892690e+02] [-2.03017869e-02 9.99793879e-01 -1.91249830e-04 -4.43026868e+00] [-3.82948246e-03 1.13526490e-04 9.99992661e-01 -8.91329779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.880281693 meters Centerline goodness [0,1] 0.9922835276506926 Centerline is valid? [True, True] Translation: X:126.92, Y:-4.45, Z:-0.89 [[ 9.99800590e-01 1.95086115e-02 4.26536556e-03 1.26922952e+02] [-1.95078790e-02 9.99809680e-01 -2.13271711e-04 -4.44737143e+00] [-4.26871442e-03 1.30020947e-04 9.99990881e-01 -8.90294403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.910281693 meters Centerline goodness [0,1] 0.995524920466596 Centerline is valid? [True, True] Translation: X:126.96, Y:-4.44, Z:-0.89 [[ 9.99794403e-01 1.94935593e-02 5.58141574e-03 1.26956557e+02] [-1.94922990e-02 9.99809968e-01 -2.80129610e-04 -4.43890112e+00] [-5.58581582e-03 1.71277392e-04 9.99984385e-01 -8.88257801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.940281693 meters Centerline goodness [0,1] 0.9959252312269582 Centerline is valid? [True, True] Translation: X:126.99, Y:-4.45, Z:-0.89 [[ 9.99783696e-01 1.97293187e-02 6.58143764e-03 1.26989124e+02] [-1.97275622e-02 9.99805338e-01 -3.31700984e-04 -4.44579274e+00] [-6.58670071e-03 2.01793515e-04 9.99978287e-01 -8.86429330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.970281693 meters Centerline goodness [0,1] 0.9948325885766323 Centerline is valid? [True, True] Translation: X:127.02, Y:-4.46, Z:-0.89 [[ 9.99784292e-01 1.99432885e-02 5.79955427e-03 1.27020214e+02] [-1.99419225e-02 9.99801097e-01 -2.93275223e-04 -4.45587868e+00] [-5.80424960e-03 1.77557700e-04 9.99983139e-01 -8.87563204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.000281693 meters Centerline goodness [0,1] 0.9960902448404051 Centerline is valid? [True, True] Translation: X:127.05, Y:-4.46, Z:-0.89 [[ 9.99783161e-01 2.04726539e-02 3.80802059e-03 1.27052469e+02] [-2.04720671e-02 9.99790407e-01 -1.93026436e-04 -4.46402675e+00] [-3.81117422e-03 1.15026528e-04 9.99992731e-01 -8.90764233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.030281693 meters Centerline goodness [0,1] 0.996064824609656 Centerline is valid? [True, True] Translation: X:127.08, Y:-4.47, Z:-0.89 [[ 9.99767970e-01 2.12851082e-02 3.30924188e-03 1.27083821e+02] [-2.12846689e-02 9.99773442e-01 -1.67916579e-04 -4.46785136e+00] [-3.31206626e-03 9.74414991e-05 9.99994510e-01 -8.91606599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.060281693 meters Centerline goodness [0,1] 0.9963102779021904 Centerline is valid? [True, True] Translation: X:127.12, Y:-4.47, Z:-0.89 [[ 9.99747643e-01 2.21859689e-02 3.52593993e-03 1.27115087e+02] [-2.21854738e-02 9.99753856e-01 -1.79471669e-04 -4.47155690e+00] [-3.52905379e-03 1.01201730e-04 9.99993768e-01 -8.91181274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.090281693 meters Centerline goodness [0,1] 0.9960208271599712 Centerline is valid? [True, True] Translation: X:127.15, Y:-4.48, Z:-0.89 [[ 9.99703320e-01 2.39741660e-02 4.30244418e-03 1.27146040e+02] [-2.39734421e-02 9.99712572e-01 -2.19762346e-04 -4.47707266e+00] [-4.30647616e-03 1.16552751e-04 9.99990720e-01 -8.89382546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.120281693 meters Centerline goodness [0,1] 0.9972447703622067 Centerline is valid? [True, True] Translation: X:127.18, Y:-4.48, Z:-0.89 [[ 9.99673264e-01 2.52329382e-02 4.08214904e-03 1.27178391e+02] [-2.52322947e-02 9.99681593e-01 -2.09058451e-04 -4.47590679e+00] [-4.08612442e-03 1.05988156e-04 9.99991646e-01 -8.90236665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.150281693 meters Centerline goodness [0,1] 0.9970230554851787 Centerline is valid? [True, True] Translation: X:127.21, Y:-4.48, Z:-0.89 [[ 9.99642682e-01 2.65199295e-02 3.34702657e-03 1.27208892e+02] [-2.65195028e-02 9.99648281e-01 -1.71834662e-04 -4.48165877e+00] [-3.35040640e-03 8.30117817e-05 9.99994384e-01 -8.91916733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.180281693 meters Centerline goodness [0,1] 0.9970230554851787 Centerline is valid? [True, True] Translation: X:127.24, Y:-4.48, Z:-0.89 [[ 9.99638020e-01 2.66950808e-02 3.34700255e-03 1.27241354e+02] [-2.66946534e-02 9.99643619e-01 -1.72301193e-04 -4.48353679e+00] [-3.35040933e-03 8.28917502e-05 9.99994384e-01 -8.92062652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.210281693 meters Centerline goodness [0,1] 0.9983597128432354 Centerline is valid? [True, True] Translation: X:127.27, Y:-4.48, Z:-0.89 [[ 9.99572601e-01 2.90915485e-02 2.88050673e-03 1.27273341e+02] [-2.90912407e-02 9.99576749e-01 -1.48708752e-04 -4.48221857e+00] [-2.88361372e-03 6.48476797e-05 9.99995840e-01 -8.93144285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24028169300001 meters Centerline goodness [0,1] 0.9975250666328215 Centerline is valid? [True, True] Translation: X:127.30, Y:-4.49, Z:-0.89 [[ 9.99545476e-01 3.00004727e-02 2.96873825e-03 1.27304769e+02] [-3.00001483e-02 9.99549882e-01 -1.53760951e-04 -4.48691178e+00] [-2.97201487e-03 6.46284747e-05 9.99995581e-01 -8.92333115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.270281693 meters Centerline goodness [0,1] 0.9985698428961749 Centerline is valid? [True, True] Translation: X:127.34, Y:-4.48, Z:-0.89 [[ 9.99476337e-01 3.22134812e-02 3.05666767e-03 1.27337474e+02] [-3.22131456e-02 9.99481009e-01 -1.58964161e-04 -4.48467999e+00] [-3.06020208e-03 6.04160362e-05 9.99995316e-01 -8.91674522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.300281693 meters Centerline goodness [0,1] 0.9982807530301728 Centerline is valid? [True, True] Translation: X:127.37, Y:-4.49, Z:-0.89 [[ 9.99415041e-01 3.40873423e-02 2.76199533e-03 1.27368349e+02] [-3.40870755e-02 9.99418856e-01 -1.43618261e-04 -4.48686593e+00] [-2.76528578e-03 4.93859066e-05 9.99996175e-01 -8.93079562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.330281693 meters Centerline goodness [0,1] 0.9988242336140921 Centerline is valid? [True, True] Translation: X:127.40, Y:-4.48, Z:-0.89 [[ 9.99346869e-01 3.60450095e-02 2.56779499e-03 1.27400904e+02] [-3.60447846e-02 9.99350167e-01 -1.33813030e-04 -4.48316464e+00] [-2.57094964e-03 4.11700148e-05 9.99996694e-01 -8.92802670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.360281693 meters Centerline goodness [0,1] 0.9990014447182799 Centerline is valid? [True, True] Translation: X:127.43, Y:-4.48, Z:-0.89 [[ 9.99286461e-01 3.76557498e-02 2.93481028e-03 1.27433568e+02] [-3.76554613e-02 9.99290770e-01 -1.53515687e-04 -4.48251557e+00] [-2.93850958e-03 4.28945123e-05 9.99995682e-01 -8.93134166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.390281693 meters Centerline goodness [0,1] 0.9991018540298954 Centerline is valid? [True, True] Translation: X:127.47, Y:-4.48, Z:-0.89 [[ 9.99173666e-01 4.05272263e-02 3.08705527e-03 1.27465853e+02] [-4.05269192e-02 9.99178434e-01 -1.62009417e-04 -4.47850102e+00] [-3.09108484e-03 3.67667039e-05 9.99995222e-01 -8.92439592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.420281693 meters Centerline goodness [0,1] 0.9991559756920999 Centerline is valid? [True, True] Translation: X:127.50, Y:-4.48, Z:-0.89 [[ 9.99139820e-01 4.13615587e-02 2.97357064e-03 1.27496550e+02] [-4.13612760e-02 9.99144244e-01 -1.56541066e-04 -4.48220677e+00] [-2.97750077e-03 3.34157369e-05 9.99995567e-01 -8.92878337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.450281693 meters Centerline goodness [0,1] 0.9992574362455977 Centerline is valid? [True, True] Translation: X:127.53, Y:-4.48, Z:-0.89 [[ 9.99125635e-01 4.17616059e-02 1.98354527e-03 1.27529240e+02] [-4.17614809e-02 9.99127603e-01 -1.04411162e-04 -4.48446691e+00] [-1.98617521e-03 2.14840806e-05 9.99998027e-01 -8.94639556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.480281693 meters Centerline goodness [0,1] 0.9991298811544992 Centerline is valid? [True, True] Translation: X:127.56, Y:-4.49, Z:-0.90 [[ 9.99142651e-01 4.13820051e-02 1.22205582e-03 1.27559864e+02] [-4.13819573e-02 9.99143398e-01 -6.43525791e-05 -4.48974799e+00] [-1.22367204e-03 1.37263446e-05 9.99999251e-01 -8.96529755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.510281693 meters Centerline goodness [0,1] 0.9990766191376053 Centerline is valid? [True, True] Translation: X:127.59, Y:-4.49, Z:-0.89 [[ 9.99150144e-01 4.11874745e-02 1.60648094e-03 1.27592455e+02] [-4.11873910e-02 9.99151436e-01 -8.50055906e-05 -4.49052918e+00] [-1.60861890e-03 1.87665896e-05 9.99998706e-01 -8.94728631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.540281693 meters Centerline goodness [0,1] 0.9987268174680644 Centerline is valid? [True, True] Translation: X:127.62, Y:-4.50, Z:-0.89 [[ 9.99139007e-01 4.13733042e-02 3.08143962e-03 1.27623677e+02] [-4.13729940e-02 9.99143758e-01 -1.64376968e-04 -4.49509795e+00] [-3.08560198e-03 3.67470574e-05 9.99995239e-01 -8.93119271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.570281693 meters Centerline goodness [0,1] 0.9984421016688719 Centerline is valid? [True, True] Translation: X:127.66, Y:-4.50, Z:-0.89 [[ 9.99136899e-01 4.13108910e-02 4.34359091e-03 1.27655325e+02] [-4.13102715e-02 9.99146339e-01 -2.32298200e-04 -4.49780955e+00] [-4.34947940e-03 5.26627840e-05 9.99990540e-01 -8.90345758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.600281693 meters Centerline goodness [0,1] 0.9984088758923196 Centerline is valid? [True, True] Translation: X:127.69, Y:-4.50, Z:-0.89 [[ 9.99124380e-01 4.15343637e-02 5.03682636e-03 1.27688265e+02] [-4.15335314e-02 9.99137074e-01 -2.69776814e-04 -4.49955928e+00] [-5.04368496e-03 6.03434065e-05 9.99987279e-01 -8.89047201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.630281693 meters Centerline goodness [0,1] 0.9986013689631058 Centerline is valid? [True, True] Translation: X:127.72, Y:-4.50, Z:-0.89 [[ 9.99066947e-01 4.30132668e-02 3.88523527e-03 1.27718921e+02] [-4.30127804e-02 9.99074500e-01 -2.08697613e-04 -4.50374284e+00] [-3.89061626e-03 4.13881149e-05 9.99992431e-01 -8.91399594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.660281693 meters Centerline goodness [0,1] 0.9988793504461454 Centerline is valid? [True, True] Translation: X:127.75, Y:-4.50, Z:-0.89 [[ 9.99014757e-01 4.43219287e-02 2.25426958e-03 1.27751485e+02] [-4.43217686e-02 9.99017300e-01 -1.20987352e-04 -4.50463896e+00] [-2.25741671e-03 2.09549352e-05 9.99997452e-01 -8.94626653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.690281693 meters Centerline goodness [0,1] 0.9993651465453391 Centerline is valid? [True, True] Translation: X:127.78, Y:-4.50, Z:-0.90 [[ 9.98860983e-01 4.77150929e-02 7.55268871e-05 1.27784127e+02] [-4.77150928e-02 9.98860986e-01 -3.37853218e-06 -4.50241209e+00] [-7.56020679e-05 -2.29088456e-07 9.99999997e-01 -8.98660840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.720281693 meters Centerline goodness [0,1] 0.9993669817690749 Centerline is valid? [True, True] Translation: X:127.82, Y:-4.50, Z:-0.90 [[ 9.98774090e-01 4.94994682e-02 3.45993124e-04 1.27816691e+02] [-4.94994649e-02 9.98774150e-01 -1.80581360e-05 -4.50178448e+00] [-3.46462856e-04 9.09523892e-07 9.99999940e-01 -8.97473220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.750281693 meters Centerline goodness [0,1] 0.9995776135163674 Centerline is valid? [True, True] Translation: X:127.85, Y:-4.50, Z:-0.89 [[ 9.98695717e-01 5.10298524e-02 1.67880085e-03 1.27848248e+02] [-5.10297720e-02 9.98697128e-01 -9.07380739e-05 -4.50229441e+00] [-1.68124394e-03 4.95090112e-06 9.99998587e-01 -8.94933861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.780281693 meters Centerline goodness [0,1] 0.9994691355403138 Centerline is valid? [True, True] Translation: X:127.88, Y:-4.50, Z:-0.89 [[ 9.98615681e-01 5.24343520e-02 4.16653728e-03 1.27880592e+02] [-5.24338620e-02 9.98624373e-01 -2.26818631e-04 -4.50133649e+00] [-4.17269877e-03 8.03700100e-06 9.99991294e-01 -8.89548204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.810281693 meters Centerline goodness [0,1] 0.999377000580034 Centerline is valid? [True, True] Translation: X:127.91, Y:-4.50, Z:-0.89 [[ 9.98594973e-01 5.27412366e-02 5.14207647e-03 1.27912462e+02] [-5.27404893e-02 9.98608212e-01 -2.80917911e-04 -4.50272595e+00] [-5.14973575e-03 9.32758436e-06 9.99986740e-01 -8.87780729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.840281693 meters Centerline goodness [0,1] 0.9993112799431806 Centerline is valid? [True, True] Translation: X:127.95, Y:-4.50, Z:-0.89 [[ 9.98594741e-01 5.26682277e-02 5.88223991e-03 1.27945483e+02] [-5.26672419e-02 9.98612066e-01 -3.22484186e-04 -4.50492379e+00] [-5.89106041e-03 1.22296606e-05 9.99982647e-01 -8.87567703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.870281693 meters Centerline goodness [0,1] 0.9993169107287708 Centerline is valid? [True, True] Translation: X:127.98, Y:-4.51, Z:-0.89 [[ 9.98607075e-01 5.24895798e-02 5.36231532e-03 1.27978798e+02] [-5.24887531e-02 9.98621472e-01 -2.94888406e-04 -4.50784805e+00] [-5.37040178e-03 1.30164035e-05 9.99985579e-01 -8.88674170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.900281693 meters Centerline goodness [0,1] 0.9993851894252581 Centerline is valid? [True, True] Translation: X:128.01, Y:-4.51, Z:-0.89 [[ 9.98651113e-01 5.17405939e-02 4.34345787e-03 1.28010682e+02] [-5.17400416e-02 9.98660558e-01 -2.39497353e-04 -4.51151886e+00] [-4.35003180e-03 1.44436070e-05 9.99990538e-01 -8.90827332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.930281693 meters Centerline goodness [0,1] 0.9993393854153347 Centerline is valid? [True, True] Translation: X:128.04, Y:-4.52, Z:-0.90 [[ 9.98816438e-01 4.85972076e-02 2.00839955e-03 1.28042739e+02] [-4.85970832e-02 9.98818458e-01 -1.10696626e-04 -4.51917964e+00] [-2.01140608e-03 1.29632497e-05 9.99997977e-01 -8.95464197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.960281693 meters Centerline goodness [0,1] 0.9993613216384228 Centerline is valid? [True, True] Translation: X:128.07, Y:-4.53, Z:-0.90 [[ 9.98924634e-01 4.63440082e-02 1.34453795e-03 1.28073652e+02] [-4.63439504e-02 9.98925539e-01 -7.41236754e-05 -4.52529394e+00] [-1.34652848e-03 1.17327654e-05 9.99999093e-01 -8.97122482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99028169300001 meters Centerline goodness [0,1] 0.9989425374870461 Centerline is valid? [True, True] Translation: X:128.10, Y:-4.53, Z:-0.90 [[ 9.99027202e-01 4.40908252e-02 8.05686346e-04 1.28104777e+02] [-4.40908038e-02 9.99027527e-01 -4.42713703e-05 -4.53185811e+00] [-8.06854799e-04 8.70494457e-06 9.99999674e-01 -8.98382581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.020281693 meters Centerline goodness [0,1] 0.9983937780032125 Centerline is valid? [True, True] Translation: X:128.14, Y:-4.54, Z:-0.90 [[ 9.99185298e-01 4.03437548e-02 1.05867641e-03 1.28135114e+02] [-4.03437155e-02 9.99185859e-01 -5.85450749e-05 -4.54284236e+00] [-1.06017643e-03 1.57864382e-05 9.99999438e-01 -8.98324131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.050281693 meters Centerline goodness [0,1] 0.9985528527953351 Centerline is valid? [True, True] Translation: X:128.17, Y:-4.55, Z:-0.90 [[ 9.99217285e-01 3.95256665e-02 1.59363836e-03 1.28166798e+02] [-3.95255753e-02 9.99218555e-01 -8.86601202e-05 -4.54734912e+00] [-1.59589737e-03 2.56012517e-05 9.99998726e-01 -8.97071908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.080281693 meters Centerline goodness [0,1] 0.9982536843001959 Centerline is valid? [True, True] Translation: X:128.20, Y:-4.55, Z:-0.89 [[ 9.99158225e-01 4.09683728e-02 2.10572877e-03 1.28199030e+02] [-4.09682157e-02 9.99160443e-01 -1.17707215e-04 -4.54786357e+00] [-2.10878317e-03 3.13401812e-05 9.99997776e-01 -8.94694634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.110281693 meters Centerline goodness [0,1] 0.9987036722203332 Centerline is valid? [True, True] Translation: X:128.23, Y:-4.54, Z:-0.89 [[ 9.99058918e-01 4.33507146e-02 1.41240130e-03 1.28231279e+02] [-4.33506463e-02 9.99059916e-01 -7.89264903e-05 -4.54473338e+00] [-1.41449505e-03 1.76237046e-05 9.99998999e-01 -8.94990196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.140281693 meters Centerline goodness [0,1] 0.9991634850499764 Centerline is valid? [True, True] Translation: X:128.26, Y:-4.54, Z:-0.90 [[ 9.98908557e-01 4.66998532e-02 9.05112585e-04 1.28263985e+02] [-4.66998267e-02 9.98908967e-01 -5.04642848e-05 -4.54203575e+00] [-9.06481752e-04 8.14060505e-06 9.99999589e-01 -8.96213006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.170281693 meters Centerline goodness [0,1] 0.9995286353994814 Centerline is valid? [True, True] Translation: X:128.30, Y:-4.53, Z:-0.90 [[ 9.98523012e-01 5.43151064e-02 1.29023387e-03 1.28295853e+02] [-5.43150580e-02 9.98523845e-01 -7.24968376e-05 -4.53125911e+00] [-1.29226696e-03 2.31063308e-06 9.99999165e-01 -8.96771722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.200281693 meters Centerline goodness [0,1] 0.9997228440464769 Centerline is valid? [True, True] Translation: X:128.33, Y:-4.53, Z:-0.90 [[ 9.98301409e-01 5.82435772e-02 1.40802001e-03 1.28328641e+02] [-5.82435231e-02 9.98302402e-01 -7.93716240e-05 -4.52578544e+00] [-1.41025265e-03 -2.77124194e-06 9.99999006e-01 -8.97027095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.230281693 meters Centerline goodness [0,1] 0.9998725086056691 Centerline is valid? [True, True] Translation: X:128.36, Y:-4.52, Z:-0.90 [[ 9.98109152e-01 6.14595932e-02 9.15757794e-04 1.28359778e+02] [-6.14595716e-02 9.98109572e-01 -5.17742532e-05 -4.52035694e+00] [-9.17208644e-04 -4.60572575e-06 9.99999579e-01 -8.98507168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.260281693 meters Centerline goodness [0,1] 0.999850828964753 Centerline is valid? [True, True] Translation: X:128.39, Y:-4.51, Z:-0.90 [[ 9.97789537e-01 6.64526483e-02 2.91678614e-04 1.28390837e+02] [-6.64526463e-02 9.97789580e-01 -1.66144630e-05 -4.51016599e+00] [-2.92137957e-04 -2.80507847e-06 9.99999957e-01 -8.99278073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.290281693 meters Centerline goodness [0,1] 0.999828182384399 Centerline is valid? [True, True] Translation: X:128.42, Y:-4.51, Z:-0.90 [[ 9.97682977e-01 6.80336846e-02 3.08787662e-04 1.28421077e+02] [-6.80336824e-02 9.97683025e-01 -1.75890207e-05 -4.50869866e+00] [-3.09268854e-04 -3.45969522e-06 9.99999952e-01 -8.97953862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.320281693 meters Centerline goodness [0,1] 0.9996582656984194 Centerline is valid? [True, True] Translation: X:128.45, Y:-4.51, Z:-0.90 [[ 9.97592742e-01 6.93369909e-02 1.05004214e-03 1.28450598e+02] [-6.93369663e-02 9.97593295e-01 -5.98522160e-05 -4.50546816e+00] [-1.05166497e-03 -1.30986002e-05 9.99999447e-01 -8.96862530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.350281693 meters Centerline goodness [0,1] 0.9997438907267101 Centerline is valid? [True, True] Translation: X:128.48, Y:-4.51, Z:-0.90 [[ 9.97590909e-01 6.93613469e-02 1.17509594e-03 1.28481136e+02] [-6.93613162e-02 9.97591601e-01 -6.69214976e-05 -4.50619112e+00] [-1.17690761e-03 -1.47459234e-05 9.99999307e-01 -8.96575097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.380281693 meters Centerline goodness [0,1] 0.9996196834921507 Centerline is valid? [True, True] Translation: X:128.51, Y:-4.50, Z:-0.90 [[ 9.97559234e-01 6.98164091e-02 1.11546784e-03 1.28510524e+02] [-6.98163817e-02 9.97559857e-01 -6.35645884e-05 -4.50225867e+00] [-1.11718379e-03 -1.44684862e-05 9.99999376e-01 -8.98024384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.410281693 meters Centerline goodness [0,1] 0.9994894051570079 Centerline is valid? [True, True] Translation: X:128.54, Y:-4.50, Z:-0.90 [[ 9.97372473e-01 7.24308016e-02 1.38914122e-03 1.28540646e+02] [-7.24307616e-02 9.97373440e-01 -7.91664906e-05 -4.49891806e+00] [-1.39122665e-03 -2.16580781e-05 9.99999032e-01 -8.97001768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.440281693 meters Centerline goodness [0,1] 0.9996197477660181 Centerline is valid? [True, True] Translation: X:128.57, Y:-4.49, Z:-0.90 [[ 9.97217537e-01 7.45347852e-02 1.32306180e-03 1.28570752e+02] [-7.45347509e-02 9.97218414e-01 -7.53385813e-05 -4.49464097e+00] [-1.32499694e-03 -2.34851274e-05 9.99999122e-01 -8.96577458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.470281693 meters Centerline goodness [0,1] 0.9992161183025783 Centerline is valid? [True, True] Translation: X:128.60, Y:-4.49, Z:-0.90 [[ 9.97020570e-01 7.71231062e-02 1.41745552e-03 1.28599831e+02] [-7.71230693e-02 9.97021577e-01 -8.07628651e-05 -4.48925563e+00] [-1.41946242e-03 -2.87962822e-05 9.99998992e-01 -8.96696978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.500281693 meters Centerline goodness [0,1] 0.9989254561543972 Centerline is valid? [True, True] Translation: X:128.63, Y:-4.49, Z:-0.90 [[ 9.96811198e-01 7.97908086e-02 9.29192132e-04 1.28630155e+02] [-7.97907940e-02 9.96811630e-01 -5.28832979e-05 -4.48570861e+00] [-9.30449125e-04 -2.14263144e-05 9.99999567e-01 -8.97142944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.530281693 meters Centerline goodness [0,1] 0.9981424941819501 Centerline is valid? [True, True] Translation: X:128.66, Y:-4.47, Z:-0.90 [[ 9.96506144e-01 8.35179288e-02 5.11162720e-04 1.28659543e+02] [-8.35179248e-02 9.96506275e-01 -2.91992422e-05 -4.47471474e+00] [-5.11815518e-04 -1.35940253e-05 9.99999869e-01 -8.97885902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.560281693 meters Centerline goodness [0,1] 0.9971484696787276 Centerline is valid? [True, True] Translation: X:128.69, Y:-4.47, Z:-0.90 [[ 9.96443611e-01 8.42578911e-02 8.58965915e-04 1.28687519e+02] [-8.42578801e-02 9.96443981e-01 -4.90138884e-05 -4.46551295e+00] [-8.60041223e-04 -2.35350712e-05 9.99999630e-01 -8.98430569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.590281693 meters Centerline goodness [0,1] 0.9977725423002785 Centerline is valid? [True, True] Translation: X:128.72, Y:-4.47, Z:-0.90 [[ 9.96443942e-01 8.42410831e-02 1.70579256e-03 1.28716360e+02] [-8.42410404e-02 9.96445401e-01 -9.69577915e-05 -4.46719079e+00] [-1.70789698e-03 -4.70847362e-05 9.99998540e-01 -8.95541831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.620281693 meters Centerline goodness [0,1] 0.9980289093298291 Centerline is valid? [True, True] Translation: X:128.75, Y:-4.47, Z:-0.90 [[ 9.96472979e-01 8.38934905e-02 1.86666738e-03 1.28745031e+02] [-8.38934390e-02 9.96474726e-01 -1.06000866e-04 -4.46763772e+00] [-1.86897965e-03 -5.09741475e-05 9.99998252e-01 -8.95543571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.650281693 meters Centerline goodness [0,1] 0.9983398957113973 Centerline is valid? [True, True] Translation: X:128.77, Y:-4.47, Z:-0.89 [[ 9.96459249e-01 8.40237405e-02 2.99592097e-03 1.28774361e+02] [-8.40236092e-02 9.96463750e-01 -1.69872323e-04 -4.46591543e+00] [-2.99959995e-03 -8.24572451e-05 9.99995498e-01 -8.91925199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.680281693 meters Centerline goodness [0,1] 0.9968904025553699 Centerline is valid? [True, True] Translation: X:128.80, Y:-4.46, Z:-0.89 [[ 9.96403795e-01 8.46425600e-02 3.88774296e-03 1.28802986e+02] [-8.46423446e-02 9.96411373e-01 -2.20194929e-04 -4.45744098e+00] [-3.89242917e-03 -1.09664616e-04 9.99992418e-01 -8.90898637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.710281693 meters Centerline goodness [0,1] 0.9967599847528694 Centerline is valid? [True, True] Translation: X:128.83, Y:-4.46, Z:-0.89 [[ 9.96371033e-01 8.50092704e-02 4.26486294e-03 1.28831488e+02] [-8.50090155e-02 9.96380153e-01 -2.41337853e-04 -4.45533308e+00] [-4.26994075e-03 -1.22089754e-04 9.99990876e-01 -8.89685274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74028169300001 meters Centerline goodness [0,1] 0.9965271859553434 Centerline is valid? [True, True] Translation: X:128.86, Y:-4.45, Z:-0.89 [[ 9.96373514e-01 8.50026753e-02 3.79029802e-03 1.28859327e+02] [-8.50024746e-02 9.96380717e-01 -2.14301339e-04 -4.45357986e+00] [-3.79479605e-03 -1.08660533e-04 9.99992794e-01 -8.90519147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.770281693 meters Centerline goodness [0,1] 0.9983281838574513 Centerline is valid? [True, True] Translation: X:128.89, Y:-4.46, Z:-0.89 [[ 9.96535481e-01 8.31332622e-02 2.42805533e-03 1.28888474e+02] [-8.31331746e-02 9.96538437e-01 -1.37171173e-04 -4.45923333e+00] [-2.43105395e-03 -6.51560071e-05 9.99997043e-01 -8.94386201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.800281693 meters Centerline goodness [0,1] 0.9986112001367434 Centerline is valid? [True, True] Translation: X:128.92, Y:-4.46, Z:-0.90 [[ 9.96679095e-01 8.14043569e-02 2.02765105e-03 1.28917639e+02] [-8.14042921e-02 9.96681157e-01 -1.14615466e-04 -4.46084087e+00] [-2.03025179e-03 -5.08246588e-05 9.99997938e-01 -8.95175759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.830281693 meters Centerline goodness [0,1] 0.9984127655972234 Centerline is valid? [True, True] Translation: X:128.95, Y:-4.46, Z:-0.89 [[ 9.96849475e-01 7.92775763e-02 2.48785326e-03 1.28945352e+02] [-7.92774727e-02 9.96852578e-01 -1.40404270e-04 -4.45814172e+00] [-2.49115385e-03 -5.72687964e-05 9.99996895e-01 -8.94658984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.860281693 meters Centerline goodness [0,1] 0.9987627986348123 Centerline is valid? [True, True] Translation: X:128.97, Y:-4.46, Z:-0.89 [[ 9.96896222e-01 7.86909873e-02 2.37733087e-03 1.28973603e+02] [-7.86908914e-02 9.96899055e-01 -1.34016695e-04 -4.46325309e+00] [-2.38050480e-03 -5.34735485e-05 9.99997165e-01 -8.94075952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.890281693 meters Centerline goodness [0,1] 0.9983115594858699 Centerline is valid? [True, True] Translation: X:129.00, Y:-4.46, Z:-0.89 [[ 9.96904561e-01 7.85804652e-02 2.53127415e-03 1.29001296e+02] [-7.85803564e-02 9.96907773e-01 -1.42588352e-04 -4.45937926e+00] [-2.53465153e-03 -5.67614460e-05 9.99996786e-01 -8.94722859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.920281693 meters Centerline goodness [0,1] 0.9985439044463671 Centerline is valid? [True, True] Translation: X:129.03, Y:-4.45, Z:-0.90 [[ 9.96860973e-01 7.91665366e-02 9.27045483e-04 1.29029539e+02] [-7.91665222e-02 9.96861404e-01 -5.23179755e-05 -4.45386100e+00] [-9.28277695e-04 -2.12372188e-05 9.99999569e-01 -8.97325052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.950281693 meters Centerline goodness [0,1] 0.9989312357052775 Centerline is valid? [True, True] Translation: X:129.06, Y:-4.45, Z:-0.90 [[ 9.96792264e-01 8.00323651e-02 -4.81405888e-05 1.29058750e+02] [-8.00323651e-02 9.96792265e-01 2.49965050e-06 -4.45449447e+00] [ 4.81862195e-05 1.36117289e-06 9.99999999e-01 -8.97947031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.980281693 meters Centerline goodness [0,1] 0.9985409916965263 Centerline is valid? [True, True] Translation: X:129.09, Y:-4.45, Z:-0.90 [[ 9.96670445e-01 8.15348870e-02 -2.95309354e-04 1.29087915e+02] [-8.15348858e-02 9.96670488e-01 1.63605520e-05 -4.45079851e+00] [ 2.95660074e-04 7.77193584e-06 9.99999956e-01 -8.99014678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.010281693 meters Centerline goodness [0,1] 0.997846192829089 Centerline is valid? [True, True] Translation: X:129.12, Y:-4.44, Z:-0.90 [[ 9.96459773e-01 8.40709088e-02 4.75858927e-05 1.29117072e+02] [-8.40709087e-02 9.96459775e-01 -2.81785725e-06 -4.44154751e+00] [-4.76543278e-05 -1.19270784e-06 9.99999999e-01 -8.99061049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.040281693 meters Centerline goodness [0,1] 0.997846192829089 Centerline is valid? [True, True] Translation: X:129.14, Y:-4.44, Z:-0.90 [[ 9.96465381e-01 8.40044221e-02 4.75777403e-05 1.29144536e+02] [-8.40044221e-02 9.96465382e-01 -2.96347569e-06 -4.44294621e+00] [-4.76585162e-05 -1.04373964e-06 9.99999999e-01 -8.99184431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.070281693 meters Centerline goodness [0,1] 0.9981251864161234 Centerline is valid? [True, True] Translation: X:129.17, Y:-4.44, Z:-0.90 [[ 9.96421990e-01 8.45175082e-02 -9.42373917e-05 1.29173987e+02] [-8.45175081e-02 9.96421994e-01 5.07083993e-06 -4.44046819e+00] [ 9.43287845e-05 2.91201310e-06 9.99999996e-01 -8.98847682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.100281693 meters Centerline goodness [0,1] 0.998428641199329 Centerline is valid? [True, True] Translation: X:129.20, Y:-4.44, Z:-0.90 [[ 9.96420505e-01 8.45296055e-02 -9.61095180e-04 1.29202730e+02] [-8.45295931e-02 9.96420968e-01 5.35101865e-05 -4.43823365e+00] [ 9.62178585e-04 2.79223375e-05 9.99999537e-01 -8.99853946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.130281693 meters Centerline goodness [0,1] 0.9985132638107173 Centerline is valid? [True, True] Translation: X:129.23, Y:-4.44, Z:-0.90 [[ 9.96496882e-01 8.36241786e-02 -9.80487134e-04 1.29230736e+02] [-8.36241654e-02 9.96497364e-01 5.44867784e-05 -4.43544813e+00] [ 9.81609257e-04 2.76965136e-05 9.99999518e-01 -9.00508983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.160281693 meters Centerline goodness [0,1] 0.9983926909736909 Centerline is valid? [True, True] Translation: X:129.26, Y:-4.43, Z:-0.90 [[ 9.96600429e-01 8.23867495e-02 -8.65365412e-05 1.29259107e+02] [-8.23867494e-02 9.96600433e-01 4.62421026e-06 -4.43361419e+00] [ 8.66233281e-05 2.52097441e-06 9.99999996e-01 -8.99600590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.190281693 meters Centerline goodness [0,1] 0.998434127555123 Centerline is valid? [True, True] Translation: X:129.29, Y:-4.44, Z:-0.90 [[ 9.96705462e-01 8.10985347e-02 1.11807403e-03 1.29288229e+02] [-8.10985155e-02 9.96706089e-01 -6.26093224e-05 -4.43680687e+00] [-1.11946872e-03 -2.82710906e-05 9.99999373e-01 -8.97206040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.220281693 meters Centerline goodness [0,1] 0.9987792602745593 Centerline is valid? [True, True] Translation: X:129.32, Y:-4.44, Z:-0.89 [[ 9.96872609e-01 7.89893749e-02 2.38337772e-03 1.29317518e+02] [-7.89892828e-02 9.96875456e-01 -1.32878623e-04 -4.43620863e+00] [-2.38642675e-03 -5.57982366e-05 9.99997151e-01 -8.94335209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.250281693 meters Centerline goodness [0,1] 0.9989115588185078 Centerline is valid? [True, True] Translation: X:129.35, Y:-4.44, Z:-0.89 [[ 9.96905096e-01 7.85830373e-02 2.22170655e-03 1.29345841e+02] [-7.85829564e-02 9.96907570e-01 -1.23828089e-04 -4.43765959e+00] [-2.22456687e-03 -5.11434160e-05 9.99997524e-01 -8.94521316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.280281693 meters Centerline goodness [0,1] 0.9988539168453 Centerline is valid? [True, True] Translation: X:129.37, Y:-4.43, Z:-0.90 [[ 9.96930990e-01 7.82652641e-02 1.77493151e-03 1.29373993e+02] [-7.82652121e-02 9.96932569e-01 -9.88843596e-05 -4.43018339e+00] [-1.77722624e-03 -4.03345085e-05 9.99998420e-01 -8.95434897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.310281693 meters Centerline goodness [0,1] 0.9990609727468681 Centerline is valid? [True, True] Translation: X:129.40, Y:-4.43, Z:-0.90 [[ 9.96985349e-01 7.75717393e-02 1.68502231e-03 1.29402382e+02] [-7.75716914e-02 9.96986772e-01 -9.38330860e-05 -4.42830828e+00] [-1.68722375e-03 -3.71598184e-05 9.99998576e-01 -8.95547094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.340281693 meters Centerline goodness [0,1] 0.9994424907796552 Centerline is valid? [True, True] Translation: X:129.43, Y:-4.43, Z:-0.90 [[ 9.97197075e-01 7.48021156e-02 1.62411195e-03 1.29431758e+02] [-7.48020677e-02 9.97198397e-01 -9.02943481e-05 -4.42837036e+00] [-1.62631604e-03 -3.14456723e-05 9.99998677e-01 -8.95483879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.370281693 meters Centerline goodness [0,1] 0.9995774528859968 Centerline is valid? [True, True] Translation: X:129.46, Y:-4.43, Z:-0.90 [[ 9.97324329e-01 7.30951160e-02 1.13408249e-03 1.29460135e+02] [-7.30950915e-02 9.97324974e-01 -6.30950541e-05 -4.42898148e+00] [-1.13566073e-03 -1.99696310e-05 9.99999355e-01 -8.96708748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.400281693 meters Centerline goodness [0,1] 0.9995138654041258 Centerline is valid? [True, True] Translation: X:129.49, Y:-4.43, Z:-0.90 [[ 9.97430837e-01 7.16332582e-02 6.34528496e-04 1.29488292e+02] [-7.16332502e-02 9.97431038e-01 -3.54049869e-05 -4.42947700e+00] [-6.35434592e-04 -1.01393128e-05 9.99999798e-01 -8.98050302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.430281693 meters Centerline goodness [0,1] 0.9996183772552845 Centerline is valid? [True, True] Translation: X:129.52, Y:-4.43, Z:-0.90 [[ 9.97656913e-01 6.84152322e-02 1.99467246e-04 1.29515739e+02] [-6.84152314e-02 9.97656933e-01 -1.12832491e-05 -4.43085176e+00] [-1.99771827e-04 -2.38978634e-06 9.99999980e-01 -8.99517639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.460281693 meters Centerline goodness [0,1] 0.9998096808983061 Centerline is valid? [True, True] Translation: X:129.54, Y:-4.43, Z:-0.90 [[ 9.97820229e-01 6.59900676e-02 3.19359115e-04 1.29544856e+02] [-6.59900653e-02 9.97820280e-01 -1.78144761e-05 -4.43404300e+00] [-3.19838580e-04 -3.29888430e-06 9.99999949e-01 -8.99376225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49028169300001 meters Centerline goodness [0,1] 0.9997844130645683 Centerline is valid? [True, True] Translation: X:129.57, Y:-4.44, Z:-0.90 [[ 9.97997170e-01 6.32548020e-02 6.92169833e-04 1.29573885e+02] [-6.32547905e-02 9.97997410e-01 -3.85595132e-05 -4.43944105e+00] [-6.93222775e-04 -5.30077271e-06 9.99999760e-01 -8.97828516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.520281693 meters Centerline goodness [0,1] 0.9999149786383829 Centerline is valid? [True, True] Translation: X:129.60, Y:-4.44, Z:-0.90 [[ 9.98280744e-01 5.85910721e-02 1.62535122e-03 1.29601445e+02] [-5.85910033e-02 9.98282067e-01 -8.99549690e-05 -4.44294967e+00] [-1.62782953e-03 -5.43064518e-06 9.99998675e-01 -8.97216703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.550281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.63, Y:-4.45, Z:-0.90 [[ 9.98388621e-01 5.67215352e-02 1.68190817e-03 1.29630352e+02] [-5.67214592e-02 9.98390038e-01 -9.29415245e-05 -4.44593962e+00] [-1.68447215e-03 -2.60852532e-06 9.99998581e-01 -8.95910023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.580281693 meters Centerline goodness [0,1] 0.9999788806758184 Centerline is valid? [True, True] Translation: X:129.66, Y:-4.45, Z:-0.90 [[ 9.98485070e-01 5.50065075e-02 1.35964220e-03 1.29658404e+02] [-5.50064562e-02 9.98485996e-01 -7.51447051e-05 -4.44853416e+00] [-1.36171714e-03 2.41767191e-07 9.99999073e-01 -8.97045850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.610281693 meters Centerline goodness [0,1] 0.999828524885326 Centerline is valid? [True, True] Translation: X:129.69, Y:-4.46, Z:-0.90 [[ 9.98659677e-01 5.17499598e-02 8.89079106e-04 1.29686966e+02] [-5.17499366e-02 9.98660073e-01 -4.90884101e-05 -4.45559928e+00] [-8.90428128e-04 3.01282835e-06 9.99999604e-01 -8.97387896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.640281693 meters Centerline goodness [0,1] 0.9998933469849193 Centerline is valid? [True, True] Translation: X:129.72, Y:-4.46, Z:-0.90 [[ 9.98762277e-01 4.97291506e-02 9.62262074e-04 1.29715061e+02] [-4.97291225e-02 9.98762740e-01 -5.31701751e-05 -4.46063006e+00] [-9.63715613e-04 5.25191663e-06 9.99999536e-01 -8.97043846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.670281693 meters Centerline goodness [0,1] 0.9998073341468113 Centerline is valid? [True, True] Translation: X:129.74, Y:-4.47, Z:-0.90 [[ 9.98868347e-01 4.75453872e-02 1.20927861e-03 1.29743223e+02] [-4.75453414e-02 9.98869079e-01 -6.66030168e-05 -4.46683477e+00] [-1.21107768e-03 9.03208075e-06 9.99999267e-01 -8.97212500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.700281693 meters Centerline goodness [0,1] 0.9994476077164953 Centerline is valid? [True, True] Translation: X:129.77, Y:-4.48, Z:-0.90 [[ 9.98957910e-01 4.56207058e-02 1.35854809e-03 1.29771301e+02] [-4.56206463e-02 9.98958834e-01 -7.47564410e-05 -4.47522185e+00] [-1.36054405e-03 1.27006962e-05 9.99999074e-01 -8.97832815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.730281693 meters Centerline goodness [0,1] 0.9993399621010497 Centerline is valid? [True, True] Translation: X:129.80, Y:-4.48, Z:-0.90 [[ 9.99107338e-01 4.21652259e-02 2.57307888e-03 1.29800318e+02] [-4.21650017e-02 9.99110651e-01 -1.41341622e-04 -4.48314610e+00] [-2.57675022e-03 3.27215766e-05 9.99996680e-01 -8.95623341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.760281693 meters Centerline goodness [0,1] 0.9993055263268656 Centerline is valid? [True, True] Translation: X:129.83, Y:-4.49, Z:-0.90 [[ 9.99168959e-01 4.06776291e-02 2.59273934e-03 1.29828125e+02] [-4.06773967e-02 9.99172322e-01 -1.42310338e-04 -4.49072870e+00] [-2.59638223e-03 3.67261858e-05 9.99996629e-01 -8.95801158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.790281693 meters Centerline goodness [0,1] 0.9994274809160305 Centerline is valid? [True, True] Translation: X:129.86, Y:-4.50, Z:-0.90 [[ 9.99248958e-01 3.87492311e-02 1.28199492e-04 1.29858240e+02] [-3.87492305e-02 9.99248967e-01 -7.03737633e-06 -4.50069677e+00] [-1.28375903e-04 2.06445928e-06 9.99999992e-01 -8.99685437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.820281693 meters Centerline goodness [0,1] 0.9993664737931326 Centerline is valid? [True, True] Translation: X:129.89, Y:-4.51, Z:-0.90 [[ 9.99261939e-01 3.84021310e-02 -9.24230440e-04 1.29886217e+02] [-3.84021006e-02 9.99262366e-01 5.05546174e-05 -4.50549831e+00] [ 9.25490101e-04 -1.50249147e-05 9.99999572e-01 -9.02025240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.850281693 meters Centerline goodness [0,1] 0.999387125406822 Centerline is valid? [True, True] Translation: X:129.91, Y:-4.51, Z:-0.90 [[ 9.99253511e-01 3.86166374e-02 -1.08445586e-03 1.29914757e+02] [-3.86165958e-02 9.99254099e-01 5.92457666e-05 -4.50882014e+00] [ 1.08593484e-03 -1.73235467e-05 9.99999410e-01 -9.02301144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.880281693 meters Centerline goodness [0,1] 0.9993446781524152 Centerline is valid? [True, True] Translation: X:129.94, Y:-4.51, Z:-0.90 [[ 9.99230743e-01 3.91982518e-02 1.19167367e-03 1.29943445e+02] [-3.91982015e-02 9.99231453e-01 -6.54741674e-05 -4.51266742e+00] [-1.19332428e-03 1.87123364e-05 9.99999288e-01 -8.97615708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.910281693 meters Centerline goodness [0,1] 0.9992328510239308 Centerline is valid? [True, True] Translation: X:129.97, Y:-4.52, Z:-0.90 [[ 9.99210206e-01 3.96701632e-02 2.28962235e-03 1.29971979e+02] [-3.96699798e-02 9.99212829e-01 -1.25477877e-04 -4.51714223e+00] [-2.29279775e-03 3.45495030e-05 9.99997371e-01 -8.96065383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.940281693 meters Centerline goodness [0,1] 0.9993337488448064 Centerline is valid? [True, True] Translation: X:130.00, Y:-4.52, Z:-0.90 [[ 9.99135572e-01 4.15119107e-02 2.20682927e-03 1.30001262e+02] [-4.15117450e-02 9.99138009e-01 -1.20844820e-04 -4.51709658e+00] [-2.20994350e-03 2.91310245e-05 9.99997558e-01 -8.95906085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.970281693 meters Centerline goodness [0,1] 0.9995767016593295 Centerline is valid? [True, True] Translation: X:130.03, Y:-4.52, Z:-0.90 [[ 9.99101327e-01 4.23497686e-02 1.74253725e-03 1.30029692e+02] [-4.23496665e-02 9.99102846e-01 -9.54327482e-05 -4.51879542e+00] [-1.74501548e-03 2.15511139e-05 9.99998477e-01 -8.96842957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.000281693 meters Centerline goodness [0,1] 0.9994006977590377 Centerline is valid? [True, True] Translation: X:130.06, Y:-4.52, Z:-0.90 [[ 9.99057029e-01 4.33824602e-02 1.73608648e-03 1.30059426e+02] [-4.33823607e-02 9.99058538e-01 -9.49892476e-05 -4.51939485e+00] [-1.73857289e-03 1.95841456e-05 9.99998488e-01 -8.96514520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.030281693 meters Centerline goodness [0,1] 0.999470024590859 Centerline is valid? [True, True] Translation: X:130.09, Y:-4.52, Z:-0.90 [[ 9.99006943e-01 4.45158436e-02 1.86202290e-03 1.30088541e+02] [-4.45157311e-02 9.99008678e-01 -1.01828910e-04 -4.52037019e+00] [-1.86471003e-03 1.88384779e-05 9.99998261e-01 -8.96151277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.060281693 meters Centerline goodness [0,1] 0.9995504463425599 Centerline is valid? [True, True] Translation: X:130.12, Y:-4.52, Z:-0.89 [[ 9.98926717e-01 4.62311611e-02 2.84512891e-03 1.30117750e+02] [-4.62309058e-02 9.98930768e-01 -1.55471547e-04 -4.52184938e+00] [-2.84927444e-03 2.37717949e-05 9.99995941e-01 -8.94721793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.090281693 meters Centerline goodness [0,1] 0.9997683039851715 Centerline is valid? [True, True] Translation: X:130.15, Y:-4.53, Z:-0.90 [[ 9.98947288e-01 4.58301692e-02 1.97748347e-03 1.30146613e+02] [-4.58300451e-02 9.98949246e-01 -1.08073179e-04 -4.52750122e+00] [-1.98035864e-03 1.73312528e-05 9.99998039e-01 -8.96755482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.120281693 meters Centerline goodness [0,1] 0.9997253791879673 Centerline is valid? [True, True] Translation: X:130.18, Y:-4.53, Z:-0.90 [[ 9.98961727e-01 4.55479126e-02 9.24561788e-04 1.30175982e+02] [-4.55478854e-02 9.98962155e-01 -5.05386192e-05 -4.53039221e+00] [-9.25904165e-04 8.37431198e-06 9.99999571e-01 -8.99059242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.150281693 meters Centerline goodness [0,1] 0.9997259407610414 Centerline is valid? [True, True] Translation: X:130.21, Y:-4.53, Z:-0.90 [[ 9.98948202e-01 4.58528253e-02 -9.26354850e-05 1.30205028e+02] [-4.58528251e-02 9.98948206e-01 4.89631937e-06 -4.53304164e+00] [ 9.27625616e-05 -6.43570740e-07 9.99999996e-01 -9.00939205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.180281693 meters Centerline goodness [0,1] 0.9998088157195963 Centerline is valid? [True, True] Translation: X:130.23, Y:-4.54, Z:-0.90 [[ 9.98883714e-01 4.72127009e-02 -1.51191046e-03 1.30233372e+02] [-4.72126305e-02 9.98884859e-01 8.22208445e-05 -4.53595175e+00] [ 1.51410634e-03 -1.07477926e-05 9.99998854e-01 -9.03144208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.210281693 meters Centerline goodness [0,1] 0.9998518110802972 Centerline is valid? [True, True] Translation: X:130.26, Y:-4.54, Z:-0.90 [[ 9.98844090e-01 4.80568289e-02 -1.01232898e-03 1.30261281e+02] [-4.80567980e-02 9.98844603e-01 5.48258886e-05 -4.53751497e+00] [ 1.01379409e-03 -6.11322572e-06 9.99999486e-01 -9.02738122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24028169300001 meters Centerline goodness [0,1] 0.9998293187685349 Centerline is valid? [True, True] Translation: X:130.29, Y:-4.54, Z:-0.90 [[ 9.98801819e-01 4.89376964e-02 1.70539193e-04 1.30289987e+02] [-4.89376955e-02 9.98801833e-01 -9.47347424e-06 -4.53809976e+00] [-1.70798468e-04 1.11632821e-06 9.99999985e-01 -9.00341617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.270281693 meters Centerline goodness [0,1] 0.9998525974436185 Centerline is valid? [True, True] Translation: X:130.32, Y:-4.54, Z:-0.90 [[ 9.98656660e-01 5.17950838e-02 1.46415496e-03 1.30318830e+02] [-5.17950226e-02 9.98657734e-01 -7.97556784e-05 -4.53665831e+00] [-1.46632063e-03 3.81260010e-06 9.99998925e-01 -8.96978725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.300281693 meters Centerline goodness [0,1] 0.9998722208024534 Centerline is valid? [True, True] Translation: X:130.35, Y:-4.54, Z:-0.90 [[ 9.98583593e-01 5.31936251e-02 1.11582953e-03 1.30347489e+02] [-5.31935904e-02 9.98584217e-01 -6.07799941e-05 -4.53650515e+00] [-1.11748287e-03 1.33892600e-06 9.99999376e-01 -8.97215556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.330281693 meters Centerline goodness [0,1] 0.9999146684870722 Centerline is valid? [True, True] Translation: X:130.38, Y:-4.54, Z:-0.90 [[ 9.98525396e-01 5.42849761e-02 4.18735798e-04 1.30376718e+02] [-5.42849712e-02 9.98525484e-01 -2.29152848e-05 -4.53605472e+00] [-4.19362321e-04 1.50433104e-07 9.99999912e-01 -8.99106149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.360281693 meters Centerline goodness [0,1] 0.9999364702892719 Centerline is valid? [True, True] Translation: X:130.41, Y:-4.53, Z:-0.90 [[ 9.98446847e-01 5.57089986e-02 -6.32700858e-04 1.30405504e+02] [-5.57089882e-02 9.98447048e-01 3.41480312e-05 -4.53474853e+00] [ 6.33620657e-04 1.15213055e-06 9.99999799e-01 -9.01977444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.390281693 meters Centerline goodness [0,1] 0.9999572174210661 Centerline is valid? [True, True] Translation: X:130.43, Y:-4.54, Z:-0.90 [[ 9.98431916e-01 5.59735127e-02 -8.21480017e-04 1.30434725e+02] [-5.59734952e-02 9.98432254e-01 4.42875412e-05 -4.53603154e+00] [ 8.22671074e-04 1.76301321e-06 9.99999662e-01 -9.01861857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.420281693 meters Centerline goodness [0,1] 0.9999789247402474 Centerline is valid? [True, True] Translation: X:130.46, Y:-4.54, Z:-0.90 [[ 9.98450037e-01 5.56539446e-02 -4.02461283e-04 1.30463400e+02] [-5.56539404e-02 9.98450118e-01 2.16809753e-05 -4.53780814e+00] [ 4.03044147e-04 7.51185622e-07 9.99999919e-01 -9.01774230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.450281693 meters Centerline goodness [0,1] 0.9999576342992713 Centerline is valid? [True, True] Translation: X:130.49, Y:-4.54, Z:-0.90 [[ 9.98486483e-01 5.49598757e-02 2.03841099e-03 1.30493323e+02] [-5.49597648e-02 9.98488564e-01 -1.10415167e-04 -4.54010228e+00] [-2.04139847e-03 -1.78253674e-06 9.99997916e-01 -8.95957015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.480281693 meters Centerline goodness [0,1] 0.9999359193438141 Centerline is valid? [True, True] Translation: X:130.52, Y:-4.54, Z:-0.89 [[ 9.98479919e-01 5.50105447e-02 3.41937181e-03 1.30521846e+02] [-5.50102334e-02 9.98485774e-01 -1.85095397e-04 -4.54085007e+00] [-3.42437630e-03 -3.28640417e-06 9.99994137e-01 -8.93521440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.510281693 meters Centerline goodness [0,1] 0.9999361172036371 Centerline is valid? [True, True] Translation: X:130.55, Y:-4.54, Z:-0.89 [[ 9.98471885e-01 5.51098410e-02 4.09874391e-03 1.30551651e+02] [-5.51093955e-02 9.98480298e-01 -2.21633745e-04 -4.54190047e+00] [-4.10472924e-03 -4.58423648e-06 9.99991576e-01 -8.92584713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.540281693 meters Centerline goodness [0,1] 0.9999787442077966 Centerline is valid? [True, True] Translation: X:130.58, Y:-4.54, Z:-0.89 [[ 9.98457835e-01 5.53832835e-02 3.82678148e-03 1.30579947e+02] [-5.53828975e-02 9.98465168e-01 -2.06853719e-04 -4.54179315e+00] [-3.83236425e-03 -5.40352944e-06 9.99992656e-01 -8.93294388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.570281693 meters Centerline goodness [0,1] 0.9999578379289991 Centerline is valid? [True, True] Translation: X:130.61, Y:-4.54, Z:-0.89 [[ 9.98456137e-01 5.54418400e-02 3.39778061e-03 1.30608788e+02] [-5.54415363e-02 9.98461918e-01 -1.83552540e-04 -4.54235134e+00] [-3.40273103e-03 -5.10901678e-06 9.99994211e-01 -8.94008452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.600281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.64, Y:-4.54, Z:-0.90 [[ 9.98426468e-01 5.60382818e-02 2.07340652e-03 1.30638020e+02] [-5.60381700e-02 9.98428621e-01 -1.12054982e-04 -4.54243653e+00] [-2.07642778e-03 -4.31124727e-06 9.99997844e-01 -8.95600905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.630281693 meters Centerline goodness [0,1] 0.9999574585752877 Centerline is valid? [True, True] Translation: X:130.67, Y:-4.54, Z:-0.90 [[ 9.98412807e-01 5.62918713e-02 1.75849020e-03 1.30665520e+02] [-5.62917913e-02 9.98414355e-01 -9.50159494e-05 -4.54366492e+00] [-1.76105048e-03 -4.12342235e-06 9.99998449e-01 -8.96258486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.660281693 meters Centerline goodness [0,1] 0.9999785024829633 Centerline is valid? [True, True] Translation: X:130.69, Y:-4.54, Z:-0.90 [[ 9.98394621e-01 5.65984857e-02 2.18891509e-03 1.30693884e+02] [-5.65983629e-02 9.98397021e-01 -1.18059169e-04 -4.54490532e+00] [-2.19208827e-03 -6.01937081e-06 9.99997597e-01 -8.95743927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.690281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.72, Y:-4.54, Z:-0.89 [[ 9.98357018e-01 5.72132064e-02 3.14872883e-03 1.30721534e+02] [-5.72129560e-02 9.98361983e-01 -1.69608729e-04 -4.54386275e+00] [-3.15327502e-03 -1.08180191e-05 9.99995028e-01 -8.94865306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.720281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.75, Y:-4.54, Z:-0.90 [[ 9.98343826e-01 5.74710818e-02 2.58459282e-03 1.30750159e+02] [-5.74709143e-02 9.98347171e-01 -1.39075749e-04 -4.54248059e+00] [-2.58831377e-03 -9.69349774e-06 9.99996650e-01 -8.96614984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.750281693 meters Centerline goodness [0,1] 0.9999158320006734 Centerline is valid? [True, True] Translation: X:130.78, Y:-4.54, Z:-0.90 [[ 9.98306818e-01 5.81652225e-02 5.52089527e-04 1.30778516e+02] [-5.81652150e-02 9.98306970e-01 -2.96482618e-05 -4.53941333e+00] [-5.52879321e-04 -2.51434420e-06 9.99999847e-01 -9.00983173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.780281693 meters Centerline goodness [0,1] 0.9999567352413092 Centerline is valid? [True, True] Translation: X:130.81, Y:-4.54, Z:-0.90 [[ 9.98271944e-01 5.87623087e-02 -3.40794121e-04 1.30807713e+02] [-5.87623059e-02 9.98272003e-01 1.80918916e-05 -4.54007417e+00] [ 3.41268351e-04 1.96522058e-06 9.99999942e-01 -9.00479326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.810281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.84, Y:-4.54, Z:-0.90 [[ 9.98246926e-01 5.91837761e-02 -5.96528711e-04 1.30835827e+02] [-5.91837677e-02 9.98247104e-01 3.17403934e-05 -4.53894838e+00] [ 5.97361574e-04 3.62006648e-06 9.99999822e-01 -9.01028193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.840281693 meters Centerline goodness [0,1] 0.9999575722862174 Centerline is valid? [True, True] Translation: X:130.86, Y:-4.53, Z:-0.90 [[ 9.98147314e-01 6.08302762e-02 1.27187003e-03 1.30864337e+02] [-6.08302384e-02 9.98148124e-01 -6.84245664e-05 -4.53230027e+00] [-1.27367697e-03 -9.07035995e-06 9.99999189e-01 -8.98247938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.870281693 meters Centerline goodness [0,1] 0.9999577229585473 Centerline is valid? [True, True] Translation: X:130.89, Y:-4.53, Z:-0.90 [[ 9.98101875e-01 6.15439484e-02 2.23356718e-03 1.30893322e+02] [-6.15438344e-02 9.98104374e-01 -1.19807393e-04 -4.53103754e+00] [-2.23670659e-03 -1.78823046e-05 9.99997498e-01 -8.96689038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.900281693 meters Centerline goodness [0,1] 0.9999574630992386 Centerline is valid? [True, True] Translation: X:130.92, Y:-4.53, Z:-0.90 [[ 9.98066369e-01 6.20916032e-02 2.85575627e-03 1.30921805e+02] [-6.20914195e-02 9.98070455e-01 -1.52993710e-04 -4.52964458e+00] [-2.85974559e-03 -2.46200841e-05 9.99995911e-01 -8.96181048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.930281693 meters Centerline goodness [0,1] 0.9999362326233898 Centerline is valid? [True, True] Translation: X:130.95, Y:-4.53, Z:-0.90 [[ 9.98114219e-01 6.13099505e-02 3.01607820e-03 1.30949397e+02] [-6.13097425e-02 9.98118775e-01 -1.61445046e-04 -4.52627916e+00] [-3.02030246e-03 -2.37743814e-05 9.99995439e-01 -8.95521131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.960281693 meters Centerline goodness [0,1] 0.9999787021063616 Centerline is valid? [True, True] Translation: X:130.98, Y:-4.53, Z:-0.90 [[ 9.98168642e-01 6.04122405e-02 3.11830646e-03 1.30977703e+02] [-6.04120145e-02 9.98173512e-01 -1.66720968e-04 -4.52672880e+00] [-3.12268290e-03 -2.19675333e-05 9.99995124e-01 -8.95246307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99028169300001 meters Centerline goodness [0,1] 0.9999787021063616 Centerline is valid? [True, True] Translation: X:131.01, Y:-4.53, Z:-0.90 [[ 9.98171370e-01 6.03671389e-02 3.11831679e-03 1.31005993e+02] [-6.03669132e-02 9.98176241e-01 -1.66527626e-04 -4.52814693e+00] [-3.12268252e-03 -2.20200499e-05 9.99995124e-01 -8.95373406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.020281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.03, Y:-4.53, Z:-0.90 [[ 9.98218388e-01 5.95793019e-02 3.21813604e-03 1.31034650e+02] [-5.95790579e-02 9.98223575e-01 -1.71706077e-04 -4.52878685e+00] [-3.22264939e-03 -2.03333501e-05 9.99994807e-01 -8.95124566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.050281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.06, Y:-4.53, Z:-0.89 [[ 9.98258329e-01 5.88838239e-02 3.60604869e-03 1.31063652e+02] [-5.88835137e-02 9.98264842e-01 -1.92215938e-04 -4.52739288e+00] [-3.61111004e-03 -2.04556564e-05 9.99993480e-01 -8.93903646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.080281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.09, Y:-4.53, Z:-0.89 [[ 9.98285130e-01 5.84344160e-02 3.49550282e-03 1.31091096e+02] [-5.84341223e-02 9.98291249e-01 -1.86179152e-04 -4.52596529e+00] [-3.50040915e-03 -1.83967601e-05 9.99993873e-01 -8.94805619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.110281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.12, Y:-4.53, Z:-0.90 [[ 9.98320245e-01 5.78288552e-02 3.53715255e-03 1.31120408e+02] [-5.78285515e-02 9.98326511e-01 -1.88168529e-04 -4.52694130e+00] [-3.54211474e-03 -1.66959561e-05 9.99993727e-01 -8.95264740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.140281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.15, Y:-4.53, Z:-0.90 [[ 9.98438043e-01 5.57499333e-02 3.66330797e-03 1.31148881e+02] [-5.57495939e-02 9.98444763e-01 -1.94762401e-04 -4.52725985e+00] [-3.66846864e-03 -9.76974151e-06 9.99993271e-01 -8.95830879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.170281693 meters Centerline goodness [0,1] 0.9999786238002608 Centerline is valid? [True, True] Translation: X:131.18, Y:-4.53, Z:-0.90 [[ 9.98538311e-01 5.39502607e-02 3.25749792e-03 1.31177394e+02] [-5.39499833e-02 9.98543624e-01 -1.73030457e-04 -4.52871623e+00] [-3.26208881e-03 -2.96441769e-06 9.99994679e-01 -8.96527196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.200281693 meters Centerline goodness [0,1] 0.999978501558637 Centerline is valid? [True, True] Translation: X:131.21, Y:-4.53, Z:-0.90 [[ 9.98658428e-01 5.17040736e-02 2.83427214e-03 1.31206199e+02] [-5.17038546e-02 9.98662450e-01 -1.50533151e-04 -4.53074870e+00] [-2.83826434e-03 3.78840470e-06 9.99995972e-01 -8.97370539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.230281693 meters Centerline goodness [0,1] 0.9999155119972963 Centerline is valid? [True, True] Translation: X:131.23, Y:-4.53, Z:-0.90 [[ 9.98805025e-01 4.88352571e-02 1.90763583e-03 1.31234202e+02] [-4.88351527e-02 9.98806847e-01 -1.01296168e-04 -4.53484669e+00] [-1.91030655e-03 8.01543420e-06 9.99998175e-01 -8.99124701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.260281693 meters Centerline goodness [0,1] 0.9998722316865417 Centerline is valid? [True, True] Translation: X:131.26, Y:-4.55, Z:-0.90 [[ 9.99119242e-01 4.19126422e-02 2.01736416e-03 1.31262909e+02] [-4.19125116e-02 9.99121279e-01 -1.06982776e-04 -4.54637507e+00] [-2.02007539e-03 2.23357517e-05 9.99997959e-01 -8.99954701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.290281693 meters Centerline goodness [0,1] 0.9998295369798215 Centerline is valid? [True, True] Translation: X:131.29, Y:-4.55, Z:-0.90 [[ 9.99278825e-01 3.78712647e-02 2.75629005e-03 1.31292318e+02] [-3.78710060e-02 9.99282625e-01 -1.45997340e-04 -4.55464500e+00] [-2.75984186e-03 4.15085737e-05 9.99996191e-01 -8.98661947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.320281693 meters Centerline goodness [0,1] 0.9995668276623855 Centerline is valid? [True, True] Translation: X:131.32, Y:-4.56, Z:-0.90 [[ 9.99491428e-01 3.14328067e-02 5.37249150e-03 1.31321741e+02] [-3.14317320e-02 9.99505861e-01 -2.84364478e-04 -4.56355603e+00] [-5.37877511e-03 1.15353145e-04 9.99985528e-01 -8.95092732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.350281693 meters Centerline goodness [0,1] 0.9992060937667632 Centerline is valid? [True, True] Translation: X:131.35, Y:-4.58, Z:-0.89 [[ 9.99564140e-01 2.89197799e-02 5.93097261e-03 1.31351101e+02] [-2.89184263e-02 9.99581726e-01 -3.13864290e-04 -4.57549741e+00] [-5.93756872e-03 1.42213094e-04 9.99982362e-01 -8.93938672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.380281693 meters Centerline goodness [0,1] 0.9989148012596817 Centerline is valid? [True, True] Translation: X:131.38, Y:-4.58, Z:-0.89 [[ 9.99622036e-01 2.69065567e-02 5.64110148e-03 1.31381424e+02] [-2.69053001e-02 9.99637942e-01 -2.98537385e-04 -4.58268653e+00] [-5.64709169e-03 1.46649021e-04 9.99984044e-01 -8.94401757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.410281693 meters Centerline goodness [0,1] 0.9983454595592135 Centerline is valid? [True, True] Translation: X:131.41, Y:-4.59, Z:-0.90 [[ 9.99691683e-01 2.45494822e-02 3.72305717e-03 1.31412732e+02] [-2.45489188e-02 9.99698610e-01 -1.96955161e-04 -4.59242474e+00] [-3.72677022e-03 1.05497409e-04 9.99993050e-01 -8.98206032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.440281693 meters Centerline goodness [0,1] 0.9990001063716626 Centerline is valid? [True, True] Translation: X:131.44, Y:-4.59, Z:-0.90 [[ 9.99705980e-01 2.41388373e-02 2.29579253e-03 1.31443116e+02] [-2.41386211e-02 9.99708614e-01 -1.21847770e-04 -4.59415767e+00] [-2.29806483e-03 6.63946787e-05 9.99997357e-01 -9.01061690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.470281693 meters Centerline goodness [0,1] 0.9981899874363834 Centerline is valid? [True, True] Translation: X:131.47, Y:-4.61, Z:-0.90 [[ 9.99711543e-01 2.39974888e-02 9.75247055e-04 1.31472245e+02] [-2.39974497e-02 9.99712018e-01 -5.18003252e-05 -4.60649035e+00] [-9.76209279e-04 2.83819410e-05 9.99999523e-01 -9.04093846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.500281693 meters Centerline goodness [0,1] 0.9990739544299436 Centerline is valid? [True, True] Translation: X:131.50, Y:-4.60, Z:-0.90 [[ 9.99711195e-01 2.39650605e-02 1.78970082e-03 1.31502854e+02] [-2.39649288e-02 9.99712795e-01 -9.49669970e-05 -4.60109098e+00] [-1.79146270e-03 5.20495173e-05 9.99998394e-01 -9.01437306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.530281693 meters Centerline goodness [0,1] 0.9973790752184104 Centerline is valid? [True, True] Translation: X:131.53, Y:-4.62, Z:-0.90 [[ 9.99717798e-01 2.35415036e-02 3.18150804e-03 1.31531585e+02] [-2.35410854e-02 9.99722856e-01 -1.68835731e-04 -4.61546781e+00] [-3.18460095e-03 9.38919330e-05 9.99994925e-01 -8.99452096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.560281693 meters Centerline goodness [0,1] 0.9980269438845868 Centerline is valid? [True, True] Translation: X:131.56, Y:-4.62, Z:-0.90 [[ 9.99731146e-01 2.27618616e-02 4.41970235e-03 1.31562932e+02] [-2.27610473e-02 9.99740906e-01 -2.34469870e-04 -4.61565671e+00] [-4.42389420e-03 1.33809778e-04 9.99990206e-01 -8.96531767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.590281693 meters Centerline goodness [0,1] 0.9975277594254172 Centerline is valid? [True, True] Translation: X:131.59, Y:-4.63, Z:-0.90 [[ 9.99769777e-01 2.08937402e-02 4.88305186e-03 1.31593950e+02] [-2.08927231e-02 9.99781690e-01 -2.59221149e-04 -4.62711064e+00] [-4.88740194e-03 1.57141220e-04 9.99988044e-01 -8.96705086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.620281693 meters Centerline goodness [0,1] 0.997934062150297 Centerline is valid? [True, True] Translation: X:131.63, Y:-4.63, Z:-0.90 [[ 9.99789877e-01 2.00897386e-02 4.07479526e-03 1.31625451e+02] [-2.00890217e-02 9.99798172e-01 -2.16803001e-04 -4.63195636e+00] [-4.07832836e-03 1.34898795e-04 9.99991674e-01 -8.98612035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.650281693 meters Centerline goodness [0,1] 0.9973412809022492 Centerline is valid? [True, True] Translation: X:131.66, Y:-4.65, Z:-0.90 [[ 9.99804382e-01 1.95573960e-02 2.95063064e-03 1.31656392e+02] [-1.95570171e-02 9.99808731e-01 -1.57231936e-04 -4.64507460e+00] [-2.95314133e-03 9.94956442e-05 9.99995635e-01 -9.00543865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.680281693 meters Centerline goodness [0,1] 0.9972634705133644 Centerline is valid? [True, True] Translation: X:131.69, Y:-4.65, Z:-0.90 [[ 9.99794543e-01 1.99205495e-02 3.74750636e-03 1.31687114e+02] [-1.99199374e-02 9.99801558e-01 -2.00597819e-04 -4.65049706e+00] [-3.75075871e-03 1.25906512e-04 9.99992958e-01 -8.98512872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.710281693 meters Centerline goodness [0,1] 0.9961570134504529 Centerline is valid? [True, True] Translation: X:131.72, Y:-4.66, Z:-0.90 [[ 9.99767658e-01 2.08845762e-02 5.33520748e-03 1.31717754e+02] [-2.08833481e-02 9.99781878e-01 -2.85805715e-04 -4.65857714e+00] [-5.34001269e-03 1.74322316e-04 9.99985727e-01 -8.95174868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74028169300001 meters Centerline goodness [0,1] 0.997175020331293 Centerline is valid? [True, True] Translation: X:131.75, Y:-4.66, Z:-0.89 [[ 9.99709004e-01 2.30493003e-02 7.11598149e-03 1.31748681e+02] [-2.30471660e-02 9.99734306e-01 -3.81797668e-04 -4.66264987e+00] [-7.12289098e-03 2.17683359e-04 9.99974608e-01 -8.92261698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.770281693 meters Centerline goodness [0,1] 0.9972608557171674 Centerline is valid? [True, True] Translation: X:131.78, Y:-4.67, Z:-0.89 [[ 9.99685840e-01 2.42475095e-02 6.34655827e-03 1.31779248e+02] [-2.42458335e-02 9.99705968e-01 -3.40900338e-04 -4.66864693e+00] [-6.35295817e-03 1.86915646e-04 9.99979802e-01 -8.94370821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.800281693 meters Centerline goodness [0,1] 0.9981061815086711 Centerline is valid? [True, True] Translation: X:131.81, Y:-4.67, Z:-0.90 [[ 9.99658683e-01 2.55927222e-02 5.24699336e-03 1.31810867e+02] [-2.55915914e-02 9.99672442e-01 -2.82541875e-04 -4.67351479e+00] [-5.25250567e-03 1.48166528e-04 9.99986195e-01 -8.96533246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.830281693 meters Centerline goodness [0,1] 0.998281823388414 Centerline is valid? [True, True] Translation: X:131.84, Y:-4.68, Z:-0.90 [[ 9.99613570e-01 2.74016724e-02 4.67530004e-03 1.31843411e+02] [-2.74007914e-02 9.99624496e-01 -2.52394211e-04 -4.67748160e+00] [-4.68046047e-03 1.24189757e-04 9.99989039e-01 -8.97417484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.860281693 meters Centerline goodness [0,1] 0.9993157714676703 Centerline is valid? [True, True] Translation: X:131.87, Y:-4.68, Z:-0.89 [[ 9.99449581e-01 3.27031577e-02 5.57127311e-03 1.31874415e+02] [-3.27019872e-02 9.99465102e-01 -3.01076704e-04 -4.67897067e+00] [-5.57813921e-03 1.18719283e-04 9.99984435e-01 -8.94543839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.890281693 meters Centerline goodness [0,1] 0.9996174445294568 Centerline is valid? [True, True] Translation: X:131.91, Y:-4.68, Z:-0.89 [[ 9.99337008e-01 3.59736616e-02 5.60721987e-03 1.31905958e+02] [-3.59725269e-02 9.99352733e-01 -3.03107662e-04 -4.67818154e+00] [-5.61449440e-03 1.01200836e-04 9.99984233e-01 -8.94781383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.920281693 meters Centerline goodness [0,1] 0.999851842445023 Centerline is valid? [True, True] Translation: X:131.94, Y:-4.67, Z:-0.90 [[ 9.99019495e-01 4.40358763e-02 4.57049411e-03 1.31936745e+02] [-4.40352064e-02 9.99029949e-01 -2.47147361e-04 -4.67018390e+00] [-4.57694385e-03 4.56423802e-05 9.99989525e-01 -8.97643876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.950281693 meters Centerline goodness [0,1] 0.9999569522169608 Centerline is valid? [True, True] Translation: X:131.97, Y:-4.67, Z:-0.90 [[ 9.98825668e-01 4.82963916e-02 3.83975016e-03 1.31968221e+02] [-4.82959503e-02 9.98833048e-01 -2.07617297e-04 -4.66584347e+00] [-3.84529652e-03 2.19291024e-05 9.99992607e-01 -8.99363293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.980281693 meters Centerline goodness [0,1] 0.9998088319632957 Centerline is valid? [True, True] Translation: X:132.00, Y:-4.66, Z:-0.90 [[ 9.98401612e-01 5.64305729e-02 3.13235135e-03 1.31998732e+02] [-5.64303190e-02 9.98406526e-01 -1.69455944e-04 -4.65720658e+00] [-3.13692252e-03 -7.57449868e-06 9.99995080e-01 -9.00056579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.010281693 meters Centerline goodness [0,1] 0.9996593207707868 Centerline is valid? [True, True] Translation: X:132.03, Y:-4.65, Z:-0.90 [[ 9.98187543e-01 6.00673525e-02 3.67990285e-03 1.32028607e+02] [-6.00670267e-02 9.98194326e-01 -1.99095206e-04 -4.65270700e+00] [-3.68521727e-03 -2.23064682e-05 9.99993209e-01 -8.99724669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.040281693 meters Centerline goodness [0,1] 0.9994065030310738 Centerline is valid? [True, True] Translation: X:132.06, Y:-4.65, Z:-0.90 [[ 9.97990271e-01 6.32591174e-02 3.70164679e-03 1.32058798e+02] [-6.32588100e-02 9.97997136e-01 -2.00181682e-04 -4.64961912e+00] [-3.70689621e-03 -3.43824000e-05 9.99993129e-01 -9.00211118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.070281693 meters Centerline goodness [0,1] 0.9994706305848473 Centerline is valid? [True, True] Translation: X:132.09, Y:-4.65, Z:-0.90 [[ 9.97839053e-01 6.56196992e-02 3.35838386e-03 1.32088491e+02] [-6.56194597e-02 9.97844704e-01 -1.81598481e-04 -4.64791470e+00] [-3.36306199e-03 -3.91692775e-05 9.99994344e-01 -9.01092306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.100281693 meters Centerline goodness [0,1] 0.999230341642793 Centerline is valid? [True, True] Translation: X:132.12, Y:-4.65, Z:-0.90 [[ 9.97667249e-01 6.82328498e-02 2.08307979e-03 1.32117802e+02] [-6.82327633e-02 9.97669423e-01 -1.12656941e-04 -4.64561524e+00] [-2.08591192e-03 -2.97401500e-05 9.99997824e-01 -9.03573464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.130281693 meters Centerline goodness [0,1] 0.9995753264677779 Centerline is valid? [True, True] Translation: X:132.15, Y:-4.65, Z:-0.91 [[ 9.97640766e-01 6.86388148e-02 1.27083568e-03 1.32147684e+02] [-6.86387829e-02 9.97641575e-01 -6.87119434e-05 -4.64748931e+00] [-1.27255482e-03 -1.86787787e-05 9.99999190e-01 -9.05077892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.160281693 meters Centerline goodness [0,1] 0.9995340365145932 Centerline is valid? [True, True] Translation: X:132.18, Y:-4.65, Z:-0.91 [[ 9.97716061e-01 6.75296683e-02 1.55119669e-03 1.32176577e+02] [-6.75296196e-02 9.97717266e-01 -8.38453900e-05 -4.65040428e+00] [-1.55331777e-03 -2.10978303e-05 9.99998793e-01 -9.05158398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.190281693 meters Centerline goodness [0,1] 0.9993389769068384 Centerline is valid? [True, True] Translation: X:132.21, Y:-4.65, Z:-0.90 [[ 9.97734079e-01 6.72462147e-02 2.15739337e-03 1.32206482e+02] [-6.72461201e-02 9.97736411e-01 -1.16453090e-04 -4.65346748e+00] [-2.16034095e-03 -2.88871172e-05 9.99997666e-01 -9.04173573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.220281693 meters Centerline goodness [0,1] 0.9993833723155433 Centerline is valid? [True, True] Translation: X:132.24, Y:-4.66, Z:-0.90 [[ 9.97741663e-01 6.71204752e-02 2.53282386e-03 1.32235896e+02] [-6.71203445e-02 9.97744878e-01 -1.36646204e-04 -4.65737294e+00] [-2.53628379e-03 -3.36663995e-05 9.99996783e-01 -9.03248647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.250281693 meters Centerline goodness [0,1] 0.9992392223161454 Centerline is valid? [True, True] Translation: X:132.26, Y:-4.66, Z:-0.90 [[ 9.97725260e-01 6.73384527e-02 3.13667091e-03 1.32264872e+02] [-6.73382537e-02 9.97730189e-01 -1.69141106e-04 -4.65662526e+00] [-3.14094096e-03 -4.24615873e-05 9.99995066e-01 -9.02486264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.280281693 meters Centerline goodness [0,1] 0.999291206666953 Centerline is valid? [True, True] Translation: X:132.29, Y:-4.66, Z:-0.90 [[ 9.97685934e-01 6.78990498e-02 3.53507197e-03 1.32294150e+02] [-6.78988010e-02 9.97692195e-01 -1.90469943e-04 -4.65855284e+00] [-3.53984645e-03 -4.99979659e-05 9.99993733e-01 -9.01694682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.310281693 meters Centerline goodness [0,1] 0.9990141237489016 Centerline is valid? [True, True] Translation: X:132.32, Y:-4.66, Z:-0.90 [[ 9.97618873e-01 6.88458978e-02 4.10208449e-03 1.32324020e+02] [-6.88455713e-02 9.97627304e-01 -2.20908884e-04 -4.65852160e+00] [-4.10756016e-03 -6.20274785e-05 9.99991562e-01 -9.00354032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.340281693 meters Centerline goodness [0,1] 0.9982699700982486 Centerline is valid? [True, True] Translation: X:132.35, Y:-4.65, Z:-0.90 [[ 9.97421961e-01 7.15237343e-02 5.81266695e-03 1.32353392e+02] [-7.15231254e-02 9.97438893e-01 -3.12833790e-04 -4.65401835e+00] [-5.82015512e-03 -1.03712814e-04 9.99983057e-01 -8.97796334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.370281693 meters Centerline goodness [0,1] 0.9979049532890095 Centerline is valid? [True, True] Translation: X:132.38, Y:-4.65, Z:-0.90 [[ 9.97340911e-01 7.26182035e-02 6.14031714e-03 1.32381987e+02] [-7.26175461e-02 9.97359806e-01 -3.30244692e-04 -4.65161035e+00] [-6.14808729e-03 -1.16528221e-04 9.99981094e-01 -8.97062648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.400281693 meters Centerline goodness [0,1] 0.9977006110413251 Centerline is valid? [True, True] Translation: X:132.41, Y:-4.65, Z:-0.90 [[ 9.97289967e-01 7.33201237e-02 6.07291663e-03 1.32411153e+02] [-7.33194949e-02 9.97308450e-01 -3.26411904e-04 -4.64938443e+00] [-6.08050364e-03 -1.19735863e-04 9.99981506e-01 -8.97749956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.430281693 meters Centerline goodness [0,1] 0.9980585424133811 Centerline is valid? [True, True] Translation: X:132.44, Y:-4.65, Z:-0.90 [[ 9.97346506e-01 7.26380240e-02 4.86462992e-03 1.32441318e+02] [-7.26376131e-02 9.97358365e-01 -2.61341431e-04 -4.64945619e+00] [-4.87076267e-03 -9.27071430e-05 9.99988133e-01 -9.00560718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.460281693 meters Centerline goodness [0,1] 0.9983532581962831 Centerline is valid? [True, True] Translation: X:132.47, Y:-4.65, Z:-0.90 [[ 9.97432404e-01 7.14758446e-02 4.45011129e-03 1.32470533e+02] [-7.14754893e-02 9.97442328e-01 -2.39025842e-04 -4.64971015e+00] [-4.45581394e-03 -7.96617618e-05 9.99990070e-01 -9.02080637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49028169300001 meters Centerline goodness [0,1] 0.9988952623751859 Centerline is valid? [True, True] Translation: X:132.50, Y:-4.65, Z:-0.90 [[ 9.97612819e-01 6.89415561e-02 3.96550200e-03 1.32500700e+02] [-6.89412543e-02 9.97620699e-01 -2.12910502e-04 -4.65202522e+00] [-3.97074526e-03 -6.09844363e-05 9.99992115e-01 -9.03413956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.520281693 meters Centerline goodness [0,1] 0.9987071888775856 Centerline is valid? [True, True] Translation: X:132.53, Y:-4.65, Z:-0.90 [[ 9.97638043e-01 6.85898719e-02 3.71010978e-03 1.32530108e+02] [-6.85896054e-02 9.97644940e-01 -1.99168801e-04 -4.65200885e+00] [-3.71503321e-03 -5.57765929e-05 9.99993098e-01 -9.03040075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.550281693 meters Centerline goodness [0,1] 0.998785580364752 Centerline is valid? [True, True] Translation: X:132.56, Y:-4.65, Z:-0.90 [[ 9.97586046e-01 6.93494521e-02 3.56848978e-03 1.32559977e+02] [-6.93492106e-02 9.97592427e-01 -1.91490269e-04 -4.65092586e+00] [-3.57317812e-03 -5.64439295e-05 9.99993615e-01 -9.03252469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.580281693 meters Centerline goodness [0,1] 0.9986980278323231 Centerline is valid? [True, True] Translation: X:132.59, Y:-4.65, Z:-0.90 [[ 9.97471711e-01 7.10079604e-02 2.83823862e-03 1.32589550e+02] [-7.10078144e-02 9.97475748e-01 -1.52297314e-04 -4.64568199e+00] [-2.84188851e-03 -4.96248586e-05 9.99995961e-01 -9.03674013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.610281693 meters Centerline goodness [0,1] 0.9978953186785152 Centerline is valid? [True, True] Translation: X:132.62, Y:-4.63, Z:-0.90 [[ 9.97183053e-01 7.49586721e-02 2.67515307e-03 1.32618751e+02] [-7.49585570e-02 9.97186640e-01 -1.43400747e-04 -4.62907696e+00] [-2.67837603e-03 -5.75288191e-05 9.99996411e-01 -9.04521456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.640281693 meters Centerline goodness [0,1] 0.9975880469583778 Centerline is valid? [True, True] Translation: X:132.65, Y:-4.62, Z:-0.90 [[ 9.97088253e-01 7.61993645e-02 2.94508233e-03 1.32647639e+02] [-7.61992307e-02 9.97092600e-01 -1.57794552e-04 -4.62380559e+00] [-2.94854364e-03 -6.70779137e-05 9.99995651e-01 -9.04324385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.670281693 meters Centerline goodness [0,1] 0.9970988098767524 Centerline is valid? [True, True] Translation: X:132.68, Y:-4.62, Z:-0.90 [[ 9.97045880e-01 7.67510334e-02 2.96505226e-03 1.32675904e+02] [-7.67509005e-02 9.97050287e-01 -1.58755508e-04 -4.61766353e+00] [-2.96849086e-03 -6.92839055e-05 9.99995592e-01 -9.04810619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.700281693 meters Centerline goodness [0,1] 0.997709319004089 Centerline is valid? [True, True] Translation: X:132.71, Y:-4.61, Z:-0.91 [[ 9.97074861e-01 7.64021921e-02 2.10390759e-03 1.32705012e+02] [-7.64021245e-02 9.97077080e-01 -1.12559879e-04 -4.61186759e+00] [-2.10635786e-03 -4.85123835e-05 9.99997780e-01 -9.06678475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.730281693 meters Centerline goodness [0,1] 0.997491568296796 Centerline is valid? [True, True] Translation: X:132.73, Y:-4.61, Z:-0.91 [[ 9.97133567e-01 7.56467578e-02 1.48907389e-03 1.32733175e+02] [-7.56467231e-02 9.97134678e-01 -7.96914600e-05 -4.60567877e+00] [-1.49083561e-03 -3.31805301e-05 9.99998888e-01 -9.08260175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.760281693 meters Centerline goodness [0,1] 0.9980255615472804 Centerline is valid? [True, True] Translation: X:132.76, Y:-4.60, Z:-0.91 [[ 9.97304812e-01 7.33328951e-02 2.32347060e-03 1.32762486e+02] [-7.33328050e-02 9.97307517e-01 -1.24043476e-04 -4.60139262e+00] [-2.32631117e-03 -4.66774608e-05 9.99997293e-01 -9.06085260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.790281693 meters Centerline goodness [0,1] 0.9982714644069226 Centerline is valid? [True, True] Translation: X:132.79, Y:-4.60, Z:-0.90 [[ 9.97430170e-01 7.15746755e-02 3.18135206e-03 1.32791056e+02] [-7.15744984e-02 9.97435242e-01 -1.69622875e-04 -4.59923570e+00] [-3.18533336e-03 -5.85167045e-05 9.99994925e-01 -9.04114081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.820281693 meters Centerline goodness [0,1] 0.9984926650107212 Centerline is valid? [True, True] Translation: X:132.82, Y:-4.60, Z:-0.90 [[ 9.97569740e-01 6.95427239e-02 4.29221103e-03 1.32819866e+02] [-6.95423839e-02 9.97578972e-01 -2.28585680e-04 -4.59978393e+00] [-4.29771594e-03 -7.04604300e-05 9.99990762e-01 -9.02435663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.850281693 meters Centerline goodness [0,1] 0.9984926650107212 Centerline is valid? [True, True] Translation: X:132.85, Y:-4.60, Z:-0.90 [[ 9.97572885e-01 6.94975984e-02 4.29222138e-03 1.32848159e+02] [-6.94972588e-02 9.97582116e-01 -2.28391116e-04 -4.60119608e+00] [-4.29771593e-03 -7.04608354e-05 9.99990762e-01 -9.02562771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.880281693 meters Centerline goodness [0,1] 0.9985850351629322 Centerline is valid? [True, True] Translation: X:132.88, Y:-4.60, Z:-0.90 [[ 9.97852246e-01 6.52954260e-02 5.23467069e-03 1.32876334e+02] [-6.52948647e-02 9.97865975e-01 -2.78248854e-04 -4.60029765e+00] [-5.24166815e-03 -6.41458706e-05 9.99986260e-01 -9.01430372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.910281693 meters Centerline goodness [0,1] 0.9989504348198603 Centerline is valid? [True, True] Translation: X:132.91, Y:-4.60, Z:-0.90 [[ 9.97980138e-01 6.32798818e-02 5.59461636e-03 1.32905542e+02] [-6.32792107e-02 9.97995818e-01 -2.97072516e-04 -4.60287832e+00] [-5.60220245e-03 -5.75504368e-05 9.99984306e-01 -9.01083062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.940281693 meters Centerline goodness [0,1] 0.9990464687559596 Centerline is valid? [True, True] Translation: X:132.93, Y:-4.60, Z:-0.90 [[ 9.98124302e-01 6.09337043e-02 5.91275651e-03 1.32933773e+02] [-6.09329149e-02 9.98141814e-01 -3.13716282e-04 -4.60346258e+00] [-5.92088540e-03 -4.71536437e-05 9.99982470e-01 -9.00956111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.970281693 meters Centerline goodness [0,1] 0.9993607228094101 Centerline is valid? [True, True] Translation: X:132.96, Y:-4.61, Z:-0.90 [[ 9.98279317e-01 5.83367807e-02 5.93511775e-03 1.32962048e+02] [-5.83359414e-02 9.98296959e-01 -3.14572831e-04 -4.60721616e+00] [-5.94336117e-03 -3.21991301e-05 9.99982338e-01 -9.01880024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.000281693 meters Centerline goodness [0,1] 0.9997871706465756 Centerline is valid? [True, True] Translation: X:132.99, Y:-4.61, Z:-0.90 [[ 9.98601104e-01 5.26729725e-02 4.62531299e-03 1.32990756e+02] [-5.26724028e-02 9.98611815e-01 -2.44982368e-04 -4.61382240e+00] [-4.63179615e-03 1.01331439e-06 9.99989273e-01 -9.04597864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.030281693 meters Centerline goodness [0,1] 0.9998930755741842 Centerline is valid? [True, True] Translation: X:133.02, Y:-4.62, Z:-0.90 [[ 9.98747825e-01 4.98176569e-02 4.58079706e-03 1.33019441e+02] [-4.98170688e-02 9.98758330e-01 -2.42466065e-04 -4.61844052e+00] [-4.58718831e-03 1.39605728e-05 9.99989479e-01 -9.04603999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.060281693 meters Centerline goodness [0,1] 0.9998077333903013 Centerline is valid? [True, True] Translation: X:133.05, Y:-4.63, Z:-0.90 [[ 9.99013935e-01 4.40553265e-02 5.50318405e-03 1.33048562e+02] [-4.40543914e-02 9.99029092e-01 -2.91080035e-04 -4.62641625e+00] [-5.51066459e-03 4.83535875e-05 9.99984815e-01 -9.02776745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.090281693 meters Centerline goodness [0,1] 0.9998304869263042 Centerline is valid? [True, True] Translation: X:133.08, Y:-4.63, Z:-0.90 [[ 9.99113268e-01 4.17045164e-02 5.78019568e-03 1.33078096e+02] [-4.17034462e-02 9.99129986e-01 -3.05596186e-04 -4.63060160e+00] [-5.78791157e-03 6.42711247e-05 9.99983248e-01 -9.01836592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.120281693 meters Centerline goodness [0,1] 0.9996809868141217 Centerline is valid? [True, True] Translation: X:133.11, Y:-4.64, Z:-0.90 [[ 9.99253127e-01 3.81349853e-02 6.23787761e-03 1.33106899e+02] [-3.81336703e-02 9.99272593e-01 -3.29663449e-04 -4.63943888e+00] [-6.24591184e-03 9.15440645e-05 9.99980490e-01 -9.02433422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.150281693 meters Centerline goodness [0,1] 0.999746391360399 Centerline is valid? [True, True] Translation: X:133.14, Y:-4.64, Z:-0.90 [[ 9.99300856e-01 3.69468531e-02 5.72088599e-03 1.33136201e+02] [-3.69457279e-02 9.99317228e-01 -3.02280818e-04 -4.64354630e+00] [-5.72814825e-03 9.07071834e-05 9.99983590e-01 -9.03506841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.180281693 meters Centerline goodness [0,1] 0.9998088400841104 Centerline is valid? [True, True] Translation: X:133.17, Y:-4.65, Z:-0.91 [[ 9.99333370e-01 3.62037823e-02 4.70133651e-03 1.33166291e+02] [-3.62030144e-02 9.99344425e-01 -2.48368601e-04 -4.64577241e+00] [-4.70724631e-03 7.80004774e-05 9.99988918e-01 -9.05819303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.210281693 meters Centerline goodness [0,1] 0.9996625825091208 Centerline is valid? [True, True] Translation: X:133.20, Y:-4.65, Z:-0.91 [[ 9.99356087e-01 3.57143810e-02 3.44888341e-03 1.33195971e+02] [-3.57139647e-02 9.99362036e-01 -1.82213961e-04 -4.64954200e+00] [-3.45319081e-03 5.89233301e-05 9.99994036e-01 -9.07540524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24028169300001 meters Centerline goodness [0,1] 0.99961798038966 Centerline is valid? [True, True] Translation: X:133.22, Y:-4.65, Z:-0.91 [[ 9.99387461e-01 3.49490093e-02 1.80819706e-03 1.33224939e+02] [-3.49488935e-02 9.99389096e-01 -9.55964536e-05 -4.65319565e+00] [-1.81043343e-03 3.23434106e-05 9.99998361e-01 -9.10456357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.270281693 meters Centerline goodness [0,1] 0.9997448871125473 Centerline is valid? [True, True] Translation: X:133.25, Y:-4.66, Z:-0.91 [[ 9.99385828e-01 3.49931226e-02 1.85712117e-03 1.33253637e+02] [-3.49930006e-02 9.99387553e-01 -9.81152248e-05 -4.65727892e+00] [-1.85941714e-03 3.30687229e-05 9.99998271e-01 -9.10945584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.300281693 meters Centerline goodness [0,1] 0.999849209426565 Centerline is valid? [True, True] Translation: X:133.28, Y:-4.66, Z:-0.91 [[ 9.99347837e-01 3.59125793e-02 3.76663551e-03 1.33283056e+02] [-3.59120854e-02 9.99354933e-01 -1.98706840e-04 -4.65757057e+00] [-3.77134185e-03 6.33095144e-05 9.99992886e-01 -9.07348401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.330281693 meters Centerline goodness [0,1] 0.9997668948271843 Centerline is valid? [True, True] Translation: X:133.31, Y:-4.67, Z:-0.91 [[ 9.99314080e-01 3.67372641e-02 4.66293595e-03 1.33312587e+02] [-3.67365167e-02 9.99324956e-01 -2.45865230e-04 -4.66516689e+00] [-4.66882068e-03 7.43965617e-05 9.99989098e-01 -9.05088330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.360281693 meters Centerline goodness [0,1] 0.9997652231447293 Centerline is valid? [True, True] Translation: X:133.34, Y:-4.66, Z:-0.90 [[ 9.99274601e-01 3.75871327e-02 6.12207380e-03 1.33342440e+02] [-3.75858600e-02 9.99293350e-01 -3.22856394e-04 -4.66118810e+00] [-6.12988288e-03 9.25187859e-05 9.99981208e-01 -9.03154063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.390281693 meters Centerline goodness [0,1] 0.9998089131404064 Centerline is valid? [True, True] Translation: X:133.37, Y:-4.66, Z:-0.90 [[ 9.99171961e-01 4.02274927e-02 6.09429094e-03 1.33373253e+02] [-4.02262812e-02 9.99190544e-01 -3.21287384e-04 -4.66212078e+00] [-6.10228247e-03 7.58706839e-05 9.99981378e-01 -9.03610491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.420281693 meters Centerline goodness [0,1] 0.9999142679555051 Centerline is valid? [True, True] Translation: X:133.40, Y:-4.66, Z:-0.91 [[ 9.99100443e-01 4.20646705e-02 5.37298863e-03 1.33403172e+02] [-4.20637554e-02 9.99114888e-01 -2.83239940e-04 -4.66238296e+00] [-5.38014733e-03 5.69770694e-05 9.99985525e-01 -9.05530836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.450281693 meters Centerline goodness [0,1] 0.9999573451629414 Centerline is valid? [True, True] Translation: X:133.43, Y:-4.66, Z:-0.91 [[ 9.99004491e-01 4.44214163e-02 4.09435945e-03 1.33433052e+02] [-4.44209050e-02 9.99012881e-01 -2.15765730e-04 -4.66220685e+00] [-4.09990245e-03 3.36757805e-05 9.99991595e-01 -9.07583151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.480281693 meters Centerline goodness [0,1] 0.9999151481725038 Centerline is valid? [True, True] Translation: X:133.46, Y:-4.66, Z:-0.91 [[ 9.98869462e-01 4.74195990e-02 3.34343851e-03 1.33461745e+02] [-4.74192751e-02 9.98875058e-01 -1.76134600e-04 -4.66094903e+00] [-3.34802957e-03 1.73920423e-05 9.99994395e-01 -9.08832885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.510281693 meters Centerline goodness [0,1] 0.9996585428315335 Centerline is valid? [True, True] Translation: X:133.49, Y:-4.65, Z:-0.91 [[ 9.98531930e-01 5.40606376e-02 3.38121833e-03 1.33490007e+02] [-5.40603445e-02 9.98537654e-01 -1.78083442e-04 -4.65349214e+00] [-3.38590112e-03 -4.96782437e-06 9.99994268e-01 -9.08042439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.540281693 meters Centerline goodness [0,1] 0.9992693043347446 Centerline is valid? [True, True] Translation: X:133.52, Y:-4.65, Z:-0.91 [[ 9.98337533e-01 5.75218945e-02 3.66085777e-03 1.33519255e+02] [-5.75215751e-02 9.98344245e-01 -1.92569524e-04 -4.64999608e+00] [-3.66587325e-03 -1.83289210e-05 9.99993280e-01 -9.08354967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.570281693 meters Centerline goodness [0,1] 0.9989050389677309 Centerline is valid? [True, True] Translation: X:133.55, Y:-4.64, Z:-0.91 [[ 9.97981396e-01 6.34464417e-02 2.77165327e-03 1.33548796e+02] [-6.34462817e-02 9.97985244e-01 -1.45697013e-04 -4.64354151e+00] [-2.77531302e-03 -3.04481851e-05 9.99996148e-01 -9.10767116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.600281693 meters Centerline goodness [0,1] 0.9987397201751576 Centerline is valid? [True, True] Translation: X:133.58, Y:-4.64, Z:-0.91 [[ 9.97842953e-01 6.56006296e-02 2.44904500e-03 1.33576588e+02] [-6.56005112e-02 9.97845958e-01 -1.28718358e-04 -4.64115070e+00] [-2.45221366e-03 -3.22178979e-05 9.99996993e-01 -9.11615999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.630281693 meters Centerline goodness [0,1] 0.998515554408158 Centerline is valid? [True, True] Translation: X:133.61, Y:-4.64, Z:-0.91 [[ 9.97726533e-01 6.73403727e-02 2.65323924e-03 1.33605183e+02] [-6.73402405e-02 9.97730060e-01 -1.39250459e-04 -4.63885696e+00] [-2.65659372e-03 -3.97358909e-05 9.99996470e-01 -9.10967393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.660281693 meters Centerline goodness [0,1] 0.998009570999026 Centerline is valid? [True, True] Translation: X:133.63, Y:-4.63, Z:-0.91 [[ 9.97559750e-01 6.97428554e-02 3.23730521e-03 1.33633111e+02] [-6.97426718e-02 9.97565001e-01 -1.69721452e-04 -4.63408822e+00] [-3.24125923e-03 -5.64710248e-05 9.99994746e-01 -9.10192358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.690281693 meters Centerline goodness [0,1] 0.9981381571987729 Centerline is valid? [True, True] Translation: X:133.66, Y:-4.63, Z:-0.91 [[ 9.97541341e-01 7.00022211e-02 3.31090499e-03 1.33660943e+02] [-7.00020311e-02 9.97546834e-01 -1.73380930e-04 -4.63349732e+00] [-3.31491984e-03 -5.88154289e-05 9.99994504e-01 -9.10274648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.720281693 meters Centerline goodness [0,1] 0.998592930541935 Centerline is valid? [True, True] Translation: X:133.69, Y:-4.64, Z:-0.91 [[ 9.97609793e-01 6.90312277e-02 3.06428147e-03 1.33689195e+02] [-6.90310609e-02 9.97614498e-01 -1.60298242e-04 -4.63695662e+00] [-3.06803720e-03 -5.16155041e-05 9.99995292e-01 -9.12002427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.750281693 meters Centerline goodness [0,1] 0.9984481292517007 Centerline is valid? [True, True] Translation: X:133.72, Y:-4.64, Z:-0.91 [[ 9.97634546e-01 6.86997678e-02 2.37793098e-03 1.33717525e+02] [-6.86996665e-02 9.97637379e-01 -1.24352734e-04 -4.63701661e+00] [-2.38085584e-03 -3.93044827e-05 9.99997165e-01 -9.13625773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.780281693 meters Centerline goodness [0,1] 0.9984700382490438 Centerline is valid? [True, True] Translation: X:133.75, Y:-4.64, Z:-0.91 [[ 9.97644708e-01 6.85669568e-02 1.89997270e-03 1.33746584e+02] [-6.85668920e-02 9.97646516e-01 -9.92689467e-05 -4.63737538e+00] [-1.90230772e-03 -3.12400838e-05 9.99998190e-01 -9.13979789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.810281693 meters Centerline goodness [0,1] 0.9985181421736737 Centerline is valid? [True, True] Translation: X:133.77, Y:-4.64, Z:-0.91 [[ 9.97630696e-01 6.87524632e-02 2.46846920e-03 1.33774663e+02] [-6.87523549e-02 9.97633749e-01 -1.28825546e-04 -4.63686673e+00] [-2.47148526e-03 -4.11927516e-05 9.99996945e-01 -9.12974605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.840281693 meters Centerline goodness [0,1] 0.9977183419951832 Centerline is valid? [True, True] Translation: X:133.80, Y:-4.63, Z:-0.91 [[ 9.97556063e-01 6.96700430e-02 5.29019435e-03 1.33802285e+02] [-6.96695618e-02 9.97570086e-01 -2.75422003e-04 -4.63292085e+00] [-5.29652830e-03 -9.38166328e-05 9.99985969e-01 -9.07911705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.870281693 meters Centerline goodness [0,1] 0.9975731740772785 Centerline is valid? [True, True] Translation: X:133.83, Y:-4.63, Z:-0.91 [[ 9.97522133e-01 7.01216995e-02 5.70450860e-03 1.33829729e+02] [-7.01211496e-02 9.97538439e-01 -2.96588145e-04 -4.63229561e+00] [-5.71126387e-03 -1.04153461e-04 9.99983685e-01 -9.07316702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.900281693 meters Centerline goodness [0,1] 0.9975473468691349 Centerline is valid? [True, True] Translation: X:133.86, Y:-4.63, Z:-0.91 [[ 9.97457631e-01 7.11133796e-02 4.60011678e-03 1.33858272e+02] [-7.11130335e-02 9.97468235e-01 -2.38961616e-04 -4.63287093e+00] [-4.60546373e-03 -8.87741708e-05 9.99989391e-01 -9.10713268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.930281693 meters Centerline goodness [0,1] 0.9973129654705484 Centerline is valid? [True, True] Translation: X:133.89, Y:-4.63, Z:-0.91 [[ 9.97403030e-01 7.19553985e-02 3.10094980e-03 1.33886542e+02] [-7.19552455e-02 9.97407849e-01 -1.61024373e-04 -4.62893855e+00] [-3.10449824e-03 -6.25234062e-05 9.99995179e-01 -9.12721670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.960281693 meters Centerline goodness [0,1] 0.9976401677166515 Centerline is valid? [True, True] Translation: X:133.92, Y:-4.63, Z:-0.91 [[ 9.97312270e-01 7.32367185e-02 2.14913241e-03 1.33915358e+02] [-7.32366482e-02 9.97314585e-01 -1.11526184e-04 -4.62745649e+00] [-2.15152891e-03 -4.61688230e-05 9.99997684e-01 -9.14601283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.990281693 meters Centerline goodness [0,1] 0.9969035651417786 Centerline is valid? [True, True] Translation: X:133.95, Y:-4.62, Z:-0.92 [[ 9.97110199e-01 7.59518318e-02 1.60346178e-03 1.33945317e+02] [-7.59517962e-02 9.97111487e-01 -8.31232739e-05 -4.62070457e+00] [-1.60514352e-03 -3.89027380e-05 9.99998711e-01 -9.15320776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.020281693 meters Centerline goodness [0,1] 0.9965464313123561 Centerline is valid? [True, True] Translation: X:133.97, Y:-4.62, Z:-0.91 [[ 9.97021001e-01 7.70832999e-02 2.69954017e-03 1.33974539e+02] [-7.70832036e-02 9.97024654e-01 -1.39854061e-04 -4.61815397e+00] [-2.70228851e-03 -6.86517679e-05 9.99996346e-01 -9.13937055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.050281693 meters Centerline goodness [0,1] 0.9957197041934185 Centerline is valid? [True, True] Translation: X:134.00, Y:-4.62, Z:-0.91 [[ 9.96984998e-01 7.74862697e-02 4.09767222e-03 1.34002539e+02] [-7.74860524e-02 9.96993414e-01 -2.12002686e-04 -4.61594255e+00] [-4.10177951e-03 -1.06148947e-04 9.99991582e-01 -9.11507720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.080281693 meters Centerline goodness [0,1] 0.9959339263024143 Centerline is valid? [True, True] Translation: X:134.03, Y:-4.62, Z:-0.91 [[ 9.97002101e-01 7.72234287e-02 4.83255048e-03 1.34031111e+02] [-7.72231249e-02 9.97013805e-01 -2.49711488e-04 -4.61643277e+00] [-4.83740312e-03 -1.24221771e-04 9.99988292e-01 -9.09904752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.110281693 meters Centerline goodness [0,1] 0.9965830468186255 Centerline is valid? [True, True] Translation: X:134.06, Y:-4.62, Z:-0.91 [[ 9.97189330e-01 7.47480343e-02 5.11576402e-03 1.34058992e+02] [-7.47476626e-02 9.97202445e-01 -2.64092362e-04 -4.61525346e+00] [-5.12119278e-03 -1.19041317e-04 9.99986880e-01 -9.09911104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.140281693 meters Centerline goodness [0,1] 0.9966533083219645 Centerline is valid? [True, True] Translation: X:134.09, Y:-4.62, Z:-0.91 [[ 9.97317804e-01 7.30013065e-02 5.29217769e-03 1.34087872e+02] [-7.30008858e-02 9.97331839e-01 -2.72878906e-04 -4.61804986e+00] [-5.29797782e-03 -1.14186667e-04 9.99985959e-01 -9.09754549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.170281693 meters Centerline goodness [0,1] 0.9972451790633609 Centerline is valid? [True, True] Translation: X:134.12, Y:-4.62, Z:-0.91 [[ 9.97465148e-01 7.08613324e-02 6.47692435e-03 1.34116395e+02] [-7.08606593e-02 9.97486168e-01 -3.33638967e-04 -4.62055409e+00] [-6.48428456e-03 -1.26165888e-04 9.99978969e-01 -9.06775846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.200281693 meters Centerline goodness [0,1] 0.9974313250965907 Centerline is valid? [True, True] Translation: X:134.14, Y:-4.62, Z:-0.91 [[ 9.97487308e-01 7.04784711e-02 7.20106441e-03 1.34144860e+02] [-7.04776315e-02 9.97513291e-01 -3.70600855e-04 -4.61967882e+00] [-7.20927684e-03 -1.37844315e-04 9.99974003e-01 -9.05834753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.230281693 meters Centerline goodness [0,1] 0.9978520692441836 Centerline is valid? [True, True] Translation: X:134.17, Y:-4.62, Z:-0.91 [[ 9.97488364e-01 7.05147772e-02 6.68049154e-03 1.34173078e+02] [-7.05140576e-02 9.97510727e-01 -3.43478871e-04 -4.61614493e+00] [-6.68808231e-03 -1.28452388e-04 9.99977626e-01 -9.07091578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.260281693 meters Centerline goodness [0,1] 0.997905471163204 Centerline is valid? [True, True] Translation: X:134.20, Y:-4.62, Z:-0.91 [[ 9.97509678e-01 7.02863767e-02 5.85388029e-03 1.34201657e+02] [-7.02858222e-02 9.97526848e-01 -3.00652140e-04 -4.61651781e+00] [-5.86053450e-03 -1.11541369e-04 9.99982821e-01 -9.09516370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.290281693 meters Centerline goodness [0,1] 0.9982364065189214 Centerline is valid? [True, True] Translation: X:134.23, Y:-4.62, Z:-0.91 [[ 9.97555326e-01 6.97300313e-02 4.59291419e-03 1.34230449e+02] [-6.97296848e-02 9.97565895e-01 -2.35724640e-04 -4.61834627e+00] [-4.59817164e-03 -8.51140889e-05 9.99989425e-01 -9.12150776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.320281693 meters Centerline goodness [0,1] 0.9984209964792489 Centerline is valid? [True, True] Translation: X:134.26, Y:-4.62, Z:-0.92 [[ 9.97654781e-01 6.83657615e-02 3.32567595e-03 1.34258426e+02] [-6.83655725e-02 9.97660323e-01 -1.70601943e-04 -4.61702827e+00] [-3.32955828e-03 -5.71598959e-05 9.99994455e-01 -9.15344868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.350281693 meters Centerline goodness [0,1] 0.9992540653438758 Centerline is valid? [True, True] Translation: X:134.29, Y:-4.63, Z:-0.92 [[ 9.97950972e-01 6.39749484e-02 1.03142111e-03 1.34286863e+02] [-6.39749278e-02 9.97951505e-01 -5.29881091e-05 -4.62776637e+00] [-1.03269816e-03 -1.31055559e-05 9.99999467e-01 -9.20389011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.380281693 meters Centerline goodness [0,1] 0.9993205079203296 Centerline is valid? [True, True] Translation: X:134.31, Y:-4.63, Z:-0.92 [[ 9.98115105e-01 6.13630310e-02 9.03507012e-04 1.34314272e+02] [-6.13630141e-02 9.98115514e-01 -4.64403937e-05 -4.63212425e+00] [-9.04654089e-04 -9.08905510e-06 9.99999591e-01 -9.21413710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.410281693 meters Centerline goodness [0,1] 0.9995129698253044 Centerline is valid? [True, True] Translation: X:134.34, Y:-4.64, Z:-0.92 [[ 9.98295806e-01 5.83280564e-02 1.82232191e-03 1.34343262e+02] [-5.83279834e-02 9.98297470e-01 -9.32399475e-05 -4.63862662e+00] [-1.82465786e-03 -1.32113136e-05 9.99998335e-01 -9.19410721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.440281693 meters Centerline goodness [0,1] 0.999639906799407 Centerline is valid? [True, True] Translation: X:134.37, Y:-4.65, Z:-0.91 [[ 9.98567531e-01 5.32855332e-02 4.85167571e-03 1.34370860e+02] [-5.32849580e-02 9.98579317e-01 -2.47829612e-04 -4.64873939e+00] [-4.85798875e-03 -1.10467328e-05 9.99988200e-01 -9.12793210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.470281693 meters Centerline goodness [0,1] 0.99968011601126 Centerline is valid? [True, True] Translation: X:134.40, Y:-4.65, Z:-0.91 [[ 9.98619696e-01 5.22069730e-02 5.75631982e-03 1.34399555e+02] [-5.22061474e-02 9.98636286e-01 -2.93697192e-04 -4.65262448e+00] [-5.76380289e-03 -7.22348025e-06 9.99983389e-01 -9.11400055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.500281693 meters Centerline goodness [0,1] 0.9995989276592152 Centerline is valid? [True, True] Translation: X:134.43, Y:-4.66, Z:-0.91 [[ 9.98624675e-01 5.20902736e-02 5.94663156e-03 1.34427894e+02] [-5.20893920e-02 9.98642380e-01 -3.03147659e-04 -4.65643307e+00] [-5.95434934e-03 -7.02568974e-06 9.99982273e-01 -9.11128504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.530281693 meters Centerline goodness [0,1] 0.9997878524301504 Centerline is valid? [True, True] Translation: X:134.46, Y:-4.66, Z:-0.91 [[ 9.98609424e-01 5.23872678e-02 5.89855026e-03 1.34456689e+02] [-5.23864071e-02 9.98626844e-01 -3.00444962e-04 -4.65902229e+00] [-5.90619012e-03 -8.97668413e-06 9.99982558e-01 -9.12412994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.560281693 meters Centerline goodness [0,1] 0.9996620194338826 Centerline is valid? [True, True] Translation: X:134.49, Y:-4.66, Z:-0.91 [[ 9.98584180e-01 5.29349123e-02 5.24697666e-03 1.34485743e+02] [-5.29342398e-02 9.98597965e-01 -2.67047625e-04 -4.66165413e+00] [-5.25375635e-03 -1.10751874e-05 9.99986199e-01 -9.13788878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.590281693 meters Centerline goodness [0,1] 0.9997663948352021 Centerline is valid? [True, True] Translation: X:134.51, Y:-4.67, Z:-0.91 [[ 9.98552106e-01 5.35585028e-02 5.01786496e-03 1.34513614e+02] [-5.35578968e-02 9.98564713e-01 -2.55168626e-04 -4.66624883e+00] [-5.02432934e-03 -1.39471243e-05 9.99987378e-01 -9.14230015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.620281693 meters Centerline goodness [0,1] 0.9995070935664995 Centerline is valid? [True, True] Translation: X:134.54, Y:-4.67, Z:-0.91 [[ 9.98566505e-01 5.32445477e-02 5.47296907e-03 1.34541991e+02] [-5.32438237e-02 9.98581503e-01 -2.78000897e-04 -4.66957092e+00] [-5.48000771e-03 -1.37994164e-05 9.99984985e-01 -9.13285486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.650281693 meters Centerline goodness [0,1] 0.9996789383561644 Centerline is valid? [True, True] Translation: X:134.57, Y:-4.67, Z:-0.91 [[ 9.98589847e-01 5.27909190e-02 5.60672477e-03 1.34570246e+02] [-5.27901534e-02 9.98605587e-01 -2.84545741e-04 -4.67342282e+00] [-5.61392811e-03 -1.18353733e-05 9.99984242e-01 -9.13084479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.680281693 meters Centerline goodness [0,1] 0.9995969367190649 Centerline is valid? [True, True] Translation: X:134.60, Y:-4.68, Z:-0.92 [[ 9.98705537e-01 5.06422448e-02 4.75540232e-03 1.34598318e+02] [-5.06416706e-02 9.98716858e-01 -2.41161508e-04 -4.68476262e+00] [-4.76151342e-03 2.78158884e-08 9.99988664e-01 -9.15906668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.710281693 meters Centerline goodness [0,1] 0.9997643277986074 Centerline is valid? [True, True] Translation: X:134.63, Y:-4.69, Z:-0.92 [[ 9.98764422e-01 4.95252083e-02 4.10888915e-03 1.34625548e+02] [-4.95247708e-02 9.98772874e-01 -2.08216487e-04 -4.69186200e+00] [-4.11415899e-03 4.46742568e-06 9.99991537e-01 -9.17584780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.740281693 meters Centerline goodness [0,1] 0.999851234751562 Centerline is valid? [True, True] Translation: X:134.65, Y:-4.70, Z:-0.92 [[ 9.98788773e-01 4.89654599e-02 4.83433678e-03 1.34654206e+02] [-4.89648495e-02 9.98800472e-01 -2.44630552e-04 -4.70025386e+00] [-4.84051631e-03 7.62167565e-06 9.99988285e-01 -9.16875189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.770281693 meters Centerline goodness [0,1] 0.999851234751562 Centerline is valid? [True, True] Translation: X:134.68, Y:-4.70, Z:-0.92 [[ 9.98791047e-01 4.89190485e-02 4.83434814e-03 1.34682498e+02] [-4.89184386e-02 9.98802747e-01 -2.44406028e-04 -4.70159584e+00] [-4.84051631e-03 7.62178984e-06 9.99988285e-01 -9.17002280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.800281693 meters Centerline goodness [0,1] 0.9997844874032887 Centerline is valid? [True, True] Translation: X:134.71, Y:-4.70, Z:-0.92 [[ 9.98736376e-01 4.99467455e-02 5.56548963e-03 1.34711394e+02] [-4.99459547e-02 9.98751882e-01 -2.81079034e-04 -4.70392752e+00] [-5.57258222e-03 2.75016334e-06 9.99984473e-01 -9.15143030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.830281693 meters Centerline goodness [0,1] 0.9995541779891305 Centerline is valid? [True, True] Translation: X:134.74, Y:-4.71, Z:-0.91 [[ 9.98657681e-01 5.14281184e-02 6.16324666e-03 1.34738752e+02] [-5.14271788e-02 9.98676699e-01 -3.10940191e-04 -4.70501216e+00] [-6.17108190e-03 -6.43557810e-06 9.99980959e-01 -9.13624884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.860281693 meters Centerline goodness [0,1] 0.999276164523546 Centerline is valid? [True, True] Translation: X:134.77, Y:-4.71, Z:-0.91 [[ 9.98568904e-01 5.31198680e-02 6.19860244e-03 1.34767865e+02] [-5.31189523e-02 9.98588143e-01 -3.12389708e-04 -4.70593044e+00] [-6.20644500e-03 -1.73206184e-05 9.99980740e-01 -9.14195299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.890281693 meters Centerline goodness [0,1] 0.9992374173868835 Centerline is valid? [True, True] Translation: X:134.80, Y:-4.71, Z:-0.92 [[ 9.98416832e-01 5.60795043e-02 4.34960094e-03 1.34796976e+02] [-5.60790821e-02 9.98426306e-01 -2.19074860e-04 -4.70828654e+00] [-4.35504161e-03 -2.51936007e-05 9.99990516e-01 -9.18591750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.920281693 meters Centerline goodness [0,1] 0.9991032156125892 Centerline is valid? [True, True] Translation: X:134.83, Y:-4.71, Z:-0.92 [[ 9.98355825e-01 5.72083135e-02 3.58554645e-03 1.34825331e+02] [-5.72080340e-02 9.98362263e-01 -1.80551111e-04 -4.71060849e+00] [-3.59000329e-03 -2.48678101e-05 9.99993556e-01 -9.20056296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.950281693 meters Centerline goodness [0,1] 0.9990601102234374 Centerline is valid? [True, True] Translation: X:134.85, Y:-4.71, Z:-0.92 [[ 9.98214236e-01 5.96167879e-02 3.76539777e-03 1.34854541e+02] [-5.96164975e-02 9.98221337e-01 -1.89410286e-04 -4.71114667e+00] [-3.76999242e-03 -3.54077828e-05 9.99992893e-01 -9.19265725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.980281693 meters Centerline goodness [0,1] 0.998728867420872 Centerline is valid? [True, True] Translation: X:134.88, Y:-4.71, Z:-0.92 [[ 9.98158283e-01 6.04763934e-02 4.75906603e-03 1.34882026e+02] [-6.04759403e-02 9.98169627e-01 -2.39177621e-04 -4.71126753e+00] [-4.76481976e-03 -4.90718702e-05 9.99988647e-01 -9.17674327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.010281693 meters Centerline goodness [0,1] 0.9984355179704016 Centerline is valid? [True, True] Translation: X:134.91, Y:-4.71, Z:-0.92 [[ 9.98119309e-01 6.10437410e-02 5.61306330e-03 1.34910136e+02] [-6.10431219e-02 9.98135090e-01 -2.81720565e-04 -4.71222700e+00] [-5.61979272e-03 -6.14481719e-05 9.99984207e-01 -9.16170962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.040281693 meters Centerline goodness [0,1] 0.9986364701621322 Centerline is valid? [True, True] Translation: X:134.94, Y:-4.71, Z:-0.92 [[ 9.98063756e-01 6.18975257e-02 6.11849494e-03 1.34939377e+02] [-6.18968082e-02 9.98082507e-01 -3.06732592e-04 -4.71403779e+00] [-6.12574876e-03 -7.25766245e-05 9.99981235e-01 -9.15607236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.070281693 meters Centerline goodness [0,1] 0.9983683329448412 Centerline is valid? [True, True] Translation: X:134.97, Y:-4.71, Z:-0.92 [[ 9.98028263e-01 6.24828753e-02 5.95622158e-03 1.34967410e+02] [-6.24822075e-02 9.98046033e-01 -2.98304591e-04 -4.71276569e+00] [-5.96322225e-03 -7.44414600e-05 9.99982217e-01 -9.16447942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.100281693 meters Centerline goodness [0,1] 0.9982080742068093 Centerline is valid? [True, True] Translation: X:135.00, Y:-4.71, Z:-0.92 [[ 9.97984079e-01 6.32646820e-02 5.03575527e-03 1.34996155e+02] [-6.32642159e-02 9.97996781e-01 -2.51956208e-04 -4.71262026e+00] [-5.04160748e-03 -6.71348245e-05 9.99987289e-01 -9.17736157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.130281693 meters Centerline goodness [0,1] 0.9983884306283 Centerline is valid? [True, True] Translation: X:135.03, Y:-4.71, Z:-0.92 [[ 9.97967266e-01 6.35327528e-02 4.99247075e-03 1.35025092e+02] [-6.35322992e-02 9.97979752e-01 -2.49561060e-04 -4.71378440e+00] [-4.99824002e-03 -6.81293762e-05 9.99987506e-01 -9.19153745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.160281693 meters Centerline goodness [0,1] 0.9984592338968543 Centerline is valid? [True, True] Translation: X:135.05, Y:-4.72, Z:-0.92 [[ 9.98006729e-01 6.28553993e-02 5.63619631e-03 1.35054173e+02] [-6.28548120e-02 9.98022642e-01 -2.81447688e-04 -4.71656374e+00] [-5.64274204e-03 -7.33753724e-05 9.99984077e-01 -9.17625093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.190281693 meters Centerline goodness [0,1] 0.9985271516393442 Centerline is valid? [True, True] Translation: X:135.08, Y:-4.72, Z:-0.92 [[ 9.98042960e-01 6.21958532e-02 6.47498492e-03 1.35082371e+02] [-6.21950666e-02 9.98063961e-01 -3.22966727e-04 -4.71657628e+00] [-6.48253628e-03 -8.03774495e-05 9.99978985e-01 -9.16030250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.220281693 meters Centerline goodness [0,1] 0.9984290748524605 Centerline is valid? [True, True] Translation: X:135.11, Y:-4.72, Z:-0.92 [[ 9.98072470e-01 6.16662313e-02 6.97289988e-03 1.35111139e+02] [-6.16653089e-02 9.98096823e-01 -3.47399254e-04 -4.71749031e+00] [-6.98105202e-03 -8.32563940e-05 9.99975629e-01 -9.15247097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.250281693 meters Centerline goodness [0,1] 0.9985372988785958 Centerline is valid? [True, True] Translation: X:135.14, Y:-4.72, Z:-0.92 [[ 9.98123729e-01 6.08970624e-02 6.36947215e-03 1.35139669e+02] [-6.08962789e-02 9.98144049e-01 -3.17057532e-04 -4.71993332e+00] [-6.37695860e-03 -7.14145065e-05 9.99979664e-01 -9.16545681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.280281693 meters Centerline goodness [0,1] 0.9989435206119128 Centerline is valid? [True, True] Translation: X:135.17, Y:-4.72, Z:-0.92 [[ 9.98211048e-01 5.95053567e-02 5.81509405e-03 1.35167100e+02] [-5.95046816e-02 9.98227985e-01 -2.89193153e-04 -4.72113628e+00] [-5.82199816e-03 -5.73495191e-05 9.99983050e-01 -9.17284177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.310281693 meters Centerline goodness [0,1] 0.9993071011632302 Centerline is valid? [True, True] Translation: X:135.20, Y:-4.72, Z:-0.92 [[ 9.98256390e-01 5.86989216e-02 6.21422530e-03 1.35196366e+02] [-5.86981373e-02 9.98275730e-01 -3.08685859e-04 -4.72259171e+00] [-6.22162982e-03 -5.66158188e-05 9.99980644e-01 -9.17097852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.340281693 meters Centerline goodness [0,1] 0.9991259672983862 Centerline is valid? [True, True] Translation: X:135.23, Y:-4.72, Z:-0.92 [[ 9.98286119e-01 5.81058369e-02 6.96682870e-03 1.35225426e+02] [-5.81048390e-02 9.98310427e-01 -3.45731506e-04 -4.72460025e+00] [-6.97514675e-03 -5.96674964e-05 9.99975672e-01 -9.16292723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.370281693 meters Centerline goodness [0,1] 0.9989612261771004 Centerline is valid? [True, True] Translation: X:135.25, Y:-4.73, Z:-0.91 [[ 9.98323351e-01 5.73339901e-02 7.95611934e-03 1.35254248e+02] [-5.73326669e-02 9.98355052e-01 -3.94478259e-04 -4.72783874e+00] [-7.96564895e-03 -6.23286821e-05 9.99968272e-01 -9.14621740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.400281693 meters Centerline goodness [0,1] 0.9988528699494413 Centerline is valid? [True, True] Translation: X:135.28, Y:-4.73, Z:-0.91 [[ 9.98337744e-01 5.70477401e-02 8.20395787e-03 1.35282572e+02] [-5.70463258e-02 9.98371450e-01 -4.06487185e-04 -4.72911490e+00] [-8.21378649e-03 -6.21941544e-05 9.99966264e-01 -9.13663584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.430281693 meters Centerline goodness [0,1] 0.9989937914793406 Centerline is valid? [True, True] Translation: X:135.31, Y:-4.73, Z:-0.91 [[ 9.98359184e-01 5.66592150e-02 8.28690147e-03 1.35311445e+02] [-5.66577613e-02 9.98393575e-01 -4.10269715e-04 -4.73205145e+00] [-8.29683474e-03 -5.99207481e-05 9.99965579e-01 -9.14550644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.460281693 meters Centerline goodness [0,1] 0.9992343357862946 Centerline is valid? [True, True] Translation: X:135.34, Y:-4.73, Z:-0.92 [[ 9.98406888e-01 5.60343465e-02 6.62096308e-03 1.35340336e+02] [-5.60334063e-02 9.98428841e-01 -3.27552324e-04 -4.73400536e+00] [-6.62891467e-03 -4.39646181e-05 9.99978028e-01 -9.18044117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.490281693 meters Centerline goodness [0,1] 0.999235668789809 Centerline is valid? [True, True] Translation: X:135.37, Y:-4.74, Z:-0.92 [[ 9.98415938e-01 5.59301703e-02 6.11801326e-03 1.35369520e+02] [-5.59293668e-02 9.98434682e-01 -3.02490350e-04 -4.73563495e+00] [-6.12535496e-03 -4.01654206e-05 9.99981239e-01 -9.19461659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.520281693 meters Centerline goodness [0,1] 0.9993229949013054 Centerline is valid? [True, True] Translation: X:135.40, Y:-4.74, Z:-0.92 [[ 9.98433824e-01 5.56568140e-02 5.67612193e-03 1.35398170e+02] [-5.56561188e-02 9.98449958e-01 -2.80494216e-04 -4.73765276e+00] [-5.68293511e-03 -3.58560036e-05 9.99983851e-01 -9.20307801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.550281693 meters Centerline goodness [0,1] 0.9991335038146966 Centerline is valid? [True, True] Translation: X:135.43, Y:-4.74, Z:-0.92 [[ 9.98488790e-01 5.46656938e-02 5.63892204e-03 1.35426955e+02] [-5.46649932e-02 9.98504713e-01 -2.78414142e-04 -4.74224402e+00] [-5.64570994e-03 -3.02582355e-05 9.99984062e-01 -9.20718073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.580281693 meters Centerline goodness [0,1] 0.9990309056818422 Centerline is valid? [True, True] Translation: X:135.46, Y:-4.75, Z:-0.92 [[ 9.98551845e-01 5.35016680e-02 5.63784690e-03 1.35455910e+02] [-5.35009502e-02 9.98567760e-01 -2.78170228e-04 -4.74655343e+00] [-5.64465472e-03 -2.38627714e-05 9.99984069e-01 -9.21023939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.610281693 meters Centerline goodness [0,1] 0.9992550655542313 Centerline is valid? [True, True] Translation: X:135.49, Y:-4.75, Z:-0.92 [[ 9.98632239e-01 5.20372662e-02 5.07678430e-03 1.35485433e+02] [-5.20366659e-02 9.98645144e-01 -2.50339899e-04 -4.75246955e+00] [-5.08293299e-03 -1.41814350e-05 9.99987082e-01 -9.22496818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.640281693 meters Centerline goodness [0,1] 0.9995764596260138 Centerline is valid? [True, True] Translation: X:135.51, Y:-4.76, Z:-0.93 [[ 9.98791701e-01 4.89843420e-02 3.95890098e-03 1.35514568e+02] [-4.89839533e-02 9.98799547e-01 -1.95152338e-04 -4.76258875e+00] [-3.96370791e-03 9.93914676e-07 9.99992144e-01 -9.25491495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.670281693 meters Centerline goodness [0,1] 0.9996816570810076 Centerline is valid? [True, True] Translation: X:135.54, Y:-4.77, Z:-0.93 [[ 9.98847061e-01 4.78420661e-02 3.96040021e-03 1.35543063e+02] [-4.78416684e-02 9.98854913e-01 -1.95150076e-04 -4.76744437e+00] [-3.96520159e-03 5.45292614e-06 9.99992139e-01 -9.25511700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.700281693 meters Centerline goodness [0,1] 0.9997254371884768 Centerline is valid? [True, True] Translation: X:135.57, Y:-4.78, Z:-0.92 [[ 9.98913988e-01 4.63565695e-02 4.68105433e-03 1.35571253e+02] [-4.63559987e-02 9.98924956e-01 -2.30421236e-04 -4.77556442e+00] [-4.68670353e-03 1.31760471e-05 9.99989017e-01 -9.23861626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.730281693 meters Centerline goodness [0,1] 0.9996366589723861 Centerline is valid? [True, True] Translation: X:135.60, Y:-4.78, Z:-0.92 [[ 9.98933575e-01 4.58746501e-02 5.21806880e-03 1.35600866e+02] [-4.58739352e-02 9.98947204e-01 -2.56675349e-04 -4.78076588e+00] [-5.22435013e-03 1.70282742e-05 9.99986353e-01 -9.23168815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.760281693 meters Centerline goodness [0,1] 0.9994698897370653 Centerline is valid? [True, True] Translation: X:135.63, Y:-4.79, Z:-0.92 [[ 9.98955949e-01 4.53863892e-02 5.20459427e-03 1.35631350e+02] [-4.53856718e-02 9.98969507e-01 -2.55918125e-04 -4.78555393e+00] [-5.21084617e-03 1.94369255e-05 9.99986423e-01 -9.22826170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.790281693 meters Centerline goodness [0,1] 0.9995536568258624 Centerline is valid? [True, True] Translation: X:135.66, Y:-4.79, Z:-0.92 [[ 9.99005228e-01 4.43716072e-02 4.44007693e-03 1.35661565e+02] [-4.43710751e-02 9.99015095e-01 -2.18325599e-04 -4.79350055e+00] [-4.44539133e-03 2.10974280e-05 9.99990119e-01 -9.24327465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.820281693 meters Centerline goodness [0,1] 0.999723645330669 Centerline is valid? [True, True] Translation: X:135.69, Y:-4.80, Z:-0.92 [[ 9.99039406e-01 4.35898595e-02 4.49324955e-03 1.35691811e+02] [-4.35893067e-02 9.99049510e-01 -2.20940181e-04 -4.79871408e+00] [-4.49860951e-03 2.48703143e-05 9.99989881e-01 -9.23977267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.850281693 meters Centerline goodness [0,1] 0.9995034006261471 Centerline is valid? [True, True] Translation: X:135.72, Y:-4.80, Z:-0.92 [[ 9.99065831e-01 4.28777091e-02 5.38204708e-03 1.35722164e+02] [-4.28769056e-02 9.99080328e-01 -2.64643760e-04 -4.80250490e+00] [-5.38844468e-03 3.36310133e-05 9.99985482e-01 -9.22637818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.880281693 meters Centerline goodness [0,1] 0.9990795641843441 Centerline is valid? [True, True] Translation: X:135.75, Y:-4.81, Z:-0.92 [[ 9.99139532e-01 4.09424969e-02 6.62623545e-03 1.35751721e+02] [-4.09412362e-02 9.99161503e-01 -3.25847523e-04 -4.81275219e+00] [-6.63402039e-03 5.42808714e-05 9.99977993e-01 -9.19058529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.910281693 meters Centerline goodness [0,1] 0.9991671649440506 Centerline is valid? [True, True] Translation: X:135.78, Y:-4.82, Z:-0.92 [[ 9.99157246e-01 4.04267157e-02 7.10483274e-03 1.35783094e+02] [-4.04252525e-02 9.99182504e-01 -3.49494639e-04 -4.81672142e+00] [-7.11315349e-03 6.19854436e-05 9.99974699e-01 -9.18435711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.940281693 meters Centerline goodness [0,1] 0.9992937399678973 Centerline is valid? [True, True] Translation: X:135.81, Y:-4.82, Z:-0.92 [[ 9.99093775e-01 4.19687373e-02 7.08901086e-03 1.35814490e+02] [-4.19673183e-02 9.99118923e-01 -3.48870612e-04 -4.81714429e+00] [-7.09740656e-03 5.10476818e-05 9.99974812e-01 -9.19373416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.970281693 meters Centerline goodness [0,1] 0.9994235819047416 Centerline is valid? [True, True] Translation: X:135.84, Y:-4.82, Z:-0.92 [[ 9.99026362e-01 4.36312235e-02 6.53027199e-03 1.35844536e+02] [-4.36300542e-02 9.99047704e-01 -3.21490363e-04 -4.81673189e+00] [-6.53808026e-03 3.62612267e-05 9.99978626e-01 -9.20354173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.000281693 meters Centerline goodness [0,1] 0.9995720368904201 Centerline is valid? [True, True] Translation: X:135.88, Y:-4.81, Z:-0.92 [[ 9.98940217e-01 4.56465071e-02 5.90246590e-03 1.35875707e+02] [-4.56455865e-02 9.98957655e-01 -2.90661100e-04 -4.81476008e+00] [-5.90958116e-03 2.09315446e-05 9.99982538e-01 -9.21513879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.030281693 meters Centerline goodness [0,1] 0.9995112414467253 Centerline is valid? [True, True] Translation: X:135.91, Y:-4.81, Z:-0.92 [[ 9.98712261e-01 5.04952737e-02 4.90373403e-03 1.35905753e+02] [-5.04946963e-02 9.98724300e-01 -2.41554107e-04 -4.80658908e+00] [-4.90967568e-03 -6.36951186e-06 9.99987947e-01 -9.22865983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.060281693 meters Centerline goodness [0,1] 0.9992630337741093 Centerline is valid? [True, True] Translation: X:135.94, Y:-4.80, Z:-0.92 [[ 9.98611647e-01 5.24534104e-02 4.83931864e-03 1.35935047e+02] [-5.24528716e-02 9.98623372e-01 -2.38267747e-04 -4.80392247e+00] [-4.84515466e-03 -1.58992125e-05 9.99988262e-01 -9.23475554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.090281693 meters Centerline goodness [0,1] 0.9988956846755012 Centerline is valid? [True, True] Translation: X:135.96, Y:-4.80, Z:-0.92 [[ 9.98530486e-01 5.39870336e-02 4.71895251e-03 1.35963718e+02] [-5.39865392e-02 9.98541636e-01 -2.32184231e-04 -4.80061007e+00] [-4.72460550e-03 -2.29168811e-05 9.99988839e-01 -9.23783453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.120281693 meters Centerline goodness [0,1] 0.9990644866370421 Centerline is valid? [True, True] Translation: X:135.99, Y:-4.80, Z:-0.92 [[ 9.98395980e-01 5.63870223e-02 5.09623193e-03 1.35993286e+02] [-5.63864778e-02 9.98408986e-01 -2.50571209e-04 -4.79550288e+00] [-5.10225271e-03 -3.71892804e-05 9.99986983e-01 -9.23833694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.150281693 meters Centerline goodness [0,1] 0.9979979769029756 Centerline is valid? [True, True] Translation: X:136.02, Y:-4.79, Z:-0.92 [[ 9.98320898e-01 5.76340229e-02 5.80552536e-03 1.36022249e+02] [-5.76333384e-02 9.98337777e-01 -2.85286927e-04 -4.79032120e+00] [-5.81231751e-03 -4.97839060e-05 9.99983107e-01 -9.21782014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.180281693 meters Centerline goodness [0,1] 0.9975935196923144 Centerline is valid? [True, True] Translation: X:136.05, Y:-4.79, Z:-0.92 [[ 9.98214935e-01 5.93901379e-02 6.30511144e-03 1.36051919e+02] [-5.93893667e-02 9.98234846e-01 -3.09633121e-04 -4.78665455e+00] [-6.31237110e-03 -6.53761699e-05 9.99980075e-01 -9.21952949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.210281693 meters Centerline goodness [0,1] 0.9976843983684568 Centerline is valid? [True, True] Translation: X:136.08, Y:-4.78, Z:-0.92 [[ 9.98168237e-01 6.02237865e-02 5.76770584e-03 1.36081211e+02] [-6.02231559e-02 9.98184898e-01 -2.83108223e-04 -4.78442344e+00] [-5.77428671e-03 -6.47598116e-05 9.99983327e-01 -9.23471124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.240281693 meters Centerline goodness [0,1] 0.9978628409403499 Centerline is valid? [True, True] Translation: X:136.11, Y:-4.78, Z:-0.93 [[ 9.98065901e-01 6.19324870e-02 5.36890791e-03 1.36110703e+02] [-6.19319662e-02 9.98080339e-01 -2.63363302e-04 -4.77842718e+00] [-5.37491217e-03 -6.96530926e-05 9.99985553e-01 -9.25706778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.270281693 meters Centerline goodness [0,1] 0.9977537613901251 Centerline is valid? [True, True] Translation: X:136.14, Y:-4.77, Z:-0.93 [[ 9.98043893e-01 6.23278921e-02 4.86029218e-03 1.36138301e+02] [-6.23274708e-02 9.98055725e-01 -2.38251191e-04 -4.77425678e+00] [-4.86569213e-03 -6.51445729e-05 9.99988160e-01 -9.26357474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.300281693 meters Centerline goodness [0,1] 0.9979296066252588 Centerline is valid? [True, True] Translation: X:136.17, Y:-4.78, Z:-0.93 [[ 9.98046161e-01 6.23471153e-02 4.08635133e-03 1.36166731e+02] [-6.23468186e-02 9.98054525e-01 -2.00095782e-04 -4.77582075e+00] [-4.09087683e-03 -5.50661778e-05 9.99991631e-01 -9.27678420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.330281693 meters Centerline goodness [0,1] 0.9978612569879722 Centerline is valid? [True, True] Translation: X:136.20, Y:-4.78, Z:-0.93 [[ 9.98052864e-01 6.22754405e-02 3.50010430e-03 1.36195254e+02] [-6.22752228e-02 9.98059000e-01 -1.71260779e-04 -4.77745355e+00] [-3.50397594e-03 -4.70424638e-05 9.99993860e-01 -9.28759445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.360281693 meters Centerline goodness [0,1] 0.9981413424576522 Centerline is valid? [True, True] Translation: X:136.22, Y:-4.77, Z:-0.93 [[ 9.98027010e-01 6.27144499e-02 2.99763156e-03 1.36222941e+02] [-6.27142925e-02 9.98031511e-01 -1.46580387e-04 -4.77363277e+00] [-3.00092346e-03 -4.17031570e-05 9.99995496e-01 -9.29312453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.390281693 meters Centerline goodness [0,1] 0.99788744296096 Centerline is valid? [True, True] Translation: X:136.25, Y:-4.77, Z:-0.93 [[ 9.97980314e-01 6.34226922e-02 3.58551868e-03 1.36251033e+02] [-6.34224725e-02 9.97986753e-01 -1.75071511e-04 -4.76953166e+00] [-3.58940365e-03 -5.26845387e-05 9.99993557e-01 -9.28182566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.420281693 meters Centerline goodness [0,1] 0.9978765421612554 Centerline is valid? [True, True] Translation: X:136.28, Y:-4.77, Z:-0.93 [[ 9.97933573e-01 6.41097278e-02 4.30423053e-03 1.36279954e+02] [-6.41094189e-02 9.97942853e-01 -2.09827541e-04 -4.76868292e+00] [-4.30882809e-03 -6.65477708e-05 9.99990715e-01 -9.27562857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.450281693 meters Centerline goodness [0,1] 0.9973221117061974 Centerline is valid? [True, True] Translation: X:136.31, Y:-4.76, Z:-0.93 [[ 9.97912832e-01 6.44068824e-02 4.66192777e-03 1.36308396e+02] [-6.44065244e-02 9.97923719e-01 -2.27023530e-04 -4.76345242e+00] [-4.66687017e-03 -7.37088710e-05 9.99989107e-01 -9.27634606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.480281693 meters Centerline goodness [0,1] 0.9977014919020154 Centerline is valid? [True, True] Translation: X:136.34, Y:-4.76, Z:-0.93 [[ 9.97952385e-01 6.37662427e-02 4.99043741e-03 1.36336783e+02] [-6.37658262e-02 9.97964859e-01 -2.42682968e-04 -4.76195421e+00] [-4.99575615e-03 -7.60333184e-05 9.99987518e-01 -9.27084558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.510281693 meters Centerline goodness [0,1] 0.9980175648021828 Centerline is valid? [True, True] Translation: X:136.37, Y:-4.76, Z:-0.93 [[ 9.97992971e-01 6.31033345e-02 5.29133567e-03 1.36366007e+02] [-6.31028587e-02 9.98006996e-01 -2.57000950e-04 -4.76281434e+00] [-5.29700763e-03 -7.74132656e-05 9.99985968e-01 -9.26592082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.540281693 meters Centerline goodness [0,1] 0.9983732623484176 Centerline is valid? [True, True] Translation: X:136.39, Y:-4.76, Z:-0.93 [[ 9.98132355e-01 6.08637539e-02 5.23500601e-03 1.36393812e+02] [-6.08632587e-02 9.98146081e-01 -2.54011786e-04 -4.76220211e+00] [-5.24076084e-03 -6.50821431e-05 9.99986265e-01 -9.26377700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.570281693 meters Centerline goodness [0,1] 0.9987331616063511 Centerline is valid? [True, True] Translation: X:136.42, Y:-4.77, Z:-0.93 [[ 9.98230397e-01 5.92403600e-02 5.16274679e-03 1.36422513e+02] [-5.92398581e-02 9.98243746e-01 -2.50214859e-04 -4.76563417e+00] [-5.16850252e-03 -5.60683096e-05 9.99986642e-01 -9.27109451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.600281693 meters Centerline goodness [0,1] 0.9988975576662144 Centerline is valid? [True, True] Translation: X:136.45, Y:-4.77, Z:-0.93 [[ 9.98345781e-01 5.72922779e-02 4.82674123e-03 1.36450774e+02] [-5.72918174e-02 9.98357448e-01 -2.33721693e-04 -4.76892094e+00] [-4.83220350e-03 -4.31977113e-05 9.99988324e-01 -9.27846387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.630281693 meters Centerline goodness [0,1] 0.9992133684837146 Centerline is valid? [True, True] Translation: X:136.48, Y:-4.78, Z:-0.93 [[ 9.98642917e-01 5.18879913e-02 4.46779792e-03 1.36478218e+02] [-5.18875435e-02 9.98652911e-01 -2.16150337e-04 -4.77554770e+00] [-4.47299500e-03 -1.59660555e-05 9.99989996e-01 -9.28647173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.660281693 meters Centerline goodness [0,1] 0.9992133684837146 Centerline is valid? [True, True] Translation: X:136.51, Y:-4.78, Z:-0.93 [[ 9.98645268e-01 5.18427117e-02 4.46781025e-03 1.36506513e+02] [-5.18422646e-02 9.98655262e-01 -2.15895034e-04 -4.77682372e+00] [-4.47299480e-03 -1.60188469e-05 9.99989996e-01 -9.28774270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.690281693 meters Centerline goodness [0,1] 0.9995933132130397 Centerline is valid? [True, True] Translation: X:136.54, Y:-4.78, Z:-0.93 [[ 9.98776784e-01 4.91881155e-02 5.04622422e-03 1.36535052e+02] [-4.91875126e-02 9.98789532e-01 -2.43588286e-04 -4.78188227e+00] [-5.05209758e-03 -4.92089256e-06 9.99987238e-01 -9.27940849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.720281693 meters Centerline goodness [0,1] 0.9994016454749439 Centerline is valid? [True, True] Translation: X:136.56, Y:-4.79, Z:-0.93 [[ 9.98977529e-01 4.48757288e-02 5.48316923e-03 1.36562952e+02] [-4.48749534e-02 9.98992577e-01 -2.64411576e-04 -4.79037759e+00] [-5.48951102e-03 1.80842592e-05 9.99984932e-01 -9.27777182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.750281693 meters Centerline goodness [0,1] 0.9994452623269112 Centerline is valid? [True, True] Translation: X:136.59, Y:-4.80, Z:-0.93 [[ 9.99078884e-01 4.26325697e-02 4.88349472e-03 1.36592608e+02] [-4.26319286e-02 9.99090818e-01 -2.35342599e-04 -4.79513655e+00] [-4.88908799e-03 2.69330227e-05 9.99988048e-01 -9.29515883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.780281693 meters Centerline goodness [0,1] 0.9994669168603535 Centerline is valid? [True, True] Translation: X:136.62, Y:-4.80, Z:-0.93 [[ 9.99176550e-01 4.03639740e-02 4.11969720e-03 1.36621214e+02] [-4.03634988e-02 9.99185042e-01 -1.98457775e-04 -4.80045277e+00] [-4.12435037e-03 3.20089615e-05 9.99991494e-01 -9.30842917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.810281693 meters Centerline goodness [0,1] 0.9993799444088091 Centerline is valid? [True, True] Translation: X:136.65, Y:-4.81, Z:-0.93 [[ 9.99354539e-01 3.57454344e-02 3.57348120e-03 1.36650821e+02] [-3.57450478e-02 9.99360927e-01 -1.72007174e-04 -4.81074672e+00] [-3.57734595e-03 4.41618936e-05 9.99993600e-01 -9.31480788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.840281693 meters Centerline goodness [0,1] 0.9987660200900589 Centerline is valid? [True, True] Translation: X:136.68, Y:-4.81, Z:-0.92 [[ 9.99412499e-01 3.40544822e-02 3.86653231e-03 1.36680497e+02] [-3.40540169e-02 9.99419976e-01 -1.86134370e-04 -4.81364832e+00] [-3.87062834e-03 5.43540592e-05 9.99992508e-01 -9.22764066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.870281693 meters Centerline goodness [0,1] 0.9988560821894156 Centerline is valid? [True, True] Translation: X:136.71, Y:-4.82, Z:-0.93 [[ 9.99530913e-01 3.02544970e-02 4.75594245e-03 1.36709899e+02] [-3.02537506e-02 9.99542224e-01 -2.28816770e-04 -4.82450722e+00] [-4.76068803e-03 8.48243386e-05 9.99988664e-01 -9.30130374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.900281693 meters Centerline goodness [0,1] 0.9987711083331567 Centerline is valid? [True, True] Translation: X:136.74, Y:-4.83, Z:-0.93 [[ 9.99562790e-01 2.91234716e-02 5.10410996e-03 1.36739241e+02] [-2.91225972e-02 9.99575817e-01 -2.45560369e-04 -4.83009674e+00] [-5.10909645e-03 9.68080694e-05 9.99986944e-01 -9.29293125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.930281693 meters Centerline goodness [0,1] 0.9987695701981416 Centerline is valid? [True, True] Translation: X:136.77, Y:-4.84, Z:-0.93 [[ 9.99545865e-01 2.96871074e-02 5.17098994e-03 1.36769240e+02] [-2.96862176e-02 9.99559236e-01 -2.48766246e-04 -4.83754507e+00] [-5.17609591e-03 9.51461405e-05 9.99986599e-01 -9.28956242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.960281693 meters Centerline goodness [0,1] 0.9990212765957447 Centerline is valid? [True, True] Translation: X:136.80, Y:-4.84, Z:-0.93 [[ 9.99509505e-01 3.10400111e-02 4.15536846e-03 1.36799860e+02] [-3.10394472e-02 9.99518140e-01 -2.00125003e-04 -4.83530470e+00] [-4.15957803e-03 7.10465028e-05 9.99991346e-01 -9.31295810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.990281693 meters Centerline goodness [0,1] 0.9993812277295325 Centerline is valid? [True, True] Translation: X:136.83, Y:-4.83, Z:-0.93 [[ 9.99454646e-01 3.28836515e-02 3.01251848e-03 1.36830319e+02] [-3.28833635e-02 9.99459185e-01 -1.45084672e-04 -4.83455778e+00] [-3.01566018e-03 4.59438094e-05 9.99995452e-01 -9.32993714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.020281693 meters Centerline goodness [0,1] 0.9994241474182609 Centerline is valid? [True, True] Translation: X:136.86, Y:-4.83, Z:-0.93 [[ 9.99412987e-01 3.42003871e-02 2.00362809e-03 1.36859578e+02] [-3.42002623e-02 9.99414995e-01 -9.65533491e-05 -4.83460403e+00] [-2.00575812e-03 2.79720649e-05 9.99997988e-01 -9.34955042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.050281693 meters Centerline goodness [0,1] 0.9996183610728294 Centerline is valid? [True, True] Translation: X:136.89, Y:-4.84, Z:-0.94 [[ 9.99410677e-01 3.43066218e-02 1.16336736e-03 1.36889391e+02] [-3.43065797e-02 9.99411354e-01 -5.60786556e-05 -4.83925420e+00] [-1.16460642e-03 1.61344522e-05 9.99999322e-01 -9.37347737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.080281693 meters Centerline goodness [0,1] 0.999336344758194 Centerline is valid? [True, True] Translation: X:136.92, Y:-4.84, Z:-0.94 [[ 9.99456481e-01 3.29555010e-02 8.22896584e-04 1.36918869e+02] [-3.29554795e-02 9.99456820e-01 -3.96784036e-05 -4.84482226e+00] [-8.23757225e-04 1.25378861e-05 9.99999661e-01 -9.38297780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.110281693 meters Centerline goodness [0,1] 0.9990152844971529 Centerline is valid? [True, True] Translation: X:136.95, Y:-4.86, Z:-0.94 [[ 9.99567874e-01 2.93440897e-02 1.72928479e-03 1.36948759e+02] [-2.93439898e-02 9.99569369e-01 -8.31626764e-05 -4.85654254e+00] [-1.73098044e-03 3.23826244e-05 9.99998501e-01 -9.37073401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.140281693 meters Centerline goodness [0,1] 0.9989862605957337 Centerline is valid? [True, True] Translation: X:136.98, Y:-4.86, Z:-0.93 [[ 9.99602004e-01 2.80304520e-02 3.18240954e-03 1.36979288e+02] [-2.80301067e-02 9.99607068e-01 -1.53044598e-04 -4.86238600e+00] [-3.18544898e-03 6.37804073e-05 9.99994924e-01 -9.34126918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.170281693 meters Centerline goodness [0,1] 0.9987704918032787 Centerline is valid? [True, True] Translation: X:137.01, Y:-4.87, Z:-0.93 [[ 9.99623982e-01 2.70434585e-02 4.53282017e-03 1.37008854e+02] [-2.70427479e-02 9.99634254e-01 -2.17986915e-04 -4.86817774e+00] [-4.53705743e-03 9.53250350e-05 9.99989703e-01 -9.31207947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.200281693 meters Centerline goodness [0,1] 0.9990174299384825 Centerline is valid? [True, True] Translation: X:137.04, Y:-4.87, Z:-0.93 [[ 9.99583725e-01 2.84105666e-02 5.02158718e-03 1.37038831e+02] [-2.84097117e-02 9.99596334e-01 -2.41498475e-04 -4.87236454e+00] [-5.02642124e-03 9.87361011e-05 9.99987363e-01 -9.30243319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.230281693 meters Centerline goodness [0,1] 0.9991953414505029 Centerline is valid? [True, True] Translation: X:137.07, Y:-4.87, Z:-0.93 [[ 9.99505473e-01 3.10982575e-02 4.65908689e-03 1.37069572e+02] [-3.10975506e-02 9.99516329e-01 -2.24116140e-04 -4.87151330e+00] [-4.66380305e-03 7.91191180e-05 9.99989121e-01 -9.30841850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.260281693 meters Centerline goodness [0,1] 0.9994069053166702 Centerline is valid? [True, True] Translation: X:137.10, Y:-4.86, Z:-0.93 [[ 9.99226689e-01 3.91918075e-02 3.16630906e-03 1.37099914e+02] [-3.91915215e-02 9.99231706e-01 -1.52344603e-04 -4.86219024e+00] [-3.16984707e-03 2.81343235e-05 9.99994976e-01 -9.33211590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.290281693 meters Centerline goodness [0,1] 0.9995573262505534 Centerline is valid? [True, True] Translation: X:137.13, Y:-4.86, Z:-0.93 [[ 9.99056891e-01 4.33147285e-02 3.02708114e-03 1.37129635e+02] [-4.33144859e-02 9.99061477e-01 -1.45678745e-04 -4.85666328e+00] [-3.03055019e-03 1.44248907e-05 9.99995408e-01 -9.33257684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.320281693 meters Centerline goodness [0,1] 0.9997242257106491 Centerline is valid? [True, True] Translation: X:137.16, Y:-4.85, Z:-0.93 [[ 9.98881193e-01 4.71580307e-02 3.53294633e-03 1.37159300e+02] [-4.71577247e-02 9.98887441e-01 -1.69927047e-04 -4.85217362e+00] [-3.53702915e-03 3.13122155e-06 9.99993745e-01 -9.32381630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.350281693 meters Centerline goodness [0,1] 0.9990364232029293 Centerline is valid? [True, True] Translation: X:137.19, Y:-4.85, Z:-0.93 [[ 9.98651121e-01 5.16710761e-02 5.10287990e-03 1.37188345e+02] [-5.16704974e-02 9.98664158e-01 -2.45264724e-04 -4.84827189e+00] [-5.10873635e-03 -1.87344513e-05 9.99986950e-01 -9.30260287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.380281693 meters Centerline goodness [0,1] 0.99889194314816 Centerline is valid? [True, True] Translation: X:137.22, Y:-4.85, Z:-0.93 [[ 9.98644220e-01 5.18421178e-02 4.70281334e-03 1.37217389e+02] [-5.18416289e-02 9.98655293e-01 -2.25884437e-04 -4.84974880e+00] [-4.70819976e-03 -1.82233167e-05 9.99988916e-01 -9.31188677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.410281693 meters Centerline goodness [0,1] 0.999344262295082 Centerline is valid? [True, True] Translation: X:137.25, Y:-4.85, Z:-0.94 [[ 9.98737032e-01 5.01634558e-02 2.82288502e-03 1.37245657e+02] [-5.01632731e-02 9.98741021e-01 -1.35534328e-04 -4.85425218e+00] [-2.82612993e-03 -6.24199978e-06 9.99996006e-01 -9.35729129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.440281693 meters Centerline goodness [0,1] 0.9995714132647594 Centerline is valid? [True, True] Translation: X:137.27, Y:-4.86, Z:-0.94 [[ 9.98791625e-01 4.90960331e-02 2.20684303e-03 1.37274424e+02] [-4.90959187e-02 9.98794063e-01 -1.05982556e-04 -4.85761745e+00] [-2.20938504e-03 -2.49249680e-06 9.99997559e-01 -9.36617299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.470281693 meters Centerline goodness [0,1] 0.9994839375564444 Centerline is valid? [True, True] Translation: X:137.30, Y:-4.86, Z:-0.94 [[ 9.98792961e-01 4.90814797e-02 1.90492898e-03 1.37302789e+02] [-4.90813947e-02 9.98794778e-01 -9.13893809e-05 -4.85928528e+00] [-1.90711864e-03 -2.21750077e-06 9.99998181e-01 -9.36676958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.500281693 meters Centerline goodness [0,1] 0.9991183743683475 Centerline is valid? [True, True] Translation: X:137.33, Y:-4.85, Z:-0.94 [[ 9.98566259e-01 5.35135473e-02 1.31424048e-03 1.37332146e+02] [-5.35135106e-02 9.98567124e-01 -6.30839864e-05 -4.85421942e+00] [-1.31573318e-03 -7.33608157e-06 9.99999134e-01 -9.36450602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.530281693 meters Centerline goodness [0,1] 0.9988055881411966 Centerline is valid? [True, True] Translation: X:137.36, Y:-4.85, Z:-0.94 [[ 9.98398715e-01 5.65604124e-02 9.61615392e-04 1.37360577e+02] [-5.65603943e-02 9.98399179e-01 -4.59986679e-05 -4.85052593e+00] [-9.62677721e-04 -8.46433484e-06 9.99999537e-01 -9.37009618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.560281693 meters Centerline goodness [0,1] 0.9986169918508905 Centerline is valid? [True, True] Translation: X:137.39, Y:-4.85, Z:-0.94 [[ 9.98214498e-01 5.97212457e-02 1.09050794e-03 1.37389543e+02] [-5.97212241e-02 9.98215093e-01 -5.23309401e-05 -4.84671948e+00] [-1.09168675e-03 -1.28889658e-05 9.99999404e-01 -9.37105983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.590281693 meters Centerline goodness [0,1] 0.9975362657434743 Centerline is valid? [True, True] Translation: X:137.42, Y:-4.84, Z:-0.93 [[ 9.97895650e-01 6.47816429e-02 2.75866080e-03 1.37418652e+02] [-6.47815257e-02 9.97899462e-01 -1.31928575e-04 -4.83903865e+00] [-2.76141268e-03 -4.70593042e-05 9.99996186e-01 -9.34433563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.620281693 meters Centerline goodness [0,1] 0.9969133192389006 Centerline is valid? [True, True] Translation: X:137.45, Y:-4.84, Z:-0.93 [[ 9.97779179e-01 6.65186325e-02 3.46128476e-03 1.37446648e+02] [-6.65184588e-02 9.97785181e-01 -1.65397715e-04 -4.83641963e+00] [-3.46462067e-03 -6.52089312e-05 9.99993996e-01 -9.32873578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.650281693 meters Centerline goodness [0,1] 0.9968788079611774 Centerline is valid? [True, True] Translation: X:137.48, Y:-4.83, Z:-0.93 [[ 9.97668505e-01 6.81720757e-02 3.18149087e-03 1.37475232e+02] [-6.81719379e-02 9.97673576e-01 -1.51856970e-04 -4.83451287e+00] [-3.18444177e-03 -6.53854811e-05 9.99994928e-01 -9.33409121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.680281693 meters Centerline goodness [0,1] 0.9963742147645348 Centerline is valid? [True, True] Translation: X:137.50, Y:-4.83, Z:-0.93 [[ 9.97628160e-01 6.87736739e-02 2.86997999e-03 1.37503350e+02] [-6.87735646e-02 9.97632286e-01 -1.36893774e-04 -4.83085129e+00] [-2.87259938e-03 -6.08096698e-05 9.99995872e-01 -9.33793403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.710281693 meters Centerline goodness [0,1] 0.9966895146743628 Centerline is valid? [True, True] Translation: X:137.53, Y:-4.83, Z:-0.93 [[ 9.97579963e-01 6.94665639e-02 2.93489737e-03 1.37531621e+02] [-6.94664530e-02 9.97584278e-01 -1.39816566e-04 -4.83220786e+00] [-2.93752005e-03 -6.43987056e-05 9.99995683e-01 -9.33862276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.740281693 meters Centerline goodness [0,1] 0.9960524612796066 Centerline is valid? [True, True] Translation: X:137.56, Y:-4.83, Z:-0.93 [[ 9.97538027e-01 7.00043976e-02 4.15565450e-03 1.37559131e+02] [-7.00041814e-02 9.97546678e-01 -1.97623544e-04 -4.82912930e+00] [-4.15929386e-03 -9.37761916e-05 9.99991346e-01 -9.32237796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.770281693 meters Centerline goodness [0,1] 0.9955398861609039 Centerline is valid? [True, True] Translation: X:137.59, Y:-4.83, Z:-0.93 [[ 9.97553650e-01 6.97850603e-02 4.09406977e-03 1.37587069e+02] [-6.97848498e-02 9.97562047e-01 -1.94408964e-04 -4.82768661e+00] [-4.09765546e-03 -9.17706728e-05 9.99991600e-01 -9.32522988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.800281693 meters Centerline goodness [0,1] 0.9969040247678018 Centerline is valid? [True, True] Translation: X:137.62, Y:-4.83, Z:-0.93 [[ 9.97621764e-01 6.88473823e-02 3.29451575e-03 1.37616013e+02] [-6.88472414e-02 9.97627201e-01 -1.56290284e-04 -4.83124577e+00] [-3.29745871e-03 -7.08997319e-05 9.99994561e-01 -9.33985517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.830281693 meters Centerline goodness [0,1] 0.9976719350704827 Centerline is valid? [True, True] Translation: X:137.64, Y:-4.83, Z:-0.94 [[ 9.97827371e-01 6.58663702e-02 1.46927662e-03 1.37643703e+02] [-6.58663389e-02 9.97828452e-01 -6.97851079e-05 -4.83138642e+00] [-1.47068251e-03 -2.71423812e-05 9.99998918e-01 -9.38503413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.860281693 meters Centerline goodness [0,1] 0.9978743755978319 Centerline is valid? [True, True] Translation: X:137.67, Y:-4.83, Z:-0.94 [[ 9.97963640e-01 6.37740131e-02 1.20342674e-03 1.37671300e+02] [-6.37739906e-02 9.97964366e-01 -5.71295090e-05 -4.83303358e+00] [-1.20462038e-03 -1.97341528e-05 9.99999274e-01 -9.39372678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.890281693 meters Centerline goodness [0,1] 0.9986800928192792 Centerline is valid? [True, True] Translation: X:137.70, Y:-4.84, Z:-0.94 [[ 9.98290580e-01 5.84004904e-02 2.30231707e-03 1.37700853e+02] [-5.84003946e-02 9.98293235e-01 -1.08872807e-04 -4.84155692e+00] [-2.30474578e-03 -2.57695277e-05 9.99997344e-01 -9.37146159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.920281693 meters Centerline goodness [0,1] 0.9990495902678044 Centerline is valid? [True, True] Translation: X:137.73, Y:-4.84, Z:-0.94 [[ 9.98410615e-01 5.62867285e-02 2.83692320e-03 1.37728755e+02] [-5.62865747e-02 9.98414645e-01 -1.34065386e-04 -4.84455954e+00] [-2.83997177e-03 -2.58283855e-05 9.99995967e-01 -9.35918201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.950281693 meters Centerline goodness [0,1] 0.9989550456367824 Centerline is valid? [True, True] Translation: X:137.76, Y:-4.85, Z:-0.94 [[ 9.98478189e-01 5.50722869e-02 2.88934923e-03 1.37757500e+02] [-5.50721228e-02 9.98482370e-01 -1.36361168e-04 -4.84750285e+00] [-2.89247399e-03 -2.29689433e-05 9.99995817e-01 -9.35795076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.980281693 meters Centerline goodness [0,1] 0.99910790144435 Centerline is valid? [True, True] Translation: X:137.79, Y:-4.85, Z:-0.94 [[ 9.98515408e-01 5.44013284e-02 2.73425302e-03 1.37785382e+02] [-5.44011793e-02 9.98519151e-01 -1.28945465e-04 -4.84772772e+00] [-2.73721881e-03 -1.99925551e-05 9.99996254e-01 -9.36810974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.010281693 meters Centerline goodness [0,1] 0.9992349215794619 Centerline is valid? [True, True] Translation: X:137.81, Y:-4.85, Z:-0.94 [[ 9.98579844e-01 5.32120591e-02 2.60219171e-03 1.37814334e+02] [-5.32119204e-02 9.98583235e-01 -1.22557776e-04 -4.84949690e+00] [-2.60502657e-03 -1.60838931e-05 9.99996607e-01 -9.36845160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.040281693 meters Centerline goodness [0,1] 0.9993365294067289 Centerline is valid? [True, True] Translation: X:137.84, Y:-4.85, Z:-0.93 [[ 9.98625014e-01 5.22731391e-02 3.94971958e-03 1.37843358e+02] [-5.22728133e-02 9.98632825e-01 -1.85736537e-04 -4.85165070e+00] [-3.95402865e-03 -2.09818022e-05 9.99992183e-01 -9.34800289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.070281693 meters Centerline goodness [0,1] 0.9993905642534412 Centerline is valid? [True, True] Translation: X:137.87, Y:-4.86, Z:-0.93 [[ 9.98729591e-01 5.00828408e-02 5.55995078e-03 1.37871586e+02] [-5.00821631e-02 9.98745067e-01 -2.61146770e-04 -4.85657844e+00] [-5.56605239e-03 -1.76393547e-05 9.99984509e-01 -9.31174187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.100281693 meters Centerline goodness [0,1] 0.9993580690717678 Centerline is valid? [True, True] Translation: X:137.90, Y:-4.86, Z:-0.93 [[ 9.98760457e-01 4.94664440e-02 5.53358146e-03 1.37900484e+02] [-4.94657641e-02 9.98775786e-01 -2.59760211e-04 -4.86032390e+00] [-5.53965658e-03 -1.42846075e-05 9.99984656e-01 -9.31793203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.130281693 meters Centerline goodness [0,1] 0.9994017988762365 Centerline is valid? [True, True] Translation: X:137.93, Y:-4.87, Z:-0.93 [[ 9.98778986e-01 4.91908595e-02 4.56041413e-03 1.37929105e+02] [-4.91903955e-02 9.98789397e-01 -2.13909892e-04 -4.86559068e+00] [-4.56541569e-03 -1.06798699e-05 9.99989578e-01 -9.33361359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.160281693 meters Centerline goodness [0,1] 0.9995920996135681 Centerline is valid? [True, True] Translation: X:137.96, Y:-4.87, Z:-0.93 [[ 9.98767851e-01 4.94531491e-02 4.14315531e-03 1.37957430e+02] [-4.94527687e-02 9.98776444e-01 -1.94256629e-04 -4.86758190e+00] [-4.14769253e-03 -1.08732252e-05 9.99991398e-01 -9.33443809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.190281693 meters Centerline goodness [0,1] 0.9996180857609641 Centerline is valid? [True, True] Translation: X:137.99, Y:-4.87, Z:-0.93 [[ 9.98747760e-01 4.98731710e-02 3.94688085e-03 1.37985144e+02] [-4.98728297e-02 9.98755559e-01 -1.84895360e-04 -4.86921380e+00] [-3.95119051e-03 -1.21782900e-05 9.99992194e-01 -9.33832000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.220281693 meters Centerline goodness [0,1] 0.9994898392993793 Centerline is valid? [True, True] Translation: X:138.01, Y:-4.87, Z:-0.93 [[ 9.98715589e-01 5.05225107e-02 3.82734401e-03 1.38013605e+02] [-5.05221955e-02 9.98722922e-01 -1.79064033e-04 -4.87174892e+00] [-3.83150296e-03 -1.45317811e-05 9.99992660e-01 -9.34463883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.250281693 meters Centerline goodness [0,1] 0.9991909901854336 Centerline is valid? [True, True] Translation: X:138.04, Y:-4.87, Z:-0.94 [[ 9.98552804e-01 5.37249469e-02 2.43480446e-03 1.38041961e+02] [-5.37248290e-02 9.98555772e-01 -1.13851870e-04 -4.87153113e+00] [-2.43740473e-03 -1.71223492e-05 9.99997029e-01 -9.37239463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.280281693 meters Centerline goodness [0,1] 0.9991322384016255 Centerline is valid? [True, True] Translation: X:138.07, Y:-4.87, Z:-0.94 [[ 9.98428837e-01 5.60000196e-02 1.96347175e-03 1.38071341e+02] [-5.59999473e-02 9.98430767e-01 -9.18020976e-05 -4.86984141e+00] [-1.96553153e-03 -1.82964532e-05 9.99998068e-01 -9.37496964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.310281693 meters Centerline goodness [0,1] 0.9984310067000255 Centerline is valid? [True, True] Translation: X:138.10, Y:-4.86, Z:-0.94 [[ 9.98126692e-01 6.11231206e-02 2.65901253e-03 1.38100498e+02] [-6.11230068e-02 9.98130233e-01 -1.24109237e-04 -4.86372676e+00] [-2.66162674e-03 -3.86500989e-05 9.99996457e-01 -9.35472857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.340281693 meters Centerline goodness [0,1] 0.9978359152364423 Centerline is valid? [True, True] Translation: X:138.13, Y:-4.86, Z:-0.93 [[ 9.97984959e-01 6.33391477e-02 3.76496514e-03 1.38129776e+02] [-6.33389360e-02 9.97992058e-01 -1.75546434e-04 -4.86183732e+00] [-3.76852427e-03 -6.32761854e-05 9.99992897e-01 -9.33837713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.370281693 meters Centerline goodness [0,1] 0.9968304278922345 Centerline is valid? [True, True] Translation: X:138.16, Y:-4.86, Z:-0.93 [[ 9.97874118e-01 6.50006010e-02 4.70809493e-03 1.38157847e+02] [-6.50002897e-02 9.97885221e-01 -2.19257210e-04 -4.85874512e+00] [-4.71239020e-03 -8.72364399e-05 9.99988893e-01 -9.32223083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.400281693 meters Centerline goodness [0,1] 0.9963756596935207 Centerline is valid? [True, True] Translation: X:138.19, Y:-4.86, Z:-0.93 [[ 9.97742027e-01 6.69836005e-02 4.90347157e-03 1.38186184e+02] [-6.69832882e-02 9.97754071e-01 -2.28072023e-04 -4.85823358e+00] [-4.90773580e-03 -1.00893606e-04 9.99987952e-01 -9.32482074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.430281693 meters Centerline goodness [0,1] 0.9965257795681736 Centerline is valid? [True, True] Translation: X:138.22, Y:-4.86, Z:-0.93 [[ 9.97742635e-01 6.70284036e-02 4.10213631e-03 1.38215442e+02] [-6.70281862e-02 9.97751064e-01 -1.90607686e-04 -4.85814867e+00] [-4.10568700e-03 -8.47813418e-05 9.99991568e-01 -9.34320734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.460281693 meters Centerline goodness [0,1] 0.9970072589888356 Centerline is valid? [True, True] Translation: X:138.24, Y:-4.86, Z:-0.94 [[ 9.97758199e-01 6.68263367e-02 3.58012077e-03 1.38243780e+02] [-6.68261703e-02 9.97764619e-01 -1.66218184e-04 -4.85890413e+00] [-3.58322559e-03 -7.34002044e-05 9.99993578e-01 -9.35948164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.490281693 meters Centerline goodness [0,1] 0.9975013234515617 Centerline is valid? [True, True] Translation: X:138.27, Y:-4.87, Z:-0.93 [[ 9.97918746e-01 6.43156008e-02 4.65611640e-03 1.38272820e+02] [-6.43152933e-02 9.97929605e-01 -2.15905416e-04 -4.86589505e+00] [-4.66036249e-03 -8.40034303e-05 9.99989137e-01 -9.34585177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.520281693 meters Centerline goodness [0,1] 0.9985400206114737 Centerline is valid? [True, True] Translation: X:138.30, Y:-4.87, Z:-0.93 [[ 9.98078733e-01 6.17441569e-02 5.14794169e-03 1.38301082e+02] [-6.17437484e-02 9.98092006e-01 -2.38380197e-04 -4.87403424e+00] [-5.15283804e-03 -7.99310116e-05 9.99986721e-01 -9.33981978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.550281693 meters Centerline goodness [0,1] 0.9989081567116249 Centerline is valid? [True, True] Translation: X:138.33, Y:-4.89, Z:-0.94 [[ 9.98449325e-01 5.55209473e-02 4.04588996e-03 1.38329418e+02] [-5.55206445e-02 9.98457522e-01 -1.87195569e-04 -4.88685684e+00] [-4.05004254e-03 -3.77251285e-05 9.99991798e-01 -9.36684566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.580281693 meters Centerline goodness [0,1] 0.9989081567116249 Centerline is valid? [True, True] Translation: X:138.36, Y:-4.89, Z:-0.94 [[ 9.98451887e-01 5.54748635e-02 4.04589644e-03 1.38357718e+02] [-5.54745610e-02 9.98460083e-01 -1.87055563e-04 -4.88807449e+00] [-4.05004298e-03 -3.76783487e-05 9.99991798e-01 -9.36811658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.610281693 meters Centerline goodness [0,1] 0.9992287752522547 Centerline is valid? [True, True] Translation: X:138.39, Y:-4.90, Z:-0.94 [[ 9.98640799e-01 5.20354611e-02 2.97758728e-03 1.38386565e+02] [-5.20352823e-02 9.98645238e-01 -1.37546040e-04 -4.89561510e+00] [-2.98071063e-03 -1.75805075e-05 9.99995558e-01 -9.39139973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.640281693 meters Centerline goodness [0,1] 0.9992474898411129 Centerline is valid? [True, True] Translation: X:138.42, Y:-4.91, Z:-0.94 [[ 9.98806320e-01 4.87967111e-02 2.19470723e-03 1.38415406e+02] [-4.87966061e-02 9.98808731e-01 -1.01361486e-04 -4.90558621e+00] [-2.19703885e-03 -5.85377205e-06 9.99997586e-01 -9.40424634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.670281693 meters Centerline goodness [0,1] 0.9997677953221312 Centerline is valid? [True, True] Translation: X:138.44, Y:-4.92, Z:-0.94 [[ 9.99042248e-01 4.37093459e-02 2.01973704e-03 1.38443347e+02] [-4.37092466e-02 9.99044290e-01 -9.32695742e-05 -4.91922660e+00] [-2.02188351e-03 4.89906079e-06 9.99997956e-01 -9.42577474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.700281693 meters Centerline goodness [0,1] 0.9997230919973588 Centerline is valid? [True, True] Translation: X:138.47, Y:-4.92, Z:-0.94 [[ 9.99100185e-01 4.23256920e-02 2.71222903e-03 1.38472604e+02] [-4.23255084e-02 9.99103866e-01 -1.25071404e-04 -4.92363271e+00] [-2.71509224e-03 1.01623904e-05 9.99996314e-01 -9.40184351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.730281693 meters Centerline goodness [0,1] 0.9996603621388694 Centerline is valid? [True, True] Translation: X:138.50, Y:-4.93, Z:-0.94 [[ 9.99099409e-01 4.23158183e-02 3.12134585e-03 1.38500729e+02] [-4.23155753e-02 9.99104285e-01 -1.43863706e-04 -4.92746005e+00] [-3.12463773e-03 1.16525979e-05 9.99995118e-01 -9.39562352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.760281693 meters Centerline goodness [0,1] 0.9996581780892155 Centerline is valid? [True, True] Translation: X:138.53, Y:-4.93, Z:-0.94 [[ 9.99064382e-01 4.31479192e-02 2.93573194e-03 1.38529701e+02] [-4.31477081e-02 9.99068695e-01 -1.35212999e-04 -4.92976031e+00] [-2.93883204e-03 8.41638663e-06 9.99995682e-01 -9.39684483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.790281693 meters Centerline goodness [0,1] 0.9995107944273104 Centerline is valid? [True, True] Translation: X:138.56, Y:-4.93, Z:-0.94 [[ 9.98924930e-01 4.62805189e-02 2.66414190e-03 1.38559572e+02] [-4.62803565e-02 9.98928483e-01 -1.22610856e-04 -4.92991126e+00] [-2.66696172e-03 -8.18396299e-07 9.99996444e-01 -9.38670927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.820281693 meters Centerline goodness [0,1] 0.9995518948446569 Centerline is valid? [True, True] Translation: X:138.59, Y:-4.93, Z:-0.94 [[ 9.98836955e-01 4.81303832e-02 2.86425566e-03 1.38588839e+02] [-4.81302033e-02 9.98841062e-01 -1.31745947e-04 -4.92886327e+00] [-2.86727715e-03 -6.26448677e-06 9.99995889e-01 -9.38398412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.850281693 meters Centerline goodness [0,1] 0.9995361292091003 Centerline is valid? [True, True] Translation: X:138.62, Y:-4.93, Z:-0.94 [[ 9.98716309e-01 5.06174162e-02 1.90038856e-03 1.38618055e+02] [-5.06173414e-02 9.98718117e-01 -8.74321026e-05 -4.92581313e+00] [-1.90237807e-03 -8.87274973e-06 9.99998190e-01 -9.41403229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.880281693 meters Centerline goodness [0,1] 0.9993222636394442 Centerline is valid? [True, True] Translation: X:138.65, Y:-4.93, Z:-0.94 [[ 9.98696561e-01 5.10239797e-02 1.31617515e-03 1.38646968e+02] [-5.10239442e-02 9.98697428e-01 -6.05863189e-05 -4.92725204e+00] [-1.31755209e-03 -6.64909883e-06 9.99999132e-01 -9.42667848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.910281693 meters Centerline goodness [0,1] 0.9992294190675971 Centerline is valid? [True, True] Translation: X:138.68, Y:-4.93, Z:-0.94 [[ 9.98709898e-01 5.07604972e-02 1.38243032e-03 1.38675579e+02] [-5.07604578e-02 9.98710855e-01 -6.35735372e-05 -4.93020732e+00] [-1.38387520e-03 -6.68127524e-06 9.99999042e-01 -9.42477484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.940281693 meters Centerline goodness [0,1] 0.9994447884857673 Centerline is valid? [True, True] Translation: X:138.70, Y:-4.93, Z:-0.94 [[ 9.98764494e-01 4.96053409e-02 2.96575567e-03 1.38704744e+02] [-4.96051557e-02 9.98768897e-01 -1.36001497e-04 -4.93256384e+00] [-2.96885092e-03 -1.12833057e-05 9.99995593e-01 -9.39225088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.970281693 meters Centerline goodness [0,1] 0.9993618786293152 Centerline is valid? [True, True] Translation: X:138.73, Y:-4.93, Z:-0.94 [[ 9.98786841e-01 4.90869977e-02 3.91311416e-03 1.38733638e+02] [-4.90866723e-02 9.98794507e-01 -1.79187804e-04 -4.93467709e+00] [-3.91719272e-03 -1.31113322e-05 9.99992328e-01 -9.36978145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.000281693 meters Centerline goodness [0,1] 0.9993432064238649 Centerline is valid? [True, True] Translation: X:138.76, Y:-4.94, Z:-0.94 [[ 9.98823612e-01 4.82992617e-02 4.30980032e-03 1.38763504e+02] [-4.82988605e-02 9.98832910e-01 -1.97181640e-04 -4.93792388e+00] [-4.31429412e-03 -1.12087670e-05 9.99990693e-01 -9.36721467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.030281693 meters Centerline goodness [0,1] 0.9994223239692762 Centerline is valid? [True, True] Translation: X:138.79, Y:-4.95, Z:-0.94 [[ 9.98915957e-01 4.65035225e-02 2.08166168e-03 1.38793596e+02] [-4.65034251e-02 9.98918126e-01 -9.52150718e-05 -4.94596622e+00] [-2.08383742e-03 -1.69254353e-06 9.99997829e-01 -9.41441832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.060281693 meters Centerline goodness [0,1] 0.999534529451591 Centerline is valid? [True, True] Translation: X:138.82, Y:-4.95, Z:-0.94 [[ 9.98945191e-01 4.59154266e-02 5.28936010e-04 1.38822990e+02] [-4.59154202e-02 9.98945331e-01 -2.42845753e-05 -4.94890338e+00] [-5.29493194e-04 -2.73594407e-08 9.99999860e-01 -9.44413611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.090281693 meters Centerline goodness [0,1] 0.9998725898241739 Centerline is valid? [True, True] Translation: X:138.85, Y:-4.95, Z:-0.95 [[ 9.98908901e-01 4.66987911e-02 -4.79825523e-04 1.38850617e+02] [-4.66987861e-02 9.98909016e-01 2.17096748e-05 -4.94933906e+00] [ 4.80315857e-04 7.21282104e-07 9.99999885e-01 -9.46358456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.120281693 meters Centerline goodness [0,1] 0.9995743956418114 Centerline is valid? [True, True] Translation: X:138.88, Y:-4.95, Z:-0.94 [[ 9.98866733e-01 4.75937192e-02 2.96918928e-04 1.38879104e+02] [-4.75937172e-02 9.98866777e-01 -1.37488281e-05 -4.94962911e+00] [-2.97236811e-04 -3.98228497e-07 9.99999956e-01 -9.44832901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.150281693 meters Centerline goodness [0,1] 0.9997038979717011 Centerline is valid? [True, True] Translation: X:138.91, Y:-4.95, Z:-0.94 [[ 9.98806676e-01 4.87964817e-02 2.03146850e-03 1.38907785e+02] [-4.87963939e-02 9.98808742e-01 -9.27987729e-05 -4.94959648e+00] [-2.03357675e-03 -6.44030316e-06 9.99997932e-01 -9.41219157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.180281693 meters Centerline goodness [0,1] 0.9993404535977193 Centerline is valid? [True, True] Translation: X:138.94, Y:-4.95, Z:-0.93 [[ 9.98684659e-01 5.09618456e-02 5.64283624e-03 1.38937056e+02] [-5.09612060e-02 9.98700600e-01 -2.57167779e-04 -4.94869221e+00] [-5.64860968e-03 -3.07362246e-05 9.99984046e-01 -9.34265876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.210281693 meters Centerline goodness [0,1] 0.9993838963246229 Centerline is valid? [True, True] Translation: X:138.97, Y:-4.95, Z:-0.93 [[ 9.98657954e-01 5.14098173e-02 6.27070056e-03 1.38966371e+02] [-5.14090374e-02 9.98677640e-01 -2.85592440e-04 -4.94951475e+00] [-6.27709069e-03 -3.71615179e-05 9.99980298e-01 -9.33849506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.240281693 meters Centerline goodness [0,1] 0.9989663755642746 Centerline is valid? [True, True] Translation: X:139.00, Y:-4.95, Z:-0.93 [[ 9.98661670e-01 5.13487925e-02 6.17818017e-03 1.38996204e+02] [-5.13480347e-02 9.98680780e-01 -2.81310029e-04 -4.95187015e+00] [-6.18447473e-03 -3.63038666e-05 9.99980875e-01 -9.34179964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.270281693 meters Centerline goodness [0,1] 0.9989666153489255 Centerline is valid? [True, True] Translation: X:139.03, Y:-4.96, Z:-0.94 [[ 9.98694125e-01 5.07811839e-02 5.59604195e-03 1.39026010e+02] [-5.07805536e-02 9.98709803e-01 -2.54758573e-04 -4.95722106e+00] [-5.60175889e-03 -2.97442180e-05 9.99984310e-01 -9.36701343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.300281693 meters Centerline goodness [0,1] 0.9992482979317454 Centerline is valid? [True, True] Translation: X:139.06, Y:-4.96, Z:-0.94 [[ 9.98709841e-01 5.05484646e-02 4.84827202e-03 1.39056811e+02] [-5.05479887e-02 9.98721609e-01 -2.20716512e-04 -4.96142580e+00] [-4.85323091e-03 -2.46386466e-05 9.99988223e-01 -9.38740885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.330281693 meters Centerline goodness [0,1] 0.9992311635058944 Centerline is valid? [True, True] Translation: X:139.09, Y:-4.96, Z:-0.94 [[ 9.98733780e-01 5.01505357e-02 3.96996992e-03 1.39086213e+02] [-5.01502135e-02 9.98741670e-01 -1.80738080e-04 -4.96343595e+00] [-3.97403849e-03 -1.85856127e-05 9.99992103e-01 -9.40549002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.360281693 meters Centerline goodness [0,1] 0.9995744046985722 Centerline is valid? [True, True] Translation: X:139.12, Y:-4.97, Z:-0.94 [[ 9.98822164e-01 4.83816092e-02 3.67482730e-03 1.39116318e+02] [-4.83813213e-02 9.98828924e-01 -1.67252045e-04 -4.97221187e+00] [-3.67861572e-03 -1.07379510e-05 9.99993234e-01 -9.41126902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.390281693 meters Centerline goodness [0,1] 0.9995295124037639 Centerline is valid? [True, True] Translation: X:139.15, Y:-4.98, Z:-0.94 [[ 9.98874824e-01 4.72672731e-02 3.85881180e-03 1.39147000e+02] [-4.72669473e-02 9.98882278e-01 -1.75625713e-04 -4.97889728e+00] [-3.86280007e-03 -6.96615117e-06 9.99992539e-01 -9.40433977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.420281693 meters Centerline goodness [0,1] 0.9994866639573932 Centerline is valid? [True, True] Translation: X:139.18, Y:-4.99, Z:-0.94 [[ 9.98940982e-01 4.58242151e-02 4.12979699e-03 1.39176364e+02] [-4.58238297e-02 9.98949519e-01 -1.87955068e-04 -4.99013502e+00] [-4.13407161e-03 -1.48709384e-06 9.99991455e-01 -9.40342818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.450281693 meters Centerline goodness [0,1] 0.9996387590310242 Centerline is valid? [True, True] Translation: X:139.21, Y:-5.00, Z:-0.94 [[ 9.98943068e-01 4.57827418e-02 4.08503049e-03 1.39206819e+02] [-4.57823642e-02 9.98951421e-01 -1.85963190e-04 -4.99531509e+00] [-4.08926092e-03 -1.25571406e-06 9.99991639e-01 -9.41287739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.480281693 meters Centerline goodness [0,1] 0.9996350600004293 Centerline is valid? [True, True] Translation: X:139.24, Y:-5.00, Z:-0.94 [[ 9.98931824e-01 4.60628558e-02 3.66390976e-03 1.39238031e+02] [-4.60625537e-02 9.98938543e-01 -1.66819293e-04 -4.99961984e+00] [-3.66770486e-03 -2.12793963e-06 9.99993274e-01 -9.42216306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.510281693 meters Centerline goodness [0,1] 0.999531964684608 Centerline is valid? [True, True] Translation: X:139.27, Y:-5.00, Z:-0.94 [[ 9.98905530e-01 4.66701481e-02 3.10472580e-03 1.39268016e+02] [-4.66699339e-02 9.98910355e-01 -1.41429224e-04 -5.00349056e+00] [-3.10794328e-03 -3.62291419e-06 9.99995170e-01 -9.44004073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.540281693 meters Centerline goodness [0,1] 0.9996810139503233 Centerline is valid? [True, True] Translation: X:139.30, Y:-5.01, Z:-0.94 [[ 9.98897743e-01 4.68675912e-02 2.59391145e-03 1.39298219e+02] [-4.68674423e-02 9.98901111e-01 -1.18181261e-04 -5.01207047e+00] [-2.59659990e-03 -3.51900105e-06 9.99996629e-01 -9.44798042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.570281693 meters Centerline goodness [0,1] 0.9996156802459646 Centerline is valid? [True, True] Translation: X:139.33, Y:-5.02, Z:-0.95 [[ 9.98899327e-01 4.68560552e-02 2.15506349e-03 1.39328203e+02] [-4.68559523e-02 9.98901652e-01 -9.82280959e-05 -5.01690154e+00] [-2.15729906e-03 -2.85757297e-06 9.99997673e-01 -9.45405018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.600281693 meters Centerline goodness [0,1] 0.9996418866255188 Centerline is valid? [True, True] Translation: X:139.36, Y:-5.02, Z:-0.95 [[ 9.98858708e-01 4.77409734e-02 1.44237579e-03 1.39357777e+02] [-4.77409284e-02 9.98859750e-01 -6.55889275e-05 -5.02373000e+00] [-1.44386240e-03 -3.34628776e-06 9.99998958e-01 -9.47159395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.630281693 meters Centerline goodness [0,1] 0.9996603693483337 Centerline is valid? [True, True] Translation: X:139.39, Y:-5.03, Z:-0.95 [[ 9.98826765e-01 4.83954447e-02 1.72455797e-03 1.39388589e+02] [-4.83953810e-02 9.98828254e-01 -7.86934140e-05 -5.02763219e+00] [-1.72634563e-03 -4.85955176e-06 9.99998510e-01 -9.46883489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.660281693 meters Centerline goodness [0,1] 0.9994737063702581 Centerline is valid? [True, True] Translation: X:139.42, Y:-5.03, Z:-0.95 [[ 9.98780323e-01 4.93379832e-02 1.90498118e-03 1.39418528e+02] [-4.93379074e-02 9.98782140e-01 -8.67922995e-05 -5.03020915e+00] [-1.90694334e-03 -7.30134429e-06 9.99998182e-01 -9.46144547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.690281693 meters Centerline goodness [0,1] 0.9994022330863986 Centerline is valid? [True, True] Translation: X:139.45, Y:-5.03, Z:-0.95 [[ 9.98626702e-01 5.23550783e-02 1.91223367e-03 1.39449375e+02] [-5.23550070e-02 9.98628532e-01 -8.73567202e-05 -5.03000611e+00] [-1.91418467e-03 -1.28782540e-05 9.99998168e-01 -9.46505545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.720281693 meters Centerline goodness [0,1] 0.9993221200694827 Centerline is valid? [True, True] Translation: X:139.48, Y:-5.03, Z:-0.95 [[ 9.98520308e-01 5.43398823e-02 2.09099907e-03 1.39479026e+02] [-5.43398013e-02 9.98522497e-01 -9.55498452e-05 -5.02914389e+00] [-2.09310178e-03 -1.82160130e-05 9.99997809e-01 -9.47486389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.750281693 meters Centerline goodness [0,1] 0.9989086006548397 Centerline is valid? [True, True] Translation: X:139.51, Y:-5.03, Z:-0.95 [[ 9.98421473e-01 5.61055028e-02 2.59530609e-03 1.39509950e+02] [-5.61053842e-02 9.98424845e-01 -1.18532723e-04 -5.03046618e+00] [-2.59786842e-03 -2.72650299e-05 9.99996625e-01 -9.47307233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.780281693 meters Centerline goodness [0,1] 0.9984605002319794 Centerline is valid? [True, True] Translation: X:139.54, Y:-5.03, Z:-0.94 [[ 9.98255052e-01 5.89652298e-02 3.15495489e-03 1.39540597e+02] [-5.89650688e-02 9.98260036e-01 -1.44092982e-04 -5.03295584e+00] [-3.15796186e-03 -4.21905853e-05 9.99995013e-01 -9.44524641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.810281693 meters Centerline goodness [0,1] 0.998554452498884 Centerline is valid? [True, True] Translation: X:139.57, Y:-5.03, Z:-0.95 [[ 9.98202016e-01 5.98675625e-02 2.93447204e-03 1.39571479e+02] [-5.98674271e-02 9.98206328e-01 -1.34023097e-04 -5.03371529e+00] [-2.93723220e-03 -4.18971652e-05 9.99995685e-01 -9.45480680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.840281693 meters Centerline goodness [0,1] 0.9988995873452545 Centerline is valid? [True, True] Translation: X:139.60, Y:-5.04, Z:-0.95 [[ 9.98193752e-01 6.00430534e-02 2.01612430e-03 1.39600615e+02] [-6.00429899e-02 9.98195788e-01 -9.20559572e-05 -5.03664198e+00] [-2.01801411e-03 -2.91644499e-05 9.99997963e-01 -9.47783786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.870281693 meters Centerline goodness [0,1] 0.9989872563085492 Centerline is valid? [True, True] Translation: X:139.63, Y:-5.04, Z:-0.95 [[ 9.98226407e-01 5.95042153e-02 1.81366263e-03 1.39631445e+02] [-5.95041629e-02 9.98228054e-01 -8.28470465e-05 -5.04114830e+00] [-1.81537867e-03 -2.52203670e-05 9.99998352e-01 -9.48078292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.900281693 meters Centerline goodness [0,1] 0.998957668581153 Centerline is valid? [True, True] Translation: X:139.66, Y:-5.04, Z:-0.95 [[ 9.98263934e-01 5.88683558e-02 1.90656191e-03 1.39661159e+02] [-5.88682968e-02 9.98265754e-01 -8.71266415e-05 -5.04320872e+00] [-1.90838447e-03 -2.52606687e-05 9.99998179e-01 -9.47918478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.930281693 meters Centerline goodness [0,1] 0.9994190799948363 Centerline is valid? [True, True] Translation: X:139.69, Y:-5.05, Z:-0.95 [[ 9.98305657e-01 5.81367436e-02 2.43596691e-03 1.39691704e+02] [-5.81366451e-02 9.98308629e-01 -1.11256881e-04 -5.04931711e+00] [-2.43831490e-03 -3.05505704e-05 9.99997027e-01 -9.46097821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.960281693 meters Centerline goodness [0,1] 0.9990005953899804 Centerline is valid? [True, True] Translation: X:139.72, Y:-5.05, Z:-0.95 [[ 9.98297500e-01 5.82534780e-02 2.93826427e-03 1.39721993e+02] [-5.82533353e-02 9.98301824e-01 -1.34179550e-04 -5.04712877e+00] [-2.94109100e-03 -3.72125846e-05 9.99995674e-01 -9.45727775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.990281693 meters Centerline goodness [0,1] 0.9989220265900107 Centerline is valid? [True, True] Translation: X:139.75, Y:-5.05, Z:-0.94 [[ 9.98276807e-01 5.85733209e-02 3.54724215e-03 1.39753420e+02] [-5.85731149e-02 9.98283108e-01 -1.62032439e-04 -5.05108814e+00] [-3.55064270e-03 -4.60197962e-05 9.99993695e-01 -9.44594679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.020281693 meters Centerline goodness [0,1] 0.9990807055050775 Centerline is valid? [True, True] Translation: X:139.79, Y:-5.05, Z:-0.94 [[ 9.98208979e-01 5.96499419e-02 4.55175367e-03 1.39785028e+02] [-5.96496132e-02 9.98219355e-01 -2.08053211e-04 -5.04987550e+00] [-4.55605897e-03 -6.38297620e-05 9.99989619e-01 -9.43942874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.050281693 meters Centerline goodness [0,1] 0.9981727398278976 Centerline is valid? [True, True] Translation: X:139.82, Y:-5.05, Z:-0.94 [[ 9.98172752e-01 6.02470864e-02 4.63085151e-03 1.39815153e+02] [-6.02467522e-02 9.98183492e-01 -2.11778316e-04 -5.04505293e+00] [-4.63519856e-03 -6.76024187e-05 9.99989255e-01 -9.43769504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.080281693 meters Centerline goodness [0,1] 0.9983361774744027 Centerline is valid? [True, True] Translation: X:139.85, Y:-5.04, Z:-0.94 [[ 9.98169896e-01 6.03138901e-02 4.36955351e-03 1.39846179e+02] [-6.03135929e-02 9.98179458e-01 -1.99878375e-04 -5.04380868e+00] [-4.37365400e-03 -6.40308946e-05 9.99990433e-01 -9.44715231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.110281693 meters Centerline goodness [0,1] 0.9985369887411742 Centerline is valid? [True, True] Translation: X:139.88, Y:-5.05, Z:-0.95 [[ 9.98184206e-01 6.01346311e-02 3.48089847e-03 1.39876300e+02] [-6.01344414e-02 9.98190274e-01 -1.59228244e-04 -5.04602997e+00] [-3.48417413e-03 -5.03827672e-05 9.99993929e-01 -9.46303868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.140281693 meters Centerline goodness [0,1] 0.9990389954298894 Centerline is valid? [True, True] Translation: X:139.91, Y:-5.05, Z:-0.95 [[ 9.98248741e-01 5.90884083e-02 2.83051224e-03 1.39906276e+02] [-5.90882786e-02 9.98252753e-01 -1.29477345e-04 -5.04967434e+00] [-2.83321725e-03 -3.79994993e-05 9.99995986e-01 -9.47965045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.170281693 meters Centerline goodness [0,1] 0.999247716281569 Centerline is valid? [True, True] Translation: X:139.94, Y:-5.05, Z:-0.95 [[ 9.98319183e-01 5.78827599e-02 2.89726259e-03 1.39936686e+02] [-5.78826190e-02 9.98323387e-01 -1.32530735e-04 -5.05192580e+00] [-2.90007625e-03 -3.53931712e-05 9.99995794e-01 -9.47502036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.200281693 meters Centerline goodness [0,1] 0.9993148485172894 Centerline is valid? [True, True] Translation: X:139.97, Y:-5.06, Z:-0.95 [[ 9.98400686e-01 5.64360160e-02 3.32357930e-03 1.39967845e+02] [-5.64358226e-02 9.98406217e-01 -1.52004328e-04 -5.05523757e+00] [-3.32686075e-03 -3.58077061e-05 9.99994465e-01 -9.46980838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.230281693 meters Centerline goodness [0,1] 0.9991531882462529 Centerline is valid? [True, True] Translation: X:140.00, Y:-5.06, Z:-0.95 [[ 9.98498875e-01 5.46731455e-02 3.29293572e-03 1.39998753e+02] [-5.46729459e-02 9.98504305e-01 -1.50680496e-04 -5.05505424e+00] [-3.29624867e-03 -2.95801907e-05 9.99994567e-01 -9.47307806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.260281693 meters Centerline goodness [0,1] 0.9997240325217059 Centerline is valid? [True, True] Translation: X:140.03, Y:-5.06, Z:-0.95 [[ 9.98678361e-01 5.12209242e-02 4.23642521e-03 1.40030268e+02] [-5.12205621e-02 9.98687347e-01 -1.93981393e-04 -5.06292540e+00] [-4.24080016e-03 -2.32670612e-05 9.99991007e-01 -9.45684590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.290281693 meters Centerline goodness [0,1] 0.9997264252193859 Centerline is valid? [True, True] Translation: X:140.06, Y:-5.07, Z:-0.94 [[ 9.98749613e-01 4.97617610e-02 4.79351011e-03 1.40061545e+02] [-4.97612796e-02 9.98761116e-01 -2.19714781e-04 -5.06570780e+00] [-4.79850490e-03 -1.90911444e-05 9.99988487e-01 -9.44842995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.320281693 meters Centerline goodness [0,1] 0.9996166868970804 Centerline is valid? [True, True] Translation: X:140.09, Y:-5.07, Z:-0.94 [[ 9.98811787e-01 4.84020916e-02 5.67907817e-03 1.40093873e+02] [-4.84013883e-02 9.98827932e-01 -2.61306185e-04 -5.06934580e+00] [-5.68506967e-03 -1.38795694e-05 9.99983840e-01 -9.43559029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.350281693 meters Centerline goodness [0,1] 0.9995558563512542 Centerline is valid? [True, True] Translation: X:140.13, Y:-5.08, Z:-0.94 [[ 9.98920079e-01 4.61389409e-02 5.46564013e-03 1.40125887e+02] [-4.61382508e-02 9.98935032e-01 -2.52350605e-04 -5.07520385e+00] [-5.47146258e-03 -9.69882079e-08 9.99985031e-01 -9.44459125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.380281693 meters Centerline goodness [0,1] 0.9995308668301525 Centerline is valid? [True, True] Translation: X:140.16, Y:-5.08, Z:-0.95 [[ 9.98974517e-01 4.50755703e-02 4.25518957e-03 1.40157719e+02] [-4.50751401e-02 9.98983580e-01 -1.96997206e-04 -5.07921132e+00] [-4.25974427e-03 4.99192263e-06 9.99990927e-01 -9.46436539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.410281693 meters Centerline goodness [0,1] 0.9995076106270472 Centerline is valid? [True, True] Translation: X:140.19, Y:-5.08, Z:-0.95 [[ 9.99018157e-01 4.41685453e-02 3.44404876e-03 1.40189986e+02] [-4.41682566e-02 9.99024094e-01 -1.59869672e-04 -5.08368507e+00] [-3.44774890e-03 7.59507596e-06 9.99994056e-01 -9.48651172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.440281693 meters Centerline goodness [0,1] 0.9991751443497388 Centerline is valid? [True, True] Translation: X:140.22, Y:-5.09, Z:-0.95 [[ 9.99126834e-01 4.16240751e-02 3.60642265e-03 1.40220590e+02] [-4.16237397e-02 9.99133342e-01 -1.68044093e-04 -5.09170660e+00] [-3.61029180e-03 1.77845647e-05 9.99993483e-01 -9.48130537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.470281693 meters Centerline goodness [0,1] 0.9989766331229746 Centerline is valid? [True, True] Translation: X:140.25, Y:-5.10, Z:-0.95 [[ 9.99164766e-01 4.05828499e-02 4.77531714e-03 1.40252822e+02] [-4.05822454e-02 9.99176176e-01 -2.23455003e-04 -5.09533807e+00] [-4.78045156e-03 2.94752739e-05 9.99988573e-01 -9.46346202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.500281693 meters Centerline goodness [0,1] 0.9989766331229746 Centerline is valid? [True, True] Translation: X:140.28, Y:-5.10, Z:-0.95 [[ 9.99158154e-01 4.07452985e-02 4.77528067e-03 1.40284458e+02] [-4.07446922e-02 9.99169565e-01 -2.24231705e-04 -5.09697371e+00] [-4.78045150e-03 2.94755957e-05 9.99988573e-01 -9.46488338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.530281693 meters Centerline goodness [0,1] 0.999080823411214 Centerline is valid? [True, True] Translation: X:140.32, Y:-5.10, Z:-0.94 [[ 9.99193885e-01 3.97225276e-02 5.80532564e-03 1.40316357e+02] [-3.97216078e-02 9.99210748e-01 -2.73703529e-04 -5.10191198e+00] [-5.81161597e-03 4.28860240e-05 9.99983111e-01 -9.44771490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.560281693 meters Centerline goodness [0,1] 0.9988570944801897 Centerline is valid? [True, True] Translation: X:140.35, Y:-5.10, Z:-0.95 [[ 9.99187331e-01 3.98997204e-02 5.71758585e-03 1.40348278e+02] [-3.98988262e-02 9.99203688e-01 -2.70432520e-04 -5.10489993e+00] [-5.72382306e-03 4.20877835e-05 9.99983618e-01 -9.45424393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.590281693 meters Centerline goodness [0,1] 0.9987094317268227 Centerline is valid? [True, True] Translation: X:140.38, Y:-5.11, Z:-0.95 [[ 9.99167598e-01 4.04085106e-02 5.59141778e-03 1.40380300e+02] [-4.04076598e-02 9.99183242e-01 -2.65102791e-04 -5.10725576e+00] [-5.59756336e-03 3.89460111e-05 9.99984333e-01 -9.45643047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.620281693 meters Centerline goodness [0,1] 0.9990092825913721 Centerline is valid? [True, True] Translation: X:140.41, Y:-5.11, Z:-0.95 [[ 9.99111112e-01 4.18603927e-02 4.96929018e-03 1.40412474e+02] [-4.18597359e-02 9.99123469e-01 -2.36147045e-04 -5.10748770e+00] [-4.97481965e-03 2.79239618e-05 9.99987625e-01 -9.46439432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.650281693 meters Centerline goodness [0,1] 0.9991355276523092 Centerline is valid? [True, True] Translation: X:140.44, Y:-5.11, Z:-0.95 [[ 9.99055828e-01 4.31263329e-02 5.25082720e-03 1.40443565e+02] [-4.31256123e-02 9.99069627e-01 -2.50437072e-04 -5.10901894e+00] [-5.25674241e-03 2.37554779e-05 9.99986183e-01 -9.46315599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.680281693 meters Centerline goodness [0,1] 0.999221724406302 Centerline is valid? [True, True] Translation: X:140.48, Y:-5.11, Z:-0.95 [[ 9.98993755e-01 4.45125065e-02 5.48769802e-03 1.40475808e+02] [-4.45117353e-02 9.99008827e-01 -2.62638262e-04 -5.11083028e+00] [-5.49394945e-03 1.81070214e-05 9.99984908e-01 -9.45601978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.710281693 meters Centerline goodness [0,1] 0.999564820053092 Centerline is valid? [True, True] Translation: X:140.51, Y:-5.11, Z:-0.95 [[ 9.98903934e-01 4.64282973e-02 5.94512213e-03 1.40509062e+02] [-4.64274194e-02 9.98921625e-01 -2.85664181e-04 -5.11185189e+00] [-5.95197396e-03 9.33439579e-06 9.99982287e-01 -9.46267336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.740281693 meters Centerline goodness [0,1] 0.9994950238811623 Centerline is valid? [True, True] Translation: X:140.54, Y:-5.11, Z:-0.95 [[ 9.98853840e-01 4.76492832e-02 4.53344633e-03 1.40541523e+02] [-4.76487823e-02 9.98864128e-01 -2.18487895e-04 -5.11321223e+00] [-4.53870770e-03 2.22427533e-06 9.99989700e-01 -9.48498426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.770281693 meters Centerline goodness [0,1] 0.9994908782350446 Centerline is valid? [True, True] Translation: X:140.57, Y:-5.12, Z:-0.95 [[ 9.98817416e-01 4.84849694e-02 3.60248993e-03 1.40573249e+02] [-4.84846568e-02 9.98823912e-01 -1.74107861e-04 -5.11607516e+00] [-3.60669470e-03 -7.63523400e-07 9.99993496e-01 -9.50599111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.800281693 meters Centerline goodness [0,1] 0.9997449304935595 Centerline is valid? [True, True] Translation: X:140.61, Y:-5.12, Z:-0.95 [[ 9.98786495e-01 4.91201980e-02 3.56970668e-03 1.40605389e+02] [-4.91198931e-02 9.98792874e-01 -1.73095875e-04 -5.11807604e+00] [-3.57390010e-03 -2.45778766e-06 9.99993614e-01 -9.50555000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.830281693 meters Centerline goodness [0,1] 0.9997439016582368 Centerline is valid? [True, True] Translation: X:140.64, Y:-5.12, Z:-0.95 [[ 9.98677408e-01 5.12815744e-02 3.69259212e-03 1.40637896e+02] [-5.12812606e-02 9.98684234e-01 -1.79674541e-04 -5.11823283e+00] [-3.69694752e-03 -9.92387395e-06 9.99993166e-01 -9.50331365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.860281693 meters Centerline goodness [0,1] 0.9997889850179362 Centerline is valid? [True, True] Translation: X:140.67, Y:-5.12, Z:-0.95 [[ 9.98608168e-01 5.26108491e-02 3.71823626e-03 1.40668840e+02] [-5.26105378e-02 9.98615090e-01 -1.81563666e-04 -5.11791675e+00] [-3.72263905e-03 -1.43074489e-05 9.99993071e-01 -9.50558158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.890281693 meters Centerline goodness [0,1] 0.9997025580011898 Centerline is valid? [True, True] Translation: X:140.70, Y:-5.12, Z:-0.95 [[ 9.98592944e-01 5.28724375e-02 4.07902699e-03 1.40700793e+02] [-5.28720620e-02 9.98601274e-01 -1.99923077e-04 -5.11995255e+00] [-4.08389197e-03 -1.60247938e-05 9.99991661e-01 -9.50213282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.920281693 meters Centerline goodness [0,1] 0.9997214245917799 Centerline is valid? [True, True] Translation: X:140.73, Y:-5.12, Z:-0.95 [[ 9.98605077e-01 5.25571594e-02 5.06416463e-03 1.40733072e+02] [-5.25565743e-02 9.98617917e-01 -2.48632004e-04 -5.12332710e+00] [-5.07023293e-03 -1.78699637e-05 9.99987146e-01 -9.49051334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.950281693 meters Centerline goodness [0,1] 0.9994471731411196 Centerline is valid? [True, True] Translation: X:140.76, Y:-5.13, Z:-0.95 [[ 9.98760597e-01 4.94364254e-02 5.77152810e-03 1.40764484e+02] [-4.94356069e-02 9.98777272e-01 -2.84478150e-04 -5.12985006e+00] [-5.77853468e-03 -1.19342780e-06 9.99983304e-01 -9.47699471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.980281693 meters Centerline goodness [0,1] 0.9992525200751752 Centerline is valid? [True, True] Translation: X:140.80, Y:-5.14, Z:-0.95 [[ 9.98867544e-01 4.72926254e-02 5.19976320e-03 1.40796894e+02] [-4.72919275e-02 9.98881078e-01 -2.57172756e-04 -5.13551228e+00] [-5.20610744e-03 1.09746954e-05 9.99986448e-01 -9.48994593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.010281693 meters Centerline goodness [0,1] 0.9989495347939802 Centerline is valid? [True, True] Translation: X:140.83, Y:-5.15, Z:-0.95 [[ 9.99058187e-01 4.32654294e-02 3.29256151e-03 1.40828571e+02] [-4.32651266e-02 9.99063613e-01 -1.63186422e-04 -5.14589018e+00] [-3.29653873e-03 2.05796405e-05 9.99994566e-01 -9.52654880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.040281693 meters Centerline goodness [0,1] 0.9990325493399836 Centerline is valid? [True, True] Translation: X:140.86, Y:-5.15, Z:-0.95 [[ 9.99108702e-01 4.21124297e-02 2.88882475e-03 1.40859562e+02] [-4.21121905e-02 9.99112878e-01 -1.43592285e-04 -5.15136409e+00] [-2.89230903e-03 2.18095633e-05 9.99995817e-01 -9.53609667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.070281693 meters Centerline goodness [0,1] 0.9987926611042839 Centerline is valid? [True, True] Translation: X:140.89, Y:-5.16, Z:-0.95 [[ 9.99157970e-01 4.09608772e-02 2.35747746e-03 1.40891330e+02] [-4.09607142e-02 9.99160751e-01 -1.17391152e-04 -5.15586055e+00] [-2.36030739e-03 2.07283449e-05 9.99997214e-01 -9.54145371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.100281693 meters Centerline goodness [0,1] 0.9984349885796464 Centerline is valid? [True, True] Translation: X:140.92, Y:-5.17, Z:-0.96 [[ 9.99268959e-01 3.81865430e-02 1.82608120e-03 1.40921980e+02] [-3.81864403e-02 9.99270628e-01 -9.11026015e-05 -5.16597928e+00] [-1.82822820e-03 2.13044611e-05 9.99998329e-01 -9.55537125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.130281693 meters Centerline goodness [0,1] 0.9984180935890036 Centerline is valid? [True, True] Translation: X:140.95, Y:-5.17, Z:-0.96 [[ 9.99327250e-01 3.66059252e-02 2.24814760e-03 1.40953451e+02] [-3.66057643e-02 9.99329778e-01 -1.12696032e-04 -5.17096171e+00] [-2.25076618e-03 3.03250541e-05 9.99997467e-01 -9.55102056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.160281693 meters Centerline goodness [0,1] 0.9981144608000686 Centerline is valid? [True, True] Translation: X:140.98, Y:-5.18, Z:-0.95 [[ 9.99436581e-01 3.34210321e-02 3.09123499e-03 1.40983749e+02] [-3.34207104e-02 9.99441360e-01 -1.55659012e-04 -5.18312294e+00] [-3.09471038e-03 5.22600409e-05 9.99995210e-01 -9.54517920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.190281693 meters Centerline goodness [0,1] 0.9982945339814104 Centerline is valid? [True, True] Translation: X:141.02, Y:-5.19, Z:-0.95 [[ 9.99467804e-01 3.24557820e-02 3.27584322e-03 1.41015471e+02] [-3.24554140e-02 9.99473171e-01 -1.65446916e-04 -5.18699043e+00] [-3.27948711e-03 5.90400180e-05 9.99994621e-01 -9.54025735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.220281693 meters Centerline goodness [0,1] 0.998324958123953 Centerline is valid? [True, True] Translation: X:141.05, Y:-5.19, Z:-0.95 [[ 9.99478267e-01 3.21485022e-02 3.10929827e-03 1.41045873e+02] [-3.21481674e-02 9.99483102e-01 -1.57615355e-04 -5.19420608e+00] [-3.11275818e-03 5.75748810e-05 9.99995154e-01 -9.54491017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.250281693 meters Centerline goodness [0,1] 0.9983896599216019 Centerline is valid? [True, True] Translation: X:141.08, Y:-5.20, Z:-0.95 [[ 9.99436529e-01 3.33689415e-02 3.62461710e-03 1.41078173e+02] [-3.33684933e-02 9.99443100e-01 -1.84073560e-04 -5.19994424e+00] [-3.62874089e-03 6.30218284e-05 9.99993414e-01 -9.52984718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.280281693 meters Centerline goodness [0,1] 0.9983006202736001 Centerline is valid? [True, True] Translation: X:141.11, Y:-5.20, Z:-0.95 [[ 9.99385163e-01 3.47093751e-02 4.95533828e-03 1.41110124e+02] [-3.47085485e-02 9.99397445e-01 -2.52730979e-04 -5.20244240e+00] [-4.96112455e-03 8.05829910e-05 9.99987690e-01 -9.50614936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.310281693 meters Centerline goodness [0,1] 0.9980994276928333 Centerline is valid? [True, True] Translation: X:141.14, Y:-5.21, Z:-0.95 [[ 9.99321491e-01 3.62687145e-02 6.41385921e-03 1.41140916e+02] [-3.62673538e-02 9.99342069e-01 -3.28365766e-04 -5.20577324e+00] [-6.42154874e-03 9.55292657e-05 9.99979377e-01 -9.47880911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.340281693 meters Centerline goodness [0,1] 0.9985375086028906 Centerline is valid? [True, True] Translation: X:141.17, Y:-5.21, Z:-0.95 [[ 9.99202606e-01 3.92111920e-02 7.52560876e-03 1.41173455e+02] [-3.92093947e-02 9.99230941e-01 -3.86263629e-04 -5.20779528e+00] [-7.53496699e-03 9.08810602e-05 9.99971608e-01 -9.47366093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.370281693 meters Centerline goodness [0,1] 0.998979505059954 Centerline is valid? [True, True] Translation: X:141.21, Y:-5.21, Z:-0.95 [[ 9.99085357e-01 4.24787892e-02 4.89923372e-03 1.41205278e+02] [-4.24780656e-02 9.99097368e-01 -2.51702035e-04 -5.21182469e+00] [-4.90550352e-03 4.33618460e-05 9.99987967e-01 -9.51774312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.400281693 meters Centerline goodness [0,1] 0.9990284700515333 Centerline is valid? [True, True] Translation: X:141.24, Y:-5.21, Z:-0.95 [[ 9.99013026e-01 4.42656811e-02 3.67737535e-03 1.41236237e+02] [-4.42652838e-02 9.99019794e-01 -1.89406349e-04 -5.21481676e+00] [-3.68215497e-03 2.64393469e-05 9.99993220e-01 -9.53916726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.430281693 meters Centerline goodness [0,1] 0.9994014792014022 Centerline is valid? [True, True] Translation: X:141.27, Y:-5.22, Z:-0.95 [[ 9.98990321e-01 4.47917802e-02 3.46923168e-03 1.41269109e+02] [-4.47914290e-02 9.98996344e-01 -1.78893277e-04 -5.21887189e+00] [-3.47376272e-03 2.33208076e-05 9.99993966e-01 -9.54876724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.460281693 meters Centerline goodness [0,1] 0.9993215739484396 Centerline is valid? [True, True] Translation: X:141.30, Y:-5.22, Z:-0.95 [[ 9.98993889e-01 4.47028541e-02 3.58667132e-03 1.41301004e+02] [-4.47024754e-02 9.99000327e-01 -1.85714666e-04 -5.22454963e+00] [-3.59138780e-03 2.51947295e-05 9.99993551e-01 -9.54440205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.490281693 meters Centerline goodness [0,1] 0.9990883843202103 Centerline is valid? [True, True] Translation: X:141.33, Y:-5.23, Z:-0.95 [[ 9.99003389e-01 4.43180549e-02 5.30461752e-03 1.41333393e+02] [-4.43172162e-02 9.99017472e-01 -2.75599564e-04 -5.22964675e+00] [-5.31161962e-03 4.02390168e-05 9.99985892e-01 -9.51869154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.520281693 meters Centerline goodness [0,1] 0.9990149682006039 Centerline is valid? [True, True] Translation: X:141.37, Y:-5.23, Z:-0.95 [[ 9.98965803e-01 4.51139283e-02 5.66202126e-03 1.41366146e+02] [-4.51129792e-02 9.98981848e-01 -2.95288894e-04 -5.23178962e+00] [-5.66957810e-03 3.95528601e-05 9.99983927e-01 -9.51493277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.550281693 meters Centerline goodness [0,1] 0.9994305359289646 Centerline is valid? [True, True] Translation: X:141.40, Y:-5.23, Z:-0.95 [[ 9.98755372e-01 4.97158815e-02 4.00470060e-03 1.41397041e+02] [-4.97154416e-02 9.98763401e-01 -2.09384024e-04 -5.23002035e+00] [-4.01015810e-03 1.00279605e-05 9.99991959e-01 -9.54579817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.580281693 meters Centerline goodness [0,1] 0.9996583167830525 Centerline is valid? [True, True] Translation: X:141.43, Y:-5.23, Z:-0.95 [[ 9.98615570e-01 5.24569243e-02 3.90044350e-03 1.41430104e+02] [-5.24565257e-02 9.98623188e-01 -2.04496261e-04 -5.22817069e+00] [-3.90580056e-03 -3.90564111e-07 9.99992372e-01 -9.54440985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.610281693 meters Centerline goodness [0,1] 0.9996403942970766 Centerline is valid? [True, True] Translation: X:141.46, Y:-5.23, Z:-0.95 [[ 9.98478015e-01 5.49311999e-02 4.92112228e-03 1.41462930e+02] [-5.49305899e-02 9.98490142e-01 -2.59143014e-04 -5.22579295e+00] [-4.92792712e-03 -1.15715474e-05 9.99987858e-01 -9.52824976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.640281693 meters Centerline goodness [0,1] 0.9995989530563999 Centerline is valid? [True, True] Translation: X:141.49, Y:-5.22, Z:-0.95 [[ 9.98254728e-01 5.87501654e-02 5.99308631e-03 1.41494174e+02] [-5.87493220e-02 9.98272717e-01 -3.16833788e-04 -5.22042692e+00] [-6.00134858e-03 -3.58089299e-05 9.99981991e-01 -9.51178515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.670281693 meters Centerline goodness [0,1] 0.9994889376290965 Centerline is valid? [True, True] Translation: X:141.53, Y:-5.22, Z:-0.95 [[ 9.98183224e-01 5.99993704e-02 5.50697583e-03 1.41527081e+02] [-5.99986728e-02 9.98198414e-01 -2.91946467e-04 -5.22104092e+00] [-5.51457114e-03 -3.89951751e-05 9.99984794e-01 -9.52905091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.700281693 meters Centerline goodness [0,1] 0.9994300550946742 Centerline is valid? [True, True] Translation: X:141.56, Y:-5.22, Z:-0.95 [[ 9.98101997e-01 6.13867945e-02 4.90560923e-03 1.41558612e+02] [-6.13862537e-02 9.98114051e-01 -2.60882220e-04 -5.21843306e+00] [-4.91237222e-03 -4.07499074e-05 9.99987933e-01 -9.53815360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.730281693 meters Centerline goodness [0,1] 0.9995547640249333 Centerline is valid? [True, True] Translation: X:141.59, Y:-5.22, Z:-0.95 [[ 9.98094916e-01 6.14894312e-02 5.05850107e-03 1.41591572e+02] [-6.14888534e-02 9.98107734e-01 -2.69824776e-04 -5.21994382e+00] [-5.06552041e-03 -4.17306933e-05 9.99987169e-01 -9.54018438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.760281693 meters Centerline goodness [0,1] 0.999377802570319 Centerline is valid? [True, True] Translation: X:141.62, Y:-5.22, Z:-0.95 [[ 9.98113398e-01 6.11709269e-02 5.26908660e-03 1.41624241e+02] [-6.11702901e-02 9.98127305e-01 -2.82078739e-04 -5.22248291e+00] [-5.27647422e-03 -4.07649875e-05 9.99986078e-01 -9.53954607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.790281693 meters Centerline goodness [0,1] 0.9993788154653529 Centerline is valid? [True, True] Translation: X:141.66, Y:-5.23, Z:-0.96 [[ 9.98255432e-01 5.88344190e-02 4.96012857e-03 1.41655933e+02] [-5.88338213e-02 9.98267755e-01 -2.66441043e-04 -5.22596470e+00] [-4.96721232e-03 -2.58470992e-05 9.99987663e-01 -9.55162040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.820281693 meters Centerline goodness [0,1] 0.9995523056260259 Centerline is valid? [True, True] Translation: X:141.69, Y:-5.23, Z:-0.95 [[ 9.98324577e-01 5.76159178e-02 5.33342267e-03 1.41687236e+02] [-5.76152043e-02 9.98338823e-01 -2.87456347e-04 -5.22765458e+00] [-5.34112498e-03 -2.03115016e-05 9.99985736e-01 -9.54187210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.850281693 meters Centerline goodness [0,1] 0.9995106903520902 Centerline is valid? [True, True] Translation: X:141.72, Y:-5.23, Z:-0.95 [[ 9.98379507e-01 5.66114313e-02 5.78839986e-03 1.41719755e+02] [-5.66105681e-02 9.98396287e-01 -3.12995686e-04 -5.22974975e+00] [-5.79683606e-03 -1.51961253e-05 9.99983198e-01 -9.52926177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.880281693 meters Centerline goodness [0,1] 0.9996152695250716 Centerline is valid? [True, True] Translation: X:141.75, Y:-5.23, Z:-0.95 [[ 9.98395384e-01 5.62232125e-02 6.75330744e-03 1.41753133e+02] [-5.62220191e-02 9.98418224e-01 -3.66578917e-04 -5.23094177e+00] [-6.76323547e-03 -1.36938809e-05 9.99977129e-01 -9.51165805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.910281693 meters Centerline goodness [0,1] 0.9995329781136562 Centerline is valid? [True, True] Translation: X:141.79, Y:-5.23, Z:-0.95 [[ 9.98362436e-01 5.67967858e-02 6.82438934e-03 1.41785253e+02] [-5.67955717e-02 9.98385760e-01 -3.71728670e-04 -5.23159669e+00] [-6.83448613e-03 -1.64751543e-05 9.99976644e-01 -9.51581783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.940281693 meters Centerline goodness [0,1] 0.9993623668940892 Centerline is valid? [True, True] Translation: X:141.82, Y:-5.23, Z:-0.95 [[ 9.98276644e-01 5.82005422e-02 7.51258758e-03 1.41818412e+02] [-5.81990997e-02 9.98304911e-01 -4.10672557e-04 -5.22857217e+00] [-7.52375444e-03 -2.72610108e-05 9.99971696e-01 -9.50930670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.970281693 meters Centerline goodness [0,1] 0.9995072836332476 Centerline is valid? [True, True] Translation: X:141.85, Y:-5.23, Z:-0.95 [[ 9.98243548e-01 5.87987718e-02 7.24726537e-03 1.41851041e+02] [-5.87974354e-02 9.98269855e-01 -3.97520331e-04 -5.22891389e+00] [-7.25810026e-03 -2.92985118e-05 9.99973659e-01 -9.51658199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.000281693 meters Centerline goodness [0,1] 0.9995994181020851 Centerline is valid? [True, True] Translation: X:141.88, Y:-5.23, Z:-0.95 [[ 9.98257392e-01 5.86994999e-02 6.04545605e-03 1.41882996e+02] [-5.86985620e-02 9.98275697e-01 -3.32602409e-04 -5.22972674e+00] [-6.05455545e-03 -2.28367627e-05 9.99981671e-01 -9.53504446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.030281693 meters Centerline goodness [0,1] 0.9995946493717065 Centerline is valid? [True, True] Translation: X:141.91, Y:-5.23, Z:-0.96 [[ 9.98356676e-01 5.70818015e-02 5.06110316e-03 1.41914893e+02] [-5.70811195e-02 9.98369505e-01 -2.79217289e-04 -5.23388651e+00] [-5.06878928e-03 -1.01349897e-05 9.99987154e-01 -9.56022375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.060281693 meters Centerline goodness [0,1] 0.9996375189236444 Centerline is valid? [True, True] Translation: X:141.95, Y:-5.24, Z:-0.96 [[ 9.98426681e-01 5.58057320e-02 5.46644185e-03 1.41947831e+02] [-5.58049119e-02 9.98441646e-01 -3.02562573e-04 -5.23698166e+00] [-5.47480792e-03 -2.96775957e-06 9.99985013e-01 -9.55515229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.090281693 meters Centerline goodness [0,1] 0.9993061542019722 Centerline is valid? [True, True] Translation: X:141.98, Y:-5.24, Z:-0.95 [[ 9.98477312e-01 5.47685771e-02 6.59250612e-03 1.41979797e+02] [-5.47673532e-02 9.98499075e-01 -3.66169097e-04 -5.23969366e+00] [-6.60266583e-03 4.55742467e-06 9.99978202e-01 -9.53801983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.120281693 meters Centerline goodness [0,1] 0.9990402252271467 Centerline is valid? [True, True] Translation: X:142.01, Y:-5.24, Z:-0.95 [[ 9.98552621e-01 5.32339260e-02 7.66886592e-03 1.42013097e+02] [-5.32322152e-02 9.98582069e-01 -4.27172050e-04 -5.24355775e+00] [-7.68073204e-03 1.83230494e-05 9.99970503e-01 -9.51478927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.150281693 meters Centerline goodness [0,1] 0.9986932788163635 Centerline is valid? [True, True] Translation: X:142.05, Y:-5.25, Z:-0.95 [[ 9.98587013e-01 5.26605782e-02 7.13031777e-03 1.42045317e+02] [-5.26590758e-02 9.98612469e-01 -3.98423692e-04 -5.24696804e+00] [-7.14140545e-03 2.23847810e-05 9.99974500e-01 -9.52512278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.180281693 meters Centerline goodness [0,1] 0.9988418230563003 Centerline is valid? [True, True] Translation: X:142.08, Y:-5.25, Z:-0.96 [[ 9.98644309e-01 5.17557091e-02 5.55789562e-03 1.42078500e+02] [-5.17547777e-02 9.98659775e-01 -3.11381162e-04 -5.24831247e+00] [-5.56656254e-03 2.33113730e-05 9.99984506e-01 -9.56152963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.210281693 meters Centerline goodness [0,1] 0.9989277289298735 Centerline is valid? [True, True] Translation: X:142.11, Y:-5.25, Z:-0.96 [[ 9.98626611e-01 5.21199586e-02 5.32930688e-03 1.42111377e+02] [-5.21191021e-02 9.98640831e-01 -2.99561410e-04 -5.24860902e+00] [-5.33767658e-03 2.13913062e-05 9.99985754e-01 -9.56863277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.240281693 meters Centerline goodness [0,1] 0.9988653150356462 Centerline is valid? [True, True] Translation: X:142.14, Y:-5.25, Z:-0.96 [[ 9.98602961e-01 5.25580635e-02 5.45683750e-03 1.42143837e+02] [-5.25571663e-02 9.98617870e-01 -3.07796496e-04 -5.24916035e+00] [-5.46547263e-03 2.05705767e-05 9.99985064e-01 -9.56412391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.270281693 meters Centerline goodness [0,1] 0.998601250397372 Centerline is valid? [True, True] Translation: X:142.18, Y:-5.25, Z:-0.96 [[ 9.98576156e-01 5.30699327e-02 5.40769220e-03 1.42175954e+02] [-5.30690538e-02 9.98590798e-01 -3.05991208e-04 -5.24930670e+00] [-5.41631060e-03 1.85744161e-05 9.99985332e-01 -9.56115893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.300281693 meters Centerline goodness [0,1] 0.9987499470316539 Centerline is valid? [True, True] Translation: X:142.21, Y:-5.25, Z:-0.96 [[ 9.98550464e-01 5.35548496e-02 5.37120216e-03 1.42208240e+02] [-5.35539845e-02 9.98564909e-01 -3.04860521e-04 -5.25024355e+00] [-5.37982076e-03 1.67693376e-05 9.99985529e-01 -9.56136014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.330281693 meters Centerline goodness [0,1] 0.9989811512990321 Centerline is valid? [True, True] Translation: X:142.24, Y:-5.25, Z:-0.96 [[ 9.98509878e-01 5.43404352e-02 5.01401583e-03 1.42240143e+02] [-5.43396871e-02 9.98522467e-01 -2.85399883e-04 -5.25122082e+00] [-5.02211621e-03 1.25145517e-05 9.99987389e-01 -9.56953885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.360281693 meters Centerline goodness [0,1] 0.9991072567274583 Centerline is valid? [True, True] Translation: X:142.27, Y:-5.25, Z:-0.96 [[ 9.98491977e-01 5.46730764e-02 4.96245690e-03 1.42273305e+02] [-5.46723435e-02 9.98504309e-01 -2.83312554e-04 -5.25285918e+00] [-4.97052416e-03 1.15761645e-05 9.99987647e-01 -9.56920669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.390281693 meters Centerline goodness [0,1] 0.9991072567274583 Centerline is valid? [True, True] Translation: X:142.31, Y:-5.25, Z:-0.96 [[ 9.98481841e-01 5.48578949e-02 4.96240448e-03 1.42305744e+02] [-5.48571598e-02 9.98494172e-01 -2.84227890e-04 -5.25491899e+00] [-4.97052409e-03 1.15729718e-05 9.99987647e-01 -9.57066551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.420281693 meters Centerline goodness [0,1] 0.9989329235759865 Centerline is valid? [True, True] Translation: X:142.34, Y:-5.26, Z:-0.96 [[ 9.98496513e-01 5.45527930e-02 5.35778093e-03 1.42338356e+02] [-5.45519259e-02 9.98510888e-01 -3.07939847e-04 -5.25754336e+00] [-5.36660157e-03 1.51995947e-05 9.99985600e-01 -9.56758558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.450281693 meters Centerline goodness [0,1] 0.9984088257133765 Centerline is valid? [True, True] Translation: X:142.37, Y:-5.26, Z:-0.95 [[ 9.98581000e-01 5.27938481e-02 6.98545113e-03 1.42368844e+02] [-5.27923218e-02 9.98605432e-01 -4.02838042e-04 -5.26368169e+00] [-6.99697681e-03 3.34882312e-05 9.99975520e-01 -9.54627316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.480281693 meters Centerline goodness [0,1] 0.9982747603833866 Centerline is valid? [True, True] Translation: X:142.40, Y:-5.27, Z:-0.95 [[ 9.98612512e-01 5.21200182e-02 7.52028011e-03 1.42401747e+02] [-5.21182225e-02 9.98640827e-01 -4.34689014e-04 -5.26838551e+00] [-7.53271475e-03 4.21422562e-05 9.99971628e-01 -9.53948942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.510281693 meters Centerline goodness [0,1] 0.9981897561495049 Centerline is valid? [True, True] Translation: X:142.43, Y:-5.27, Z:-0.95 [[ 9.98641878e-01 5.15695473e-02 7.41495552e-03 1.42434418e+02] [-5.15677762e-02 9.98669405e-01 -4.29975663e-04 -5.27479471e+00] [-7.42726287e-03 4.70189363e-05 9.99972416e-01 -9.54601812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.540281693 meters Centerline goodness [0,1] 0.9981261046400205 Centerline is valid? [True, True] Translation: X:142.47, Y:-5.28, Z:-0.96 [[ 9.98604609e-01 5.23840926e-02 6.68886790e-03 1.42467104e+02] [-5.23826617e-02 9.98627010e-01 -3.89045578e-04 -5.27729896e+00] [-6.70006395e-03 3.81220025e-05 9.99977554e-01 -9.56697081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.570281693 meters Centerline goodness [0,1] 0.998668299074253 Centerline is valid? [True, True] Translation: X:142.50, Y:-5.28, Z:-0.96 [[ 9.98556544e-01 5.33352841e-02 6.33849722e-03 1.42498007e+02] [-5.33340123e-02 9.98576660e-01 -3.69635271e-04 -5.27903214e+00] [-6.34918999e-03 3.10442304e-05 9.99979843e-01 -9.57651743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.600281693 meters Centerline goodness [0,1] 0.9986388770735857 Centerline is valid? [True, True] Translation: X:142.53, Y:-5.28, Z:-0.96 [[ 9.98376741e-01 5.65109203e-02 7.09923933e-03 1.42528742e+02] [-5.65093990e-02 9.98401981e-01 -4.14856744e-04 -5.27973783e+00] [-7.11133854e-03 1.30095768e-05 9.99974714e-01 -9.55146445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.630281693 meters Centerline goodness [0,1] 0.9988675213675213 Centerline is valid? [True, True] Translation: X:142.56, Y:-5.28, Z:-0.96 [[ 9.98260170e-01 5.84809832e-02 7.52383391e-03 1.42561448e+02] [-5.84793208e-02 9.98288523e-01 -4.40948330e-04 -5.28076653e+00] [-7.53674413e-03 1.92458652e-07 9.99971598e-01 -9.55136557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.660281693 meters Centerline goodness [0,1] 0.9990923866010933 Centerline is valid? [True, True] Translation: X:142.59, Y:-5.28, Z:-0.96 [[ 9.98042295e-01 6.21291318e-02 7.17978452e-03 1.42593590e+02] [-6.21277033e-02 9.98068119e-01 -4.22044163e-04 -5.27928625e+00] [-7.19213527e-03 -2.48455971e-05 9.99974136e-01 -9.56129507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.690281693 meters Centerline goodness [0,1] 0.9991926745841212 Centerline is valid? [True, True] Translation: X:142.63, Y:-5.28, Z:-0.96 [[ 9.97920656e-01 6.41083511e-02 6.66964737e-03 1.42627061e+02] [-6.41071551e-02 9.97942943e-01 -3.93177865e-04 -5.27911502e+00] [-6.68113351e-03 -3.52118050e-05 9.99977680e-01 -9.57918407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.720281693 meters Centerline goodness [0,1] 0.9991037896893138 Centerline is valid? [True, True] Translation: X:142.66, Y:-5.28, Z:-0.96 [[ 9.97788552e-01 6.61601336e-02 6.39083109e-03 1.42658628e+02] [-6.61590708e-02 9.97809017e-01 -3.77810621e-04 -5.27875282e+00] [-6.40182489e-03 -4.58363337e-05 9.99979507e-01 -9.59135116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.750281693 meters Centerline goodness [0,1] 0.9990033293042391 Centerline is valid? [True, True] Translation: X:142.69, Y:-5.28, Z:-0.96 [[ 9.97568107e-01 6.93941388e-02 6.50573026e-03 1.42690185e+02] [-6.93931006e-02 9.97589319e-01 -3.85456909e-04 -5.27631234e+00] [-6.51679547e-03 -6.69332757e-05 9.99978763e-01 -9.58698107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.780281693 meters Centerline goodness [0,1] 0.9986662364203507 Centerline is valid? [True, True] Translation: X:142.72, Y:-5.28, Z:-0.96 [[ 9.97466596e-01 7.08733888e-02 6.11164918e-03 1.42721994e+02] [-7.08724965e-02 9.97485317e-01 -3.62737598e-04 -5.27600081e+00] [-6.12198877e-03 -7.13291982e-05 9.99981258e-01 -9.59365218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.810281693 meters Centerline goodness [0,1] 0.9989044274022041 Centerline is valid? [True, True] Translation: X:142.75, Y:-5.28, Z:-0.96 [[ 9.97384764e-01 7.20551572e-02 5.62918873e-03 1.42754543e+02] [-7.20544142e-02 9.97400646e-01 -3.34936868e-04 -5.27548861e+00] [-5.63869041e-03 -7.15469679e-05 9.99984100e-01 -9.61086634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.840281693 meters Centerline goodness [0,1] 0.998666243251826 Centerline is valid? [True, True] Translation: X:142.79, Y:-5.28, Z:-0.96 [[ 9.97372725e-01 7.22712409e-02 4.95122284e-03 1.42786250e+02] [-7.22706654e-02 9.97385013e-01 -2.95298045e-04 -5.27573266e+00] [-4.95961701e-03 -6.33059534e-05 9.99987699e-01 -9.62465155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.870281693 meters Centerline goodness [0,1] 0.9988969028425965 Centerline is valid? [True, True] Translation: X:142.82, Y:-5.28, Z:-0.96 [[ 9.97486173e-01 7.06940874e-02 4.86636669e-03 1.42817043e+02] [-7.06935087e-02 9.97498042e-01 -2.91031733e-04 -5.27964196e+00] [-4.87476547e-03 -5.37204072e-05 9.99988117e-01 -9.63652631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.900281693 meters Centerline goodness [0,1] 0.9989380681335486 Centerline is valid? [True, True] Translation: X:142.85, Y:-5.28, Z:-0.96 [[ 9.97573233e-01 6.94087605e-02 5.48345822e-03 1.42848948e+02] [-6.94080015e-02 9.97588302e-01 -3.28813240e-04 -5.28358272e+00] [-5.49305629e-03 -5.25805889e-05 9.99984912e-01 -9.62273197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.930281693 meters Centerline goodness [0,1] 0.9990903321345462 Centerline is valid? [True, True] Translation: X:142.88, Y:-5.29, Z:-0.96 [[ 9.97750462e-01 6.67093643e-02 6.62385032e-03 1.42880509e+02] [-6.67081896e-02 9.97772448e-01 -3.98372516e-04 -5.28928460e+00] [-6.63567052e-03 -4.43887004e-05 9.99977983e-01 -9.61049807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.960281693 meters Centerline goodness [0,1] 0.9990734955075306 Centerline is valid? [True, True] Translation: X:142.91, Y:-5.29, Z:-0.96 [[ 9.97831728e-01 6.54717696e-02 6.72983269e-03 1.42912831e+02] [-6.54705214e-02 9.97854421e-01 -4.05839701e-04 -5.29363169e+00] [-6.74196435e-03 -3.56459255e-05 9.99977272e-01 -9.62119084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.990281693 meters Centerline goodness [0,1] 0.9989522750598699 Centerline is valid? [True, True] Translation: X:142.94, Y:-5.30, Z:-0.96 [[ 9.97990185e-01 6.31220577e-02 5.58546788e-03 1.42943257e+02] [-6.31211568e-02 9.98005814e-01 -3.37609383e-04 -5.29910842e+00] [-5.59564002e-03 -1.56303437e-05 9.99984344e-01 -9.63875170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.020281693 meters Centerline goodness [0,1] 0.9989429622426113 Centerline is valid? [True, True] Translation: X:142.98, Y:-5.30, Z:-0.96 [[ 9.98126628e-01 6.09635842e-02 5.16492661e-03 1.42975219e+02] [-6.09627810e-02 9.98139991e-01 -3.12934100e-04 -5.30473181e+00] [-5.17439738e-03 -2.52043183e-06 9.99986613e-01 -9.64053998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.050281693 meters Centerline goodness [0,1] 0.9984004436103054 Centerline is valid? [True, True] Translation: X:143.01, Y:-5.31, Z:-0.96 [[ 9.98261590e-01 5.86796792e-02 5.52205314e-03 1.43007211e+02] [-5.86787209e-02 9.98276863e-01 -3.35535113e-04 -5.31105105e+00] [-5.53222697e-03 1.09248008e-05 9.99984697e-01 -9.63288922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.080281693 meters Centerline goodness [0,1] 0.9981304484823023 Centerline is valid? [True, True] Translation: X:143.04, Y:-5.32, Z:-0.96 [[ 9.98362957e-01 5.69253899e-02 5.55934092e-03 1.43039139e+02] [-5.69243864e-02 9.98378435e-01 -3.38705739e-04 -5.31787426e+00] [-5.56960704e-03 2.16891919e-05 9.99984489e-01 -9.63540442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.110281693 meters Centerline goodness [0,1] 0.9976997425399907 Centerline is valid? [True, True] Translation: X:143.07, Y:-5.33, Z:-0.96 [[ 9.98552592e-01 5.34586745e-02 5.90687819e-03 1.43070407e+02] [-5.34574751e-02 9.98570062e-01 -3.60861755e-04 -5.32928359e+00] [-5.91772291e-03 4.45726469e-05 9.99982489e-01 -9.63252088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.140281693 meters Centerline goodness [0,1] 0.9979117780026264 Centerline is valid? [True, True] Translation: X:143.10, Y:-5.33, Z:-0.96 [[ 9.98603517e-01 5.24575788e-02 6.26246343e-03 1.43102109e+02] [-5.24562047e-02 9.98623152e-01 -3.83585674e-04 -5.33290442e+00] [-6.27396294e-03 5.45449400e-05 9.99980317e-01 -9.63002454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.170281693 meters Centerline goodness [0,1] 0.9970039522332242 Centerline is valid? [True, True] Translation: X:143.13, Y:-5.34, Z:-0.96 [[ 9.98626471e-01 5.19300535e-02 6.95998515e-03 1.43133184e+02] [-5.19283352e-02 9.98650722e-01 -4.27485855e-04 -5.33864163e+00] [-6.97279356e-03 6.54782489e-05 9.99975688e-01 -9.62195911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.200281693 meters Centerline goodness [0,1] 0.9973713776948678 Centerline is valid? [True, True] Translation: X:143.17, Y:-5.34, Z:-0.96 [[ 9.98602938e-01 5.23900279e-02 6.88896454e-03 1.43165918e+02] [-5.23883478e-02 9.98626698e-01 -4.24240663e-04 -5.34196450e+00] [-6.90172989e-03 6.27465024e-05 9.99976181e-01 -9.63269957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.230281693 meters Centerline goodness [0,1] 0.9972794899043571 Centerline is valid? [True, True] Translation: X:143.20, Y:-5.35, Z:-0.96 [[ 9.98573685e-01 5.29893228e-02 6.53660229e-03 1.43197765e+02] [-5.29878154e-02 9.98595077e-01 -4.03702908e-04 -5.34687359e+00] [-6.54881081e-03 5.67668253e-05 9.99978555e-01 -9.63443616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.260281693 meters Centerline goodness [0,1] 0.9978963637144206 Centerline is valid? [True, True] Translation: X:143.23, Y:-5.35, Z:-0.96 [[ 9.98413076e-01 5.59562325e-02 6.34272503e-03 1.43229942e+02] [-5.59548663e-02 9.98433222e-01 -3.92787542e-04 -5.34831113e+00] [-6.35476630e-03 3.72578874e-05 9.99979808e-01 -9.64290984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.290281693 meters Centerline goodness [0,1] 0.9983538747256457 Centerline is valid? [True, True] Translation: X:143.26, Y:-5.35, Z:-0.97 [[ 9.98288222e-01 5.81843579e-02 5.93353964e-03 1.43261913e+02] [-5.81831963e-02 9.98305855e-01 -3.68343513e-04 -5.34812618e+00] [-5.94491920e-03 2.24806885e-05 9.99982329e-01 -9.65224562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.320281693 meters Centerline goodness [0,1] 0.9987923728813559 Centerline is valid? [True, True] Translation: X:143.29, Y:-5.34, Z:-0.97 [[ 9.97927376e-01 6.41466203e-02 5.11508107e-03 1.43293923e+02] [-6.41458320e-02 9.97940485e-01 -3.18201526e-04 -5.34199478e+00] [-5.12495804e-03 -1.05691171e-05 9.99986867e-01 -9.67117013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.350281693 meters Centerline goodness [0,1] 0.9988603507587109 Centerline is valid? [True, True] Translation: X:143.32, Y:-5.34, Z:-0.97 [[ 9.97699150e-01 6.76215406e-02 4.87176046e-03 1.43324977e+02] [-6.76208648e-02 9.97711044e-01 -3.03476324e-04 -5.33839205e+00] [-4.88113075e-03 -2.66545848e-05 9.99988087e-01 -9.67783742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.380281693 meters Centerline goodness [0,1] 0.9987598007273033 Centerline is valid? [True, True] Translation: X:143.36, Y:-5.33, Z:-0.97 [[ 9.97435780e-01 7.14144801e-02 4.67301547e-03 1.43357777e+02] [-7.14138982e-02 9.97446725e-01 -2.91491202e-04 -5.33389542e+00] [-4.68190068e-03 -4.29744971e-05 9.99989039e-01 -9.68415206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.410281693 meters Centerline goodness [0,1] 0.9976686518449441 Centerline is valid? [True, True] Translation: X:143.39, Y:-5.32, Z:-0.97 [[ 9.96874522e-01 7.88035921e-02 5.58397041e-03 1.43389288e+02] [-7.88028723e-02 9.96890157e-01 -3.49152409e-04 -5.32286787e+00] [-5.59411961e-03 -9.19717667e-05 9.99984349e-01 -9.66902148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.440281693 meters Centerline goodness [0,1] 0.9968405097880153 Centerline is valid? [True, True] Translation: X:143.42, Y:-5.32, Z:-0.97 [[ 9.96600973e-01 8.21509574e-02 6.14166957e-03 1.43421242e+02] [-8.21501489e-02 9.96619890e-01 -3.84223314e-04 -5.31949387e+00] [-6.15247436e-03 -1.21621741e-04 9.99981066e-01 -9.66125070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.470281693 meters Centerline goodness [0,1] 0.996534771403201 Centerline is valid? [True, True] Translation: X:143.45, Y:-5.32, Z:-0.97 [[ 9.96407978e-01 8.43780057e-02 7.17589186e-03 1.43453291e+02] [-8.43769533e-02 9.96433805e-01 -4.49821736e-04 -5.31719250e+00] [-7.18825629e-03 -1.57273925e-04 9.99974152e-01 -9.65088359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.500281693 meters Centerline goodness [0,1] 0.9949285090242707 Centerline is valid? [True, True] Translation: X:143.49, Y:-5.31, Z:-0.96 [[ 9.96273616e-01 8.57905563e-02 8.88050040e-03 1.43485005e+02] [-8.57889862e-02 9.96313173e-01 -5.58282869e-04 -5.31131621e+00] [-8.89565492e-03 -2.05646634e-04 9.99960412e-01 -9.61203361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.530281693 meters Centerline goodness [0,1] 0.9931784856663196 Centerline is valid? [True, True] Translation: X:143.52, Y:-5.31, Z:-0.96 [[ 9.96312024e-01 8.52501157e-02 9.73486906e-03 1.43516744e+02] [-8.52481881e-02 9.96359559e-01 -6.13542408e-04 -5.30679642e+00] [-9.75173440e-03 -2.18600271e-04 9.99952427e-01 -9.59514533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.560281693 meters Centerline goodness [0,1] 0.9936648515795495 Centerline is valid? [True, True] Translation: X:143.55, Y:-5.31, Z:-0.96 [[ 9.96410969e-01 8.40511619e-02 1.00291194e-02 1.43549414e+02] [-8.40490438e-02 9.96461418e-01 -6.33240340e-04 -5.30886889e+00] [-1.00468551e-02 -2.11970277e-04 9.99949507e-01 -9.59905791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.590281693 meters Centerline goodness [0,1] 0.9957214925817919 Centerline is valid? [True, True] Translation: X:143.58, Y:-5.32, Z:-0.96 [[ 9.96652475e-01 8.10496559e-02 1.07143178e-02 1.43580984e+02] [-8.10470584e-02 9.96710046e-01 -6.77119190e-04 -5.31578045e+00] [-1.07339485e-02 -1.93511425e-04 9.99942371e-01 -9.60440633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.620281693 meters Centerline goodness [0,1] 0.9963592743802349 Centerline is valid? [True, True] Translation: X:143.61, Y:-5.32, Z:-0.96 [[ 9.96756416e-01 7.98364289e-02 1.01386064e-02 1.43612021e+02] [-7.98340301e-02 9.96807963e-01 -6.41743198e-04 -5.31631606e+00] [-1.01574781e-02 -1.69744157e-04 9.99948397e-01 -9.61110855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.650281693 meters Centerline goodness [0,1] 0.9971006459590253 Centerline is valid? [True, True] Translation: X:143.64, Y:-5.32, Z:-0.97 [[ 9.96962523e-01 7.74448998e-02 8.24710673e-03 1.43644537e+02] [-7.74432244e-02 9.96996627e-01 -5.22788718e-04 -5.31786776e+00] [-8.26282491e-03 -1.17481778e-04 9.99965855e-01 -9.65501094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.680281693 meters Centerline goodness [0,1] 0.9972836958581626 Centerline is valid? [True, True] Translation: X:143.68, Y:-5.32, Z:-0.97 [[ 9.97077416e-01 7.60622470e-02 7.15267073e-03 1.43675722e+02] [-7.60609477e-02 9.97103067e-01 -4.53886651e-04 -5.31838256e+00] [-7.16647356e-03 -9.14787853e-05 9.99974316e-01 -9.66908401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.710281693 meters Centerline goodness [0,1] 0.9979741544760524 Centerline is valid? [True, True] Translation: X:143.71, Y:-5.32, Z:-0.97 [[ 9.97204589e-01 7.43867093e-02 7.04451841e-03 1.43707809e+02] [-7.43854013e-02 9.97229468e-01 -4.47852377e-04 -5.32289285e+00] [-7.05831561e-03 -7.74088833e-05 9.99975087e-01 -9.68029068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.740281693 meters Centerline goodness [0,1] 0.9983956767710884 Centerline is valid? [True, True] Translation: X:143.74, Y:-5.33, Z:-0.97 [[ 9.97507083e-01 7.02112351e-02 7.07125409e-03 1.43738765e+02] [-7.02098054e-02 9.97532145e-01 -4.50525078e-04 -5.32731324e+00] [-7.08543518e-03 -4.70694170e-05 9.99974897e-01 -9.67842772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.770281693 meters Centerline goodness [0,1] 0.9985400533197918 Centerline is valid? [True, True] Translation: X:143.77, Y:-5.33, Z:-0.97 [[ 9.97629097e-01 6.85304528e-02 6.30570154e-03 1.43769848e+02] [-6.85292783e-02 9.97649025e-01 -4.02388614e-04 -5.33087780e+00] [-6.31845286e-03 -3.06905859e-05 9.99980038e-01 -9.69330555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.800281693 meters Centerline goodness [0,1] 0.9985523906842083 Centerline is valid? [True, True] Translation: X:143.80, Y:-5.34, Z:-0.97 [[ 9.97774151e-01 6.65116223e-02 4.79045344e-03 1.43801268e+02] [-6.65109185e-02 9.97785650e-01 -3.06246916e-04 -5.33635156e+00] [-4.80021468e-03 -1.30522017e-05 9.99988479e-01 -9.72357224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.830281693 meters Centerline goodness [0,1] 0.9987142397942783 Centerline is valid? [True, True] Translation: X:143.83, Y:-5.34, Z:-0.97 [[ 9.97813190e-01 6.59471513e-02 4.45091411e-03 1.43834219e+02] [-6.59465350e-02 9.97823117e-01 -2.85230914e-04 -5.33966692e+00] [-4.46003516e-03 -8.91519483e-06 9.99990054e-01 -9.72729372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.860281693 meters Centerline goodness [0,1] 0.9986380950354308 Centerline is valid? [True, True] Translation: X:143.87, Y:-5.34, Z:-0.97 [[ 9.97833817e-01 6.56804431e-02 3.70859594e-03 1.43866621e+02] [-6.56800111e-02 9.97840708e-01 -2.38289640e-04 -5.34156707e+00] [-3.71623897e-03 -5.80716141e-06 9.99993095e-01 -9.73897377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.890281693 meters Centerline goodness [0,1] 0.9984051724137931 Centerline is valid? [True, True] Translation: X:143.90, Y:-5.34, Z:-0.98 [[ 9.97828517e-01 6.58116264e-02 2.66082770e-03 1.43900104e+02] [-6.58114044e-02 9.97832065e-01 -1.70996600e-04 -5.34174744e+00] [-2.66631276e-03 -4.48752404e-06 9.99996445e-01 -9.76416057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.920281693 meters Centerline goodness [0,1] 0.9987021552732921 Centerline is valid? [True, True] Translation: X:143.93, Y:-5.34, Z:-0.98 [[ 9.97817057e-01 6.59959508e-02 2.37828267e-03 1.43932334e+02] [-6.59957730e-02 9.97819891e-01 -1.53240597e-04 -5.34346772e+00] [-2.38321101e-03 -4.05052153e-06 9.99997160e-01 -9.77907947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.950281693 meters Centerline goodness [0,1] 0.9986614275227773 Centerline is valid? [True, True] Translation: X:143.97, Y:-5.35, Z:-0.98 [[ 9.97811864e-01 6.60633817e-02 2.66723583e-03 1.43965341e+02] [-6.60631568e-02 9.97815429e-01 -1.72427239e-04 -5.34703411e+00] [-2.67280019e-03 -4.15607383e-06 9.99996428e-01 -9.76968138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.980281693 meters Centerline goodness [0,1] 0.9988748062756088 Centerline is valid? [True, True] Translation: X:144.00, Y:-5.35, Z:-0.98 [[ 9.97789789e-01 6.63875838e-02 2.86806812e-03 1.43997595e+02] [-6.63873232e-02 9.97793911e-01 -1.86060491e-04 -5.35037334e+00] [-2.87409301e-03 -4.75410747e-06 9.99995870e-01 -9.76755766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.010281693 meters Centerline goodness [0,1] 0.9989477978913011 Centerline is valid? [True, True] Translation: X:144.03, Y:-5.35, Z:-0.98 [[ 9.97758733e-01 6.68296227e-02 3.36322606e-03 1.44029423e+02] [-6.68292643e-02 9.97764402e-01 -2.18950775e-04 -5.35267932e+00] [-3.37033964e-03 -6.30187544e-06 9.99994320e-01 -9.76511127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.040281693 meters Centerline goodness [0,1] 0.9986804860918977 Centerline is valid? [True, True] Translation: X:144.06, Y:-5.35, Z:-0.98 [[ 9.97710019e-01 6.75130894e-02 4.08654425e-03 1.44062780e+02] [-6.75125624e-02 9.97718388e-01 -2.66923225e-04 -5.35482034e+00] [-4.09524115e-03 -9.58109730e-06 9.99991614e-01 -9.75463115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.070281693 meters Centerline goodness [0,1] 0.9985021611674584 Centerline is valid? [True, True] Translation: X:144.10, Y:-5.36, Z:-0.97 [[ 9.97607981e-01 6.89186375e-02 5.34201341e-03 1.44095381e+02] [-6.89177503e-02 9.97622284e-01 -3.50191282e-04 -5.35776626e+00] [-5.35344632e-03 -1.88059285e-05 9.99985670e-01 -9.73521164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.100281693 meters Centerline goodness [0,1] 0.9986063166019855 Centerline is valid? [True, True] Translation: X:144.13, Y:-5.36, Z:-0.97 [[ 9.97551641e-01 6.97042648e-02 5.66021881e-03 1.44126860e+02] [-6.97032750e-02 9.97567699e-01 -3.72185607e-04 -5.35927772e+00] [-5.67239438e-03 -2.32614254e-05 9.99983912e-01 -9.73772542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.130281693 meters Centerline goodness [0,1] 0.9986762884837098 Centerline is valid? [True, True] Translation: X:144.16, Y:-5.36, Z:-0.97 [[ 9.97501309e-01 7.04160869e-02 5.71951277e-03 1.44158512e+02] [-7.04150823e-02 9.97517706e-01 -3.77078482e-04 -5.36057075e+00] [-5.73186765e-03 -2.66036827e-05 9.99983572e-01 -9.73573262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.160281693 meters Centerline goodness [0,1] 0.9985616988874317 Centerline is valid? [True, True] Translation: X:144.19, Y:-5.37, Z:-0.97 [[ 9.97558060e-01 6.96256514e-02 5.49418081e-03 1.44191349e+02] [-6.96247073e-02 9.97573189e-01 -3.63159653e-04 -5.36742913e+00] [-5.50613270e-03 -2.02578912e-05 9.99984841e-01 -9.74673097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.190281693 meters Centerline goodness [0,1] 0.9987082565698918 Centerline is valid? [True, True] Translation: X:144.22, Y:-5.37, Z:-0.98 [[ 9.97628743e-01 6.86471495e-02 4.94569270e-03 1.44223641e+02] [-6.86463685e-02 9.97641002e-01 -3.27693903e-04 -5.37438057e+00] [-4.95652107e-03 -1.25869873e-05 9.99987716e-01 -9.76250742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.220281693 meters Centerline goodness [0,1] 0.9985053274400529 Centerline is valid? [True, True] Translation: X:144.26, Y:-5.38, Z:-0.98 [[ 9.97732037e-01 6.71611033e-02 4.49084811e-03 1.44256600e+02] [-6.71604409e-02 9.97742144e-01 -2.98312791e-04 -5.38188786e+00] [-4.50074344e-03 -3.97111011e-06 9.99989872e-01 -9.77340897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.250281693 meters Centerline goodness [0,1] 0.998314055230697 Centerline is valid? [True, True] Translation: X:144.29, Y:-5.40, Z:-0.98 [[ 9.98051268e-01 6.22246168e-02 4.66515244e-03 1.44288303e+02] [-6.22238437e-02 9.98062171e-01 -3.10804443e-04 -5.39635097e+00] [-4.67545186e-03 1.99150521e-05 9.99989070e-01 -9.77642070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.280281693 meters Centerline goodness [0,1] 0.9976964914151648 Centerline is valid? [True, True] Translation: X:144.32, Y:-5.41, Z:-0.98 [[ 9.98220198e-01 5.94697267e-02 4.44839439e-03 1.44319369e+02] [-5.94689933e-02 9.98230109e-01 -2.97067870e-04 -5.40562851e+00] [-4.45818776e-03 3.19976118e-05 9.99990062e-01 -9.78821510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.310281693 meters Centerline goodness [0,1] 0.9976964914151648 Centerline is valid? [True, True] Translation: X:144.35, Y:-5.41, Z:-0.98 [[ 9.98209050e-01 5.96565494e-02 4.44834903e-03 1.44351785e+02] [-5.96558149e-02 9.98218962e-01 -2.97745526e-04 -5.40799741e+00] [-4.45818882e-03 3.18423924e-05 9.99990062e-01 -9.78967382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.340281693 meters Centerline goodness [0,1] 0.9969826395529207 Centerline is valid? [True, True] Translation: X:144.38, Y:-5.42, Z:-0.98 [[ 9.98480092e-01 5.49381683e-02 4.39356401e-03 1.44383180e+02] [-5.49374025e-02 9.98489757e-01 -2.94895784e-04 -5.42211409e+00] [-4.40312970e-03 5.30765753e-05 9.99990305e-01 -9.78650872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.370281693 meters Centerline goodness [0,1] 0.9962714234264771 Centerline is valid? [True, True] Translation: X:144.41, Y:-5.43, Z:-0.98 [[ 9.98524536e-01 5.40400475e-02 5.33143166e-03 1.44413998e+02] [-5.40389014e-02 9.98538767e-01 -3.58893069e-04 -5.42822663e+00] [-5.34303580e-03 7.02588253e-05 9.99985723e-01 -9.76019862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.400281693 meters Centerline goodness [0,1] 0.99560677448109 Centerline is valid? [True, True] Translation: X:144.45, Y:-5.43, Z:-0.97 [[ 9.98490800e-01 5.45431844e-02 6.41591591e-03 1.44445770e+02] [-5.45415275e-02 9.98511409e-01 -4.33071940e-04 -5.43277709e+00] [-6.42998636e-03 8.24844945e-05 9.99979324e-01 -9.73452589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.430281693 meters Centerline goodness [0,1] 0.9962219044163162 Centerline is valid? [True, True] Translation: X:144.48, Y:-5.43, Z:-0.97 [[ 9.98199179e-01 5.93500579e-02 8.71610728e-03 1.44478242e+02] [-5.93471678e-02 9.98237229e-01 -5.90086866e-04 -5.42757487e+00] [-8.73576447e-03 7.17479442e-05 9.99961840e-01 -9.69651188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.460281693 meters Centerline goodness [0,1] 0.9971447304414035 Centerline is valid? [True, True] Translation: X:144.51, Y:-5.43, Z:-0.97 [[ 9.98016952e-01 6.23779965e-02 8.43495656e-03 1.44509403e+02] [-6.23753869e-02 9.98052596e-01 -5.72351126e-04 -5.42568929e+00] [-8.45423241e-03 4.50824473e-05 9.99964261e-01 -9.69741593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.490281693 meters Centerline goodness [0,1] 0.9980878737576433 Centerline is valid? [True, True] Translation: X:144.54, Y:-5.42, Z:-0.97 [[ 9.97663714e-01 6.79089850e-02 7.44876799e-03 1.44542292e+02] [-6.79070960e-02 9.97691520e-01 -5.06507985e-04 -5.41846114e+00] [-7.46596911e-03 -4.99566236e-07 9.99972129e-01 -9.72126883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.520281693 meters Centerline goodness [0,1] 0.9980646533390046 Centerline is valid? [True, True] Translation: X:144.58, Y:-5.42, Z:-0.97 [[ 9.97545716e-01 6.96296223e-02 7.36609838e-03 1.44575466e+02] [-6.96278127e-02 9.97572912e-01 -5.02138226e-04 -5.41795534e+00] [-7.38318391e-03 -1.19794822e-05 9.99972744e-01 -9.72365643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.550281693 meters Centerline goodness [0,1] 0.9980600948866631 Centerline is valid? [True, True] Translation: X:144.61, Y:-5.42, Z:-0.97 [[ 9.97490484e-01 7.04334889e-02 7.20129881e-03 1.44607996e+02] [-7.04317708e-02 9.97516478e-01 -4.92224667e-04 -5.41995455e+00] [-7.21808333e-03 -1.62108064e-05 9.99973949e-01 -9.73397100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.580281693 meters Centerline goodness [0,1] 0.9983298002184108 Centerline is valid? [True, True] Translation: X:144.64, Y:-5.43, Z:-0.98 [[ 9.97598088e-01 6.90101132e-02 5.97147412e-03 1.44640073e+02] [-6.90089005e-02 9.97615960e-01 -4.09138927e-04 -5.42730529e+00] [-5.98547261e-03 -3.92865176e-06 9.99982087e-01 -9.75756420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.610281693 meters Centerline goodness [0,1] 0.9982640749233835 Centerline is valid? [True, True] Translation: X:144.67, Y:-5.43, Z:-0.98 [[ 9.97692173e-01 6.77016515e-02 5.17825019e-03 1.44673113e+02] [-6.77007175e-02 9.97705611e-01 -3.55661927e-04 -5.43254538e+00] [-5.19044817e-03 4.26986759e-06 9.99986530e-01 -9.78245198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.640281693 meters Centerline goodness [0,1] 0.9980937694103537 Centerline is valid? [True, True] Translation: X:144.70, Y:-5.44, Z:-0.98 [[ 9.97797017e-01 6.62191945e-02 4.01626461e-03 1.44704859e+02] [-6.62186180e-02 9.97805100e-01 -2.76474567e-04 -5.43747670e+00] [-4.02575724e-03 9.91400621e-06 9.99991897e-01 -9.80018527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.670281693 meters Centerline goodness [0,1] 0.9979468726849402 Centerline is valid? [True, True] Translation: X:144.74, Y:-5.44, Z:-0.98 [[ 9.97887373e-01 6.48744190e-02 3.47859900e-03 1.44736488e+02] [-6.48739774e-02 9.97893436e-01 -2.39763547e-04 -5.44300749e+00] [-3.48682563e-03 1.35864633e-05 9.99993921e-01 -9.81707921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.700281693 meters Centerline goodness [0,1] 0.998235206565882 Centerline is valid? [True, True] Translation: X:144.77, Y:-5.45, Z:-0.98 [[ 9.97855846e-01 6.53367368e-02 3.84975182e-03 1.44769813e+02] [-6.53361965e-02 9.97863273e-01 -2.66065409e-04 -5.44543162e+00] [-3.85890980e-03 1.39667820e-05 9.99992554e-01 -9.81176757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.730281693 meters Centerline goodness [0,1] 0.9980359087124527 Centerline is valid? [True, True] Translation: X:144.80, Y:-5.45, Z:-0.98 [[ 9.97732092e-01 6.71482932e-02 4.66690920e-03 1.44802428e+02] [-6.71475141e-02 9.97743006e-01 -3.23605840e-04 -5.44732206e+00] [-4.67810559e-03 9.50058067e-06 9.99989058e-01 -9.79865665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.760281693 meters Centerline goodness [0,1] 0.9981472016355737 Centerline is valid? [True, True] Translation: X:144.83, Y:-5.45, Z:-0.98 [[ 9.97660181e-01 6.81930866e-02 4.88533774e-03 1.44834239e+02] [-6.81922406e-02 9.97672142e-01 -3.39721090e-04 -5.44950240e+00] [-4.89713200e-03 5.78407676e-06 9.99988009e-01 -9.80141769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.790281693 meters Centerline goodness [0,1] 0.9980097160100156 Centerline is valid? [True, True] Translation: X:144.87, Y:-5.45, Z:-0.98 [[ 9.97604930e-01 6.90285980e-02 4.41095755e-03 1.44866831e+02] [-6.90279134e-02 9.97614681e-01 -3.07441039e-04 -5.45192358e+00] [-4.42165823e-03 2.22550051e-06 9.99990224e-01 -9.80599179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.820281693 meters Centerline goodness [0,1] 0.9985893215919293 Centerline is valid? [True, True] Translation: X:144.90, Y:-5.46, Z:-0.98 [[ 9.97488541e-01 7.07578647e-02 3.15195064e-03 1.44899531e+02] [-7.07575227e-02 9.97493521e-01 -2.20045738e-04 -5.45558418e+00] [-3.15962031e-03 -3.53111651e-06 9.99995008e-01 -9.83477195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.850281693 meters Centerline goodness [0,1] 0.9986059280229914 Centerline is valid? [True, True] Translation: X:144.93, Y:-5.46, Z:-0.98 [[ 9.97467909e-01 7.10565569e-02 2.95566953e-03 1.44931835e+02] [-7.10562555e-02 9.97472288e-01 -2.06958094e-04 -5.45903046e+00] [-2.96290418e-03 -3.58475265e-06 9.99995611e-01 -9.83966343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.880281693 meters Centerline goodness [0,1] 0.9984083867408005 Centerline is valid? [True, True] Translation: X:144.96, Y:-5.46, Z:-0.98 [[ 9.97424497e-01 7.16457308e-02 3.35602231e-03 1.44963637e+02] [-7.16453443e-02 9.97430143e-01 -2.35392702e-04 -5.46273372e+00] [-3.36426270e-03 -5.65692746e-06 9.99994341e-01 -9.83918743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.910281693 meters Centerline goodness [0,1] 0.9983152058008105 Centerline is valid? [True, True] Translation: X:145.00, Y:-5.47, Z:-0.98 [[ 9.97378324e-01 7.22865298e-02 3.33727189e-03 1.44996312e+02] [-7.22861493e-02 9.97383907e-01 -2.34643239e-04 -5.46651861e+00] [-3.34550282e-03 -7.21045365e-06 9.99994404e-01 -9.84462517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.940281693 meters Centerline goodness [0,1] 0.9985831800207237 Centerline is valid? [True, True] Translation: X:145.03, Y:-5.47, Z:-0.98 [[ 9.97348559e-01 7.26912437e-02 3.44013981e-03 1.45028045e+02] [-7.26908395e-02 9.97354492e-01 -2.42559101e-04 -5.47026074e+00] [-3.44867082e-03 -8.15068144e-06 9.99994053e-01 -9.84369478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.970281693 meters Centerline goodness [0,1] 0.9982756082686687 Centerline is valid? [True, True] Translation: X:145.06, Y:-5.48, Z:-0.98 [[ 9.97231634e-01 7.41623932e-02 5.38579445e-03 1.45060295e+02] [-7.41614163e-02 9.97246178e-01 -3.81132928e-04 -5.47608382e+00] [-5.39922866e-03 -1.93403318e-05 9.99985424e-01 -9.81060721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.000281693 meters Centerline goodness [0,1] 0.998471305123251 Centerline is valid? [True, True] Translation: X:145.09, Y:-5.48, Z:-0.98 [[ 9.97145479e-01 7.51673878e-02 7.12445429e-03 1.45093151e+02] [-7.51656929e-02 9.97170930e-01 -5.05743705e-04 -5.47973634e+00] [-7.14231414e-03 -3.12144935e-05 9.99974493e-01 -9.77899056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.030281693 meters Centerline goodness [0,1] 0.9980146022800052 Centerline is valid? [True, True] Translation: X:145.12, Y:-5.48, Z:-0.97 [[ 9.97056741e-01 7.61783145e-02 8.64401087e-03 1.45124683e+02] [-7.61758433e-02 9.97094209e-01 -6.15246083e-04 -5.48314460e+00] [-8.66576159e-03 -4.50295624e-05 9.99962451e-01 -9.74574023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.060281693 meters Centerline goodness [0,1] 0.9977963300419544 Centerline is valid? [True, True] Translation: X:145.16, Y:-5.49, Z:-0.97 [[ 9.97021105e-01 7.65351881e-02 9.55407424e-03 1.45155750e+02] [-7.65321741e-02 9.97066880e-01 -6.81210931e-04 -5.48884049e+00] [-9.57818759e-03 -5.20123968e-05 9.99954127e-01 -9.74083337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.090281693 meters Centerline goodness [0,1] 0.9986082995951417 Centerline is valid? [True, True] Translation: X:145.19, Y:-5.50, Z:-0.98 [[ 9.97064338e-01 7.60720340e-02 8.70353623e-03 1.45187190e+02] [-7.60695060e-02 9.97102324e-01 -6.21606801e-04 -5.49516123e+00] [-8.72560310e-03 -4.22917280e-05 9.99961930e-01 -9.76641946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.120281693 meters Centerline goodness [0,1] 0.9981240251254163 Centerline is valid? [True, True] Translation: X:145.22, Y:-5.50, Z:-0.98 [[ 9.97130423e-01 7.53340378e-02 7.46340038e-03 1.45218511e+02] [-7.53321501e-02 9.97158353e-01 -5.34135058e-04 -5.50098090e+00] [-7.48243058e-03 -2.96316815e-05 9.99972006e-01 -9.78780686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.150281693 meters Centerline goodness [0,1] 0.9984972908906197 Centerline is valid? [True, True] Translation: X:145.25, Y:-5.52, Z:-0.98 [[ 9.97339975e-01 7.26777660e-02 5.56029620e-03 1.45249909e+02] [-7.26766730e-02 9.97355474e-01 -3.98641649e-04 -5.51532794e+00] [-5.57456424e-03 -6.52257714e-06 9.99984462e-01 -9.83090006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.180281693 meters Centerline goodness [0,1] 0.9983135171599629 Centerline is valid? [True, True] Translation: X:145.28, Y:-5.52, Z:-0.98 [[ 9.97423322e-01 7.15562465e-02 5.14014481e-03 1.45282234e+02] [-7.15552935e-02 9.97436566e-01 -3.69293075e-04 -5.52345822e+00] [-5.15339361e-03 5.36955385e-07 9.99986721e-01 -9.83910172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.210281693 meters Centerline goodness [0,1] 0.9982125583547126 Centerline is valid? [True, True] Translation: X:145.31, Y:-5.53, Z:-0.98 [[ 9.97408436e-01 7.17565438e-02 5.23551275e-03 1.45314305e+02] [-7.17555528e-02 9.97422177e-01 -3.77124764e-04 -5.52946083e+00] [-5.24907770e-03 4.70309614e-07 9.99986223e-01 -9.83555254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.240281693 meters Centerline goodness [0,1] 0.9983131192347113 Centerline is valid? [True, True] Translation: X:145.35, Y:-5.53, Z:-0.98 [[ 9.97175186e-01 7.48371053e-02 6.40757404e-03 1.45347073e+02] [-7.48356761e-02 9.97195772e-01 -4.62861138e-04 -5.53272457e+00] [-6.42424492e-03 -1.79614940e-05 9.99979364e-01 -9.81382579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.270281693 meters Centerline goodness [0,1] 0.9984923769482312 Centerline is valid? [True, True] Translation: X:145.38, Y:-5.53, Z:-0.98 [[ 9.96986540e-01 7.73391258e-02 6.04145815e-03 1.45379644e+02] [-7.73378949e-02 9.97004844e-01 -4.37445849e-04 -5.53265291e+00] [-6.05719472e-03 -3.11060323e-05 9.99981655e-01 -9.81902781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.300281693 meters Centerline goodness [0,1] 0.9983021350651555 Centerline is valid? [True, True] Translation: X:145.41, Y:-5.53, Z:-0.98 [[ 9.96759203e-01 8.02350745e-02 5.78130083e-03 1.45412355e+02] [-8.02339908e-02 9.96775968e-01 -4.19508105e-04 -5.53130384e+00] [-5.79632100e-03 -4.57082735e-05 9.99983200e-01 -9.82900747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.330281693 meters Centerline goodness [0,1] 0.997938407260207 Centerline is valid? [True, True] Translation: X:145.44, Y:-5.52, Z:-0.98 [[ 9.96170247e-01 8.72303386e-02 5.97561297e-03 1.45444335e+02] [-8.72293019e-02 9.96188165e-01 -4.34390316e-04 -5.52326180e+00] [-5.99072693e-03 -8.85218395e-05 9.99982052e-01 -9.82735438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.360281693 meters Centerline goodness [0,1] 0.9971258861850929 Centerline is valid? [True, True] Translation: X:145.48, Y:-5.52, Z:-0.98 [[ 9.95834309e-01 9.09801471e-02 6.05325722e-03 1.45476137e+02] [-9.09791505e-02 9.95852700e-01 -4.40373906e-04 -5.51978913e+00] [-6.06821783e-03 -1.12180755e-04 9.99981582e-01 -9.83089555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.390281693 meters Centerline goodness [0,1] 0.9965644430393087 Centerline is valid? [True, True] Translation: X:145.51, Y:-5.52, Z:-0.98 [[ 9.95515336e-01 9.44283523e-02 5.70100501e-03 1.45507167e+02] [-9.44275206e-02 9.95531652e-01 -4.15469946e-04 -5.51582961e+00] [-5.71476308e-03 -1.24725066e-04 9.99983663e-01 -9.83178775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.420281693 meters Centerline goodness [0,1] 0.9954442396118068 Centerline is valid? [True, True] Translation: X:145.54, Y:-5.51, Z:-0.98 [[ 9.95090292e-01 9.88008199e-02 5.80585681e-03 1.45538631e+02] [-9.88000296e-02 9.95107218e-01 -4.23485699e-04 -5.51045374e+00] [-5.81929075e-03 -1.52212316e-04 9.99983056e-01 -9.82983611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.450281693 meters Centerline goodness [0,1] 0.9952265268720965 Centerline is valid? [True, True] Translation: X:145.57, Y:-5.51, Z:-0.98 [[ 9.95028087e-01 9.94081656e-02 6.09277427e-03 1.45570523e+02] [-9.94073047e-02 9.95046728e-01 -4.44723599e-04 -5.51385410e+00] [-6.10680426e-03 -1.63153796e-04 9.99981340e-01 -9.83109807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.480281693 meters Centerline goodness [0,1] 0.9958626307665923 Centerline is valid? [True, True] Translation: X:145.60, Y:-5.52, Z:-0.98 [[ 9.95027362e-01 9.94224463e-02 5.97706620e-03 1.45602808e+02] [-9.94216122e-02 9.95045301e-01 -4.37257974e-04 -5.51816185e+00] [-5.99092489e-03 -1.59165909e-04 9.99982042e-01 -9.83953773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.510281693 meters Centerline goodness [0,1] 0.9951041688743827 Centerline is valid? [True, True] Translation: X:145.63, Y:-5.51, Z:-0.98 [[ 9.95105291e-01 9.86569088e-02 5.68104344e-03 1.45634108e+02] [-9.86561372e-02 9.95121497e-01 -4.16581854e-04 -5.51493223e+00] [-5.69442713e-03 -1.45926993e-04 9.99983776e-01 -9.84333873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.540281693 meters Centerline goodness [0,1] 0.9957277610930164 Centerline is valid? [True, True] Translation: X:145.67, Y:-5.52, Z:-0.98 [[ 9.95173401e-01 9.79686271e-02 5.66132749e-03 1.45665800e+02] [-9.79678449e-02 9.95189494e-01 -4.15997454e-04 -5.51856688e+00] [-5.67484834e-03 -1.40638452e-04 9.99983888e-01 -9.84198416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.570281693 meters Centerline goodness [0,1] 0.996538081107814 Centerline is valid? [True, True] Translation: X:145.70, Y:-5.52, Z:-0.98 [[ 9.95304988e-01 9.65841416e-02 6.28362825e-03 1.45698229e+02] [-9.65831447e-02 9.95324812e-01 -4.62605664e-04 -5.52234342e+00] [-6.29893148e-03 -1.46458851e-04 9.99980151e-01 -9.83960324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.600281693 meters Centerline goodness [0,1] 0.9963748913527379 Centerline is valid? [True, True] Translation: X:145.73, Y:-5.52, Z:-0.98 [[ 9.95317378e-01 9.64723741e-02 6.03300920e-03 1.45730037e+02] [-9.64714502e-02 9.95335653e-01 -4.44651558e-04 -5.52468012e+00] [-6.04776574e-03 -1.39443723e-04 9.99981702e-01 -9.84522984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.630281693 meters Centerline goodness [0,1] 0.9958124484487025 Centerline is valid? [True, True] Translation: X:145.76, Y:-5.52, Z:-0.98 [[ 9.95296046e-01 9.67268246e-02 5.44991574e-03 1.45761856e+02] [-9.67260700e-02 9.95310959e-01 -4.02492192e-04 -5.52205762e+00] [-5.46329266e-03 -1.26550044e-04 9.99985068e-01 -9.84844033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.660281693 meters Centerline goodness [0,1] 0.9959794316185961 Centerline is valid? [True, True] Translation: X:145.79, Y:-5.52, Z:-0.99 [[ 9.95064198e-01 9.91347636e-02 4.42052488e-03 1.45794554e+02] [-9.91342881e-02 9.95074010e-01 -3.27087976e-04 -5.51847452e+00] [-4.43117521e-03 -1.12752053e-04 9.99990176e-01 -9.86962149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.690281693 meters Centerline goodness [0,1] 0.9947751406692896 Centerline is valid? [True, True] Translation: X:145.83, Y:-5.51, Z:-0.99 [[ 9.94893545e-01 1.00842752e-01 4.19214771e-03 1.45825973e+02] [-1.00842339e-01 9.94902370e-01 -3.10338461e-04 -5.51141690e+00] [-4.20207308e-03 -1.13992250e-04 9.99991165e-01 -9.87758058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.720281693 meters Centerline goodness [0,1] 0.9923511735905356 Centerline is valid? [True, True] Translation: X:145.86, Y:-5.50, Z:-0.99 [[ 9.94620090e-01 1.03440072e-01 5.57035233e-03 1.45856567e+02] [-1.03439378e-01 9.94635674e-01 -4.13282091e-04 -5.50159871e+00] [-5.58322107e-03 -1.65135111e-04 9.99984400e-01 -9.85624206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.750281693 meters Centerline goodness [0,1] 0.9935009406533265 Centerline is valid? [True, True] Translation: X:145.89, Y:-5.51, Z:-0.98 [[ 9.94543738e-01 1.04058253e-01 7.39140172e-03 1.45888107e+02] [-1.04057043e-01 9.94571179e-01 -5.49174529e-04 -5.50637276e+00] [-7.40842127e-03 -2.22949314e-04 9.99972532e-01 -9.83065260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.780281693 meters Centerline goodness [0,1] 0.9902789249634666 Centerline is valid? [True, True] Translation: X:145.92, Y:-5.50, Z:-0.98 [[ 9.94532513e-01 1.04084056e-01 8.46111741e-03 1.45920554e+02] [-1.04082458e-01 9.94568472e-01 -6.30155179e-04 -5.49775952e+00] [-8.48074972e-03 -2.53944086e-04 9.99964006e-01 -9.80316225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.810281693 meters Centerline goodness [0,1] 0.9930967304760291 Centerline is valid? [True, True] Translation: X:145.95, Y:-5.50, Z:-0.98 [[ 9.94568356e-01 1.03798490e-01 7.72384136e-03 1.45952064e+02] [-1.03797141e-01 9.94598322e-01 -5.76458344e-04 -5.50398253e+00] [-7.74195516e-03 -2.28385423e-04 9.99970005e-01 -9.82542216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.840281693 meters Centerline goodness [0,1] 0.9944683466502766 Centerline is valid? [True, True] Translation: X:145.98, Y:-5.50, Z:-0.99 [[ 9.94790740e-01 1.01844767e-01 4.36197304e-03 1.45982991e+02] [-1.01844316e-01 9.94800296e-01 -3.25946434e-04 -5.50155864e+00] [-4.37248801e-03 -1.19993669e-04 9.99990433e-01 -9.89125874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.870281693 meters Centerline goodness [0,1] 0.9957125707425828 Centerline is valid? [True, True] Translation: X:146.01, Y:-5.51, Z:-0.99 [[ 9.95226686e-01 9.75043776e-02 4.09154883e-03 1.46012936e+02] [-9.75039437e-02 9.95235092e-01 -3.05881491e-04 -5.50691980e+00] [-4.10187776e-03 -9.45207245e-05 9.99991583e-01 -9.90659224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.900281693 meters Centerline goodness [0,1] 0.9958838031943402 Centerline is valid? [True, True] Translation: X:146.04, Y:-5.51, Z:-0.99 [[ 9.95492685e-01 9.47075929e-02 4.97853514e-03 1.46043702e+02] [-9.47069154e-02 9.95505129e-01 -3.72203369e-04 -5.51255773e+00] [-4.99140775e-03 -1.00975976e-04 9.99987538e-01 -9.88891381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.930281693 meters Centerline goodness [0,1] 0.9960697197539303 Centerline is valid? [True, True] Translation: X:146.08, Y:-5.52, Z:-0.99 [[ 9.95703560e-01 9.24354282e-02 5.48740890e-03 1.46075183e+02] [-9.24345690e-02 9.95718676e-01 -4.10517115e-04 -5.51763495e+00] [-5.50186185e-03 -9.84729238e-05 9.99984860e-01 -9.87968047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.960281693 meters Centerline goodness [0,1] 0.9964355083135898 Centerline is valid? [True, True] Translation: X:146.11, Y:-5.52, Z:-0.99 [[ 9.95858347e-01 9.07675658e-02 5.23472359e-03 1.46107104e+02] [-9.07667568e-02 9.95872101e-01 -3.92399791e-04 -5.52161489e+00] [-5.24873235e-03 -8.43642759e-05 9.99986222e-01 -9.88051924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.990281693 meters Centerline goodness [0,1] 0.9970527119290955 Centerline is valid? [True, True] Translation: X:146.14, Y:-5.52, Z:-0.99 [[ 9.95993261e-01 8.93727153e-02 3.15294700e-03 1.46139665e+02] [-8.93724141e-02 9.95998251e-01 -2.36561765e-04 -5.52172036e+00] [-3.16147187e-03 -4.61725616e-05 9.99995001e-01 -9.91911898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.020281693 meters Centerline goodness [0,1] 0.99739044168392 Centerline is valid? [True, True] Translation: X:146.17, Y:-5.52, Z:-1.00 [[ 9.96025884e-01 8.90521999e-02 1.46433942e-03 1.46172019e+02] [-8.90521348e-02 9.96026960e-01 -1.09717852e-04 -5.52229307e+00] [-1.46829215e-03 -2.11207303e-05 9.99998922e-01 -9.95219025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.050281693 meters Centerline goodness [0,1] 0.997384536871651 Centerline is valid? [True, True] Translation: X:146.20, Y:-5.52, Z:-1.00 [[ 9.96077614e-01 8.84822763e-02 5.24005526e-04 1.46202954e+02] [-8.84822680e-02 9.96077751e-01 -3.89378384e-05 -5.52172087e+00] [-5.25395555e-04 -7.58008819e-06 9.99999862e-01 -9.98247510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.080281693 meters Centerline goodness [0,1] 0.9972979819302542 Centerline is valid? [True, True] Translation: X:146.23, Y:-5.52, Z:-1.00 [[ 9.96189810e-01 8.72034613e-02 1.19096492e-03 1.46233771e+02] [-8.72034166e-02 9.96190522e-01 -8.95075438e-05 -5.52416582e+00] [-1.19423333e-03 -1.46897068e-05 9.99999287e-01 -9.97379778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.110281693 meters Centerline goodness [0,1] 0.9973491114221487 Centerline is valid? [True, True] Translation: X:146.27, Y:-5.53, Z:-1.00 [[ 9.96368320e-01 8.51266104e-02 1.90562862e-03 1.46265238e+02] [-8.51264909e-02 9.96370142e-01 -1.43853637e-04 -5.53022345e+00] [-1.91095723e-03 -1.88882704e-05 9.99998174e-01 -9.96026547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.140281693 meters Centerline goodness [0,1] 0.9976388504818021 Centerline is valid? [True, True] Translation: X:146.30, Y:-5.54, Z:-0.99 [[ 9.96943027e-01 7.80864288e-02 2.66664435e-03 1.46296956e+02] [-7.80861674e-02 9.96946593e-01 -2.02183597e-04 -5.54357012e+00] [-2.67428979e-03 -6.66250915e-06 9.99996424e-01 -9.93865388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.170281693 meters Centerline goodness [0,1] 0.9979236509138099 Centerline is valid? [True, True] Translation: X:146.33, Y:-5.55, Z:-0.99 [[ 9.97260072e-01 7.39092668e-02 3.12552274e-03 1.46329468e+02] [-7.39088869e-02 9.97264970e-01 -2.37012653e-04 -5.55330058e+00] [-3.13449177e-03 5.35934819e-06 9.99995087e-01 -9.93249173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.200281693 meters Centerline goodness [0,1] 0.9979236509138099 Centerline is valid? [True, True] Translation: X:146.36, Y:-5.56, Z:-0.99 [[ 9.97245385e-01 7.41071816e-02 3.12547569e-03 1.46361862e+02] [-7.41068008e-02 9.97250282e-01 -2.37631097e-04 -5.55594909e+00] [-3.13449169e-03 5.35750973e-06 9.99995087e-01 -9.93395055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.230281693 meters Centerline goodness [0,1] 0.9975653646660315 Centerline is valid? [True, True] Translation: X:146.39, Y:-5.57, Z:-0.99 [[ 9.97568223e-01 6.96154215e-02 3.36644280e-03 1.46391961e+02] [-6.96149512e-02 9.97573903e-01 -2.56809395e-04 -5.56711323e+00] [-3.37615338e-03 2.18301404e-05 9.99994301e-01 -9.93361360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.260281693 meters Centerline goodness [0,1] 0.9957386663291353 Centerline is valid? [True, True] Translation: X:146.42, Y:-5.58, Z:-0.99 [[ 9.98021253e-01 6.27158676e-02 4.50549359e-03 1.46422499e+02] [-6.27149524e-02 9.98031420e-01 -3.44268599e-04 -5.58318461e+00] [-4.51821527e-03 6.10255629e-05 9.99989791e-01 -9.90572480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.290281693 meters Centerline goodness [0,1] 0.9951638561883551 Centerline is valid? [True, True] Translation: X:146.45, Y:-5.59, Z:-0.99 [[ 9.98101634e-01 6.13701824e-02 5.17964595e-03 1.46452788e+02] [-6.13689523e-02 9.98115071e-01 -3.96247871e-04 -5.59110271e+00] [-5.19420049e-03 7.76262022e-05 9.99986507e-01 -9.89176166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.320281693 meters Centerline goodness [0,1] 0.9952928204910734 Centerline is valid? [True, True] Translation: X:146.49, Y:-5.60, Z:-0.99 [[ 9.98079660e-01 6.16947767e-02 5.54498496e-03 1.46485381e+02] [-6.16933684e-02 9.98095060e-01 -4.24814483e-04 -5.59549027e+00] [-5.56063092e-03 8.19098953e-05 9.99984536e-01 -9.88575736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.350281693 meters Centerline goodness [0,1] 0.9964404517236265 Centerline is valid? [True, True] Translation: X:146.52, Y:-5.60, Z:-0.99 [[ 9.98017389e-01 6.27558802e-02 4.79491406e-03 1.46516949e+02] [-6.27548357e-02 9.98028905e-01 -3.68117170e-04 -5.59843035e+00] [-4.80856434e-03 6.64832929e-05 9.99988437e-01 -9.90135317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.380281693 meters Centerline goodness [0,1] 0.9965525214941876 Centerline is valid? [True, True] Translation: X:146.55, Y:-5.60, Z:-0.99 [[ 9.97909585e-01 6.45192663e-02 3.70475114e-03 1.46548715e+02] [-6.45186533e-02 9.97916461e-01 -2.84860279e-04 -5.60122311e+00] [-3.71541112e-03 4.52392488e-05 9.99993097e-01 -9.91935929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.410281693 meters Centerline goodness [0,1] 0.997448111602586 Centerline is valid? [True, True] Translation: X:146.58, Y:-5.60, Z:-0.99 [[ 9.97661584e-01 6.83166311e-02 2.04983708e-03 1.46579758e+02] [-6.83164511e-02 9.97663690e-01 -1.57790560e-04 -5.60262812e+00] [-2.05582774e-03 1.73839855e-05 9.99997887e-01 -9.94848590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.440281693 meters Centerline goodness [0,1] 0.9977179175464415 Centerline is valid? [True, True] Translation: X:146.61, Y:-5.60, Z:-1.00 [[ 9.97508786e-01 7.05255240e-02 1.54024165e-03 1.46612028e+02] [-7.05254253e-02 9.97509975e-01 -1.18391205e-04 -5.60383071e+00] [-1.54475601e-03 9.47006966e-06 9.99998807e-01 -9.95214564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.470281693 meters Centerline goodness [0,1] 0.9978253525884638 Centerline is valid? [True, True] Translation: X:146.64, Y:-5.60, Z:-1.00 [[ 9.97350718e-01 7.27200122e-02 1.82881262e-03 1.46643680e+02] [-7.27198758e-02 9.97352395e-01 -1.41013960e-04 -5.60492337e+00] [-1.83422518e-03 7.64934792e-06 9.99998318e-01 -9.95763365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.500281693 meters Centerline goodness [0,1] 0.9975817742140766 Centerline is valid? [True, True] Translation: X:146.68, Y:-5.60, Z:-0.99 [[ 9.97081191e-01 7.62796663e-02 3.24206757e-03 1.46676276e+02] [-7.62792531e-02 9.97086462e-01 -2.51089193e-04 -5.60372829e+00] [-3.25177468e-03 3.05381922e-06 9.99994713e-01 -9.93688597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.530281693 meters Centerline goodness [0,1] 0.9974174545920218 Centerline is valid? [True, True] Translation: X:146.71, Y:-5.61, Z:-0.99 [[ 9.96951965e-01 7.79044886e-02 4.20359015e-03 1.46708214e+02] [-7.79038044e-02 9.96960827e-01 -3.26500884e-04 -5.60515045e+00] [-4.21625060e-03 -1.96996663e-06 9.99991112e-01 -9.92028465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.560281693 meters Centerline goodness [0,1] 0.997689845919081 Centerline is valid? [True, True] Translation: X:146.74, Y:-5.60, Z:-0.99 [[ 9.96680393e-01 8.12993471e-02 4.31397159e-03 1.46741550e+02] [-8.12986561e-02 9.96689729e-01 -3.35592558e-04 -5.60382264e+00] [-4.32697463e-03 -1.62415706e-05 9.99990638e-01 -9.91859442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.590281693 meters Centerline goodness [0,1] 0.9978293397399423 Centerline is valid? [True, True] Translation: X:146.77, Y:-5.60, Z:-0.99 [[ 9.96563810e-01 8.27437647e-02 3.74732648e-03 1.46773634e+02] [-8.27432512e-02 9.96570855e-01 -2.92119568e-04 -5.60466036e+00] [-3.75864743e-03 -1.89501868e-05 9.99992936e-01 -9.93131132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.620281693 meters Centerline goodness [0,1] 0.9974924668647407 Centerline is valid? [True, True] Translation: X:146.81, Y:-5.61, Z:-0.99 [[ 9.96456103e-01 8.40484013e-02 3.33167261e-03 1.46806583e+02] [-8.40480010e-02 9.96461673e-01 -2.60206978e-04 -5.60668353e+00] [-3.34175404e-03 -2.07355911e-05 9.99994416e-01 -9.94356428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.650281693 meters Centerline goodness [0,1] 0.9975807478460167 Centerline is valid? [True, True] Translation: X:146.84, Y:-5.61, Z:-1.00 [[ 9.96375091e-01 8.50268508e-02 2.66706878e-03 1.46839795e+02] [-8.50265970e-02 9.96378660e-01 -2.08625963e-04 -5.61065290e+00] [-2.67514923e-03 -1.89020698e-05 9.99996422e-01 -9.95581143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.680281693 meters Centerline goodness [0,1] 0.9976744677702374 Centerline is valid? [True, True] Translation: X:146.87, Y:-5.61, Z:-1.00 [[ 9.96351776e-01 8.53196593e-02 1.92224186e-03 1.46871597e+02] [-8.53195274e-02 9.96353630e-01 -1.50663603e-04 -5.61366341e+00] [-1.92808722e-03 -1.38908186e-05 9.99998141e-01 -9.96972590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.710281693 meters Centerline goodness [0,1] 0.99744790348435 Centerline is valid? [True, True] Translation: X:146.90, Y:-5.62, Z:-1.00 [[ 9.96308931e-01 8.58309126e-02 1.25244982e-03 1.46904958e+02] [-8.58308573e-02 9.96309718e-01 -9.79166282e-05 -5.61599498e+00] [-1.25623220e-03 -9.94363040e-06 9.99999211e-01 -9.98472434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.740281693 meters Centerline goodness [0,1] 0.9976831374531362 Centerline is valid? [True, True] Translation: X:146.94, Y:-5.62, Z:-1.00 [[ 9.96186486e-01 8.72367792e-02 1.49292526e-03 1.46936751e+02] [-8.72367015e-02 9.96187605e-01 -1.17207934e-04 -5.61692663e+00] [-1.49745848e-03 -1.34769155e-05 9.99998879e-01 -9.99261049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.770281693 meters Centerline goodness [0,1] 0.9975387226819435 Centerline is valid? [True, True] Translation: X:146.97, Y:-5.62, Z:-1.00 [[ 9.96077620e-01 8.84502625e-02 2.43451269e-03 1.46969360e+02] [-8.84500576e-02 9.96080594e-01 -1.91904794e-04 -5.61861201e+00] [-2.44194488e-03 -2.41807172e-05 9.99997018e-01 -9.97223963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.800281693 meters Centerline goodness [0,1] 0.9971773158840134 Centerline is valid? [True, True] Translation: X:147.00, Y:-5.62, Z:-0.99 [[ 9.95849800e-01 9.09043034e-02 4.42527402e-03 1.47001333e+02] [-9.09036441e-02 9.95859631e-01 -3.50322376e-04 -5.61632514e+00] [-4.43879757e-03 -5.34050666e-05 9.99990147e-01 -9.92580875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.830281693 meters Centerline goodness [0,1] 0.997231321990912 Centerline is valid? [True, True] Translation: X:147.03, Y:-5.61, Z:-0.99 [[ 9.95691441e-01 9.26295913e-02 4.27948626e-03 1.47032803e+02] [-9.26289879e-02 9.95700635e-01 -3.39420803e-04 -5.61298121e+00] [-4.29252760e-03 -5.84460928e-05 9.99990785e-01 -9.92984828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.860281693 meters Centerline goodness [0,1] 0.9973284318963859 Centerline is valid? [True, True] Translation: X:147.07, Y:-5.61, Z:-0.99 [[ 9.95556565e-01 9.40863578e-02 3.85792215e-03 1.47065056e+02] [-9.40858763e-02 9.95564038e-01 -3.06505500e-04 -5.61263701e+00] [-3.86964654e-03 -5.78324231e-05 9.99992511e-01 -9.94349394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.890281693 meters Centerline goodness [0,1] 0.9969631514788597 Centerline is valid? [True, True] Translation: X:147.10, Y:-5.61, Z:-1.00 [[ 9.95381919e-01 9.59626357e-02 2.45120289e-03 1.47097540e+02] [-9.59624467e-02 9.95384936e-01 -1.94864648e-04 -5.61137903e+00] [-2.45859015e-03 -4.12586796e-05 9.99996977e-01 -9.96852615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.920281693 meters Centerline goodness [0,1] 0.9969300474254743 Centerline is valid? [True, True] Translation: X:147.13, Y:-5.61, Z:-1.00 [[ 9.95292704e-01 9.68977824e-02 1.80352868e-03 1.47128693e+02] [-9.68976814e-02 9.95294338e-01 -1.43513096e-04 -5.60837044e+00] [-1.80894798e-03 -3.19202103e-05 9.99998363e-01 -9.98789214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.950281693 meters Centerline goodness [0,1] 0.9966151177304364 Centerline is valid? [True, True] Translation: X:147.16, Y:-5.61, Z:-1.00 [[ 9.95248776e-01 9.73521134e-02 1.56187566e-03 1.47160576e+02] [-9.73520380e-02 9.95250001e-01 -1.24416713e-04 -5.60855706e+00] [-1.56656898e-03 -2.82261965e-05 9.99998773e-01 -1.00003870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.980281693 meters Centerline goodness [0,1] 0.9971230180189924 Centerline is valid? [True, True] Translation: X:147.19, Y:-5.61, Z:-1.00 [[ 9.95227514e-01 9.75671968e-02 1.68443723e-03 1.47193201e+02] [-9.75671088e-02 9.95228939e-01 -1.34487081e-04 -5.60912114e+00] [-1.68952221e-03 -3.05004273e-05 9.99998572e-01 -9.99821710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.010281693 meters Centerline goodness [0,1] 0.9968087822312994 Centerline is valid? [True, True] Translation: X:147.22, Y:-5.61, Z:-1.00 [[ 9.95221975e-01 9.76315719e-02 1.13830021e-03 1.47224471e+02] [-9.76315318e-02 9.95222626e-01 -9.08730142e-05 -5.60997058e+00] [-1.14173420e-03 -2.06951729e-05 9.99999348e-01 -1.00099605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.040281693 meters Centerline goodness [0,1] 0.997370151216305 Centerline is valid? [True, True] Translation: X:147.26, Y:-5.61, Z:-1.01 [[ 9.95342563e-01 9.63969930e-02 -8.95252903e-04 1.47255367e+02] [-9.63969668e-02 9.95342966e-01 7.24907779e-05 -5.60943152e+00] [ 8.98071572e-04 1.41465076e-05 9.99999597e-01 -1.00589387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.070281693 meters Centerline goodness [0,1] 0.997502856901003 Centerline is valid? [True, True] Translation: X:147.29, Y:-5.61, Z:-1.01 [[ 9.95439116e-01 9.53877241e-02 -1.46588917e-03 1.47285818e+02] [-9.53876536e-02 9.95440195e-01 1.18091767e-04 -5.61074843e+00] [ 1.47046951e-03 2.22745643e-05 9.99998919e-01 -1.00723642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.100281693 meters Centerline goodness [0,1] 0.9978345788043478 Centerline is valid? [True, True] Translation: X:147.32, Y:-5.61, Z:-1.01 [[ 9.95507298e-01 9.46806083e-02 -8.95223658e-04 1.47316933e+02] [-9.46805817e-02 9.95507701e-01 7.22114102e-05 -5.61497373e+00] [ 8.98039065e-04 1.28733108e-05 9.99999597e-01 -1.00594579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.130281693 meters Centerline goodness [0,1] 0.9975752719912289 Centerline is valid? [True, True] Translation: X:147.35, Y:-5.62, Z:-1.00 [[ 9.95553446e-01 9.41977601e-02 3.42458500e-04 1.47346968e+02] [-9.41977562e-02 9.95553505e-01 -2.75373141e-05 -5.61558538e+00] [-3.43529713e-04 -4.84395432e-06 9.99999941e-01 -1.00348944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.160281693 meters Centerline goodness [0,1] 0.9974793475958483 Centerline is valid? [True, True] Translation: X:147.38, Y:-5.62, Z:-1.00 [[ 9.95591583e-01 9.37736980e-02 1.97298131e-03 1.47378604e+02] [-9.37735672e-02 9.95593538e-01 -1.58886280e-04 -5.61566897e+00] [-1.97918680e-03 -2.68276523e-05 9.99998041e-01 -9.99221934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.190281693 meters Centerline goodness [0,1] 0.997710887191665 Centerline is valid? [True, True] Translation: X:147.41, Y:-5.62, Z:-1.00 [[ 9.95569029e-01 9.40068208e-02 2.24203051e-03 1.47410839e+02] [-9.40066531e-02 9.95571553e-01 -1.80298206e-04 -5.61683050e+00] [-2.24905106e-03 -3.12664751e-05 9.99997470e-01 -9.98509005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.220281693 meters Centerline goodness [0,1] 0.9974964993423007 Centerline is valid? [True, True] Translation: X:147.44, Y:-5.61, Z:-1.00 [[ 9.95507403e-01 9.46460470e-02 2.67152571e-03 1.47443067e+02] [-9.46458096e-02 9.95510987e-01 -2.15445634e-04 -5.60926423e+00] [-2.67992427e-03 -3.83709904e-05 9.99996408e-01 -9.98683912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.250281693 meters Centerline goodness [0,1] 0.9972792053552149 Centerline is valid? [True, True] Translation: X:147.47, Y:-5.61, Z:-1.00 [[ 9.95452498e-01 9.52161954e-02 2.86350960e-03 1.47474188e+02] [-9.52159229e-02 9.95456616e-01 -2.31624882e-04 -5.60707137e+00] [-2.87255401e-03 -4.20801416e-05 9.99995873e-01 -9.98050694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.280281693 meters Centerline goodness [0,1] 0.997446591199251 Centerline is valid? [True, True] Translation: X:147.51, Y:-5.60, Z:-1.00 [[ 9.95376604e-01 9.60107984e-02 2.70972320e-03 1.47505205e+02] [-9.60105572e-02 9.95380292e-01 -2.19260144e-04 -5.60407143e+00] [-2.71825641e-03 -4.19156168e-05 9.99996305e-01 -9.98790711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.310281693 meters Centerline goodness [0,1] 0.9974534728264329 Centerline is valid? [True, True] Translation: X:147.53, Y:-5.60, Z:-1.00 [[ 9.95377999e-01 9.60047759e-02 2.39211733e-03 1.47534746e+02] [-9.60045877e-02 9.95380873e-01 -1.93627762e-04 -5.60023639e+00] [-2.39965703e-03 -3.69214238e-05 9.99997120e-01 -9.99329483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.340281693 meters Centerline goodness [0,1] 0.9972764699672754 Centerline is valid? [True, True] Translation: X:147.56, Y:-5.60, Z:-1.00 [[ 9.95508577e-01 9.46403348e-02 2.42507496e-03 1.47564709e+02] [-9.46401375e-02 9.95511530e-01 -1.96245468e-04 -5.60342712e+00] [-2.43276282e-03 -3.41453808e-05 9.99997040e-01 -9.99662153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.370281693 meters Centerline goodness [0,1] 0.9976013585226067 Centerline is valid? [True, True] Translation: X:147.60, Y:-5.61, Z:-1.00 [[ 9.95725249e-01 9.23280835e-02 2.59866684e-03 1.47595789e+02] [-9.23278491e-02 9.95728640e-01 -2.10249142e-04 -5.61075579e+00] [-2.60697890e-03 -3.05789409e-05 9.99996601e-01 -9.98890279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.400281693 meters Centerline goodness [0,1] 0.9980075840349637 Centerline is valid? [True, True] Translation: X:147.63, Y:-5.62, Z:-1.00 [[ 9.96325910e-01 8.55802936e-02 3.27026814e-03 1.47627417e+02] [-8.55798863e-02 9.96331277e-01 -2.64519682e-04 -5.62172904e+00] [-3.28090811e-03 -1.63213632e-05 9.99994618e-01 -9.98294809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.430281693 meters Centerline goodness [0,1] 0.9976737300680962 Centerline is valid? [True, True] Translation: X:147.66, Y:-5.63, Z:-1.00 [[ 9.96586600e-01 8.24874248e-02 3.31265879e-03 1.47658454e+02] [-8.24869879e-02 9.96592105e-01 -2.68519151e-04 -5.62869724e+00] [-3.32351905e-03 -5.64865803e-06 9.99994477e-01 -9.98941554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.460281693 meters Centerline goodness [0,1] 0.9981850003241071 Centerline is valid? [True, True] Translation: X:147.69, Y:-5.64, Z:-1.00 [[ 9.96833112e-01 7.94922903e-02 2.17312764e-03 1.47691399e+02] [-7.94920952e-02 9.96835481e-01 -1.76146997e-04 -5.63630132e+00] [-2.18025307e-03 2.84268941e-06 9.99997623e-01 -1.00036823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.490281693 meters Centerline goodness [0,1] 0.9980093180855569 Centerline is valid? [True, True] Translation: X:147.72, Y:-5.64, Z:-1.00 [[ 9.96831677e-01 7.95162817e-02 1.94109245e-03 1.47723634e+02] [-7.95161254e-02 9.96833567e-01 -1.57661579e-04 -5.64015801e+00] [-1.94748277e-03 2.81390567e-06 9.99998104e-01 -1.00146519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.520281693 meters Centerline goodness [0,1] 0.9977690902137424 Centerline is valid? [True, True] Translation: X:147.75, Y:-5.64, Z:-1.00 [[ 9.96804717e-01 7.98635682e-02 1.47203037e-03 1.47754491e+02] [-7.98634779e-02 9.96805804e-01 -1.20119425e-04 -5.64166683e+00] [-1.47692159e-03 2.17414399e-06 9.99998909e-01 -1.00185715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.550281693 meters Centerline goodness [0,1] 0.9977842640134649 Centerline is valid? [True, True] Translation: X:147.79, Y:-5.64, Z:-1.01 [[ 9.96698951e-01 8.11856404e-02 3.03281531e-04 1.47786119e+02] [-8.11856366e-02 9.96698998e-01 -2.46743081e-05 -5.64236761e+00] [-3.04283597e-04 -2.92471112e-08 9.99999954e-01 -1.00547275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.580281693 meters Centerline goodness [0,1] 0.9980691253137671 Centerline is valid? [True, True] Translation: X:147.82, Y:-5.65, Z:-1.01 [[ 9.96668592e-01 8.15580556e-02 -4.74104914e-05 1.47816837e+02] [-8.15580556e-02 9.96668593e-01 3.98261985e-06 -5.64595964e+00] [ 4.75773625e-05 -1.02644620e-07 9.99999999e-01 -1.00582587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.610281693 meters Centerline goodness [0,1] 0.9977493258593966 Centerline is valid? [True, True] Translation: X:147.85, Y:-5.65, Z:-1.01 [[ 9.96613996e-01 8.22224508e-02 -1.07199122e-04 1.47846786e+02] [-8.22224503e-02 9.96614002e-01 8.81509971e-06 -5.64986856e+00] [ 1.07560945e-04 2.89227619e-08 9.99999994e-01 -1.00632304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.640281693 meters Centerline goodness [0,1] 0.9979527424720634 Centerline is valid? [True, True] Translation: X:147.88, Y:-5.66, Z:-1.00 [[ 9.96627653e-01 8.20377746e-02 1.76755638e-03 1.47877809e+02] [-8.20376475e-02 9.96629221e-01 -1.44397203e-04 -5.65722753e+00] [-1.77344436e-03 -1.09592089e-06 9.99998427e-01 -1.00109399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.670281693 meters Centerline goodness [0,1] 0.997877358490566 Centerline is valid? [True, True] Translation: X:147.91, Y:-5.66, Z:-1.00 [[ 9.96643976e-01 8.18084118e-02 2.85818028e-03 1.47909708e+02] [-8.18080789e-02 9.96648074e-01 -2.33394929e-04 -5.66162547e+00] [-2.86769354e-03 -1.21058760e-06 9.99995888e-01 -9.98975752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.700281693 meters Centerline goodness [0,1] 0.9979040571465235 Centerline is valid? [True, True] Translation: X:147.94, Y:-5.67, Z:-1.00 [[ 9.96638460e-01 8.18767303e-02 2.82493550e-03 1.47941523e+02] [-8.18764040e-02 9.96642464e-01 -2.31126582e-04 -5.66729211e+00] [-2.83437457e-03 -9.45919171e-07 9.99995983e-01 -9.99766784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.730281693 meters Centerline goodness [0,1] 0.9980463773040007 Centerline is valid? [True, True] Translation: X:147.97, Y:-5.67, Z:-1.00 [[ 9.96576323e-01 8.26440730e-02 2.36445183e-03 1.47973814e+02] [-8.26438460e-02 9.96579127e-01 -1.93721990e-04 -5.67135431e+00] [-2.37237332e-03 -2.34864517e-06 9.99997186e-01 -1.00079906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.760281693 meters Centerline goodness [0,1] 0.9982782875259831 Centerline is valid? [True, True] Translation: X:148.01, Y:-5.67, Z:-1.00 [[ 9.96493890e-01 8.36483996e-02 1.69500610e-03 1.48005590e+02] [-8.36482842e-02 9.96495331e-01 -1.38989637e-04 -5.67447203e+00] [-1.70069193e-03 -3.28202773e-06 9.99998554e-01 -1.00268782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.790281693 meters Centerline goodness [0,1] 0.998126144542396 Centerline is valid? [True, True] Translation: X:148.04, Y:-5.68, Z:-1.00 [[ 9.96338804e-01 8.54834803e-02 1.24987490e-03 1.48037408e+02] [-8.54834189e-02 9.96339588e-01 -1.02542972e-04 -5.67661291e+00] [-1.25406557e-03 -4.67603763e-06 9.99999214e-01 -1.00345204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.820281693 meters Centerline goodness [0,1] 0.9979641175722102 Centerline is valid? [True, True] Translation: X:148.07, Y:-5.68, Z:-1.00 [[ 9.96262092e-01 8.63698442e-02 1.44685570e-03 1.48068526e+02] [-8.63697624e-02 9.96263143e-01 -1.19093033e-04 -5.67754284e+00] [-1.45173506e-03 -6.31670917e-06 9.99998946e-01 -1.00397738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.850281693 meters Centerline goodness [0,1] 0.9979893048128342 Centerline is valid? [True, True] Translation: X:148.10, Y:-5.68, Z:-1.00 [[ 9.96132094e-01 8.78639719e-02 8.79455217e-04 1.48100296e+02] [-8.78639419e-02 9.96132482e-01 -7.27157299e-05 -5.67799415e+00] [-8.82443001e-04 -4.83792979e-06 9.99999611e-01 -1.00429762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.880281693 meters Centerline goodness [0,1] 0.9979811717704061 Centerline is valid? [True, True] Translation: X:148.13, Y:-5.68, Z:-1.01 [[ 9.96030528e-01 8.90116554e-02 -3.35921336e-04 1.48130846e+02] [-8.90116511e-02 9.96030584e-01 2.78724420e-05 -5.67747552e+00] [ 3.37068896e-04 2.13910958e-06 9.99999943e-01 -1.00651851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.910281693 meters Centerline goodness [0,1] 0.9981236273694535 Centerline is valid? [True, True] Translation: X:148.16, Y:-5.68, Z:-1.01 [[ 9.95909178e-01 9.03546964e-02 -9.68757671e-04 1.48161222e+02] [-9.03546610e-02 9.95909649e-01 8.02923260e-05 -5.67665837e+00] [ 9.72049900e-04 7.56790655e-06 9.99999528e-01 -1.00816110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.940281693 meters Centerline goodness [0,1] 0.9979268911829413 Centerline is valid? [True, True] Translation: X:148.19, Y:-5.68, Z:-1.01 [[ 9.95748682e-01 9.21115960e-02 -1.28023135e-04 1.48191374e+02] [-9.21115954e-02 9.95748690e-01 1.05506430e-05 -5.67505438e+00] [ 1.28450705e-04 1.28662631e-06 9.99999992e-01 -1.00735753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.970281693 meters Centerline goodness [0,1] 0.9978165938864629 Centerline is valid? [True, True] Translation: X:148.22, Y:-5.68, Z:-1.01 [[ 9.95776859e-01 9.18045064e-02 6.16036424e-04 1.48222344e+02] [-9.18044924e-02 9.95777050e-01 -5.09307463e-05 -5.67797766e+00] [-6.18110605e-04 -5.83925265e-06 9.99999809e-01 -1.00622368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.000281693 meters Centerline goodness [0,1] 0.9979896307269072 Centerline is valid? [True, True] Translation: X:148.25, Y:-5.68, Z:-1.01 [[ 9.95863985e-01 9.08553710e-02 4.74734564e-04 1.48253151e+02] [-9.08553626e-02 9.95864098e-01 -3.92322675e-05 -5.68245129e+00] [-4.76335571e-04 -4.06217874e-06 9.99999887e-01 -1.00542752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.030281693 meters Centerline goodness [0,1] 0.9979630781105941 Centerline is valid? [True, True] Translation: X:148.28, Y:-5.69, Z:-1.01 [[ 9.95941063e-01 9.00072696e-02 -3.00136728e-04 1.48284269e+02] [-9.00072660e-02 9.95941108e-01 2.55973060e-05 -5.68577324e+00] [ 3.01222449e-04 1.52107814e-06 9.99999955e-01 -1.00688224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.060281693 meters Centerline goodness [0,1] 0.9982362191338349 Centerline is valid? [True, True] Translation: X:148.31, Y:-5.69, Z:-1.01 [[ 9.95954476e-01 8.98494341e-02 -1.32681583e-03 1.48314343e+02] [-8.98493667e-02 9.95955360e-01 1.10453515e-04 -5.68634187e+00] [ 1.33137352e-03 9.20688918e-06 9.99999114e-01 -1.00862141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.090281693 meters Centerline goodness [0,1] 0.9979119169880468 Centerline is valid? [True, True] Translation: X:148.34, Y:-5.69, Z:-1.01 [[ 9.95882177e-01 9.06511155e-02 -1.03217766e-03 1.48344376e+02] [-9.06510754e-02 9.95882712e-01 8.56760056e-05 -5.68738631e+00] [ 1.03569451e-03 8.24480749e-06 9.99999464e-01 -1.00730424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.120281693 meters Centerline goodness [0,1] 0.9979119169880468 Centerline is valid? [True, True] Translation: X:148.37, Y:-5.69, Z:-1.01 [[ 9.95882177e-01 9.06511153e-02 -1.03217333e-03 1.48374274e+02] [-9.06510751e-02 9.95882712e-01 8.57280493e-05 -5.68986956e+00] [ 1.03569492e-03 8.19258600e-06 9.99999464e-01 -1.00743883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.150281693 meters Centerline goodness [0,1] 0.9977131865783287 Centerline is valid? [True, True] Translation: X:148.40, Y:-5.68, Z:-1.01 [[ 9.95587350e-01 9.38240416e-02 -1.69631895e-03 1.48403805e+02] [-9.38239379e-02 9.95588795e-01 1.40745729e-04 -5.68367625e+00] [ 1.70204148e-03 1.90306571e-05 9.99998551e-01 -1.00969440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.180281693 meters Centerline goodness [0,1] 0.9978410499764867 Centerline is valid? [True, True] Translation: X:148.43, Y:-5.68, Z:-1.01 [[ 9.95399719e-01 9.57879027e-02 -2.01933232e-03 1.48433402e+02] [-9.57877600e-02 9.95401767e-01 1.67519076e-04 -5.68134354e+00] [ 2.02609326e-03 2.66788782e-05 9.99997947e-01 -1.01134570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.210281693 meters Centerline goodness [0,1] 0.9974070872947277 Centerline is valid? [True, True] Translation: X:148.46, Y:-5.68, Z:-1.01 [[ 9.95179516e-01 9.80395599e-02 -2.44435352e-03 1.48462784e+02] [-9.80393577e-02 9.95182518e-01 2.02683696e-04 -5.67831562e+00] [ 2.45244891e-03 3.79361870e-05 9.99996992e-01 -1.01212229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.240281693 meters Centerline goodness [0,1] 0.997139319414201 Centerline is valid? [True, True] Translation: X:148.49, Y:-5.67, Z:-1.01 [[ 9.94875667e-01 1.01079899e-01 -2.29395066e-03 1.48492226e+02] [-1.01079729e-01 9.94878310e-01 1.90113468e-04 -5.67058580e+00] [ 2.30141841e-03 4.27326489e-05 9.99997351e-01 -1.01189694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.270281693 meters Centerline goodness [0,1] 0.99684772585937 Centerline is valid? [True, True] Translation: X:148.52, Y:-5.67, Z:-1.01 [[ 9.94802017e-01 1.01820477e-01 -1.23969364e-03 1.48520837e+02] [-1.01820429e-01 9.94802789e-01 1.02563785e-04 -5.66886681e+00] [ 1.24369378e-03 2.41954768e-05 9.99999226e-01 -1.01023185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.300281693 meters Centerline goodness [0,1] 0.9971161088991715 Centerline is valid? [True, True] Translation: X:148.55, Y:-5.67, Z:-1.01 [[ 9.94802668e-01 1.01821519e-01 -1.71959242e-04 1.48549506e+02] [-1.01821518e-01 9.94802683e-01 1.40315452e-05 -5.67206848e+00] [ 1.72494228e-04 3.55053239e-06 9.99999985e-01 -1.00761847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.330281693 meters Centerline goodness [0,1] 0.9966339232788551 Centerline is valid? [True, True] Translation: X:148.58, Y:-5.66, Z:-1.01 [[ 9.94736797e-01 1.02458850e-01 9.43146083e-04 1.48578300e+02] [-1.02458822e-01 9.94737244e-01 -7.83492105e-05 -5.66365069e+00] [-9.46210105e-04 -1.86967941e-05 9.99999552e-01 -1.00620090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.360281693 meters Centerline goodness [0,1] 0.9969798226449043 Centerline is valid? [True, True] Translation: X:148.61, Y:-5.66, Z:-1.01 [[ 9.94653621e-01 1.03263066e-01 9.56150976e-04 1.48607001e+02] [-1.03263038e-01 9.94654080e-01 -7.93261686e-05 -5.66374798e+00] [-9.59230933e-04 -1.98329935e-05 9.99999540e-01 -1.00581624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.390281693 meters Centerline goodness [0,1] 0.9969172803562254 Centerline is valid? [True, True] Translation: X:148.64, Y:-5.66, Z:-1.01 [[ 9.94452145e-01 1.05189159e-01 4.15565079e-04 1.48636423e+02] [-1.05189153e-01 9.94452232e-01 -3.45282755e-05 -5.65524305e+00] [-4.16891620e-04 -9.37622126e-06 9.99999913e-01 -1.00785101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.420281693 meters Centerline goodness [0,1] 0.9964644624911612 Centerline is valid? [True, True] Translation: X:148.66, Y:-5.65, Z:-1.01 [[ 9.94392048e-01 1.05754767e-01 6.20554983e-04 1.48664091e+02] [-1.05754755e-01 9.94392241e-01 -5.15498694e-05 -5.65339017e+00] [-6.22526704e-04 -1.43658600e-05 9.99999806e-01 -1.00811732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.450281693 meters Centerline goodness [0,1] 0.9960531423888194 Centerline is valid? [True, True] Translation: X:148.69, Y:-5.65, Z:-1.01 [[ 9.94397924e-01 1.05690524e-01 1.51040502e-03 1.48693200e+02] [-1.05690456e-01 9.94399071e-01 -1.24971808e-04 -5.65341899e+00] [-1.51515369e-03 -3.53636885e-05 9.99998852e-01 -1.00656048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.480281693 meters Centerline goodness [0,1] 0.996175382989963 Centerline is valid? [True, True] Translation: X:148.72, Y:-5.65, Z:-1.00 [[ 9.94604718e-01 1.03688522e-01 3.18501461e-03 1.48721915e+02] [-1.03688211e-01 9.94609816e-01 -2.63161588e-04 -5.64626791e+00] [-3.19513363e-03 -6.85067089e-05 9.99994893e-01 -1.00372245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.510281693 meters Centerline goodness [0,1] 0.9972161421255074 Centerline is valid? [True, True] Translation: X:148.75, Y:-5.65, Z:-1.00 [[ 9.94866217e-01 1.01135523e-01 3.57992688e-03 1.48750147e+02] [-1.01135114e-01 9.94872656e-01 -2.95538952e-04 -5.65346602e+00] [-3.59146085e-03 -6.80345956e-05 9.99993548e-01 -1.00344561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.540281693 meters Centerline goodness [0,1] 0.997743912821386 Centerline is valid? [True, True] Translation: X:148.78, Y:-5.66, Z:-1.01 [[ 9.95139449e-01 9.84431943e-02 2.53262602e-03 1.48779616e+02] [-9.84429812e-02 9.95142671e-01 -2.08977100e-04 -5.65718518e+00] [-2.54089660e-03 -4.13578997e-05 9.99996771e-01 -1.00520281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.570281693 meters Centerline goodness [0,1] 0.9978096757044126 Centerline is valid? [True, True] Translation: X:148.81, Y:-5.66, Z:-1.01 [[ 9.95613904e-01 9.35456374e-02 1.47236409e-03 1.48809315e+02] [-9.35455599e-02 9.95614993e-01 -1.21510312e-04 -5.66457330e+00] [-1.47727452e-03 -1.67557671e-05 9.99998909e-01 -1.00679010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.600281693 meters Centerline goodness [0,1] 0.9979273504273505 Centerline is valid? [True, True] Translation: X:148.84, Y:-5.67, Z:-1.01 [[ 9.95799396e-01 9.15227452e-02 2.67412863e-03 1.48838547e+02] [-9.15224828e-02 9.95802986e-01 -2.20605014e-04 -5.66714185e+00] [-2.68309565e-03 -2.50645525e-05 9.99996400e-01 -1.00509107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.630281693 meters Centerline goodness [0,1] 0.9981508639928585 Centerline is valid? [True, True] Translation: X:148.87, Y:-5.67, Z:-1.00 [[ 9.96054232e-01 8.86223849e-02 4.69458886e-03 1.48867834e+02] [-8.86215466e-02 9.96065295e-01 -3.86698381e-04 -5.66678864e+00] [-4.71038717e-03 -3.08691666e-05 9.99988906e-01 -1.00088429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.660281693 meters Centerline goodness [0,1] 0.9979576640782896 Centerline is valid? [True, True] Translation: X:148.90, Y:-5.67, Z:-1.00 [[ 9.96132768e-01 8.77452237e-02 4.50378715e-03 1.48897517e+02] [-8.77444437e-02 9.96142949e-01 -3.70879468e-04 -5.66900386e+00] [-4.51895872e-03 -2.57371075e-05 9.99989789e-01 -1.00121315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.690281693 meters Centerline goodness [0,1] 0.9979261983153034 Centerline is valid? [True, True] Translation: X:148.93, Y:-5.67, Z:-1.00 [[ 9.96242060e-01 8.65323463e-02 3.72977234e-03 1.48927279e+02] [-8.65318031e-02 9.96249042e-01 -3.07072893e-04 -5.67251086e+00] [-3.74235386e-03 -1.68249947e-05 9.99992997e-01 -1.00358327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.720281693 meters Centerline goodness [0,1] 0.9981016573171512 Centerline is valid? [True, True] Translation: X:148.96, Y:-5.68, Z:-1.01 [[ 9.96575541e-01 8.26501787e-02 2.47765730e-03 1.48955769e+02] [-8.26499270e-02 9.96578621e-01 -2.03986079e-04 -5.67895196e+00] [-2.48603978e-03 -1.49065761e-06 9.99996910e-01 -1.00660816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.750281693 meters Centerline goodness [0,1] 0.9981049717875013 Centerline is valid? [True, True] Translation: X:148.99, Y:-5.68, Z:-1.01 [[ 9.96739743e-01 8.06560652e-02 2.11739099e-03 1.48985345e+02] [-8.06558771e-02 9.96741992e-01 -1.74250090e-04 -5.68343423e+00] [-2.12454684e-03 2.90196288e-06 9.99997743e-01 -1.00734129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.780281693 meters Centerline goodness [0,1] 0.997621002547422 Centerline is valid? [True, True] Translation: X:149.01, Y:-5.69, Z:-1.01 [[ 9.97088477e-01 7.62483560e-02 8.69815918e-04 1.49013675e+02] [-7.62483226e-02 9.97088857e-01 -7.15149683e-05 -5.69345557e+00] [-8.72736658e-04 4.98474606e-06 9.99999619e-01 -1.00998103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.810281693 meters Centerline goodness [0,1] 0.9975291812217773 Centerline is valid? [True, True] Translation: X:149.04, Y:-5.70, Z:-1.01 [[ 9.97256332e-01 7.40224842e-02 6.93164268e-04 1.49043760e+02] [-7.40224624e-02 9.97256573e-01 -5.70135025e-05 -5.69909797e+00] [-6.95482903e-04 5.54735039e-06 9.99999758e-01 -1.01013076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.840281693 meters Centerline goodness [0,1] 0.9972653848599835 Centerline is valid? [True, True] Translation: X:149.07, Y:-5.70, Z:-1.01 [[ 9.97380878e-01 7.23256624e-02 6.18694610e-04 1.49072459e+02] [-7.23256448e-02 9.97381070e-01 -5.07564712e-05 -5.70435891e+00] [-6.20745288e-04 5.87604715e-06 9.99999807e-01 -1.01010204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.870281693 meters Centerline goodness [0,1] 0.9967900342254629 Centerline is valid? [True, True] Translation: X:149.10, Y:-5.71, Z:-1.01 [[ 9.97503352e-01 7.06027871e-02 1.51986797e-03 1.49102220e+02] [-7.06026784e-02 9.97504509e-01 -1.25097383e-04 -5.70868733e+00] [-1.52490738e-03 1.74783090e-05 9.99998837e-01 -1.00891476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.900281693 meters Centerline goodness [0,1] 0.9970914803728 Centerline is valid? [True, True] Translation: X:149.13, Y:-5.71, Z:-1.01 [[ 9.97491154e-01 7.07492760e-02 2.43681603e-03 1.49131359e+02] [-7.07489972e-02 9.97494130e-01 -2.00509233e-04 -5.71385675e+00] [-2.44489557e-03 2.76038955e-05 9.99997011e-01 -1.00799603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.930281693 meters Centerline goodness [0,1] 0.997087213505124 Centerline is valid? [True, True] Translation: X:149.16, Y:-5.72, Z:-1.01 [[ 9.97452781e-01 7.12496725e-02 3.38148774e-03 1.49161664e+02] [-7.12491389e-02 9.97458512e-01 -2.78167643e-04 -5.71780890e+00] [-3.39271308e-03 3.65309993e-05 9.99994244e-01 -1.00647480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.960281693 meters Centerline goodness [0,1] 0.997402653157601 Centerline is valid? [True, True] Translation: X:149.19, Y:-5.72, Z:-1.01 [[ 9.97424123e-01 7.16261706e-02 3.84846265e-03 1.49192977e+02] [-7.16254822e-02 9.97431547e-01 -3.16567702e-04 -5.72348747e+00] [-3.86125259e-03 4.01042690e-05 9.99992545e-01 -1.00536153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.990281693 meters Centerline goodness [0,1] 0.9973674635618432 Centerline is valid? [True, True] Translation: X:149.22, Y:-5.73, Z:-1.01 [[ 9.97391621e-01 7.20762488e-02 3.86883585e-03 1.49223506e+02] [-7.20755562e-02 9.97399124e-01 -3.18339150e-04 -5.72730924e+00] [-3.88171818e-03 3.86603057e-05 9.99992465e-01 -1.00553994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.020281693 meters Centerline goodness [0,1] 0.9973252382873034 Centerline is valid? [True, True] Translation: X:149.25, Y:-5.73, Z:-1.00 [[ 9.97275343e-01 7.36516828e-02 4.16164244e-03 1.49253549e+02] [-7.36508948e-02 9.97284026e-01 -3.42483397e-04 -5.73243176e+00] [-4.17556400e-03 3.50415578e-05 9.99991282e-01 -1.00496267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.050281693 meters Centerline goodness [0,1] 0.9974825055470217 Centerline is valid? [True, True] Translation: X:149.28, Y:-5.74, Z:-1.00 [[ 9.97213580e-01 7.44420611e-02 4.84312411e-03 1.49284375e+02] [-7.44410029e-02 9.97225340e-01 -3.98632988e-04 -5.73525078e+00] [-4.85936114e-03 3.69952133e-05 9.99988193e-01 -1.00387665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.080281693 meters Centerline goodness [0,1] 0.9974172892209178 Centerline is valid? [True, True] Translation: X:149.31, Y:-5.74, Z:-1.00 [[ 9.97152503e-01 7.52253742e-02 5.29420484e-03 1.49314918e+02] [-7.52241202e-02 9.97166557e-01 -4.35884767e-04 -5.73930800e+00] [-5.31199360e-03 3.63916854e-05 9.99985891e-01 -1.00242998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.110281693 meters Centerline goodness [0,1] 0.9972866409462839 Centerline is valid? [True, True] Translation: X:149.35, Y:-5.74, Z:-1.00 [[ 9.97035613e-01 7.67710190e-02 5.11833784e-03 1.49345482e+02] [-7.67698668e-02 9.97048750e-01 -4.21493303e-04 -5.74173658e+00] [-5.13559082e-03 2.73097192e-05 9.99986812e-01 -1.00261324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.140281693 meters Centerline goodness [0,1] 0.9979471333940022 Centerline is valid? [True, True] Translation: X:149.38, Y:-5.74, Z:-1.00 [[ 9.96758357e-01 8.03356197e-02 4.35510443e-03 1.49376411e+02] [-8.03348186e-02 9.96767871e-01 -3.58861583e-04 -5.74341245e+00] [-4.36985753e-03 7.83175764e-06 9.99990452e-01 -1.00424497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.170281693 meters Centerline goodness [0,1] 0.9983902397695501 Centerline is valid? [True, True] Translation: X:149.41, Y:-5.74, Z:-1.00 [[ 9.96588560e-01 8.24089915e-02 4.47205939e-03 1.49407229e+02] [-8.24081671e-02 9.96598594e-01 -3.68599822e-04 -5.74474562e+00] [-4.48722404e-03 -1.19185218e-06 9.99989932e-01 -1.00422445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.200281693 meters Centerline goodness [0,1] 0.9983457051961824 Centerline is valid? [True, True] Translation: X:149.44, Y:-5.74, Z:-1.00 [[ 9.96224899e-01 8.66416403e-02 5.40150942e-03 1.49438072e+02] [-8.66404996e-02 9.96239542e-01 -4.45267041e-04 -5.74341116e+00] [-5.41977594e-03 -2.44033611e-05 9.99985313e-01 -1.00255647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.230281693 meters Centerline goodness [0,1] 0.9983708875489262 Centerline is valid? [True, True] Translation: X:149.47, Y:-5.75, Z:-1.00 [[ 9.96049378e-01 8.86236428e-02 5.61128032e-03 1.49468537e+02] [-8.86224432e-02 9.96065183e-01 -4.62559257e-04 -5.74566094e+00] [-5.63019464e-03 -3.65535107e-05 9.99984150e-01 -1.00314187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.260281693 meters Centerline goodness [0,1] 0.9983027834351663 Centerline is valid? [True, True] Translation: X:149.50, Y:-5.75, Z:-1.01 [[ 9.95834077e-01 9.11003802e-02 3.90026886e-03 1.49497924e+02] [-9.10998196e-02 9.95841714e-01 -3.21520643e-04 -5.74727464e+00] [-3.91334108e-03 -3.51325768e-05 9.99992342e-01 -1.00721551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.290281693 meters Centerline goodness [0,1] 0.998205013141868 Centerline is valid? [True, True] Translation: X:149.53, Y:-5.75, Z:-1.01 [[ 9.95827716e-01 9.12019649e-02 3.05965216e-03 1.49527567e+02] [-9.12016204e-02 9.95832416e-01 -2.52213728e-04 -5.75185663e+00] [-3.06990319e-03 -2.78838143e-05 9.99995287e-01 -1.00940941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.320281693 meters Centerline goodness [0,1] 0.9983010533469249 Centerline is valid? [True, True] Translation: X:149.56, Y:-5.76, Z:-1.01 [[ 9.95852315e-01 9.09568981e-02 2.23806921e-03 1.49557951e+02] [-9.09567133e-02 9.95854830e-01 -1.84418760e-04 -5.75843837e+00] [-2.24556619e-03 -1.99135702e-05 9.99997479e-01 -1.01052460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.350281693 meters Centerline goodness [0,1] 0.9986797836548699 Centerline is valid? [True, True] Translation: X:149.59, Y:-5.76, Z:-1.01 [[ 9.95876074e-01 9.06970195e-02 2.21283030e-03 1.49587641e+02] [-9.06968383e-02 9.95878532e-01 -1.82309153e-04 -5.76274246e+00] [-2.22024509e-03 -1.91393884e-05 9.99997535e-01 -1.01046731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.380281693 meters Centerline goodness [0,1] 0.9986188143384337 Centerline is valid? [True, True] Translation: X:149.62, Y:-5.77, Z:-1.01 [[ 9.95882323e-01 9.05120602e-02 5.09555984e-03 1.49618140e+02] [-9.05110962e-02 9.95895359e-01 -4.19945827e-04 -5.76860622e+00] [-5.11265455e-03 -4.29880803e-05 9.99986929e-01 -1.00541606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.410281693 meters Centerline goodness [0,1] 0.9988034955024251 Centerline is valid? [True, True] Translation: X:149.65, Y:-5.77, Z:-1.00 [[ 9.95840700e-01 9.09063709e-02 6.11004183e-03 1.49649400e+02] [-9.09049920e-02 9.95859442e-01 -5.03590679e-04 -5.77195942e+00] [-6.13052245e-03 -5.39372101e-05 9.99981207e-01 -1.00299677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.440281693 meters Centerline goodness [0,1] 0.9987640904344861 Centerline is valid? [True, True] Translation: X:149.68, Y:-5.77, Z:-1.00 [[ 9.95671970e-01 9.27309591e-02 6.18841766e-03 1.49679366e+02] [-9.27295791e-02 9.95691200e-01 -5.10172758e-04 -5.77235094e+00] [-6.20906181e-03 -6.58846490e-05 9.99980721e-01 -1.00314927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.470281693 meters Centerline goodness [0,1] 0.9984354237215483 Centerline is valid? [True, True] Translation: X:149.71, Y:-5.77, Z:-1.01 [[ 9.95580078e-01 9.37774393e-02 5.10880732e-03 1.49710234e+02] [-9.37765124e-02 9.95593184e-01 -4.21218564e-04 -5.77313582e+00] [-5.12579454e-03 -5.97293223e-05 9.99986861e-01 -1.00583104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.500281693 meters Centerline goodness [0,1] 0.9984179551543021 Centerline is valid? [True, True] Translation: X:149.74, Y:-5.77, Z:-1.01 [[ 9.95495584e-01 9.47326443e-02 3.77730871e-03 1.49741723e+02] [-9.47321443e-02 9.95502749e-01 -3.11458708e-04 -5.77438211e+00] [-3.78982651e-03 -4.77767859e-05 9.99992817e-01 -1.00813437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.530281693 meters Centerline goodness [0,1] 0.9983463014395658 Centerline is valid? [True, True] Translation: X:149.77, Y:-5.77, Z:-1.01 [[ 9.95361204e-01 9.61273818e-02 3.94967906e-03 1.49771915e+02] [-9.61268457e-02 9.95369039e-01 -3.25776276e-04 -5.77407608e+00] [-3.96270427e-03 -5.54051230e-05 9.99992147e-01 -1.00820692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.560281693 meters Centerline goodness [0,1] 0.9982590233545647 Centerline is valid? [True, True] Translation: X:149.80, Y:-5.77, Z:-1.01 [[ 9.95270648e-01 9.70281899e-02 4.67633615e-03 1.49802115e+02] [-9.70274484e-02 9.95281631e-01 -3.85707504e-04 -5.77457423e+00] [-4.69169598e-03 -6.98496074e-05 9.99988991e-01 -1.00677738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.590281693 meters Centerline goodness [0,1] 0.9980605956126363 Centerline is valid? [True, True] Translation: X:149.83, Y:-5.77, Z:-1.01 [[ 9.95227229e-01 9.74439174e-02 5.23889256e-03 1.49832200e+02] [-9.74429931e-02 9.95241014e-01 -4.31999602e-04 -5.77463291e+00] [-5.25605648e-03 -8.05556046e-05 9.99986184e-01 -1.00567165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.620281693 meters Centerline goodness [0,1] 0.9980311626725379 Centerline is valid? [True, True] Translation: X:149.86, Y:-5.77, Z:-1.01 [[ 9.95173546e-01 9.79965550e-02 5.12731340e-03 1.49861990e+02] [-9.79956769e-02 9.95186751e-01 -4.22820922e-04 -5.77297478e+00] [-5.14406935e-03 -8.16743515e-05 9.99986766e-01 -1.00661247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.650281693 meters Centerline goodness [0,1] 0.9978049346757002 Centerline is valid? [True, True] Translation: X:149.89, Y:-5.77, Z:-1.01 [[ 9.95205053e-01 9.77115244e-02 4.39996095e-03 1.49892144e+02] [-9.77108753e-02 9.95214777e-01 -3.62756602e-04 -5.77436694e+00] [-4.41435166e-03 -6.89068320e-05 9.99990254e-01 -1.00784448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.680281693 meters Centerline goodness [0,1] 0.9983122362869198 Centerline is valid? [True, True] Translation: X:149.92, Y:-5.78, Z:-1.01 [[ 9.95608928e-01 9.35120383e-02 4.28491459e-03 1.49921779e+02] [-9.35113845e-02 9.95618148e-01 -3.53124145e-04 -5.78120912e+00] [-4.29916009e-03 -4.91147438e-05 9.99990757e-01 -1.00854021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.710281693 meters Centerline goodness [0,1] 0.9986808791302313 Centerline is valid? [True, True] Translation: X:149.95, Y:-5.79, Z:-1.01 [[ 9.95915200e-01 9.01628290e-02 4.85572176e-03 1.49952102e+02] [-9.01619494e-02 9.95927037e-01 -4.00173970e-04 -5.79082437e+00] [-4.87202540e-03 -3.92620005e-05 9.99988131e-01 -1.00728654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.740281693 meters Centerline goodness [0,1] 0.9987254381306426 Centerline is valid? [True, True] Translation: X:149.98, Y:-5.80, Z:-1.01 [[ 9.96213268e-01 8.67576038e-02 5.67826197e-03 1.49983012e+02] [-8.67563448e-02 9.96229450e-01 -4.68127524e-04 -5.79937043e+00] [-5.69746542e-03 -2.62704035e-05 9.99983769e-01 -1.00621172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.770281693 meters Centerline goodness [0,1] 0.9985524523160763 Centerline is valid? [True, True] Translation: X:150.01, Y:-5.81, Z:-1.00 [[ 9.96641029e-01 8.16319685e-02 6.54837931e-03 1.50012995e+02] [-8.16301801e-02 9.96662542e-01 -5.40365727e-04 -5.81061547e+00] [-6.57063548e-03 4.00527207e-06 9.99978413e-01 -1.00380657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.800281693 meters Centerline goodness [0,1] 0.9984956033478123 Centerline is valid? [True, True] Translation: X:150.05, Y:-5.81, Z:-1.00 [[ 9.96716115e-01 8.06954350e-02 6.72558037e-03 1.50045737e+02] [-8.06935196e-02 9.96738806e-01 -5.56122870e-04 -5.81470593e+00] [-6.74852352e-03 1.15858757e-05 9.99977228e-01 -1.00379217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.830281693 meters Centerline goodness [0,1] 0.9985075581519306 Centerline is valid? [True, True] Translation: X:150.08, Y:-5.82, Z:-1.00 [[ 9.96732655e-01 8.04989908e-02 6.62766961e-03 1.50077605e+02] [-8.04971182e-02 9.96754690e-01 -5.49239677e-04 -5.81666166e+00] [-6.65037401e-03 1.39368175e-05 9.99977886e-01 -1.00357425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.860281693 meters Centerline goodness [0,1] 0.9985951468710089 Centerline is valid? [True, True] Translation: X:150.11, Y:-5.81, Z:-1.00 [[ 9.96597051e-01 8.20289585e-02 8.09735719e-03 1.50110018e+02] [-8.20262012e-02 9.96629946e-01 -6.72599512e-04 -5.81415213e+00] [-8.12524130e-03 6.11524030e-06 9.99966990e-01 -1.00172274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.890281693 meters Centerline goodness [0,1] 0.9987706134215101 Centerline is valid? [True, True] Translation: X:150.14, Y:-5.81, Z:-1.00 [[ 9.96526739e-01 8.28632111e-02 8.25510931e-03 1.50141611e+02] [-8.28603639e-02 9.96560931e-01 -6.86909387e-04 -5.81494508e+00] [-8.28363893e-03 5.02210317e-07 9.99965690e-01 -1.00145141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.920281693 meters Centerline goodness [0,1] 0.9986518873576993 Centerline is valid? [True, True] Translation: X:150.17, Y:-5.82, Z:-1.01 [[ 9.96591253e-01 8.22996244e-02 5.71363941e-03 1.50173682e+02] [-8.22982480e-02 9.96607632e-01 -4.76003755e-04 -5.81726912e+00] [-5.73343157e-03 4.15866555e-06 9.99983564e-01 -1.00727960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.950281693 meters Centerline goodness [0,1] 0.9985354982489653 Centerline is valid? [True, True] Translation: X:150.21, Y:-5.82, Z:-1.01 [[ 9.96655174e-01 8.16159997e-02 4.15849426e-03 1.50205022e+02] [-8.16152626e-02 9.96663849e-01 -3.46932155e-04 -5.82119104e+00] [-4.17293611e-03 6.37512685e-06 9.99991293e-01 -1.01037319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.980281693 meters Centerline goodness [0,1] 0.9984487887802805 Centerline is valid? [True, True] Translation: X:150.24, Y:-5.83, Z:-1.01 [[ 9.96725933e-01 8.07857707e-02 3.32783739e-03 1.50236571e+02] [-8.07852928e-02 9.96731488e-01 -2.77992084e-04 -5.82562042e+00] [-3.33941812e-03 8.24160074e-06 9.99994424e-01 -1.01211641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.010281693 meters Centerline goodness [0,1] 0.9984487887802805 Centerline is valid? [True, True] Translation: X:150.27, Y:-5.83, Z:-1.01 [[ 9.96724081e-01 8.08086133e-02 3.32777946e-03 1.50267294e+02] [-8.08081333e-02 9.96729636e-01 -2.78683814e-04 -5.82823947e+00] [-3.33941646e-03 8.85922195e-06 9.99994424e-01 -1.01225477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.040281693 meters Centerline goodness [0,1] 0.998231020322207 Centerline is valid? [True, True] Translation: X:150.30, Y:-5.83, Z:-1.01 [[ 9.96823877e-01 7.95854102e-02 2.88467755e-03 1.50297298e+02] [-7.95850443e-02 9.96828051e-01 -2.41582430e-04 -5.83346606e+00] [-2.89475393e-03 1.12379440e-05 9.99995810e-01 -1.01283880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.070281693 meters Centerline goodness [0,1] 0.9983705772811918 Centerline is valid? [True, True] Translation: X:150.33, Y:-5.84, Z:-1.01 [[ 9.97065272e-01 7.64996284e-02 2.94104384e-03 1.50328476e+02] [-7.64992341e-02 9.97069610e-01 -2.46506551e-04 -5.83976456e+00] [-2.95128310e-03 2.07955197e-05 9.99995645e-01 -1.01280721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.100281693 meters Centerline goodness [0,1] 0.9981028308321964 Centerline is valid? [True, True] Translation: X:150.36, Y:-5.84, Z:-1.01 [[ 9.97114865e-01 7.58538914e-02 2.85172265e-03 1.50359589e+02] [-7.58535185e-02 9.97118943e-01 -2.38876235e-04 -5.84368783e+00] [-2.86162637e-03 2.18738481e-05 9.99995905e-01 -1.01289138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.130281693 meters Centerline goodness [0,1] 0.9978644798940782 Centerline is valid? [True, True] Translation: X:150.39, Y:-5.84, Z:-1.01 [[ 9.97077458e-01 7.63385203e-02 2.99540305e-03 1.50390630e+02] [-7.63381088e-02 9.97081957e-01 -2.51627774e-04 -5.84143826e+00] [-3.00587123e-03 2.22289768e-05 9.99995482e-01 -1.01327070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.160281693 meters Centerline goodness [0,1] 0.9979851674025807 Centerline is valid? [True, True] Translation: X:150.42, Y:-5.84, Z:-1.01 [[ 9.96992004e-01 7.74462978e-02 3.00247873e-03 1.50422241e+02] [-7.74458895e-02 9.96996525e-01 -2.52178837e-04 -5.84109916e+00] [-3.01299118e-03 1.88906482e-05 9.99995461e-01 -1.01331784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.190281693 meters Centerline goodness [0,1] 0.998310561104893 Centerline is valid? [True, True] Translation: X:150.45, Y:-5.84, Z:-1.01 [[ 9.96880053e-01 7.88865152e-02 2.66041710e-03 1.50453642e+02] [-7.88861996e-02 9.96883603e-01 -2.23499906e-04 -5.84160493e+00] [-2.66975732e-03 1.29324038e-05 9.99996436e-01 -1.01428746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.220281693 meters Centerline goodness [0,1] 0.9988628073638587 Centerline is valid? [True, True] Translation: X:150.49, Y:-5.84, Z:-1.01 [[ 9.96727594e-01 8.07900991e-02 2.65758305e-03 1.50485327e+02] [-8.07897909e-02 9.96731137e-01 -2.23323681e-04 -5.84115877e+00] [-2.66693812e-03 7.88729628e-06 9.99996444e-01 -1.01452038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.250281693 meters Centerline goodness [0,1] 0.9987522470127947 Centerline is valid? [True, True] Translation: X:150.52, Y:-5.84, Z:-1.01 [[ 9.96649741e-01 8.17511515e-02 2.45809368e-03 1.50516224e+02] [-8.17508905e-02 9.96652773e-01 -2.06657860e-04 -5.84194989e+00] [-2.46676040e-03 5.01415615e-06 9.99996958e-01 -1.01403441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.280281693 meters Centerline goodness [0,1] 0.9990409207161125 Centerline is valid? [True, True] Translation: X:150.55, Y:-5.84, Z:-1.01 [[ 9.96562463e-01 8.27914998e-02 2.97062286e-03 1.50547104e+02] [-8.27911231e-02 9.96566891e-01 -2.49747424e-04 -5.84133159e+00] [-2.98110135e-03 2.94770523e-06 9.99995557e-01 -1.01413855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.310281693 meters Centerline goodness [0,1] 0.9990972789408072 Centerline is valid? [True, True] Translation: X:150.58, Y:-5.84, Z:-1.01 [[ 9.96486505e-01 8.36787265e-02 3.53794727e-03 1.50576996e+02] [-8.36781978e-02 9.96492785e-01 -2.97454671e-04 -5.84139127e+00] [-3.55042956e-03 3.60513566e-07 9.99993697e-01 -1.01348122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.340281693 meters Centerline goodness [0,1] 0.9992421371731717 Centerline is valid? [True, True] Translation: X:150.61, Y:-5.83, Z:-1.01 [[ 9.96143691e-01 8.76195623e-02 4.53413190e-03 1.50606825e+02] [-8.76187351e-02 9.96154010e-01 -3.81141578e-04 -5.83470057e+00] [-4.55008914e-03 -1.76031244e-05 9.99989648e-01 -1.01184964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.370281693 meters Centerline goodness [0,1] 0.9991234633885623 Centerline is valid? [True, True] Translation: X:150.64, Y:-5.83, Z:-1.01 [[ 9.95967187e-01 8.96022413e-02 4.56079042e-03 1.50638047e+02] [-8.96014253e-02 9.95977629e-01 -3.83330117e-04 -5.83259451e+00] [-4.57679247e-03 -2.68691040e-05 9.99989526e-01 -1.01228948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.400281693 meters Centerline goodness [0,1] 0.999381597185201 Centerline is valid? [True, True] Translation: X:150.67, Y:-5.83, Z:-1.01 [[ 9.95847090e-01 9.09320955e-02 4.46390574e-03 1.50668244e+02] [-9.09313272e-02 9.95857095e-01 -3.75187207e-04 -5.83153080e+00] [-4.47952876e-03 -3.22797849e-05 9.99989966e-01 -1.01273616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.430281693 meters Centerline goodness [0,1] 0.9990475787334914 Centerline is valid? [True, True] Translation: X:150.70, Y:-5.83, Z:-1.01 [[ 9.95793583e-01 9.15127970e-02 4.53297263e-03 1.50697458e+02] [-9.15120113e-02 9.95803900e-01 -3.80883078e-04 -5.83090597e+00] [-4.54880750e-03 -3.55405178e-05 9.99989653e-01 -1.01260664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.460281693 meters Centerline goodness [0,1] 0.9989569585763549 Centerline is valid? [True, True] Translation: X:150.73, Y:-5.84, Z:-1.01 [[ 9.95994188e-01 8.92779306e-02 5.00294956e-03 1.50727522e+02] [-8.92769456e-02 9.96006752e-01 -4.20314308e-04 -5.83779163e+00] [-5.02049634e-03 -2.80174481e-05 9.99987397e-01 -1.01278030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.490281693 meters Centerline goodness [0,1] 0.9992505353319058 Centerline is valid? [True, True] Translation: X:150.76, Y:-5.84, Z:-1.01 [[ 9.96254634e-01 8.63153127e-02 5.13522427e-03 1.50756814e+02] [-8.63142356e-02 9.96267869e-01 -4.31419326e-04 -5.84435561e+00] [-5.15329703e-03 -1.34394538e-05 9.99986722e-01 -1.01258530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.520281693 meters Centerline goodness [0,1] 0.9992925590070101 Centerline is valid? [True, True] Translation: X:150.79, Y:-5.85, Z:-1.01 [[ 9.96538017e-01 8.29591377e-02 5.45548650e-03 1.50787979e+02] [-8.29578719e-02 9.96552950e-01 -4.58291997e-04 -5.85250145e+00] [-5.47470067e-03 4.12984831e-06 9.99985014e-01 -1.01197683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.550281693 meters Centerline goodness [0,1] 0.9983195422347961 Centerline is valid? [True, True] Translation: X:150.82, Y:-5.87, Z:-1.01 [[ 9.97065280e-01 7.63533843e-02 5.56662843e-03 1.50817975e+02] [-7.63519620e-02 9.97080819e-01 -4.67896612e-04 -5.86887745e+00] [-5.58610392e-03 4.15004650e-05 9.99984397e-01 -1.01159566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.580281693 meters Centerline goodness [0,1] 0.9978496455108689 Centerline is valid? [True, True] Translation: X:150.85, Y:-5.88, Z:-1.01 [[ 9.97266996e-01 7.37078508e-02 5.06863003e-03 1.50849801e+02] [-7.37066338e-02 9.97279875e-01 -4.26740351e-04 -5.87821647e+00] [-5.08629684e-03 5.19824103e-05 9.99987063e-01 -1.01212813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.610281693 meters Centerline goodness [0,1] 0.9973815859499734 Centerline is valid? [True, True] Translation: X:150.88, Y:-5.89, Z:-1.01 [[ 9.97449866e-01 7.12490723e-02 4.16351773e-03 1.50880585e+02] [-7.12482274e-02 9.97458554e-01 -3.51089429e-04 -5.88845939e+00] [-4.17795117e-03 5.35508453e-05 9.99991271e-01 -1.01412945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.640281693 meters Centerline goodness [0,1] 0.996960292492135 Centerline is valid? [True, True] Translation: X:150.91, Y:-5.90, Z:-1.02 [[ 9.97694232e-01 6.78421789e-02 1.91277380e-03 1.50910184e+02] [-6.78419938e-02 9.97696065e-01 -1.61546282e-04 -5.90408784e+00] [-1.91932655e-03 3.14074054e-05 9.99998158e-01 -1.01921657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.670281693 meters Centerline goodness [0,1] 0.996999699969997 Centerline is valid? [True, True] Translation: X:150.94, Y:-5.91, Z:-1.02 [[ 9.97772091e-01 6.66990689e-02 1.44513877e-03 1.50941507e+02] [-6.66989626e-02 9.97773137e-01 -1.21652773e-04 -5.91303806e+00] [-1.45003477e-03 2.49924846e-05 9.99998948e-01 -1.01988125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.700281693 meters Centerline goodness [0,1] 0.9968722262141257 Centerline is valid? [True, True] Translation: X:150.97, Y:-5.92, Z:-1.02 [[ 9.97791232e-01 6.64147223e-02 1.31975430e-03 1.50973391e+02] [-6.64146333e-02 9.97792105e-01 -1.11245861e-04 -5.92043880e+00] [-1.32422878e-03 2.33491472e-05 9.99999123e-01 -1.01980271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.730281693 meters Centerline goodness [0,1] 0.9970655642898452 Centerline is valid? [True, True] Translation: X:151.00, Y:-5.93, Z:-1.02 [[ 9.97744817e-01 6.71045870e-02 1.50158151e-03 1.51003616e+02] [-6.71044717e-02 9.97745946e-01 -1.27104132e-04 -5.92880012e+00] [-1.50672614e-03 2.60546550e-05 9.99998865e-01 -1.01917555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.760281693 meters Centerline goodness [0,1] 0.9973800418348159 Centerline is valid? [True, True] Translation: X:151.04, Y:-5.93, Z:-1.02 [[ 9.97643177e-01 6.86094553e-02 9.13401986e-04 1.51035283e+02] [-6.86094135e-02 9.97643595e-01 -7.70037772e-05 -5.93204032e+00] [-9.16532828e-04 1.41543184e-05 9.99999580e-01 -1.01995924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.790281693 meters Centerline goodness [0,1] 0.9983282609627502 Centerline is valid? [True, True] Translation: X:151.07, Y:-5.93, Z:-1.02 [[ 9.97497034e-01 7.07059369e-02 5.80408405e-04 1.51068066e+02] [-7.07059202e-02 9.97497203e-01 -4.91476918e-05 -5.93180148e+00] [-5.82430794e-04 7.98636645e-06 9.99999830e-01 -1.02011485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.820281693 meters Centerline goodness [0,1] 0.9986436942378197 Centerline is valid? [True, True] Translation: X:151.10, Y:-5.93, Z:-1.02 [[ 9.97093057e-01 7.61932489e-02 1.55523532e-04 1.51100254e+02] [-7.61932478e-02 9.97093069e-01 -1.30886807e-05 -5.92839536e+00] [-1.56068705e-04 1.20078964e-06 9.99999988e-01 -1.02170216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.850281693 meters Centerline goodness [0,1] 0.9991549950355958 Centerline is valid? [True, True] Translation: X:151.13, Y:-5.93, Z:-1.02 [[ 9.96864016e-01 7.91311467e-02 6.28461098e-04 1.51132018e+02] [-7.91311287e-02 9.96864214e-01 -5.34318196e-05 -5.92785323e+00] [-6.30718500e-04 3.53342221e-06 9.99999801e-01 -1.02118000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.880281693 meters Centerline goodness [0,1] 0.9996591683708248 Centerline is valid? [True, True] Translation: X:151.16, Y:-5.93, Z:-1.02 [[ 9.96683486e-01 8.13608346e-02 1.56281532e-03 1.51163391e+02] [-8.13607260e-02 9.96684712e-01 -1.33063082e-04 -5.92815120e+00] [-1.56846026e-03 5.46998748e-06 9.99998770e-01 -1.01986350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.910281693 meters Centerline goodness [0,1] 0.999319337204603 Centerline is valid? [True, True] Translation: X:151.19, Y:-5.93, Z:-1.02 [[ 9.96530038e-01 8.32007373e-02 2.34973739e-03 1.51194022e+02] [-8.32004966e-02 9.96532808e-01 -2.00197940e-04 -5.92971314e+00] [-2.35824702e-03 4.00394323e-06 9.99997219e-01 -1.01888682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.940281693 meters Centerline goodness [0,1] 0.9994503287456925 Centerline is valid? [True, True] Translation: X:151.23, Y:-5.93, Z:-1.02 [[ 9.96345153e-01 8.53543282e-02 3.31296723e-03 1.51225538e+02] [-8.53538613e-02 9.96350660e-01 -2.82312225e-04 -5.93060413e+00] [-3.32497365e-03 -1.49412871e-06 9.99994472e-01 -1.01808536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.970281693 meters Centerline goodness [0,1] 0.999343984763517 Centerline is valid? [True, True] Translation: X:151.26, Y:-5.93, Z:-1.02 [[ 9.96250627e-01 8.64417332e-02 3.53772003e-03 1.51257100e+02] [-8.64412076e-02 9.96256908e-01 -3.01489049e-04 -5.93240349e+00] [-3.55053926e-03 -5.44613758e-06 9.99993697e-01 -1.01778398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.000281693 meters Centerline goodness [0,1] 0.9993024435613427 Centerline is valid? [True, True] Translation: X:151.29, Y:-5.93, Z:-1.02 [[ 9.96057545e-01 8.86362793e-02 3.60222702e-03 1.51289441e+02] [-8.86357477e-02 9.96064059e-01 -3.07266461e-04 -5.93212852e+00] [-3.61528382e-03 -1.32310081e-05 9.99993465e-01 -1.01761630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.030281693 meters Centerline goodness [0,1] 0.9993149805197585 Centerline is valid? [True, True] Translation: X:151.32, Y:-5.93, Z:-1.02 [[ 9.95938136e-01 8.99928107e-02 2.91946420e-03 1.51320872e+02] [-8.99924658e-02 9.95942415e-01 -2.49569257e-04 -5.93257579e+00] [-2.93007767e-03 -1.41742418e-05 9.99995707e-01 -1.01861563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.060281693 meters Centerline goodness [0,1] 0.9994877158530598 Centerline is valid? [True, True] Translation: X:151.35, Y:-5.93, Z:-1.02 [[ 9.95802471e-01 9.15007710e-02 2.24653838e-03 1.51352155e+02] [-9.15005705e-02 9.95805005e-01 -1.92071131e-04 -5.93328447e+00] [-2.25468882e-03 -1.42946366e-05 9.99997458e-01 -1.01988820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.090281693 meters Centerline goodness [0,1] 0.9992389971673783 Centerline is valid? [True, True] Translation: X:151.38, Y:-5.93, Z:-1.02 [[ 9.95683447e-01 9.28006746e-02 1.58364007e-03 1.51382947e+02] [-9.28005766e-02 9.95684706e-01 -1.35435326e-04 -5.93398616e+00] [-1.58937468e-03 -1.21119985e-05 9.99998737e-01 -1.02175943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.120281693 meters Centerline goodness [0,1] 0.9990672630530176 Centerline is valid? [True, True] Translation: X:151.41, Y:-5.94, Z:-1.02 [[ 9.95544141e-01 9.42684421e-02 2.30749597e-03 1.51413313e+02] [-9.42682377e-02 9.95546815e-01 -1.97415450e-04 -5.93554207e+00] [-2.31583031e-03 -2.09877835e-05 9.99997318e-01 -1.02017915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.150281693 meters Centerline goodness [0,1] 0.9989048743826497 Centerline is valid? [True, True] Translation: X:151.44, Y:-5.94, Z:-1.02 [[ 9.95488025e-01 9.48320159e-02 3.23743004e-03 1.51443985e+02] [-9.48316167e-02 9.95493289e-01 -2.76945371e-04 -5.93907983e+00] [-3.24910317e-03 -3.13149239e-05 9.99994721e-01 -1.01805935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.180281693 meters Centerline goodness [0,1] 0.9993822295123873 Centerline is valid? [True, True] Translation: X:151.48, Y:-5.94, Z:-1.02 [[ 9.95426969e-01 9.54537673e-02 3.70499943e-03 1.51475002e+02] [-9.54532484e-02 9.95433864e-01 -3.17048280e-04 -5.94107110e+00] [-3.71834535e-03 -3.80558225e-05 9.99993086e-01 -1.01723537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.210281693 meters Centerline goodness [0,1] 0.9985649769974254 Centerline is valid? [True, True] Translation: X:151.51, Y:-5.94, Z:-1.02 [[ 9.95233365e-01 9.74647621e-02 3.34192413e-03 1.51505594e+02] [-9.74643509e-02 9.95238976e-01 -2.86061556e-04 -5.93713118e+00] [-3.35389406e-03 -4.10204612e-05 9.99994375e-01 -1.01866870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.240281693 meters Centerline goodness [0,1] 0.9987231597539954 Centerline is valid? [True, True] Translation: X:151.54, Y:-5.94, Z:-1.02 [[ 9.95096377e-01 9.88739961e-02 2.67072412e-03 1.51536658e+02] [-9.88737386e-02 9.95099961e-01 -2.28608122e-04 -5.94291891e+00] [-2.68024087e-03 -3.65773648e-05 9.99996407e-01 -1.01889694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.270281693 meters Centerline goodness [0,1] 0.9986100121891239 Centerline is valid? [True, True] Translation: X:151.57, Y:-5.94, Z:-1.02 [[ 9.94720925e-01 1.02600052e-01 1.87376076e-03 1.51566798e+02] [-1.02599931e-01 9.94722689e-01 -1.60494311e-04 -5.93817362e+00] [-1.88033907e-03 -3.26006755e-05 9.99998232e-01 -1.01980695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.300281693 meters Centerline goodness [0,1] 0.9985455789878941 Centerline is valid? [True, True] Translation: X:151.60, Y:-5.94, Z:-1.02 [[ 9.94500108e-01 1.04722333e-01 1.66385793e-03 1.51597075e+02] [-1.04722241e-01 9.94501499e-01 -1.42461495e-04 -5.93772901e+00] [-1.66962810e-03 -3.25649590e-05 9.99998606e-01 -1.01991096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.330281693 meters Centerline goodness [0,1] 0.9982643298619931 Centerline is valid? [True, True] Translation: X:151.63, Y:-5.94, Z:-1.02 [[ 9.94330449e-01 1.06328711e-01 1.07888023e-03 1.51626211e+02] [-1.06328674e-01 9.94331034e-01 -9.24620549e-05 -5.93668106e+00] [-1.08259546e-03 -2.27780668e-05 9.99999414e-01 -1.02127359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.360281693 meters Centerline goodness [0,1] 0.998310774691556 Centerline is valid? [True, True] Translation: X:151.65, Y:-5.94, Z:-1.02 [[ 9.94283330e-01 1.06773619e-01 -2.31728492e-04 1.51654745e+02] [-1.06773617e-01 9.94283357e-01 1.96735288e-05 -5.93627366e+00] [ 2.32504397e-04 5.18142750e-06 9.99999973e-01 -1.02334097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.390281693 meters Centerline goodness [0,1] 0.9985437412999251 Centerline is valid? [True, True] Translation: X:151.68, Y:-5.94, Z:-1.02 [[ 9.94560705e-01 1.04158451e-01 -1.48530943e-04 1.51683196e+02] [-1.04158451e-01 9.94560716e-01 1.26445781e-05 -5.94106963e+00] [ 1.49040081e-04 2.89495239e-06 9.99999989e-01 -1.02462584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.420281693 meters Centerline goodness [0,1] 0.9987850885606496 Centerline is valid? [True, True] Translation: X:151.71, Y:-5.95, Z:-1.02 [[ 9.94801017e-01 1.01829270e-01 1.31781646e-03 1.51712714e+02] [-1.01829209e-01 9.94801890e-01 -1.12819577e-04 -5.94709296e+00] [-1.32245464e-03 -2.19591783e-05 9.99999125e-01 -1.02219974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.450281693 meters Centerline goodness [0,1] 0.9985653104925053 Centerline is valid? [True, True] Translation: X:151.74, Y:-5.95, Z:-1.02 [[ 9.95038601e-01 9.94454290e-02 2.96466666e-03 1.51742470e+02] [-9.94451147e-02 9.95043017e-01 -2.53576489e-04 -5.95253996e+00] [-2.97518787e-03 -4.25032205e-05 9.99995573e-01 -1.01926981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.480281693 meters Centerline goodness [0,1] 0.998935717326522 Centerline is valid? [True, True] Translation: X:151.77, Y:-5.96, Z:-1.02 [[ 9.95415992e-01 9.55147336e-02 4.89262453e-03 1.51772484e+02] [-9.55138303e-02 9.95428015e-01 -4.18485121e-04 -5.95981041e+00] [-4.91022702e-03 -5.07465274e-05 9.99987943e-01 -1.01553157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.510281693 meters Centerline goodness [0,1] 0.998683400225096 Centerline is valid? [True, True] Translation: X:151.80, Y:-5.96, Z:-1.02 [[ 9.95531659e-01 9.43241978e-02 4.43411526e-03 1.51803561e+02] [-9.43234439e-02 9.95541533e-01 -3.79312551e-04 -5.96368477e+00] [-4.45012426e-03 -4.06233694e-05 9.99990097e-01 -1.01670190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.540281693 meters Centerline goodness [0,1] 0.9989870212092434 Centerline is valid? [True, True] Translation: X:151.83, Y:-5.97, Z:-1.02 [[ 9.95582665e-01 9.38428392e-02 2.94585986e-03 1.51834837e+02] [-9.38425043e-02 9.95587023e-01 -2.52034124e-04 -5.96605787e+00] [-2.95651144e-03 -2.55260612e-05 9.99995629e-01 -1.01918603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.570281693 meters Centerline goodness [0,1] 0.9991100752198326 Centerline is valid? [True, True] Translation: X:151.86, Y:-5.97, Z:-1.03 [[ 9.95607435e-01 9.36260348e-02 9.09605868e-07 1.51864865e+02] [-9.36260348e-02 9.95607435e-01 -2.73422313e-08 -5.96603185e+00] [-9.08170313e-07 -5.79406623e-08 1.00000000e+00 -1.02634366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.600281693 meters Centerline goodness [0,1] 0.9993798913740752 Centerline is valid? [True, True] Translation: X:151.89, Y:-5.97, Z:-1.03 [[ 9.95623185e-01 9.34560925e-02 -6.57589699e-04 1.51894367e+02] [-9.34560757e-02 9.95623402e-01 5.61751020e-05 -5.96825341e+00] [ 6.59961599e-04 5.52651875e-06 9.99999782e-01 -1.02736617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.630281693 meters Centerline goodness [0,1] 0.9992354902418824 Centerline is valid? [True, True] Translation: X:151.92, Y:-5.97, Z:-1.03 [[ 9.95685873e-01 9.27881324e-02 7.46137475e-05 1.51922569e+02] [-9.27881322e-02 9.95685875e-01 -6.53296150e-06 -5.97076660e+00] [-7.48980358e-05 -4.18492791e-07 9.99999997e-01 -1.02586493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.660281693 meters Centerline goodness [0,1] 0.9991683548352703 Centerline is valid? [True, True] Translation: X:151.95, Y:-5.97, Z:-1.02 [[ 9.95746026e-01 9.21365637e-02 8.40020280e-04 1.51952211e+02] [-9.21365358e-02 9.95746380e-01 -7.19401996e-05 -5.97409222e+00] [-8.43075476e-04 -5.76239077e-06 9.99999645e-01 -1.02418315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.690281693 meters Centerline goodness [0,1] 0.9993360320418085 Centerline is valid? [True, True] Translation: X:151.98, Y:-5.98, Z:-1.02 [[ 9.95860049e-01 9.08846304e-02 1.65715895e-03 1.51982828e+02] [-9.08845204e-02 9.95861428e-01 -1.41724965e-04 -5.97946007e+00] [-1.66318130e-03 -9.47186551e-06 9.99998617e-01 -1.02235196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.720281693 meters Centerline goodness [0,1] 0.999236592658566 Centerline is valid? [True, True] Translation: X:152.01, Y:-5.98, Z:-1.02 [[ 9.95955486e-01 8.98069389e-02 2.71745492e-03 1.52012520e+02] [-8.98066391e-02 9.95959193e-01 -2.32383730e-04 -5.98320040e+00] [-2.72734388e-03 -1.26016424e-05 9.99996281e-01 -1.02140556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.750281693 meters Centerline goodness [0,1] 0.9993819925412893 Centerline is valid? [True, True] Translation: X:152.04, Y:-5.99, Z:-1.02 [[ 9.96153859e-01 8.75651721e-02 3.13524110e-03 1.52042326e+02] [-8.75647618e-02 9.96158793e-01 -2.68156969e-04 -5.99040753e+00] [-3.14667920e-03 -7.41104100e-06 9.99995049e-01 -1.02029602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.780281693 meters Centerline goodness [0,1] 0.9996380745566413 Centerline is valid? [True, True] Translation: X:152.07, Y:-5.99, Z:-1.02 [[ 9.96206552e-01 8.69805248e-02 2.62562738e-03 1.52072807e+02] [-8.69802350e-02 9.96210012e-01 -2.24591364e-04 -5.99386932e+00] [-2.63521136e-03 -4.63829790e-06 9.99996528e-01 -1.02119941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.810281693 meters Centerline goodness [0,1] 0.9994929970213575 Centerline is valid? [True, True] Translation: X:152.10, Y:-6.00, Z:-1.02 [[ 9.96227029e-01 8.67417340e-02 2.75290559e-03 1.52104432e+02] [-8.67414144e-02 9.96230832e-01 -2.35490835e-04 -5.99686109e+00] [-2.76295631e-03 -4.18858929e-06 9.99996183e-01 -1.02176398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.840281693 meters Centerline goodness [0,1] 0.9994739942770577 Centerline is valid? [True, True] Translation: X:152.14, Y:-6.00, Z:-1.02 [[ 9.96211095e-01 8.68998486e-02 3.44534430e-03 1.52135069e+02] [-8.68993491e-02 9.96217053e-01 -2.94699960e-04 -6.00047512e+00] [-3.45792013e-03 -5.81480763e-06 9.99994021e-01 -1.02053414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.870281693 meters Centerline goodness [0,1] 0.999284120099381 Centerline is valid? [True, True] Translation: X:152.17, Y:-6.00, Z:-1.02 [[ 9.96123822e-01 8.78388798e-02 4.65428233e-03 1.52166433e+02] [-8.78379743e-02 9.96134695e-01 -3.99009399e-04 -6.00234010e+00] [-4.67134065e-03 -1.13599644e-05 9.99989089e-01 -1.01841586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.900281693 meters Centerline goodness [0,1] 0.9990330852986926 Centerline is valid? [True, True] Translation: X:152.20, Y:-6.00, Z:-1.02 [[ 9.95932632e-01 8.99308949e-02 5.53416659e-03 1.52197399e+02] [-8.99296454e-02 9.95948007e-01 -4.74717908e-04 -6.00112731e+00] [-5.55443399e-03 -2.48985833e-05 9.99984574e-01 -1.01586435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.930281693 meters Centerline goodness [0,1] 0.9990330852986926 Centerline is valid? [True, True] Translation: X:152.23, Y:-6.00, Z:-1.02 [[ 9.95930700e-01 8.99522849e-02 5.53410873e-03 1.52228116e+02] [-8.99510320e-02 9.95946076e-01 -4.75391541e-04 -6.00381391e+00] [-5.55443642e-03 -2.43417605e-05 9.99984574e-01 -1.01600271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.960281693 meters Centerline goodness [0,1] 0.9990867967804277 Centerline is valid? [True, True] Translation: X:152.26, Y:-6.00, Z:-1.02 [[ 9.95683123e-01 9.26620754e-02 5.37205323e-03 1.52259715e+02] [-9.26609336e-02 9.95697614e-01 -4.61585164e-04 -6.00236564e+00] [-5.39171203e-03 -3.81869109e-05 9.99985464e-01 -1.01589872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.990281693 meters Centerline goodness [0,1] 0.9982809482374414 Centerline is valid? [True, True] Translation: X:152.29, Y:-5.99, Z:-1.02 [[ 9.95121098e-01 9.85539617e-02 4.59532014e-03 1.52290224e+02] [-9.85531886e-02 9.95131706e-01 -3.94931744e-04 -5.99274171e+00] [-4.61187086e-03 -5.98785420e-05 9.99989363e-01 -1.01782190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.020281693 meters Centerline goodness [0,1] 0.9980441640378549 Centerline is valid? [True, True] Translation: X:152.32, Y:-5.99, Z:-1.02 [[ 9.94799112e-01 1.01773671e-01 4.10443897e-03 1.52321352e+02] [-1.01773082e-01 9.94807577e-01 -3.52698913e-04 -5.98884288e+00] [-4.11902245e-03 -6.68568401e-05 9.99991515e-01 -1.01896450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.050281693 meters Centerline goodness [0,1] 0.9978306641995789 Centerline is valid? [True, True] Translation: X:152.35, Y:-5.99, Z:-1.02 [[ 9.94539816e-01 1.04298887e-01 3.50652967e-03 1.52351144e+02] [-1.04298472e-01 9.94545996e-01 -3.01341734e-04 -5.98596987e+00] [-3.51883465e-03 -6.60293344e-05 9.99993807e-01 -1.02023595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.080281693 meters Centerline goodness [0,1] 0.997233134794914 Centerline is valid? [True, True] Translation: X:152.38, Y:-5.97, Z:-1.02 [[ 9.94142957e-01 1.08040576e-01 2.64868720e-03 1.52380996e+02] [-1.08040353e-01 9.94146483e-01 -2.27611522e-04 -5.97369185e+00] [-2.65777435e-03 -5.98867078e-05 9.99996466e-01 -1.02212447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.110281693 meters Centerline goodness [0,1] 0.9974067168177629 Centerline is valid? [True, True] Translation: X:152.41, Y:-5.97, Z:-1.02 [[ 9.94016978e-01 1.09197035e-01 2.50082326e-03 1.52409956e+02] [-1.09196840e-01 9.94020123e-01 -2.14837731e-04 -5.97336904e+00] [-2.50932828e-03 -5.95296441e-05 9.99996850e-01 -1.02241581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.140281693 meters Centerline goodness [0,1] 0.9969182058047493 Centerline is valid? [True, True] Translation: X:152.44, Y:-5.97, Z:-1.02 [[ 9.93936604e-01 1.09918739e-01 2.81029207e-03 1.52438512e+02] [-1.09918496e-01 9.93940575e-01 -2.41303646e-04 -5.97163847e+00] [-2.81978711e-03 -6.90625498e-05 9.99996022e-01 -1.02187529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.170281693 meters Centerline goodness [0,1] 0.9967654644623906 Centerline is valid? [True, True] Translation: X:152.47, Y:-5.97, Z:-1.02 [[ 9.93943302e-01 1.09856881e-01 2.85973545e-03 1.52467665e+02] [-1.09856630e-01 9.93947413e-01 -2.45334429e-04 -5.97274390e+00] [-2.86937833e-03 -7.03123860e-05 9.99995881e-01 -1.02201998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.200281693 meters Centerline goodness [0,1] 0.9973775484307588 Centerline is valid? [True, True] Translation: X:152.50, Y:-5.98, Z:-1.02 [[ 9.94116372e-01 1.08283406e-01 2.70966293e-03 1.52496051e+02] [-1.08283175e-01 9.94120063e-01 -2.32352718e-04 -5.97568143e+00] [-2.71889022e-03 -6.24252625e-05 9.99996302e-01 -1.02240837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.230281693 meters Centerline goodness [0,1] 0.9973310356422327 Centerline is valid? [True, True] Translation: X:152.52, Y:-5.97, Z:-1.02 [[ 9.94250268e-01 1.07043287e-01 2.85294413e-03 1.52524026e+02] [-1.07043026e-01 9.94254359e-01 -2.44513574e-04 -5.97481097e+00] [-2.86272567e-03 -6.22800867e-05 9.99995900e-01 -1.02327552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.260281693 meters Centerline goodness [0,1] 0.997644312393888 Centerline is valid? [True, True] Translation: X:152.55, Y:-5.97, Z:-1.02 [[ 9.94511822e-01 1.04584258e-01 2.89274877e-03 1.52552293e+02] [-1.04583980e-01 9.94516028e-01 -2.47732707e-04 -5.97499355e+00] [-2.90279396e-03 -5.61620725e-05 9.99995785e-01 -1.02343388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.290281693 meters Centerline goodness [0,1] 0.9979173307831262 Centerline is valid? [True, True] Translation: X:152.58, Y:-5.98, Z:-1.02 [[ 9.94678169e-01 1.02997527e-01 2.61714111e-03 1.52580654e+02] [-1.02997294e-01 9.94681611e-01 -2.24030174e-04 -5.97673149e+00] [-2.62629669e-03 -4.67205302e-05 9.99996550e-01 -1.02424441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.320281693 meters Centerline goodness [0,1] 0.9983519966194803 Centerline is valid? [True, True] Translation: X:152.61, Y:-5.98, Z:-1.03 [[ 9.94857574e-01 1.01257836e-01 2.29298620e-03 1.52609739e+02] [-1.01257652e-01 9.94860216e-01 -1.96180258e-04 -5.97993624e+00] [-2.30106554e-03 -3.70109843e-05 9.99997352e-01 -1.02508737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.350281693 meters Centerline goodness [0,1] 0.9986793899633637 Centerline is valid? [True, True] Translation: X:152.64, Y:-5.98, Z:-1.03 [[ 9.95055753e-01 9.92941807e-02 2.17127119e-03 1.52638132e+02] [-9.92940118e-02 9.95058121e-01 -1.85730029e-04 -5.98457309e+00] [-2.17898294e-03 -3.07824934e-05 9.99997626e-01 -1.02545498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.380281693 meters Centerline goodness [0,1] 0.9985483158359807 Centerline is valid? [True, True] Translation: X:152.67, Y:-5.99, Z:-1.03 [[ 9.95371145e-01 9.60799609e-02 2.21920879e-03 1.52666892e+02] [-9.60797768e-02 9.95373619e-01 -1.89668402e-04 -5.98930553e+00] [-2.22716521e-03 -2.44306305e-05 9.99997520e-01 -1.02573266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.410281693 meters Centerline goodness [0,1] 0.9989574024426572 Centerline is valid? [True, True] Translation: X:152.70, Y:-5.99, Z:-1.03 [[ 9.95481850e-01 9.49256205e-02 2.23885686e-03 1.52695210e+02] [-9.49254302e-02 9.95484368e-01 -1.91348031e-04 -5.99323255e+00] [-2.24691083e-03 -2.20409578e-05 9.99997475e-01 -1.02511946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.440281693 meters Centerline goodness [0,1] 0.9991110170388401 Centerline is valid? [True, True] Translation: X:152.72, Y:-5.99, Z:-1.03 [[ 9.95631178e-01 9.33647376e-02 1.25856041e-03 1.52723944e+02] [-9.33646762e-02 9.95631973e-01 -1.07559845e-04 -5.99226489e+00] [-1.26310528e-03 -1.04151498e-05 9.99999202e-01 -1.02801114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.470281693 meters Centerline goodness [0,1] 0.9992583017228591 Centerline is valid? [True, True] Translation: X:152.75, Y:-6.00, Z:-1.03 [[ 9.95730291e-01 9.23086555e-02 5.47588470e-04 1.52752590e+02] [-9.23086436e-02 9.95730441e-01 -4.69132857e-05 -5.99534482e+00] [-5.49581012e-04 -3.83416932e-06 9.99999849e-01 -1.03028996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.500281693 meters Centerline goodness [0,1] 0.9992579557741641 Centerline is valid? [True, True] Translation: X:152.78, Y:-6.00, Z:-1.03 [[ 9.95860725e-01 9.08916774e-02 3.46502309e-04 1.52780471e+02] [-9.08916726e-02 9.95860785e-01 -2.97940141e-05 -5.99823794e+00] [-3.47776089e-04 -1.82348595e-06 9.99999940e-01 -1.03170954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.530281693 meters Centerline goodness [0,1] 0.999533285247571 Centerline is valid? [True, True] Translation: X:152.81, Y:-6.00, Z:-1.03 [[ 9.96033000e-01 8.89784666e-02 1.04686230e-03 1.52809368e+02] [-8.89784218e-02 9.96033550e-01 -8.93748410e-05 -6.00355432e+00] [-1.05066241e-03 -4.12786423e-06 9.99999448e-01 -1.03019134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.560281693 meters Centerline goodness [0,1] 0.9993612400459907 Centerline is valid? [True, True] Translation: X:152.84, Y:-6.01, Z:-1.03 [[ 9.96416968e-01 8.45244006e-02 2.97505387e-03 1.52838613e+02] [-8.45240205e-02 9.96421410e-01 -2.53470453e-04 -6.01328095e+00] [-2.98583181e-03 1.09874553e-06 9.99995542e-01 -1.02536400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.590281693 meters Centerline goodness [0,1] 0.9991097168051551 Centerline is valid? [True, True] Translation: X:152.87, Y:-6.02, Z:-1.03 [[ 9.96591394e-01 8.24449785e-02 2.90158988e-03 1.52867371e+02] [-8.24446084e-02 9.96595618e-01 -2.47127954e-04 -6.02042961e+00] [-2.91208621e-03 7.06515153e-06 9.99995760e-01 -1.02627892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.620281693 meters Centerline goodness [0,1] 0.9988376097812984 Centerline is valid? [True, True] Translation: X:152.90, Y:-6.03, Z:-1.03 [[ 9.96754567e-01 8.04621286e-02 2.48575377e-03 1.52897349e+02] [-8.04618509e-02 9.96757667e-01 -2.11667128e-04 -6.02740169e+00] [-2.49472532e-03 1.09718266e-05 9.99996888e-01 -1.02765923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.650281693 meters Centerline goodness [0,1] 0.9986003308308945 Centerline is valid? [True, True] Translation: X:152.93, Y:-6.03, Z:-1.03 [[ 9.96883665e-01 7.88557379e-02 2.17524171e-03 1.52926003e+02] [-7.88555214e-02 9.96886038e-01 -1.85252698e-04 -6.03492748e+00] [-2.18307633e-03 1.31455696e-05 9.99997617e-01 -1.02887339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.680281693 meters Centerline goodness [0,1] 0.9984246269133332 Centerline is valid? [True, True] Translation: X:152.96, Y:-6.04, Z:-1.03 [[ 9.97053526e-01 7.66669285e-02 2.53931791e-03 1.52955234e+02] [-7.66666265e-02 9.97056759e-01 -2.16199099e-04 -6.04363924e+00] [-2.54841941e-03 2.08811361e-05 9.99996753e-01 -1.02805083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.710281693 meters Centerline goodness [0,1] 0.9981929503805433 Centerline is valid? [True, True] Translation: X:152.98, Y:-6.05, Z:-1.03 [[ 9.97043627e-01 7.67839463e-02 2.86900089e-03 1.52984904e+02] [-7.67835613e-02 9.97047755e-01 -2.44250448e-04 -6.04721794e+00] [-2.87928541e-03 2.32362473e-05 9.99995855e-01 -1.02652328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.740281693 meters Centerline goodness [0,1] 0.9981605987568185 Centerline is valid? [True, True] Translation: X:153.02, Y:-6.05, Z:-1.02 [[ 9.96888384e-01 7.86589929e-02 5.12963694e-03 1.53015500e+02] [-7.86577866e-02 9.96901581e-01 -4.36798340e-04 -6.04914318e+00] [-5.14810129e-03 3.19533036e-05 9.99986748e-01 -1.02206350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.770281693 meters Centerline goodness [0,1] 0.998246651738561 Centerline is valid? [True, True] Translation: X:153.05, Y:-6.05, Z:-1.02 [[ 9.96755820e-01 8.02697645e-02 5.88214155e-03 1.53047008e+02] [-8.02682062e-02 9.96773176e-01 -5.00907157e-04 -6.05077267e+00] [-5.90336862e-03 2.71331737e-05 9.99982575e-01 -1.02075423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.800281693 meters Centerline goodness [0,1] 0.9984859793154921 Centerline is valid? [True, True] Translation: X:153.08, Y:-6.05, Z:-1.02 [[ 9.96635699e-01 8.17760463e-02 5.47370407e-03 1.53077333e+02] [-8.17747190e-02 9.96650730e-01 -4.66230069e-04 -6.05200678e+00] [-5.49349761e-03 1.70509187e-05 9.99984910e-01 -1.02245713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.830281693 meters Centerline goodness [0,1] 0.9987044706382074 Centerline is valid? [True, True] Translation: X:153.11, Y:-6.05, Z:-1.03 [[ 9.96507169e-01 8.33902059e-02 4.41997971e-03 1.53107592e+02] [-8.33893562e-02 9.96516971e-01 -3.76517963e-04 -6.05223666e+00] [-4.43598270e-03 6.62358695e-06 9.99990161e-01 -1.02509858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.860281693 meters Centerline goodness [0,1] 0.9985227053760678 Centerline is valid? [True, True] Translation: X:153.14, Y:-6.05, Z:-1.03 [[ 9.96217495e-01 8.68292125e-02 3.37508620e-03 1.53138391e+02] [-8.68287367e-02 9.96223212e-01 -2.87508238e-04 -6.04969045e+00] [-3.38730332e-03 -6.63373408e-06 9.99994263e-01 -1.02772580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.890281693 meters Centerline goodness [0,1] 0.9983806703172607 Centerline is valid? [True, True] Translation: X:153.17, Y:-6.05, Z:-1.03 [[ 9.96017700e-01 8.90916538e-02 3.37922306e-03 1.53167975e+02] [-8.90911898e-02 9.96023432e-01 -2.87884997e-04 -6.04835986e+00] [-3.39143350e-03 -1.43204504e-05 9.99994249e-01 -1.02677348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.920281693 meters Centerline goodness [0,1] 0.9979241686083457 Centerline is valid? [True, True] Translation: X:153.20, Y:-6.05, Z:-1.03 [[ 9.95766863e-01 9.18538002e-02 3.35164745e-03 1.53198335e+02] [-9.18533596e-02 9.95772504e-01 -2.85461698e-04 -6.04502510e+00] [-3.36369911e-03 -2.36067789e-05 9.99994342e-01 -1.02581843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.950281693 meters Centerline goodness [0,1] 0.9971901804199941 Centerline is valid? [True, True] Translation: X:153.23, Y:-6.03, Z:-1.03 [[ 9.95241843e-01 9.73755865e-02 3.41611814e-03 1.53228203e+02] [-9.73751616e-02 9.95247704e-01 -2.90886201e-04 -6.03330816e+00] [-3.42820895e-03 -4.31429379e-05 9.99994123e-01 -1.02523977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.980281693 meters Centerline goodness [0,1] 0.996667650904796 Centerline is valid? [True, True] Translation: X:153.26, Y:-6.03, Z:-1.03 [[ 9.95110638e-01 9.87041621e-02 3.50819973e-03 1.53257487e+02] [-9.87037226e-02 9.95116820e-01 -2.98616624e-04 -6.03207886e+00] [-3.52054326e-03 -4.91157938e-05 9.99993802e-01 -1.02598084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.010281693 meters Centerline goodness [0,1] 0.9965216277928342 Centerline is valid? [True, True] Translation: X:153.29, Y:-6.03, Z:-1.03 [[ 9.95070394e-01 9.91018866e-02 3.70506204e-03 1.53285076e+02] [-9.91013997e-02 9.95077290e-01 -3.15206487e-04 -6.03115992e+00] [-3.71806065e-03 -5.35241909e-05 9.99993087e-01 -1.02676718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.040281693 meters Centerline goodness [0,1] 0.9968097634086286 Centerline is valid? [True, True] Translation: X:153.31, Y:-6.03, Z:-1.03 [[ 9.95238141e-01 9.73705359e-02 4.47462291e-03 1.53313428e+02] [-9.73698096e-02 9.95248198e-01 -3.80380072e-04 -6.03040007e+00] [-4.49039820e-03 -5.71244259e-05 9.99989916e-01 -1.02548396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.070281693 meters Centerline goodness [0,1] 0.9973606418918919 Centerline is valid? [True, True] Translation: X:153.34, Y:-6.03, Z:-1.03 [[ 9.95353392e-01 9.61887044e-02 4.39977536e-03 1.53341869e+02] [-9.61879917e-02 9.95363115e-01 -3.73780696e-04 -6.03157472e+00] [-4.41532759e-03 -5.11616724e-05 9.99990251e-01 -1.02531919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.100281693 meters Centerline goodness [0,1] 0.9974477419899175 Centerline is valid? [True, True] Translation: X:153.37, Y:-6.03, Z:-1.03 [[ 9.95486493e-01 9.48008793e-02 4.40855620e-03 1.53371046e+02] [-9.48001511e-02 9.95496254e-01 -3.74334735e-04 -6.03337236e+00] [-4.42418844e-03 -4.52866209e-05 9.99990212e-01 -1.02529672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.130281693 meters Centerline goodness [0,1] 0.9974740506463459 Centerline is valid? [True, True] Translation: X:153.40, Y:-6.04, Z:-1.03 [[ 9.95727814e-01 9.22261812e-02 4.52247681e-03 1.53399333e+02] [-9.22253892e-02 9.95738083e-01 -3.83806679e-04 -6.03601295e+00] [-4.53859942e-03 -3.49201993e-05 9.99989700e-01 -1.02673011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.160281693 meters Centerline goodness [0,1] 0.9975586143031527 Centerline is valid? [True, True] Translation: X:153.43, Y:-6.04, Z:-1.03 [[ 9.95835595e-01 9.10846530e-02 3.87997497e-03 1.53426995e+02] [-9.10840619e-02 9.95843153e-01 -3.29145855e-04 -6.03818077e+00] [-3.89382664e-03 -2.56287220e-05 9.99992419e-01 -1.02823227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.190281693 meters Centerline goodness [0,1] 0.9980293034015937 Centerline is valid? [True, True] Translation: X:153.46, Y:-6.04, Z:-1.03 [[ 9.95959131e-01 8.97582602e-02 2.97719861e-03 1.53456201e+02] [-8.97579066e-02 9.95963581e-01 -2.52428636e-04 -6.04081083e+00] [-2.98783894e-03 -1.58185096e-05 9.99995536e-01 -1.03015081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.220281693 meters Centerline goodness [0,1] 0.998598369011213 Centerline is valid? [True, True] Translation: X:153.48, Y:-6.04, Z:-1.04 [[ 9.96195161e-01 8.71478512e-02 6.73020642e-04 1.53484217e+02] [-8.71478324e-02 9.96195388e-01 -5.72441187e-05 -6.04008260e+00] [-6.75448762e-04 -1.62597612e-06 9.99999772e-01 -1.03523902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.250281693 meters Centerline goodness [0,1] 0.9988057409737476 Centerline is valid? [True, True] Translation: X:153.51, Y:-6.04, Z:-1.03 [[ 9.96413020e-01 8.46187647e-02 8.71332679e-04 1.53513216e+02] [-8.46187324e-02 9.96413400e-01 -7.39365772e-05 -6.04469112e+00] [-8.74463980e-04 -5.96986392e-08 9.99999618e-01 -1.03485826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.280281693 meters Centerline goodness [0,1] 0.9986573748481555 Centerline is valid? [True, True] Translation: X:153.54, Y:-6.05, Z:-1.03 [[ 9.96661248e-01 8.16313071e-02 1.63874919e-03 1.53541823e+02] [-8.16311892e-02 9.96662596e-01 -1.38825550e-04 -6.05045199e+00] [-1.64461253e-03 4.58900131e-06 9.99998648e-01 -1.03236318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.310281693 meters Centerline goodness [0,1] 0.9983670872654014 Centerline is valid? [True, True] Translation: X:153.57, Y:-6.07, Z:-1.03 [[ 9.97205662e-01 7.46697298e-02 2.30181203e-03 1.53570021e+02] [-7.46694793e-02 9.97208319e-01 -1.94712087e-04 -6.06532992e+00] [-2.30992520e-03 2.22928906e-05 9.99997332e-01 -1.03192564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.340281693 meters Centerline goodness [0,1] 0.9982863308439291 Centerline is valid? [True, True] Translation: X:153.60, Y:-6.07, Z:-1.03 [[ 9.97522320e-01 7.03445222e-02 9.32630856e-04 1.53600161e+02] [-7.03444792e-02 9.97522756e-01 -7.88951781e-05 -6.07073949e+00] [-9.35870345e-04 1.30942693e-05 9.99999562e-01 -1.03389802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.370281693 meters Centerline goodness [0,1] 0.9972332516684971 Centerline is valid? [True, True] Translation: X:153.63, Y:-6.09, Z:-1.04 [[ 9.97831551e-01 6.58162306e-02 -6.47710453e-04 1.53629478e+02] [-6.58162089e-02 9.97831761e-01 5.48516266e-05 -6.08670036e+00] [ 6.49916190e-04 -1.21028372e-05 9.99999789e-01 -1.03916900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.400281693 meters Centerline goodness [0,1] 0.9972586437724462 Centerline is valid? [True, True] Translation: X:153.66, Y:-6.09, Z:-1.04 [[ 9.98099344e-01 6.16002643e-02 -1.76252498e-03 1.53659649e+02] [-6.16000970e-02 9.98100900e-01 1.49119764e-04 -6.09296328e+00] [ 1.76836358e-03 -4.02646296e-05 9.99998436e-01 -1.04069848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.430281693 meters Centerline goodness [0,1] 0.9964822719375389 Centerline is valid? [True, True] Translation: X:153.69, Y:-6.11, Z:-1.04 [[ 9.98457830e-01 5.55031615e-02 -1.16675178e-03 1.53688969e+02] [-5.55030840e-02 9.98458511e-01 9.87283638e-05 -6.10910374e+00] [ 1.17043298e-03 -3.38177859e-05 9.99999314e-01 -1.03887655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.460281693 meters Centerline goodness [0,1] 0.995436116241058 Centerline is valid? [True, True] Translation: X:153.72, Y:-6.12, Z:-1.04 [[ 9.98513584e-01 5.44999496e-02 -6.14917024e-04 1.53717469e+02] [-5.44999279e-02 9.98513773e-01 5.19702885e-05 -6.11764681e+00] [ 6.16835496e-04 -1.83801056e-05 9.99999810e-01 -1.03742660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.490281693 meters Centerline goodness [0,1] 0.9958843348829275 Centerline is valid? [True, True] Translation: X:153.75, Y:-6.12, Z:-1.04 [[ 9.98511582e-01 5.45398890e-02 -1.45907678e-04 1.53747856e+02] [-5.45398878e-02 9.98511593e-01 1.23433737e-05 -6.11948889e+00] [ 1.46363714e-04 -4.36721325e-06 9.99999989e-01 -1.03564182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.520281693 meters Centerline goodness [0,1] 0.9957640513371688 Centerline is valid? [True, True] Translation: X:153.78, Y:-6.12, Z:-1.04 [[ 9.98456378e-01 5.55410865e-02 -2.20206951e-04 1.53778290e+02] [-5.55410838e-02 9.98456402e-01 1.86807034e-05 -6.12376009e+00] [ 2.20904587e-04 -6.42133470e-06 9.99999976e-01 -1.03532238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.550281693 meters Centerline goodness [0,1] 0.9974514176489327 Centerline is valid? [True, True] Translation: X:153.81, Y:-6.12, Z:-1.03 [[ 9.98255323e-01 5.90439671e-02 3.47573664e-04 1.53808793e+02] [-5.90439605e-02 9.98255383e-01 -2.94075817e-05 -6.12465694e+00] [-3.48703622e-04 8.83414929e-06 9.99999939e-01 -1.03358710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.580281693 meters Centerline goodness [0,1] 0.9976976208749041 Centerline is valid? [True, True] Translation: X:153.84, Y:-6.12, Z:-1.03 [[ 9.98135568e-01 6.10241723e-02 1.19963936e-03 1.53839903e+02] [-6.10240944e-02 9.98136288e-01 -1.01460823e-04 -6.12418130e+00] [-1.20359514e-03 2.80647504e-05 9.99999275e-01 -1.03168694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.610281693 meters Centerline goodness [0,1] 0.9972112825971261 Centerline is valid? [True, True] Translation: X:153.87, Y:-6.13, Z:-1.03 [[ 9.98006453e-01 6.30608764e-02 2.53896164e-03 1.53869485e+02] [-6.30605339e-02 9.98009681e-01 -2.14824248e-04 -6.13119142e+00] [-2.54745530e-03 5.42877093e-05 9.99996754e-01 -1.02972905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.640281693 meters Centerline goodness [0,1] 0.9976884741808928 Centerline is valid? [True, True] Translation: X:153.90, Y:-6.13, Z:-1.03 [[ 9.97791003e-01 6.62866322e-02 4.38145771e-03 1.53900540e+02] [-6.62856427e-02 9.97800619e-01 -3.70808133e-04 -6.13211972e+00] [-4.39640084e-03 7.95612786e-05 9.99990333e-01 -1.02612498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.670281693 meters Centerline goodness [0,1] 0.9977178598596906 Centerline is valid? [True, True] Translation: X:153.93, Y:-6.14, Z:-1.03 [[ 9.97705228e-01 6.75685401e-02 4.33244932e-03 1.53931422e+02] [-6.75675844e-02 9.97714632e-01 -3.66747684e-04 -6.13921059e+00] [-4.34732868e-03 7.31729464e-05 9.99990548e-01 -1.02659185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.700281693 meters Centerline goodness [0,1] 0.9983589787306594 Centerline is valid? [True, True] Translation: X:153.96, Y:-6.14, Z:-1.03 [[ 9.97556689e-01 6.97284145e-02 4.31278699e-03 1.53963469e+02] [-6.97274860e-02 9.97566010e-01 -3.65455805e-04 -6.14408533e+00] [-4.32777236e-03 6.38430882e-05 9.99990633e-01 -1.02613708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.730281693 meters Centerline goodness [0,1] 0.9981285753780065 Centerline is valid? [True, True] Translation: X:154.00, Y:-6.15, Z:-1.03 [[ 9.97449633e-01 7.11921766e-02 5.08948357e-03 1.53995661e+02] [-7.11908979e-02 9.97462615e-01 -4.32193740e-04 -6.14716377e+00] [-5.10733841e-03 6.87665817e-05 9.99986955e-01 -1.02525347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.760281693 meters Centerline goodness [0,1] 0.9981735935608554 Centerline is valid? [True, True] Translation: X:154.03, Y:-6.15, Z:-1.02 [[ 9.97353237e-01 7.25320152e-02 5.06238346e-03 1.54027165e+02] [-7.25307632e-02 9.97366083e-01 -4.30704437e-04 -6.15153852e+00] [-5.08028942e-03 6.23859283e-05 9.99987093e-01 -1.02489019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.790281693 meters Centerline goodness [0,1] 0.9984244256605702 Centerline is valid? [True, True] Translation: X:154.06, Y:-6.16, Z:-1.03 [[ 9.97220386e-01 7.44411349e-02 3.16524318e-03 1.54059198e+02] [-7.44406543e-02 9.97225409e-01 -2.69537052e-04 -6.15783709e+00] [-3.17652557e-03 3.31650700e-05 9.99994954e-01 -1.02919173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.820281693 meters Centerline goodness [0,1] 0.9984244256605702 Centerline is valid? [True, True] Translation: X:154.09, Y:-6.16, Z:-1.03 [[ 9.97218650e-01 7.44643976e-02 3.16518373e-03 1.54089918e+02] [-7.44639149e-02 9.97223672e-01 -2.70233353e-04 -6.16050506e+00] [-3.17651890e-03 3.37897676e-05 9.99994954e-01 -1.02933010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.850281693 meters Centerline goodness [0,1] 0.9978868179704999 Centerline is valid? [True, True] Translation: X:154.12, Y:-6.17, Z:-1.03 [[ 9.97147830e-01 7.54315054e-02 2.50879571e-03 1.54120969e+02] [-7.54312058e-02 9.97150985e-01 -2.13978151e-04 -6.16612942e+00] [-2.51778881e-03 2.41263635e-05 9.99996830e-01 -1.03083405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.880281693 meters Centerline goodness [0,1] 0.9987330813572922 Centerline is valid? [True, True] Translation: X:154.15, Y:-6.17, Z:-1.03 [[ 9.97109835e-01 7.59418858e-02 2.19240252e-03 1.54151264e+02] [-7.59416569e-02 9.97112245e-01 -1.87560822e-04 -6.17110238e+00] [-2.20031512e-03 2.05240606e-05 9.99997579e-01 -1.03184180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.910281693 meters Centerline goodness [0,1] 0.9981614150763963 Centerline is valid? [True, True] Translation: X:154.18, Y:-6.18, Z:-1.03 [[ 9.97063910e-01 7.65331718e-02 2.49640926e-03 1.54181654e+02] [-7.65328769e-02 9.97067035e-01 -2.13603935e-04 -6.17603670e+00] [-2.50543517e-03 2.19193917e-05 9.99996861e-01 -1.03144970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.940281693 meters Centerline goodness [0,1] 0.9982412491420728 Centerline is valid? [True, True] Translation: X:154.21, Y:-6.18, Z:-1.03 [[ 9.96959238e-01 7.78740228e-02 2.81341074e-03 1.54212854e+02] [-7.78736535e-02 9.96963207e-01 -2.40744730e-04 -6.17806349e+00] [-2.82361476e-03 2.09221093e-05 9.99996013e-01 -1.03118099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.970281693 meters Centerline goodness [0,1] 0.9985431485131545 Centerline is valid? [True, True] Translation: X:154.24, Y:-6.18, Z:-1.03 [[ 9.96902904e-01 7.86132504e-02 2.13456804e-03 1.54243603e+02] [-7.86130401e-02 9.96905189e-01 -1.82378878e-04 -6.18220458e+00] [-2.14229935e-03 1.40091502e-05 9.99997705e-01 -1.03268723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.000281693 meters Centerline goodness [0,1] 0.9985999745449917 Centerline is valid? [True, True] Translation: X:154.27, Y:-6.19, Z:-1.03 [[ 9.96879320e-01 7.89292758e-02 1.33797545e-03 1.54274623e+02] [-7.89291930e-02 9.96880218e-01 -1.14673572e-04 -6.18554232e+00] [-1.34285236e-03 8.71039024e-06 9.99999098e-01 -1.03401264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.030281693 meters Centerline goodness [0,1] 0.99871512088571 Centerline is valid? [True, True] Translation: X:154.31, Y:-6.19, Z:-1.03 [[ 9.96835159e-01 7.94866934e-02 1.23775696e-03 1.54305218e+02] [-7.94866229e-02 9.96835927e-01 -1.06104992e-04 -6.18980936e+00] [-1.24227454e-03 7.38406627e-06 9.99999228e-01 -1.03492553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.060281693 meters Centerline goodness [0,1] 0.998601457874216 Centerline is valid? [True, True] Translation: X:154.34, Y:-6.19, Z:-1.04 [[ 9.96821642e-01 7.96600463e-02 9.43720532e-04 1.54335395e+02] [-7.96600053e-02 9.96822089e-01 -8.09374290e-05 -6.19355780e+00] [-9.47168951e-04 5.50339833e-06 9.99999551e-01 -1.03577118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.090281693 meters Centerline goodness [0,1] 0.9984735737454684 Centerline is valid? [True, True] Translation: X:154.37, Y:-6.20, Z:-1.04 [[ 9.96850067e-01 7.93073056e-02 5.43809041e-04 1.54366730e+02] [-7.93072920e-02 9.96850215e-01 -4.65790939e-05 -6.19902968e+00] [-5.45790221e-04 3.30435054e-06 9.99999851e-01 -1.03724253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.120281693 meters Centerline goodness [0,1] 0.9987873372478938 Centerline is valid? [True, True] Translation: X:154.40, Y:-6.20, Z:-1.04 [[ 9.96876549e-01 7.89747779e-02 3.60618521e-04 1.54398032e+02] [-7.89747719e-02 9.96876614e-01 -3.08585572e-05 -6.20242390e+00] [-3.61929218e-04 2.28240665e-06 9.99999935e-01 -1.03720012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.150281693 meters Centerline goodness [0,1] 0.9984191074366041 Centerline is valid? [True, True] Translation: X:154.43, Y:-6.21, Z:-1.04 [[ 9.96876701e-01 7.89688855e-02 8.70629095e-04 1.54428885e+02] [-7.89688504e-02 9.96877081e-01 -7.46717194e-05 -6.20531216e+00] [-8.73806934e-04 5.68591855e-06 9.99999618e-01 -1.03614892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.180281693 meters Centerline goodness [0,1] 0.998617491917645 Centerline is valid? [True, True] Translation: X:154.46, Y:-6.21, Z:-1.04 [[ 9.96753398e-01 8.05130461e-02 5.60162642e-04 1.54459367e+02] [-8.05130319e-02 9.96753555e-01 -4.78702532e-05 -6.20599345e+00] [-5.62198285e-04 2.61444481e-06 9.99999842e-01 -1.03623589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.210281693 meters Centerline goodness [0,1] 0.9983469655009554 Centerline is valid? [True, True] Translation: X:154.49, Y:-6.21, Z:-1.04 [[ 9.96659626e-01 8.16675425e-02 -4.27833292e-05 1.54490874e+02] [-8.16675424e-02 9.96659627e-01 3.78435686e-06 -6.20595150e+00] [ 4.29494760e-05 -2.77706348e-07 9.99999999e-01 -1.03681211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.240281693 meters Centerline goodness [0,1] 0.9985948984003459 Centerline is valid? [True, True] Translation: X:154.52, Y:-6.21, Z:-1.04 [[ 9.96598117e-01 8.24139265e-02 -3.71211183e-04 1.54521352e+02] [-8.24139203e-02 9.96598186e-01 3.19721028e-05 -6.20591570e+00] [ 3.72583339e-04 -1.27036861e-06 9.99999931e-01 -1.03823956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.270281693 meters Centerline goodness [0,1] 0.9988396869264361 Centerline is valid? [True, True] Translation: X:154.55, Y:-6.21, Z:-1.04 [[ 9.96582610e-01 8.25991454e-02 -6.94744912e-04 1.54551598e+02] [-8.25991237e-02 9.96582852e-01 6.00185385e-05 -6.20646796e+00] [ 6.97328346e-04 -2.42811087e-06 9.99999757e-01 -1.03992674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.300281693 meters Centerline goodness [0,1] 0.9989320574980243 Centerline is valid? [True, True] Translation: X:154.58, Y:-6.21, Z:-1.04 [[ 9.96698673e-01 8.11893701e-02 -2.03573510e-04 1.54581409e+02] [-8.11893682e-02 9.96698694e-01 1.75717314e-05 -6.20843660e+00] [ 2.04328089e-04 -9.85716661e-07 9.99999979e-01 -1.03959816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.330281693 meters Centerline goodness [0,1] 0.9988212511576997 Centerline is valid? [True, True] Translation: X:154.61, Y:-6.21, Z:-1.04 [[ 9.96810810e-01 7.98009359e-02 1.40200309e-04 1.54611345e+02] [-7.98009350e-02 9.96810820e-01 -1.20646629e-05 -6.21240799e+00] [-1.40715957e-04 8.38070595e-07 9.99999990e-01 -1.03838198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.360281693 meters Centerline goodness [0,1] 0.9984155487482835 Centerline is valid? [True, True] Translation: X:154.64, Y:-6.22, Z:-1.04 [[ 9.96929178e-01 7.83012191e-02 1.06448372e-03 1.54642755e+02] [-7.83011660e-02 9.96929746e-01 -9.15238389e-05 -6.21695629e+00] [-1.06838192e-03 7.89246890e-06 9.99999429e-01 -1.03645055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.390281693 meters Centerline goodness [0,1] 0.9984213670108371 Centerline is valid? [True, True] Translation: X:154.67, Y:-6.22, Z:-1.03 [[ 9.97186242e-01 7.49419312e-02 1.81828120e-03 1.54673769e+02] [-7.49417705e-02 9.97187899e-01 -1.56447533e-04 -6.22197744e+00] [-1.82489249e-03 1.97421157e-05 9.99998335e-01 -1.03498790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.420281693 meters Centerline goodness [0,1] 0.9985507864114914 Centerline is valid? [True, True] Translation: X:154.70, Y:-6.23, Z:-1.04 [[ 9.97270885e-01 7.38236767e-02 9.20218038e-04 1.54704433e+02] [-7.38236356e-02 9.97271309e-01 -7.86885670e-05 -6.22756779e+00] [-9.23516128e-04 1.05399757e-05 9.99999574e-01 -1.03722144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.450281693 meters Centerline goodness [0,1] 0.9987961476725522 Centerline is valid? [True, True] Translation: X:154.73, Y:-6.23, Z:-1.04 [[ 9.97324591e-01 7.31000243e-02 -2.17705422e-04 1.54734992e+02] [-7.31000218e-02 9.97324614e-01 1.94619077e-05 -6.23210764e+00] [ 2.18545642e-04 -3.49556809e-06 9.99999976e-01 -1.03925113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.480281693 meters Centerline goodness [0,1] 0.9987469736227329 Centerline is valid? [True, True] Translation: X:154.77, Y:-6.23, Z:-1.04 [[ 9.97275655e-01 7.37645129e-02 -2.54679594e-04 1.54766655e+02] [-7.37645096e-02 9.97275687e-01 2.21141654e-05 -6.23261207e+00] [ 2.55617008e-04 -3.26760338e-06 9.99999967e-01 -1.03862062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.510281693 meters Centerline goodness [0,1] 0.9987129172469089 Centerline is valid? [True, True] Translation: X:154.80, Y:-6.23, Z:-1.04 [[ 9.97140683e-01 7.55650926e-02 6.12012261e-04 1.54797067e+02] [-7.55650745e-02 9.97140871e-01 -5.26470512e-05 -6.23261105e+00] [-6.14240718e-04 6.24976448e-06 9.99999811e-01 -1.03625234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.540281693 meters Centerline goodness [0,1] 0.9983066469466058 Centerline is valid? [True, True] Translation: X:154.83, Y:-6.23, Z:-1.03 [[ 9.96619168e-01 8.21167775e-02 2.65869860e-03 1.54828097e+02] [-8.21164563e-02 9.96622714e-01 -2.29937600e-04 -6.22634023e+00] [-2.66860115e-03 1.08373122e-05 9.99996439e-01 -1.03184080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.570281693 meters Centerline goodness [0,1] 0.9984524718053083 Centerline is valid? [True, True] Translation: X:154.86, Y:-6.22, Z:-1.03 [[ 9.96299392e-01 8.58909689e-02 3.20344973e-03 1.54857930e+02] [-8.58905220e-02 9.96304543e-01 -2.77065598e-04 -6.22451814e+00] [-3.21540895e-03 8.94317464e-07 9.99994831e-01 -1.03161783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.600281693 meters Centerline goodness [0,1] 0.9982031117875867 Centerline is valid? [True, True] Translation: X:154.89, Y:-6.22, Z:-1.03 [[ 9.96006263e-01 8.92311841e-02 3.05292772e-03 1.54888959e+02] [-8.92307941e-02 9.96010942e-01 -2.63995894e-04 -6.22181969e+00] [-3.06430608e-03 -9.47360096e-06 9.99995305e-01 -1.03152919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.630281693 meters Centerline goodness [0,1] 0.9979836142123361 Centerline is valid? [True, True] Translation: X:154.92, Y:-6.22, Z:-1.03 [[ 9.95773485e-01 9.17949274e-02 2.97627181e-03 1.54919565e+02] [-9.17945682e-02 9.95777933e-01 -2.57367226e-04 -6.22031675e+00] [-2.98733080e-03 -1.69261265e-05 9.99995538e-01 -1.03260433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.660281693 meters Centerline goodness [0,1] 0.9974491947044439 Centerline is valid? [True, True] Translation: X:154.95, Y:-6.22, Z:-1.03 [[ 9.95501947e-01 9.47001466e-02 2.78493086e-03 1.54948750e+02] [-9.46998434e-02 9.95505842e-01 -2.40840545e-04 -6.22058551e+00] [-2.79522258e-03 -2.39752848e-05 9.99996093e-01 -1.03458149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.690281693 meters Centerline goodness [0,1] 0.9971326012616555 Centerline is valid? [True, True] Translation: X:154.98, Y:-6.23, Z:-1.03 [[ 9.95411301e-01 9.56459312e-02 2.86308742e-03 1.54978187e+02] [-9.56456147e-02 9.95415418e-01 -2.47583781e-04 -6.22515594e+00] [-2.87364174e-03 -2.73940626e-05 9.99995871e-01 -1.03459830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.720281693 meters Centerline goodness [0,1] 0.9972277142611536 Centerline is valid? [True, True] Translation: X:155.01, Y:-6.23, Z:-1.04 [[ 9.95327523e-01 9.65391271e-02 1.82194328e-03 1.55008395e+02] [-9.65390005e-02 9.95329190e-01 -1.57486839e-04 -6.22855051e+00] [-1.82863698e-03 -1.91375987e-05 9.99998328e-01 -1.03618603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.750281693 meters Centerline goodness [0,1] 0.9974758278429023 Centerline is valid? [True, True] Translation: X:155.04, Y:-6.23, Z:-1.04 [[ 9.95000985e-01 9.98603881e-02 -9.71015284e-04 1.55038278e+02] [-9.98603538e-02 9.95001459e-01 8.38712017e-05 -6.22596942e+00] [ 9.74537034e-04 1.35140015e-05 9.99999525e-01 -1.04221121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.780281693 meters Centerline goodness [0,1] 0.997272707902755 Centerline is valid? [True, True] Translation: X:155.07, Y:-6.23, Z:-1.04 [[ 9.94775046e-01 1.02082930e-01 -1.29713544e-03 1.55066924e+02] [-1.02082871e-01 9.94775892e-01 1.11915536e-04 -6.22537161e+00] [ 1.30178373e-03 2.10845275e-05 9.99999152e-01 -1.04381081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.810281693 meters Centerline goodness [0,1] 0.9968799418728896 Centerline is valid? [True, True] Translation: X:155.10, Y:-6.23, Z:-1.04 [[ 9.94520220e-01 1.04538104e-01 -1.14757367e-03 1.55096435e+02] [-1.04538060e-01 9.94520882e-01 9.90185321e-05 -6.22529206e+00] [ 1.15163719e-03 2.14891927e-05 9.99999337e-01 -1.04221477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.840281693 meters Centerline goodness [0,1] 0.996124196090123 Centerline is valid? [True, True] Translation: X:155.13, Y:-6.22, Z:-1.04 [[ 9.94211775e-01 1.07436585e-01 -5.71202277e-04 1.55126105e+02] [-1.07436575e-01 9.94211939e-01 4.92241370e-05 -6.22397972e+00] [ 5.73184597e-04 1.24287994e-05 9.99999836e-01 -1.04085307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.870281693 meters Centerline goodness [0,1] 0.9938646399456522 Centerline is valid? [True, True] Translation: X:155.16, Y:-6.21, Z:-1.04 [[ 9.93542896e-01 1.13457097e-01 -2.46332816e-05 1.55156249e+02] [-1.13457097e-01 9.93542896e-01 2.02909199e-06 -6.21169454e+00] [ 2.47044369e-05 7.78830696e-07 1.00000000e+00 -1.04053848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.900281693 meters Centerline goodness [0,1] 0.9937263408617243 Centerline is valid? [True, True] Translation: X:155.19, Y:-6.21, Z:-1.04 [[ 9.93202400e-01 1.16398871e-01 5.43782240e-04 1.55185457e+02] [-1.16398863e-01 9.93202549e-01 -4.70746073e-05 -6.21292399e+00] [-5.45565338e-04 -1.65410215e-05 9.99999851e-01 -1.04003966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.930281693 meters Centerline goodness [0,1] 0.9933006466883638 Centerline is valid? [True, True] Translation: X:155.21, Y:-6.21, Z:-1.04 [[ 9.92963698e-01 1.18414367e-01 1.06370014e-03 1.55214670e+02] [-1.18414336e-01 9.92964268e-01 -9.19071983e-05 -6.21247086e+00] [-1.06709936e-03 -3.46968338e-05 9.99999430e-01 -1.03977582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.960281693 meters Centerline goodness [0,1] 0.9926080565792557 Centerline is valid? [True, True] Translation: X:155.24, Y:-6.21, Z:-1.04 [[ 9.92864792e-01 1.19236013e-01 1.50942994e-03 1.55242597e+02] [-1.19235953e-01 9.92865938e-01 -1.30371415e-04 -6.21124759e+00] [-1.51420654e-03 -5.05371288e-05 9.99998852e-01 -1.03938017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.990281693 meters Centerline goodness [0,1] 0.9925794067814785 Centerline is valid? [True, True] Translation: X:155.27, Y:-6.21, Z:-1.04 [[ 9.92970641e-01 1.18345368e-01 1.91855596e-03 1.55271283e+02] [-1.18345269e-01 9.92972492e-01 -1.65502343e-04 -6.21371143e+00] [-1.92465972e-03 -6.27130528e-05 9.99998146e-01 -1.03883487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.020281693 meters Centerline goodness [0,1] 0.9940375507442489 Centerline is valid? [True, True] Translation: X:155.30, Y:-6.22, Z:-1.04 [[ 9.93280047e-01 1.15721016e-01 1.84254033e-03 1.55300096e+02] [-1.15720920e-01 9.93281754e-01 -1.58839677e-04 -6.21505020e+00] [-1.84854278e-03 -5.54481809e-05 9.99998290e-01 -1.03862025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.050281693 meters Centerline goodness [0,1] 0.9940737303863675 Centerline is valid? [True, True] Translation: X:155.33, Y:-6.22, Z:-1.04 [[ 9.93388827e-01 1.14783549e-01 1.83706682e-03 1.55329049e+02] [-1.14783453e-01 9.93390524e-01 -1.58334109e-04 -6.21753521e+00] [-1.84309892e-03 -5.35775376e-05 9.99998300e-01 -1.03797947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.080281693 meters Centerline goodness [0,1] 0.9941342786006667 Centerline is valid? [True, True] Translation: X:155.36, Y:-6.22, Z:-1.04 [[ 9.93469587e-01 1.14077061e-01 2.14562909e-03 1.55357874e+02] [-1.14076928e-01 9.93471902e-01 -1.84803205e-04 -6.22209982e+00] [-2.15270402e-03 -6.11704103e-05 9.99997681e-01 -1.03721250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.110281693 meters Centerline goodness [0,1] 0.9952435312024354 Centerline is valid? [True, True] Translation: X:155.39, Y:-6.22, Z:-1.04 [[ 9.93723283e-01 1.11832979e-01 2.72429754e-03 1.55386635e+02] [-1.11832756e-01 9.93727015e-01 -2.34465495e-04 -6.22358320e+00] [-2.73342903e-03 -7.16718809e-05 9.99996262e-01 -1.03649581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.140281693 meters Centerline goodness [0,1] 0.9957237681899412 Centerline is valid? [True, True] Translation: X:155.42, Y:-6.23, Z:-1.04 [[ 9.93850809e-01 1.10691818e-01 2.80910857e-03 1.55415708e+02] [-1.10691577e-01 9.93854776e-01 -2.41614972e-04 -6.22689633e+00] [-2.81859077e-03 -7.08154217e-05 9.99996025e-01 -1.03628540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.170281693 meters Centerline goodness [0,1] 0.99550183337597 Centerline is valid? [True, True] Translation: X:155.44, Y:-6.22, Z:-1.04 [[ 9.93930805e-01 1.09973739e-01 2.70763721e-03 1.55443521e+02] [-1.09973512e-01 9.93934491e-01 -2.32838778e-04 -6.22422887e+00] [-2.71682016e-03 -6.63427397e-05 9.99996307e-01 -1.03692509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.200281693 meters Centerline goodness [0,1] 0.996109693877551 Centerline is valid? [True, True] Translation: X:155.47, Y:-6.22, Z:-1.04 [[ 9.94101750e-01 1.08442523e-01 1.38943264e-03 1.55472162e+02] [-1.08442462e-01 9.94102720e-01 -1.19486680e-04 -6.22148351e+00] [-1.39419620e-03 -3.18915778e-05 9.99999028e-01 -1.03907497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.230281693 meters Centerline goodness [0,1] 0.9968333979578649 Centerline is valid? [True, True] Translation: X:155.50, Y:-6.23, Z:-1.04 [[ 9.94243575e-01 1.07140383e-01 8.07957793e-04 1.55500479e+02] [-1.07140362e-01 9.94243903e-01 -6.95433432e-05 -6.23162976e+00] [-8.10758010e-04 -1.74218684e-05 9.99999671e-01 -1.03897807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.260281693 meters Centerline goodness [0,1] 0.996751385438563 Centerline is valid? [True, True] Translation: X:155.53, Y:-6.23, Z:-1.04 [[ 9.94389587e-01 1.05779695e-01 -7.39475953e-05 1.55528286e+02] [-1.05779695e-01 9.94389590e-01 6.05608138e-06 -6.22831425e+00] [ 7.41733294e-05 1.80004981e-06 9.99999997e-01 -1.04214377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.290281693 meters Centerline goodness [0,1] 0.9972708471034732 Centerline is valid? [True, True] Translation: X:155.56, Y:-6.24, Z:-1.04 [[ 9.94810215e-01 1.01742543e-01 1.04444656e-03 1.55557466e+02] [-1.01742505e-01 9.94810763e-01 -8.95926775e-05 -6.24075114e+00] [-1.04814207e-03 -1.71368986e-05 9.99999451e-01 -1.03957235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.320281693 meters Centerline goodness [0,1] 0.9971589713371775 Centerline is valid? [True, True] Translation: X:155.59, Y:-6.24, Z:-1.04 [[ 9.95081857e-01 9.90343213e-02 2.07384991e-03 1.55585749e+02] [-9.90341657e-02 9.95084018e-01 -1.77830784e-04 -6.24347071e+00] [-2.08126625e-03 -2.84258092e-05 9.99997834e-01 -1.03858200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.350281693 meters Centerline goodness [0,1] 0.9979330037504262 Centerline is valid? [True, True] Translation: X:155.61, Y:-6.26, Z:-1.04 [[ 9.95688265e-01 9.27312209e-02 2.40813968e-03 1.55614664e+02] [-9.27309929e-02 9.95691177e-01 -2.06407673e-04 -6.26114940e+00] [-2.41690387e-03 -1.77914855e-05 9.99997079e-01 -1.03809338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.380281693 meters Centerline goodness [0,1] 0.9983094900999514 Centerline is valid? [True, True] Translation: X:155.64, Y:-6.27, Z:-1.04 [[ 9.95940813e-01 8.99943467e-02 1.70728073e-03 1.55643394e+02] [-8.99942282e-02 9.95942276e-01 -1.46289645e-04 -6.26792566e+00] [-1.71351830e-03 -7.94958372e-06 9.99998532e-01 -1.04004341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.410281693 meters Centerline goodness [0,1] 0.9985759224621663 Centerline is valid? [True, True] Translation: X:155.67, Y:-6.27, Z:-1.04 [[ 9.96116930e-01 8.80331054e-02 1.11116511e-03 1.55673635e+02] [-8.80330539e-02 9.96117549e-01 -9.52591042e-05 -6.27467596e+00] [-1.11523702e-03 -2.93005198e-06 9.99999378e-01 -1.04063448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.440281693 meters Centerline goodness [0,1] 0.9983710213267603 Centerline is valid? [True, True] Translation: X:155.70, Y:-6.28, Z:-1.04 [[ 9.96225593e-01 8.67938944e-02 1.17822435e-03 1.55703871e+02] [-8.67938357e-02 9.96226289e-01 -1.01008027e-04 -6.27935975e+00] [-1.18254495e-03 -1.63582877e-06 9.99999301e-01 -1.04014338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.470281693 meters Centerline goodness [0,1] 0.9985663849363432 Centerline is valid? [True, True] Translation: X:155.73, Y:-6.28, Z:-1.04 [[ 9.96310853e-01 8.58150366e-02 6.81074011e-04 1.55734011e+02] [-8.58150168e-02 9.96311086e-01 -5.83878124e-05 -6.28488994e+00] [-6.83572140e-04 -2.73966544e-07 9.99999766e-01 -1.04108910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.500281693 meters Centerline goodness [0,1] 0.998443861780819 Centerline is valid? [True, True] Translation: X:155.76, Y:-6.29, Z:-1.04 [[ 9.96278902e-01 8.61876689e-02 1.87651990e-04 1.55764407e+02] [-8.61876674e-02 9.96278920e-01 -1.60872225e-05 -6.28824150e+00] [-1.88340242e-04 -1.45926893e-07 9.99999982e-01 -1.04243807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.530281693 meters Centerline goodness [0,1] 0.9982928598864752 Centerline is valid? [True, True] Translation: X:155.79, Y:-6.29, Z:-1.04 [[ 9.96047640e-01 8.88205417e-02 1.04733585e-04 1.55793477e+02] [-8.88205412e-02 9.96047645e-01 -9.13410635e-06 -6.28809808e+00] [-1.05130937e-04 -2.04488606e-07 9.99999994e-01 -1.04273377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.560281693 meters Centerline goodness [0,1] 0.998476754414194 Centerline is valid? [True, True] Translation: X:155.82, Y:-6.29, Z:-1.04 [[ 9.95907877e-01 9.03740337e-02 -1.84033920e-04 1.55823432e+02] [-9.03740324e-02 9.95907894e-01 1.56567362e-05 -6.28843033e+00] [ 1.84695796e-04 1.03922053e-06 9.99999983e-01 -1.04261703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.590281693 meters Centerline goodness [0,1] 0.9981664524015258 Centerline is valid? [True, True] Translation: X:155.85, Y:-6.29, Z:-1.04 [[ 9.95747355e-01 9.21253765e-02 -3.47642747e-04 1.55852337e+02] [-9.21253717e-02 9.95747415e-01 2.96065890e-05 -6.28703664e+00] [ 3.48891885e-04 2.54603463e-06 9.99999939e-01 -1.04392530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.620281693 meters Centerline goodness [0,1] 0.9979032948224219 Centerline is valid? [True, True] Translation: X:155.88, Y:-6.28, Z:-1.04 [[ 9.95451996e-01 9.52642764e-02 2.01157421e-04 1.55882115e+02] [-9.52642749e-02 9.95452017e-01 -1.73261084e-05 -6.28353613e+00] [-2.01893120e-04 -1.91580672e-06 9.99999980e-01 -1.04212986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.650281693 meters Centerline goodness [0,1] 0.9977751631190501 Centerline is valid? [True, True] Translation: X:155.91, Y:-6.28, Z:-1.04 [[ 9.95248902e-01 9.73607805e-02 7.07516343e-04 1.55911704e+02] [-9.73607619e-02 9.95249154e-01 -6.07457523e-05 -6.28119008e+00] [-7.10069296e-04 -8.42718698e-06 9.99999748e-01 -1.04114101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.680281693 meters Centerline goodness [0,1] 0.9976132634360483 Centerline is valid? [True, True] Translation: X:155.94, Y:-6.28, Z:-1.04 [[ 9.95039625e-01 9.94771495e-02 6.64021822e-04 1.55941816e+02] [-9.94771337e-02 9.95039847e-01 -5.69046616e-05 -6.27882445e+00] [-6.66388885e-04 -9.43259439e-06 9.99999778e-01 -1.04058193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.710281693 meters Centerline goodness [0,1] 0.9971162472764558 Centerline is valid? [True, True] Translation: X:155.97, Y:-6.27, Z:-1.04 [[ 9.94617116e-01 1.03618049e-01 3.03749196e-04 1.55971761e+02] [-1.03618046e-01 9.94617162e-01 -2.61285149e-05 -6.26879141e+00] [-3.04821549e-04 -5.48602989e-06 9.99999954e-01 -1.04164479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.740281693 meters Centerline goodness [0,1] 0.9971162472764558 Centerline is valid? [True, True] Translation: X:156.00, Y:-6.27, Z:-1.04 [[ 9.94621807e-01 1.03573016e-01 3.03746387e-04 1.55999999e+02] [-1.03573013e-01 9.94621853e-01 -2.61614156e-05 -6.27111368e+00] [-3.04822411e-04 -5.43921387e-06 9.99999954e-01 -1.04177190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.770281693 meters Centerline goodness [0,1] 0.9968491447678656 Centerline is valid? [True, True] Translation: X:156.03, Y:-6.27, Z:-1.04 [[ 9.94430347e-01 1.05395634e-01 2.11585015e-04 1.56028890e+02] [-1.05395633e-01 9.94430370e-01 -1.82765530e-05 -6.26856559e+00] [-2.12332834e-04 -4.12537756e-06 9.99999977e-01 -1.04132939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.800281693 meters Centerline goodness [0,1] 0.9965889830508474 Centerline is valid? [True, True] Translation: X:156.06, Y:-6.27, Z:-1.04 [[ 9.94347337e-01 1.06174048e-01 6.66752560e-04 1.56057399e+02] [-1.06174034e-01 9.94347561e-01 -5.71271395e-05 -6.26878708e+00] [-6.69049202e-04 -1.39875900e-05 9.99999776e-01 -1.04072045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.830281693 meters Centerline goodness [0,1] 0.9964271368470011 Centerline is valid? [True, True] Translation: X:156.09, Y:-6.27, Z:-1.04 [[ 9.94388335e-01 1.05768905e-01 2.18570051e-03 1.56085924e+02] [-1.05768750e-01 9.94390736e-01 -1.86716407e-04 -6.26525201e+00] [-2.19318912e-03 -4.55101940e-05 9.99997594e-01 -1.03901142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.860281693 meters Centerline goodness [0,1] 0.9966704133353127 Centerline is valid? [True, True] Translation: X:156.11, Y:-6.26, Z:-1.04 [[ 9.94503443e-01 1.04674808e-01 2.46710839e-03 1.56114188e+02] [-1.04674607e-01 9.94506502e-01 -2.10581570e-04 -6.26415890e+00] [-2.47559792e-03 -4.88195058e-05 9.99996935e-01 -1.03982383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.890281693 meters Centerline goodness [0,1] 0.9972794653185382 Centerline is valid? [True, True] Translation: X:156.14, Y:-6.27, Z:-1.04 [[ 9.94928721e-01 1.00549245e-01 2.58624177e-03 1.56143230e+02] [-1.00549012e-01 9.94932082e-01 -2.20512380e-04 -6.27106451e+00] [-2.59530726e-03 -4.06499536e-05 9.99996631e-01 -1.03939729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.920281693 meters Centerline goodness [0,1] 0.9976723824980247 Centerline is valid? [True, True] Translation: X:156.17, Y:-6.28, Z:-1.04 [[ 9.95156108e-01 9.82879748e-02 1.94812158e-03 1.56172063e+02] [-9.82878379e-02 9.95158014e-01 -1.66113458e-04 -6.27712471e+00] [-1.95501576e-03 -2.61678354e-05 9.99998089e-01 -1.04078587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.950281693 meters Centerline goodness [0,1] 0.997916090756374 Centerline is valid? [True, True] Translation: X:156.20, Y:-6.28, Z:-1.04 [[ 9.95400274e-01 9.57899401e-02 1.60671496e-03 1.56201359e+02] [-9.57898438e-02 9.95401571e-01 -1.36944145e-04 -6.28472268e+00] [-1.61244447e-03 -1.75927352e-05 9.99998700e-01 -1.04080148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.980281693 meters Centerline goodness [0,1] 0.9984059172352229 Centerline is valid? [True, True] Translation: X:156.23, Y:-6.29, Z:-1.04 [[ 9.95606736e-01 9.36189512e-02 1.64901900e-03 1.56229182e+02] [-9.36188467e-02 9.95608101e-01 -1.40619915e-04 -6.28820069e+00] [-1.65494137e-03 -1.43771221e-05 9.99998630e-01 -1.04135708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.010281693 meters Centerline goodness [0,1] 0.9984746732199224 Centerline is valid? [True, True] Translation: X:156.26, Y:-6.29, Z:-1.04 [[ 9.95835165e-01 9.11252337e-02 2.91805013e-03 1.56257472e+02] [-9.11248970e-02 9.95839441e-01 -2.48405566e-04 -6.29251482e+00] [-2.92854542e-03 -1.85360199e-05 9.99995712e-01 -1.03843056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.040281693 meters Centerline goodness [0,1] 0.9980746038127076 Centerline is valid? [True, True] Translation: X:156.29, Y:-6.30, Z:-1.04 [[ 9.95914946e-01 9.02293486e-02 3.47625854e-03 1.56285578e+02] [-9.02288661e-02 9.95921013e-01 -2.95708117e-04 -6.29545090e+00] [-3.48876048e-03 -1.91587334e-05 9.99993914e-01 -1.03772636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.070281693 meters Centerline goodness [0,1] 0.9981857688331962 Centerline is valid? [True, True] Translation: X:156.32, Y:-6.30, Z:-1.04 [[ 9.95939028e-01 8.99537692e-02 3.71118297e-03 1.56315447e+02] [-8.99532178e-02 9.95945942e-01 -3.15541215e-04 -6.29779764e+00] [-3.72452174e-03 -1.95730399e-05 9.99993064e-01 -1.03657365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.100281693 meters Centerline goodness [0,1] 0.9985885673959068 Centerline is valid? [True, True] Translation: X:156.34, Y:-6.30, Z:-1.04 [[ 9.95889124e-01 9.05632097e-02 1.77673296e-03 1.56344636e+02] [-9.05630841e-02 9.95890709e-01 -1.51143582e-04 -6.29689912e+00] [-1.78311990e-03 -1.03841675e-05 9.99998410e-01 -1.03957166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.130281693 meters Centerline goodness [0,1] 0.9985594186071513 Centerline is valid? [True, True] Translation: X:156.37, Y:-6.30, Z:-1.04 [[ 9.95834574e-01 9.11772520e-02 4.57653334e-04 1.56372325e+02] [-9.11772436e-02 9.95834679e-01 -3.91118649e-05 -6.29690857e+00] [-4.59313173e-04 -2.77862223e-06 9.99999895e-01 -1.04291469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.160281693 meters Centerline goodness [0,1] 0.9987087760890733 Centerline is valid? [True, True] Translation: X:156.40, Y:-6.30, Z:-1.05 [[ 9.95790980e-01 9.16528570e-02 -2.78936701e-04 1.56399940e+02] [-9.16528540e-02 9.95791019e-01 2.34044644e-05 -6.29640798e+00] [ 2.79907747e-04 2.25939014e-06 9.99999961e-01 -1.04622286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.190281693 meters Centerline goodness [0,1] 0.9986418809948222 Centerline is valid? [True, True] Translation: X:156.43, Y:-6.30, Z:-1.05 [[ 9.95871401e-01 9.07752416e-02 -9.05268653e-05 1.56428098e+02] [-9.07752413e-02 9.95871405e-01 7.47209197e-06 -6.30144877e+00] [ 9.08313975e-05 7.76355342e-07 9.99999996e-01 -1.04576217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.220281693 meters Centerline goodness [0,1] 0.9986038837415916 Centerline is valid? [True, True] Translation: X:156.46, Y:-6.30, Z:-1.05 [[ 9.95952909e-01 8.98757239e-02 -3.96130969e-04 1.56456870e+02] [-8.98757177e-02 9.95952988e-01 3.33625015e-05 -6.30499400e+00] [ 3.97526301e-04 2.37507472e-06 9.99999921e-01 -1.04566825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.250281693 meters Centerline goodness [0,1] 0.9987669019474446 Centerline is valid? [True, True] Translation: X:156.49, Y:-6.31, Z:-1.04 [[ 9.96031909e-01 8.89968051e-02 -6.62823439e-05 1.56485187e+02] [-8.89968050e-02 9.96031911e-01 5.40580186e-06 -6.30830048e+00] [ 6.65004288e-05 5.14565686e-07 9.99999998e-01 -1.04428544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.280281693 meters Centerline goodness [0,1] 0.9988233532293606 Centerline is valid? [True, True] Translation: X:156.51, Y:-6.31, Z:-1.04 [[ 9.96048297e-01 8.88057083e-02 1.15612663e-03 1.56513800e+02] [-8.88056542e-02 9.96048968e-01 -9.80747539e-05 -6.31144957e+00] [-1.16026833e-03 -4.98339008e-06 9.99999327e-01 -1.04240906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.310281693 meters Centerline goodness [0,1] 0.9986452732737818 Centerline is valid? [True, True] Translation: X:156.54, Y:-6.31, Z:-1.04 [[ 9.95993879e-01 8.93851466e-02 2.54739742e-03 1.56541591e+02] [-8.93848872e-02 9.95997136e-01 -2.15746343e-04 -6.31338439e+00] [-2.55648505e-03 -1.28167942e-05 9.99996732e-01 -1.04059142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.340281693 meters Centerline goodness [0,1] 0.9982258268913953 Centerline is valid? [True, True] Translation: X:156.57, Y:-6.32, Z:-1.04 [[ 9.95911937e-01 9.02701035e-02 3.27457996e-03 1.56570612e+02] [-9.02696805e-02 9.95917320e-01 -2.77052515e-04 -6.31502370e+00] [-3.28622046e-03 -1.96753802e-05 9.99994600e-01 -1.03967555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.370281693 meters Centerline goodness [0,1] 0.9983890455094644 Centerline is valid? [True, True] Translation: X:156.60, Y:-6.31, Z:-1.04 [[ 9.95633949e-01 9.33113711e-02 2.45496847e-03 1.56599404e+02] [-9.33111428e-02 9.95636976e-01 -2.07622029e-04 -6.31242044e+00] [-2.46363088e-03 -2.23603726e-05 9.99996965e-01 -1.04176518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.400281693 meters Centerline goodness [0,1] 0.9981813902736473 Centerline is valid? [True, True] Translation: X:156.63, Y:-6.31, Z:-1.04 [[ 9.95438094e-01 9.54009465e-02 1.28856408e-03 1.56628645e+02] [-9.54008854e-02 9.95438928e-01 -1.08996436e-04 -6.31199814e+00] [-1.29308521e-03 -1.44309497e-05 9.99999164e-01 -1.04353038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.430281693 meters Centerline goodness [0,1] 0.9981250266331444 Centerline is valid? [True, True] Translation: X:156.66, Y:-6.31, Z:-1.04 [[ 9.95228274e-01 9.75706266e-02 8.09008327e-04 1.56656891e+02] [-9.75706031e-02 9.95228603e-01 -6.85587204e-05 -6.30961447e+00] [-8.11837545e-04 -1.07038534e-05 9.99999670e-01 -1.04483852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.460281693 meters Centerline goodness [0,1] 0.9971462393776688 Centerline is valid? [True, True] Translation: X:156.69, Y:-6.30, Z:-1.04 [[ 9.94740175e-01 1.02417948e-01 1.59633259e-03 1.56686265e+02] [-1.02417864e-01 9.94741455e-01 -1.34859575e-04 -6.30196217e+00] [-1.60175025e-03 -2.93427367e-05 9.99998717e-01 -1.04316240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.490281693 meters Centerline goodness [0,1] 0.9969709251477207 Centerline is valid? [True, True] Translation: X:156.72, Y:-6.30, Z:-1.04 [[ 9.94571884e-01 1.04035279e-01 1.85162289e-03 1.56715522e+02] [-1.04035168e-01 9.94573607e-01 -1.56369785e-04 -6.30292299e+00] [-1.85784323e-03 -3.71129068e-05 9.99998274e-01 -1.04203075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.520281693 meters Centerline goodness [0,1] 0.9965001792076912 Centerline is valid? [True, True] Translation: X:156.74, Y:-6.30, Z:-1.04 [[ 9.94550928e-01 1.04229809e-01 2.14450088e-03 1.56743557e+02] [-1.04229661e-01 9.94553239e-01 -1.81002595e-04 -6.29961631e+00] [-2.15168616e-03 -4.35043002e-05 9.99997684e-01 -1.04251322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.550281693 meters Centerline goodness [0,1] 0.9967022513476377 Centerline is valid? [True, True] Translation: X:156.77, Y:-6.30, Z:-1.04 [[ 9.94729624e-01 1.02503465e-01 2.45234048e-03 1.56772323e+02] [-1.02503266e-01 9.94732646e-01 -2.06759885e-04 -6.30313030e+00] [-2.46061674e-03 -4.57027259e-05 9.99996972e-01 -1.04231005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.580281693 meters Centerline goodness [0,1] 0.9971156680281275 Centerline is valid? [True, True] Translation: X:156.80, Y:-6.31, Z:-1.04 [[ 9.95094353e-01 9.88875767e-02 2.91145199e-03 1.56800510e+02] [-9.88872821e-02 9.95098611e-01 -2.45300543e-04 -6.30732166e+00] [-2.92143900e-03 -4.38083888e-05 9.99995732e-01 -1.04147239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.610281693 meters Centerline goodness [0,1] 0.9977342509264161 Centerline is valid? [True, True] Translation: X:156.83, Y:-6.31, Z:-1.04 [[ 9.95268857e-01 9.71276561e-02 2.47415667e-03 1.56828617e+02] [-9.71274382e-02 9.95271931e-01 -2.08382775e-04 -6.31396769e+00] [-2.48269842e-03 -3.29116130e-05 9.99996918e-01 -1.04172720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.640281693 meters Centerline goodness [0,1] 0.9981561937056268 Centerline is valid? [True, True] Translation: X:156.86, Y:-6.32, Z:-1.04 [[ 9.95471158e-01 9.50479071e-02 1.75184268e-03 1.56856513e+02] [-9.50477946e-02 9.95472699e-01 -1.47567951e-04 -6.31714598e+00] [-1.75793759e-03 -1.96091441e-05 9.99998455e-01 -1.04364557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.670281693 meters Centerline goodness [0,1] 0.9985218192334883 Centerline is valid? [True, True] Translation: X:156.88, Y:-6.32, Z:-1.04 [[ 9.95706010e-01 9.25646448e-02 1.15244753e-03 1.56884922e+02] [-9.25645944e-02 9.95706677e-01 -9.70466009e-05 -6.32297867e+00] [-1.15648279e-03 -1.00459549e-05 9.99999331e-01 -1.04409994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.700281693 meters Centerline goodness [0,1] 0.9988385598141696 Centerline is valid? [True, True] Translation: X:156.91, Y:-6.33, Z:-1.04 [[ 9.96135553e-01 8.78265807e-02 6.72681201e-04 1.56912663e+02] [-8.78265625e-02 9.96135780e-01 -5.67010217e-05 -6.33035686e+00] [-6.75061670e-04 -2.59737398e-06 9.99999772e-01 -1.04474957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.730281693 meters Centerline goodness [0,1] 0.9988974875437294 Centerline is valid? [True, True] Translation: X:156.94, Y:-6.34, Z:-1.04 [[ 9.96329837e-01 8.55896000e-02 1.12993189e-03 1.56941541e+02] [-8.55895472e-02 9.96330477e-01 -9.50466163e-05 -6.33532032e+00] [-1.13392058e-03 -2.01257927e-06 9.99999357e-01 -1.04389953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.760281693 meters Centerline goodness [0,1] 0.9988687541354507 Centerline is valid? [True, True] Translation: X:156.97, Y:-6.34, Z:-1.04 [[ 9.96595959e-01 8.24058103e-02 2.40370205e-03 1.56969962e+02] [-8.24055631e-02 9.96598857e-01 -2.01850752e-04 -6.34083394e+00] [-2.41216039e-03 3.08522317e-06 9.99997091e-01 -1.04179745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.790281693 meters Centerline goodness [0,1] 0.9987745098039216 Centerline is valid? [True, True] Translation: X:157.00, Y:-6.34, Z:-1.04 [[ 9.96654068e-01 8.16928775e-02 2.63479979e-03 1.56998390e+02] [-8.16925785e-02 9.96657551e-01 -2.21090355e-04 -6.34455436e+00] [-2.64405461e-03 5.10701397e-06 9.99996504e-01 -1.04208814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.820281693 meters Centerline goodness [0,1] 0.9988963877923511 Centerline is valid? [True, True] Translation: X:157.03, Y:-6.35, Z:-1.04 [[ 9.96734004e-01 8.07295843e-02 2.01503504e-03 1.57027191e+02] [-8.07294074e-02 9.96736040e-01 -1.69076551e-04 -6.34763566e+00] [-2.02210753e-03 5.85176335e-06 9.99997956e-01 -1.04272160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.850281693 meters Centerline goodness [0,1] 0.9988239319163494 Centerline is valid? [True, True] Translation: X:157.06, Y:-6.35, Z:-1.05 [[ 9.96869232e-01 7.90670431e-02 -3.69518518e-04 1.57056583e+02] [-7.90670371e-02 9.96869301e-01 3.08554976e-05 -6.35150542e+00] [ 3.70801319e-04 -1.54216180e-06 9.99999931e-01 -1.04671811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.880281693 meters Centerline goodness [0,1] 0.9990052067899928 Centerline is valid? [True, True] Translation: X:157.08, Y:-6.35, Z:-1.05 [[ 9.96877401e-01 7.89535343e-02 -1.33701126e-03 1.57084378e+02] [-7.89534555e-02 9.96878297e-01 1.11682582e-04 -6.35474181e+00] [ 1.34165524e-03 -5.77218330e-06 9.99999100e-01 -1.05024017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.910281693 meters Centerline goodness [0,1] 0.9990439161195742 Centerline is valid? [True, True] Translation: X:157.11, Y:-6.36, Z:-1.05 [[ 9.96853157e-01 7.92471488e-02 -1.91631227e-03 1.57112934e+02] [-7.92469874e-02 9.96854999e-01 1.60157400e-04 -6.35551139e+00] [ 1.92297748e-03 -7.79143563e-06 9.99998151e-01 -1.05029636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.940281693 meters Centerline goodness [0,1] 0.9990985576923077 Centerline is valid? [True, True] Translation: X:157.14, Y:-6.36, Z:-1.05 [[ 9.96770393e-01 8.02550458e-02 -2.81257176e-03 1.57142121e+02] [-8.02547022e-02 9.96774361e-01 2.35016664e-04 -6.35505153e+00] [ 2.82236069e-03 -8.53554451e-06 9.99996017e-01 -1.05080958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.970281693 meters Centerline goodness [0,1] 0.99933351966117 Centerline is valid? [True, True] Translation: X:157.17, Y:-6.36, Z:-1.05 [[ 9.96727391e-01 8.07975337e-02 -2.50334203e-03 1.57170320e+02] [-8.07972637e-02 9.96730535e-01 2.08957883e-04 -6.35625281e+00] [ 2.51204073e-03 -6.01085915e-06 9.99996845e-01 -1.05089167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.000281693 meters Centerline goodness [0,1] 0.999107161837546 Centerline is valid? [True, True] Translation: X:157.20, Y:-6.35, Z:-1.04 [[ 9.96506283e-01 8.35095655e-02 1.17498077e-03 1.57199733e+02] [-8.35095076e-02 9.96506976e-01 -9.83511607e-05 -6.35362638e+00] [-1.17908979e-03 -1.14515672e-07 9.99999305e-01 -1.04212708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.030281693 meters Centerline goodness [0,1] 0.9992600422832981 Centerline is valid? [True, True] Translation: X:157.23, Y:-6.35, Z:-1.04 [[ 9.96362205e-01 8.51887463e-02 2.28778414e-03 1.57228847e+02] [-8.51885318e-02 9.96364832e-01 -1.91197671e-04 -6.35234674e+00] [-2.29575555e-03 -4.39083890e-06 9.99997365e-01 -1.03969571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.060281693 meters Centerline goodness [0,1] 0.9989283724120194 Centerline is valid? [True, True] Translation: X:157.26, Y:-6.35, Z:-1.04 [[ 9.96222400e-01 8.68096062e-02 2.24103835e-03 1.57258224e+02] [-8.68094047e-02 9.96224920e-01 -1.87193545e-04 -6.35119871e+00] [-2.24882845e-03 -8.05680228e-06 9.99997471e-01 -1.04007860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.090281693 meters Centerline goodness [0,1] 0.9991737638235668 Centerline is valid? [True, True] Translation: X:157.29, Y:-6.35, Z:-1.04 [[ 9.96099665e-01 8.82126422e-02 1.99693373e-03 1.57286476e+02] [-8.82124852e-02 9.96101666e-01 -1.66761572e-04 -6.34962130e+00] [-2.00385950e-03 -1.00433413e-05 9.99997992e-01 -1.04179396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.120281693 meters Centerline goodness [0,1] 0.999140247178936 Centerline is valid? [True, True] Translation: X:157.32, Y:-6.35, Z:-1.04 [[ 9.95979576e-01 8.95705098e-02 1.34452823e-03 1.57315366e+02] [-8.95704399e-02 9.95980484e-01 -1.12254817e-04 -6.34839836e+00] [-1.34917860e-03 -8.62648035e-06 9.99999090e-01 -1.04261315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.150281693 meters Centerline goodness [0,1] 0.999112426035503 Centerline is valid? [True, True] Translation: X:157.34, Y:-6.35, Z:-1.04 [[ 9.95958928e-01 8.98028471e-02 1.12312788e-03 1.57343350e+02] [-8.98027984e-02 9.95959562e-01 -9.38006359e-05 -6.34786067e+00] [-1.12701351e-03 -7.43844559e-06 9.99999365e-01 -1.04332452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.180281693 meters Centerline goodness [0,1] 0.9990195451542085 Centerline is valid? [True, True] Translation: X:157.37, Y:-6.35, Z:-1.04 [[ 9.95934692e-01 9.00764885e-02 5.61905898e-04 1.57372214e+02] [-9.00764763e-02 9.95934850e-01 -4.69709529e-05 -6.34899176e+00] [-5.63852645e-04 -3.83450181e-06 9.99999841e-01 -1.04378606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.210281693 meters Centerline goodness [0,1] 0.9991929832013082 Centerline is valid? [True, True] Translation: X:157.40, Y:-6.35, Z:-1.04 [[ 9.96129330e-01 8.78773378e-02 1.98293063e-03 1.57399717e+02] [-8.78771832e-02 9.96131303e-01 -1.65168843e-04 -6.35195751e+00] [-1.98977387e-03 -9.72482882e-06 9.99998020e-01 -1.04115549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.240281693 meters Centerline goodness [0,1] 0.9991025257489636 Centerline is valid? [True, True] Translation: X:157.43, Y:-6.36, Z:-1.04 [[ 9.96286063e-01 8.60544970e-02 2.95013911e-03 1.57427737e+02] [-8.60541476e-02 9.96290431e-01 -2.45417740e-04 -6.35758974e+00] [-2.96031466e-03 -9.36543195e-06 9.99995618e-01 -1.03940479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.270281693 meters Centerline goodness [0,1] 0.9990576947787725 Centerline is valid? [True, True] Translation: X:157.46, Y:-6.36, Z:-1.04 [[ 9.96456914e-01 8.40361644e-02 3.39723177e-03 1.57456041e+02] [-8.40356899e-02 9.96462705e-01 -2.82430139e-04 -6.36396885e+00] [-3.40894910e-03 -4.05925024e-06 9.99994190e-01 -1.03881409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.300281693 meters Centerline goodness [0,1] 0.9990589040509903 Centerline is valid? [True, True] Translation: X:157.48, Y:-6.37, Z:-1.04 [[ 9.96763388e-01 8.03239521e-02 3.28807701e-03 1.57484263e+02] [-8.03234879e-02 9.96768811e-01 -2.73205776e-04 -6.37291171e+00] [-3.29939758e-03 8.21170074e-06 9.99994557e-01 -1.03981236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.330281693 meters Centerline goodness [0,1] 0.9989456243410152 Centerline is valid? [True, True] Translation: X:157.51, Y:-6.38, Z:-1.04 [[ 9.96865732e-01 7.90659948e-02 2.69836007e-03 1.57513471e+02] [-7.90656780e-02 9.96869384e-01 -2.24073586e-04 -6.37742441e+00] [-2.70762914e-03 1.00236106e-05 9.99996334e-01 -1.04177321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.360281693 meters Centerline goodness [0,1] 0.99906191369606 Centerline is valid? [True, True] Translation: X:157.54, Y:-6.38, Z:-1.05 [[ 9.97011248e-01 7.72565289e-02 -2.88114903e-05 1.57541266e+02] [-7.72565289e-02 9.97011248e-01 2.25374163e-06 -6.38477782e+00] [ 2.88994962e-05 -2.11300170e-08 1.00000000e+00 -1.04687961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.390281693 meters Centerline goodness [0,1] 0.9990915812823492 Centerline is valid? [True, True] Translation: X:157.57, Y:-6.39, Z:-1.05 [[ 9.97105658e-01 7.60212216e-02 -1.03950260e-03 1.57569287e+02] [-7.60211732e-02 9.97106200e-01 8.60547808e-05 -6.39250153e+00] [ 1.04303647e-03 -6.78150181e-06 9.99999456e-01 -1.05023912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.420281693 meters Centerline goodness [0,1] 0.9987762163987003 Centerline is valid? [True, True] Translation: X:157.60, Y:-6.40, Z:-1.05 [[ 9.97169360e-01 7.51705243e-02 -1.63103400e-03 1.57597921e+02] [-7.51704040e-02 9.97170694e-01 1.34994095e-04 -6.39765610e+00] [ 1.63656688e-03 -1.20064902e-05 9.99998661e-01 -1.05090956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.450281693 meters Centerline goodness [0,1] 0.9986374861619688 Centerline is valid? [True, True] Translation: X:157.63, Y:-6.40, Z:-1.05 [[ 9.97218716e-01 7.45220942e-02 -1.13604212e-03 1.57626770e+02] [-7.45220356e-02 9.97219363e-01 9.39049522e-05 -6.40271865e+00] [ 1.13988119e-03 -8.98360440e-06 9.99999350e-01 -1.04823362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.480281693 meters Centerline goodness [0,1] 0.9987791033906654 Centerline is valid? [True, True] Translation: X:157.66, Y:-6.41, Z:-1.05 [[ 9.97197832e-01 7.48055716e-02 -7.80948576e-04 1.57655661e+02] [-7.48055440e-02 9.97198138e-01 6.45780905e-05 -6.40660225e+00] [ 7.83591267e-04 -5.97784880e-06 9.99999693e-01 -1.04837621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.510281693 meters Centerline goodness [0,1] 0.9990791502484153 Centerline is valid? [True, True] Translation: X:157.68, Y:-6.41, Z:-1.05 [[ 9.97175912e-01 7.50974941e-02 -7.53091253e-04 1.57684552e+02] [-7.50974686e-02 9.97176196e-01 6.21301106e-05 -6.41040040e+00] [ 7.55630487e-04 -5.39940292e-06 9.99999714e-01 -1.04794360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.540281693 meters Centerline goodness [0,1] 0.9991676093313129 Centerline is valid? [True, True] Translation: X:157.71, Y:-6.42, Z:-1.05 [[ 9.97194178e-01 7.48567976e-02 -4.81587619e-04 1.57713363e+02] [-7.48567871e-02 9.97194294e-01 3.96921502e-05 -6.41512162e+00] [ 4.83207653e-04 -3.53067917e-06 9.99999883e-01 -1.04847675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.570281693 meters Centerline goodness [0,1] 0.9983069141393833 Centerline is valid? [True, True] Translation: X:157.74, Y:-6.43, Z:-1.05 [[ 9.97441105e-01 7.14906356e-02 5.74550257e-04 1.57742327e+02] [-7.14906200e-02 9.97441271e-01 -4.76278570e-05 -6.42652499e+00] [-5.76485085e-04 6.43102815e-06 9.99999834e-01 -1.04816537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.600281693 meters Centerline goodness [0,1] 0.9986054177407767 Centerline is valid? [True, True] Translation: X:157.77, Y:-6.44, Z:-1.05 [[ 9.97622415e-01 6.89164063e-02 2.16193006e-04 1.57771390e+02] [-6.89164040e-02 9.97622438e-01 -1.79314328e-05 -6.43689873e+00] [-2.16914763e-04 2.98955479e-06 9.99999976e-01 -1.04936241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.630281693 meters Centerline goodness [0,1] 0.9986054177407767 Centerline is valid? [True, True] Translation: X:157.80, Y:-6.44, Z:-1.05 [[ 9.97623954e-01 6.88941248e-02 2.16189337e-04 1.57800462e+02] [-6.88941225e-02 9.97623977e-01 -1.79757978e-05 -6.43925730e+00] [-2.16914093e-04 3.03891182e-06 9.99999976e-01 -1.04949326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.660281693 meters Centerline goodness [0,1] 0.9975939722673646 Centerline is valid? [True, True] Translation: X:157.83, Y:-6.46, Z:-1.05 [[ 9.98051734e-01 6.23714063e-02 -1.59469030e-03 1.57829132e+02] [-6.23712751e-02 9.98053008e-01 1.31922203e-04 -6.46096689e+00] [ 1.59981362e-03 -3.22023163e-05 9.99998720e-01 -1.05383382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.690281693 meters Centerline goodness [0,1] 0.9972423523375874 Centerline is valid? [True, True] Translation: X:157.86, Y:-6.47, Z:-1.05 [[ 9.98244874e-01 5.91815552e-02 -2.17148584e-03 1.57859971e+02] [-5.91813042e-02 9.98247234e-01 1.79718675e-04 -6.47177945e+00] [ 2.17831577e-03 -5.08918821e-05 9.99997626e-01 -1.05461010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.720281693 meters Centerline goodness [0,1] 0.9963846251427122 Centerline is valid? [True, True] Translation: X:157.89, Y:-6.48, Z:-1.06 [[ 9.98380366e-01 5.68279785e-02 -2.68790665e-03 1.57889822e+02] [-5.68275855e-02 9.98383982e-01 2.22414961e-04 -6.48274671e+00] [ 2.69620233e-03 -6.93074853e-05 9.99996363e-01 -1.05501605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.750281693 meters Centerline goodness [0,1] 0.9962663611871274 Centerline is valid? [True, True] Translation: X:157.92, Y:-6.50, Z:-1.05 [[ 9.98472020e-01 5.52218209e-02 -2.04353555e-03 1.57919810e+02] [-5.52215905e-02 9.98474110e-01 1.69057689e-04 -6.49521473e+00] [ 2.04975301e-03 -5.59520888e-05 9.99997898e-01 -1.05304559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.780281693 meters Centerline goodness [0,1] 0.9968906399744436 Centerline is valid? [True, True] Translation: X:157.95, Y:-6.50, Z:-1.05 [[ 9.98418380e-01 5.61969696e-02 -1.62428386e-03 1.57950278e+02] [-5.61968251e-02 9.98419701e-01 1.34511196e-04 -6.50136204e+00] [ 1.62927612e-03 -4.30188544e-05 9.99998672e-01 -1.05203735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.810281693 meters Centerline goodness [0,1] 0.9968426852008815 Centerline is valid? [True, True] Translation: X:157.98, Y:-6.51, Z:-1.05 [[ 9.98326073e-01 5.77989519e-02 -2.08180607e-03 1.57980636e+02] [-5.77987180e-02 9.98328242e-01 1.72417102e-04 -6.50885720e+00] [ 2.08829132e-03 -5.18027664e-05 9.99997818e-01 -1.05372617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.840281693 meters Centerline goodness [0,1] 0.9975478279251665 Centerline is valid? [True, True] Translation: X:158.01, Y:-6.51, Z:-1.06 [[ 9.98021431e-01 6.27936582e-02 -3.19053947e-03 1.58011648e+02] [-6.27931344e-02 9.98026529e-01 2.64175229e-04 -6.50849933e+00] [ 3.20083156e-03 -6.33085666e-05 9.99994875e-01 -1.05561656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.870281693 meters Centerline goodness [0,1] 0.9978255771813511 Centerline is valid? [True, True] Translation: X:158.04, Y:-6.51, Z:-1.05 [[ 9.97827176e-01 6.58179975e-02 -2.98622603e-03 1.58042175e+02] [-6.58175524e-02 9.97831643e-01 2.47211777e-04 -6.50939968e+00] [ 2.99602181e-03 -5.01285416e-05 9.99995511e-01 -1.05486507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.900281693 meters Centerline goodness [0,1] 0.9984270045064195 Centerline is valid? [True, True] Translation: X:158.07, Y:-6.51, Z:-1.05 [[ 9.97621416e-01 6.88934855e-02 -2.27981866e-03 1.58072744e+02] [-6.88932341e-02 9.97624021e-01 1.88732540e-04 -6.50967594e+00] [ 2.28740431e-03 -3.12195430e-05 9.99997383e-01 -1.05337039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.930281693 meters Centerline goodness [0,1] 0.9986963026287669 Centerline is valid? [True, True] Translation: X:158.10, Y:-6.51, Z:-1.05 [[ 9.97398737e-01 7.20747158e-02 -9.97313912e-04 1.58103486e+02] [-7.20746693e-02 9.97399236e-01 8.25616488e-05 -6.50730542e+00] [ 1.00067074e-03 -1.04658138e-05 9.99999499e-01 -1.05022214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.960281693 meters Centerline goodness [0,1] 0.9987878787878788 Centerline is valid? [True, True] Translation: X:158.13, Y:-6.50, Z:-1.05 [[ 9.96965492e-01 7.78424871e-02 5.95565502e-04 1.58133935e+02] [-7.78424715e-02 9.96965670e-01 -4.93033028e-05 -6.50467594e+00] [-5.97596252e-04 2.79340094e-06 9.99999821e-01 -1.04785204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.990281693 meters Centerline goodness [0,1] 0.9989886859237722 Centerline is valid? [True, True] Translation: X:158.16, Y:-6.51, Z:-1.05 [[ 9.96794149e-01 8.00075540e-02 4.63521558e-04 1.58164042e+02] [-8.00075448e-02 9.96794257e-01 -3.83261776e-05 -6.50530033e+00] [-4.65102011e-04 1.11808776e-06 9.99999892e-01 -1.04900472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.020281693 meters Centerline goodness [0,1] 0.9994509903289834 Centerline is valid? [True, True] Translation: X:158.19, Y:-6.50, Z:-1.05 [[ 9.96479143e-01 8.38294715e-02 -1.39193895e-03 1.58194085e+02] [-8.38293922e-02 9.96480115e-01 1.15295660e-04 -6.50258675e+00] [ 1.39670466e-03 1.79567513e-06 9.99999025e-01 -1.05373909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.050281693 meters Centerline goodness [0,1] 0.9994267881026686 Centerline is valid? [True, True] Translation: X:158.22, Y:-6.50, Z:-1.06 [[ 9.96316179e-01 8.57215195e-02 -2.42752704e-03 1.58224215e+02] [-8.57212845e-02 9.96319136e-01 2.00857247e-04 -6.50148400e+00] [ 2.43580944e-03 7.97341136e-06 9.99997033e-01 -1.05537649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.080281693 meters Centerline goodness [0,1] 0.9992101611698153 Centerline is valid? [True, True] Translation: X:158.25, Y:-6.50, Z:-1.05 [[ 9.96132482e-01 8.78124742e-02 -3.00785698e-03 1.58253902e+02] [-8.78121232e-02 9.96137023e-01 2.48820452e-04 -6.50114073e+00] [ 3.01808724e-03 1.62681735e-05 9.99995445e-01 -1.05482517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.110281693 meters Centerline goodness [0,1] 0.9988826095364979 Centerline is valid? [True, True] Translation: X:158.28, Y:-6.50, Z:-1.05 [[ 9.95705425e-01 9.25571506e-02 -1.96983236e-03 1.58284088e+02] [-9.25570095e-02 9.95707373e-01 1.62865383e-04 -6.49587281e+00] [ 1.97645096e-03 2.01558471e-05 9.99998047e-01 -1.05224701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.140281693 meters Centerline goodness [0,1] 0.9989787668609846 Centerline is valid? [True, True] Translation: X:158.31, Y:-6.49, Z:-1.05 [[ 9.95470556e-01 9.50685403e-02 -5.86505640e-04 1.58312302e+02] [-9.50685284e-02 9.95470729e-01 4.82226093e-05 -6.48975896e+00] [ 5.88433650e-04 7.75404033e-06 9.99999827e-01 -1.05161866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.170281693 meters Centerline goodness [0,1] 0.9980595773716869 Centerline is valid? [True, True] Translation: X:158.34, Y:-6.49, Z:-1.05 [[ 9.95214478e-01 9.77131534e-02 5.30694412e-04 1.58342075e+02] [-9.77131439e-02 9.95214620e-01 -4.39681638e-05 -6.49064808e+00] [-5.32451105e-04 -8.09806627e-06 9.99999858e-01 -1.04906126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.200281693 meters Centerline goodness [0,1] 0.9979311800717754 Centerline is valid? [True, True] Translation: X:158.37, Y:-6.48, Z:-1.05 [[ 9.94983938e-01 1.00034643e-01 1.81578263e-04 1.58370759e+02] [-1.00034642e-01 9.94983955e-01 -1.52092826e-05 -6.48426332e+00] [-1.82188913e-04 -3.03112456e-06 9.99999983e-01 -1.05118454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.230281693 meters Centerline goodness [0,1] 0.9977154813502146 Centerline is valid? [True, True] Translation: X:158.40, Y:-6.48, Z:-1.05 [[ 9.94898153e-01 1.00881593e-01 -7.54431487e-04 1.58399854e+02] [-1.00881575e-01 9.94898439e-01 6.21503745e-05 -6.48188015e+00] [ 7.56852538e-04 1.42749435e-05 9.99999713e-01 -1.05294635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.260281693 meters Centerline goodness [0,1] 0.9980704500139357 Centerline is valid? [True, True] Translation: X:158.43, Y:-6.49, Z:-1.05 [[ 9.95018411e-01 9.96912968e-02 -8.99422601e-05 1.58428560e+02] [-9.96912966e-02 9.95018415e-01 7.21729578e-06 -6.48774275e+00] [ 9.02137067e-05 1.78511836e-06 9.99999996e-01 -1.05103079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.290281693 meters Centerline goodness [0,1] 0.9985611815238781 Centerline is valid? [True, True] Translation: X:158.46, Y:-6.49, Z:-1.05 [[ 9.95392387e-01 9.58830043e-02 6.66944300e-04 1.58457611e+02] [-9.58829889e-02 9.95392611e-01 -5.51278657e-05 -6.49413274e+00] [-6.69157253e-04 -9.07475501e-06 9.99999776e-01 -1.05086399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.320281693 meters Centerline goodness [0,1] 0.9990436926215573 Centerline is valid? [True, True] Translation: X:158.49, Y:-6.50, Z:-1.05 [[ 9.95605340e-01 9.36481887e-02 1.55292033e-04 1.58485857e+02] [-9.36481878e-02 9.95605352e-01 -1.29607854e-05 -6.49931548e+00] [-1.55823333e-04 -1.63899033e-06 9.99999988e-01 -1.05246020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.350281693 meters Centerline goodness [0,1] 0.9990739544299436 Centerline is valid? [True, True] Translation: X:158.51, Y:-6.51, Z:-1.05 [[ 9.95821466e-01 9.13134329e-02 -1.20993473e-03 1.58514687e+02] [-9.13133793e-02 9.95822201e-01 9.96490333e-05 -6.50675155e+00] [ 1.21397916e-03 1.12505820e-05 9.99999263e-01 -1.05450425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.380281693 meters Centerline goodness [0,1] 0.9993848764450101 Centerline is valid? [True, True] Translation: X:158.54, Y:-6.51, Z:-1.06 [[ 9.96150298e-01 8.76261704e-02 -2.49754039e-03 1.58542548e+02] [-8.76259301e-02 9.96153429e-01 2.05667387e-04 -6.51349848e+00] [ 2.50595527e-03 1.39736706e-05 9.99996860e-01 -1.05609593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.410281693 meters Centerline goodness [0,1] 0.9994081589515958 Centerline is valid? [True, True] Translation: X:158.57, Y:-6.52, Z:-1.05 [[ 9.96211297e-01 8.69537791e-02 -1.44635474e-03 1.58570818e+02] [-8.69536980e-02 9.96212347e-01 1.18991566e-04 -6.51527564e+00] [ 1.45122321e-03 7.22515083e-06 9.99998947e-01 -1.05442575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.440281693 meters Centerline goodness [0,1] 0.9994038875050563 Centerline is valid? [True, True] Translation: X:158.60, Y:-6.51, Z:-1.05 [[ 9.96143464e-01 8.77374142e-02 5.87773373e-04 1.58599861e+02] [-8.77374008e-02 9.96143637e-01 -4.85496240e-05 -6.51366685e+00] [-5.89766325e-04 -3.20731746e-06 9.99999826e-01 -1.05037076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.470281693 meters Centerline goodness [0,1] 0.9990925398332806 Centerline is valid? [True, True] Translation: X:158.63, Y:-6.51, Z:-1.05 [[ 9.96068584e-01 8.85791030e-02 1.05788934e-03 1.58628378e+02] [-8.85790603e-02 9.96069145e-01 -8.72235092e-05 -6.51329315e+00] [-1.06145711e-03 -6.82624608e-06 9.99999437e-01 -1.04956134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.500281693 meters Centerline goodness [0,1] 0.9992564423955301 Centerline is valid? [True, True] Translation: X:158.66, Y:-6.51, Z:-1.05 [[ 9.96017259e-01 8.91554340e-02 9.63870437e-04 1.58658558e+02] [-8.91553989e-02 9.96017725e-01 -7.94137415e-05 -6.51409653e+00] [-9.67112206e-04 -6.83679619e-06 9.99999532e-01 -1.04998061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.530281693 meters Centerline goodness [0,1] 0.999090774533229 Centerline is valid? [True, True] Translation: X:158.69, Y:-6.52, Z:-1.05 [[ 9.95981813e-01 8.95525010e-02 7.59606487e-04 1.58688379e+02] [-8.95524793e-02 9.95982103e-01 -6.25891378e-05 -6.51573864e+00] [-7.62159480e-04 -5.68700120e-06 9.99999710e-01 -1.05092976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.560281693 meters Centerline goodness [0,1] 0.9990490479913781 Centerline is valid? [True, True] Translation: X:158.72, Y:-6.52, Z:-1.05 [[ 9.95941179e-01 9.00040126e-02 -6.67699038e-04 1.58717171e+02] [-9.00039961e-02 9.95941403e-01 5.47535359e-05 -6.51695193e+00] [ 6.69917155e-04 5.56428052e-06 9.99999776e-01 -1.05421107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.590281693 meters Centerline goodness [0,1] 0.9992353440951571 Centerline is valid? [True, True] Translation: X:158.75, Y:-6.52, Z:-1.06 [[ 9.95966934e-01 8.97097144e-02 -1.42629060e-03 1.58747140e+02] [-8.97096386e-02 9.95967955e-01 1.17150713e-04 -6.51898342e+00] [ 1.43104929e-03 1.12737780e-05 9.99998976e-01 -1.05618034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.620281693 meters Centerline goodness [0,1] 0.9993438736851017 Centerline is valid? [True, True] Translation: X:158.78, Y:-6.52, Z:-1.06 [[ 9.96088162e-01 8.83007590e-02 -3.36903596e-03 1.58776119e+02] [-8.83003279e-02 9.96093859e-01 2.76782773e-04 -6.52292426e+00] [ 3.38031616e-03 2.17869359e-05 9.99994286e-01 -1.05974829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.650281693 meters Centerline goodness [0,1] 0.9994891443167305 Centerline is valid? [True, True] Translation: X:158.80, Y:-6.53, Z:-1.06 [[ 9.96214776e-01 8.68767231e-02 -2.92500253e-03 1.58804152e+02] [-8.68763927e-02 9.96219070e-01 2.40053873e-04 -6.52874510e+00] [ 2.93479839e-03 1.49684532e-05 9.99995693e-01 -1.05903573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.680281693 meters Centerline goodness [0,1] 0.9993844586419884 Centerline is valid? [True, True] Translation: X:158.83, Y:-6.54, Z:-1.06 [[ 9.96329121e-01 8.55858659e-02 -1.82815980e-03 1.58832579e+02] [-8.55857350e-02 9.96330798e-01 1.49872595e-04 -6.53528058e+00] [ 1.83427888e-03 7.14196866e-06 9.99998318e-01 -1.05547266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.710281693 meters Centerline goodness [0,1] 0.9993461570910318 Centerline is valid? [True, True] Translation: X:158.86, Y:-6.54, Z:-1.05 [[ 9.96473335e-01 8.39099121e-02 1.35344706e-04 1.58861094e+02] [-8.39099114e-02 9.96473345e-01 -1.12599350e-05 -6.54287170e+00] [-1.35812212e-04 -1.36537291e-07 9.99999991e-01 -1.05265187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.740281693 meters Centerline goodness [0,1] 0.9993190040434135 Centerline is valid? [True, True] Translation: X:158.89, Y:-6.55, Z:-1.05 [[ 9.96503579e-01 8.35476272e-02 6.41114448e-04 1.58890862e+02] [-8.35476107e-02 9.96503785e-01 -5.26089668e-05 -6.54728061e+00] [-6.43268329e-04 -1.13855661e-06 9.99999793e-01 -1.05215247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.770281693 meters Centerline goodness [0,1] 0.9994290185463235 Centerline is valid? [True, True] Translation: X:158.92, Y:-6.55, Z:-1.05 [[ 9.96518296e-01 8.33710645e-02 7.42901053e-04 1.58920116e+02] [-8.33710422e-02 9.96518573e-01 -6.10037973e-05 -6.55215023e+00] [-7.45400649e-04 -1.14503496e-06 9.99999722e-01 -1.05263610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.800281693 meters Centerline goodness [0,1] 0.9991453174077477 Centerline is valid? [True, True] Translation: X:158.95, Y:-6.56, Z:-1.05 [[ 9.96526581e-01 8.32721032e-02 7.27464139e-04 1.58950466e+02] [-8.32720818e-02 9.96526847e-01 -5.96864374e-05 -6.55762488e+00] [-7.29907760e-04 -1.09833186e-06 9.99999734e-01 -1.05245305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.830281693 meters Centerline goodness [0,1] 0.9993174498218971 Centerline is valid? [True, True] Translation: X:158.98, Y:-6.56, Z:-1.05 [[ 9.96509707e-01 8.34758512e-02 4.30473091e-04 1.58980518e+02] [-8.34758438e-02 9.96509800e-01 -3.53191365e-05 -6.56432765e+00] [-4.31918949e-04 -7.38242128e-07 9.99999907e-01 -1.05184166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.860281693 meters Centerline goodness [0,1] 0.9994033921418222 Centerline is valid? [True, True] Translation: X:159.01, Y:-6.57, Z:-1.05 [[ 9.96410125e-01 8.46551146e-02 6.11290616e-04 1.59009593e+02] [-8.46550997e-02 9.96410313e-01 -5.01998882e-05 -6.56632165e+00] [-6.13345951e-04 -1.72919112e-06 9.99999812e-01 -1.05207286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.890281693 meters Centerline goodness [0,1] 0.9992777636162801 Centerline is valid? [True, True] Translation: X:159.04, Y:-6.57, Z:-1.05 [[ 9.96125567e-01 8.79423087e-02 6.83694762e-05 1.59039907e+02] [-8.79423085e-02 9.96125570e-01 -5.60872792e-06 -6.56733593e+00] [-6.85978279e-05 -4.25572292e-07 9.99999998e-01 -1.05201557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.920281693 meters Centerline goodness [0,1] 0.9989545997610514 Centerline is valid? [True, True] Translation: X:159.07, Y:-6.57, Z:-1.05 [[ 9.95998534e-01 8.93693831e-02 1.82737725e-04 1.59070343e+02] [-8.93693819e-02 9.95998551e-01 -1.49909907e-05 -6.56976470e+00] [-1.83346245e-04 -1.40015281e-06 9.99999983e-01 -1.05262736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.950281693 meters Centerline goodness [0,1] 0.9990210058101177 Centerline is valid? [True, True] Translation: X:159.10, Y:-6.58, Z:-1.05 [[ 9.95954826e-01 8.98531024e-02 6.35524469e-04 1.59099715e+02] [-8.98530874e-02 9.95955029e-01 -5.21805009e-05 -6.57514225e+00] [-6.37642371e-04 -5.13441397e-06 9.99999797e-01 -1.05313309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.980281693 meters Centerline goodness [0,1] 0.9989570917759237 Centerline is valid? [True, True] Translation: X:159.13, Y:-6.58, Z:-1.05 [[ 9.96044269e-01 8.88581412e-02 2.12600362e-04 1.59129988e+02] [-8.88581395e-02 9.96044292e-01 -1.73893432e-05 -6.58128387e+00] [-2.13304562e-04 -1.57071706e-06 9.99999977e-01 -1.05406669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.010281693 meters Centerline goodness [0,1] 0.9992979619623027 Centerline is valid? [True, True] Translation: X:159.16, Y:-6.59, Z:-1.06 [[ 9.96186787e-01 8.72452087e-02 -3.98762140e-04 1.59159828e+02] [-8.72452026e-02 9.96186867e-01 3.27680908e-05 -6.58855890e+00] [ 4.00100466e-04 2.14694458e-06 9.99999920e-01 -1.05591480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.040281693 meters Centerline goodness [0,1] 0.9993856192534215 Centerline is valid? [True, True] Translation: X:159.19, Y:-6.60, Z:-1.06 [[ 9.96354959e-01 8.52944745e-02 -1.28362817e-03 1.59189891e+02] [-8.52944095e-02 9.96355786e-01 1.05382571e-04 -6.59586328e+00] [ 1.28793891e-03 4.48785954e-06 9.99999171e-01 -1.05852983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.070281693 meters Centerline goodness [0,1] 0.9994890790650147 Centerline is valid? [True, True] Translation: X:159.22, Y:-6.61, Z:-1.06 [[ 9.96595414e-01 8.23678786e-02 -3.62117239e-03 1.59220726e+02] [-8.23673420e-02 9.96601993e-01 2.97329768e-04 -6.60706399e+00] [ 3.63335804e-03 1.94886126e-06 9.99993399e-01 -1.06132849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.100281693 meters Centerline goodness [0,1] 0.9994289340101523 Centerline is valid? [True, True] Translation: X:159.25, Y:-6.61, Z:-1.06 [[ 9.96566578e-01 8.26623456e-02 -4.68967891e-03 1.59251512e+02] [-8.26614494e-02 9.96577612e-01 3.84932200e-04 -6.61004043e+00] [ 4.70544840e-03 4.04509011e-06 9.99988929e-01 -1.06368141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.130281693 meters Centerline goodness [0,1] 0.9995104195491603 Centerline is valid? [True, True] Translation: X:159.28, Y:-6.61, Z:-1.06 [[ 9.96488533e-01 8.36003844e-02 -4.64540839e-03 1.59281273e+02] [-8.35995158e-02 9.96499361e-01 3.81195920e-04 -6.61104975e+00] [ 4.66101461e-03 8.49652904e-06 9.99989137e-01 -1.06383383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.160281693 meters Centerline goodness [0,1] 0.9993021780503277 Centerline is valid? [True, True] Translation: X:159.31, Y:-6.61, Z:-1.06 [[ 9.96291672e-01 8.60273966e-02 -1.48064904e-03 1.59310914e+02] [-8.60273112e-02 9.96292772e-01 1.21378173e-04 -6.60829533e+00] [ 1.48560178e-03 6.44819227e-06 9.99998896e-01 -1.05656419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.190281693 meters Centerline goodness [0,1] 0.9991672360778955 Centerline is valid? [True, True] Translation: X:159.34, Y:-6.61, Z:-1.05 [[ 9.96243709e-01 8.65909487e-02 6.92542031e-04 1.59341353e+02] [-8.65909301e-02 9.96243950e-01 -5.68205101e-05 -6.60906317e+00] [-6.94860950e-04 -3.36078292e-06 9.99999759e-01 -1.05328618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.220281693 meters Centerline goodness [0,1] 0.9993151417870519 Centerline is valid? [True, True] Translation: X:159.37, Y:-6.61, Z:-1.05 [[ 9.96283136e-01 8.61170299e-02 1.94155723e-03 1.59371914e+02] [-8.61168837e-02 9.96285028e-01 -1.58908327e-04 -6.61293102e+00] [-1.94802911e-03 -8.88317156e-06 9.99998103e-01 -1.05238702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.250281693 meters Centerline goodness [0,1] 0.9993394276460185 Centerline is valid? [True, True] Translation: X:159.40, Y:-6.62, Z:-1.05 [[ 9.96378042e-01 8.50181800e-02 1.64507895e-03 1.59403949e+02] [-8.50180734e-02 9.96379400e-01 -1.34764646e-04 -6.61886415e+00] [-1.65058022e-03 -5.58490835e-06 9.99998638e-01 -1.05406165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.280281693 meters Centerline goodness [0,1] 0.9993434011818779 Centerline is valid? [True, True] Translation: X:159.43, Y:-6.62, Z:-1.06 [[ 9.96480822e-01 8.38198913e-02 4.44590939e-04 1.59434930e+02] [-8.38198836e-02 9.96480921e-01 -3.60088609e-05 -6.62447505e+00] [-4.46044647e-04 -1.38342150e-06 9.99999901e-01 -1.05674140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.310281693 meters Centerline goodness [0,1] 0.9994053560430692 Centerline is valid? [True, True] Translation: X:159.47, Y:-6.63, Z:-1.06 [[ 9.96690802e-01 8.12435270e-02 -2.63334049e-03 1.59466866e+02] [-8.12432336e-02 9.96694281e-01 2.18380407e-04 -6.63334367e+00] [ 2.64237740e-03 -3.71664683e-06 9.99996509e-01 -1.06277197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.340281693 meters Centerline goodness [0,1] 0.9995981982363017 Centerline is valid? [True, True] Translation: X:159.50, Y:-6.64, Z:-1.06 [[ 9.96775895e-01 8.01462631e-02 -3.79364657e-03 1.59498184e+02] [-8.01456493e-02 9.96783114e-01 3.13801526e-04 -6.63837725e+00] [ 3.80659286e-03 -8.74552875e-06 9.99992755e-01 -1.06404429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.370281693 meters Centerline goodness [0,1] 0.9994066288039332 Centerline is valid? [True, True] Translation: X:159.53, Y:-6.65, Z:-1.06 [[ 9.96940989e-01 7.81148891e-02 -2.59381727e-03 1.59529216e+02] [-7.81145950e-02 9.96944364e-01 2.14651754e-04 -6.64556815e+00] [ 2.60265901e-03 -1.13801466e-05 9.99996613e-01 -1.06082822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.400281693 meters Centerline goodness [0,1] 0.9990060071740352 Centerline is valid? [True, True] Translation: X:159.56, Y:-6.65, Z:-1.06 [[ 9.96967031e-01 7.78209814e-02 -7.95820161e-04 1.59560416e+02] [-7.78209536e-02 9.96967349e-01 6.59571131e-05 -6.64902328e+00] [ 7.98539564e-04 -3.82558346e-06 9.99999681e-01 -1.05715325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.430281693 meters Centerline goodness [0,1] 0.9993841841501742 Centerline is valid? [True, True] Translation: X:159.59, Y:-6.65, Z:-1.06 [[ 9.96950665e-01 7.80343978e-02 -6.73637469e-05 1.59591800e+02] [-7.80343975e-02 9.96950667e-01 6.41524899e-06 -6.65316487e+00] [ 6.76589425e-05 -1.13899734e-06 9.99999998e-01 -1.05637887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.460281693 meters Centerline goodness [0,1] 0.9990050172534243 Centerline is valid? [True, True] Translation: X:159.62, Y:-6.66, Z:-1.05 [[ 9.96903368e-01 7.86308694e-02 9.28250768e-04 1.59623701e+02] [-7.86308323e-02 9.96903800e-01 -7.63878575e-05 -6.65537507e+00] [-9.31383161e-04 3.16218199e-06 9.99999566e-01 -1.05461715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.490281693 meters Centerline goodness [0,1] 0.999199848392327 Centerline is valid? [True, True] Translation: X:159.66, Y:-6.66, Z:-1.05 [[ 9.96842723e-01 7.93977740e-02 7.60742713e-04 1.59655827e+02] [-7.93977494e-02 9.96843013e-01 -6.25553353e-05 -6.65693528e+00] [-7.63307813e-04 1.95657160e-06 9.99999709e-01 -1.05499587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.520281693 meters Centerline goodness [0,1] 0.999199848392327 Centerline is valid? [True, True] Translation: X:159.69, Y:-6.66, Z:-1.06 [[ 9.96830133e-01 7.95556865e-02 7.60726399e-04 1.59687376e+02] [-7.95556618e-02 9.96830423e-01 -6.27518139e-05 -6.65972314e+00] [-7.63307482e-04 2.03280687e-06 9.99999709e-01 -1.05513801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.550281693 meters Centerline goodness [0,1] 0.9987393431764279 Centerline is valid? [True, True] Translation: X:159.72, Y:-6.66, Z:-1.05 [[ 9.96805351e-01 7.98550356e-02 1.50512006e-03 1.59720135e+02] [-7.98549373e-02 9.96806487e-01 -1.25389642e-04 -6.66005701e+00] [-1.51032644e-03 4.79779806e-06 9.99998859e-01 -1.05342875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.580281693 meters Centerline goodness [0,1] 0.9988996804841406 Centerline is valid? [True, True] Translation: X:159.75, Y:-6.66, Z:-1.05 [[ 9.96707517e-01 8.10197546e-02 3.15024008e-03 1.59752021e+02] [-8.10193287e-02 9.96712496e-01 -2.62783190e-04 -6.65895471e+00] [-3.16117428e-03 6.68764419e-06 9.99995003e-01 -1.05032916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.610281693 meters Centerline goodness [0,1] 0.9990205263606167 Centerline is valid? [True, True] Translation: X:159.79, Y:-6.66, Z:-1.05 [[ 9.96658540e-01 8.15660632e-02 4.32797661e-03 1.59785103e+02] [-8.15652602e-02 9.96667937e-01 -3.62021855e-04 -6.65895460e+00] [-4.34308422e-03 7.79963502e-06 9.99990569e-01 -1.04850943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.640281693 meters Centerline goodness [0,1] 0.9991541552125185 Centerline is valid? [True, True] Translation: X:159.82, Y:-6.66, Z:-1.05 [[ 9.96646724e-01 8.17567906e-02 3.33691936e-03 1.59817145e+02] [-8.17563127e-02 9.96652310e-01 -2.79582367e-04 -6.65736986e+00] [-3.34860615e-03 5.83062720e-06 9.99994393e-01 -1.05034711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.670281693 meters Centerline goodness [0,1] 0.9992298641565943 Centerline is valid? [True, True] Translation: X:159.85, Y:-6.66, Z:-1.05 [[ 9.96690988e-01 8.12679434e-02 1.61092344e-03 1.59849668e+02] [-8.12678317e-02 9.96692290e-01 -1.34809813e-04 -6.65868190e+00] [-1.61655069e-03 3.44747018e-06 9.99998693e-01 -1.05340355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.700281693 meters Centerline goodness [0,1] 0.9991337784162935 Centerline is valid? [True, True] Translation: X:159.88, Y:-6.66, Z:-1.06 [[ 9.96745589e-01 8.06114666e-02 1.48810908e-04 1.59881107e+02] [-8.06114658e-02 9.96745600e-01 -1.18629158e-05 -6.66078992e+00] [-1.49282905e-04 -1.71556399e-07 9.99999989e-01 -1.05635955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.730281693 meters Centerline goodness [0,1] 0.9990169259702514 Centerline is valid? [True, True] Translation: X:159.91, Y:-6.66, Z:-1.06 [[ 9.96852317e-01 7.92808676e-02 -3.48139039e-05 1.59911910e+02] [-7.92808676e-02 9.96852318e-01 2.98961901e-06 -6.66262397e+00] [ 3.49413404e-05 -2.20132131e-07 9.99999999e-01 -1.05649470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.760281693 meters Centerline goodness [0,1] 0.9987849590723056 Centerline is valid? [True, True] Translation: X:159.94, Y:-6.67, Z:-1.05 [[ 9.97042249e-01 7.68392978e-02 1.57324490e-03 1.59941967e+02] [-7.68391840e-02 9.97043491e-01 -1.32720054e-04 -6.66527351e+00] [-1.57879170e-03 1.14406469e-05 9.99998754e-01 -1.05332230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.790281693 meters Centerline goodness [0,1] 0.9989555356609967 Centerline is valid? [True, True] Translation: X:159.97, Y:-6.67, Z:-1.05 [[ 9.97155202e-01 7.53494873e-02 1.98946730e-03 1.59974447e+02] [-7.53493031e-02 9.97157186e-01 -1.67493102e-04 -6.66784411e+00] [-1.99643213e-03 1.71116439e-05 9.99998007e-01 -1.05261820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.820281693 meters Centerline goodness [0,1] 0.998653651969034 Centerline is valid? [True, True] Translation: X:160.01, Y:-6.67, Z:-1.05 [[ 9.97277967e-01 7.37217088e-02 1.32926956e-03 1.60005196e+02] [-7.37216251e-02 9.97278852e-01 -1.11925457e-04 -6.67245480e+00] [-1.33390376e-03 1.36248797e-05 9.99999110e-01 -1.05486975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.850281693 meters Centerline goodness [0,1] 0.9983778014941302 Centerline is valid? [True, True] Translation: X:160.04, Y:-6.68, Z:-1.06 [[ 9.97542263e-01 7.00670275e-02 -2.11028242e-04 1.60036875e+02] [-7.00670251e-02 9.97542286e-01 1.85864168e-05 -6.67555774e+00] [ 2.11811890e-04 -3.75461517e-06 9.99999978e-01 -1.05738609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.880281693 meters Centerline goodness [0,1] 0.9982867177795862 Centerline is valid? [True, True] Translation: X:160.07, Y:-6.68, Z:-1.06 [[ 9.97616456e-01 6.89952047e-02 -1.03354118e-03 1.60067970e+02] [-6.89951507e-02 9.97616991e-01 8.78351649e-05 -6.67770481e+00] [ 1.03713845e-03 -1.63164762e-05 9.99999462e-01 -1.05809070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.910281693 meters Centerline goodness [0,1] 0.9983024232907525 Centerline is valid? [True, True] Translation: X:160.10, Y:-6.68, Z:-1.06 [[ 9.97590728e-01 6.93679325e-02 -9.10932543e-04 1.60098218e+02] [-6.93678907e-02 9.97591144e-01 7.73852828e-05 -6.67909423e+00] [ 9.14106295e-04 -1.40093714e-05 9.99999582e-01 -1.05866456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.940281693 meters Centerline goodness [0,1] 0.9984868827653816 Centerline is valid? [True, True] Translation: X:160.13, Y:-6.68, Z:-1.06 [[ 9.97571287e-01 6.96528905e-02 -3.61119890e-05 1.60129303e+02] [-6.96528904e-02 9.97571288e-01 3.06570534e-06 -6.67880833e+00] [ 3.62378187e-05 -5.42955206e-07 9.99999999e-01 -1.05637251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.970281693 meters Centerline goodness [0,1] 0.9982553933875155 Centerline is valid? [True, True] Translation: X:160.16, Y:-6.68, Z:-1.06 [[ 9.97580808e-01 6.95143061e-02 5.41896907e-04 1.60160757e+02] [-6.95142914e-02 9.97580955e-01 -4.59130522e-05 -6.68117849e+00] [-5.43777648e-04 8.13240021e-06 9.99999852e-01 -1.05588653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.000281693 meters Centerline goodness [0,1] 0.9978158530896136 Centerline is valid? [True, True] Translation: X:160.19, Y:-6.69, Z:-1.06 [[ 9.97681067e-01 6.80590354e-02 -6.75719408e-04 1.60191100e+02] [-6.80590119e-02 9.97681296e-01 5.77966759e-05 -6.68655887e+00] [ 6.78086200e-04 -1.16738540e-05 9.99999770e-01 -1.05926276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.030281693 meters Centerline goodness [0,1] 0.9981495267467829 Centerline is valid? [True, True] Translation: X:160.22, Y:-6.69, Z:-1.06 [[ 9.97752633e-01 6.69963152e-02 -1.08499540e-03 1.60222042e+02] [-6.69962544e-02 9.97753223e-01 9.23499008e-05 -6.69126021e+00] [ 1.08874476e-03 -1.94517292e-05 9.99999407e-01 -1.05995933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.060281693 meters Centerline goodness [0,1] 0.9982075411305295 Centerline is valid? [True, True] Translation: X:160.25, Y:-6.70, Z:-1.06 [[ 9.97809765e-01 6.61410717e-02 -1.01541951e-03 1.60253375e+02] [-6.61410180e-02 9.97810282e-01 8.64587104e-05 -6.69602571e+00] [ 1.01891450e-03 -1.91084654e-05 9.99999481e-01 -1.05949572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.090281693 meters Centerline goodness [0,1] 0.9980177338221502 Centerline is valid? [True, True] Translation: X:160.28, Y:-6.70, Z:-1.06 [[ 9.97782044e-01 6.65656446e-02 9.13248446e-05 1.60283926e+02] [-6.65656442e-02 9.97782048e-01 -7.66667014e-06 -6.70075218e+00] [-9.16326273e-05 1.57056869e-06 9.99999996e-01 -1.05766963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.120281693 meters Centerline goodness [0,1] 0.998286294588076 Centerline is valid? [True, True] Translation: X:160.31, Y:-6.70, Z:-1.06 [[ 9.97697667e-01 6.78185387e-02 -1.06290982e-04 1.60314856e+02] [-6.78185382e-02 9.97697673e-01 9.14462611e-06 -6.70204278e+00] [ 1.06666440e-04 -1.91507314e-06 9.99999994e-01 -1.05878027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.150281693 meters Centerline goodness [0,1] 0.9983539974348012 Centerline is valid? [True, True] Translation: X:160.35, Y:-6.70, Z:-1.06 [[ 9.97575697e-01 6.95894331e-02 -1.99458785e-04 1.60346689e+02] [-6.95894311e-02 9.97575717e-01 1.71296617e-05 -6.70295970e+00] [ 2.00167284e-04 -3.20791089e-06 9.99999980e-01 -1.05840260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.180281693 meters Centerline goodness [0,1] 0.9988091693956535 Centerline is valid? [True, True] Translation: X:160.38, Y:-6.70, Z:-1.05 [[ 9.97182476e-01 7.49965085e-02 1.62247968e-03 1.60378064e+02] [-7.49963831e-02 9.97183796e-01 -1.38078703e-04 -6.69872386e+00] [-1.62826586e-03 1.60095557e-05 9.99998674e-01 -1.05479510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.210281693 meters Centerline goodness [0,1] 0.9990701606086222 Centerline is valid? [True, True] Translation: X:160.41, Y:-6.70, Z:-1.05 [[ 9.96905537e-01 7.85780041e-02 2.20160738e-03 1.60408715e+02] [-7.85777818e-02 9.96907968e-01 -1.87407628e-04 -6.69697050e+00] [-2.20952606e-03 1.38302775e-05 9.99997559e-01 -1.05343620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.240281693 meters Centerline goodness [0,1] 0.9992337490953982 Centerline is valid? [True, True] Translation: X:160.44, Y:-6.69, Z:-1.05 [[ 9.96300825e-01 8.58815106e-02 3.00544564e-03 1.60440334e+02] [-8.58811294e-02 9.96305358e-01 -2.55902028e-04 -6.68833749e+00] [-3.01631885e-03 -3.15566425e-06 9.99995451e-01 -1.05295170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.270281693 meters Centerline goodness [0,1] 0.9991981970268279 Centerline is valid? [True, True] Translation: X:160.47, Y:-6.69, Z:-1.05 [[ 9.96060200e-01 8.86318235e-02 2.91161446e-03 1.60472293e+02] [-8.86314776e-02 9.96064456e-01 -2.47875017e-04 -6.68706428e+00] [-2.92212529e-03 -1.11622523e-05 9.99995731e-01 -1.05338498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.300281693 meters Centerline goodness [0,1] 0.9991267677628216 Centerline is valid? [True, True] Translation: X:160.50, Y:-6.69, Z:-1.05 [[ 9.95861478e-01 9.08547604e-02 2.30869124e-03 1.60501506e+02] [-9.08545486e-02 9.95864154e-01 -1.96657918e-04 -6.68624958e+00] [-2.31701015e-03 -1.39110551e-05 9.99997316e-01 -1.05488250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.330281693 meters Centerline goodness [0,1] 0.9992294355615489 Centerline is valid? [True, True] Translation: X:160.53, Y:-6.69, Z:-1.06 [[ 9.95746398e-01 9.21280489e-02 1.23816414e-03 1.60531076e+02] [-9.21279890e-02 9.95747168e-01 -1.05478327e-04 -6.68633575e+00] [-1.24261595e-03 -9.03990796e-06 9.99999228e-01 -1.05666241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.360281693 meters Centerline goodness [0,1] 0.9990649240250771 Centerline is valid? [True, True] Translation: X:160.56, Y:-6.69, Z:-1.06 [[ 9.95593826e-01 9.37645395e-02 1.06992628e-03 1.60561005e+02] [-9.37644956e-02 9.95594401e-01 -9.11803749e-05 -6.68530289e+00] [-1.07376210e-03 -9.54247967e-06 9.99999423e-01 -1.05676523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.390281693 meters Centerline goodness [0,1] 0.9991688333830613 Centerline is valid? [True, True] Translation: X:160.59, Y:-6.69, Z:-1.06 [[ 9.95563377e-01 9.40865938e-02 1.12890978e-03 1.60590184e+02] [-9.40865452e-02 9.95564017e-01 -9.62132840e-05 -6.68590532e+00] [-1.13295434e-03 -1.04287991e-05 9.99999358e-01 -1.05689127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.420281693 meters Centerline goodness [0,1] 0.9990534173783964 Centerline is valid? [True, True] Translation: X:160.62, Y:-6.69, Z:-1.06 [[ 9.95619743e-01 9.34949388e-02 1.52964187e-04 1.60620506e+02] [-9.34949379e-02 9.95619755e-01 -1.30153624e-05 -6.69117634e+00] [-1.53511037e-04 -1.34302541e-06 9.99999988e-01 -1.05857760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.450281693 meters Centerline goodness [0,1] 0.9990019324287018 Centerline is valid? [True, True] Translation: X:160.65, Y:-6.69, Z:-1.06 [[ 9.95699500e-01 9.26399513e-02 -5.86869001e-04 1.60650179e+02] [-9.26399380e-02 9.95699673e-01 4.98735935e-05 -6.69475228e+00] [ 5.88965560e-04 4.70839573e-06 9.99999827e-01 -1.06116058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.480281693 meters Centerline goodness [0,1] 0.9988774278270816 Centerline is valid? [True, True] Translation: X:160.68, Y:-6.70, Z:-1.06 [[ 9.95817451e-01 9.13599725e-02 -9.79866415e-04 1.60678845e+02] [-9.13599349e-02 9.95817933e-01 8.31710902e-05 -6.69906255e+00] [ 9.83367057e-04 6.69730888e-06 9.99999516e-01 -1.06201825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.510281693 meters Centerline goodness [0,1] 0.9991720448369565 Centerline is valid? [True, True] Translation: X:160.71, Y:-6.71, Z:-1.06 [[ 9.96101324e-01 8.82164913e-02 -5.91534073e-05 1.60708214e+02] [-8.82164911e-02 9.96101326e-01 4.92592157e-06 -6.70549452e+00] [ 5.93573350e-05 3.11589037e-07 9.99999998e-01 -1.06040857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.540281693 meters Centerline goodness [0,1] 0.9993396387184731 Centerline is valid? [True, True] Translation: X:160.74, Y:-6.71, Z:-1.06 [[ 9.96253886e-01 8.64744734e-02 6.00344570e-04 1.60737500e+02] [-8.64744583e-02 9.96254067e-01 -5.10840709e-05 -6.71057705e+00] [-6.02513187e-04 -1.02176736e-06 9.99999818e-01 -1.05972097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.570281693 meters Centerline goodness [0,1] 0.9990661941042891 Centerline is valid? [True, True] Translation: X:160.77, Y:-6.72, Z:-1.06 [[ 9.96417640e-01 8.45628200e-02 1.00797611e-03 1.60767519e+02] [-8.45627766e-02 9.96418150e-01 -8.56837656e-05 -6.71682419e+00] [-1.01161135e-03 1.39557297e-07 9.99999488e-01 -1.05971803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.600281693 meters Centerline goodness [0,1] 0.9990433063333121 Centerline is valid? [True, True] Translation: X:160.80, Y:-6.72, Z:-1.06 [[ 9.96581030e-01 8.26114091e-02 1.26754447e-03 1.60797544e+02] [-8.26113389e-02 9.96581836e-01 -1.07711378e-04 -6.72451279e+00] [-1.27210998e-03 2.62956985e-06 9.99999191e-01 -1.05942446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.630281693 meters Centerline goodness [0,1] 0.9993391882673943 Centerline is valid? [True, True] Translation: X:160.83, Y:-6.73, Z:-1.06 [[ 9.96553318e-01 8.29494246e-02 9.36528681e-04 1.60828465e+02] [-8.29493864e-02 9.96553758e-01 -7.96211999e-05 -6.72663279e+00] [-9.39905709e-04 1.66229146e-06 9.99999558e-01 -1.06023797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.660281693 meters Centerline goodness [0,1] 0.9992774412921049 Centerline is valid? [True, True] Translation: X:160.86, Y:-6.73, Z:-1.06 [[ 9.96420089e-01 8.45399509e-02 5.89397563e-05 1.60859178e+02] [-8.45399508e-02 9.96420090e-01 -5.01090272e-06 -6.72689963e+00] [-5.91523788e-05 1.02000360e-08 9.99999998e-01 -1.06154747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.690281693 meters Centerline goodness [0,1] 0.99918857167261 Centerline is valid? [True, True] Translation: X:160.89, Y:-6.73, Z:-1.06 [[ 9.96422156e-01 8.45152905e-02 2.30384444e-04 1.60889147e+02] [-8.45152882e-02 9.96422182e-01 -1.95866782e-05 -6.73064513e+00] [-2.31215545e-04 4.55923980e-08 9.99999973e-01 -1.06064609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.720281693 meters Centerline goodness [0,1] 0.999186574192996 Centerline is valid? [True, True] Translation: X:160.92, Y:-6.74, Z:-1.06 [[ 9.96493931e-01 8.36593071e-02 9.83061025e-04 1.60919430e+02] [-8.36592654e-02 9.96494416e-01 -8.35772571e-05 -6.73560844e+00] [-9.86606837e-04 1.04206629e-06 9.99999513e-01 -1.05921471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.750281693 meters Centerline goodness [0,1] 0.9990185829190757 Centerline is valid? [True, True] Translation: X:160.95, Y:-6.74, Z:-1.06 [[ 9.96662056e-01 8.16154155e-02 1.91593814e-03 1.60949540e+02] [-8.16152534e-02 9.96663897e-01 -1.62746662e-04 -6.74273958e+00] [-1.92282901e-03 5.83364571e-06 9.99998151e-01 -1.05813014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.780281693 meters Centerline goodness [0,1] 0.9991093203265825 Centerline is valid? [True, True] Translation: X:160.98, Y:-6.75, Z:-1.06 [[ 9.96688474e-01 8.12954365e-02 1.77156265e-03 1.60980668e+02] [-8.12952972e-02 9.96690048e-01 -1.50648758e-04 -6.74687713e+00] [-1.77794592e-03 6.13016833e-06 9.99998419e-01 -1.05889249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.810281693 meters Centerline goodness [0,1] 0.9990270316003215 Centerline is valid? [True, True] Translation: X:161.01, Y:-6.75, Z:-1.06 [[ 9.96698873e-01 8.11787946e-02 1.16602901e-03 1.61011963e+02] [-8.11787342e-02 9.96699555e-01 -9.91473633e-05 -6.75097725e+00] [-1.17022926e-03 4.16330617e-06 9.99999315e-01 -1.06023285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.840281693 meters Centerline goodness [0,1] 0.9991913517194416 Centerline is valid? [True, True] Translation: X:161.04, Y:-6.75, Z:-1.06 [[ 9.96680222e-01 8.14130747e-02 6.67810653e-04 1.61042101e+02] [-8.14130549e-02 9.96680446e-01 -5.67993026e-05 -6.75427420e+00] [-6.70218026e-04 2.24223611e-06 9.99999775e-01 -1.06033745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.870281693 meters Centerline goodness [0,1] 0.9993006103763988 Centerline is valid? [True, True] Translation: X:161.07, Y:-6.75, Z:-1.06 [[ 9.96574207e-01 8.26892557e-02 1.52881090e-03 1.61073284e+02] [-8.26891534e-02 9.96575379e-01 -1.30078874e-04 -6.75402135e+00] [-1.53433143e-03 3.21717135e-06 9.99998823e-01 -1.05787086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.900281693 meters Centerline goodness [0,1] 0.9995549998940476 Centerline is valid? [True, True] Translation: X:161.10, Y:-6.75, Z:-1.05 [[ 9.96236201e-01 8.66313543e-02 2.90536381e-03 1.61103821e+02] [-8.66310011e-02 9.96240437e-01 -2.47424441e-04 -6.74786353e+00] [-2.91587562e-03 -5.20139013e-06 9.99995749e-01 -1.05480903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.930281693 meters Centerline goodness [0,1] 0.9994666666666666 Centerline is valid? [True, True] Translation: X:161.13, Y:-6.75, Z:-1.05 [[ 9.96034241e-01 8.89170085e-02 3.09148332e-03 1.61134886e+02] [-8.89166199e-02 9.96039038e-01 -2.63185268e-04 -6.74703928e+00] [-3.10263972e-03 -1.27427085e-05 9.99995187e-01 -1.05421796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.960281693 meters Centerline goodness [0,1] 0.9993667546174142 Centerline is valid? [True, True] Translation: X:161.17, Y:-6.75, Z:-1.05 [[ 9.95880293e-01 9.06043586e-02 3.64579900e-03 1.61165301e+02] [-9.06038292e-02 9.95886966e-01 -3.10456965e-04 -6.74734998e+00] [-3.65893246e-03 -2.11453764e-05 9.99993306e-01 -1.05373421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.990281693 meters Centerline goodness [0,1] 0.9989865934761955 Centerline is valid? [True, True] Translation: X:161.20, Y:-6.75, Z:-1.05 [[ 9.95804927e-01 9.13107586e-02 5.90696852e-03 1.61195932e+02] [-9.13093788e-02 9.95822446e-01 -5.03412533e-04 -6.74634254e+00] [-5.92825882e-03 -3.80609457e-05 9.99982427e-01 -1.05073587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.020281693 meters Centerline goodness [0,1] 0.9992190962622148 Centerline is valid? [True, True] Translation: X:161.23, Y:-6.75, Z:-1.05 [[ 9.95823751e-01 9.10564948e-02 6.61594665e-03 1.61226765e+02] [-9.10547576e-02 9.95845728e-01 -5.63943143e-04 -6.75042946e+00] [-6.63981289e-03 -4.08254419e-05 9.99977955e-01 -1.05051075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.050281693 meters Centerline goodness [0,1] 0.9991767114901522 Centerline is valid? [True, True] Translation: X:161.26, Y:-6.75, Z:-1.05 [[ 9.95857518e-01 9.07363778e-02 5.89187710e-03 1.61257550e+02] [-9.07349926e-02 9.95874946e-01 -5.02532702e-04 -6.75266951e+00] [-5.91317079e-03 -3.41484559e-05 9.99982516e-01 -1.05183616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.080281693 meters Centerline goodness [0,1] 0.9994295975493821 Centerline is valid? [True, True] Translation: X:161.29, Y:-6.76, Z:-1.06 [[ 9.95880680e-01 9.06464364e-02 2.21240182e-03 1.61288745e+02] [-9.06462404e-02 9.95883137e-01 -1.88903653e-04 -6.75535223e+00] [-2.22041711e-03 -1.24204094e-05 9.99997535e-01 -1.05835513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.110281693 meters Centerline goodness [0,1] 0.9995119881179716 Centerline is valid? [True, True] Translation: X:161.32, Y:-6.76, Z:-1.06 [[ 9.95845059e-01 9.10564814e-02 1.15594252e-03 1.61318620e+02] [-9.10564284e-02 9.95845730e-01 -9.85763735e-05 -6.75667896e+00] [-1.16011644e-03 -7.08920285e-06 9.99999327e-01 -1.05999431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.140281693 meters Centerline goodness [0,1] 0.999259901461166 Centerline is valid? [True, True] Translation: X:161.35, Y:-6.75, Z:-1.06 [[ 9.95624829e-01 9.34202408e-02 1.96453475e-03 1.61347517e+02] [-9.34200911e-02 9.95626767e-01 -1.68021205e-04 -6.75358700e+00] [-1.97163996e-03 -1.62409320e-05 9.99998056e-01 -1.05810692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.170281693 meters Centerline goodness [0,1] 0.9990199838084282 Centerline is valid? [True, True] Translation: X:161.38, Y:-6.76, Z:-1.06 [[ 9.95462493e-01 9.51386574e-02 1.74975506e-03 1.61377326e+02] [-9.51385415e-02 9.95464030e-01 -1.49581517e-04 -6.75552046e+00] [-1.75604921e-03 -1.75663542e-05 9.99998458e-01 -1.05866567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.200281693 meters Centerline goodness [0,1] 0.9989484974027886 Centerline is valid? [True, True] Translation: X:161.41, Y:-6.75, Z:-1.06 [[ 9.95272863e-01 9.71107146e-02 1.19847562e-03 1.61406433e+02] [-9.71106616e-02 9.95273585e-01 -1.02481289e-04 -6.75479526e+00] [-1.20276316e-03 -1.43879146e-05 9.99999277e-01 -1.06027264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.230281693 meters Centerline goodness [0,1] 0.9988767616827382 Centerline is valid? [True, True] Translation: X:161.44, Y:-6.75, Z:-1.06 [[ 9.95118427e-01 9.86842116e-02 8.61964639e-04 1.61436297e+02] [-9.86841847e-02 9.95118800e-01 -7.36900888e-05 -6.75476181e+00] [-8.65029266e-04 -1.17319125e-05 9.99999626e-01 -1.06093538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.260281693 meters Centerline goodness [0,1] 0.9989299090422686 Centerline is valid? [True, True] Translation: X:161.47, Y:-6.76, Z:-1.06 [[ 9.94986588e-01 9.99807435e-02 2.35383756e-03 1.61466299e+02] [-9.99805477e-02 9.94989372e-01 -2.01004583e-04 -6.75672431e+00] [-2.36213994e-03 -3.53411042e-05 9.99997210e-01 -1.05851904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.290281693 meters Centerline goodness [0,1] 0.9986723484442922 Centerline is valid? [True, True] Translation: X:161.50, Y:-6.76, Z:-1.06 [[ 9.94990751e-01 9.99123212e-02 3.30658258e-03 1.61495655e+02] [-9.99119348e-02 9.94996244e-01 -2.82241168e-04 -6.76001191e+00] [-3.31823662e-03 -4.95397117e-05 9.99994493e-01 -1.05739612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.320281693 meters Centerline goodness [0,1] 0.9983965793693212 Centerline is valid? [True, True] Translation: X:161.52, Y:-6.77, Z:-1.06 [[ 9.95015130e-01 9.96854766e-02 2.77427683e-03 1.61524333e+02] [-9.96852040e-02 9.95018997e-01 -2.36735854e-04 -6.76538066e+00] [-2.78405727e-03 -4.09985952e-05 9.99996124e-01 -1.05886381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.350281693 meters Centerline goodness [0,1] 0.998161920054086 Centerline is valid? [True, True] Translation: X:161.55, Y:-6.77, Z:-1.06 [[ 9.94949323e-01 1.00363189e-01 1.75330400e-03 1.61553446e+02] [-1.00363081e-01 9.94950868e-01 -1.49676022e-04 -6.76654115e+00] [-1.75947330e-03 -2.70469352e-05 9.99998452e-01 -1.06111900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.380281693 meters Centerline goodness [0,1] 0.9982796703763487 Centerline is valid? [True, True] Translation: X:161.58, Y:-6.77, Z:-1.06 [[ 9.94716751e-01 1.02656866e-01 -3.90085667e-04 1.61583353e+02] [-1.02656861e-01 9.94716828e-01 3.31520065e-05 -6.76553860e+00] [ 3.91428059e-04 7.06811393e-06 9.99999923e-01 -1.06440165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.410281693 meters Centerline goodness [0,1] 0.9984058494696793 Centerline is valid? [True, True] Translation: X:161.61, Y:-6.77, Z:-1.06 [[ 9.94576380e-01 1.04007934e-01 -4.16651146e-04 1.61612317e+02] [-1.04007929e-01 9.94576467e-01 3.53508393e-05 -6.76528877e+00] [ 4.18068192e-04 8.17591281e-06 9.99999913e-01 -1.06490629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.440281693 meters Centerline goodness [0,1] 0.9984058494696793 Centerline is valid? [True, True] Translation: X:161.64, Y:-6.77, Z:-1.07 [[ 9.94581176e-01 1.03962061e-01 -4.16657142e-04 1.61640558e+02] [-1.03962055e-01 9.94581264e-01 3.52804088e-05 -6.76760462e+00] [ 4.18067211e-04 8.22730226e-06 9.99999913e-01 -1.06503341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.470281693 meters Centerline goodness [0,1] 0.9979660155091318 Centerline is valid? [True, True] Translation: X:161.67, Y:-6.77, Z:-1.06 [[ 9.94444534e-01 1.05261894e-01 -5.84679416e-05 1.61668939e+02] [-1.05261894e-01 9.94444535e-01 4.99189468e-06 -6.76660687e+00] [ 5.86685813e-05 1.19028389e-06 9.99999998e-01 -1.06462743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.500281693 meters Centerline goodness [0,1] 0.9976675012304466 Centerline is valid? [True, True] Translation: X:161.70, Y:-6.77, Z:-1.06 [[ 9.94351353e-01 1.06121453e-01 1.90348773e-03 1.61697463e+02] [-1.06121336e-01 9.94353174e-01 -1.62251269e-04 -6.76863157e+00] [-1.90995740e-03 -4.06658926e-05 9.99998175e-01 -1.06119015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.530281693 meters Centerline goodness [0,1] 0.9972771023302939 Centerline is valid? [True, True] Translation: X:161.73, Y:-6.77, Z:-1.06 [[ 9.94345508e-01 1.06161856e-01 2.58291333e-03 1.61725910e+02] [-1.06161643e-01 9.94348861e-01 -2.19947060e-04 -6.76964083e+00] [-2.59166692e-03 -5.55029521e-05 9.99996640e-01 -1.06027052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.560281693 meters Centerline goodness [0,1] 0.9972176444149562 Centerline is valid? [True, True] Translation: X:161.76, Y:-6.77, Z:-1.06 [[ 9.94498501e-01 1.04705544e-01 3.07920597e-03 1.61755578e+02] [-1.04705234e-01 9.94503266e-01 -2.62055284e-04 -6.77411897e+00] [-3.08971903e-03 -6.17953954e-05 9.99995225e-01 -1.05924469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.590281693 meters Centerline goodness [0,1] 0.9975955345641906 Centerline is valid? [True, True] Translation: X:161.79, Y:-6.78, Z:-1.06 [[ 9.94597542e-01 1.03767297e-01 2.84216084e-03 1.61785323e+02] [-1.03767029e-01 9.94601601e-01 -2.41824835e-04 -6.77745946e+00] [-2.85191124e-03 -5.44042004e-05 9.99995932e-01 -1.05975689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.620281693 meters Centerline goodness [0,1] 0.9976956044192707 Centerline is valid? [True, True] Translation: X:161.81, Y:-6.78, Z:-1.06 [[ 9.94700718e-01 1.02772010e-01 2.89758819e-03 1.61814995e+02] [-1.02771728e-01 9.94704937e-01 -2.46474337e-04 -6.78201092e+00] [-2.90757594e-03 -5.26219461e-05 9.99995772e-01 -1.05941939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.650281693 meters Centerline goodness [0,1] 0.998208267565377 Centerline is valid? [True, True] Translation: X:161.84, Y:-6.78, Z:-1.06 [[ 9.94774688e-01 1.02049028e-01 3.05217102e-03 1.61843696e+02] [-1.02048712e-01 9.94779369e-01 -2.59562698e-04 -6.78260562e+00] [-3.06272488e-03 -5.32637188e-05 9.99995308e-01 -1.05869479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.680281693 meters Centerline goodness [0,1] 0.9981142869250165 Centerline is valid? [True, True] Translation: X:161.87, Y:-6.79, Z:-1.06 [[ 9.94890053e-01 1.00921550e-01 2.93651785e-03 1.61873388e+02] [-1.00921253e-01 9.94894386e-01 -2.49594715e-04 -6.78900290e+00] [-2.94671461e-03 -4.80377626e-05 9.99995657e-01 -1.05997422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.710281693 meters Centerline goodness [0,1] 0.9984664863368192 Centerline is valid? [True, True] Translation: X:161.90, Y:-6.79, Z:-1.06 [[ 9.95006303e-01 9.97951036e-02 1.84258721e-03 1.61901617e+02] [-9.97949846e-02 9.95008008e-01 -1.56639661e-04 -6.79347194e+00] [-1.84902091e-03 -2.80235126e-05 9.99998290e-01 -1.06246582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.740281693 meters Centerline goodness [0,1] 0.9987909384014932 Centerline is valid? [True, True] Translation: X:161.93, Y:-6.80, Z:-1.07 [[ 9.95142761e-01 9.84398336e-02 6.96100101e-04 1.61930273e+02] [-9.84398162e-02 9.95143004e-01 -5.92198119e-05 -6.79663413e+00] [-6.98548734e-04 -9.59179893e-06 9.99999756e-01 -1.06563336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.770281693 meters Centerline goodness [0,1] 0.9985263023002499 Centerline is valid? [True, True] Translation: X:161.96, Y:-6.80, Z:-1.06 [[ 9.95095519e-01 9.89127143e-02 1.08784844e-03 1.61959733e+02] [-9.89126722e-02 9.95096113e-01 -9.24763216e-05 -6.79994951e+00] [-1.09166084e-03 -1.55792234e-05 9.99999404e-01 -1.06349521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.800281693 meters Centerline goodness [0,1] 0.9987171537918795 Centerline is valid? [True, True] Translation: X:161.99, Y:-6.80, Z:-1.06 [[ 9.95005225e-01 9.98009199e-02 2.09264333e-03 1.61988466e+02] [-9.98007667e-02 9.95007425e-01 -1.77754452e-04 -6.79881401e+00] [-2.09993571e-03 -3.19808008e-05 9.99997795e-01 -1.06140519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.830281693 meters Centerline goodness [0,1] 0.9986383971989885 Centerline is valid? [True, True] Translation: X:162.02, Y:-6.80, Z:-1.06 [[ 9.94905751e-01 1.00772017e-01 2.74723682e-03 1.62018419e+02] [-1.00771757e-01 9.94909543e-01 -2.33240827e-04 -6.79843305e+00] [-2.75675628e-03 -4.47912425e-05 9.99996199e-01 -1.06005262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.860281693 meters Centerline goodness [0,1] 0.9985435853501821 Centerline is valid? [True, True] Translation: X:162.05, Y:-6.80, Z:-1.06 [[ 9.94828867e-01 1.01551902e-01 1.65417494e-03 1.62047778e+02] [-1.01551809e-01 9.94830242e-01 -1.40476045e-04 -6.79662992e+00] [-1.65988886e-03 -2.82348323e-05 9.99998622e-01 -1.06246867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.890281693 meters Centerline goodness [0,1] 0.9983822903363133 Centerline is valid? [True, True] Translation: X:162.08, Y:-6.79, Z:-1.07 [[ 9.94780233e-01 1.02037708e-01 7.70966380e-04 1.62076844e+02] [-1.02037688e-01 9.94780532e-01 -6.55291520e-05 -6.79215880e+00] [-7.73628790e-04 -1.34805217e-05 9.99999701e-01 -1.06545770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.920281693 meters Centerline goodness [0,1] 0.9977387040872395 Centerline is valid? [True, True] Translation: X:162.10, Y:-6.79, Z:-1.07 [[ 9.94875473e-01 1.01093443e-01 1.70577891e-03 1.62104513e+02] [-1.01093343e-01 9.94876935e-01 -1.44784505e-04 -6.79228745e+00] [-1.71167686e-03 -2.84003404e-05 9.99998535e-01 -1.06501982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.950281693 meters Centerline goodness [0,1] 0.9983554365472601 Centerline is valid? [True, True] Translation: X:162.13, Y:-6.80, Z:-1.06 [[ 9.95061044e-01 9.92299359e-02 2.63392986e-03 1.62133893e+02] [-9.92296926e-02 9.95064530e-01 -2.23226616e-04 -6.79867400e+00] [-2.64308094e-03 -3.92399405e-05 9.99996506e-01 -1.06230599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.980281693 meters Centerline goodness [0,1] 0.9993772413941203 Centerline is valid? [True, True] Translation: X:162.16, Y:-6.81, Z:-1.06 [[ 9.95628232e-01 9.33578421e-02 2.95593912e-03 1.62163460e+02] [-9.33575100e-02 9.95632619e-01 -2.50420913e-04 -6.80869346e+00] [-2.96640816e-03 -2.66329852e-05 9.99995600e-01 -1.06195655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.010281693 meters Centerline goodness [0,1] 0.9995335722009032 Centerline is valid? [True, True] Translation: X:162.19, Y:-6.82, Z:-1.07 [[ 9.95941704e-01 8.99780346e-02 2.01863203e-03 1.62192620e+02] [-8.99778729e-02 9.95943750e-01 -1.71007012e-04 -6.81566399e+00] [-2.02583083e-03 -1.13192016e-05 9.99997948e-01 -1.06530365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.040281693 meters Centerline goodness [0,1] 0.9996576221860823 Centerline is valid? [True, True] Translation: X:162.22, Y:-6.83, Z:-1.07 [[ 9.96284247e-01 8.61245457e-02 5.12434041e-04 1.62222593e+02] [-8.61245348e-02 9.96284378e-01 -4.33971422e-05 -6.82734353e+00] [-5.14267589e-04 -8.97254281e-07 9.99999868e-01 -1.06791792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.070281693 meters Centerline goodness [0,1] 0.9994067670925232 Centerline is valid? [True, True] Translation: X:162.25, Y:-6.84, Z:-1.07 [[ 9.96823507e-01 7.96239298e-02 -1.71030397e-03 1.62251520e+02] [-7.96237984e-02 9.96824974e-01 1.44915193e-04 -6.84159273e+00] [ 1.71641242e-03 -8.27397248e-06 9.99998527e-01 -1.07195214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.100281693 meters Centerline goodness [0,1] 0.9992012779552716 Centerline is valid? [True, True] Translation: X:162.28, Y:-6.85, Z:-1.07 [[ 9.96984626e-01 7.75744046e-02 -1.96651978e-03 1.62281961e+02] [-7.75742269e-02 9.96986565e-01 1.66564201e-04 -6.84677569e+00] [ 1.97351492e-03 -1.35106960e-05 9.99998053e-01 -1.07215066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.130281693 meters Centerline goodness [0,1] 0.999124492846466 Centerline is valid? [True, True] Translation: X:162.31, Y:-6.85, Z:-1.07 [[ 9.97078039e-01 7.63552443e-02 -2.29386047e-03 1.62310665e+02] [-7.63549997e-02 9.97080677e-01 1.94134889e-04 -6.85194271e+00] [ 2.30198716e-03 -1.84199195e-05 9.99997350e-01 -1.07145392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.160281693 meters Centerline goodness [0,1] 0.9990606319385141 Centerline is valid? [True, True] Translation: X:162.34, Y:-6.85, Z:-1.07 [[ 9.97053438e-01 7.66847231e-02 -1.97372094e-03 1.62340029e+02] [-7.66845426e-02 9.97055391e-01 1.67055325e-04 -6.85476334e+00] [ 1.98071970e-03 -1.52091980e-05 9.99998038e-01 -1.07136054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.190281693 meters Centerline goodness [0,1] 0.9997025200798946 Centerline is valid? [True, True] Translation: X:162.37, Y:-6.85, Z:-1.07 [[ 9.96785214e-01 8.01115549e-02 -1.17299488e-03 1.62370623e+02] [-8.01114936e-02 9.96785904e-01 9.92482741e-05 -6.85051431e+00] [ 1.17717570e-03 -4.95884016e-06 9.99999307e-01 -1.07056919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.220281693 meters Centerline goodness [0,1] 0.999402845016955 Centerline is valid? [True, True] Translation: X:162.40, Y:-6.85, Z:-1.07 [[ 9.96622782e-01 8.21054935e-02 -1.31087819e-03 1.62400412e+02] [-8.21054187e-02 9.96623644e-01 1.10834939e-04 -6.84774885e+00] [ 1.31555235e-03 -2.83042236e-06 9.99999135e-01 -1.07050694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.250281693 meters Centerline goodness [0,1] 0.9995330871429178 Centerline is valid? [True, True] Translation: X:162.43, Y:-6.85, Z:-1.07 [[ 9.96477827e-01 8.38378479e-02 -1.77612033e-03 1.62429852e+02] [-8.38377134e-02 9.96479410e-01 1.50167399e-04 -6.84601143e+00] [ 1.78245705e-03 -7.32615993e-07 9.99998411e-01 -1.07168238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.280281693 meters Centerline goodness [0,1] 0.9995570554735288 Centerline is valid? [True, True] Translation: X:162.46, Y:-6.85, Z:-1.07 [[ 9.96389673e-01 8.48785531e-02 -1.80315451e-03 1.62459129e+02] [-8.48784164e-02 9.96391304e-01 1.52338484e-04 -6.84533827e+00] [ 1.80957774e-03 1.26040746e-06 9.99998363e-01 -1.07225849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.310281693 meters Centerline goodness [0,1] 0.999746096229529 Centerline is valid? [True, True] Translation: X:162.49, Y:-6.84, Z:-1.07 [[ 9.96336601e-01 8.55180785e-02 1.90082067e-04 1.62487673e+02] [-8.55180770e-02 9.96336619e-01 -1.62199773e-05 -6.84432979e+00] [-1.90772826e-04 -9.48958151e-08 9.99999982e-01 -1.06829951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.340281693 meters Centerline goodness [0,1] 0.9996181181712104 Centerline is valid? [True, True] Translation: X:162.52, Y:-6.85, Z:-1.07 [[ 9.96389752e-01 8.48888560e-02 1.15975433e-03 1.62517581e+02] [-8.48887993e-02 9.96390427e-01 -9.81167424e-05 -6.84779651e+00] [-1.16389713e-03 -6.87635642e-07 9.99999323e-01 -1.06670984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.370281693 meters Centerline goodness [0,1] 0.9995152894564919 Centerline is valid? [True, True] Translation: X:162.55, Y:-6.86, Z:-1.07 [[ 9.96621803e-01 8.21264526e-02 4.77093797e-04 1.62546886e+02] [-8.21264428e-02 9.96621917e-01 -4.01018872e-05 -6.85524685e+00] [-4.78775561e-04 7.84398660e-07 9.99999885e-01 -1.06833858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.400281693 meters Centerline goodness [0,1] 0.9995103465894576 Centerline is valid? [True, True] Translation: X:162.58, Y:-6.86, Z:-1.07 [[ 9.96718021e-01 8.09511877e-02 -3.03692001e-04 1.62577481e+02] [-8.09511836e-02 9.96718067e-01 2.56835860e-05 -6.85896443e+00] [ 3.04774421e-04 -1.01506604e-06 9.99999954e-01 -1.06966716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.430281693 meters Centerline goodness [0,1] 0.9994703838657741 Centerline is valid? [True, True] Translation: X:162.61, Y:-6.86, Z:-1.07 [[ 9.96733512e-01 8.07595687e-02 -4.44517123e-04 1.62608014e+02] [-8.07595600e-02 9.96733611e-01 3.75933304e-05 -6.85985825e+00] [ 4.46101178e-04 -1.57152503e-06 9.99999900e-01 -1.06894552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.460281693 meters Centerline goodness [0,1] 0.9995087044750615 Centerline is valid? [True, True] Translation: X:162.64, Y:-6.86, Z:-1.07 [[ 9.96525761e-01 8.32850892e-02 2.92328407e-05 1.62636861e+02] [-8.32850892e-02 9.96525762e-01 -2.62550845e-06 -6.85658966e+00] [-2.93499446e-05 1.81727064e-07 1.00000000e+00 -1.06702087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.490281693 meters Centerline goodness [0,1] 0.9996604053910644 Centerline is valid? [True, True] Translation: X:162.67, Y:-6.86, Z:-1.07 [[ 9.96346757e-01 8.53959060e-02 8.23739539e-04 1.62666223e+02] [-8.53958775e-02 9.96347098e-01 -6.97196340e-05 -6.85569809e+00] [-8.26684270e-04 -8.79029512e-07 9.99999658e-01 -1.06569297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.520281693 meters Centerline goodness [0,1] 0.9994699684101173 Centerline is valid? [True, True] Translation: X:162.70, Y:-6.85, Z:-1.06 [[ 9.96205134e-01 8.70261394e-02 1.33514702e-03 1.62695350e+02] [-8.70260662e-02 9.96206028e-01 -1.12945467e-04 -6.85485775e+00] [-1.33991072e-03 -3.67573885e-06 9.99999102e-01 -1.06438029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.550281693 meters Centerline goodness [0,1] 0.999511749846095 Centerline is valid? [True, True] Translation: X:162.73, Y:-6.85, Z:-1.06 [[ 9.96092985e-01 8.83030055e-02 1.15947821e-03 1.62725568e+02] [-8.83029512e-02 9.96093660e-01 -9.80298695e-05 -6.85421116e+00] [-1.16360523e-03 -4.73848283e-06 9.99999323e-01 -1.06446901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.580281693 meters Centerline goodness [0,1] 0.9991946763870639 Centerline is valid? [True, True] Translation: X:162.75, Y:-6.85, Z:-1.07 [[ 9.95822368e-01 9.13112005e-02 2.75248069e-04 1.62754644e+02] [-9.13111976e-02 9.95822406e-01 -2.33933224e-05 -6.84800363e+00] [-2.76234266e-04 -1.83763706e-06 9.99999962e-01 -1.06677852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.610281693 meters Centerline goodness [0,1] 0.9988377007607777 Centerline is valid? [True, True] Translation: X:162.78, Y:-6.84, Z:-1.07 [[ 9.95600072e-01 9.37024762e-02 5.85357425e-04 1.62782747e+02] [-9.37024632e-02 9.95600244e-01 -4.96382110e-05 -6.84448440e+00] [-5.87433219e-04 -5.42962612e-06 9.99999827e-01 -1.06609851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.640281693 meters Centerline goodness [0,1] 0.9984382584471224 Centerline is valid? [True, True] Translation: X:162.81, Y:-6.84, Z:-1.07 [[ 9.95188434e-01 9.79785818e-02 4.22183490e-04 1.62812027e+02] [-9.79785755e-02 9.95188524e-01 -3.57537746e-05 -6.83650089e+00] [-4.23655269e-04 -5.78319404e-06 9.99999910e-01 -1.06707841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.670281693 meters Centerline goodness [0,1] 0.998768002039169 Centerline is valid? [True, True] Translation: X:162.84, Y:-6.84, Z:-1.07 [[ 9.95123526e-01 9.86365326e-02 4.42432540e-05 1.62840670e+02] [-9.86365325e-02 9.95123527e-01 -3.93991237e-06 -6.83691220e+00] [-4.44161223e-05 -4.43301677e-07 9.99999999e-01 -1.06812880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.700281693 meters Centerline goodness [0,1] 0.9989600577274078 Centerline is valid? [True, True] Translation: X:162.87, Y:-6.83, Z:-1.07 [[ 9.95123295e-01 9.86386237e-02 -2.24612750e-04 1.62868524e+02] [-9.86386220e-02 9.95123320e-01 1.86561682e-05 -6.83410375e+00] [ 2.25357604e-04 3.59030457e-06 9.99999975e-01 -1.06947041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.730281693 meters Centerline goodness [0,1] 0.9988506725693853 Centerline is valid? [True, True] Translation: X:162.90, Y:-6.84, Z:-1.07 [[ 9.95177683e-01 9.80885801e-02 -1.00431886e-04 1.62897361e+02] [-9.80885798e-02 9.95177688e-01 8.24487707e-06 -6.83573117e+00] [ 1.00756300e-04 1.64610336e-06 9.99999995e-01 -1.06796790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.760281693 meters Centerline goodness [0,1] 0.9986480777355302 Centerline is valid? [True, True] Translation: X:162.93, Y:-6.83, Z:-1.07 [[ 9.95262482e-01 9.72206433e-02 8.59016977e-04 1.62925521e+02] [-9.72206170e-02 9.95262853e-01 -7.25209915e-05 -6.83432778e+00] [-8.61998225e-04 -1.13367385e-05 9.99999628e-01 -1.06638490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.790281693 meters Centerline goodness [0,1] 0.9990723562152134 Centerline is valid? [True, True] Translation: X:162.95, Y:-6.84, Z:-1.06 [[ 9.95392094e-01 9.58638351e-02 2.16893369e-03 1.62954123e+02] [-9.58636649e-02 9.95394457e-01 -1.82554529e-04 -6.83706236e+00] [-2.17644495e-03 -2.62085975e-05 9.99997631e-01 -1.06400954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.820281693 meters Centerline goodness [0,1] 0.9994656635390172 Centerline is valid? [True, True] Translation: X:162.98, Y:-6.84, Z:-1.06 [[ 9.95842195e-01 9.10680442e-02 2.22118648e-03 1.62982384e+02] [-9.10678539e-02 9.95844672e-01 -1.86847031e-04 -6.84219808e+00] [-2.22897252e-03 -1.62085290e-05 9.99997516e-01 -1.06405671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.850281693 meters Centerline goodness [0,1] 0.9995770686629025 Centerline is valid? [True, True] Translation: X:163.01, Y:-6.85, Z:-1.07 [[ 9.96093752e-01 8.82964681e-02 9.85099412e-04 1.63010346e+02] [-8.82964293e-02 9.96094239e-01 -8.28950232e-05 -6.84827945e+00] [-9.88571187e-04 -4.40954576e-06 9.99999511e-01 -1.06709347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.880281693 meters Centerline goodness [0,1] 0.9996403486502496 Centerline is valid? [True, True] Translation: X:163.04, Y:-6.86, Z:-1.07 [[ 9.96578785e-01 8.26374670e-02 -1.33176867e-03 1.63038765e+02] [-8.26373914e-02 9.96579675e-01 1.11728242e-04 -6.85978981e+00] [ 1.33644653e-03 -1.29210619e-06 9.99999107e-01 -1.07231953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.910281693 meters Centerline goodness [0,1] 0.9994272987591473 Centerline is valid? [True, True] Translation: X:163.07, Y:-6.87, Z:-1.07 [[ 9.96792609e-01 8.00034229e-02 -1.98661741e-03 1.63066753e+02] [-8.00032497e-02 9.96794589e-01 1.66600363e-04 -6.86567609e+00] [ 1.99357808e-03 -7.13016178e-06 9.99998013e-01 -1.07373742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.940281693 meters Centerline goodness [0,1] 0.9993614847607696 Centerline is valid? [True, True] Translation: X:163.10, Y:-6.87, Z:-1.07 [[ 9.97003980e-01 7.73310799e-02 -1.72268274e-03 1.63095499e+02] [-7.73309464e-02 9.97005468e-01 1.44092166e-04 -6.87096871e+00] [ 1.72866691e-03 -1.04437768e-05 9.99998506e-01 -1.07230818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.970281693 meters Centerline goodness [0,1] 0.9988583268145204 Centerline is valid? [True, True] Translation: X:163.12, Y:-6.88, Z:-1.07 [[ 9.97371368e-01 7.24554292e-02 7.51724001e-04 1.63123160e+02] [-7.24554022e-02 9.97371651e-01 -6.31537667e-05 -6.88388435e+00] [-7.54324041e-04 8.52129383e-06 9.99999715e-01 -1.06777436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.000281693 meters Centerline goodness [0,1] 0.9988381427183235 Centerline is valid? [True, True] Translation: X:163.15, Y:-6.89, Z:-1.06 [[ 9.97526114e-01 7.02704136e-02 1.92889337e-03 1.63153013e+02] [-7.02702323e-02 9.97527979e-01 -1.61687234e-04 -6.89132884e+00] [-1.93548693e-03 2.57434526e-05 9.99998127e-01 -1.06499311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.030281693 meters Centerline goodness [0,1] 0.9986717511461503 Centerline is valid? [True, True] Translation: X:163.18, Y:-6.90, Z:-1.06 [[ 9.97641081e-01 6.86073531e-02 2.30327063e-03 1.63183500e+02] [-6.86070902e-02 9.97643739e-01 -1.93068970e-04 -6.89596312e+00] [-2.31108948e-03 3.45928401e-05 9.99997329e-01 -1.06383062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.060281693 meters Centerline goodness [0,1] 0.9980237154150198 Centerline is valid? [True, True] Translation: X:163.21, Y:-6.90, Z:-1.07 [[ 9.97742022e-01 6.71337243e-02 1.98029165e-03 1.63213382e+02] [-6.71335270e-02 9.97743986e-01 -1.65995634e-04 -6.90245601e+00] [-1.98696799e-03 3.26768568e-05 9.99998025e-01 -1.06541856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.090281693 meters Centerline goodness [0,1] 0.9983077020709495 Centerline is valid? [True, True] Translation: X:163.24, Y:-6.91, Z:-1.07 [[ 9.97766351e-01 6.67684723e-02 2.06901454e-03 1.63242904e+02] [-6.67682564e-02 9.97768495e-01 -1.73307270e-04 -6.91092554e+00] [-2.07596898e-03 3.47756694e-05 9.99997845e-01 -1.06637801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.120281693 meters Centerline goodness [0,1] 0.9977751880495815 Centerline is valid? [True, True] Translation: X:163.27, Y:-6.93, Z:-1.07 [[ 9.97893742e-01 6.48406778e-02 1.94063049e-03 1.63272372e+02] [-6.48404842e-02 9.97895628e-01 -1.62575957e-04 -6.92740782e+00] [-1.94708822e-03 3.64021093e-05 9.99998104e-01 -1.06664664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.150281693 meters Centerline goodness [0,1] 0.9983532581962831 Centerline is valid? [True, True] Translation: X:163.30, Y:-6.93, Z:-1.07 [[ 9.97951391e-01 6.39685160e-02 1.02430311e-03 1.63303944e+02] [-6.39684615e-02 9.97951917e-01 -8.59134553e-05 -6.92980409e+00] [-1.02770101e-03 2.02143582e-05 9.99999472e-01 -1.06679224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.180281693 meters Centerline goodness [0,1] 0.9978664976763836 Centerline is valid? [True, True] Translation: X:163.33, Y:-6.94, Z:-1.07 [[ 9.97941851e-01 6.41251921e-02 -1.44950475e-04 1.63334138e+02] [-6.41251909e-02 9.97941862e-01 1.28709522e-05 -6.93757315e+00] [ 1.45477499e-04 -3.54948503e-06 9.99999989e-01 -1.06915963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.210281693 meters Centerline goodness [0,1] 0.9979742561721883 Centerline is valid? [True, True] Translation: X:163.37, Y:-6.94, Z:-1.07 [[ 9.97718408e-01 6.75109883e-02 4.94956301e-04 1.63365193e+02] [-6.75109760e-02 9.97718531e-01 -4.15952332e-05 -6.93924684e+00] [-4.96635209e-04 8.08534694e-06 9.99999877e-01 -1.06679169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.240281693 meters Centerline goodness [0,1] 0.9988621278209748 Centerline is valid? [True, True] Translation: X:163.40, Y:-6.94, Z:-1.06 [[ 9.97533423e-01 7.01744833e-02 1.61599683e-03 1.63396259e+02] [-7.01743552e-02 9.97534732e-01 -1.35936901e-04 -6.94033095e+00] [-1.62155226e-03 2.22000663e-05 9.99998685e-01 -1.06431502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.270281693 meters Centerline goodness [0,1] 0.9992378855558143 Centerline is valid? [True, True] Translation: X:163.43, Y:-6.94, Z:-1.06 [[ 9.97344331e-01 7.27840664e-02 2.60093138e-03 1.63427262e+02] [-7.27837431e-02 9.97347722e-01 -2.18849997e-04 -6.94090356e+00] [-2.60996178e-03 2.89632821e-05 9.99996594e-01 -1.06333908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.300281693 meters Centerline goodness [0,1] 0.9993413504440573 Centerline is valid? [True, True] Translation: X:163.46, Y:-6.94, Z:-1.06 [[ 9.96999413e-01 7.73618126e-02 2.70565069e-03 1.63457888e+02] [-7.73614794e-02 9.97003084e-01 -2.27714473e-04 -6.93640745e+00] [-2.71515848e-03 1.77180561e-05 9.99996314e-01 -1.06368035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.330281693 meters Centerline goodness [0,1] 0.9993413504440573 Centerline is valid? [True, True] Translation: X:163.49, Y:-6.94, Z:-1.06 [[ 9.96997654e-01 7.73844810e-02 2.70565406e-03 1.63488611e+02] [-7.73841481e-02 9.97001325e-01 -2.27674349e-04 -6.93903914e+00] [-2.71515915e-03 1.76160564e-05 9.99996314e-01 -1.06381868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.360281693 meters Centerline goodness [0,1] 0.9994700919920302 Centerline is valid? [True, True] Translation: X:163.52, Y:-6.94, Z:-1.07 [[ 9.96888856e-01 7.87873112e-02 2.27352897e-03 1.63519383e+02] [-7.87870797e-02 9.96891448e-01 -1.91348023e-04 -6.94073562e+00] [-2.28153739e-03 1.16280030e-05 9.99997397e-01 -1.06522118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.390281693 meters Centerline goodness [0,1] 0.9995989276592152 Centerline is valid? [True, True] Translation: X:163.55, Y:-6.95, Z:-1.07 [[ 9.96823030e-01 7.96301567e-02 1.69853842e-03 1.63549188e+02] [-7.96300286e-02 9.96824477e-01 -1.43030918e-04 -6.94583858e+00] [-1.70453425e-03 7.32184983e-06 9.99998547e-01 -1.06593668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.420281693 meters Centerline goodness [0,1] 0.9996137256164296 Centerline is valid? [True, True] Translation: X:163.58, Y:-6.95, Z:-1.07 [[ 9.96837104e-01 7.94490437e-02 1.90698860e-03 1.63580580e+02] [-7.94488820e-02 9.96838929e-01 -1.60524303e-04 -6.94833800e+00] [-1.91371398e-03 8.50846883e-06 9.99998169e-01 -1.06507827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.450281693 meters Centerline goodness [0,1] 0.9993584260051326 Centerline is valid? [True, True] Translation: X:163.61, Y:-6.95, Z:-1.07 [[ 9.96837740e-01 7.94432594e-02 1.81363309e-03 1.63611606e+02] [-7.94431130e-02 9.96839390e-01 -1.52765172e-04 -6.94920043e+00] [-1.82003706e-03 8.20143024e-06 9.99998344e-01 -1.06539370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.480281693 meters Centerline goodness [0,1] 0.9991854757464687 Centerline is valid? [True, True] Translation: X:163.64, Y:-6.95, Z:-1.07 [[ 9.96810477e-01 7.98029727e-02 5.98830441e-04 1.63641996e+02] [-7.98029569e-02 9.96810657e-01 -5.02330120e-05 -6.94975966e+00] [-6.00929309e-04 2.28435278e-06 9.99999819e-01 -1.06832184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.510281693 meters Centerline goodness [0,1] 0.9996196995626545 Centerline is valid? [True, True] Translation: X:163.67, Y:-6.95, Z:-1.07 [[ 9.96654494e-01 8.16971217e-02 -2.32371287e-03 1.63672942e+02] [-8.16968871e-02 9.96657203e-01 1.95854491e-04 -6.94719484e+00] [ 2.33194592e-03 -5.35915043e-06 9.99997281e-01 -1.07327607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.540281693 meters Centerline goodness [0,1] 0.9997659773636286 Centerline is valid? [True, True] Translation: X:163.70, Y:-6.95, Z:-1.07 [[ 9.96583663e-01 8.25688782e-02 -1.83947074e-03 1.63703280e+02] [-8.25687329e-02 9.96585360e-01 1.54891196e-04 -6.94624162e+00] [ 1.84597881e-03 -2.47926694e-06 9.99998296e-01 -1.07136983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.570281693 meters Centerline goodness [0,1] 0.9997891896449954 Centerline is valid? [True, True] Translation: X:163.73, Y:-6.94, Z:-1.07 [[ 9.96399424e-01 8.47814596e-02 5.41059533e-04 1.63732451e+02] [-8.47814472e-02 9.96399571e-01 -4.57285903e-05 -6.93799227e+00] [-5.42988423e-04 -3.07869218e-07 9.99999853e-01 -1.06704831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.600281693 meters Centerline goodness [0,1] 0.9996605062700248 Centerline is valid? [True, True] Translation: X:163.76, Y:-6.94, Z:-1.07 [[ 9.96272549e-01 8.62509434e-02 1.33524630e-03 1.63762566e+02] [-8.62508701e-02 9.96273444e-01 -1.12536476e-04 -6.93505027e+00] [-1.33997681e-03 -3.04915310e-06 9.99999102e-01 -1.06577661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.630281693 meters Centerline goodness [0,1] 0.9996824455923449 Centerline is valid? [True, True] Translation: X:163.79, Y:-6.93, Z:-1.07 [[ 9.96130976e-01 8.78773317e-02 8.08423841e-04 1.63791653e+02] [-8.78773053e-02 9.96131304e-01 -6.81736965e-05 -6.93186848e+00] [-8.11287217e-04 -3.13217795e-06 9.99999671e-01 -1.06686488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.660281693 meters Centerline goodness [0,1] 0.9996373023831366 Centerline is valid? [True, True] Translation: X:163.82, Y:-6.93, Z:-1.07 [[ 9.96016742e-01 8.91663944e-02 6.85461208e-05 1.63821615e+02] [-8.91663942e-02 9.96016744e-01 -5.97484344e-06 -6.92515920e+00] [-6.88058392e-05 -1.60966325e-07 9.99999998e-01 -1.06808259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.690281693 meters Centerline goodness [0,1] 0.9997042045214452 Centerline is valid? [True, True] Translation: X:163.85, Y:-6.93, Z:-1.07 [[ 9.96160233e-01 8.75481422e-02 3.37050040e-04 1.63849973e+02] [-8.75481375e-02 9.96160290e-01 -2.85950525e-05 -6.92565836e+00] [-3.38259309e-04 -1.02284908e-06 9.99999943e-01 -1.06780072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.720281693 meters Centerline goodness [0,1] 0.9997256342070828 Centerline is valid? [True, True] Translation: X:163.88, Y:-6.93, Z:-1.07 [[ 9.96341210e-01 8.54612176e-02 7.57400979e-04 1.63879095e+02] [-8.54611937e-02 9.96341498e-01 -6.38446505e-05 -6.92841306e+00] [-7.60086267e-04 -1.11733543e-06 9.99999711e-01 -1.06720342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.750281693 meters Centerline goodness [0,1] 0.9998081800549884 Centerline is valid? [True, True] Translation: X:163.91, Y:-6.93, Z:-1.07 [[ 9.96702193e-01 8.11447324e-02 5.20196302e-04 1.63908274e+02] [-8.11447206e-02 9.96702329e-01 -4.38000056e-05 -6.93190475e+00] [-5.22035005e-04 1.44437814e-06 9.99999864e-01 -1.06697188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.780281693 meters Centerline goodness [0,1] 0.9995730327483882 Centerline is valid? [True, True] Translation: X:163.94, Y:-6.93, Z:-1.07 [[ 9.96827453e-01 7.95926693e-02 1.88164622e-04 1.63936952e+02] [-7.95926677e-02 9.96827471e-01 -1.60052560e-05 -6.93299420e+00] [-1.88841565e-04 9.77954327e-07 9.99999982e-01 -1.06731323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.810281693 meters Centerline goodness [0,1] 0.9993806065783853 Centerline is valid? [True, True] Translation: X:163.97, Y:-6.93, Z:-1.07 [[ 9.96890518e-01 7.87989736e-02 1.32450100e-04 1.63965152e+02] [-7.87989728e-02 9.96890526e-01 -1.13207889e-05 -6.93379335e+00] [-1.32930317e-04 8.48655276e-07 9.99999991e-01 -1.06802984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.840281693 meters Centerline goodness [0,1] 0.9994938951097615 Centerline is valid? [True, True] Translation: X:163.99, Y:-6.93, Z:-1.07 [[ 9.96874064e-01 7.90013669e-02 9.40944250e-04 1.63992828e+02] [-7.90013274e-02 9.96874508e-01 -7.91532639e-05 -6.93309786e+00] [-9.44256552e-04 4.56999108e-06 9.99999554e-01 -1.06578539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.870281693 meters Centerline goodness [0,1] 0.9994687068324302 Centerline is valid? [True, True] Translation: X:164.02, Y:-6.94, Z:-1.06 [[ 9.96868478e-01 7.90543716e-02 1.90915989e-03 1.64021668e+02] [-7.90542097e-02 9.96870306e-01 -1.60202904e-04 -6.93534315e+00] [-1.91584955e-03 8.77409891e-06 9.99998165e-01 -1.06356356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.900281693 meters Centerline goodness [0,1] 0.9994046353391453 Centerline is valid? [True, True] Translation: X:164.05, Y:-6.94, Z:-1.06 [[ 9.96873863e-01 7.89736152e-02 2.38103098e-03 1.64050533e+02] [-7.89733637e-02 9.96876707e-01 -1.99642743e-04 -6.93688102e+00] [-2.38936083e-03 1.09806076e-05 9.99997145e-01 -1.06344390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.930281693 meters Centerline goodness [0,1] 0.9993801432082933 Centerline is valid? [True, True] Translation: X:164.08, Y:-6.94, Z:-1.06 [[ 9.96874769e-01 7.89761147e-02 1.86217582e-03 1.64080008e+02] [-7.89759610e-02 9.96876509e-01 -1.56043464e-04 -6.93827140e+00] [-1.86868304e-03 8.48866685e-06 9.99998254e-01 -1.06477387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96028169299998 meters Centerline goodness [0,1] 0.9994499682674001 Centerline is valid? [True, True] Translation: X:164.11, Y:-6.94, Z:-1.07 [[ 9.96881191e-01 7.89098206e-02 1.06317417e-03 1.64108820e+02] [-7.89097704e-02 9.96881758e-01 -8.91489219e-05 -6.94165980e+00] [-1.06689366e-03 4.97605364e-06 9.99999431e-01 -1.06733593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.990281693 meters Centerline goodness [0,1] 0.9995523056260259 Centerline is valid? [True, True] Translation: X:164.14, Y:-6.94, Z:-1.07 [[ 9.96861077e-01 7.91690713e-02 5.00322259e-04 1.64137640e+02] [-7.91690602e-02 9.96861203e-01 -4.20587681e-05 -6.94294361e+00] [-5.02081603e-04 2.31670589e-06 9.99999874e-01 -1.06856737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.020281693 meters Centerline goodness [0,1] 0.9995087149692413 Centerline is valid? [True, True] Translation: X:164.17, Y:-6.94, Z:-1.07 [[ 9.96873225e-01 7.90157841e-02 5.27488938e-04 1.64166315e+02] [-7.90157717e-02 9.96873365e-01 -4.43161932e-05 -6.94445238e+00] [-5.29341352e-04 2.49768098e-06 9.99999860e-01 -1.06871192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.050281693 meters Centerline goodness [0,1] 0.9993218902309812 Centerline is valid? [True, True] Translation: X:164.19, Y:-6.95, Z:-1.07 [[ 9.96887912e-01 7.88319465e-02 1.25054030e-04 1.64193644e+02] [-7.88319458e-02 9.96887920e-01 -1.07109329e-05 -6.94688095e+00] [-1.25509215e-04 8.19347081e-07 9.99999992e-01 -1.06993904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.080281693 meters Centerline goodness [0,1] 0.9990814713547229 Centerline is valid? [True, True] Translation: X:164.22, Y:-6.95, Z:-1.07 [[ 9.96885247e-01 7.88655415e-02 1.77168272e-04 1.64221975e+02] [-7.88655401e-02 9.96885262e-01 -1.50057677e-05 -6.94872468e+00] [-1.77799878e-04 9.86556923e-07 9.99999984e-01 -1.06939850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.110281693 meters Centerline goodness [0,1] 0.9992959399202065 Centerline is valid? [True, True] Translation: X:164.25, Y:-6.95, Z:-1.07 [[ 9.96814364e-01 7.97544211e-02 5.96680757e-04 1.64250268e+02] [-7.97544054e-02 9.96814543e-01 -5.00541996e-05 -6.95012857e+00] [-5.98772099e-04 2.30682617e-06 9.99999821e-01 -1.06868603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.140281693 meters Centerline goodness [0,1] 0.999535953089076 Centerline is valid? [True, True] Translation: X:164.28, Y:-6.95, Z:-1.07 [[ 9.96739025e-01 8.06909711e-02 5.32469165e-04 1.64278522e+02] [-8.06909587e-02 9.96739167e-01 -4.46633347e-05 -6.95096398e+00] [-5.34336800e-04 1.55224124e-06 9.99999857e-01 -1.06904471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.170281693 meters Centerline goodness [0,1] 0.9995978665763631 Centerline is valid? [True, True] Translation: X:164.31, Y:-6.95, Z:-1.07 [[ 9.96581733e-01 8.26125192e-02 1.42974976e-04 1.64307386e+02] [-8.26125183e-02 9.96581744e-01 -1.21280784e-05 -6.94778425e+00] [-1.43488182e-04 2.75098559e-07 9.99999990e-01 -1.06969464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.200281693 meters Centerline goodness [0,1] 0.9995145631067961 Centerline is valid? [True, True] Translation: X:164.34, Y:-6.95, Z:-1.07 [[ 9.96581340e-01 8.26134718e-02 -8.04694726e-04 1.64335346e+02] [-8.26134448e-02 9.96581665e-01 6.67539649e-05 -6.94951896e+00] [ 8.07458787e-04 -4.71524125e-08 9.99999674e-01 -1.07318601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.230281693 meters Centerline goodness [0,1] 0.9995506387349411 Centerline is valid? [True, True] Translation: X:164.36, Y:-6.95, Z:-1.07 [[ 9.96617789e-01 8.21501599e-02 -2.08200440e-03 1.64364034e+02] [-8.21499776e-02 9.96619963e-01 1.73085829e-04 -6.95209708e+00] [ 2.08918618e-03 -1.46380136e-06 9.99997818e-01 -1.07415524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.260281693 meters Centerline goodness [0,1] 0.9998727681411426 Centerline is valid? [True, True] Translation: X:164.39, Y:-6.95, Z:-1.08 [[ 9.96651242e-01 8.16848408e-02 -3.72677708e-03 1.64391510e+02] [-8.16842537e-02 9.96658210e-01 3.09719414e-04 -6.95250968e+00] [ 3.73962236e-03 -4.26323372e-06 9.99993008e-01 -1.07777479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.290281693 meters Centerline goodness [0,1] 0.9996600012749952 Centerline is valid? [True, True] Translation: X:164.42, Y:-6.95, Z:-1.08 [[ 9.96621576e-01 8.20448690e-02 -3.75149517e-03 1.64419652e+02] [-8.20442774e-02 9.96628637e-01 3.11573662e-04 -6.95196738e+00] [ 3.76441054e-03 -2.73232357e-06 9.99992915e-01 -1.07779974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.320281693 meters Centerline goodness [0,1] 0.9996776966050709 Centerline is valid? [True, True] Translation: X:164.45, Y:-6.95, Z:-1.08 [[ 9.96567748e-01 8.27129267e-02 -3.36073361e-03 1.64448709e+02] [-8.27124563e-02 9.96573415e-01 2.78975273e-04 -6.95137976e+00] [ 3.37229263e-03 -4.32279900e-08 9.99994314e-01 -1.07606383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.350281693 meters Centerline goodness [0,1] 0.9997229798840778 Centerline is valid? [True, True] Translation: X:164.48, Y:-6.95, Z:-1.07 [[ 9.96506670e-01 8.34914974e-02 -1.90428037e-03 1.64478077e+02] [-8.34913481e-02 9.96508490e-01 1.57892945e-04 -6.94981676e+00] [ 1.91081427e-03 1.64956240e-06 9.99998174e-01 -1.07377469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.380281693 meters Centerline goodness [0,1] 0.999701339704753 Centerline is valid? [True, True] Translation: X:164.51, Y:-6.95, Z:-1.07 [[ 9.96550549e-01 8.29814736e-02 -1.03883274e-03 1.64506002e+02] [-8.29814291e-02 9.96551090e-01 8.59266600e-05 -6.95135730e+00] [ 1.04238022e-03 5.73565401e-07 9.99999457e-01 -1.07307623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.410281693 meters Centerline goodness [0,1] 0.9995769255177374 Centerline is valid? [True, True] Translation: X:164.53, Y:-6.95, Z:-1.07 [[ 9.96740604e-01 8.06727024e-02 2.89073447e-04 1.64533451e+02] [-8.06726987e-02 9.96740646e-01 -2.42270321e-05 -6.95408061e+00] [-2.90085714e-04 8.27731467e-07 9.99999958e-01 -1.06962777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.440281693 meters Centerline goodness [0,1] 0.9994435169727324 Centerline is valid? [True, True] Translation: X:164.56, Y:-6.96, Z:-1.07 [[ 9.96825795e-01 7.96101355e-02 7.49070598e-04 1.64562171e+02] [-7.96101112e-02 9.96826076e-01 -6.22803333e-05 -6.95699370e+00] [-7.51651251e-04 2.44904910e-06 9.99999718e-01 -1.06889943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.470281693 meters Centerline goodness [0,1] 0.9993876430592508 Centerline is valid? [True, True] Translation: X:164.59, Y:-6.96, Z:-1.07 [[ 9.96899557e-01 7.86814447e-02 7.09070198e-04 1.64589700e+02] [-7.86814226e-02 9.96899810e-01 -5.89751917e-05 -6.96099367e+00] [-7.11512199e-04 3.00169056e-06 9.99999747e-01 -1.06881429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.500281693 meters Centerline goodness [0,1] 0.9992568213186113 Centerline is valid? [True, True] Translation: X:164.62, Y:-6.96, Z:-1.07 [[ 9.96952335e-01 7.80128429e-02 1.95239204e-04 1.64616895e+02] [-7.80128412e-02 9.96952354e-01 -1.64119238e-05 -6.96392555e+00] [-1.95924525e-04 1.13074075e-06 9.99999981e-01 -1.07000607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.530281693 meters Centerline goodness [0,1] 0.9991949664216258 Centerline is valid? [True, True] Translation: X:164.64, Y:-6.96, Z:-1.07 [[ 9.96953088e-01 7.79963555e-02 -1.05278375e-03 1.64644844e+02] [-7.79963074e-02 9.96953644e-01 8.67984540e-05 -6.96467559e+00] [ 1.05634656e-03 -4.42074183e-06 9.99999442e-01 -1.07208962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.560281693 meters Centerline goodness [0,1] 0.9995308768338451 Centerline is valid? [True, True] Translation: X:164.67, Y:-6.96, Z:-1.07 [[ 9.96878447e-01 7.89301741e-02 -1.84085506e-03 1.64673358e+02] [-7.89300281e-02 9.96880147e-01 1.51932852e-04 -6.96479414e+00] [ 1.84710395e-03 -6.15984394e-06 9.99998294e-01 -1.07320478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.590281693 meters Centerline goodness [0,1] 0.9995329483695652 Centerline is valid? [True, True] Translation: X:164.70, Y:-6.96, Z:-1.07 [[ 9.96614931e-01 8.21661852e-02 -2.71965702e-03 1.64702667e+02] [-8.21658787e-02 9.96618642e-01 2.24434214e-04 -6.96124182e+00] [ 2.72890179e-03 -2.11479683e-07 9.99996277e-01 -1.07470715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.620281693 meters Centerline goodness [0,1] 0.9996348797250859 Centerline is valid? [True, True] Translation: X:164.73, Y:-6.96, Z:-1.07 [[ 9.96494229e-01 8.36262954e-02 -2.42780312e-03 1.64731009e+02] [-8.36260560e-02 9.96497187e-01 2.00140355e-04 -6.95999884e+00] [ 2.43603597e-03 3.58889060e-06 9.99997033e-01 -1.07442773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.650281693 meters Centerline goodness [0,1] 0.9996358183376178 Centerline is valid? [True, True] Translation: X:164.76, Y:-6.96, Z:-1.07 [[ 9.96292502e-01 8.60296841e-02 3.80504566e-04 1.64760612e+02] [-8.60296783e-02 9.96292574e-01 -3.15938423e-05 -6.95724075e+00] [-3.81811882e-04 -1.25797715e-06 9.99999927e-01 -1.06963056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.680281693 meters Centerline goodness [0,1] 0.999556840483677 Centerline is valid? [True, True] Translation: X:164.79, Y:-6.96, Z:-1.07 [[ 9.96187314e-01 8.72377687e-02 6.37415989e-04 1.64788516e+02] [-8.72377528e-02 9.96187518e-01 -5.28023064e-05 -6.95754592e+00] [-6.39592208e-04 -3.00575063e-06 9.99999795e-01 -1.06860680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71028169299998 meters Centerline goodness [0,1] 0.9995768986672308 Centerline is valid? [True, True] Translation: X:164.82, Y:-6.96, Z:-1.07 [[ 9.96074471e-01 8.85184630e-02 3.61363001e-04 1.64816879e+02] [-8.85184579e-02 9.96074536e-01 -3.00440509e-05 -6.95820594e+00] [-3.62603936e-04 -2.06118345e-06 9.99999934e-01 -1.06908077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.740281693 meters Centerline goodness [0,1] 0.9992948868613919 Centerline is valid? [True, True] Translation: X:164.85, Y:-6.96, Z:-1.07 [[ 9.95796322e-01 9.15944941e-02 -3.66752008e-04 1.64846140e+02] [-9.15944893e-02 9.95796389e-01 2.99823480e-05 -6.95871027e+00] [ 3.67956543e-04 3.73615095e-06 9.99999932e-01 -1.06920409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.770281693 meters Centerline goodness [0,1] 0.9993248090475587 Centerline is valid? [True, True] Translation: X:164.87, Y:-6.96, Z:-1.07 [[ 9.95676143e-01 9.28921241e-02 2.67755420e-04 1.64873773e+02] [-9.28921214e-02 9.95676179e-01 -2.22927883e-05 -6.95844209e+00] [-2.68668517e-04 -2.67597151e-06 9.99999964e-01 -1.06940034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.800281693 meters Centerline goodness [0,1] 0.9991444765265747 Centerline is valid? [True, True] Translation: X:164.90, Y:-6.96, Z:-1.07 [[ 9.95594501e-01 9.37581165e-02 1.00272952e-03 1.64902288e+02] [-9.37580808e-02 9.95595006e-01 -8.26509733e-05 -6.96046552e+00] [-1.00606170e-03 -1.17271410e-05 9.99999494e-01 -1.06810199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.830281693 meters Centerline goodness [0,1] 0.9990663328099139 Centerline is valid? [True, True] Translation: X:164.93, Y:-6.96, Z:-1.07 [[ 9.95472238e-01 9.50368092e-02 1.74005073e-03 1.64930705e+02] [-9.50367040e-02 9.95473759e-01 -1.43229734e-04 -6.96100857e+00] [-1.74578694e-03 -2.27874624e-05 9.99998476e-01 -1.06649563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.860281693 meters Centerline goodness [0,1] 0.9988930282064928 Centerline is valid? [True, True] Translation: X:164.96, Y:-6.96, Z:-1.07 [[ 9.95407614e-01 9.57147258e-02 1.54062229e-03 1.64959595e+02] [-9.57146443e-02 9.95408806e-01 -1.26724211e-04 -6.96197521e+00] [-1.54567837e-03 -2.13178699e-05 9.99998805e-01 -1.06694530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.890281693 meters Centerline goodness [0,1] 0.9989173353712902 Centerline is valid? [True, True] Translation: X:164.99, Y:-6.96, Z:-1.07 [[ 9.95164745e-01 9.82196252e-02 -1.87403476e-04 1.64987356e+02] [-9.82196241e-02 9.95164763e-01 1.50901871e-05 -6.95831112e+00] [ 1.87979488e-04 3.38947672e-06 9.99999982e-01 -1.07009288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.920281693 meters Centerline goodness [0,1] 0.9989782233859122 Centerline is valid? [True, True] Translation: X:165.02, Y:-6.96, Z:-1.07 [[ 9.95054504e-01 9.93286168e-02 -5.99170450e-04 1.65015918e+02] [-9.93286054e-02 9.95054685e-01 4.89286792e-05 -6.96112214e+00] [ 6.01067381e-04 1.08280626e-05 9.99999819e-01 -1.07042495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.950281693 meters Centerline goodness [0,1] 0.9987676355600884 Centerline is valid? [True, True] Translation: X:165.04, Y:-6.96, Z:-1.07 [[ 9.95003167e-01 9.98419018e-02 -5.41300043e-04 1.65044637e+02] [-9.98418925e-02 9.95003314e-01 4.41549324e-05 -6.96257720e+00] [ 5.43003849e-04 1.01101231e-05 9.99999853e-01 -1.07106965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.980281693 meters Centerline goodness [0,1] 0.9986898825120446 Centerline is valid? [True, True] Translation: X:165.07, Y:-6.96, Z:-1.07 [[ 9.95048250e-01 9.93908298e-02 -6.65334368e-04 1.65072201e+02] [-9.93908158e-02 9.95048473e-01 5.41344657e-05 -6.96329509e+00] [ 6.67420416e-04 1.22617202e-05 9.99999777e-01 -1.07279178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.010281693 meters Centerline goodness [0,1] 0.9992364631275319 Centerline is valid? [True, True] Translation: X:165.10, Y:-6.97, Z:-1.07 [[ 9.95340155e-01 9.64203267e-02 -1.04680834e-03 1.65101051e+02] [-9.64202901e-02 9.95340706e-01 8.55254468e-05 -6.97148369e+00] [ 1.05017734e-03 1.58066519e-05 9.99999448e-01 -1.07243154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.040281693 meters Centerline goodness [0,1] 0.99923183612504 Centerline is valid? [True, True] Translation: X:165.13, Y:-6.97, Z:-1.07 [[ 9.95471529e-01 9.50544933e-02 -1.03862116e-03 1.65130100e+02] [-9.50544566e-02 9.95472070e-01 8.47541700e-05 -6.97428393e+00] [ 1.04197462e-03 1.43552068e-05 9.99999457e-01 -1.07191010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.070281693 meters Centerline goodness [0,1] 0.9986265210206665 Centerline is valid? [True, True] Translation: X:165.16, Y:-6.98, Z:-1.06 [[ 9.95504542e-01 9.47138073e-02 -2.77015095e-05 1.65159227e+02] [-9.47138073e-02 9.95504543e-01 2.05473079e-06 -6.97532824e+00] [ 2.77715899e-05 5.78221594e-07 1.00000000e+00 -1.06285047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.100281693 meters Centerline goodness [0,1] 0.9991521471872483 Centerline is valid? [True, True] Translation: X:165.19, Y:-6.97, Z:-1.07 [[ 9.95446886e-01 9.53164203e-02 5.27011969e-04 1.65187390e+02] [-9.53164107e-02 9.95447025e-01 -4.33170572e-05 -6.97443102e+00] [-5.28741324e-04 -7.11305956e-06 9.99999860e-01 -1.06945553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.130281693 meters Centerline goodness [0,1] 0.9987614776852445 Centerline is valid? [True, True] Translation: X:165.22, Y:-6.98, Z:-1.07 [[ 9.95391243e-01 9.58965844e-02 3.44963230e-04 1.65216016e+02] [-9.58965804e-02 9.95391302e-01 -2.83737870e-05 -6.97562019e+00] [-3.46094348e-04 -4.83777497e-06 9.99999940e-01 -1.06946359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.160281693 meters Centerline goodness [0,1] 0.9992911609923746 Centerline is valid? [True, True] Translation: X:165.24, Y:-6.97, Z:-1.07 [[ 9.95309458e-01 9.67269366e-02 -1.72688770e-03 1.65243817e+02] [-9.67268383e-02 9.95310956e-01 1.40578318e-04 -6.97205444e+00] [ 1.73238796e-03 2.71174577e-05 9.99998499e-01 -1.07365440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.190281693 meters Centerline goodness [0,1] 0.9993428304926651 Centerline is valid? [True, True] Translation: X:165.27, Y:-6.97, Z:-1.08 [[ 9.95288856e-01 9.69167978e-02 -2.68844971e-03 1.65271741e+02] [-9.69165603e-02 9.95292486e-01 2.18795984e-04 -6.97105508e+00] [ 2.69699880e-03 4.27900945e-05 9.99996362e-01 -1.07526796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.220281693 meters Centerline goodness [0,1] 0.9993296282680622 Centerline is valid? [True, True] Translation: X:165.30, Y:-6.97, Z:-1.07 [[ 9.95267493e-01 9.71479386e-02 -2.21237413e-03 1.65299931e+02] [-9.71477787e-02 9.95269952e-01 1.79845681e-04 -6.97308312e+00] [ 2.21938113e-03 3.59326723e-05 9.99997537e-01 -1.07380945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.250281693 meters Centerline goodness [0,1] 0.9989132750905604 Centerline is valid? [True, True] Translation: X:165.33, Y:-6.97, Z:-1.07 [[ 9.95210624e-01 9.77423490e-02 -1.49918042e-03 1.65328333e+02] [-9.77422765e-02 9.95211753e-01 1.21730795e-04 -6.97292162e+00] [ 1.50390022e-03 2.53855267e-05 9.99998869e-01 -1.07297991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.280281693 meters Centerline goodness [0,1] 0.9989132750905604 Centerline is valid? [True, True] Translation: X:165.36, Y:-6.98, Z:-1.07 [[ 9.95217479e-01 9.76725227e-02 -1.49919284e-03 1.65355746e+02] [-9.76724503e-02 9.95218608e-01 1.21577993e-04 -6.97501543e+00] [ 1.50389944e-03 2.54332946e-05 9.99998869e-01 -1.07310326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.310281693 meters Centerline goodness [0,1] 0.9988295631078291 Centerline is valid? [True, True] Translation: X:165.38, Y:-6.98, Z:-1.07 [[ 9.95234603e-01 9.74990727e-02 -1.41967009e-03 1.65382563e+02] [-9.74990079e-02 9.95235615e-01 1.14945120e-04 -6.97600349e+00] [ 1.42411328e-03 2.40190638e-05 9.99998986e-01 -1.07361729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.340281693 meters Centerline goodness [0,1] 0.9991270652359053 Centerline is valid? [True, True] Translation: X:165.41, Y:-6.98, Z:-1.07 [[ 9.95277294e-01 9.70538588e-02 -1.91214061e-03 1.65411166e+02] [-9.70537400e-02 9.95279130e-01 1.55012461e-04 -6.97761492e+00] [ 1.91815821e-03 3.13000157e-05 9.99998160e-01 -1.07468433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.370281693 meters Centerline goodness [0,1] 0.9993638676844784 Centerline is valid? [True, True] Translation: X:165.44, Y:-6.98, Z:-1.07 [[ 9.95479692e-01 9.49611437e-02 -1.60124852e-03 1.65438818e+02] [-9.49610580e-02 9.95480980e-01 1.29630325e-04 -6.97785329e+00] [ 1.60632229e-03 2.30118970e-05 9.99998710e-01 -1.07422994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.400281693 meters Centerline goodness [0,1] 0.9992819581423835 Centerline is valid? [True, True] Translation: X:165.47, Y:-6.98, Z:-1.07 [[ 9.95604695e-01 9.36526268e-02 -6.90386110e-04 1.65467986e+02] [-9.36526106e-02 9.95604934e-01 5.58274025e-05 -6.98081896e+00] [ 6.92580201e-04 9.07443751e-06 9.99999760e-01 -1.07207843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.430281693 meters Centerline goodness [0,1] 0.9992554142024422 Centerline is valid? [True, True] Translation: X:165.50, Y:-6.98, Z:-1.07 [[ 9.95805246e-01 9.14930511e-02 9.66606265e-04 1.65497084e+02] [-9.14930178e-02 9.95805715e-01 -7.86452714e-05 -6.98399409e+00] [-9.69747538e-04 -1.01223504e-05 9.99999530e-01 -1.06831083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46028169299998 meters Centerline goodness [0,1] 0.9994267150773934 Centerline is valid? [True, True] Translation: X:165.53, Y:-6.98, Z:-1.07 [[ 9.95838398e-01 9.11294281e-02 1.14571509e-03 1.65525310e+02] [-9.11293815e-02 9.95839057e-01 -9.30001593e-05 -6.98377942e+00] [-1.14942289e-03 -1.17951783e-05 9.99999339e-01 -1.06816522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.490281693 meters Centerline goodness [0,1] 0.9992344172000935 Centerline is valid? [True, True] Translation: X:165.55, Y:-6.98, Z:-1.07 [[ 9.95819479e-01 9.13359311e-02 1.14551854e-03 1.65554543e+02] [-9.13358847e-02 9.95820138e-01 -9.28815710e-05 -6.98312926e+00] [-1.14921386e-03 -1.21336716e-05 9.99999340e-01 -1.06803015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.520281693 meters Centerline goodness [0,1] 0.9995731238794502 Centerline is valid? [True, True] Translation: X:165.58, Y:-6.98, Z:-1.07 [[ 9.95790075e-01 9.16625656e-02 3.15760978e-04 1.65582886e+02] [-9.16625620e-02 9.95790126e-01 -2.57455894e-05 -6.98448663e+00] [-3.16791571e-04 -3.30625784e-06 9.99999950e-01 -1.06916495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.550281693 meters Centerline goodness [0,1] 0.999383634431456 Centerline is valid? [True, True] Translation: X:165.61, Y:-6.98, Z:-1.07 [[ 9.95877058e-01 9.07025644e-02 -1.38946428e-03 1.65610837e+02] [-9.07024965e-02 9.95878027e-01 1.11937357e-04 -6.98375596e+00] [ 1.39388996e-03 1.45520337e-05 9.99999028e-01 -1.07259788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.580281693 meters Centerline goodness [0,1] 0.9995275218521144 Centerline is valid? [True, True] Translation: X:165.64, Y:-6.99, Z:-1.07 [[ 9.96025638e-01 8.90642410e-02 -6.99061358e-04 1.65639082e+02] [-8.90642234e-02 9.96025884e-01 5.62289134e-05 -6.98914902e+00] [ 7.01291192e-04 6.25591759e-06 9.99999754e-01 -1.07016309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.610281693 meters Centerline goodness [0,1] 0.9996573582319684 Centerline is valid? [True, True] Translation: X:165.67, Y:-7.00, Z:-1.07 [[ 9.96443764e-01 8.42576591e-02 6.86469676e-04 1.65666649e+02] [-8.42576408e-02 9.96444001e-01 -5.56507612e-05 -6.99673362e+00] [-6.88717593e-04 -2.38746135e-06 9.99999763e-01 -1.06867361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.640281693 meters Centerline goodness [0,1] 0.9994684244099511 Centerline is valid? [True, True] Translation: X:165.69, Y:-7.00, Z:-1.07 [[ 9.96679781e-01 8.14198925e-02 4.63008683e-04 1.65694216e+02] [-8.14198839e-02 9.96679889e-01 -3.75913779e-05 -7.00410091e+00] [-4.64532128e-04 -2.31546814e-07 9.99999892e-01 -1.06944377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.670281693 meters Centerline goodness [0,1] 0.9992328019776661 Centerline is valid? [True, True] Translation: X:165.72, Y:-7.02, Z:-1.07 [[ 9.96984592e-01 7.75995471e-02 1.84066086e-04 1.65721808e+02] [-7.75995456e-02 9.96984609e-01 -1.50408987e-05 -7.01537235e+00] [-1.84678221e-04 7.12099680e-07 9.99999983e-01 -1.06993928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.700281693 meters Centerline goodness [0,1] 0.9991272138964578 Centerline is valid? [True, True] Translation: X:165.75, Y:-7.02, Z:-1.07 [[ 9.97027507e-01 7.70464162e-02 -1.37990499e-05 1.65750144e+02] [-7.70464162e-02 9.97027507e-01 9.02591793e-07 -7.01919981e+00] [ 1.38275738e-05 1.63258499e-07 1.00000000e+00 -1.07017119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.730281693 meters Centerline goodness [0,1] 0.9992894515858148 Centerline is valid? [True, True] Translation: X:165.78, Y:-7.02, Z:-1.07 [[ 9.96967076e-01 7.78243445e-02 1.45290871e-04 1.65779383e+02] [-7.78243436e-02 9.96967086e-01 -1.19055198e-05 -7.02000071e+00] [-1.45776755e-04 5.62244655e-07 9.99999989e-01 -1.06913894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.760281693 meters Centerline goodness [0,1] 0.9991456459984195 Centerline is valid? [True, True] Translation: X:165.81, Y:-7.02, Z:-1.07 [[ 9.96625192e-01 8.20866937e-02 3.40727283e-05 1.65809071e+02] [-8.20866937e-02 9.96625193e-01 -2.95288957e-06 -7.01569681e+00] [-3.42001324e-05 1.46006525e-07 9.99999999e-01 -1.06947280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.790281693 meters Centerline goodness [0,1] 0.9993590428373037 Centerline is valid? [True, True] Translation: X:165.84, Y:-7.01, Z:-1.07 [[ 9.96420191e-01 8.45387680e-02 2.14908797e-05 1.65836862e+02] [-8.45387680e-02 9.96420191e-01 -2.02083728e-06 -7.01491026e+00] [-2.15847855e-05 1.96790574e-07 1.00000000e+00 -1.06963902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.820281693 meters Centerline goodness [0,1] 0.9993179153788767 Centerline is valid? [True, True] Translation: X:165.86, Y:-7.01, Z:-1.07 [[ 9.96225150e-01 8.68069673e-02 -4.19622164e-05 1.65864761e+02] [-8.68069672e-02 9.96225150e-01 3.10722613e-06 -7.01350024e+00] [ 4.20735442e-05 5.47115929e-07 9.99999999e-01 -1.06995158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.850281693 meters Centerline goodness [0,1] 0.9993088403637228 Centerline is valid? [True, True] Translation: X:165.89, Y:-7.01, Z:-1.07 [[ 9.96068149e-01 8.85903011e-02 2.91834886e-05 1.65893930e+02] [-8.85903011e-02 9.96068150e-01 -2.55271127e-06 -7.01360400e+00] [-2.92948889e-05 -4.26996487e-08 1.00000000e+00 -1.07017050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.880281693 meters Centerline goodness [0,1] 0.9994472319074751 Centerline is valid? [True, True] Translation: X:165.92, Y:-7.01, Z:-1.07 [[ 9.96117599e-01 8.80323482e-02 1.85320020e-04 1.65922191e+02] [-8.80323469e-02 9.96117616e-01 -1.51635468e-05 -7.01456501e+00] [-1.85935419e-04 -1.20948046e-06 9.99999983e-01 -1.07096417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.910281693 meters Centerline goodness [0,1] 0.9994244297591132 Centerline is valid? [True, True] Translation: X:165.95, Y:-7.02, Z:-1.07 [[ 9.96321247e-01 8.56969467e-02 8.42280906e-05 1.65951117e+02] [-8.56969464e-02 9.96321250e-01 -6.90368148e-06 -7.02084823e+00] [-8.45098610e-05 -3.39805632e-07 9.99999996e-01 -1.07208072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.940281693 meters Centerline goodness [0,1] 0.9991730104539961 Centerline is valid? [True, True] Translation: X:165.98, Y:-7.04, Z:-1.08 [[ 9.96925682e-01 7.83400802e-02 -1.42003030e-03 1.65978658e+02] [-7.83399980e-02 9.96926693e-01 1.13566341e-04 -7.03800972e+00] [ 1.42456291e-03 -1.97203113e-06 9.99998985e-01 -1.07630266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.970281693 meters Centerline goodness [0,1] 0.9989708404802744 Centerline is valid? [True, True] Translation: X:166.01, Y:-7.05, Z:-1.08 [[ 9.97258368e-01 7.39393353e-02 -2.95327947e-03 1.66006615e+02] [-7.39389598e-02 9.97262741e-01 2.36250333e-04 -7.04782544e+00] [ 2.96266377e-03 -1.72402101e-05 9.99995611e-01 -1.07699734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.000281693 meters Centerline goodness [0,1] 0.9986264026542128 Centerline is valid? [True, True] Translation: X:166.03, Y:-7.06, Z:-1.08 [[ 9.97559836e-01 6.96632497e-02 -4.62658261e-03 1.66033155e+02] [-6.96622834e-02 9.97570564e-01 3.69891328e-04 -7.05856695e+00] [ 4.64111046e-03 -4.66904234e-05 9.99989229e-01 -1.08086939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.030281693 meters Centerline goodness [0,1] 0.9979551844594019 Centerline is valid? [True, True] Translation: X:166.06, Y:-7.07, Z:-1.08 [[ 9.97860446e-01 6.51556298e-02 -5.41056199e-03 1.66060673e+02] [-6.51542416e-02 9.97875111e-01 4.32628366e-04 -7.06906464e+00] [ 5.42725332e-03 -7.91816712e-05 9.99985269e-01 -1.08249819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.060281693 meters Centerline goodness [0,1] 0.9969831523932949 Centerline is valid? [True, True] Translation: X:166.09, Y:-7.09, Z:-1.08 [[ 9.98347177e-01 5.73543810e-02 -3.65924815e-03 1.66088741e+02] [-5.73536936e-02 9.98353879e-01 2.92581526e-04 -7.08929011e+00] [ 3.67000542e-03 -8.22265427e-05 9.99993262e-01 -1.07966896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.090281693 meters Centerline goodness [0,1] 0.996549300274778 Centerline is valid? [True, True] Translation: X:166.12, Y:-7.10, Z:-1.08 [[ 9.98525280e-01 5.42589551e-02 -1.79747299e-03 1.66117349e+02] [-5.42587846e-02 9.98526897e-01 1.43536229e-04 -7.09978153e+00] [ 1.80261325e-03 -4.57958541e-05 9.99998374e-01 -1.07585997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.120281693 meters Centerline goodness [0,1] 0.9953109945401991 Centerline is valid? [True, True] Translation: X:166.15, Y:-7.11, Z:-1.07 [[ 9.98749717e-01 4.99716498e-02 1.35509572e-03 1.66147036e+02] [-4.99715488e-02 9.98750636e-01 -1.08322509e-04 -7.11438114e+00] [-1.35881576e-03 4.04708438e-05 9.99999076e-01 -1.06880972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.150281693 meters Centerline goodness [0,1] 0.9952139879179784 Centerline is valid? [True, True] Translation: X:166.18, Y:-7.12, Z:-1.07 [[ 9.98810390e-01 4.87141744e-02 2.17583267e-03 1.66176758e+02] [-4.87139110e-02 9.98812758e-01 -1.73929894e-04 -7.12115270e+00] [-2.18172228e-03 6.77296664e-05 9.99997618e-01 -1.06706523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.180281693 meters Centerline goodness [0,1] 0.9947886997067324 Centerline is valid? [True, True] Translation: X:166.21, Y:-7.13, Z:-1.07 [[ 9.98830900e-01 4.82755663e-02 2.51056972e-03 1.66206111e+02] [-4.82752142e-02 9.98834052e-01 -2.00665877e-04 -7.12958542e+00] [-2.51732979e-03 7.92329870e-05 9.99996828e-01 -1.06656142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21028169299998 meters Centerline goodness [0,1] 0.9957704960054684 Centerline is valid? [True, True] Translation: X:166.24, Y:-7.13, Z:-1.07 [[ 9.98723434e-01 5.04666965e-02 2.14829758e-03 1.66236498e+02] [-5.04664437e-02 9.98725742e-01 -1.71752857e-04 -7.12872315e+00] [-2.15422789e-03 6.31166647e-05 9.99997678e-01 -1.06633097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.240281693 meters Centerline goodness [0,1] 0.996282606399831 Centerline is valid? [True, True] Translation: X:166.27, Y:-7.13, Z:-1.07 [[ 9.98659999e-01 5.17238569e-02 1.68811111e-03 1.66267133e+02] [-5.17237026e-02 9.98661424e-01 -1.34961706e-04 -7.12972155e+00] [-1.69283218e-03 4.74655002e-05 9.99998566e-01 -1.06770569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.270281693 meters Centerline goodness [0,1] 0.9958068155211681 Centerline is valid? [True, True] Translation: X:166.30, Y:-7.14, Z:-1.07 [[ 9.98695435e-01 5.10611122e-02 4.37756214e-04 1.66297137e+02] [-5.10611018e-02 9.98695531e-01 -3.49525531e-05 -7.13829786e+00] [-4.38969891e-04 1.25546406e-05 9.99999904e-01 -1.07030261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.300281693 meters Centerline goodness [0,1] 0.9955486121514328 Centerline is valid? [True, True] Translation: X:166.33, Y:-7.15, Z:-1.07 [[ 9.98771171e-01 4.95593014e-02 1.56854885e-04 1.66326784e+02] [-4.95593001e-02 9.98771183e-01 -1.25901785e-05 -7.14543438e+00] [-1.57286100e-04 4.80108896e-06 9.99999988e-01 -1.07089871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.330281693 meters Centerline goodness [0,1] 0.9948852375167828 Centerline is valid? [True, True] Translation: X:166.36, Y:-7.15, Z:-1.07 [[ 9.98834222e-01 4.82720078e-02 -1.02707230e-04 1.66356706e+02] [-4.82720072e-02 9.98834227e-01 8.21128279e-06 -7.15224907e+00] [ 1.02983871e-04 -3.24382612e-06 9.99999995e-01 -1.07050387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.360281693 meters Centerline goodness [0,1] 0.9936655583147439 Centerline is valid? [True, True] Translation: X:166.39, Y:-7.16, Z:-1.07 [[ 9.98843827e-01 4.80725083e-02 -2.09685805e-04 1.66386192e+02] [-4.80725059e-02 9.98843849e-01 1.68158527e-05 -7.15985369e+00] [ 2.10251757e-04 -6.71628856e-06 9.99999978e-01 -1.07023855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.390281693 meters Centerline goodness [0,1] 0.9956466728142223 Centerline is valid? [True, True] Translation: X:166.42, Y:-7.15, Z:-1.07 [[ 9.98778058e-01 4.94192047e-02 -3.64832848e-04 1.66417292e+02] [-4.94191973e-02 9.98778125e-01 2.91718538e-05 -7.15472274e+00] [ 3.65828718e-04 -1.11064610e-05 9.99999933e-01 -1.07015151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.420281693 meters Centerline goodness [0,1] 0.9957363765564347 Centerline is valid? [True, True] Translation: X:166.45, Y:-7.16, Z:-1.07 [[ 9.98681091e-01 5.13415346e-02 -3.52612463e-04 1.66447199e+02] [-5.13415279e-02 9.98681154e-01 2.81947179e-05 -7.15791344e+00] [ 3.53594981e-04 -1.00538690e-05 9.99999937e-01 -1.07176179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.450281693 meters Centerline goodness [0,1] 0.9971299189999362 Centerline is valid? [True, True] Translation: X:166.48, Y:-7.15, Z:-1.07 [[ 9.98385633e-01 5.67985842e-02 -2.18838973e-04 1.66478333e+02] [-5.67985817e-02 9.98385657e-01 1.73935228e-05 -7.15290493e+00] [ 2.19473619e-04 -4.93569994e-06 9.99999976e-01 -1.07143086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.480281693 meters Centerline goodness [0,1] 0.9970820822937371 Centerline is valid? [True, True] Translation: X:166.51, Y:-7.15, Z:-1.07 [[ 9.98182908e-01 6.02559313e-02 -3.24136350e-04 1.66509072e+02] [-6.02559261e-02 9.98182961e-01 2.58565463e-05 -7.14804898e+00] [ 3.25105391e-04 -6.27842665e-06 9.99999947e-01 -1.07043360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.510281693 meters Centerline goodness [0,1] 0.997228617719792 Centerline is valid? [True, True] Translation: X:166.54, Y:-7.15, Z:-1.07 [[ 9.97978428e-01 6.35451698e-02 -1.03402642e-03 1.66538610e+02] [-6.35451184e-02 9.97978963e-01 8.25221007e-05 -7.14518598e+00] [ 1.03718049e-03 -1.66479452e-05 9.99999462e-01 -1.07183759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.540281693 meters Centerline goodness [0,1] 0.998028374265998 Centerline is valid? [True, True] Translation: X:166.57, Y:-7.14, Z:-1.08 [[ 9.97685183e-01 6.79270192e-02 -3.19321191e-03 1.66567682e+02] [-6.79265513e-02 9.97690292e-01 2.54891907e-04 -7.14251932e+00] [ 3.20315058e-03 -3.73980056e-05 9.99994869e-01 -1.07660806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.570281693 meters Centerline goodness [0,1] 0.9980943000299773 Centerline is valid? [True, True] Translation: X:166.60, Y:-7.15, Z:-1.08 [[ 9.97654716e-01 6.83306052e-02 -3.99939154e-03 1.66596459e+02] [-6.83298751e-02 9.97662732e-01 3.19053125e-04 -7.14567259e+00] [ 4.01184498e-03 -4.50269303e-05 9.99991952e-01 -1.07826785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.600281693 meters Centerline goodness [0,1] 0.9981764206955047 Centerline is valid? [True, True] Translation: X:166.62, Y:-7.15, Z:-1.08 [[ 9.97674952e-01 6.80423405e-02 -3.86385760e-03 1.66624952e+02] [-6.80416576e-02 9.97682433e-01 3.08062394e-04 -7.15007425e+00] [ 3.87586414e-03 -4.44428583e-05 9.99992488e-01 -1.07841828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.630281693 meters Centerline goodness [0,1] 0.9983294425049796 Centerline is valid? [True, True] Translation: X:166.65, Y:-7.16, Z:-1.08 [[ 9.97748865e-01 6.69995316e-02 -2.87494398e-03 1.66653448e+02] [-6.69991495e-02 9.97753006e-01 2.29121128e-04 -7.15869075e+00] [ 2.88383501e-03 -3.59865433e-05 9.99995841e-01 -1.07767409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.660281693 meters Centerline goodness [0,1] 0.997920997920998 Centerline is valid? [True, True] Translation: X:166.68, Y:-7.16, Z:-1.08 [[ 9.97804248e-01 6.61741281e-02 -2.76885840e-03 1.66682817e+02] [-6.61737705e-02 9.97808089e-01 2.20651130e-04 -7.16475158e+00] [ 2.77739071e-03 -3.69408343e-05 9.99996142e-01 -1.07753863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.690281693 meters Centerline goodness [0,1] 0.9976644939383001 Centerline is valid? [True, True] Translation: X:166.71, Y:-7.18, Z:-1.08 [[ 9.97975345e-01 6.35561452e-02 -2.41406773e-03 1.66710775e+02] [-6.35558661e-02 9.97978264e-01 1.92237951e-04 -7.17506841e+00] [ 2.42140502e-03 -3.84205703e-05 9.99997068e-01 -1.07624693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.720281693 meters Centerline goodness [0,1] 0.9973113116957941 Centerline is valid? [True, True] Translation: X:166.74, Y:-7.18, Z:-1.08 [[ 9.98074777e-01 6.19762592e-02 -2.38407183e-03 1.66740072e+02] [-6.19759825e-02 9.98077623e-01 1.89843810e-04 -7.18135663e+00] [ 2.39125456e-03 -4.17231246e-05 9.99997140e-01 -1.07549934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.750281693 meters Centerline goodness [0,1] 0.9969639955528949 Centerline is valid? [True, True] Translation: X:166.77, Y:-7.19, Z:-1.08 [[ 9.98154204e-01 6.06947598e-02 -2.08105096e-03 1.66769099e+02] [-6.06945459e-02 9.98156373e-01 1.65844835e-04 -7.18856097e+00] [ 2.08728019e-03 -3.92302758e-05 9.99997821e-01 -1.07528279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.780281693 meters Centerline goodness [0,1] 0.996710110084778 Centerline is valid? [True, True] Translation: X:166.80, Y:-7.20, Z:-1.07 [[ 9.98296348e-01 5.83416621e-02 -8.07894428e-04 1.66799064e+02] [-5.83416291e-02 9.98296674e-01 6.43714055e-05 -7.19995787e+00] [ 8.10273856e-04 -1.71278619e-05 9.99999672e-01 -1.07253745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.810281693 meters Centerline goodness [0,1] 0.9964182626466932 Centerline is valid? [True, True] Translation: X:166.83, Y:-7.21, Z:-1.07 [[ 9.98374317e-01 5.69975638e-02 -3.10831327e-06 1.66829444e+02] [-5.69975638e-02 9.98374317e-01 2.47664159e-07 -7.20726994e+00] [ 3.11737639e-06 -7.00952518e-08 1.00000000e+00 -1.07108728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.840281693 meters Centerline goodness [0,1] 0.9962445896630739 Centerline is valid? [True, True] Translation: X:166.86, Y:-7.22, Z:-1.07 [[ 9.98471119e-01 5.52753791e-02 2.39227292e-04 1.66859535e+02] [-5.52753762e-02 9.98471148e-01 -1.88848390e-05 -7.21569928e+00] [-2.39905415e-04 5.63258781e-06 9.99999971e-01 -1.07060215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.870281693 meters Centerline goodness [0,1] 0.9959829114327616 Centerline is valid? [True, True] Translation: X:166.89, Y:-7.23, Z:-1.07 [[ 9.98628516e-01 5.23424585e-02 -1.16394743e-03 1.66890195e+02] [-5.23423857e-02 9.98629193e-01 9.29086349e-05 -7.22822395e+00] [ 1.16721495e-03 -3.18574267e-05 9.99999318e-01 -1.07341304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.900281693 meters Centerline goodness [0,1] 0.9958088313909975 Centerline is valid? [True, True] Translation: X:166.92, Y:-7.23, Z:-1.08 [[ 9.98665432e-01 5.16053069e-02 -2.06081424e-03 1.66920566e+02] [-5.16050775e-02 9.98667557e-01 1.64400134e-04 -7.23450892e+00] [ 2.06655224e-03 -5.78322527e-05 9.99997863e-01 -1.07544759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.930281693 meters Centerline goodness [0,1] 0.9967235582585605 Centerline is valid? [True, True] Translation: X:166.95, Y:-7.23, Z:-1.07 [[ 9.98669550e-01 5.15008012e-02 -2.60710039e-03 1.66951580e+02] [-5.15004338e-02 9.98672951e-01 2.07919850e-04 -7.23359291e+00] [ 2.61434867e-03 -7.33764223e-05 9.99996580e-01 -1.07456365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96028169299998 meters Centerline goodness [0,1] 0.9972058033315422 Centerline is valid? [True, True] Translation: X:166.98, Y:-7.24, Z:-1.07 [[ 9.98682474e-01 5.12538187e-02 -2.52233864e-03 1.66981678e+02] [-5.12534740e-02 9.98685657e-01 2.01159984e-04 -7.24207204e+00] [ 2.52933364e-03 -7.16163326e-05 9.99996799e-01 -1.07390348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.990281693 meters Centerline goodness [0,1] 0.9967725496857482 Centerline is valid? [True, True] Translation: X:167.01, Y:-7.25, Z:-1.07 [[ 9.98652993e-01 5.18479500e-02 -1.99760662e-03 1.67012756e+02] [-5.18477346e-02 9.98654989e-01 1.59460691e-04 -7.24594234e+00] [ 2.00318753e-03 -5.56745183e-05 9.99997992e-01 -1.07265023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.020281693 meters Centerline goodness [0,1] 0.9959927140255009 Centerline is valid? [True, True] Translation: X:167.04, Y:-7.26, Z:-1.07 [[ 9.98589511e-01 5.30824002e-02 -1.11648934e-03 1.67042721e+02] [-5.30823329e-02 9.98590135e-01 8.98970639e-05 -7.25757030e+00] [ 1.11968720e-03 -3.05044061e-05 9.99999373e-01 -1.07267980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.050281693 meters Centerline goodness [0,1] 0.9967941232670219 Centerline is valid? [True, True] Translation: X:167.08, Y:-7.25, Z:-1.07 [[ 9.98439493e-01 5.58439543e-02 -1.79839786e-04 1.67075153e+02] [-5.58439526e-02 9.98439509e-01 1.46004408e-05 -7.25296433e+00] [ 1.80374494e-04 -4.53469225e-06 9.99999984e-01 -1.06981618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.080281693 meters Centerline goodness [0,1] 0.997363216875412 Centerline is valid? [True, True] Translation: X:167.11, Y:-7.25, Z:-1.07 [[ 9.98344957e-01 5.74898512e-02 -1.50463402e-03 1.67106993e+02] [-5.74897348e-02 9.98346090e-01 1.20531901e-04 -7.25487902e+00] [ 1.50907485e-03 -3.38314048e-05 9.99998861e-01 -1.07287880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.110281693 meters Centerline goodness [0,1] 0.9975012176270038 Centerline is valid? [True, True] Translation: X:167.14, Y:-7.26, Z:-1.08 [[ 9.98225803e-01 5.94579422e-02 -3.16214102e-03 1.67137978e+02] [-5.94574387e-02 9.98230809e-01 2.53076106e-04 -7.25568925e+00] [ 3.17159397e-03 -6.46142930e-05 9.99994968e-01 -1.07640070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.140281693 meters Centerline goodness [0,1] 0.9975012176270038 Centerline is valid? [True, True] Translation: X:167.17, Y:-7.26, Z:-1.08 [[ 9.98225803e-01 5.94579424e-02 -3.16214505e-03 1.67167889e+02] [-5.94574391e-02 9.98230809e-01 2.53025752e-04 -7.25808263e+00] [ 3.17159500e-03 -6.45637880e-05 9.99994968e-01 -1.07653532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.170281693 meters Centerline goodness [0,1] 0.9979392950671876 Centerline is valid? [True, True] Translation: X:167.20, Y:-7.26, Z:-1.08 [[ 9.97894890e-01 6.47827091e-02 -2.99831264e-03 1.67199319e+02] [-6.47822804e-02 9.97899393e-01 2.40000695e-04 -7.25554335e+00] [ 3.00756226e-03 -4.52579376e-05 9.99995476e-01 -1.07590486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.200281693 meters Centerline goodness [0,1] 0.9980923311713087 Centerline is valid? [True, True] Translation: X:167.23, Y:-7.26, Z:-1.08 [[ 9.97729235e-01 6.73219274e-02 -2.03242413e-03 1.67228834e+02] [-6.73217358e-02 9.97731305e-01 1.62578263e-04 -7.25815789e+00] [ 2.03875826e-03 -2.53827658e-05 9.99997921e-01 -1.07553328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.230281693 meters Centerline goodness [0,1] 0.9986676981261818 Centerline is valid? [True, True] Translation: X:167.26, Y:-7.25, Z:-1.07 [[ 9.97447129e-01 7.13964692e-02 -1.33041640e-03 1.67260039e+02] [-7.13963907e-02 9.97448016e-01 1.06456098e-04 -7.25212468e+00] [ 1.33462179e-03 -1.11974000e-05 9.99999109e-01 -1.07251261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.260281693 meters Centerline goodness [0,1] 0.9984333082948814 Centerline is valid? [True, True] Translation: X:167.29, Y:-7.25, Z:-1.07 [[ 9.97320811e-01 7.31302773e-02 -1.77840649e-03 1.67289132e+02] [-7.31301397e-02 9.97322396e-01 1.42392532e-04 -7.25311161e+00] [ 1.78405783e-03 -1.19559204e-05 9.99998408e-01 -1.07386126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.290281693 meters Centerline goodness [0,1] 0.9987594644308508 Centerline is valid? [True, True] Translation: X:167.32, Y:-7.25, Z:-1.07 [[ 9.97214299e-01 7.45548821e-02 -2.28269174e-03 1.67320051e+02] [-7.45546592e-02 9.97216912e-01 1.82687141e-04 -7.25420104e+00] [ 2.28995902e-03 -1.19929248e-05 9.99997378e-01 -1.07493159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.320281693 meters Centerline goodness [0,1] 0.9990676583391604 Centerline is valid? [True, True] Translation: X:167.35, Y:-7.25, Z:-1.07 [[ 9.96951128e-01 7.79864453e-02 -2.56184199e-03 1.67348890e+02] [-7.79861765e-02 9.96954419e-01 2.04790794e-04 -7.25230478e+00] [ 2.57001060e-03 -4.37815129e-06 9.99996698e-01 -1.07481801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.350281693 meters Centerline goodness [0,1] 0.9991770415699515 Centerline is valid? [True, True] Translation: X:167.38, Y:-7.25, Z:-1.07 [[ 9.96835590e-01 7.94538584e-02 -2.42708401e-03 1.67378549e+02] [-7.94536215e-02 9.96838545e-01 1.94006992e-04 -7.25173515e+00] [ 2.43482550e-03 -5.52459666e-07 9.99997036e-01 -1.07472528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.380281693 meters Centerline goodness [0,1] 0.9990588235294118 Centerline is valid? [True, True] Translation: X:167.41, Y:-7.25, Z:-1.07 [[ 9.96729259e-01 8.07826205e-02 -2.22543093e-03 1.67407604e+02] [-8.07824249e-02 9.96731743e-01 1.77756345e-04 -7.25122326e+00] [ 2.23251727e-03 2.60075645e-06 9.99997508e-01 -1.07460622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.410281693 meters Centerline goodness [0,1] 0.999047256097561 Centerline is valid? [True, True] Translation: X:167.44, Y:-7.25, Z:-1.08 [[ 9.96701935e-01 8.11060854e-02 -2.65623299e-03 1.67437259e+02] [-8.11058080e-02 9.96705474e-01 2.12187274e-04 -7.25327759e+00] [ 2.66469164e-03 3.94845559e-06 9.99996450e-01 -1.07565118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.440281693 meters Centerline goodness [0,1] 0.9989593730753711 Centerline is valid? [True, True] Translation: X:167.47, Y:-7.26, Z:-1.08 [[ 9.96693898e-01 8.11853563e-02 -3.19562320e-03 1.67466191e+02] [-8.11849555e-02 9.96699021e-01 2.55141557e-04 -7.25583096e+00] [ 3.20578827e-03 5.13849432e-06 9.99994861e-01 -1.07694357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.470281693 meters Centerline goodness [0,1] 0.9990232716154238 Centerline is valid? [True, True] Translation: X:167.50, Y:-7.26, Z:-1.08 [[ 9.96712235e-01 8.09361778e-02 -3.74908380e-03 1.67495706e+02] [-8.09356245e-02 9.96719286e-01 2.99313780e-04 -7.25800976e+00] [ 3.76100944e-03 5.10473142e-06 9.99992927e-01 -1.07613582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.500281693 meters Centerline goodness [0,1] 0.9992084545610131 Centerline is valid? [True, True] Translation: X:167.53, Y:-7.26, Z:-1.08 [[ 9.96771101e-01 8.02162870e-02 -3.56657456e-03 1.67525121e+02] [-8.02157819e-02 9.96777481e-01 2.84656619e-04 -7.26026795e+00] [ 3.57791531e-03 2.35807562e-06 9.99993599e-01 -1.07528430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.530281693 meters Centerline goodness [0,1] 0.9988113179512216 Centerline is valid? [True, True] Translation: X:167.55, Y:-7.26, Z:-1.07 [[ 9.96876293e-01 7.89387086e-02 -2.51738607e-03 1.67554720e+02] [-7.89384532e-02 9.96879471e-01 2.00829096e-04 -7.26346204e+00] [ 2.52538369e-03 -1.48320238e-06 9.99996811e-01 -1.07345899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.560281693 meters Centerline goodness [0,1] 0.9988904773081273 Centerline is valid? [True, True] Translation: X:167.58, Y:-7.27, Z:-1.07 [[ 9.97120743e-01 7.58159302e-02 -1.47290048e-03 1.67583718e+02] [-7.58158393e-02 9.97121830e-01 1.17495563e-04 -7.27128897e+00] [ 1.47756926e-03 -5.48807690e-06 9.99998908e-01 -1.07109345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.590281693 meters Centerline goodness [0,1] 0.9988863188554784 Centerline is valid? [True, True] Translation: X:167.61, Y:-7.28, Z:-1.07 [[ 9.97266970e-01 7.38739053e-02 -1.11167442e-03 1.67613797e+02] [-7.38738523e-02 9.97267590e-01 8.87187795e-05 -7.27655875e+00] [ 1.11519087e-03 -6.35263682e-06 9.99999378e-01 -1.06959409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.620281693 meters Centerline goodness [0,1] 0.9986764297760604 Centerline is valid? [True, True] Translation: X:167.64, Y:-7.28, Z:-1.07 [[ 9.97519887e-01 7.03768279e-02 -1.08450266e-03 1.67644267e+02] [-7.03767753e-02 9.97520477e-01 8.66824827e-05 -7.28414990e+00] [ 1.08791405e-03 -1.01437004e-05 9.99999408e-01 -1.06999987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.650281693 meters Centerline goodness [0,1] 0.998775930936735 Centerline is valid? [True, True] Translation: X:167.67, Y:-7.29, Z:-1.07 [[ 9.97594171e-01 6.93153226e-02 -1.12061134e-03 1.67674477e+02] [-6.93152658e-02 9.97594800e-01 8.95248784e-05 -7.28988061e+00] [ 1.12412149e-03 -1.16340242e-05 9.99999368e-01 -1.07052293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.680281693 meters Centerline goodness [0,1] 0.9987963460505105 Centerline is valid? [True, True] Translation: X:167.70, Y:-7.29, Z:-1.07 [[ 9.97648956e-01 6.85241330e-02 -1.00231770e-03 1.67704835e+02] [-6.85240872e-02 9.97649459e-01 8.00271211e-05 -7.29258055e+00] [ 1.00544550e-03 -1.11560686e-05 9.99999494e-01 -1.06948562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71028169299998 meters Centerline goodness [0,1] 0.998729405785439 Centerline is valid? [True, True] Translation: X:167.74, Y:-7.30, Z:-1.07 [[ 9.97710886e-01 6.76135069e-02 -1.18408360e-03 1.67735121e+02] [-6.76134423e-02 9.97711588e-01 9.46068363e-05 -7.29822994e+00] [ 1.18777063e-03 -1.43303022e-05 9.99999294e-01 -1.07076366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.740281693 meters Centerline goodness [0,1] 0.9985189260097751 Centerline is valid? [True, True] Translation: X:167.77, Y:-7.30, Z:-1.07 [[ 9.97863071e-01 6.52942997e-02 -2.43844976e-03 1.67765459e+02] [-6.52940180e-02 9.97866050e-01 1.95041306e-04 -7.30459472e+00] [ 2.44598131e-03 -3.54083344e-05 9.99997008e-01 -1.07376318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.770281693 meters Centerline goodness [0,1] 0.9986957172486048 Centerline is valid? [True, True] Translation: X:167.80, Y:-7.31, Z:-1.08 [[ 9.97905458e-01 6.46168213e-02 -3.06010022e-03 1.67796030e+02] [-6.46163753e-02 9.97910148e-01 2.44503431e-04 -7.30885500e+00] [ 3.06950410e-03 -4.62587239e-05 9.99995288e-01 -1.07522638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.800281693 meters Centerline goodness [0,1] 0.9988738260167439 Centerline is valid? [True, True] Translation: X:167.83, Y:-7.31, Z:-1.08 [[ 9.97883871e-01 6.49367349e-02 -3.31666997e-03 1.67825622e+02] [-6.49362130e-02 9.97889382e-01 2.64914028e-04 -7.31241621e+00] [ 3.32687240e-03 -4.89814486e-05 9.99994465e-01 -1.07518812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.830281693 meters Centerline goodness [0,1] 0.9988045682570178 Centerline is valid? [True, True] Translation: X:167.86, Y:-7.31, Z:-1.07 [[ 9.97837854e-01 6.56529548e-02 -3.05075695e-03 1.67856003e+02] [-6.56525165e-02 9.97842516e-01 2.43721863e-04 -7.31333674e+00] [ 3.06017605e-03 -4.29050303e-05 9.99995317e-01 -1.07376154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.860281693 meters Centerline goodness [0,1] 0.9989357852840389 Centerline is valid? [True, True] Translation: X:167.89, Y:-7.32, Z:-1.07 [[ 9.97786128e-01 6.64435933e-02 -2.84472460e-03 1.67886627e+02] [-6.64432154e-02 9.97790182e-01 2.27262149e-04 -7.31543348e+00] [ 2.85353839e-03 -3.77463705e-05 9.99995928e-01 -1.07284890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.890281693 meters Centerline goodness [0,1] 0.9990649836372136 Centerline is valid? [True, True] Translation: X:167.92, Y:-7.32, Z:-1.07 [[ 9.97597175e-01 6.92367439e-02 -2.47973158e-03 1.67915961e+02] [-6.92364656e-02 9.97600257e-01 1.98021762e-04 -7.31587412e+00] [ 2.48749125e-03 -2.58580999e-05 9.99996906e-01 -1.07202884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.920281693 meters Centerline goodness [0,1] 0.9990765596478042 Centerline is valid? [True, True] Translation: X:167.95, Y:-7.31, Z:-1.07 [[ 9.97429146e-01 7.16122748e-02 -2.60409162e-03 1.67946366e+02] [-7.16119755e-02 9.97432545e-01 2.08090603e-04 -7.31463705e+00] [ 2.61230758e-03 -2.10714871e-05 9.99996588e-01 -1.07234240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.950281693 meters Centerline goodness [0,1] 0.9990809805723567 Centerline is valid? [True, True] Translation: X:167.98, Y:-7.31, Z:-1.07 [[ 9.97228993e-01 7.43312945e-02 -3.03217282e-03 1.67976718e+02] [-7.43309016e-02 9.97233603e-01 2.42237184e-04 -7.31257848e+00] [ 3.04179042e-03 -1.61818035e-05 9.99995374e-01 -1.07323619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.980281693 meters Centerline goodness [0,1] 0.999144293507327 Centerline is valid? [True, True] Translation: X:168.01, Y:-7.31, Z:-1.08 [[ 9.96797767e-01 7.98763886e-02 -3.73811825e-03 1.68005496e+02] [-7.98758314e-02 9.96804777e-01 2.98345386e-04 -7.30805399e+00] [ 3.75000488e-03 1.19528902e-06 9.99992969e-01 -1.07522692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.010281693 meters Centerline goodness [0,1] 0.9990998907010137 Centerline is valid? [True, True] Translation: X:168.04, Y:-7.31, Z:-1.08 [[ 9.96650188e-01 8.16846091e-02 -4.00350612e-03 1.68035287e+02] [-8.16839847e-02 9.96658229e-01 3.19497308e-04 -7.30898232e+00] [ 4.01622533e-03 8.59528091e-06 9.99991935e-01 -1.07584123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.040281693 meters Centerline goodness [0,1] 0.999113643558088 Centerline is valid? [True, True] Translation: X:168.07, Y:-7.31, Z:-1.08 [[ 9.96530529e-01 8.31234373e-02 -4.17120090e-03 1.68065140e+02] [-8.31227725e-02 9.96539259e-01 3.32787355e-04 -7.31027459e+00] [ 4.18442788e-03 1.50890241e-05 9.99991245e-01 -1.07650696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.070281693 meters Centerline goodness [0,1] 0.9991751966838677 Centerline is valid? [True, True] Translation: X:168.09, Y:-7.31, Z:-1.08 [[ 9.96303577e-01 8.58037662e-02 -4.11046615e-03 1.68094101e+02] [-8.58031443e-02 9.96312056e-01 3.27745968e-04 -7.30937479e+00] [ 4.12342882e-03 2.61564396e-05 9.99991498e-01 -1.07590718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.100281693 meters Centerline goodness [0,1] 0.9990157901493432 Centerline is valid? [True, True] Translation: X:168.12, Y:-7.31, Z:-1.08 [[ 9.96140606e-01 8.76807634e-02 -3.99704817e-03 1.68123087e+02] [-8.76801910e-02 9.96148625e-01 3.18562644e-04 -7.30881371e+00] [ 4.00958585e-03 3.31287621e-05 9.99991961e-01 -1.07603926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.130281693 meters Centerline goodness [0,1] 0.9988481965744513 Centerline is valid? [True, True] Translation: X:168.15, Y:-7.31, Z:-1.08 [[ 9.95945655e-01 8.98739310e-02 -3.86378374e-03 1.68151644e+02] [-8.98734135e-02 9.95953149e-01 3.07705300e-04 -7.30876754e+00] [ 3.87580227e-03 4.07936769e-05 9.99992488e-01 -1.07570329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.160281693 meters Centerline goodness [0,1] 0.9986452445968544 Centerline is valid? [True, True] Translation: X:168.18, Y:-7.30, Z:-1.08 [[ 9.95533277e-01 9.43153880e-02 -4.25458024e-03 1.68180893e+02] [-9.43148014e-02 9.95542366e-01 3.38755484e-04 -7.30353525e+00] [ 4.26756473e-03 6.40275328e-05 9.99990892e-01 -1.07714614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.190281693 meters Centerline goodness [0,1] 0.9988662374056089 Centerline is valid? [True, True] Translation: X:168.21, Y:-7.30, Z:-1.08 [[ 9.95303477e-01 9.66980591e-02 -4.52493380e-03 1.68210961e+02] [-9.66974204e-02 9.95313759e-01 3.60230587e-04 -7.30451033e+00] [ 4.53856247e-03 7.90106706e-05 9.99989698e-01 -1.07680297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.220281693 meters Centerline goodness [0,1] 0.9985308208240179 Centerline is valid? [True, True] Translation: X:168.24, Y:-7.30, Z:-1.08 [[ 9.94916786e-01 1.00564848e-01 -5.22495653e-03 1.68240160e+02] [-1.00564051e-01 9.94930500e-01 4.15738616e-04 -7.30000898e+00] [ 5.24027730e-03 1.11817466e-04 9.99986263e-01 -1.07789961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.250281693 meters Centerline goodness [0,1] 0.9984166720157477 Centerline is valid? [True, True] Translation: X:168.27, Y:-7.30, Z:-1.08 [[ 9.94703209e-01 1.02656881e-01 -5.20479624e-03 1.68269658e+02] [-1.02656119e-01 9.94716819e-01 4.14060283e-04 -7.30013250e+00] [ 5.21980450e-03 1.22437089e-04 9.99986369e-01 -1.07674755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.280281693 meters Centerline goodness [0,1] 0.9976074022316797 Centerline is valid? [True, True] Translation: X:168.30, Y:-7.29, Z:-1.08 [[ 9.94444037e-01 1.05174568e-01 -4.40077140e-03 1.68298628e+02] [-1.05174050e-01 9.94453768e-01 3.49766026e-04 -7.29231240e+00] [ 4.41315019e-03 1.15024211e-04 9.99990255e-01 -1.07701073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.310281693 meters Centerline goodness [0,1] 0.9977058910193 Centerline is valid? [True, True] Translation: X:168.33, Y:-7.29, Z:-1.07 [[ 9.94134745e-01 1.08095026e-01 -3.40213026e-03 1.68328130e+02] [-1.08094734e-01 9.94140561e-01 2.70288104e-04 -7.28894447e+00] [ 3.41141248e-03 9.90495685e-05 9.99994176e-01 -1.07485248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.340281693 meters Centerline goodness [0,1] 0.9960093748020523 Centerline is valid? [True, True] Translation: X:168.36, Y:-7.27, Z:-1.07 [[ 9.93557250e-01 1.13306339e-01 -2.37988785e-03 1.68358507e+02] [-1.13306210e-01 9.93560097e-01 1.89156155e-04 -7.27376961e+00] [ 2.38599419e-03 8.17186030e-05 9.99997150e-01 -1.07377762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.370281693 meters Centerline goodness [0,1] 0.9966545978106671 Centerline is valid? [True, True] Translation: X:168.39, Y:-7.28, Z:-1.07 [[ 9.93379776e-01 1.14846934e-01 -2.60831445e-03 1.68387959e+02] [-1.14846785e-01 9.93383195e-01 2.07165201e-04 -7.27549593e+00] [ 2.61484803e-03 9.37628081e-05 9.99996577e-01 -1.07264134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.400281693 meters Centerline goodness [0,1] 0.995489265729058 Centerline is valid? [True, True] Translation: X:168.42, Y:-7.27, Z:-1.07 [[ 9.93233128e-01 1.16113546e-01 -2.36603452e-03 1.68416760e+02] [-1.16113428e-01 9.93235942e-01 1.87618895e-04 -7.26877740e+00] [ 2.37181563e-03 8.83790784e-05 9.99997183e-01 -1.07142476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.430281693 meters Centerline goodness [0,1] 0.996465825604558 Centerline is valid? [True, True] Translation: X:168.45, Y:-7.27, Z:-1.07 [[ 9.93348067e-01 1.15140743e-01 -1.49216489e-03 1.68445617e+02] [-1.15140695e-01 9.93349187e-01 1.18212371e-04 -7.26836999e+00] [ 1.49585184e-03 5.43828717e-05 9.99998880e-01 -1.06939918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46028169299998 meters Centerline goodness [0,1] 0.9970436225195142 Centerline is valid? [True, True] Translation: X:168.48, Y:-7.27, Z:-1.07 [[ 9.93819304e-01 1.11007815e-01 6.75832788e-04 1.68476101e+02] [-1.11007804e-01 9.93819533e-01 -5.36519553e-05 -7.27074351e+00] [-6.77611612e-04 -2.17023649e-05 9.99999770e-01 -1.06652188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.490281693 meters Centerline goodness [0,1] 0.9958785983007143 Centerline is valid? [True, True] Translation: X:168.51, Y:-7.27, Z:-1.07 [[ 9.94116969e-01 1.08309960e-01 6.35400702e-04 1.68505675e+02] [-1.08309950e-01 9.94117172e-01 -5.05117318e-05 -7.26820489e+00] [-6.37133672e-04 -1.86056484e-05 9.99999797e-01 -1.06776626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.520281693 meters Centerline goodness [0,1] 0.9976925845170305 Centerline is valid? [True, True] Translation: X:168.53, Y:-7.28, Z:-1.07 [[ 9.94423797e-01 1.05457341e-01 -2.48099428e-04 1.68534576e+02] [-1.05457340e-01 9.94423828e-01 1.95758795e-05 -7.27780446e+00] [ 2.48780404e-04 6.69718531e-06 9.99999969e-01 -1.06908937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.550281693 meters Centerline goodness [0,1] 0.9985108600846683 Centerline is valid? [True, True] Translation: X:168.56, Y:-7.28, Z:-1.07 [[ 9.94688075e-01 1.02910907e-01 -2.23145288e-03 1.68563400e+02] [-1.02910770e-01 9.94690576e-01 1.76562152e-04 -7.28305376e+00] [ 2.23777533e-03 5.40162678e-05 9.99997495e-01 -1.07188427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.580281693 meters Centerline goodness [0,1] 0.9988545246277205 Centerline is valid? [True, True] Translation: X:168.59, Y:-7.28, Z:-1.08 [[ 9.95066904e-01 9.90984429e-02 -4.62110141e-03 1.68591120e+02] [-9.90978127e-02 9.95077630e-01 3.65717039e-04 -7.28497556e+00] [ 4.63459663e-03 9.40281209e-05 9.99989256e-01 -1.07678781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.610281693 meters Centerline goodness [0,1] 0.998789140502188 Centerline is valid? [True, True] Translation: X:168.62, Y:-7.29, Z:-1.08 [[ 9.95263436e-01 9.71157584e-02 -4.38442971e-03 1.68619719e+02] [-9.71151726e-02 9.95273090e-01 3.46816615e-04 -7.29039476e+00] [ 4.39738626e-03 8.06207521e-05 9.99990328e-01 -1.07652970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.640281693 meters Centerline goodness [0,1] 0.9989610059159051 Centerline is valid? [True, True] Translation: X:168.65, Y:-7.30, Z:-1.08 [[ 9.95494005e-01 9.47409972e-02 -3.97858431e-03 1.68647958e+02] [-9.47404967e-02 9.95501953e-01 3.14514312e-04 -7.29672962e+00] [ 3.99048585e-03 6.38359412e-05 9.99992036e-01 -1.07595276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.670281693 meters Centerline goodness [0,1] 0.9991807696453595 Centerline is valid? [True, True] Translation: X:168.68, Y:-7.31, Z:-1.08 [[ 9.95997151e-01 8.93111342e-02 -3.63278715e-03 1.68677261e+02] [-8.93106804e-02 9.96003775e-01 2.87270417e-04 -7.30870402e+00] [ 3.64392617e-03 3.83261753e-05 9.99993360e-01 -1.07559708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.700281693 meters Centerline goodness [0,1] 0.9991444765265747 Centerline is valid? [True, True] Translation: X:168.71, Y:-7.32, Z:-1.08 [[ 9.96186090e-01 8.71971391e-02 -3.15162776e-03 1.68705137e+02] [-8.71967880e-02 9.96191075e-01 2.48916305e-04 -7.31514847e+00] [ 3.16132823e-03 2.68448572e-05 9.99995003e-01 -1.07529093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.730281693 meters Centerline goodness [0,1] 0.9990087734098194 Centerline is valid? [True, True] Translation: X:168.73, Y:-7.32, Z:-1.07 [[ 9.96314038e-01 8.57498404e-02 -2.30276071e-03 1.68732184e+02] [-8.57496496e-02 9.96316699e-01 1.81636133e-04 -7.32243759e+00] [ 2.30985421e-03 1.64942950e-05 9.99997332e-01 -1.07271680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.760281693 meters Centerline goodness [0,1] 0.9991051835438993 Centerline is valid? [True, True] Translation: X:168.76, Y:-7.32, Z:-1.07 [[ 9.96259108e-01 8.63764331e-02 -2.62724400e-03 1.68760184e+02] [-8.63761872e-02 9.96262572e-01 2.07120824e-04 -7.32246460e+00] [ 2.63531523e-03 2.05853131e-05 9.99996527e-01 -1.07357218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.790281693 meters Centerline goodness [0,1] 0.9991772846173319 Centerline is valid? [True, True] Translation: X:168.79, Y:-7.32, Z:-1.07 [[ 9.96151765e-01 8.75947234e-02 -2.97078504e-03 1.68789429e+02] [-8.75944146e-02 9.96156194e-01 2.34153498e-04 -7.32190700e+00] [ 2.97987653e-03 2.69717556e-05 9.99995560e-01 -1.07433491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.820281693 meters Centerline goodness [0,1] 0.9990586020240056 Centerline is valid? [True, True] Translation: X:168.82, Y:-7.32, Z:-1.07 [[ 9.95912944e-01 9.02908966e-02 -2.22741628e-03 1.68818450e+02] [-9.02907301e-02 9.95915435e-01 1.75411473e-04 -7.32032443e+00] [ 2.23415631e-03 2.64204856e-05 9.99997504e-01 -1.07390728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.850281693 meters Centerline goodness [0,1] 0.9989818428644154 Centerline is valid? [True, True] Translation: X:168.85, Y:-7.32, Z:-1.07 [[ 9.95852010e-01 9.09770991e-02 -1.39307206e-03 1.68847567e+02] [-9.09770349e-02 9.95852985e-01 1.09566850e-04 -7.32302605e+00] [ 1.39726304e-03 1.76251971e-05 9.99999024e-01 -1.07148341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.880281693 meters Centerline goodness [0,1] 0.9989340610143476 Centerline is valid? [True, True] Translation: X:168.88, Y:-7.33, Z:-1.07 [[ 9.95776276e-01 9.18127995e-02 1.37443185e-04 1.68876434e+02] [-9.18127989e-02 9.95776285e-01 -1.10349587e-05 -7.32596812e+00] [-1.37875815e-04 -1.63069337e-06 9.99999990e-01 -1.06791821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.910281693 meters Centerline goodness [0,1] 0.9988892211731534 Centerline is valid? [True, True] Translation: X:168.90, Y:-7.32, Z:-1.07 [[ 9.95643015e-01 9.32395478e-02 1.17153377e-03 1.68904393e+02] [-9.32395036e-02 9.95643705e-01 -9.24514504e-05 -7.32413291e+00] [-1.17505035e-03 -1.71845862e-05 9.99999309e-01 -1.06652545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.940281693 meters Centerline goodness [0,1] 0.9987183047444086 Centerline is valid? [True, True] Translation: X:168.93, Y:-7.32, Z:-1.07 [[ 9.95248218e-01 9.73693784e-02 4.33898093e-04 1.68933768e+02] [-9.73693727e-02 9.95248313e-01 -3.42885768e-05 -7.31928253e+00] [-4.35175002e-04 -8.12274015e-06 9.99999905e-01 -1.06842921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.970281693 meters Centerline goodness [0,1] 0.9985239229909537 Centerline is valid? [True, True] Translation: X:168.96, Y:-7.32, Z:-1.07 [[ 9.95058351e-01 9.92906380e-02 -4.96861351e-04 1.68962324e+02] [-9.92906310e-02 9.95058475e-01 3.88004330e-05 -7.31555504e+00] [ 4.98258618e-04 1.07249822e-05 9.99999876e-01 -1.07105489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.000281693 meters Centerline goodness [0,1] 0.9979075960603627 Centerline is valid? [True, True] Translation: X:168.99, Y:-7.31, Z:-1.07 [[ 9.94867861e-01 1.01175422e-01 -1.21331171e-03 1.68991551e+02] [-1.01175382e-01 9.94868601e-01 9.51181268e-05 -7.31261715e+00] [ 1.21670934e-03 2.81273078e-05 9.99999259e-01 -1.07203169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.030281693 meters Centerline goodness [0,1] 0.9980960440025386 Centerline is valid? [True, True] Translation: X:169.02, Y:-7.31, Z:-1.07 [[ 9.94548385e-01 1.04273145e-01 -7.88416323e-04 1.69021768e+02] [-1.04273129e-01 9.94548697e-01 6.18164625e-05 -7.30641693e+00] [ 7.90564224e-04 2.07311738e-05 9.99999687e-01 -1.07086758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.060281693 meters Centerline goodness [0,1] 0.9974184811358683 Centerline is valid? [True, True] Translation: X:169.05, Y:-7.30, Z:-1.07 [[ 9.94457460e-01 1.05138646e-01 -4.74910481e-04 1.69049588e+02] [-1.05138640e-01 9.94457573e-01 3.70214606e-05 -7.30285921e+00] [ 4.76170710e-04 1.31151744e-05 9.99999887e-01 -1.07161089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.090281693 meters Centerline goodness [0,1] 0.9974184811358683 Centerline is valid? [True, True] Translation: X:169.08, Y:-7.30, Z:-1.07 [[ 9.94462003e-01 1.05095664e-01 -4.74907905e-04 1.69077846e+02] [-1.05095658e-01 9.94462117e-01 3.70542200e-05 -7.30498163e+00] [ 4.76172158e-04 1.30617448e-05 9.99999887e-01 -1.07173803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.120281693 meters Centerline goodness [0,1] 0.9973314695978144 Centerline is valid? [True, True] Translation: X:169.11, Y:-7.31, Z:-1.07 [[ 9.94619370e-01 1.03596633e-01 -2.16581491e-04 1.69106163e+02] [-1.03596632e-01 9.94619393e-01 1.67843501e-05 -7.30601156e+00] [ 2.17154953e-04 5.74307335e-06 9.99999976e-01 -1.07203475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.150281693 meters Centerline goodness [0,1] 0.9982605375363272 Centerline is valid? [True, True] Translation: X:169.13, Y:-7.31, Z:-1.07 [[ 9.94866070e-01 1.01200298e-01 -5.10415890e-05 1.69134184e+02] [-1.01200298e-01 9.94866071e-01 3.80676214e-06 -7.30957468e+00] [ 5.11647905e-05 1.37820550e-06 9.99999999e-01 -1.07170281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.180281693 meters Centerline goodness [0,1] 0.9986770542407761 Centerline is valid? [True, True] Translation: X:169.16, Y:-7.31, Z:-1.07 [[ 9.95169359e-01 9.81727229e-02 2.50564855e-04 1.69162396e+02] [-9.81727210e-02 9.95169391e-01 -1.98110971e-05 -7.31380467e+00] [-2.51299384e-04 -4.88323680e-06 9.99999968e-01 -1.07135882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21028169299998 meters Centerline goodness [0,1] 0.9991211523621709 Centerline is valid? [True, True] Translation: X:169.19, Y:-7.33, Z:-1.07 [[ 9.95689983e-01 9.27425081e-02 5.34110534e-04 1.69190905e+02] [-9.27424990e-02 9.95690126e-01 -4.19132969e-05 -7.32697893e+00] [-5.35695729e-04 -7.80209579e-06 9.99999856e-01 -1.07147525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.240281693 meters Centerline goodness [0,1] 0.9993035035880118 Centerline is valid? [True, True] Translation: X:169.22, Y:-7.33, Z:-1.07 [[ 9.95893552e-01 9.05312038e-02 3.67327132e-04 1.69218787e+02] [-9.05311992e-02 9.95893619e-01 -2.89422039e-05 -7.33267840e+00] [-3.68438919e-04 -4.43121154e-06 9.99999932e-01 -1.07207779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.270281693 meters Centerline goodness [0,1] 0.9993170127846669 Centerline is valid? [True, True] Translation: X:169.25, Y:-7.34, Z:-1.07 [[ 9.96031899e-01 8.89960464e-02 4.00025320e-04 1.69247620e+02] [-8.89960410e-02 9.96031979e-01 -3.14810666e-05 -7.33620540e+00] [-4.01239702e-04 -4.24452321e-06 9.99999919e-01 -1.07232654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.300281693 meters Centerline goodness [0,1] 0.9995352374514112 Centerline is valid? [True, True] Translation: X:169.28, Y:-7.34, Z:-1.07 [[ 9.96144337e-01 8.77280008e-02 -5.08575728e-04 1.69275430e+02] [-8.77279921e-02 9.96144466e-01 3.94851866e-05 -7.33567729e+00] [ 5.10078854e-04 5.28338251e-06 9.99999870e-01 -1.07449282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.330281693 meters Centerline goodness [0,1] 0.9996195307545973 Centerline is valid? [True, True] Translation: X:169.30, Y:-7.33, Z:-1.08 [[ 9.96192909e-01 8.71029590e-02 -3.57235198e-03 1.69304318e+02] [-8.71025193e-02 9.96199314e-01 2.78786385e-04 -7.33485308e+00] [ 3.58305771e-03 3.34358371e-05 9.99993580e-01 -1.08135448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.360281693 meters Centerline goodness [0,1] 0.9996375884710497 Centerline is valid? [True, True] Translation: X:169.33, Y:-7.34, Z:-1.08 [[ 9.96198322e-01 8.70114312e-02 -4.23251599e-03 1.69333348e+02] [-8.70108137e-02 9.96207312e-01 3.30161367e-04 -7.33688523e+00] [ 4.24519119e-03 3.93684600e-05 9.99990988e-01 -1.08338851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.390281693 meters Centerline goodness [0,1] 0.9992801033263461 Centerline is valid? [True, True] Translation: X:169.36, Y:-7.34, Z:-1.08 [[ 9.96237576e-01 8.66456512e-02 -1.79521006e-03 1.69361719e+02] [-8.66455398e-02 9.96239194e-01 1.39839125e-04 -7.34191639e+00] [ 1.80057507e-03 1.62339532e-05 9.99998379e-01 -1.07716290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.420281693 meters Centerline goodness [0,1] 0.9992585374120837 Centerline is valid? [True, True] Translation: X:169.39, Y:-7.35, Z:-1.07 [[ 9.96298337e-01 8.59608637e-02 -5.95393998e-04 1.69390387e+02] [-8.59608515e-02 9.96298514e-01 4.62147834e-05 -7.34502721e+00] [ 5.97162818e-04 5.13686321e-06 9.99999822e-01 -1.07432170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.450281693 meters Centerline goodness [0,1] 0.999221609795094 Centerline is valid? [True, True] Translation: X:169.42, Y:-7.35, Z:-1.07 [[ 9.96367672e-01 8.51555041e-02 -4.82811072e-05 1.69417940e+02] [-8.51555040e-02 9.96367673e-01 3.50918187e-06 -7.34570884e+00] [ 4.84045606e-05 6.14966654e-07 9.99999999e-01 -1.07398389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.480281693 meters Centerline goodness [0,1] 0.9990917923372619 Centerline is valid? [True, True] Translation: X:169.45, Y:-7.35, Z:-1.07 [[ 9.96440517e-01 8.42880610e-02 1.34870616e-03 1.69446368e+02] [-8.42879958e-02 9.96441430e-01 -1.05201266e-04 -7.35094717e+00] [-1.35277391e-03 -8.85293526e-06 9.99999085e-01 -1.07131475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.510281693 meters Centerline goodness [0,1] 0.9990954795010413 Centerline is valid? [True, True] Translation: X:169.47, Y:-7.36, Z:-1.07 [[ 9.96532374e-01 8.31953997e-02 1.32412428e-03 1.69474682e+02] [-8.31953360e-02 9.96533254e-01 -1.03239394e-04 -7.35874326e+00] [-1.32812292e-03 -7.27956515e-06 9.99999118e-01 -1.07099811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.540281693 meters Centerline goodness [0,1] 0.9993454668299481 Centerline is valid? [True, True] Translation: X:169.50, Y:-7.36, Z:-1.07 [[ 9.96653599e-01 8.17380830e-02 6.99260938e-04 1.69503317e+02] [-8.17380649e-02 9.96653845e-01 -5.45398858e-05 -7.36432123e+00] [-7.01379087e-04 -2.79886235e-06 9.99999754e-01 -1.07286702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.570281693 meters Centerline goodness [0,1] 0.99934151833128 Centerline is valid? [True, True] Translation: X:169.53, Y:-7.37, Z:-1.07 [[ 9.96860758e-01 7.91742594e-02 -2.56947892e-04 1.69532180e+02] [-7.91742569e-02 9.96860791e-01 1.98810561e-05 -7.37406347e+00] [ 2.57715347e-04 5.25013781e-07 9.99999967e-01 -1.07428281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.600281693 meters Centerline goodness [0,1] 0.9992363821483116 Centerline is valid? [True, True] Translation: X:169.56, Y:-7.38, Z:-1.07 [[ 9.96921950e-01 7.84002446e-02 1.67526930e-04 1.69560993e+02] [-7.84002435e-02 9.96921964e-01 -1.32235496e-05 -7.37981407e+00] [-1.68048005e-04 4.86947015e-08 9.99999986e-01 -1.07314102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.630281693 meters Centerline goodness [0,1] 0.9992774412921049 Centerline is valid? [True, True] Translation: X:169.59, Y:-7.38, Z:-1.07 [[ 9.96933940e-01 7.82467325e-02 4.09647284e-04 1.69589283e+02] [-7.82467260e-02 9.96934024e-01 -3.19753288e-05 -7.38442355e+00] [-4.10893280e-04 -1.76268211e-07 9.99999916e-01 -1.07223147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.660281693 meters Centerline goodness [0,1] 0.9989906365432523 Centerline is valid? [True, True] Translation: X:169.62, Y:-7.39, Z:-1.07 [[ 9.96807366e-01 7.98431504e-02 3.82388195e-04 1.69619251e+02] [-7.98431449e-02 9.96807439e-01 -2.98000370e-05 -7.38778546e+00] [-3.83546726e-04 -8.26179628e-07 9.99999926e-01 -1.07145692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.690281693 meters Centerline goodness [0,1] 0.9989698244409151 Centerline is valid? [True, True] Translation: X:169.65, Y:-7.39, Z:-1.07 [[ 9.96737076e-01 8.07147449e-02 5.76304185e-04 1.69648475e+02] [-8.07147325e-02 9.96737242e-01 -4.48489695e-05 -7.39015088e+00] [-5.78043817e-04 -1.81360739e-06 9.99999833e-01 -1.07111643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.720281693 meters Centerline goodness [0,1] 0.9988169930498342 Centerline is valid? [True, True] Translation: X:169.68, Y:-7.39, Z:-1.07 [[ 9.96642695e-01 8.18597711e-02 1.52169409e-03 1.69677324e+02] [-8.18596859e-02 9.96643857e-01 -1.18243140e-04 -7.39288719e+00] [-1.52626642e-03 -6.71923796e-06 9.99998835e-01 -1.07076858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.750281693 meters Centerline goodness [0,1] 0.998691689008043 Centerline is valid? [True, True] Translation: X:169.71, Y:-7.40, Z:-1.07 [[ 9.96611831e-01 8.22231125e-02 2.05363431e-03 1.69706590e+02] [-8.22229585e-02 9.96613947e-01 -1.59420794e-04 -7.39829143e+00] [-2.05978867e-03 -9.97523958e-06 9.99997879e-01 -1.06927302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.780281693 meters Centerline goodness [0,1] 0.9985757711030334 Centerline is valid? [True, True] Translation: X:169.74, Y:-7.40, Z:-1.07 [[ 9.96608922e-01 8.22473064e-02 2.45698412e-03 1.69736028e+02] [-8.22470863e-02 9.96611951e-01 -1.90627231e-04 -7.40270707e+00] [-2.46433832e-03 -1.20989856e-05 9.99996963e-01 -1.06959806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.810281693 meters Centerline goodness [0,1] 0.9986681274301304 Centerline is valid? [True, True] Translation: X:169.77, Y:-7.41, Z:-1.07 [[ 9.96647527e-01 8.17780191e-02 2.46208197e-03 1.69766535e+02] [-8.17777968e-02 9.96650568e-01 -1.90968692e-04 -7.40916345e+00] [-2.46945244e-03 -1.10151649e-05 9.99996951e-01 -1.07004756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.840281693 meters Centerline goodness [0,1] 0.9988314282071984 Centerline is valid? [True, True] Translation: X:169.80, Y:-7.42, Z:-1.07 [[ 9.96778362e-01 8.01940273e-02 1.34695766e-03 1.69795662e+02] [-8.01939593e-02 9.96779272e-01 -1.04513147e-04 -7.41900991e+00] [-1.35100081e-03 -3.84142414e-06 9.99999087e-01 -1.07264500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.870281693 meters Centerline goodness [0,1] 0.9987922193499174 Centerline is valid? [True, True] Translation: X:169.83, Y:-7.43, Z:-1.07 [[ 9.96795906e-01 7.99722908e-02 1.53427450e-03 1.69825995e+02] [-7.99722024e-02 9.96797087e-01 -1.18985742e-04 -7.42506271e+00] [-1.53887591e-03 -4.09481039e-06 9.99998816e-01 -1.07153414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.900281693 meters Centerline goodness [0,1] 0.9987691785327759 Centerline is valid? [True, True] Translation: X:169.86, Y:-7.43, Z:-1.07 [[ 9.96726512e-01 8.08351982e-02 1.38958066e-03 1.69856730e+02] [-8.08351266e-02 9.96727481e-01 -1.07764475e-04 -7.42900250e+00] [-1.39374439e-03 -4.91521930e-06 9.99999029e-01 -1.07137075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.930281693 meters Centerline goodness [0,1] 0.9985579777758928 Centerline is valid? [True, True] Translation: X:169.89, Y:-7.43, Z:-1.07 [[ 9.96403616e-01 8.47188491e-02 1.59722317e-03 1.69885931e+02] [-8.47187594e-02 9.96404896e-01 -1.23901655e-04 -7.42988871e+00] [-1.60197779e-03 -1.18587086e-05 9.99998717e-01 -1.07144396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96028169299998 meters Centerline goodness [0,1] 0.998431726389963 Centerline is valid? [True, True] Translation: X:169.92, Y:-7.43, Z:-1.07 [[ 9.96266855e-01 8.62947718e-02 2.35916776e-03 1.69916564e+02] [-8.62945805e-02 9.96269648e-01 -1.82929694e-04 -7.43309347e+00] [-2.36615311e-03 -2.13366019e-05 9.99997200e-01 -1.07148152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.990281693 meters Centerline goodness [0,1] 0.9984404375320458 Centerline is valid? [True, True] Translation: X:169.95, Y:-7.44, Z:-1.07 [[ 9.96207683e-01 8.69778794e-02 2.25853591e-03 1.69945321e+02] [-8.69777059e-02 9.96210243e-01 -1.75106206e-04 -7.43947266e+00] [-2.26520698e-03 -2.20001246e-05 9.99997434e-01 -1.07233140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.020281693 meters Centerline goodness [0,1] 0.9984948502375987 Centerline is valid? [True, True] Translation: X:169.98, Y:-7.45, Z:-1.07 [[ 9.96273204e-01 8.62348108e-02 1.80563622e-03 1.69975827e+02] [-8.62346986e-02 9.96274840e-01 -1.40025617e-04 -7.44562573e+00] [-1.81098502e-03 -1.62047248e-05 9.99998360e-01 -1.07379076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.050281693 meters Centerline goodness [0,1] 0.9985398988509638 Centerline is valid? [True, True] Translation: X:170.01, Y:-7.45, Z:-1.08 [[ 9.96348790e-01 8.53750406e-02 4.36556025e-04 1.70005048e+02] [-8.53750339e-02 9.96348886e-01 -3.39022719e-05 -7.45103643e+00] [-4.37856517e-04 -3.49249789e-06 9.99999904e-01 -1.07592058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.080281693 meters Centerline goodness [0,1] 0.9987620856722088 Centerline is valid? [True, True] Translation: X:170.04, Y:-7.46, Z:-1.08 [[ 9.96339403e-01 8.54752567e-02 -1.33225355e-03 1.70035302e+02] [-8.54751950e-02 9.96340293e-01 1.03299429e-04 -7.45696970e+00] [ 1.33620744e-03 1.09533399e-05 9.99999107e-01 -1.07874708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.110281693 meters Centerline goodness [0,1] 0.9986064062433 Centerline is valid? [True, True] Translation: X:170.07, Y:-7.46, Z:-1.08 [[ 9.96270483e-01 8.62622493e-02 -1.98728141e-03 1.70065175e+02] [-8.62621136e-02 9.96272465e-01 1.54088564e-04 -7.46080706e+00] [ 1.99316578e-03 1.79132068e-05 9.99998013e-01 -1.08017671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.140281693 meters Centerline goodness [0,1] 0.9989157241262012 Centerline is valid? [True, True] Translation: X:170.09, Y:-7.46, Z:-1.08 [[ 9.96158302e-01 8.75316976e-02 -2.61532563e-03 1.70094850e+02] [-8.75314670e-02 9.96161734e-01 2.02699995e-04 -7.46245154e+00] [ 2.62302999e-03 2.70020063e-05 9.99996559e-01 -1.08177964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.170281693 meters Centerline goodness [0,1] 0.9985310084946031 Centerline is valid? [True, True] Translation: X:170.12, Y:-7.46, Z:-1.08 [[ 9.96028553e-01 8.90030703e-02 -2.36118354e-03 1.70123906e+02] [-8.90028869e-02 9.96031351e-01 1.82810813e-04 -7.46470337e+00] [ 2.36808356e-03 2.80673623e-05 9.99997196e-01 -1.08088682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.200281693 meters Centerline goodness [0,1] 0.9983738120380148 Centerline is valid? [True, True] Translation: X:170.15, Y:-7.46, Z:-1.08 [[ 9.95525020e-01 9.44978494e-02 3.03068282e-04 1.70153489e+02] [-9.44978466e-02 9.95525066e-01 -2.36310593e-05 -7.45870119e+00] [-3.03945156e-04 -5.11398924e-06 9.99999954e-01 -1.07607476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.230281693 meters Centerline goodness [0,1] 0.9981078725258838 Centerline is valid? [True, True] Translation: X:170.18, Y:-7.46, Z:-1.07 [[ 9.95109091e-01 9.87621419e-02 1.98409787e-03 1.70183815e+02] [-9.87620316e-02 9.95111068e-01 -1.53734803e-04 -7.45524540e+00] [-1.98958093e-03 -4.29706367e-05 9.99998020e-01 -1.07287576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.260281693 meters Centerline goodness [0,1] 0.9974850809889173 Centerline is valid? [True, True] Translation: X:170.21, Y:-7.45, Z:-1.07 [[ 9.94613888e-01 1.03592833e-01 3.42623287e-03 1.70214964e+02] [-1.03592533e-01 9.94619785e-01 -2.65301145e-04 -7.45004614e+00] [-3.43528230e-03 -9.10599389e-05 9.99994095e-01 -1.07104564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.290281693 meters Centerline goodness [0,1] 0.9951930235031373 Centerline is valid? [True, True] Translation: X:170.25, Y:-7.44, Z:-1.07 [[ 9.93604678e-01 1.12849686e-01 3.83298178e-03 1.70246271e+02] [-1.12849380e-01 9.93612062e-01 -2.96803385e-04 -7.43876730e+00] [-3.84199110e-03 -1.37644384e-04 9.99992610e-01 -1.07051828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.320281693 meters Centerline goodness [0,1] 0.9921082778225635 Centerline is valid? [True, True] Translation: X:170.28, Y:-7.43, Z:-1.07 [[ 9.93220010e-01 1.16232635e-01 1.99678229e-03 1.70275861e+02] [-1.16232559e-01 9.93222014e-01 -1.54651766e-04 -7.42917764e+00] [-2.00122371e-03 -7.84878861e-05 9.99997994e-01 -1.07370809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.350281693 meters Centerline goodness [0,1] 0.9891995322632082 Centerline is valid? [True, True] Translation: X:170.31, Y:-7.42, Z:-1.08 [[ 9.92720808e-01 1.20435402e-01 -8.43127942e-04 1.70307247e+02] [-1.20435390e-01 9.92721166e-01 6.52399677e-05 -7.42272453e+00] [ 8.44848155e-04 3.67773694e-05 9.99999642e-01 -1.07849230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.380281693 meters Centerline goodness [0,1] 0.9838897968713518 Centerline is valid? [True, True] Translation: X:170.34, Y:-7.42, Z:-1.08 [[ 9.92586074e-01 1.21540767e-01 -8.52821640e-04 1.70335051e+02] [-1.21540755e-01 9.92586440e-01 6.56400794e-05 -7.41756729e+00] [ 8.54477141e-04 3.84991576e-05 9.99999634e-01 -1.07804507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.410281693 meters Centerline goodness [0,1] 0.9871172757332417 Centerline is valid? [True, True] Translation: X:170.36, Y:-7.42, Z:-1.08 [[ 9.92483934e-01 1.22374955e-01 1.04970022e-04 1.70364220e+02] [-1.22374955e-01 9.92483940e-01 -8.31863199e-06 -7.41716938e+00] [-1.05199054e-04 -4.58959315e-06 9.99999994e-01 -1.07601884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.440281693 meters Centerline goodness [0,1] 0.9868275920583743 Centerline is valid? [True, True] Translation: X:170.39, Y:-7.41, Z:-1.07 [[ 9.92507461e-01 1.22146572e-01 3.02559566e-03 1.70393294e+02] [-1.22146425e-01 9.92512063e-01 -2.33887418e-04 -7.41192235e+00] [-3.03150874e-03 -1.37430686e-04 9.99995396e-01 -1.07190625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.470281693 meters Centerline goodness [0,1] 0.9873023934988254 Centerline is valid? [True, True] Translation: X:170.42, Y:-7.41, Z:-1.07 [[ 9.92631493e-01 1.21076402e-01 4.81920302e-03 1.70421276e+02] [-1.21076019e-01 9.92643168e-01 -3.72189935e-04 -7.41207150e+00] [-4.82881237e-03 -2.14042467e-04 9.99988318e-01 -1.06920894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.500281693 meters Centerline goodness [0,1] 0.9884181392378114 Centerline is valid? [True, True] Translation: X:170.45, Y:-7.41, Z:-1.07 [[ 9.92778913e-01 1.19795242e-01 6.25534966e-03 1.70450008e+02] [-1.19794574e-01 9.92798583e-01 -4.82687588e-04 -7.41263951e+00] [-6.26812596e-03 -2.70154888e-04 9.99980319e-01 -1.06743945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.530281693 meters Centerline goodness [0,1] 0.9920127118644068 Centerline is valid? [True, True] Translation: X:170.48, Y:-7.41, Z:-1.07 [[ 9.93148943e-01 1.16744160e-01 5.09687424e-03 1.70480727e+02] [-1.16743677e-01 9.93162001e-01 -3.93119097e-04 -7.40714294e+00] [-5.10791618e-03 -2.04602026e-04 9.99986934e-01 -1.06928986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.560281693 meters Centerline goodness [0,1] 0.9933448151219408 Centerline is valid? [True, True] Translation: X:170.51, Y:-7.41, Z:-1.07 [[ 9.93344800e-01 1.15136276e-01 3.12202248e-03 1.70508816e+02] [-1.15136087e-01 9.93349698e-01 -2.40839247e-04 -7.40583242e+00] [-3.12898943e-03 -1.20221040e-04 9.99995097e-01 -1.07336430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.590281693 meters Centerline goodness [0,1] 0.9952916224814422 Centerline is valid? [True, True] Translation: X:170.54, Y:-7.41, Z:-1.08 [[ 9.93844907e-01 1.10780416e-01 -1.59758949e-05 1.70537819e+02] [-1.10780416e-01 9.93844907e-01 1.14398552e-06 -7.40537247e+00] [ 1.60042929e-05 6.32872101e-07 1.00000000e+00 -1.07868637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.620281693 meters Centerline goodness [0,1] 0.9967277626879397 Centerline is valid? [True, True] Translation: X:170.57, Y:-7.41, Z:-1.08 [[ 9.94088422e-01 1.08571095e-01 7.25811009e-04 1.70566614e+02] [-1.08571083e-01 9.94088687e-01 -5.60528895e-05 -7.41275997e+00] [-7.27606237e-04 -2.30805586e-05 9.99999735e-01 -1.07635117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.650281693 meters Centerline goodness [0,1] 0.9965773081910755 Centerline is valid? [True, True] Translation: X:170.59, Y:-7.41, Z:-1.07 [[ 9.94289220e-01 1.06688718e-01 2.54233196e-03 1.70594653e+02] [-1.06688566e-01 9.94292468e-01 -1.95905422e-04 -7.41274094e+00] [-2.54872241e-03 -7.64511008e-05 9.99996749e-01 -1.07335490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.680281693 meters Centerline goodness [0,1] 0.9963519221743398 Centerline is valid? [True, True] Translation: X:170.62, Y:-7.41, Z:-1.07 [[ 9.94422316e-01 1.05360655e-01 4.83637509e-03 1.70623508e+02] [-1.05360090e-01 9.94434067e-01 -3.72155649e-04 -7.40598440e+00] [-4.84866671e-03 -1.39481034e-04 9.99988235e-01 -1.06939179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71028169299998 meters Centerline goodness [0,1] 0.9963751218891762 Centerline is valid? [True, True] Translation: X:170.65, Y:-7.40, Z:-1.07 [[ 9.94392738e-01 1.05657449e-01 4.42570039e-03 1.70652170e+02] [-1.05656980e-01 9.94402578e-01 -3.40366784e-04 -7.40180245e+00] [-4.43689016e-03 -1.29147877e-04 9.99990149e-01 -1.07044420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.740281693 meters Centerline goodness [0,1] 0.9955196753878017 Centerline is valid? [True, True] Translation: X:170.68, Y:-7.40, Z:-1.07 [[ 9.94433679e-01 1.05286074e-01 4.06209066e-03 1.70680263e+02] [-1.05285676e-01 9.94441969e-01 -3.12187886e-04 -7.39950928e+00] [-4.07238247e-03 -1.17229814e-04 9.99991701e-01 -1.07197444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.770281693 meters Centerline goodness [0,1] 0.9972272581849205 Centerline is valid? [True, True] Translation: X:170.71, Y:-7.41, Z:-1.07 [[ 9.94566927e-01 1.04021181e-01 4.02762966e-03 1.70708560e+02] [-1.04020781e-01 9.94575076e-01 -3.09310332e-04 -7.40536681e+00] [-4.03795490e-03 -1.11327356e-04 9.99991841e-01 -1.07239108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.800281693 meters Centerline goodness [0,1] 0.9981359881381063 Centerline is valid? [True, True] Translation: X:170.74, Y:-7.41, Z:-1.07 [[ 9.95063650e-01 9.91743094e-02 3.57624056e-03 1.70736879e+02] [-9.91739630e-02 9.95070073e-01 -2.74489128e-04 -7.40943039e+00] [-3.58583222e-03 -8.15357953e-05 9.99993568e-01 -1.07353453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.830281693 meters Centerline goodness [0,1] 0.9984931978646461 Centerline is valid? [True, True] Translation: X:170.77, Y:-7.42, Z:-1.07 [[ 9.95334276e-01 9.64364662e-02 3.11249673e-03 1.70765455e+02] [-9.64361907e-02 9.95339140e-01 -2.38822572e-04 -7.41517890e+00] [-3.12102102e-03 -6.24490361e-05 9.99995128e-01 -1.07491720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.860281693 meters Centerline goodness [0,1] 0.9982903791084327 Centerline is valid? [True, True] Translation: X:170.79, Y:-7.42, Z:-1.08 [[ 9.95582366e-01 9.38618657e-02 2.38810598e-03 1.70794152e+02] [-9.38616963e-02 9.95585229e-01 -1.83175757e-04 -7.41983078e+00] [-2.39475626e-03 -4.17851244e-05 9.99997132e-01 -1.07618793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.890281693 meters Centerline goodness [0,1] 0.9984096281968622 Centerline is valid? [True, True] Translation: X:170.82, Y:-7.43, Z:-1.08 [[ 9.95901286e-01 9.04022345e-02 2.83967027e-03 1.70822476e+02] [-9.04019814e-02 9.95905334e-01 -2.17639330e-04 -7.42624357e+00] [-2.84771785e-03 -3.99645298e-05 9.99995944e-01 -1.07560786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.920281693 meters Centerline goodness [0,1] 0.9985452055966797 Centerline is valid? [True, True] Translation: X:170.85, Y:-7.43, Z:-1.07 [[ 9.96033007e-01 8.88978480e-02 3.92701173e-03 1.70850077e+02] [-8.88973532e-02 9.96040747e-01 -3.00709356e-04 -7.42750309e+00] [-3.93819611e-03 -4.95845042e-05 9.99992244e-01 -1.07351669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.950281693 meters Centerline goodness [0,1] 0.9985452055966797 Centerline is valid? [True, True] Translation: X:170.88, Y:-7.43, Z:-1.07 [[ 9.96037143e-01 8.88514979e-02 3.92703022e-03 1.70878330e+02] [-8.88510037e-02 9.96044883e-01 -3.00467681e-04 -7.42957206e+00] [-3.93819536e-03 -4.96436063e-05 9.99992244e-01 -1.07364380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.980281693 meters Centerline goodness [0,1] 0.9986713345706091 Centerline is valid? [True, True] Translation: X:170.91, Y:-7.43, Z:-1.07 [[ 9.96214889e-01 8.67594419e-02 5.35663190e-03 1.70906220e+02] [-8.67584940e-02 9.96229289e-01 -4.09509734e-04 -7.43357377e+00] [-5.37196243e-03 -5.67736225e-05 9.99985569e-01 -1.07084947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.010281693 meters Centerline goodness [0,1] 0.9986760623531924 Centerline is valid? [True, True] Translation: X:170.93, Y:-7.44, Z:-1.07 [[ 9.96340047e-01 8.52643362e-02 6.04185858e-03 1.70934798e+02] [-8.52631051e-02 9.96358364e-01 -4.61508339e-04 -7.43939989e+00] [-6.05920653e-03 -5.53283827e-05 9.99981641e-01 -1.07047671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.040281693 meters Centerline goodness [0,1] 0.9986189312652715 Centerline is valid? [True, True] Translation: X:170.96, Y:-7.45, Z:-1.07 [[ 9.96516364e-01 8.32032198e-02 5.68863453e-03 1.70962745e+02] [-8.32020963e-02 9.96532600e-01 -4.34278440e-04 -7.44668760e+00] [-5.70504312e-03 -4.05407461e-05 9.99983725e-01 -1.07099944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.070281693 meters Centerline goodness [0,1] 0.999009024205111 Centerline is valid? [True, True] Translation: X:170.99, Y:-7.46, Z:-1.07 [[ 9.96979880e-01 7.75211099e-02 4.64720876e-03 1.70991248e+02] [-7.75202991e-02 9.96990711e-01 -3.54603975e-04 -7.46233669e+00] [-4.66071326e-03 -6.71998516e-06 9.99989139e-01 -1.07406666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.100281693 meters Centerline goodness [0,1] 0.9990548407191803 Centerline is valid? [True, True] Translation: X:171.02, Y:-7.47, Z:-1.07 [[ 9.97232429e-01 7.41833269e-02 4.93113382e-03 1.71020113e+02] [-7.41823739e-02 9.97244621e-01 -3.76150517e-04 -7.47245783e+00] [-4.94545078e-03 9.30628123e-06 9.99987771e-01 -1.07402690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.130281693 meters Centerline goodness [0,1] 0.9991715699810948 Centerline is valid? [True, True] Translation: X:171.05, Y:-7.48, Z:-1.07 [[ 9.97433687e-01 7.14283569e-02 4.90208262e-03 1.71048696e+02] [-7.14273823e-02 9.97445733e-01 -3.73826498e-04 -7.48225380e+00] [-4.91626320e-03 2.27242125e-05 9.99987915e-01 -1.07370877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.160281693 meters Centerline goodness [0,1] 0.9992585059955087 Centerline is valid? [True, True] Translation: X:171.08, Y:-7.50, Z:-1.08 [[ 9.97680777e-01 6.79561772e-02 3.87623129e-03 1.71077773e+02] [-6.79555418e-02 9.97688307e-01 -2.95555849e-04 -7.49702548e+00] [-3.88735548e-03 3.14589919e-05 9.99992444e-01 -1.07503437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.190281693 meters Centerline goodness [0,1] 0.9993154933795375 Centerline is valid? [True, True] Translation: X:171.11, Y:-7.50, Z:-1.08 [[ 9.97671777e-01 6.81575364e-02 2.36114797e-03 1.71107745e+02] [-6.81573012e-02 9.97674571e-01 -1.80033399e-04 -7.50238908e+00] [-2.36792792e-03 1.86847675e-05 9.99997196e-01 -1.07770548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.220281693 meters Centerline goodness [0,1] 0.9992311142436087 Centerline is valid? [True, True] Translation: X:171.14, Y:-7.50, Z:-1.08 [[ 9.97579426e-01 6.95261676e-02 1.18352163e-03 1.71137221e+02] [-6.95261093e-02 9.97580128e-01 -9.03163512e-05 -7.50496806e+00] [-1.18693701e-03 7.81207926e-06 9.99999296e-01 -1.07990251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.250281693 meters Centerline goodness [0,1] 0.9991975843064383 Centerline is valid? [True, True] Translation: X:171.17, Y:-7.51, Z:-1.08 [[ 9.97217224e-01 7.45428302e-02 1.08405301e-03 1.71165581e+02] [-7.45427843e-02 9.97217813e-01 -8.27478527e-05 -7.50526436e+00] [-1.08720523e-03 1.70925406e-06 9.99999409e-01 -1.08086687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.280281693 meters Centerline goodness [0,1] 0.9990942410582635 Centerline is valid? [True, True] Translation: X:171.19, Y:-7.51, Z:-1.08 [[ 9.96955655e-01 7.79478205e-02 1.88641908e-03 1.71194131e+02] [-7.79476879e-02 9.96957440e-01 -1.43814204e-04 -7.50535484e+00] [-1.89188954e-03 -3.66562147e-06 9.99998210e-01 -1.07896741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.310281693 meters Centerline goodness [0,1] 0.9990357418359476 Centerline is valid? [True, True] Translation: X:171.22, Y:-7.50, Z:-1.08 [[ 9.96413088e-01 8.45405831e-02 3.72139458e-03 1.71223868e+02] [-8.45401141e-02 9.96420036e-01 -2.83432738e-04 -7.50212765e+00] [-3.73203370e-03 -3.21910336e-05 9.99993035e-01 -1.07561462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.340281693 meters Centerline goodness [0,1] 0.9986204554619352 Centerline is valid? [True, True] Translation: X:171.25, Y:-7.50, Z:-1.08 [[ 9.96116796e-01 8.79399943e-02 4.22919719e-03 1.71253478e+02] [-8.79394197e-02 9.96125773e-01 -3.21999358e-04 -7.50069541e+00] [-4.24112894e-03 -5.11641785e-05 9.99991005e-01 -1.07537880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.370281693 meters Centerline goodness [0,1] 0.9985523598663062 Centerline is valid? [True, True] Translation: X:171.28, Y:-7.50, Z:-1.08 [[ 9.95821489e-01 9.12129593e-02 4.44505146e-03 1.71283251e+02] [-9.12123576e-02 9.95831407e-01 -3.38328389e-04 -7.49964108e+00] [-4.45738178e-03 -6.85289434e-05 9.99990063e-01 -1.07564766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.400281693 meters Centerline goodness [0,1] 0.9983390826625782 Centerline is valid? [True, True] Translation: X:171.31, Y:-7.50, Z:-1.07 [[ 9.95550392e-01 9.40969160e-02 5.01878977e-03 1.71312870e+02] [-9.40961862e-02 9.95563038e-01 -3.81870379e-04 -7.50095801e+00] [-5.03245441e-03 -9.20777709e-05 9.99987333e-01 -1.07436049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.430281693 meters Centerline goodness [0,1] 0.9969258627587223 Centerline is valid? [True, True] Translation: X:171.34, Y:-7.49, Z:-1.07 [[ 9.95046589e-01 9.92594700e-02 5.46293289e-03 1.71342450e+02] [-9.92586837e-02 9.95061577e-01 -4.15546735e-04 -7.49344252e+00] [-5.47720156e-03 -1.28755167e-04 9.99984992e-01 -1.07308539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46028169299998 meters Centerline goodness [0,1] 0.9968736137223009 Centerline is valid? [True, True] Translation: X:171.37, Y:-7.49, Z:-1.08 [[ 9.94800964e-01 1.01740391e-01 4.46493635e-03 1.71370848e+02] [-1.01739890e-01 9.94810977e-01 -3.39621043e-04 -7.49170404e+00] [-4.47632087e-03 -1.16406794e-04 9.99989974e-01 -1.07585370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.490281693 meters Centerline goodness [0,1] 0.9958688137593795 Centerline is valid? [True, True] Translation: X:171.40, Y:-7.49, Z:-1.08 [[ 9.94544474e-01 1.04245910e-01 3.75231343e-03 1.71399273e+02] [-1.04245575e-01 9.94551547e-01 -2.85385324e-04 -7.48909153e+00] [-3.76161938e-03 -1.07333674e-04 9.99992919e-01 -1.07798906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.520281693 meters Centerline goodness [0,1] 0.9923853561277733 Centerline is valid? [True, True] Translation: X:171.43, Y:-7.48, Z:-1.08 [[ 9.94025496e-01 1.09085839e-01 3.68685143e-03 1.71429122e+02] [-1.09085549e-01 9.94032326e-01 -2.80300295e-04 -7.48138555e+00] [-3.69542630e-03 -1.23556574e-04 9.99993164e-01 -1.07847387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.550281693 meters Centerline goodness [0,1] 0.991793917346982 Centerline is valid? [True, True] Translation: X:171.46, Y:-7.48, Z:-1.08 [[ 9.93835819e-01 1.10796434e-01 3.80973423e-03 1.71458906e+02] [-1.10796137e-01 9.93843112e-01 -2.89580848e-04 -7.47980934e+00] [-3.81836265e-03 -1.34308017e-04 9.99992701e-01 -1.07811810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.580281693 meters Centerline goodness [0,1] 0.9924193755621226 Centerline is valid? [True, True] Translation: X:171.49, Y:-7.48, Z:-1.08 [[ 9.93600376e-01 1.12869953e-01 4.32051199e-03 1.71488382e+02] [-1.12869591e-01 9.93609756e-01 -3.28301241e-04 -7.47878215e+00] [-4.32995821e-03 -1.61454187e-04 9.99990613e-01 -1.07526743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.610281693 meters Centerline goodness [0,1] 0.9890232597336929 Centerline is valid? [True, True] Translation: X:171.52, Y:-7.47, Z:-1.07 [[ 9.93509143e-01 1.13655854e-01 4.68282717e-03 1.71516440e+02] [-1.13655438e-01 9.93520163e-01 -3.55657116e-04 -7.47150909e+00] [-4.69290573e-03 -1.78880175e-04 9.99988972e-01 -1.07444593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.640281693 meters Centerline goodness [0,1] 0.9873907800368121 Centerline is valid? [True, True] Translation: X:171.54, Y:-7.47, Z:-1.07 [[ 9.93416902e-01 1.14438118e-01 5.17460265e-03 1.71544094e+02] [-1.14437623e-01 9.93430358e-01 -3.92714594e-04 -7.46783156e+00] [-5.18554889e-03 -2.02039910e-04 9.99986535e-01 -1.07484344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.670281693 meters Centerline goodness [0,1] 0.9879132974895221 Centerline is valid? [True, True] Translation: X:171.57, Y:-7.47, Z:-1.08 [[ 9.93274601e-01 1.15671450e-01 5.06773190e-03 1.71573324e+02] [-1.15670993e-01 9.93287508e-01 -3.84284890e-04 -7.46813630e+00] [-5.07816559e-03 -2.04489158e-04 9.99987085e-01 -1.07535261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.700281693 meters Centerline goodness [0,1] 0.9883664463821971 Centerline is valid? [True, True] Translation: X:171.60, Y:-7.46, Z:-1.08 [[ 9.93273872e-01 1.15660796e-01 5.44018461e-03 1.71601890e+02] [-1.15660270e-01 9.93288746e-01 -4.12259498e-04 -7.46185063e+00] [-5.45135641e-03 -2.19726632e-04 9.99985117e-01 -1.07633564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.730281693 meters Centerline goodness [0,1] 0.9887709225995737 Centerline is valid? [True, True] Translation: X:171.63, Y:-7.46, Z:-1.07 [[ 9.93425365e-01 1.14325908e-01 5.96916231e-03 1.71631373e+02] [-1.14325253e-01 9.93443271e-01 -4.52021482e-04 -7.46130104e+00] [-5.98170190e-03 -2.33376386e-04 9.99982082e-01 -1.07481349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.760281693 meters Centerline goodness [0,1] 0.991368940848756 Centerline is valid? [True, True] Translation: X:171.66, Y:-7.46, Z:-1.08 [[ 9.93851556e-01 1.10581914e-01 5.54305250e-03 1.71660463e+02] [-1.10581291e-01 9.93866994e-01 -4.19603700e-04 -7.45811838e+00] [-5.55545751e-03 -1.95934112e-04 9.99984549e-01 -1.07621706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.790281693 meters Centerline goodness [0,1] 0.9933484886755914 Centerline is valid? [True, True] Translation: X:171.69, Y:-7.46, Z:-1.08 [[ 9.94075928e-01 1.08586362e-01 4.69591579e-03 1.71689628e+02] [-1.08585894e-01 9.94087007e-01 -3.55428082e-04 -7.45979589e+00] [-4.70674352e-03 -1.56587712e-04 9.99988911e-01 -1.07779318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.820281693 meters Centerline goodness [0,1] 0.9950909246136771 Centerline is valid? [True, True] Translation: X:171.72, Y:-7.46, Z:-1.08 [[ 9.94280552e-01 1.06716674e-01 4.21124888e-03 1.71718798e+02] [-1.06716281e-01 9.94289462e-01 -3.18619881e-04 -7.46264234e+00] [-4.22120243e-03 -1.32611266e-04 9.99991082e-01 -1.07929665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.850281693 meters Centerline goodness [0,1] 0.9960499355738155 Centerline is valid? [True, True] Translation: X:171.75, Y:-7.47, Z:-1.08 [[ 9.94660830e-01 1.03111632e-01 4.22189807e-03 1.71747970e+02] [-1.03111205e-01 9.94669783e-01 -3.19282106e-04 -7.46738971e+00] [-4.23231613e-03 -1.17747593e-04 9.99991037e-01 -1.07933885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.880281693 meters Centerline goodness [0,1] 0.9968325027451643 Centerline is valid? [True, True] Translation: X:171.78, Y:-7.47, Z:-1.08 [[ 9.94835310e-01 1.01382167e-01 4.93577455e-03 1.71776070e+02] [-1.01381563e-01 9.94847546e-01 -3.73126677e-04 -7.46887255e+00] [-4.94817159e-03 -1.29196943e-04 9.99987749e-01 -1.07855443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.910281693 meters Centerline goodness [0,1] 0.9969634987242477 Centerline is valid? [True, True] Translation: X:171.80, Y:-7.47, Z:-1.08 [[ 9.94934169e-01 1.00368326e-01 5.67430593e-03 1.71804692e+02] [-1.00367513e-01 9.94950340e-01 -4.28618166e-04 -7.47007798e+00] [-5.68867230e-03 -1.43069115e-04 9.99983809e-01 -1.07760058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.940281693 meters Centerline goodness [0,1] 0.9973498982360922 Centerline is valid? [True, True] Translation: X:171.83, Y:-7.47, Z:-1.08 [[ 9.95050083e-01 9.92562902e-02 4.84981251e-03 1.71833090e+02] [-9.92556838e-02 9.95061895e-01 -3.66143629e-04 -7.47187540e+00] [-4.86220569e-03 -1.17040209e-04 9.99988173e-01 -1.08005991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.970281693 meters Centerline goodness [0,1] 0.9978213968441981 Centerline is valid? [True, True] Translation: X:171.86, Y:-7.47, Z:-1.08 [[ 9.95145422e-01 9.83571517e-02 3.38534067e-03 1.71861698e+02] [-9.83568516e-02 9.95151177e-01 -2.55419260e-04 -7.47487116e+00] [-3.39404806e-03 -7.87921425e-05 9.99994237e-01 -1.08321721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.000281693 meters Centerline goodness [0,1] 0.9978682088733167 Centerline is valid? [True, True] Translation: X:171.89, Y:-7.47, Z:-1.09 [[ 9.95229587e-01 9.75335013e-02 2.29901467e-03 1.71889840e+02] [-9.75333608e-02 9.95232241e-01 -1.73441520e-04 -7.47341428e+00] [-2.30496988e-03 -5.16164950e-05 9.99997342e-01 -1.08538626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.030281693 meters Centerline goodness [0,1] 0.9985110818054197 Centerline is valid? [True, True] Translation: X:171.92, Y:-7.48, Z:-1.08 [[ 9.95285709e-01 9.69430170e-02 2.89998038e-03 1.71918346e+02] [-9.69427916e-02 9.95289931e-01 -2.18530517e-04 -7.47589901e+00] [-2.90750629e-03 -6.36318934e-05 9.99995771e-01 -1.08415111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.060281693 meters Centerline goodness [0,1] 0.9982576546331513 Centerline is valid? [True, True] Translation: X:171.95, Y:-7.48, Z:-1.08 [[ 9.95389107e-01 9.58615113e-02 3.33109874e-03 1.71945559e+02] [-9.58612084e-02 9.95394678e-01 -2.50853439e-04 -7.47926647e+00] [-3.33980515e-03 -6.96263705e-05 9.99994420e-01 -1.08339294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.090281693 meters Centerline goodness [0,1] 0.9987087214225233 Centerline is valid? [True, True] Translation: X:171.97, Y:-7.49, Z:-1.08 [[ 9.95601640e-01 9.36091790e-02 3.83366998e-03 1.71974497e+02] [-9.36087620e-02 9.95609018e-01 -2.88437026e-04 -7.48619940e+00] [-3.84383675e-03 -7.16967248e-05 9.99992610e-01 -1.08345633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.120281693 meters Centerline goodness [0,1] 0.9987436383381956 Centerline is valid? [True, True] Translation: X:172.00, Y:-7.50, Z:-1.08 [[ 9.95854103e-01 9.08753224e-02 4.03512736e-03 1.72003317e+02] [-9.08748386e-02 9.95862275e-01 -3.03466379e-04 -7.49501306e+00] [-4.04600872e-03 -6.44833093e-05 9.99991813e-01 -1.08362997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.150281693 meters Centerline goodness [0,1] 0.999059829059829 Centerline is valid? [True, True] Translation: X:172.03, Y:-7.51, Z:-1.09 [[ 9.96213971e-01 8.68831890e-02 3.00601853e-03 1.72030292e+02] [-8.68829027e-02 9.96218505e-01 -2.25943330e-04 -7.50522437e+00] [-3.01428196e-03 -3.60837137e-05 9.99995456e-01 -1.08648448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.180281693 meters Centerline goodness [0,1] 0.9991477938513327 Centerline is valid? [True, True] Translation: X:172.06, Y:-7.51, Z:-1.09 [[ 9.96331758e-01 8.55406061e-02 2.41521931e-03 1.72058969e+02] [-8.55404176e-02 9.96334685e-01 -1.81425902e-04 -7.51102450e+00] [-2.42188605e-03 -2.58384807e-05 9.99997067e-01 -1.08773447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21028169299998 meters Centerline goodness [0,1] 0.9992559840142851 Centerline is valid? [True, True] Translation: X:172.09, Y:-7.52, Z:-1.09 [[ 9.96424544e-01 8.44532221e-02 2.40428943e-03 1.72087773e+02] [-8.44530324e-02 9.96427445e-01 -1.80482430e-04 -7.51936559e+00] [-2.41094229e-03 -2.32124097e-05 9.99997093e-01 -1.08643612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.240281693 meters Centerline goodness [0,1] 0.9991455364962724 Centerline is valid? [True, True] Translation: X:172.11, Y:-7.52, Z:-1.09 [[ 9.96439194e-01 8.42644202e-02 2.90517912e-03 1.72114890e+02] [-8.42641427e-02 9.96443429e-01 -2.17987303e-04 -7.52343527e+00] [-2.91321522e-03 -2.75913362e-05 9.99995756e-01 -1.08512732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.270281693 meters Centerline goodness [0,1] 0.9992400734595656 Centerline is valid? [True, True] Translation: X:172.14, Y:-7.52, Z:-1.08 [[ 9.96414778e-01 8.45231898e-02 3.66333401e-03 1.72143177e+02] [-8.45227514e-02 9.96421512e-01 -2.74600936e-04 -7.52466170e+00] [-3.67343496e-03 -3.60186390e-05 9.99993252e-01 -1.08357432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.300281693 meters Centerline goodness [0,1] 0.9991754931185387 Centerline is valid? [True, True] Translation: X:172.17, Y:-7.53, Z:-1.08 [[ 9.96310930e-01 8.56732585e-02 4.96222499e-03 1.72172177e+02] [-8.56724701e-02 9.96323286e-01 -3.71604772e-04 -7.52783903e+00] [-4.97581690e-03 -5.48921767e-05 9.99987619e-01 -1.08081014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.330281693 meters Centerline goodness [0,1] 0.9991075033468625 Centerline is valid? [True, True] Translation: X:172.20, Y:-7.53, Z:-1.08 [[ 9.96174348e-01 8.72244840e-02 5.34388302e-03 1.72201041e+02] [-8.72235934e-02 9.96188679e-01 -3.99945644e-04 -7.53177184e+00] [-5.35840082e-03 -6.76970883e-05 9.99985641e-01 -1.08024599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.360281693 meters Centerline goodness [0,1] 0.9992578771044485 Centerline is valid? [True, True] Translation: X:172.23, Y:-7.53, Z:-1.08 [[ 9.96049651e-01 8.86370736e-02 5.34434815e-03 1.72230046e+02] [-8.86362044e-02 9.96063986e-01 -3.99742421e-04 -7.53284962e+00] [-5.35874472e-03 -7.55394358e-05 9.99985639e-01 -1.08031389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.390281693 meters Centerline goodness [0,1] 0.999231409722667 Centerline is valid? [True, True] Translation: X:172.26, Y:-7.54, Z:-1.08 [[ 9.95869102e-01 9.06840019e-02 4.59822164e-03 1.72258524e+02] [-9.06833811e-02 9.95879715e-01 -3.43757801e-04 -7.53579569e+00] [-4.61044898e-03 -7.46445119e-05 9.99989369e-01 -1.08267886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.420281693 meters Centerline goodness [0,1] 0.9989359891045284 Centerline is valid? [True, True] Translation: X:172.29, Y:-7.54, Z:-1.08 [[ 9.95791662e-01 9.15478301e-02 4.23811677e-03 1.72286042e+02] [-9.15473112e-02 9.95800678e-01 -3.16666575e-04 -7.53627648e+00] [-4.24930969e-03 -7.26542605e-05 9.99990969e-01 -1.08283124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.450281693 meters Centerline goodness [0,1] 0.9989343790626798 Centerline is valid? [True, True] Translation: X:172.31, Y:-7.54, Z:-1.08 [[ 9.95574637e-01 9.38990459e-02 3.75657401e-03 1.72313643e+02] [-9.38986558e-02 9.95581721e-01 -2.80473211e-04 -7.53554011e+00] [-3.76631259e-03 -7.35052345e-05 9.99992905e-01 -1.08398408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.480281693 meters Centerline goodness [0,1] 0.9984492830589485 Centerline is valid? [True, True] Translation: X:172.34, Y:-7.54, Z:-1.08 [[ 9.95456052e-01 9.51554564e-02 3.56188577e-03 1.72341706e+02] [-9.51551146e-02 9.95462422e-01 -2.65709188e-04 -7.53500342e+00] [-3.57100711e-03 -7.44298292e-05 9.99993621e-01 -1.08499894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.510281693 meters Centerline goodness [0,1] 0.9985765880603357 Centerline is valid? [True, True] Translation: X:172.37, Y:-7.54, Z:-1.09 [[ 9.95425108e-01 9.54940021e-02 3.12263946e-03 1.72370179e+02] [-9.54937415e-02 9.95430003e-01 -2.32786612e-04 -7.53786992e+00] [-3.13059873e-03 -6.64708871e-05 9.99995097e-01 -1.08640328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.540281693 meters Centerline goodness [0,1] 0.9988365697846596 Centerline is valid? [True, True] Translation: X:172.40, Y:-7.54, Z:-1.09 [[ 9.95575615e-01 9.38953649e-02 3.58542245e-03 1.72398686e+02] [-9.38950116e-02 9.95582069e-01 -2.67107527e-04 -7.54491519e+00] [-3.59466245e-03 -7.07275416e-05 9.99993537e-01 -1.08517126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.570281693 meters Centerline goodness [0,1] 0.9990899663499185 Centerline is valid? [True, True] Translation: X:172.43, Y:-7.55, Z:-1.08 [[ 9.95722012e-01 9.22971345e-02 4.34891187e-03 1.72427347e+02] [-9.22966005e-02 9.95731506e-01 -3.23763325e-04 -7.55459682e+00] [-4.36023099e-03 -7.90115111e-05 9.99990491e-01 -1.08375917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.600281693 meters Centerline goodness [0,1] 0.9993153762221604 Centerline is valid? [True, True] Translation: X:172.46, Y:-7.56, Z:-1.08 [[ 9.95860397e-01 9.07695520e-02 4.79152424e-03 1.72456348e+02] [-9.07688869e-02 9.95871921e-01 -3.56536446e-04 -7.55994163e+00] [-4.80410710e-03 -7.98607948e-05 9.99988457e-01 -1.08279436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.630281693 meters Centerline goodness [0,1] 0.9994295011304329 Centerline is valid? [True, True] Translation: X:172.49, Y:-7.57, Z:-1.08 [[ 9.96026686e-01 8.89451607e-02 4.42711184e-03 1.72485375e+02] [-8.89445756e-02 9.96036522e-01 -3.29281808e-04 -7.56829465e+00] [-4.43885310e-03 -6.57941150e-05 9.99990146e-01 -1.08394976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.660281693 meters Centerline goodness [0,1] 0.9993197857325058 Centerline is valid? [True, True] Translation: X:172.51, Y:-7.57, Z:-1.09 [[ 9.96037092e-01 8.88754208e-02 3.35715509e-03 1.72514126e+02] [-8.88750840e-02 9.96042749e-01 -2.49674160e-04 -7.57182511e+00] [-3.36605988e-03 -4.96827169e-05 9.99994334e-01 -1.08626093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.690281693 meters Centerline goodness [0,1] 0.9992203796961588 Centerline is valid? [True, True] Translation: X:172.54, Y:-7.57, Z:-1.09 [[ 9.96026553e-01 8.90226417e-02 2.46481350e-03 1.72542132e+02] [-8.90224607e-02 9.96029602e-01 -1.83273538e-04 -7.57425669e+00] [-2.47134270e-03 -3.68784525e-05 9.99996946e-01 -1.08786605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.720281693 meters Centerline goodness [0,1] 0.999409195450805 Centerline is valid? [True, True] Translation: X:172.57, Y:-7.58, Z:-1.09 [[ 9.95965664e-01 8.96984157e-02 2.56732157e-03 1.72570746e+02] [-8.96982220e-02 9.95968972e-01 -1.90719615e-04 -7.57751853e+00] [-2.57407987e-03 -4.03339918e-05 9.99996686e-01 -1.08668670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.750281693 meters Centerline goodness [0,1] 0.9995117394811701 Centerline is valid? [True, True] Translation: X:172.60, Y:-7.58, Z:-1.09 [[ 9.95920476e-01 9.01856552e-02 2.99230903e-03 1.72598208e+02] [-9.01853947e-02 9.95924970e-01 -2.22151220e-04 -7.57700878e+00] [-3.00015014e-03 -4.86176229e-05 9.99995498e-01 -1.08578984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.780281693 meters Centerline goodness [0,1] 0.9994884474379743 Centerline is valid? [True, True] Translation: X:172.63, Y:-7.58, Z:-1.08 [[ 9.95697529e-01 9.25834032e-02 3.83984209e-03 1.72626472e+02] [-9.25829934e-02 9.95704930e-01 -2.84712251e-04 -7.57827465e+00] [-3.84970933e-03 -7.20167902e-05 9.99992587e-01 -1.08477198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.810281693 meters Centerline goodness [0,1] 0.9993580141236893 Centerline is valid? [True, True] Translation: X:172.65, Y:-7.58, Z:-1.09 [[ 9.95515752e-01 9.45338222e-02 3.42695548e-03 1.72654336e+02] [-9.45335079e-02 9.95521648e-01 -2.53931706e-04 -7.57613880e+00] [-3.43561350e-03 -7.11691102e-05 9.99994096e-01 -1.08616188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.840281693 meters Centerline goodness [0,1] 0.9988660676080445 Centerline is valid? [True, True] Translation: X:172.68, Y:-7.57, Z:-1.09 [[ 9.95261052e-01 9.72058015e-02 2.54364861e-03 1.72683203e+02] [-9.72056374e-02 9.95264301e-01 -1.88327865e-04 -7.57144726e+00] [-2.54990922e-03 -5.98215954e-05 9.99996747e-01 -1.08840152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.870281693 meters Centerline goodness [0,1] 0.9981577554261514 Centerline is valid? [True, True] Translation: X:172.71, Y:-7.57, Z:-1.09 [[ 9.94983739e-01 1.00021628e-01 1.74129698e-03 1.72713322e+02] [-1.00021556e-01 9.94985262e-01 -1.28877547e-04 -7.56814432e+00] [-1.74545537e-03 -4.59361697e-05 9.99998476e-01 -1.08944321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.900281693 meters Centerline goodness [0,1] 0.9981577554261514 Centerline is valid? [True, True] Translation: X:172.74, Y:-7.57, Z:-1.09 [[ 9.94988092e-01 9.99783162e-02 1.74129539e-03 1.72741589e+02] [-9.99782436e-02 9.94989615e-01 -1.28899014e-04 -7.57014040e+00] [-1.74545794e-03 -4.58386706e-05 9.99998476e-01 -1.08957034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.930281693 meters Centerline goodness [0,1] 0.9974182626177124 Centerline is valid? [True, True] Translation: X:172.77, Y:-7.57, Z:-1.09 [[ 9.94731338e-01 1.02504405e-01 1.55321428e-03 1.72770102e+02] [-1.02504350e-01 9.94732549e-01 -1.14928956e-04 -7.56505612e+00] [-1.55681353e-03 -4.48877862e-05 9.99998787e-01 -1.08995296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96028169299998 meters Centerline goodness [0,1] 0.9961939787889155 Centerline is valid? [True, True] Translation: X:172.80, Y:-7.56, Z:-1.09 [[ 9.94209066e-01 1.07429336e-01 2.69664352e-03 1.72800561e+02] [-1.07429190e-01 9.94212718e-01 -1.99217119e-04 -7.55794769e+00] [-2.70243905e-03 -9.16347627e-05 9.99996344e-01 -1.08810497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.990281693 meters Centerline goodness [0,1] 0.9950068575347163 Centerline is valid? [True, True] Translation: X:172.83, Y:-7.55, Z:-1.09 [[ 9.93996147e-01 1.09359762e-01 3.47870191e-03 1.72830771e+02] [-1.09359532e-01 9.94002227e-01 -2.56951990e-04 -7.55477603e+00] [-3.48593765e-03 -1.25019923e-04 9.99993916e-01 -1.08672661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.020281693 meters Centerline goodness [0,1] 0.9945378239871776 Centerline is valid? [True, True] Translation: X:172.86, Y:-7.55, Z:-1.09 [[ 9.93812102e-01 1.11049947e-01 2.32721858e-03 1.72859589e+02] [-1.11049848e-01 9.93814823e-01 -1.71930599e-04 -7.54668970e+00] [-2.33191721e-03 -8.75705611e-05 9.99997277e-01 -1.08854998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.050281693 meters Centerline goodness [0,1] 0.994527205493925 Centerline is valid? [True, True] Translation: X:172.89, Y:-7.54, Z:-1.09 [[ 9.93876176e-01 1.10496529e-01 8.14904296e-04 1.72887219e+02] [-1.10496516e-01 9.93876510e-01 -6.03351836e-05 -7.54399286e+00] [-8.16581066e-04 -3.00783843e-05 9.99999666e-01 -1.09169888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.080281693 meters Centerline goodness [0,1] 0.9958849491482058 Centerline is valid? [True, True] Translation: X:172.92, Y:-7.55, Z:-1.09 [[ 9.94063547e-01 1.08801031e-01 3.29558185e-05 1.72915748e+02] [-1.08801031e-01 9.94063547e-01 -2.62869555e-06 -7.54543421e+00] [-3.30461826e-05 -9.72536588e-07 9.99999999e-01 -1.09430108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.110281693 meters Centerline goodness [0,1] 0.9981158837352075 Centerline is valid? [True, True] Translation: X:172.95, Y:-7.56, Z:-1.09 [[ 9.94880357e-01 1.01057178e-01 7.22401402e-04 1.72945251e+02] [-1.01057166e-01 9.94880619e-01 -5.33233437e-05 -7.55519937e+00] [-7.24091861e-04 -1.99534914e-05 9.99999738e-01 -1.09402120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.140281693 meters Centerline goodness [0,1] 0.9992321801817173 Centerline is valid? [True, True] Translation: X:172.97, Y:-7.56, Z:-1.09 [[ 9.95348263e-01 9.63356023e-02 1.13438264e-03 1.72973871e+02] [-9.63355695e-02 9.95348909e-01 -8.35995649e-05 -7.56215941e+00] [-1.13716013e-03 -2.60707155e-05 9.99999353e-01 -1.09363576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.170281693 meters Centerline goodness [0,1] 0.9996210366752284 Centerline is valid? [True, True] Translation: X:173.00, Y:-7.57, Z:-1.09 [[ 9.96140232e-01 8.77727524e-02 7.63432655e-04 1.73002244e+02] [-8.77727350e-02 9.96140524e-01 -5.62794229e-05 -7.57419412e+00] [-7.65426005e-04 -1.09463748e-05 9.99999707e-01 -1.09399138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.200281693 meters Centerline goodness [0,1] 0.9998092088527092 Centerline is valid? [True, True] Translation: X:173.03, Y:-7.58, Z:-1.09 [[ 9.96432365e-01 8.43875964e-02 1.12917257e-03 1.73030546e+02] [-8.43875561e-02 9.96433005e-01 -8.33040802e-05 -7.58205969e+00] [-1.13217465e-03 -1.22812321e-05 9.99999359e-01 -1.09298263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.230281693 meters Centerline goodness [0,1] 0.9998737267446755 Centerline is valid? [True, True] Translation: X:173.06, Y:-7.59, Z:-1.09 [[ 9.96683652e-01 8.13520022e-02 1.88392658e-03 1.73057943e+02] [-8.13518852e-02 9.96685433e-01 -1.38798121e-04 -7.58607371e+00] [-1.88897369e-03 -1.49231606e-05 9.99998216e-01 -1.09228521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.260281693 meters Centerline goodness [0,1] 0.9999149406711181 Centerline is valid? [True, True] Translation: X:173.09, Y:-7.59, Z:-1.09 [[ 9.96891105e-01 7.87520688e-02 2.49747677e-03 1.73086246e+02] [-7.87518556e-02 9.96894233e-01 -1.83738206e-04 -7.59311532e+00] [-2.50418996e-03 -1.35139473e-05 9.99996864e-01 -1.09042350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.290281693 meters Centerline goodness [0,1] 0.9998067840274796 Centerline is valid? [True, True] Translation: X:173.11, Y:-7.60, Z:-1.09 [[ 9.97187724e-01 7.48887767e-02 2.88337948e-03 1.73114530e+02] [-7.48884768e-02 9.97191893e-01 -2.11962364e-04 -7.60016167e+00] [-2.89115624e-03 -4.56562965e-06 9.99995821e-01 -1.08993753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.320281693 meters Centerline goodness [0,1] 0.9997452770112503 Centerline is valid? [True, True] Translation: X:173.14, Y:-7.60, Z:-1.09 [[ 9.97299923e-01 7.33942026e-02 2.48095541e-03 1.73143558e+02] [-7.33939762e-02 9.97303009e-01 -1.82291812e-04 -7.60454135e+00] [-2.48764346e-03 -2.87572965e-07 9.99996906e-01 -1.09081162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.350281693 meters Centerline goodness [0,1] 0.9999363665287941 Centerline is valid? [True, True] Translation: X:173.17, Y:-7.61, Z:-1.09 [[ 9.97412964e-01 7.18465308e-02 2.33546945e-03 1.73172341e+02] [-7.18463262e-02 9.97415699e-01 -1.71504692e-04 -7.61122674e+00] [-2.34175591e-03 3.26610354e-06 9.99997258e-01 -1.09036885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.380281693 meters Centerline goodness [0,1] 0.9998302999448475 Centerline is valid? [True, True] Translation: X:173.20, Y:-7.62, Z:-1.09 [[ 9.97479062e-01 7.08820279e-02 3.35539242e-03 1.73201910e+02] [-7.08816009e-02 9.97484706e-01 -2.46130807e-04 -7.61643953e+00] [-3.36439887e-03 7.67473961e-06 9.99994340e-01 -1.08870442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.410281693 meters Centerline goodness [0,1] 0.9997860779531939 Centerline is valid? [True, True] Translation: X:173.23, Y:-7.62, Z:-1.09 [[ 9.97557253e-01 6.97134812e-02 4.42240670e-03 1.73229893e+02] [-6.97127288e-02 9.97567056e-01 -3.24262639e-04 -7.62219520e+00] [-4.43425271e-03 1.51725079e-05 9.99990169e-01 -1.08682371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.440281693 meters Centerline goodness [0,1] 0.9996412669606871 Centerline is valid? [True, True] Translation: X:173.26, Y:-7.64, Z:-1.09 [[ 9.97798497e-01 6.60999029e-02 5.38173311e-03 1.73258758e+02] [-6.60987370e-02 9.97813009e-01 -3.94416694e-04 -7.63506971e+00] [-5.39603421e-03 3.78226233e-05 9.99985441e-01 -1.08525193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.470281693 meters Centerline goodness [0,1] 0.9994726517181007 Centerline is valid? [True, True] Translation: X:173.29, Y:-7.64, Z:-1.09 [[ 9.97907331e-01 6.44371309e-02 5.36801681e-03 1.73289116e+02] [-6.44359467e-02 9.97921767e-01 -3.93438105e-04 -7.64301200e+00] [-5.38221284e-03 4.67215244e-05 9.99985515e-01 -1.08558804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.500281693 meters Centerline goodness [0,1] 0.9995582202587567 Centerline is valid? [True, True] Translation: X:173.32, Y:-7.65, Z:-1.09 [[ 9.97951116e-01 6.38128874e-02 4.63534279e-03 1.73318005e+02] [-6.38119977e-02 9.97961880e-01 -3.39736408e-04 -7.64961665e+00] [-4.64757497e-03 4.32498438e-05 9.99989199e-01 -1.08619123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.530281693 meters Centerline goodness [0,1] 0.9997024189091528 Centerline is valid? [True, True] Translation: X:173.35, Y:-7.65, Z:-1.09 [[ 9.97825307e-01 6.58570398e-02 2.73976285e-03 1.73348140e+02] [-6.58567368e-02 9.97829068e-01 -2.00774632e-04 -7.65376142e+00] [-2.74703743e-03 1.99061687e-05 9.99996227e-01 -1.08998604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.560281693 meters Centerline goodness [0,1] 0.999765982342304 Centerline is valid? [True, True] Translation: X:173.38, Y:-7.66, Z:-1.09 [[ 9.97530575e-01 7.02149500e-02 1.61654969e-03 1.73378073e+02] [-7.02148501e-02 9.97531885e-01 -1.18530429e-04 -7.65576346e+00] [-1.62088247e-03 4.73193284e-06 9.99998686e-01 -1.09151710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.590281693 meters Centerline goodness [0,1] 0.9997658528278592 Centerline is valid? [True, True] Translation: X:173.41, Y:-7.66, Z:-1.09 [[ 9.97379456e-01 7.23351325e-02 1.36026590e-03 1.73406575e+02] [-7.23350637e-02 9.97380383e-01 -9.97599012e-05 -7.65816643e+00] [-1.36391867e-03 1.10355527e-06 9.99999070e-01 -1.09222293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.620281693 meters Centerline goodness [0,1] 0.9997263676356059 Centerline is valid? [True, True] Translation: X:173.44, Y:-7.66, Z:-1.09 [[ 9.97229795e-01 7.43714862e-02 1.27222726e-03 1.73435444e+02] [-7.43714278e-02 9.97230606e-01 -9.32311516e-05 -7.66033731e+00] [-1.27563770e-03 -1.64447590e-06 9.99999186e-01 -1.09241845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.650281693 meters Centerline goodness [0,1] 0.9997654984224439 Centerline is valid? [True, True] Translation: X:173.46, Y:-7.66, Z:-1.09 [[ 9.97112275e-01 7.59181212e-02 1.88391412e-03 1.73464692e+02] [-7.59179961e-02 9.97114055e-01 -1.37961582e-04 -7.66362764e+00] [-1.88895103e-03 -5.45979831e-06 9.99998216e-01 -1.09194065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.680281693 meters Centerline goodness [0,1] 0.9999147612248812 Centerline is valid? [True, True] Translation: X:173.49, Y:-7.67, Z:-1.09 [[ 9.97054607e-01 7.66705177e-02 1.93472916e-03 1.73494085e+02] [-7.66703873e-02 9.97056484e-01 -1.41636084e-04 -7.67143704e+00] [-1.93989357e-03 -7.11752432e-06 9.99998118e-01 -1.09212167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71028169299998 meters Centerline goodness [0,1] 0.9998301990915651 Centerline is valid? [True, True] Translation: X:173.52, Y:-7.68, Z:-1.09 [[ 9.97004148e-01 7.73366685e-02 1.32964861e-03 1.73523430e+02] [-7.73366075e-02 9.97005035e-01 -9.73455664e-05 -7.67673023e+00] [-1.33319474e-03 -5.77657885e-06 9.99999111e-01 -1.09234409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.740281693 meters Centerline goodness [0,1] 0.9998304761501133 Centerline is valid? [True, True] Translation: X:173.55, Y:-7.68, Z:-1.09 [[ 9.96792143e-01 8.00287150e-02 9.09813801e-04 1.73552578e+02] [-8.00286875e-02 9.96792559e-01 -6.66629867e-05 -7.67657230e+00] [-9.12230580e-04 -6.36206296e-06 9.99999584e-01 -1.09453904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.770281693 meters Centerline goodness [0,1] 0.9998503793951052 Centerline is valid? [True, True] Translation: X:173.58, Y:-7.68, Z:-1.10 [[ 9.96653760e-01 8.17384827e-02 3.19832966e-04 1.73581876e+02] [-8.17384794e-02 9.96653812e-01 -2.34723051e-05 -7.67753150e+00] [-3.20681335e-04 -2.74889915e-06 9.99999949e-01 -1.09516223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.800281693 meters Centerline goodness [0,1] 0.9997450009562464 Centerline is valid? [True, True] Translation: X:173.61, Y:-7.68, Z:-1.10 [[ 9.96483446e-01 8.37898553e-02 -3.18436542e-05 1.73609711e+02] [-8.37898552e-02 9.96483447e-01 2.07306957e-06 -7.67628816e+00] [ 3.19053765e-05 6.02395666e-07 9.99999999e-01 -1.09639906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.830281693 meters Centerline goodness [0,1] 0.9998727600466546 Centerline is valid? [True, True] Translation: X:173.64, Y:-7.68, Z:-1.09 [[ 9.96137015e-01 8.78114384e-02 4.46785450e-04 1.73638580e+02] [-8.78114325e-02 9.96137115e-01 -3.28108347e-05 -7.67600670e+00] [-4.47940735e-04 -6.54878341e-06 9.99999900e-01 -1.09485308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.860281693 meters Centerline goodness [0,1] 0.999831405028345 Centerline is valid? [True, True] Translation: X:173.67, Y:-7.67, Z:-1.10 [[ 9.96019911e-01 8.91226555e-02 1.22012504e-03 1.73667270e+02] [-8.91226130e-02 9.96020658e-01 -8.92241150e-05 -7.66721964e+00] [-1.22322163e-03 -1.98717363e-05 9.99999252e-01 -1.09506353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.890281693 meters Centerline goodness [0,1] 0.9998509210946651 Centerline is valid? [True, True] Translation: X:173.70, Y:-7.67, Z:-1.09 [[ 9.95961188e-01 8.97518243e-02 2.43350335e-03 1.73695831e+02] [-8.97516584e-02 9.95964160e-01 -1.77519196e-04 -7.67372565e+00] [-2.43961480e-03 -4.16087319e-05 9.99997023e-01 -1.09200374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.920281693 meters Centerline goodness [0,1] 0.9997248502550427 Centerline is valid? [True, True] Translation: X:173.72, Y:-7.68, Z:-1.09 [[ 9.96084111e-01 8.83349636e-02 3.65760582e-03 1.73724627e+02] [-8.83345802e-02 9.96090825e-01 -2.66536936e-04 -7.67720182e+00] [-3.66685212e-03 -5.75998671e-05 9.99993275e-01 -1.09102425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.950281693 meters Centerline goodness [0,1] 0.9998521335023236 Centerline is valid? [True, True] Translation: X:173.75, Y:-7.68, Z:-1.09 [[ 9.96270667e-01 8.62510660e-02 2.34773331e-03 1.73753475e+02] [-8.62509024e-02 9.96273433e-01 -1.71032753e-04 -7.68412745e+00] [-2.35373608e-03 -3.20992021e-05 9.99997229e-01 -1.09407674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.980281693 meters Centerline goodness [0,1] 0.9998731822793372 Centerline is valid? [True, True] Translation: X:173.78, Y:-7.69, Z:-1.10 [[ 9.96502235e-01 8.35645244e-02 5.16211124e-04 1.73782079e+02] [-8.35645161e-02 9.96502368e-01 -3.76774532e-05 -7.69399382e+00] [-5.17554106e-04 -5.59126647e-06 9.99999866e-01 -1.09663511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.010281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.81, Y:-7.70, Z:-1.10 [[ 9.96855340e-01 7.92427283e-02 -1.44384038e-04 1.73811222e+02] [-7.92427276e-02 9.96855351e-01 1.04006272e-05 -7.70324560e+00] [ 1.44754175e-04 1.07346426e-06 9.99999990e-01 -1.09796882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.040281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.84, Y:-7.71, Z:-1.10 [[ 9.96975353e-01 7.77183397e-02 6.95670362e-05 1.73839572e+02] [-7.77183395e-02 9.96975356e-01 -5.17093542e-06 -7.70837189e+00] [-6.97584972e-05 -2.51339370e-07 9.99999998e-01 -1.09826624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.070281693 meters Centerline goodness [0,1] 0.9999786393250026 Centerline is valid? [True, True] Translation: X:173.87, Y:-7.72, Z:-1.10 [[ 9.97066545e-01 7.65395639e-02 2.74161677e-05 1.73869196e+02] [-7.65395639e-02 9.97066545e-01 -1.99416820e-06 -7.71529529e+00] [-2.74883764e-05 -1.10103123e-07 1.00000000e+00 -1.09766216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.100281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.90, Y:-7.72, Z:-1.10 [[ 9.97071657e-01 7.64669962e-02 -9.53128447e-04 1.73898350e+02] [-7.64669649e-02 9.97072113e-01 6.92631992e-05 -7.71865855e+00] [ 9.55634143e-04 3.82246668e-06 9.99999543e-01 -1.09867860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.130281693 meters Centerline goodness [0,1] 0.9999786712168071 Centerline is valid? [True, True] Translation: X:173.93, Y:-7.72, Z:-1.10 [[ 9.96961195e-01 7.78920206e-02 -1.09942495e-03 1.73927635e+02] [-7.78919799e-02 9.96961801e-01 7.98236264e-05 -7.71875660e+00] [ 1.10230230e-03 6.05532799e-06 9.99999392e-01 -1.09898252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.160281693 meters Centerline goodness [0,1] 0.9998931966250133 Centerline is valid? [True, True] Translation: X:173.96, Y:-7.72, Z:-1.10 [[ 9.96694549e-01 8.12349386e-02 -9.27598889e-04 1.73957427e+02] [-8.12349112e-02 9.96694981e-01 6.73096761e-05 -7.71786510e+00] [ 9.30001054e-04 8.26622608e-06 9.99999568e-01 -1.09856761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.190281693 meters Centerline goodness [0,1] 0.9998509845662586 Centerline is valid? [True, True] Translation: X:173.99, Y:-7.72, Z:-1.10 [[ 9.96547929e-01 8.30193066e-02 -1.42464833e-04 1.73986292e+02] [-8.30193059e-02 9.96547939e-01 1.02142435e-05 -7.71724033e+00] [ 1.42821015e-04 1.64834837e-06 9.99999990e-01 -1.09790880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.220281693 meters Centerline goodness [0,1] 0.9998514872491195 Centerline is valid? [True, True] Translation: X:174.01, Y:-7.72, Z:-1.10 [[ 9.96354206e-01 8.53125751e-02 2.47498622e-04 1.74014947e+02] [-8.53125732e-02 9.96354236e-01 -1.81102438e-05 -7.71541663e+00] [-2.48141332e-04 -3.07052670e-06 9.99999969e-01 -1.09636081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.250281693 meters Centerline goodness [0,1] 0.9997667218051491 Centerline is valid? [True, True] Translation: X:174.04, Y:-7.70, Z:-1.10 [[ 9.95809176e-01 9.14552839e-02 1.25300861e-04 1.74044393e+02] [-9.14552835e-02 9.95809184e-01 -9.29036961e-06 -7.70395541e+00] [-1.25625401e-04 -2.20799045e-06 9.99999992e-01 -1.09683379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.280281693 meters Centerline goodness [0,1] 0.9995756418417144 Centerline is valid? [True, True] Translation: X:174.07, Y:-7.70, Z:-1.10 [[ 9.95489256e-01 9.48743468e-02 6.15326403e-06 1.74073733e+02] [-9.48743468e-02 9.95489256e-01 -6.01221868e-07 -7.70236398e+00] [-6.18254876e-06 1.47230047e-08 1.00000000e+00 -1.09728930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.310281693 meters Centerline goodness [0,1] 0.9993192213594299 Centerline is valid? [True, True] Translation: X:174.10, Y:-7.70, Z:-1.10 [[ 9.95118811e-01 9.86672103e-02 1.82579821e-03 1.74103533e+02] [-9.86671332e-02 9.95120485e-01 -1.32501848e-04 -7.70046077e+00] [-1.82996278e-03 -4.82911932e-05 9.99998324e-01 -1.09509786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.340281693 meters Centerline goodness [0,1] 0.9995498971193416 Centerline is valid? [True, True] Translation: X:174.13, Y:-7.70, Z:-1.09 [[ 9.95110333e-01 9.87372553e-02 2.52569421e-03 1.74132206e+02] [-9.87371080e-02 9.95113536e-01 -1.83241971e-04 -7.70228731e+00] [-2.53144531e-03 -6.70337635e-05 9.99996794e-01 -1.09364921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.370281693 meters Centerline goodness [0,1] 0.9992598701600796 Centerline is valid? [True, True] Translation: X:174.16, Y:-7.70, Z:-1.09 [[ 9.95118668e-01 9.86505495e-02 2.62783646e-03 1.74160365e+02] [-9.86503900e-02 9.95122135e-01 -1.90555137e-04 -7.69948036e+00] [-2.63381660e-03 -6.96121174e-05 9.99996529e-01 -1.09386924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.400281693 meters Centerline goodness [0,1] 0.9993419935472916 Centerline is valid? [True, True] Translation: X:174.19, Y:-7.70, Z:-1.09 [[ 9.95107974e-01 9.87603102e-02 2.55370631e-03 1.74188939e+02] [-9.87601605e-02 9.95111248e-01 -1.84979142e-04 -7.70432128e+00] [-2.55949047e-03 -6.81302256e-05 9.99996722e-01 -1.09346981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.430281693 meters Centerline goodness [0,1] 0.9994479126852678 Centerline is valid? [True, True] Translation: X:174.22, Y:-7.71, Z:-1.09 [[ 9.95119839e-01 9.85954839e-02 3.92892709e-03 1.74217600e+02] [-9.85951294e-02 9.95127590e-01 -2.84295030e-04 -7.70545291e+00] [-3.93781396e-03 -1.04465450e-04 9.99992241e-01 -1.09128287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46028169299998 meters Centerline goodness [0,1] 0.9993824663018249 Centerline is valid? [True, True] Translation: X:174.25, Y:-7.71, Z:-1.09 [[ 9.95223271e-01 9.75192387e-02 4.54310501e-03 1.74246702e+02] [-9.75187545e-02 9.95233633e-01 -3.28491203e-04 -7.70876045e+00] [-4.55348511e-03 -1.16115853e-04 9.99989626e-01 -1.09046046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.490281693 meters Centerline goodness [0,1] 0.9995546790508302 Centerline is valid? [True, True] Translation: X:174.28, Y:-7.71, Z:-1.09 [[ 9.95594415e-01 9.36384373e-02 4.85841640e-03 1.74275774e+02] [-9.36378383e-02 9.95606264e-01 -3.51110851e-04 -7.71284007e+00] [-4.86994727e-03 -1.05367607e-04 9.99988136e-01 -1.09064418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.520281693 meters Centerline goodness [0,1] 0.999788104167991 Centerline is valid? [True, True] Translation: X:174.30, Y:-7.72, Z:-1.09 [[ 9.95814399e-01 9.13044551e-02 4.14478584e-03 1.74304146e+02] [-9.13039993e-02 9.95823021e-01 -2.99452743e-04 -7.71857750e+00] [-4.15481453e-03 -8.02361709e-05 9.99991366e-01 -1.09207618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.550281693 meters Centerline goodness [0,1] 0.999957274999466 Centerline is valid? [True, True] Translation: X:174.33, Y:-7.73, Z:-1.09 [[ 9.96048316e-01 8.87726014e-02 2.67903000e-03 1.74333598e+02] [-8.87724018e-02 9.96051918e-01 -1.93553810e-04 -7.72737807e+00] [-2.68563525e-03 -4.50349812e-05 9.99996393e-01 -1.09451149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.580281693 meters Centerline goodness [0,1] 0.9999786925764936 Centerline is valid? [True, True] Translation: X:174.36, Y:-7.74, Z:-1.10 [[ 9.96487054e-01 8.37395636e-02 1.11225957e-03 1.74362272e+02] [-8.37395261e-02 9.96487674e-01 -8.03539183e-05 -7.73864337e+00] [-1.11508175e-03 -1.30684497e-05 9.99999378e-01 -1.09800978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.610281693 meters Centerline goodness [0,1] 0.9999574042127234 Centerline is valid? [True, True] Translation: X:174.39, Y:-7.75, Z:-1.10 [[ 9.96684427e-01 8.13558257e-02 1.17615288e-03 1.74391527e+02] [-8.13557821e-02 9.96685121e-01 -8.49913794e-05 -7.74649762e+00] [-1.17916862e-03 -1.09772530e-05 9.99999305e-01 -1.09859500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.640281693 meters Centerline goodness [0,1] 0.9998927843894071 Centerline is valid? [True, True] Translation: X:174.42, Y:-7.75, Z:-1.10 [[ 9.96839453e-01 7.94309591e-02 1.35221734e-03 1.74421182e+02] [-7.94308997e-02 9.96840370e-01 -9.76302075e-05 -7.75422537e+00] [-1.35569970e-03 -1.00861974e-05 9.99999081e-01 -1.09853379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.670281693 meters Centerline goodness [0,1] 0.9999158886365548 Centerline is valid? [True, True] Translation: X:174.45, Y:-7.76, Z:-1.10 [[ 9.96942269e-01 7.81303993e-02 1.32412583e-03 1.74449928e+02] [-7.81303413e-02 9.96943148e-01 -9.55041855e-05 -7.76454620e+00] [-1.32753995e-03 -8.24224373e-06 9.99999119e-01 -1.09860417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.700281693 meters Centerline goodness [0,1] 0.9998934129183543 Centerline is valid? [True, True] Translation: X:174.48, Y:-7.77, Z:-1.10 [[ 9.96960027e-01 7.79118909e-02 6.65295681e-04 1.74479797e+02] [-7.79118762e-02 9.96960249e-01 -4.80186629e-05 -7.77061029e+00] [-6.67014572e-04 -3.96174729e-06 9.99999778e-01 -1.09955578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.730281693 meters Centerline goodness [0,1] 0.9999144385026738 Centerline is valid? [True, True] Translation: X:174.51, Y:-7.78, Z:-1.10 [[ 9.96943087e-01 7.81302599e-02 3.78572975e-04 1.74509535e+02] [-7.81302551e-02 9.96943159e-01 -2.73716468e-05 -7.77510784e+00] [-3.79554291e-04 -2.29002904e-06 9.99999928e-01 -1.09989457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.760281693 meters Centerline goodness [0,1] 0.9999144385026738 Centerline is valid? [True, True] Translation: X:174.54, Y:-7.78, Z:-1.10 [[ 9.96943087e-01 7.81302596e-02 3.78576708e-04 1.74539458e+02] [-7.81302549e-02 9.96943159e-01 -2.73199130e-05 -7.77726723e+00] [-3.79553971e-04 -2.34189630e-06 9.99999928e-01 -1.10002915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.790281693 meters Centerline goodness [0,1] 0.9997874511137561 Centerline is valid? [True, True] Translation: X:174.57, Y:-7.78, Z:-1.10 [[ 9.96727991e-01 8.08139242e-02 1.55634465e-03 1.74569401e+02] [-8.08138473e-02 9.96729206e-01 -1.12313303e-04 -7.78217630e+00] [-1.56033065e-03 -1.38283864e-05 9.99998783e-01 -1.09653679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.820281693 meters Centerline goodness [0,1] 0.9998722996701075 Centerline is valid? [True, True] Translation: X:174.60, Y:-7.78, Z:-1.10 [[ 9.96549478e-01 8.29545030e-02 2.77287159e-03 1.74598683e+02] [-8.29542672e-02 9.96553335e-01 -2.00123419e-04 -7.78269164e+00] [-2.77991557e-03 -3.05886421e-05 9.99996136e-01 -1.09517518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.850281693 meters Centerline goodness [0,1] 0.999936335469632 Centerline is valid? [True, True] Translation: X:174.63, Y:-7.78, Z:-1.10 [[ 9.96215282e-01 8.68512097e-02 3.46101094e-03 1.74628812e+02] [-8.68508661e-02 9.96221293e-01 -2.49734610e-04 -7.78217099e+00] [-3.46962255e-03 -5.18023632e-05 9.99993980e-01 -1.09525857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.880281693 meters Centerline goodness [0,1] 0.999894659222585 Centerline is valid? [True, True] Translation: X:174.66, Y:-7.79, Z:-1.10 [[ 9.96110508e-01 8.80619744e-02 2.99088198e-03 1.74659519e+02] [-8.80617234e-02 9.96114997e-01 -2.15767882e-04 -7.78503030e+00] [-2.99826334e-03 -4.84535667e-05 9.99995504e-01 -1.09685851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.910281693 meters Centerline goodness [0,1] 0.9998728032053592 Centerline is valid? [True, True] Translation: X:174.69, Y:-7.79, Z:-1.10 [[ 9.96036455e-01 8.89207489e-02 2.11682561e-03 1.74689078e+02] [-8.89206252e-02 9.96038704e-01 -1.52696293e-04 -7.78748914e+00] [-2.12201810e-03 -3.61383822e-05 9.99997748e-01 -1.09820105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.940281693 meters Centerline goodness [0,1] 0.9999788677331417 Centerline is valid? [True, True] Translation: X:174.72, Y:-7.79, Z:-1.10 [[ 9.95930352e-01 9.01110500e-02 1.65320370e-03 1.74719724e+02] [-9.01109761e-02 9.95931723e-01 -1.19276117e-04 -7.78892534e+00] [-1.65722610e-03 -3.01810942e-05 9.99998626e-01 -1.09875742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.970281693 meters Centerline goodness [0,1] 0.9998509274442575 Centerline is valid? [True, True] Translation: X:174.75, Y:-7.79, Z:-1.10 [[ 9.95614218e-01 9.34977873e-02 3.23927465e-03 1.74749070e+02] [-9.34975216e-02 9.95619485e-01 -2.33679979e-04 -7.78518922e+00] [-3.24693352e-03 -7.02090419e-05 9.99994726e-01 -1.09531455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.000281693 meters Centerline goodness [0,1] 0.9997229031226686 Centerline is valid? [True, True] Translation: X:174.78, Y:-7.79, Z:-1.09 [[ 9.95397845e-01 9.57320501e-02 4.30170168e-03 1.74779911e+02] [-9.57316018e-02 9.95407135e-01 -3.10461238e-04 -7.78645013e+00] [-4.31166564e-03 -1.02776345e-04 9.99990699e-01 -1.09403412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.030281693 meters Centerline goodness [0,1] 0.9987062017476881 Centerline is valid? [True, True] Translation: X:174.81, Y:-7.78, Z:-1.09 [[ 9.95027085e-01 9.94717028e-02 5.14595580e-03 1.74809175e+02] [-9.94711113e-02 9.95040381e-01 -3.71377359e-04 -7.78189054e+00] [-5.15737536e-03 -1.42343411e-04 9.99986691e-01 -1.09241865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.060281693 meters Centerline goodness [0,1] 0.9988568525339769 Centerline is valid? [True, True] Translation: X:174.84, Y:-7.78, Z:-1.09 [[ 9.94878003e-01 1.00984695e-01 4.45529733e-03 1.74839723e+02] [-1.00984267e-01 9.94887971e-01 -3.21445928e-04 -7.78271211e+00] [-4.46498284e-03 -1.30115450e-04 9.99990023e-01 -1.09362330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.090281693 meters Centerline goodness [0,1] 0.9987660887139665 Centerline is valid? [True, True] Translation: X:174.87, Y:-7.78, Z:-1.10 [[ 9.94728906e-01 1.02480056e-01 3.49889847e-03 1.74869791e+02] [-1.02479801e-01 9.94735053e-01 -2.52465299e-04 -7.78156275e+00] [-3.50634961e-03 -1.07431888e-04 9.99993847e-01 -1.09513777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.120281693 meters Centerline goodness [0,1] 0.9974976142508748 Centerline is valid? [True, True] Translation: X:174.90, Y:-7.77, Z:-1.10 [[ 9.94313063e-01 1.06483388e-01 1.67972417e-03 1.74899630e+02] [-1.06483335e-01 9.94314480e-01 -1.21216245e-04 -7.76770747e+00] [-1.68308158e-03 -5.83357355e-05 9.99998582e-01 -1.09850597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.150281693 meters Centerline goodness [0,1] 0.99736622342134 Centerline is valid? [True, True] Translation: X:174.93, Y:-7.77, Z:-1.10 [[ 9.94134715e-01 1.08136381e-01 1.64083233e-03 1.74928927e+02] [-1.08136332e-01 9.94136067e-01 -1.18404434e-04 -7.76663050e+00] [-1.64401443e-03 -5.97236321e-05 9.99998647e-01 -1.09881342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.180281693 meters Centerline goodness [0,1] 0.9968801731822233 Centerline is valid? [True, True] Translation: X:174.96, Y:-7.76, Z:-1.10 [[ 9.94039560e-01 1.09009689e-01 1.49681188e-03 1.74957932e+02] [-1.09009650e-01 9.94040686e-01 -1.08007117e-04 -7.76352437e+00] [-1.49966573e-03 -5.58035926e-05 9.99998874e-01 -1.09911149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21028169299998 meters Centerline goodness [0,1] 0.9973561331314897 Centerline is valid? [True, True] Translation: X:174.99, Y:-7.76, Z:-1.10 [[ 9.94020967e-01 1.09161276e-01 2.47652030e-03 1.74987493e+02] [-1.09161170e-01 9.94024048e-01 -1.78461023e-04 -7.76075275e+00] [-2.48120176e-03 -9.29458542e-05 9.99996917e-01 -1.09698841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.240281693 meters Centerline goodness [0,1] 0.9962089925238791 Centerline is valid? [True, True] Translation: X:175.02, Y:-7.75, Z:-1.10 [[ 9.94023048e-01 1.09138149e-01 2.65415648e-03 1.75015488e+02] [-1.09138027e-01 9.94026586e-01 -1.91144504e-04 -7.75432496e+00] [-2.65916326e-03 -9.96673582e-05 9.99996459e-01 -1.09701311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.270281693 meters Centerline goodness [0,1] 0.9964605498788581 Centerline is valid? [True, True] Translation: X:175.04, Y:-7.75, Z:-1.10 [[ 9.94063402e-01 1.08773148e-01 2.52109376e-03 1.75044790e+02] [-1.08773037e-01 9.94066594e-01 -1.81404345e-04 -7.74914229e+00] [-2.52586701e-03 -9.38996054e-05 9.99996806e-01 -1.09835503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.300281693 meters Centerline goodness [0,1] 0.9968390682676397 Centerline is valid? [True, True] Translation: X:175.07, Y:-7.75, Z:-1.10 [[ 9.94129624e-01 1.08177808e-01 1.96287533e-03 1.75073157e+02] [-1.08177740e-01 9.94131559e-01 -1.41222329e-04 -7.74690873e+00] [-1.96663343e-03 -7.19461158e-05 9.99998064e-01 -1.09971496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.330281693 meters Centerline goodness [0,1] 0.9980994276928333 Centerline is valid? [True, True] Translation: X:175.10, Y:-7.75, Z:-1.10 [[ 9.94195375e-01 1.07584182e-01 1.09508956e-03 1.75101852e+02] [-1.07584160e-01 9.94195978e-01 -7.88059021e-05 -7.75066475e+00] [-1.09721190e-03 -3.94658269e-05 9.99999397e-01 -1.10126603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.360281693 meters Centerline goodness [0,1] 0.9980746038127076 Centerline is valid? [True, True] Translation: X:175.13, Y:-7.75, Z:-1.10 [[ 9.94540581e-01 1.04350134e-01 2.85616959e-04 1.75131012e+02] [-1.04350132e-01 9.94540622e-01 -2.06437197e-05 -7.74604326e+00] [-2.86211843e-04 -9.27315044e-06 9.99999959e-01 -1.10395875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.390281693 meters Centerline goodness [0,1] 0.9982841891204881 Centerline is valid? [True, True] Translation: X:175.16, Y:-7.75, Z:-1.10 [[ 9.94833656e-01 1.01515954e-01 7.12777320e-04 1.75160078e+02] [-1.01515943e-01 9.94833911e-01 -5.12170757e-05 -7.74698171e+00] [-7.14294400e-04 -2.14057914e-05 9.99999745e-01 -1.10318183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.420281693 meters Centerline goodness [0,1] 0.9996595672248346 Centerline is valid? [True, True] Translation: X:175.19, Y:-7.76, Z:-1.10 [[ 9.95460147e-01 9.51279252e-02 3.12621930e-03 1.75189157e+02] [-9.51276899e-02 9.95465053e-01 -2.24212645e-04 -7.76110638e+00] [-3.13337095e-03 -7.41952680e-05 9.99995088e-01 -1.09831728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.450281693 meters Centerline goodness [0,1] 0.9997639231677219 Centerline is valid? [True, True] Translation: X:175.22, Y:-7.77, Z:-1.10 [[ 9.95768917e-01 9.18153049e-02 3.77010088e-03 1.75218093e+02] [-9.18149389e-02 9.95776051e-01 -2.70396999e-04 -7.76831042e+00] [-3.77900275e-03 -7.68986559e-05 9.99992857e-01 -1.09688554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.480281693 meters Centerline goodness [0,1] 0.9998295515074038 Centerline is valid? [True, True] Translation: X:175.25, Y:-7.77, Z:-1.10 [[ 9.96112900e-01 8.79890126e-02 4.12602211e-03 1.75246876e+02] [-8.79885419e-02 9.96121443e-01 -2.95819893e-04 -7.77485430e+00] [-4.13604800e-03 -6.83726581e-05 9.99991444e-01 -1.09625800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.510281693 meters Centerline goodness [0,1] 0.9997664444350078 Centerline is valid? [True, True] Translation: X:175.28, Y:-7.79, Z:-1.10 [[ 9.96803200e-01 7.98148348e-02 3.60164933e-03 1.75275760e+02] [-7.98144231e-02 9.96809707e-01 -2.58145203e-04 -7.79029585e+00] [-3.61076283e-03 -3.01435988e-05 9.99993481e-01 -1.09744334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.540281693 meters Centerline goodness [0,1] 0.9994915254237288 Centerline is valid? [True, True] Translation: X:175.30, Y:-7.80, Z:-1.10 [[ 9.97098543e-01 7.60347637e-02 3.63449167e-03 1.75304493e+02] [-7.60343194e-02 9.97105167e-01 -2.60457688e-04 -7.80010660e+00] [-3.64377426e-03 -1.66441195e-05 9.99993361e-01 -1.09907894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.570281693 meters Centerline goodness [0,1] 0.9992548593813204 Centerline is valid? [True, True] Translation: X:175.33, Y:-7.81, Z:-1.10 [[ 9.97339672e-01 7.28159975e-02 3.37788428e-03 1.75334428e+02] [-7.28155954e-02 9.97345392e-01 -2.42021679e-04 -7.81166334e+00] [-3.38654037e-03 -4.58483325e-06 9.99994266e-01 -1.09999665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.600281693 meters Centerline goodness [0,1] 0.9989669866138682 Centerline is valid? [True, True] Translation: X:175.36, Y:-7.83, Z:-1.10 [[ 9.97700580e-01 6.77376867e-02 2.27131874e-03 1.75364141e+02] [-6.77374918e-02 9.97703165e-01 -1.62688029e-04 -7.83137968e+00] [-2.27712201e-03 8.46050660e-06 9.99997407e-01 -1.10181400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.630281693 meters Centerline goodness [0,1] 0.9988179923062045 Centerline is valid? [True, True] Translation: X:175.39, Y:-7.84, Z:-1.10 [[ 9.97818715e-01 6.59988625e-02 1.40060905e-03 1.75393509e+02] [-6.59987866e-02 9.97819698e-01 -1.00349198e-04 -7.83997977e+00] [-1.40417823e-03 7.69180986e-06 9.99999014e-01 -1.10304494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.660281693 meters Centerline goodness [0,1] 0.9985818905304152 Centerline is valid? [True, True] Translation: X:175.42, Y:-7.85, Z:-1.10 [[ 9.97836285e-01 6.57238002e-02 1.76915186e-03 1.75422966e+02] [-6.57236787e-02 9.97837854e-01 -1.26787283e-04 -7.85165435e+00] [-1.77365964e-03 1.02377823e-05 9.99998427e-01 -1.10271200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.690281693 meters Centerline goodness [0,1] 0.9988269419442904 Centerline is valid? [True, True] Translation: X:175.45, Y:-7.85, Z:-1.10 [[ 9.97710119e-01 6.75784801e-02 2.76899911e-03 1.75453792e+02] [-6.75781895e-02 9.97713961e-01 -1.98481141e-04 -7.85374267e+00] [-2.77608213e-03 1.09026958e-05 9.99996147e-01 -1.09973788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.720281693 meters Centerline goodness [0,1] 0.9990860592148612 Centerline is valid? [True, True] Translation: X:175.48, Y:-7.86, Z:-1.10 [[ 9.97542317e-01 6.99776769e-02 3.52844012e-03 1.75484594e+02] [-6.99772197e-02 9.97548558e-01 -2.53024626e-04 -7.85510524e+00] [-3.53749643e-03 5.49234281e-06 9.99993743e-01 -1.09850591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.750281693 meters Centerline goodness [0,1] 0.9992785452076305 Centerline is valid? [True, True] Translation: X:175.52, Y:-7.85, Z:-1.10 [[ 9.97361991e-01 7.24778856e-02 4.00186831e-03 1.75516257e+02] [-7.24773172e-02 9.97370020e-01 -2.87077240e-04 -7.85431611e+00] [-4.01215023e-03 -3.72475072e-06 9.99991951e-01 -1.09788431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.780281693 meters Centerline goodness [0,1] 0.9997233041738501 Centerline is valid? [True, True] Translation: X:175.55, Y:-7.85, Z:-1.10 [[ 9.97021520e-01 7.70207711e-02 3.98606297e-03 1.75548358e+02] [-7.70202430e-02 9.97029488e-01 -2.86029598e-04 -7.84975079e+00] [-3.99625254e-03 -2.18298743e-05 9.99992015e-01 -1.09867427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.810281693 meters Centerline goodness [0,1] 0.9995740239824498 Centerline is valid? [True, True] Translation: X:175.58, Y:-7.85, Z:-1.10 [[ 9.96939184e-01 7.80746926e-02 4.07497477e-03 1.75579250e+02] [-7.80741492e-02 9.96947512e-01 -2.92499836e-04 -7.85276617e+00] [-4.08537279e-03 -2.65456401e-05 9.99991654e-01 -1.09828959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.840281693 meters Centerline goodness [0,1] 0.9997044418172606 Centerline is valid? [True, True] Translation: X:175.61, Y:-7.85, Z:-1.09 [[ 9.96867789e-01 7.88558168e-02 6.03094185e-03 1.75609278e+02] [-7.88546398e-02 9.96886031e-01 -4.33070707e-04 -7.85407646e+00] [-6.04631183e-03 -4.38535094e-05 9.99981720e-01 -1.09386451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.870281693 meters Centerline goodness [0,1] 0.9997232865048957 Centerline is valid? [True, True] Translation: X:175.64, Y:-7.86, Z:-1.09 [[ 9.96831616e-01 7.92205476e-02 7.12974269e-03 1.75640123e+02] [-7.92189113e-02 9.96857112e-01 -5.12065256e-04 -7.85522021e+00] [-7.14790080e-03 -5.43676172e-05 9.99974452e-01 -1.09240260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.900281693 meters Centerline goodness [0,1] 0.9995964916006541 Centerline is valid? [True, True] Translation: X:175.67, Y:-7.86, Z:-1.09 [[ 9.96932885e-01 7.79887143e-02 6.52555505e-03 1.75670788e+02] [-7.79873157e-02 9.96954241e-01 -4.68905980e-04 -7.85938538e+00] [-6.54224916e-03 -4.14427304e-05 9.99978598e-01 -1.09472643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.930281693 meters Centerline goodness [0,1] 0.9994892312930961 Centerline is valid? [True, True] Translation: X:175.70, Y:-7.87, Z:-1.10 [[ 9.97078356e-01 7.62036378e-02 5.26849900e-03 1.75702931e+02] [-7.62026988e-02 9.97092275e-01 -3.79034301e-04 -7.86711363e+00] [-5.28206345e-03 -2.35469441e-05 9.99986050e-01 -1.09729171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96028169299998 meters Centerline goodness [0,1] 0.999472551584455 Centerline is valid? [True, True] Translation: X:175.73, Y:-7.88, Z:-1.10 [[ 9.97271379e-01 7.37056560e-02 4.15599166e-03 1.75733314e+02] [-7.37050478e-02 9.97280039e-01 -2.99530865e-04 -7.87563922e+00] [-4.16676464e-03 -7.60400448e-06 9.99991319e-01 -1.09949307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.990281693 meters Centerline goodness [0,1] 0.9991115247926892 Centerline is valid? [True, True] Translation: X:175.76, Y:-7.88, Z:-1.10 [[ 9.97406676e-01 7.18785876e-02 3.65943670e-03 1.75764841e+02] [-7.18781029e-02 9.97413389e-01 -2.63972029e-04 -7.88282221e+00] [-3.66894509e-03 2.54096950e-07 9.99993269e-01 -1.10090129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.020281693 meters Centerline goodness [0,1] 0.9989323767428949 Centerline is valid? [True, True] Translation: X:175.80, Y:-7.89, Z:-1.10 [[ 9.97477469e-01 7.09101530e-02 3.23264820e-03 1.75796918e+02] [-7.09097684e-02 9.97482707e-01 -2.33596084e-04 -7.88871116e+00] [-3.24107501e-03 3.78049528e-06 9.99994748e-01 -1.10248468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.050281693 meters Centerline goodness [0,1] 0.998934946534316 Centerline is valid? [True, True] Translation: X:175.83, Y:-7.89, Z:-1.10 [[ 9.97439239e-01 7.14511942e-02 3.11307193e-03 1.75828349e+02] [-7.14508386e-02 9.97444097e-01 -2.25437969e-04 -7.89304937e+00] [-3.12122303e-03 2.42907635e-06 9.99995129e-01 -1.10295619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.080281693 meters Centerline goodness [0,1] 0.9993433733663765 Centerline is valid? [True, True] Translation: X:175.86, Y:-7.90, Z:-1.10 [[ 9.97305022e-01 7.33097641e-02 2.89341288e-03 1.75859934e+02] [-7.33094637e-02 9.97309219e-01 -2.09878722e-04 -7.89756404e+00] [-2.90101350e-03 -2.80144285e-06 9.99995792e-01 -1.10220664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.110281693 meters Centerline goodness [0,1] 0.9992561579495463 Centerline is valid? [True, True] Translation: X:175.89, Y:-7.90, Z:-1.10 [[ 9.97164205e-01 7.51805591e-02 3.38113738e-03 1.75890793e+02] [-7.51801573e-02 9.97169937e-01 -2.45950303e-04 -7.89864243e+00] [-3.39005923e-03 -8.94160145e-06 9.99994254e-01 -1.10089997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.140281693 meters Centerline goodness [0,1] 0.999275084218157 Centerline is valid? [True, True] Translation: X:175.92, Y:-7.90, Z:-1.10 [[ 9.96968429e-01 7.76746874e-02 4.53806736e-03 1.75922412e+02] [-7.76739854e-02 9.96978757e-01 -3.31021056e-04 -7.89865699e+00] [-4.55006872e-03 -2.24722356e-05 9.99989648e-01 -1.09948071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.170281693 meters Centerline goodness [0,1] 0.9998078975453575 Centerline is valid? [True, True] Translation: X:175.95, Y:-7.90, Z:-1.10 [[ 9.96515944e-01 8.32139212e-02 5.60507703e-03 1.75952775e+02] [-8.32129369e-02 9.96531705e-01 -4.08992622e-04 -7.89506156e+00] [-5.61967085e-03 -5.88472524e-05 9.99984208e-01 -1.09855857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.200281693 meters Centerline goodness [0,1] 0.9998736975055257 Centerline is valid? [True, True] Translation: X:175.98, Y:-7.89, Z:-1.10 [[ 9.96319290e-01 8.55790947e-02 4.90825347e-03 1.75984194e+02] [-8.55783682e-02 9.96331378e-01 -3.58230311e-04 -7.89275357e+00] [-4.92090397e-03 -6.31285538e-05 9.99987890e-01 -1.10039749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.230281693 meters Centerline goodness [0,1] 0.9999575127992693 Centerline is valid? [True, True] Translation: X:176.02, Y:-7.89, Z:-1.10 [[ 9.96148815e-01 8.75940468e-02 3.84988414e-03 1.76015088e+02] [-8.75936137e-02 9.96156253e-01 -2.81290453e-04 -7.89368619e+00] [-3.85972553e-03 -5.70181121e-05 9.99992550e-01 -1.10201485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.260281693 meters Centerline goodness [0,1] 0.9998311096098632 Centerline is valid? [True, True] Translation: X:176.05, Y:-7.89, Z:-1.11 [[ 9.95845858e-01 9.10263206e-02 2.28833578e-03 1.76045807e+02] [-9.10261767e-02 9.95848486e-01 -1.67202044e-04 -7.88858643e+00] [-2.29405551e-03 -4.17909940e-05 9.99997368e-01 -1.10511678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.290281693 meters Centerline goodness [0,1] 0.999747867378241 Centerline is valid? [True, True] Translation: X:176.08, Y:-7.89, Z:-1.11 [[ 9.95729509e-01 9.22999997e-02 1.85881971e-03 1.76075857e+02] [-9.22999068e-02 9.95731243e-01 -1.35888838e-04 -7.88719561e+00] [-1.86342740e-03 -3.62603603e-05 9.99998263e-01 -1.10735697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.320281693 meters Centerline goodness [0,1] 0.9998523237906374 Centerline is valid? [True, True] Translation: X:176.11, Y:-7.89, Z:-1.11 [[ 9.95618126e-01 9.34915261e-02 1.97018908e-03 1.76106145e+02] [-9.34914240e-02 9.95620075e-01 -1.44033152e-04 -7.88520752e+00] [-1.97502568e-03 -4.07937664e-05 9.99998049e-01 -1.10869397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.350281693 meters Centerline goodness [0,1] 0.9997023176695726 Centerline is valid? [True, True] Translation: X:176.14, Y:-7.89, Z:-1.11 [[ 9.95617749e-01 9.34874405e-02 2.32300642e-03 1.76135904e+02] [-9.34872988e-02 9.95620458e-01 -1.69756561e-04 -7.88625006e+00] [-2.32870282e-03 -4.81589502e-05 9.99997287e-01 -1.10760577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.380281693 meters Centerline goodness [0,1] 0.9997466804585083 Centerline is valid? [True, True] Translation: X:176.17, Y:-7.89, Z:-1.11 [[ 9.95598917e-01 9.36819453e-02 2.54764835e-03 1.76165268e+02] [-9.36817756e-02 9.95602175e-01 -1.86107286e-04 -7.88528780e+00] [-2.55387913e-03 -5.33800086e-05 9.99996737e-01 -1.10647584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.410281693 meters Centerline goodness [0,1] 0.9995762262951584 Centerline is valid? [True, True] Translation: X:176.20, Y:-7.88, Z:-1.11 [[ 9.95545512e-01 9.42562337e-02 2.21280133e-03 1.76195143e+02] [-9.42561072e-02 9.95547970e-01 -1.61610178e-04 -7.88403757e+00] [-2.21818263e-03 -4.76797517e-05 9.99997539e-01 -1.10791815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.440281693 meters Centerline goodness [0,1] 0.9997467606466045 Centerline is valid? [True, True] Translation: X:176.22, Y:-7.88, Z:-1.11 [[ 9.95562684e-01 9.40880741e-02 1.54186939e-03 1.76223767e+02] [-9.40880124e-02 9.95563877e-01 -1.12637733e-04 -7.88024971e+00] [-1.54562734e-03 -3.29335023e-05 9.99998805e-01 -1.11035875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.470281693 meters Centerline goodness [0,1] 0.999788686262494 Centerline is valid? [True, True] Translation: X:176.25, Y:-7.88, Z:-1.11 [[ 9.95703605e-01 9.25891613e-02 1.25647522e-03 1.76253690e+02] [-9.25891192e-02 9.95704397e-01 -9.17391733e-05 -7.88055291e+00] [-1.25957195e-03 -2.49909080e-05 9.99999206e-01 -1.11163541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.500281693 meters Centerline goodness [0,1] 0.9998942939895562 Centerline is valid? [True, True] Translation: X:176.28, Y:-7.88, Z:-1.11 [[ 9.95851874e-01 9.09764223e-02 1.52839210e-03 1.76282747e+02] [-9.09763582e-02 9.95853046e-01 -1.11535737e-04 -7.88176661e+00] [-1.53220105e-03 -2.79744746e-05 9.99998826e-01 -1.11103270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.530281693 meters Centerline goodness [0,1] 0.9998941328421097 Centerline is valid? [True, True] Translation: X:176.31, Y:-7.88, Z:-1.11 [[ 9.96145289e-01 8.76892389e-02 2.27176991e-03 1.76312489e+02] [-8.76890891e-02 9.96147879e-01 -1.65683901e-04 -7.88449091e+00] [-2.27754747e-03 -3.41641967e-05 9.99997406e-01 -1.10877904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.560281693 meters Centerline goodness [0,1] 0.9999367008482086 Centerline is valid? [True, True] Translation: X:176.34, Y:-7.89, Z:-1.11 [[ 9.96338574e-01 8.54804520e-02 1.59311991e-03 1.76340651e+02] [-8.54803755e-02 9.96339848e-01 -1.16215316e-04 -7.88698993e+00] [-1.59722298e-03 -2.03906851e-05 9.99998724e-01 -1.10986754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.590281693 meters Centerline goodness [0,1] 0.9999575920782002 Centerline is valid? [True, True] Translation: X:176.37, Y:-7.89, Z:-1.11 [[ 9.96532172e-01 8.32071737e-02 4.42457192e-04 1.76368846e+02] [-8.32071675e-02 9.96532271e-01 -3.23147955e-05 -7.88983319e+00] [-4.43611693e-04 -4.61287638e-06 9.99999902e-01 -1.11288546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.620281693 meters Centerline goodness [0,1] 0.9998729863036897 Centerline is valid? [True, True] Translation: X:176.40, Y:-7.89, Z:-1.11 [[ 9.96751388e-01 8.05392277e-02 -3.22813866e-04 1.76398254e+02] [-8.05392243e-02 9.96751440e-01 2.34014471e-05 -7.89387540e+00] [ 3.23649920e-04 2.67375350e-06 9.99999948e-01 -1.11386857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.650281693 meters Centerline goodness [0,1] 0.9996177775890259 Centerline is valid? [True, True] Translation: X:176.43, Y:-7.90, Z:-1.11 [[ 9.97102103e-01 7.60468829e-02 2.06562649e-03 1.76427370e+02] [-7.60467344e-02 9.97104243e-01 -1.50454483e-04 -7.89697908e+00] [-2.07108653e-03 -7.06566702e-06 9.99997855e-01 -1.10966807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.680281693 meters Centerline goodness [0,1] 0.9994025137101765 Centerline is valid? [True, True] Translation: X:176.46, Y:-7.90, Z:-1.11 [[ 9.97198420e-01 7.47094096e-02 3.71692769e-03 1.76457526e+02] [-7.47089201e-02 9.97205347e-01 -2.70546445e-04 -7.90058170e+00] [-3.72675253e-03 -7.89916598e-06 9.99993056e-01 -1.10641900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71028169299998 meters Centerline goodness [0,1] 0.9994025137101765 Centerline is valid? [True, True] Translation: X:176.49, Y:-7.90, Z:-1.11 [[ 9.97198420e-01 7.47094096e-02 3.71692769e-03 1.76487447e+02] [-7.47089201e-02 9.97205347e-01 -2.70546445e-04 -7.90275955e+00] [-3.72675253e-03 -7.89916597e-06 9.99993056e-01 -1.10655358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.740281693 meters Centerline goodness [0,1] 0.999449514090322 Centerline is valid? [True, True] Translation: X:176.52, Y:-7.91, Z:-1.11 [[ 9.97361000e-01 7.25005386e-02 3.83494754e-03 1.76517464e+02] [-7.25000013e-02 9.97368373e-01 -2.79129581e-04 -7.90816011e+00] [-3.84509243e-03 3.59257019e-07 9.99992608e-01 -1.10676031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.770281693 meters Centerline goodness [0,1] 0.9992102117486339 Centerline is valid? [True, True] Translation: X:176.55, Y:-7.91, Z:-1.11 [[ 9.97443260e-01 7.14012246e-02 2.96786319e-03 1.76548477e+02] [-7.14008979e-02 9.97447675e-01 -2.16023622e-04 -7.91234517e+00] [-2.97571259e-03 3.56320942e-06 9.99995573e-01 -1.10872812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.800281693 meters Centerline goodness [0,1] 0.999232474842231 Centerline is valid? [True, True] Translation: X:176.58, Y:-7.92, Z:-1.11 [[ 9.97518049e-01 7.03887437e-02 1.77929441e-03 1.76579730e+02] [-7.03886246e-02 9.97519636e-01 -1.29510381e-04 -7.91668832e+00] [-1.78399719e-03 3.94685589e-06 9.99998409e-01 -1.11131229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.830281693 meters Centerline goodness [0,1] 0.9990433470099279 Centerline is valid? [True, True] Translation: X:176.61, Y:-7.92, Z:-1.11 [[ 9.97595992e-01 6.92901448e-02 1.05441723e-03 1.76609580e+02] [-6.92901023e-02 9.97596550e-01 -7.68078429e-05 -7.92144936e+00] [-1.05720502e-03 3.56251827e-06 9.99999441e-01 -1.11359663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.860281693 meters Centerline goodness [0,1] 0.9989596823846627 Centerline is valid? [True, True] Translation: X:176.64, Y:-7.93, Z:-1.11 [[ 9.97627724e-01 6.88311618e-02 1.09373292e-03 1.76639836e+02] [-6.88311158e-02 9.97628323e-01 -7.96338341e-05 -7.92718265e+00] [-1.09662022e-03 4.16206360e-06 9.99999399e-01 -1.11383319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.890281693 meters Centerline goodness [0,1] 0.9991674316333283 Centerline is valid? [True, True] Translation: X:176.67, Y:-7.93, Z:-1.11 [[ 9.97561243e-01 6.97730224e-02 1.81457778e-03 1.76670496e+02] [-6.97728973e-02 9.97562893e-01 -1.32201239e-04 -7.92942907e+00] [-1.81937954e-03 5.27048288e-06 9.99998345e-01 -1.11190774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.920281693 meters Centerline goodness [0,1] 0.9993401728321485 Centerline is valid? [True, True] Translation: X:176.70, Y:-7.93, Z:-1.11 [[ 9.97359065e-01 7.25827546e-02 2.57668973e-03 1.76700108e+02] [-7.25825119e-02 9.97362393e-01 -1.87724978e-04 -7.92982121e+00] [-2.58351903e-03 2.06595756e-07 9.99996663e-01 -1.11073617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.950281693 meters Centerline goodness [0,1] 0.9994737396063572 Centerline is valid? [True, True] Translation: X:176.73, Y:-7.93, Z:-1.11 [[ 9.97319000e-01 7.31324106e-02 2.54224665e-03 1.76730160e+02] [-7.31321761e-02 9.97322240e-01 -1.85215624e-04 -7.93239661e+00] [-2.54898439e-03 -1.20096857e-06 9.99996751e-01 -1.11161616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.980281693 meters Centerline goodness [0,1] 0.9993247093084602 Centerline is valid? [True, True] Translation: X:176.76, Y:-7.94, Z:-1.11 [[ 9.97334945e-01 7.29078752e-02 2.72937635e-03 1.76760895e+02] [-7.29076041e-02 9.97338680e-01 -1.98848977e-04 -7.93662423e+00] [-2.73661027e-03 -6.73257151e-07 9.99996255e-01 -1.11213025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.010281693 meters Centerline goodness [0,1] 0.9995575780558715 Centerline is valid? [True, True] Translation: X:176.79, Y:-7.95, Z:-1.12 [[ 9.97460575e-01 7.11973493e-02 1.82749781e-03 1.76791342e+02] [-7.11972255e-02 9.97462249e-01 -1.32767169e-04 -7.94517252e+00] [-1.83231275e-03 2.31724289e-06 9.99998321e-01 -1.11500232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.040281693 meters Centerline goodness [0,1] 0.9993206521739131 Centerline is valid? [True, True] Translation: X:176.82, Y:-7.95, Z:-1.12 [[ 9.97562550e-01 6.97702555e-02 1.03445217e-03 1.76822333e+02] [-6.97702148e-02 9.97563086e-01 -7.54330966e-05 -7.95109839e+00] [-1.03719428e-03 3.07528231e-06 9.99999462e-01 -1.11527702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.070281693 meters Centerline goodness [0,1] 0.9990050383166095 Centerline is valid? [True, True] Translation: X:176.85, Y:-7.96, Z:-1.12 [[ 9.97677419e-01 6.81156463e-02 -1.59669681e-04 1.76852543e+02] [-6.81156453e-02 9.97677432e-01 1.18938086e-05 -7.95871442e+00] [ 1.60108992e-04 -9.90180939e-07 9.99999987e-01 -1.11662225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.100281693 meters Centerline goodness [0,1] 0.9991617229816868 Centerline is valid? [True, True] Translation: X:176.88, Y:-7.96, Z:-1.12 [[ 9.97675553e-01 6.81405848e-02 -5.92217802e-04 1.76882941e+02] [-6.81405711e-02 9.97675729e-01 4.32736262e-05 -7.95955866e+00] [ 5.93790017e-04 -2.81897972e-06 9.99999824e-01 -1.11646072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.130281693 meters Centerline goodness [0,1] 0.9990477198180087 Centerline is valid? [True, True] Translation: X:176.91, Y:-7.96, Z:-1.12 [[ 9.97634383e-01 6.87354766e-02 -1.03513157e-03 1.76912344e+02] [-6.87354351e-02 9.97634920e-01 7.57021686e-05 -7.96144590e+00] [ 1.03788683e-03 -4.37286715e-06 9.99999461e-01 -1.11889317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.160281693 meters Centerline goodness [0,1] 0.9991744284504657 Centerline is valid? [True, True] Translation: X:176.94, Y:-7.96, Z:-1.12 [[ 9.97523523e-01 7.03297839e-02 -7.36087178e-04 1.76943084e+02] [-7.03297634e-02 9.97523795e-01 5.37948625e-05 -7.96016911e+00] [ 7.38047856e-04 -1.89280375e-06 9.99999728e-01 -1.11684228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.190281693 meters Centerline goodness [0,1] 0.9990608725347904 Centerline is valid? [True, True] Translation: X:176.97, Y:-7.96, Z:-1.12 [[ 9.97508055e-01 7.05521370e-02 -2.74429486e-04 1.76973509e+02] [-7.05521341e-02 9.97508093e-01 2.00559076e-05 -7.96143453e+00] [ 2.75160620e-04 -6.44343554e-07 9.99999962e-01 -1.11510614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.220281693 meters Centerline goodness [0,1] 0.9984145439171335 Centerline is valid? [True, True] Translation: X:177.00, Y:-7.97, Z:-1.11 [[ 9.97697413e-01 6.77863733e-02 2.20920191e-03 1.77003528e+02] [-6.77861820e-02 9.97699858e-01 -1.61426449e-04 -7.97075141e+00] [-2.21506295e-03 1.13013877e-05 9.99997547e-01 -1.11246898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.250281693 meters Centerline goodness [0,1] 0.9980144061173191 Centerline is valid? [True, True] Translation: X:177.04, Y:-7.98, Z:-1.11 [[ 9.97885080e-01 6.49264452e-02 3.15026916e-03 1.77035017e+02] [-6.49260424e-02 9.97890052e-01 -2.30054920e-04 -7.97694708e+00] [-3.15855891e-03 2.50338628e-05 9.99995011e-01 -1.10979710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.280281693 meters Centerline goodness [0,1] 0.9976386742229092 Centerline is valid? [True, True] Translation: X:177.07, Y:-7.98, Z:-1.11 [[ 9.98101701e-01 6.15149106e-02 2.98496017e-03 1.77066498e+02] [-6.15145325e-02 9.98106164e-01 -2.18411961e-04 -7.98479075e+00] [-2.99274274e-03 3.43789205e-05 9.99995521e-01 -1.11024438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.310281693 meters Centerline goodness [0,1] 0.9965956906941831 Centerline is valid? [True, True] Translation: X:177.10, Y:-8.00, Z:-1.11 [[ 9.98470654e-01 5.52802611e-02 6.67493527e-04 1.77095150e+02] [-5.52802406e-02 9.98470877e-01 -4.90067161e-05 -8.00256262e+00] [-6.69181951e-04 1.20325651e-05 9.99999776e-01 -1.11490602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.340281693 meters Centerline goodness [0,1] 0.9953959093609437 Centerline is valid? [True, True] Translation: X:177.13, Y:-8.02, Z:-1.12 [[ 9.98596650e-01 5.29596909e-02 4.52997014e-05 1.77125706e+02] [-5.29596908e-02 9.98596651e-01 -2.70863791e-06 -8.01591591e+00] [-4.53795787e-05 3.05778568e-07 9.99999999e-01 -1.11715899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.370281693 meters Centerline goodness [0,1] 0.994872885863206 Centerline is valid? [True, True] Translation: X:177.16, Y:-8.02, Z:-1.12 [[ 9.98722191e-01 5.05363376e-02 -2.51441471e-04 1.77157134e+02] [-5.05363344e-02 9.98722223e-01 1.91495806e-05 -8.02306502e+00] [ 2.52087935e-04 -6.41818085e-06 9.99999968e-01 -1.11661280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.400281693 meters Centerline goodness [0,1] 0.9956242831046349 Centerline is valid? [True, True] Translation: X:177.19, Y:-8.02, Z:-1.12 [[ 9.98727657e-01 5.04265669e-02 -4.77092550e-04 1.77189302e+02] [-5.04265555e-02 9.98727771e-01 3.59618176e-05 -8.02272658e+00] [ 4.78299010e-04 -1.18579279e-05 9.99999886e-01 -1.11526747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.430281693 meters Centerline goodness [0,1] 0.9955324541432192 Centerline is valid? [True, True] Translation: X:177.22, Y:-8.03, Z:-1.11 [[ 9.98708375e-01 5.08080001e-02 -3.59972563e-04 1.77221509e+02] [-5.08079936e-02 9.98708439e-01 2.73701267e-05 -8.02733258e+00] [ 3.60898258e-04 -9.04529104e-06 9.99999935e-01 -1.11497694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46028169299998 meters Centerline goodness [0,1] 0.9955035971223022 Centerline is valid? [True, True] Translation: X:177.25, Y:-8.03, Z:-1.11 [[ 9.98642149e-01 5.20891826e-02 7.58376394e-04 1.77252875e+02] [-5.20891555e-02 9.98642437e-01 -5.55363665e-05 -8.03344480e+00] [-7.60239694e-04 1.59577705e-05 9.99999711e-01 -1.11257137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.490281693 meters Centerline goodness [0,1] 0.9951279444162007 Centerline is valid? [True, True] Translation: X:177.28, Y:-8.04, Z:-1.11 [[ 9.98557751e-01 5.36529895e-02 1.94297631e-03 1.77283515e+02] [-5.36528110e-02 9.98559640e-01 -1.43901761e-04 -8.04042938e+00] [-1.94789848e-03 3.94480777e-05 9.99998102e-01 -1.11095930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.520281693 meters Centerline goodness [0,1] 0.9957549772891285 Centerline is valid? [True, True] Translation: X:177.32, Y:-8.04, Z:-1.11 [[ 9.98441762e-01 5.57162230e-02 3.12260117e-03 1.77316504e+02] [-5.57157703e-02 9.98446643e-01 -2.31850749e-04 -8.03715408e+00] [-3.13066850e-03 5.75113410e-05 9.99995098e-01 -1.10890169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.550281693 meters Centerline goodness [0,1] 0.9964635127694719 Centerline is valid? [True, True] Translation: X:177.35, Y:-8.04, Z:-1.11 [[ 9.98163736e-01 6.04974460e-02 3.03556847e-03 1.77347513e+02] [-6.04970396e-02 9.98168351e-01 -2.25600927e-04 -8.03653870e+00] [-3.04365665e-03 4.15437581e-05 9.99995367e-01 -1.11006363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.580281693 meters Centerline goodness [0,1] 0.9971904178461278 Centerline is valid? [True, True] Translation: X:177.38, Y:-8.03, Z:-1.11 [[ 9.98017782e-01 6.28874278e-02 2.38282355e-03 1.77379764e+02] [-6.28871848e-02 9.98020626e-01 -1.76846519e-04 -8.03458601e+00] [-2.38922848e-03 2.66469053e-05 9.99997145e-01 -1.11140943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.610281693 meters Centerline goodness [0,1] 0.9985474741001815 Centerline is valid? [True, True] Translation: X:177.41, Y:-8.03, Z:-1.11 [[ 9.97820167e-01 6.59914397e-02 2.11656809e-04 1.77412534e+02] [-6.59914379e-02 9.97820189e-01 -1.55294676e-05 -8.03496288e+00] [-2.12220249e-04 1.52807877e-06 9.99999977e-01 -1.11428655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.640281693 meters Centerline goodness [0,1] 0.9987841037564794 Centerline is valid? [True, True] Translation: X:177.44, Y:-8.04, Z:-1.12 [[ 9.97731590e-01 6.73169879e-02 -3.11827531e-04 1.77443674e+02] [-6.73169837e-02 9.97731639e-01 2.39502137e-05 -8.03723000e+00] [ 3.12732450e-04 -2.90459595e-06 9.99999951e-01 -1.11601614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.670281693 meters Centerline goodness [0,1] 0.998786097623307 Centerline is valid? [True, True] Translation: X:177.48, Y:-8.04, Z:-1.12 [[ 9.97660184e-01 6.83670046e-02 -3.30626975e-04 1.77475840e+02] [-6.83670000e-02 9.97660239e-01 2.54558378e-05 -8.03890540e+00] [ 3.31593727e-04 -2.79230143e-06 9.99999945e-01 -1.11602376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.700281693 meters Centerline goodness [0,1] 0.9985039403261832 Centerline is valid? [True, True] Translation: X:177.51, Y:-8.04, Z:-1.12 [[ 9.97590609e-01 6.93748994e-02 3.16836928e-04 1.77506595e+02] [-6.93748956e-02 9.97590659e-01 -2.31172890e-05 -8.04150608e+00] [-3.17677320e-04 1.08106164e-06 9.99999950e-01 -1.11539148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.730281693 meters Centerline goodness [0,1] 0.9990900626375486 Centerline is valid? [True, True] Translation: X:177.54, Y:-8.04, Z:-1.11 [[ 9.97434328e-01 7.15778913e-02 1.16880538e-03 1.77537794e+02] [-7.15778383e-02 9.97435013e-01 -8.72089026e-05 -8.04366419e+00] [-1.17204964e-03 3.32459092e-06 9.99999313e-01 -1.11381014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.760281693 meters Centerline goodness [0,1] 0.9993174498218971 Centerline is valid? [True, True] Translation: X:177.57, Y:-8.04, Z:-1.11 [[ 9.97317243e-01 7.31955152e-02 8.56633721e-04 1.77570128e+02] [-7.31954874e-02 9.97317611e-01 -6.38176886e-05 -8.04424962e+00] [-8.59007065e-04 9.44758481e-07 9.99999631e-01 -1.11404631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.790281693 meters Centerline goodness [0,1] 0.9990610128257111 Centerline is valid? [True, True] Translation: X:177.60, Y:-8.04, Z:-1.11 [[ 9.97100332e-01 7.60870732e-02 1.29788301e-03 1.77601721e+02] [-7.60870110e-02 9.97101177e-01 -9.72853700e-05 -8.04167827e+00] [-1.30152284e-03 -1.74876432e-06 9.99999153e-01 -1.11436596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.820281693 meters Centerline goodness [0,1] 0.999236673593147 Centerline is valid? [True, True] Translation: X:177.63, Y:-8.04, Z:-1.12 [[ 9.97016621e-01 7.71817498e-02 9.13336607e-04 1.77633252e+02] [-7.71817191e-02 9.97017040e-01 -6.88325455e-05 -8.04291452e+00] [-9.15924777e-04 -1.86569754e-06 9.99999581e-01 -1.11631798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.850281693 meters Centerline goodness [0,1] 0.9994499799031118 Centerline is valid? [True, True] Translation: X:177.66, Y:-8.05, Z:-1.12 [[ 9.96930823e-01 7.82873127e-02 1.73106218e-04 1.77664890e+02] [-7.82873117e-02 9.96930838e-01 -1.24082172e-05 -8.04564681e+00] [-1.73546333e-04 -1.18188631e-06 9.99999985e-01 -1.11840333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.880281693 meters Centerline goodness [0,1] 0.9996594005449592 Centerline is valid? [True, True] Translation: X:177.70, Y:-8.05, Z:-1.12 [[ 9.96877464e-01 7.89571290e-02 -1.04565906e-03 1.77696477e+02] [-7.89570886e-02 9.96878012e-01 7.99126288e-05 -8.05022906e+00] [ 1.04870419e-03 2.89909593e-06 9.99999450e-01 -1.12096683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.910281693 meters Centerline goodness [0,1] 0.9996822370511599 Centerline is valid? [True, True] Translation: X:177.73, Y:-8.05, Z:-1.12 [[ 9.96849464e-01 7.93116289e-02 -9.00690261e-04 1.77728028e+02] [-7.93115995e-02 9.96849871e-01 6.83659071e-05 -8.05300300e+00] [ 9.03275182e-04 3.28466742e-06 9.99999592e-01 -1.12034758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.940281693 meters Centerline goodness [0,1] 0.9994497238036784 Centerline is valid? [True, True] Translation: X:177.76, Y:-8.06, Z:-1.12 [[ 9.96781616e-01 8.01647993e-02 -1.19069264e-04 1.77758337e+02] [-8.01647987e-02 9.96781624e-01 9.25598842e-06 -8.05504795e+00] [ 1.19428059e-04 3.18964489e-07 9.99999993e-01 -1.11930278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.970281693 meters Centerline goodness [0,1] 0.9995761454668758 Centerline is valid? [True, True] Translation: X:177.79, Y:-8.06, Z:-1.12 [[ 9.96701829e-01 8.11495185e-02 4.69437003e-04 1.77790491e+02] [-8.11495111e-02 9.96701939e-01 -3.49866986e-05 -8.05997172e+00] [-4.70727925e-04 -3.22327676e-06 9.99999889e-01 -1.11732523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.000281693 meters Centerline goodness [0,1] 0.999641946966027 Centerline is valid? [True, True] Translation: X:177.82, Y:-8.06, Z:-1.12 [[ 9.96652529e-01 8.17505681e-02 7.62162000e-04 1.77822347e+02] [-8.17505481e-02 9.96652820e-01 -5.73433679e-05 -8.06351266e+00] [-7.64298760e-04 -5.15574868e-06 9.99999708e-01 -1.11688684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.030281693 meters Centerline goodness [0,1] 0.9997883956155571 Centerline is valid? [True, True] Translation: X:177.85, Y:-8.07, Z:-1.12 [[ 9.96448660e-01 8.41958286e-02 1.06331160e-03 1.77853190e+02] [-8.41957907e-02 9.96449227e-01 -8.04877615e-05 -8.06596446e+00] [-1.06631276e-03 -9.32443904e-06 9.99999431e-01 -1.11617093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.060281693 meters Centerline goodness [0,1] 0.9998297510108534 Centerline is valid? [True, True] Translation: X:177.88, Y:-8.07, Z:-1.12 [[ 9.96319492e-01 8.57121602e-02 9.46722534e-04 1.77884674e+02] [-8.57121305e-02 9.96319941e-01 -7.19062550e-05 -8.06961847e+00] [-9.49401780e-04 -9.50400206e-06 9.99999549e-01 -1.11570375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.090281693 meters Centerline goodness [0,1] 0.9998510448142316 Centerline is valid? [True, True] Translation: X:177.92, Y:-8.07, Z:-1.12 [[ 9.96164347e-01 8.75007514e-02 4.60529637e-04 1.77916118e+02] [-8.75007447e-02 9.96164454e-01 -3.45765871e-05 -8.07081596e+00] [-4.61788731e-04 -5.85272286e-06 9.99999893e-01 -1.11686053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.120281693 meters Centerline goodness [0,1] 0.9999150743099787 Centerline is valid? [True, True] Translation: X:177.95, Y:-8.07, Z:-1.12 [[ 9.95909299e-01 9.03548125e-02 -8.22523693e-04 1.77947035e+02] [-9.03547913e-02 9.95909638e-01 6.30226167e-05 -8.07035350e+00] [ 8.24853671e-04 1.15541466e-05 9.99999660e-01 -1.12017820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.150281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.98, Y:-8.07, Z:-1.12 [[ 9.95857136e-01 9.09290582e-02 -6.86544832e-04 1.77977308e+02] [-9.09290434e-02 9.95857372e-01 5.28284463e-05 -8.07250006e+00] [ 6.88504373e-04 9.81727957e-06 9.99999763e-01 -1.12038247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.180281693 meters Centerline goodness [0,1] 0.9999356029708496 Centerline is valid? [True, True] Translation: X:178.01, Y:-8.08, Z:-1.12 [[ 9.95792877e-01 9.16324019e-02 -2.19658343e-04 1.78008191e+02] [-9.16324004e-02 9.95792902e-01 1.69399082e-05 -8.07692238e+00] [ 2.20286463e-04 3.25918133e-06 9.99999976e-01 -1.11816959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21028169299998 meters Centerline goodness [0,1] 0.9998928234588014 Centerline is valid? [True, True] Translation: X:178.04, Y:-8.07, Z:-1.12 [[ 9.95583272e-01 9.38564281e-02 2.21798627e-03 1.78038827e+02] [-9.38562823e-02 9.95585742e-01 -1.69947936e-04 -8.07372885e+00] [-2.22414621e-03 -3.89746232e-05 9.99997526e-01 -1.11512255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.240281693 meters Centerline goodness [0,1] 0.9999358563181526 Centerline is valid? [True, True] Translation: X:178.07, Y:-8.07, Z:-1.11 [[ 9.95447741e-01 9.52536091e-02 3.24729906e-03 1.78070701e+02] [-9.52533044e-02 9.95453036e-01 -2.48714026e-04 -8.07149160e+00] [-3.25622462e-03 -6.17341512e-05 9.99994697e-01 -1.11329201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.270281693 meters Centerline goodness [0,1] 0.9999357959166203 Centerline is valid? [True, True] Translation: X:178.10, Y:-8.07, Z:-1.11 [[ 9.95191874e-01 9.78989674e-02 2.98779979e-03 1.78101795e+02] [-9.78987197e-02 9.95196357e-01 -2.29380742e-04 -8.06954920e+00] [-2.99590360e-03 -6.42239234e-05 9.99995510e-01 -1.11328722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.300281693 meters Centerline goodness [0,1] 0.9998933082963469 Centerline is valid? [True, True] Translation: X:178.13, Y:-8.07, Z:-1.12 [[ 9.95091889e-01 9.89409826e-02 1.67776617e-03 1.78132332e+02] [-9.89409061e-02 9.95093302e-01 -1.28776117e-04 -8.06824036e+00] [-1.68227512e-03 -3.78556358e-05 9.99998584e-01 -1.11628965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.330281693 meters Centerline goodness [0,1] 0.9996189347108138 Centerline is valid? [True, True] Translation: X:178.16, Y:-8.07, Z:-1.12 [[ 9.95070122e-01 9.91737771e-02 -1.21433742e-04 1.78162858e+02] [-9.91737767e-02 9.95070129e-01 9.38680432e-06 -8.06646071e+00] [ 1.21766014e-04 2.70251425e-06 9.99999993e-01 -1.11998576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.360281693 meters Centerline goodness [0,1] 0.9996159426474354 Centerline is valid? [True, True] Translation: X:178.19, Y:-8.07, Z:-1.12 [[ 9.95221558e-01 9.76359693e-02 -1.12598152e-03 1.78193052e+02] [-9.76359338e-02 9.95222195e-01 8.65831688e-05 -8.07261096e+00] [ 1.12905543e-03 2.37668208e-05 9.99999362e-01 -1.12183100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.390281693 meters Centerline goodness [0,1] 0.9997452661968244 Centerline is valid? [True, True] Translation: X:178.22, Y:-8.08, Z:-1.12 [[ 9.95377752e-01 9.60363451e-02 3.89187285e-04 1.78223175e+02] [-9.60363407e-02 9.95377828e-01 -2.99268397e-05 -8.07807904e+00] [-3.90262458e-04 -7.58761229e-06 9.99999924e-01 -1.11825594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.420281693 meters Centerline goodness [0,1] 0.9997039104963729 Centerline is valid? [True, True] Translation: X:178.25, Y:-8.08, Z:-1.11 [[ 9.95512901e-01 9.45860559e-02 2.74623778e-03 1.78253261e+02] [-9.45858332e-02 9.95516688e-01 -2.11154290e-04 -8.07783233e+00] [-2.75389779e-03 -4.95483694e-05 9.99996207e-01 -1.11394289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.450281693 meters Centerline goodness [0,1] 0.9998524389729753 Centerline is valid? [True, True] Translation: X:178.28, Y:-8.08, Z:-1.11 [[ 9.95771149e-01 9.17505497e-02 4.65362963e-03 1.78284313e+02] [-9.17498788e-02 9.95782020e-01 -3.57901202e-04 -8.08390319e+00] [-4.66683834e-03 -7.05822633e-05 9.99989108e-01 -1.10877914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.480281693 meters Centerline goodness [0,1] 0.9998513926630435 Centerline is valid? [True, True] Translation: X:178.32, Y:-8.09, Z:-1.11 [[ 9.95874688e-01 9.06809548e-02 3.25118964e-03 1.78316368e+02] [-9.06806221e-02 9.95879994e-01 -2.49909746e-04 -8.09019706e+00] [-3.26045677e-03 -4.59411086e-05 9.99994684e-01 -1.11173446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.510281693 meters Centerline goodness [0,1] 0.9997663452143252 Centerline is valid? [True, True] Translation: X:178.35, Y:-8.09, Z:-1.12 [[ 9.96053141e-01 8.87579249e-02 4.14300611e-04 1.78347994e+02] [-8.87579196e-02 9.96053227e-01 -3.13216802e-05 -8.08817184e+00] [-4.15445508e-04 -5.57440232e-06 9.99999914e-01 -1.11959318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.540281693 meters Centerline goodness [0,1] 0.9996825329636606 Centerline is valid? [True, True] Translation: X:178.38, Y:-8.09, Z:-1.12 [[ 9.96155846e-01 8.75984763e-02 1.93295434e-04 1.78379611e+02] [-8.75984751e-02 9.96155865e-01 -1.48389807e-05 -8.09130401e+00] [-1.93852252e-04 -2.15044789e-06 9.99999981e-01 -1.11995384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.570281693 meters Centerline goodness [0,1] 0.9996825329636606 Centerline is valid? [True, True] Translation: X:178.41, Y:-8.09, Z:-1.12 [[ 9.96153970e-01 8.76198091e-02 1.93295103e-04 1.78410352e+02] [-8.76198079e-02 9.96153989e-01 -1.48432770e-05 -8.09372691e+00] [-1.93852253e-04 -2.15029045e-06 9.99999981e-01 -1.12009218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.600281693 meters Centerline goodness [0,1] 0.9996815759865837 Centerline is valid? [True, True] Translation: X:178.44, Y:-8.10, Z:-1.12 [[ 9.96275931e-01 8.62208428e-02 4.84412279e-04 1.78440239e+02] [-8.62208349e-02 9.96276049e-01 -3.72153793e-05 -8.09754777e+00] [-4.85817092e-04 -4.68964446e-06 9.99999882e-01 -1.11915736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.630281693 meters Centerline goodness [0,1] 0.9996002777018071 Centerline is valid? [True, True] Translation: X:178.47, Y:-8.11, Z:-1.12 [[ 9.96582526e-01 8.25979418e-02 9.21341808e-04 1.78471836e+02] [-8.25979118e-02 9.96582952e-01 -7.06815866e-05 -8.10852642e+00] [-9.24031693e-04 -5.66087526e-06 9.99999573e-01 -1.11624720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.660281693 meters Centerline goodness [0,1] 0.9996206453244536 Centerline is valid? [True, True] Translation: X:178.50, Y:-8.11, Z:-1.12 [[ 9.96750885e-01 8.05335307e-02 1.42230696e-03 1.78502944e+02] [-8.05334561e-02 9.96751900e-01 -1.09779000e-04 -8.11455783e+00] [-1.42652806e-03 -5.12097925e-06 9.99998982e-01 -1.11542324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.690281693 meters Centerline goodness [0,1] 0.9991309692871828 Centerline is valid? [True, True] Translation: X:178.53, Y:-8.12, Z:-1.11 [[ 9.96925925e-01 7.82678112e-02 3.58470391e-03 1.78534381e+02] [-7.82673167e-02 9.96932370e-01 -2.78246941e-04 -8.12071373e+00] [-3.59548514e-03 -3.17356653e-06 9.99993536e-01 -1.11272323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.720281693 meters Centerline goodness [0,1] 0.9989864864864865 Centerline is valid? [True, True] Translation: X:178.57, Y:-8.12, Z:-1.11 [[ 9.96878776e-01 7.88478167e-02 3.96586580e-03 1.78566641e+02] [-7.88472132e-02 9.96886664e-01 -3.08541906e-04 -8.12212452e+00] [-3.97784658e-03 -5.11858799e-06 9.99992088e-01 -1.11190405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.750281693 meters Centerline goodness [0,1] 0.9994516618862831 Centerline is valid? [True, True] Translation: X:178.60, Y:-8.12, Z:-1.11 [[ 9.96733661e-01 8.06947426e-02 3.21986625e-03 1.78599809e+02] [-8.06943532e-02 9.96738862e-01 -2.50898692e-04 -8.12062674e+00] [-3.22961202e-03 -9.74585244e-06 9.99994785e-01 -1.11276140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.780281693 meters Centerline goodness [0,1] 0.9998718605843158 Centerline is valid? [True, True] Translation: X:178.63, Y:-8.11, Z:-1.12 [[ 9.96318884e-01 8.57244312e-02 6.51869922e-05 1.78630881e+02] [-8.57244310e-02 9.96318886e-01 -4.89363877e-06 -8.11032622e+00] [-6.53665358e-05 -7.12493101e-07 9.99999998e-01 -1.11756449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.810281693 meters Centerline goodness [0,1] 0.9998294933822119 Centerline is valid? [True, True] Translation: X:178.66, Y:-8.11, Z:-1.12 [[ 9.96112638e-01 8.80869786e-02 -5.44852484e-04 1.78661870e+02] [-8.80869684e-02 9.96112787e-01 4.26195387e-05 -8.10931186e+00] [ 5.46488752e-04 5.54054238e-06 9.99999851e-01 -1.11854744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.840281693 meters Centerline goodness [0,1] 0.9998948054953609 Centerline is valid? [True, True] Translation: X:178.69, Y:-8.11, Z:-1.11 [[ 9.95987930e-01 8.94583232e-02 2.29184378e-03 1.78691537e+02] [-8.94581475e-02 9.95990566e-01 -1.79246472e-04 -8.10613492e+00] [-2.29868988e-03 -2.64967771e-05 9.99997358e-01 -1.11472100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.870281693 meters Centerline goodness [0,1] 0.9999365696887687 Centerline is valid? [True, True] Translation: X:178.72, Y:-8.11, Z:-1.11 [[ 9.96046604e-01 8.87412339e-02 4.01947634e-03 1.78723070e+02] [-8.87406874e-02 9.96054713e-01 -3.14450897e-04 -8.10834922e+00] [-4.03152311e-03 -4.34833450e-05 9.99991872e-01 -1.11229046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.900281693 meters Centerline goodness [0,1] 0.9997262120382461 Centerline is valid? [True, True] Translation: X:178.76, Y:-8.11, Z:-1.11 [[ 9.96132767e-01 8.77724402e-02 3.93829443e-03 1.78755256e+02] [-8.77719079e-02 9.96140551e-01 -3.08110867e-04 -8.11288398e+00] [-3.95013843e-03 -3.87522863e-05 9.99992197e-01 -1.11241741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.930281693 meters Centerline goodness [0,1] 0.9998081187105577 Centerline is valid? [True, True] Translation: X:178.79, Y:-8.12, Z:-1.12 [[ 9.96363734e-01 8.52015647e-02 6.19339888e-05 1.78786754e+02] [-8.52015646e-02 9.96363735e-01 -4.13099183e-06 -8.11925790e+00] [-6.20607474e-05 -1.16090231e-06 9.99999998e-01 -1.12021915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96028169299998 meters Centerline goodness [0,1] 0.9998082699559021 Centerline is valid? [True, True] Translation: X:178.82, Y:-8.12, Z:-1.12 [[ 9.96441524e-01 8.42717701e-02 -1.59929742e-03 1.78817894e+02] [-8.42716767e-02 9.96442808e-01 1.25821995e-04 -8.12297087e+00] [ 1.60421166e-03 9.40121546e-06 9.99998713e-01 -1.12296365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.990281693 meters Centerline goodness [0,1] 0.9997675303267256 Centerline is valid? [True, True] Translation: X:178.85, Y:-8.12, Z:-1.12 [[ 9.96499057e-01 8.35822902e-02 -1.90528626e-03 1.78847021e+02] [-8.35821567e-02 9.96500878e-01 1.49692867e-04 -8.12485395e+00] [ 1.91113110e-03 1.00791334e-05 9.99998174e-01 -1.12448590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.020281693 meters Centerline goodness [0,1] 0.9995753985945693 Centerline is valid? [True, True] Translation: X:178.88, Y:-8.13, Z:-1.12 [[ 9.96541355e-01 8.30968609e-02 -4.89659429e-04 1.78876933e+02] [-8.30968521e-02 9.96541475e-01 3.84278432e-05 -8.12648235e+00] [ 4.91159163e-04 2.39422223e-06 9.99999879e-01 -1.12151149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.050281693 meters Centerline goodness [0,1] 0.9997023176695726 Centerline is valid? [True, True] Translation: X:178.91, Y:-8.13, Z:-1.12 [[ 9.96543979e-01 8.30661232e-02 3.41846042e-04 1.78906709e+02] [-8.30661188e-02 9.96544038e-01 -2.69096175e-05 -8.12831493e+00] [-3.42899912e-04 -1.57920657e-06 9.99999941e-01 -1.12021473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.080281693 meters Centerline goodness [0,1] 0.9996836377441262 Centerline is valid? [True, True] Translation: X:178.94, Y:-8.13, Z:-1.12 [[ 9.96518379e-01 8.33631461e-02 1.30647194e-03 1.78937364e+02] [-8.33630831e-02 9.96519235e-01 -1.02652521e-04 -8.12958116e+00] [-1.31048185e-03 -6.61640470e-06 9.99999141e-01 -1.11758584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.110281693 meters Centerline goodness [0,1] 0.9996426168853011 Centerline is valid? [True, True] Translation: X:178.97, Y:-8.13, Z:-1.12 [[ 9.96478730e-01 8.38284232e-02 1.71363638e-03 1.78969005e+02] [-8.38283157e-02 9.96480203e-01 -1.34580822e-04 -8.13011679e+00] [-1.71888643e-03 -9.54432467e-06 9.99998523e-01 -1.11701043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.140281693 meters Centerline goodness [0,1] 0.9996399220537151 Centerline is valid? [True, True] Translation: X:179.00, Y:-8.13, Z:-1.12 [[ 9.96433415e-01 8.43569342e-02 2.08738186e-03 1.78999285e+02] [-8.43567757e-02 9.96435601e-01 -1.64031235e-04 -8.12938324e+00] [-2.09377877e-03 -1.26385996e-05 9.99997808e-01 -1.11655445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.170281693 meters Centerline goodness [0,1] 0.9997035091806264 Centerline is valid? [True, True] Translation: X:179.03, Y:-8.13, Z:-1.12 [[ 9.96379757e-01 8.49835629e-02 2.27447198e-03 1.79030268e+02] [-8.49833763e-02 9.96382353e-01 -1.78738435e-04 -8.13001809e+00] [-2.28143357e-03 -1.52009492e-05 9.99997397e-01 -1.11578977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.200281693 meters Centerline goodness [0,1] 0.9998100384144539 Centerline is valid? [True, True] Translation: X:179.06, Y:-8.13, Z:-1.12 [[ 9.96326145e-01 8.55994450e-02 2.63584834e-03 1.79061044e+02] [-8.55991963e-02 9.96329632e-01 -2.07235151e-04 -8.12826471e+00] [-2.64391302e-03 -1.91527012e-05 9.99996505e-01 -1.11533222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.230281693 meters Centerline goodness [0,1] 0.9997241437847473 Centerline is valid? [True, True] Translation: X:179.09, Y:-8.13, Z:-1.12 [[ 9.96419223e-01 8.45119720e-02 2.54146099e-03 1.79091405e+02] [-8.45117372e-02 9.96422464e-01 -1.99863450e-04 -8.12857919e+00] [-2.54925968e-03 -1.56354993e-05 9.99996751e-01 -1.11514665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.260281693 meters Centerline goodness [0,1] 0.999725146940674 Centerline is valid? [True, True] Translation: X:179.12, Y:-8.13, Z:-1.12 [[ 9.96471728e-01 8.38805821e-02 2.85366630e-03 1.79121247e+02] [-8.38802837e-02 9.96475814e-01 -2.24320640e-04 -8.13042023e+00] [-2.86242559e-03 -1.58371629e-05 9.99995903e-01 -1.11526759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.290281693 meters Centerline goodness [0,1] 0.9993489173124986 Centerline is valid? [True, True] Translation: X:179.15, Y:-8.13, Z:-1.12 [[ 9.96553294e-01 8.29001310e-02 3.01663854e-03 1.79151172e+02] [-8.28997922e-02 9.96557860e-01 -2.37392625e-04 -8.13271831e+00] [-3.02593473e-03 -1.35043060e-05 9.99995422e-01 -1.11569610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.320281693 meters Centerline goodness [0,1] 0.999578174762196 Centerline is valid? [True, True] Translation: X:179.18, Y:-8.14, Z:-1.12 [[ 9.96644874e-01 8.17928533e-02 2.98723581e-03 1.79182180e+02] [-8.17925161e-02 9.96649351e-01 -2.35095092e-04 -8.13586728e+00] [-2.99645573e-03 -1.00272148e-05 9.99995511e-01 -1.11579883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.350281693 meters Centerline goodness [0,1] 0.999191076294278 Centerline is valid? [True, True] Translation: X:179.21, Y:-8.14, Z:-1.11 [[ 9.96911958e-01 7.84486633e-02 3.51496278e-03 1.79213542e+02] [-7.84481752e-02 9.96918155e-01 -2.76724265e-04 -8.14171010e+00] [-3.52583886e-03 1.27312865e-07 9.99993784e-01 -1.11455654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.380281693 meters Centerline goodness [0,1] 0.9988417638883039 Centerline is valid? [True, True] Translation: X:179.24, Y:-8.15, Z:-1.11 [[ 9.97040753e-01 7.67685983e-02 4.03962692e-03 1.79244720e+02] [-7.67679397e-02 9.97048937e-01 -3.18082911e-04 -8.14696132e+00] [-4.05212450e-03 7.02778954e-06 9.99991790e-01 -1.11343667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.410281693 meters Centerline goodness [0,1] 0.9984688669615516 Centerline is valid? [True, True] Translation: X:179.28, Y:-8.15, Z:-1.11 [[ 9.97234148e-01 7.42125408e-02 4.06848172e-03 1.79276348e+02] [-7.42118490e-02 9.97242447e-01 -3.20954481e-04 -8.15483008e+00] [-4.08108151e-03 1.81372171e-05 9.99991672e-01 -1.11384601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.440281693 meters Centerline goodness [0,1] 0.9985513112763373 Centerline is valid? [True, True] Translation: X:179.31, Y:-8.16, Z:-1.11 [[ 9.97278000e-01 7.36238161e-02 4.01548945e-03 1.79308025e+02] [-7.36231349e-02 9.97286084e-01 -3.17387211e-04 -8.15928989e+00] [-4.02795901e-03 2.08903617e-05 9.99991888e-01 -1.11437301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.470281693 meters Centerline goodness [0,1] 0.9983447573371814 Centerline is valid? [True, True] Translation: X:179.34, Y:-8.16, Z:-1.12 [[ 9.97332594e-01 7.29073678e-02 3.49461205e-03 1.79339764e+02] [-7.29068458e-02 9.97338716e-01 -2.76690839e-04 -8.16482246e+00] [-3.50548470e-03 2.11716502e-05 9.99993856e-01 -1.11559208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.500281693 meters Centerline goodness [0,1] 0.998667991627376 Centerline is valid? [True, True] Translation: X:179.37, Y:-8.17, Z:-1.12 [[ 9.97371915e-01 7.24364099e-02 1.49321865e-03 1.79370795e+02] [-7.24363142e-02 9.97373033e-01 -1.18091080e-04 -8.17179598e+00] [-1.49785010e-03 9.61747110e-06 9.99998878e-01 -1.11901611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.530281693 meters Centerline goodness [0,1] 0.9990296286712382 Centerline is valid? [True, True] Translation: X:179.40, Y:-8.17, Z:-1.12 [[ 9.97293439e-01 7.35205531e-02 7.23829715e-04 1.79401925e+02] [-7.35205308e-02 9.97293702e-01 -5.74801346e-05 -8.17220251e+00] [-7.26096787e-04 4.10821627e-06 9.99999736e-01 -1.11997087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.560281693 meters Centerline goodness [0,1] 0.9994085714889213 Centerline is valid? [True, True] Translation: X:179.43, Y:-8.16, Z:-1.12 [[ 9.96840935e-01 7.94214125e-02 6.23783540e-04 1.79431976e+02] [-7.94213970e-02 9.96841130e-01 -4.96726225e-05 -8.16468009e+00] [-6.25758159e-04 -2.60566929e-08 9.99999804e-01 -1.12075947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.590281693 meters Centerline goodness [0,1] 0.9998281639316092 Centerline is valid? [True, True] Translation: X:179.46, Y:-8.16, Z:-1.12 [[ 9.96499538e-01 8.35925143e-02 9.80941033e-04 1.79463238e+02] [-8.35924780e-02 9.96500021e-01 -7.80301495e-05 -8.15902711e+00] [-9.84030496e-04 -4.24228376e-06 9.99999516e-01 -1.11995501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.620281693 meters Centerline goodness [0,1] 0.999809600372337 Centerline is valid? [True, True] Translation: X:179.49, Y:-8.15, Z:-1.12 [[ 9.96093757e-01 8.82951645e-02 1.09137034e-03 1.79492947e+02] [-8.82951225e-02 9.96094355e-01 -8.67004002e-05 -8.15200598e+00] [-1.09476306e-03 -1.00009507e-05 9.99999401e-01 -1.11967660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.650281693 meters Centerline goodness [0,1] 0.9996827344063961 Centerline is valid? [True, True] Translation: X:179.52, Y:-8.13, Z:-1.12 [[ 9.95210422e-01 9.77403612e-02 1.74295408e-03 1.79524328e+02] [-9.77402680e-02 9.95211948e-01 -1.38742821e-04 -8.13452739e+00] [-1.74816950e-03 -3.22784974e-05 9.99998471e-01 -1.11760939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.680281693 meters Centerline goodness [0,1] 0.9995119570522206 Centerline is valid? [True, True] Translation: X:179.55, Y:-8.12, Z:-1.12 [[ 9.94742169e-01 1.02397992e-01 1.63354676e-03 1.79554155e+02] [-1.02397917e-01 9.94743510e-01 -1.30070548e-04 -8.12398724e+00] [-1.63827900e-03 -3.78851264e-05 9.99998657e-01 -1.11804974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71028169299998 meters Centerline goodness [0,1] 0.9987245440244887 Centerline is valid? [True, True] Translation: X:179.59, Y:-8.11, Z:-1.12 [[ 9.94036169e-01 1.09048288e-01 7.52563112e-04 1.79585929e+02] [-1.09048274e-01 9.94036453e-01 -5.98565245e-05 -8.10723625e+00] [-7.54602419e-04 -2.25661581e-05 9.99999715e-01 -1.12123480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.740281693 meters Centerline goodness [0,1] 0.9986091794158554 Centerline is valid? [True, True] Translation: X:179.61, Y:-8.10, Z:-1.12 [[ 9.93891484e-01 1.10360778e-01 4.66211745e-04 1.79614848e+02] [-1.10360773e-01 9.93891593e-01 -3.72571955e-05 -8.10309887e+00] [-4.67475667e-04 -1.44218791e-05 9.99999891e-01 -1.12210346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.770281693 meters Centerline goodness [0,1] 0.9987317155660776 Centerline is valid? [True, True] Translation: X:179.64, Y:-8.10, Z:-1.12 [[ 9.93853883e-01 1.10695505e-01 9.81558481e-04 1.79643989e+02] [-1.10695482e-01 9.93854368e-01 -7.81760858e-05 -8.09914484e+00] [-9.84179924e-04 -3.09584823e-05 9.99999515e-01 -1.12140846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.800281693 meters Centerline goodness [0,1] 0.9986619090098127 Centerline is valid? [True, True] Translation: X:179.67, Y:-8.09, Z:-1.12 [[ 9.94008207e-01 1.09239560e-01 3.79522954e-03 1.79672504e+02] [-1.09239205e-01 9.94015445e-01 -3.01533324e-04 -8.09309085e+00] [-3.80545615e-03 -1.14861258e-04 9.99992753e-01 -1.11528468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.830281693 meters Centerline goodness [0,1] 0.9985621854780733 Centerline is valid? [True, True] Translation: X:179.70, Y:-8.09, Z:-1.11 [[ 9.94138400e-01 1.08014815e-01 4.65204268e-03 1.79700400e+02] [-1.08014268e-01 9.94149275e-01 -3.69322971e-04 -8.09103284e+00] [-4.66471721e-03 -1.35328840e-04 9.99989111e-01 -1.11390185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.860281693 meters Centerline goodness [0,1] 0.9990659562273123 Centerline is valid? [True, True] Translation: X:179.73, Y:-8.09, Z:-1.12 [[ 9.94453684e-01 1.05092822e-01 4.16755252e-03 1.79730675e+02] [-1.05092358e-01 9.94462411e-01 -3.30687229e-04 -8.08984951e+00] [-4.17922718e-03 -1.09124787e-04 9.99991261e-01 -1.11626837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.890281693 meters Centerline goodness [0,1] 0.9991945910430046 Centerline is valid? [True, True] Translation: X:179.76, Y:-8.09, Z:-1.12 [[ 9.94640213e-01 1.03348616e-01 3.14806115e-03 1.79758574e+02] [-1.03348343e-01 9.94645192e-01 -2.49828038e-04 -8.08882056e+00] [-3.15702327e-03 -7.68578891e-05 9.99995014e-01 -1.11954180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.920281693 meters Centerline goodness [0,1] 0.9993851894252581 Centerline is valid? [True, True] Translation: X:179.79, Y:-8.09, Z:-1.12 [[ 9.94900018e-01 1.00849080e-01 1.84872386e-03 1.79787111e+02] [-1.00848982e-01 9.94901735e-01 -1.46682011e-04 -8.09081398e+00] [-1.85409133e-03 -4.05079840e-05 9.99998280e-01 -1.12188384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.950281693 meters Centerline goodness [0,1] 0.9997245821063113 Centerline is valid? [True, True] Translation: X:179.82, Y:-8.10, Z:-1.12 [[ 9.95548016e-01 9.42552290e-02 3.14842199e-04 1.79816869e+02] [-9.42552258e-02 9.95548066e-01 -2.49476043e-05 -8.10051666e+00] [-3.15791985e-04 -4.83898457e-06 9.99999950e-01 -1.12470679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.980281693 meters Centerline goodness [0,1] 0.9996805111821087 Centerline is valid? [True, True] Translation: X:179.85, Y:-8.11, Z:-1.12 [[ 9.95870398e-01 9.07807154e-02 1.00569704e-03 1.79845248e+02] [-9.07806810e-02 9.95870906e-01 -7.98405416e-05 -8.10722211e+00] [-1.00879241e-03 -1.17870306e-05 9.99999491e-01 -1.12303148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.010281693 meters Centerline goodness [0,1] 0.9998728166864508 Centerline is valid? [True, True] Translation: X:179.87, Y:-8.11, Z:-1.12 [[ 9.96144997e-01 8.76864035e-02 2.49809781e-03 1.79874102e+02] [-8.76861830e-02 9.96148129e-01 -1.97900834e-04 -8.11312489e+00] [-2.50582867e-03 -2.19107361e-05 9.99996860e-01 -1.12027510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.040281693 meters Centerline goodness [0,1] 0.9995558281689545 Centerline is valid? [True, True] Translation: X:179.90, Y:-8.12, Z:-1.12 [[ 9.96456662e-01 8.39747872e-02 4.72829681e-03 1.79901341e+02] [-8.39739565e-02 9.96467879e-01 -3.74290100e-04 -8.11804114e+00] [-4.74302683e-03 -2.40899271e-05 9.99988751e-01 -1.11636308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.070281693 meters Centerline goodness [0,1] 0.9995305064128556 Centerline is valid? [True, True] Translation: X:179.93, Y:-8.12, Z:-1.12 [[ 9.96553755e-01 8.28291104e-02 4.46666037e-03 1.79930604e+02] [-8.28283586e-02 9.96563765e-01 -3.53351319e-04 -8.11999751e+00] [-4.48057965e-03 -1.78325625e-05 9.99989962e-01 -1.11735856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.100281693 meters Centerline goodness [0,1] 0.9996169316222946 Centerline is valid? [True, True] Translation: X:179.96, Y:-8.12, Z:-1.12 [[ 9.96742927e-01 8.05725991e-02 3.40505532e-03 1.79959452e+02] [-8.05721493e-02 9.96748743e-01 -2.69305713e-04 -8.12124151e+00] [-3.41568328e-03 -5.92406162e-06 9.99994167e-01 -1.11901060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.130281693 meters Centerline goodness [0,1] 0.9994291875436038 Centerline is valid? [True, True] Translation: X:179.99, Y:-8.12, Z:-1.12 [[ 9.96874445e-01 7.89245090e-02 3.50183452e-03 1.79987366e+02] [-7.89240236e-02 9.96880596e-01 -2.76814047e-04 -8.12467802e+00] [-3.51275829e-03 -4.30020404e-07 9.99993830e-01 -1.11925450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.160281693 meters Centerline goodness [0,1] 0.9992299465240642 Centerline is valid? [True, True] Translation: X:180.02, Y:-8.13, Z:-1.12 [[ 9.97003054e-01 7.73031005e-02 3.02356143e-03 1.80015981e+02] [-7.73027315e-02 9.97007638e-01 -2.38868927e-04 -8.12864715e+00] [-3.03297914e-03 4.42349240e-06 9.99995400e-01 -1.12113115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.190281693 meters Centerline goodness [0,1] 0.9988628561620323 Centerline is valid? [True, True] Translation: X:180.04, Y:-8.14, Z:-1.13 [[ 9.97258405e-01 7.39946188e-02 6.84928695e-04 1.80043899e+02] [-7.39945990e-02 9.97258641e-01 -5.41962637e-05 -8.13593777e+00] [-6.87061291e-04 3.36665535e-06 9.99999764e-01 -1.12688814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.220281693 meters Centerline goodness [0,1] 0.9990469937948707 Centerline is valid? [True, True] Translation: X:180.07, Y:-8.14, Z:-1.13 [[ 9.97373256e-01 7.24333186e-02 5.15711096e-05 1.80072179e+02] [-7.24333185e-02 9.97373257e-01 -4.22252636e-06 -8.14221457e+00] [-5.17414972e-05 4.75968254e-07 9.99999999e-01 -1.12902458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.250281693 meters Centerline goodness [0,1] 0.9987946711778388 Centerline is valid? [True, True] Translation: X:180.10, Y:-8.14, Z:-1.12 [[ 9.97412817e-01 7.18700563e-02 1.53834787e-03 1.80101003e+02] [-7.18699545e-02 9.97414004e-01 -1.21441550e-04 -8.14435927e+00] [-1.54309772e-03 1.05663669e-05 9.99998809e-01 -1.12359986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.280281693 meters Centerline goodness [0,1] 0.9988516502211636 Centerline is valid? [True, True] Translation: X:180.13, Y:-8.14, Z:-1.12 [[ 9.97410438e-01 7.18533367e-02 3.08496782e-03 1.80130282e+02] [-7.18529281e-02 9.97415208e-01 -2.43227155e-04 -8.14426929e+00] [-3.09447050e-03 2.09333320e-05 9.99995212e-01 -1.11982660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.310281693 meters Centerline goodness [0,1] 0.9983202805131544 Centerline is valid? [True, True] Translation: X:180.16, Y:-8.15, Z:-1.12 [[ 9.97509268e-01 7.03640440e-02 4.91548064e-03 1.80158798e+02] [-7.03629902e-02 9.97521378e-01 -3.87202439e-04 -8.15279080e+00] [-4.93054215e-03 4.03701051e-05 9.99987844e-01 -1.11841435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.340281693 meters Centerline goodness [0,1] 0.9981340118744699 Centerline is valid? [True, True] Translation: X:180.19, Y:-8.16, Z:-1.12 [[ 9.97637556e-01 6.85164607e-02 4.98004504e-03 1.80187301e+02] [-6.85153567e-02 9.97649985e-01 -3.92147070e-04 -8.16024812e+00] [-4.99521039e-03 5.00110822e-05 9.99987523e-01 -1.11903387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.370281693 meters Centerline goodness [0,1] 0.9978394335465377 Centerline is valid? [True, True] Translation: X:180.22, Y:-8.16, Z:-1.12 [[ 9.97808330e-01 6.60244191e-02 4.39456494e-03 1.80217021e+02] [-6.60235347e-02 9.97818006e-01 -3.46169347e-04 -8.16489027e+00] [-4.40783165e-03 5.52659470e-05 9.99990284e-01 -1.12020749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.400281693 meters Centerline goodness [0,1] 0.9956248932900802 Centerline is valid? [True, True] Translation: X:180.25, Y:-8.19, Z:-1.12 [[ 9.98109721e-01 6.13481334e-02 3.65929459e-03 1.80245799e+02] [-6.13474890e-02 9.98116427e-01 -2.88173017e-04 -8.18719646e+00] [-3.67008092e-03 6.31397549e-05 9.99993263e-01 -1.12088729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.430281693 meters Centerline goodness [0,1] 0.9960218375724745 Centerline is valid? [True, True] Translation: X:180.28, Y:-8.19, Z:-1.12 [[ 9.98245218e-01 5.91354600e-02 3.07933534e-03 1.80276559e+02] [-5.91349928e-02 9.98249966e-01 -2.42624866e-04 -8.19341170e+00] [-3.08829413e-03 6.01026391e-05 9.99995229e-01 -1.12142134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46028169299998 meters Centerline goodness [0,1] 0.994005994005994 Centerline is valid? [True, True] Translation: X:180.31, Y:-8.21, Z:-1.12 [[ 9.98362953e-01 5.71068109e-02 3.19798465e-03 1.80306078e+02] [-5.71062964e-02 9.98368072e-01 -2.52049163e-04 -8.20887389e+00] [-3.20715949e-03 6.90114876e-05 9.99994855e-01 -1.12201172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.490281693 meters Centerline goodness [0,1] 0.994005994005994 Centerline is valid? [True, True] Translation: X:180.34, Y:-8.21, Z:-1.12 [[ 9.98361779e-01 5.71273249e-02 3.19797886e-03 1.80336820e+02] [-5.71268103e-02 9.98366898e-01 -2.52122620e-04 -8.21134559e+00] [-3.20715932e-03 6.90192559e-05 9.99994855e-01 -1.12215009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.520281693 meters Centerline goodness [0,1] 0.9929967840216656 Centerline is valid? [True, True] Translation: X:180.37, Y:-8.22, Z:-1.12 [[ 9.98411154e-01 5.62852662e-02 2.67130797e-03 1.80367661e+02] [-5.62849039e-02 9.98414726e-01 -2.10640874e-04 -8.22335130e+00] [-2.67892920e-03 5.99518855e-05 9.99996410e-01 -1.12397899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.550281693 meters Centerline goodness [0,1] 0.9951285635616555 Centerline is valid? [True, True] Translation: X:180.40, Y:-8.22, Z:-1.13 [[ 9.98349810e-01 5.74050394e-02 1.52275903e-03 1.80399460e+02] [-5.74049230e-02 9.98350971e-01 -1.20061479e-04 -8.22128285e+00] [-1.52714009e-03 3.24494901e-05 9.99998833e-01 -1.12524403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.580281693 meters Centerline goodness [0,1] 0.9974238423391512 Centerline is valid? [True, True] Translation: X:180.43, Y:-8.22, Z:-1.13 [[ 9.98028047e-01 6.27663551e-02 6.34048718e-04 1.80430682e+02] [-6.27663360e-02 9.98028248e-01 -4.99882055e-05 -8.21929204e+00] [-6.35936109e-04 1.00927162e-05 9.99999798e-01 -1.12638179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.610281693 meters Centerline goodness [0,1] 0.9978662114584445 Centerline is valid? [True, True] Translation: X:180.46, Y:-8.22, Z:-1.13 [[ 9.97880855e-01 6.50632321e-02 7.58082708e-04 1.80460149e+02] [-6.50632054e-02 9.97881143e-01 -5.98720298e-05 -8.22188731e+00] [-7.60371907e-04 1.04218614e-05 9.99999711e-01 -1.12607978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.640281693 meters Centerline goodness [0,1] 0.997841972565275 Centerline is valid? [True, True] Translation: X:180.49, Y:-8.23, Z:-1.13 [[ 9.97782912e-01 6.65361035e-02 1.48601983e-03 1.80489302e+02] [-6.65360026e-02 9.97784018e-01 -1.17295869e-04 -8.22545226e+00] [-1.49053125e-03 1.81619939e-05 9.99998889e-01 -1.12597110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.670281693 meters Centerline goodness [0,1] 0.9977361684121443 Centerline is valid? [True, True] Translation: X:180.52, Y:-8.23, Z:-1.12 [[ 9.97692419e-01 6.78377815e-02 2.80574401e-03 1.80518290e+02] [-6.78374272e-02 9.97696364e-01 -2.21387954e-04 -8.23349108e+00] [-2.81429906e-03 3.05426283e-05 9.99996039e-01 -1.12475583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.700281693 meters Centerline goodness [0,1] 0.9972424910911251 Centerline is valid? [True, True] Translation: X:180.55, Y:-8.24, Z:-1.12 [[ 9.97681357e-01 6.80028124e-02 2.74362509e-03 1.80547792e+02] [-6.80024743e-02 9.97685129e-01 -2.16418154e-04 -8.24033776e+00] [-2.75199100e-03 2.93430625e-05 9.99996213e-01 -1.12496357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.730281693 meters Centerline goodness [0,1] 0.9974472430224642 Centerline is valid? [True, True] Translation: X:180.58, Y:-8.25, Z:-1.13 [[ 9.97693854e-01 6.78426947e-02 2.08371300e-03 1.80578534e+02] [-6.78424994e-02 9.97696030e-01 -1.64350826e-04 -8.24703963e+00] [-2.09006219e-03 2.26075110e-05 9.99997816e-01 -1.12700189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.760281693 meters Centerline goodness [0,1] 0.9978428482945687 Centerline is valid? [True, True] Translation: X:180.61, Y:-8.25, Z:-1.13 [[ 9.97730411e-01 6.73028122e-02 2.08780113e-03 1.80609806e+02] [-6.73026148e-02 9.97732595e-01 -1.64712715e-04 -8.24836580e+00] [-2.09415287e-03 2.38244097e-05 9.99997807e-01 -1.12682455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.790281693 meters Centerline goodness [0,1] 0.9979190113180303 Centerline is valid? [True, True] Translation: X:180.64, Y:-8.26, Z:-1.13 [[ 9.97793900e-01 6.63507691e-02 2.21531325e-03 1.80640105e+02] [-6.63505444e-02 9.97796359e-01 -1.74854155e-04 -8.25525231e+00] [-2.22203320e-03 2.74811698e-05 9.99997531e-01 -1.12651238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.820281693 meters Centerline goodness [0,1] 0.9972195487113678 Centerline is valid? [True, True] Translation: X:180.67, Y:-8.26, Z:-1.12 [[ 9.97969233e-01 6.35550363e-02 4.26233228e-03 1.80671419e+02] [-6.35541787e-02 9.97978333e-01 -3.36486438e-04 -8.26340313e+00] [-4.27510067e-03 6.49140856e-05 9.99990860e-01 -1.12254849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.850281693 meters Centerline goodness [0,1] 0.9959632635625801 Centerline is valid? [True, True] Translation: X:180.70, Y:-8.27, Z:-1.12 [[ 9.98014968e-01 6.28028927e-02 4.68199074e-03 1.80702432e+02] [-6.28018456e-02 9.98025947e-01 -3.70467282e-04 -8.27197189e+00] [-4.69601466e-03 7.56942328e-05 9.99988971e-01 -1.12163842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.880281693 meters Centerline goodness [0,1] 0.9955999073664709 Centerline is valid? [True, True] Translation: X:180.73, Y:-8.28, Z:-1.12 [[ 9.98077548e-01 6.18048627e-02 4.62235774e-03 1.80732645e+02] [-6.18038282e-02 9.98088249e-01 -3.66450057e-04 -8.28229957e+00] [-4.63616934e-03 8.00661713e-05 9.99989250e-01 -1.12209043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.910281693 meters Centerline goodness [0,1] 0.995698149992583 Centerline is valid? [True, True] Translation: X:180.76, Y:-8.29, Z:-1.12 [[ 9.98072709e-01 6.19167852e-02 4.14479596e-03 1.80764282e+02] [-6.19159522e-02 9.98081313e-01 -3.29117199e-04 -8.28803260e+00] [-4.15722127e-03 7.18539060e-05 9.99991356e-01 -1.12328609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.940281693 meters Centerline goodness [0,1] 0.9968707713125846 Centerline is valid? [True, True] Translation: X:180.80, Y:-8.29, Z:-1.12 [[ 9.98035076e-01 6.25781090e-02 3.15701698e-03 1.80796649e+02] [-6.25776278e-02 9.98040068e-01 -2.51040625e-04 -8.29075673e+00] [-3.16653909e-03 5.29887152e-05 9.99994985e-01 -1.12419345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.970281693 meters Centerline goodness [0,1] 0.9970766473199044 Centerline is valid? [True, True] Translation: X:180.83, Y:-8.29, Z:-1.13 [[ 9.97972865e-01 6.35977103e-02 2.34331049e-03 1.80827605e+02] [-6.35974476e-02 9.97975616e-01 -1.86546589e-04 -8.29424078e+00] [-2.35043067e-03 3.71398681e-05 9.99997237e-01 -1.12634618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.000281693 meters Centerline goodness [0,1] 0.998010354713106 Centerline is valid? [True, True] Translation: X:180.86, Y:-8.29, Z:-1.13 [[ 9.97741844e-01 6.71495915e-02 1.46463240e-03 1.80860004e+02] [-6.71494928e-02 9.97742919e-01 -1.16543387e-04 -8.29192856e+00] [-1.46915245e-03 1.79308910e-05 9.99998921e-01 -1.12815629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.030281693 meters Centerline goodness [0,1] 0.9982037193575655 Centerline is valid? [True, True] Translation: X:180.89, Y:-8.29, Z:-1.13 [[ 9.97572639e-01 6.96257206e-02 1.04385060e-03 1.80891041e+02] [-6.96256713e-02 9.97573185e-01 -8.34697892e-05 -8.29052993e+00] [-1.04712901e-03 1.05883790e-05 9.99999452e-01 -1.12914963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.060281693 meters Centerline goodness [0,1] 0.9991429183629741 Centerline is valid? [True, True] Translation: X:180.92, Y:-8.28, Z:-1.13 [[ 9.97205567e-01 7.46789286e-02 2.02839819e-03 1.80921778e+02] [-7.46787528e-02 9.97207630e-01 -1.62384699e-04 -8.28404472e+00] [-2.03486087e-03 1.04526787e-05 9.99997930e-01 -1.12734939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.090281693 meters Centerline goodness [0,1] 0.9993604502430289 Centerline is valid? [True, True] Translation: X:180.95, Y:-8.28, Z:-1.13 [[ 9.97060384e-01 7.65651713e-02 2.89234387e-03 1.80953524e+02] [-7.65648219e-02 9.97064579e-01 -2.31514271e-04 -8.28245200e+00] [-2.90157955e-03 9.38191427e-06 9.99995790e-01 -1.12567324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.120281693 meters Centerline goodness [0,1] 0.9993773082538865 Centerline is valid? [True, True] Translation: X:180.98, Y:-8.28, Z:-1.12 [[ 9.96934109e-01 7.81255369e-02 4.33386635e-03 1.80983845e+02] [-7.81247664e-02 9.96943529e-01 -3.47044097e-04 -8.28098842e+00] [-4.34773302e-03 7.39780190e-06 9.99990549e-01 -1.12385349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.150281693 meters Centerline goodness [0,1] 0.9992554142024422 Centerline is valid? [True, True] Translation: X:181.01, Y:-8.28, Z:-1.12 [[ 9.96836035e-01 7.92981836e-02 5.45128600e-03 1.81013946e+02] [-7.92969819e-02 9.96850941e-01 -4.36577703e-04 -8.27969761e+00] [-5.46873940e-03 2.92585916e-06 9.99985046e-01 -1.12289975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.180281693 meters Centerline goodness [0,1] 0.9994236680327869 Centerline is valid? [True, True] Translation: X:181.05, Y:-8.28, Z:-1.12 [[ 9.96806632e-01 7.97092041e-02 4.79396208e-03 1.81045704e+02] [-7.97082784e-02 9.96818159e-01 -3.84157573e-04 -8.28065990e+00] [-4.80932935e-03 8.12351836e-07 9.99988435e-01 -1.12405482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21028169299998 meters Centerline goodness [0,1] 0.9996366589723861 Centerline is valid? [True, True] Translation: X:181.08, Y:-8.28, Z:-1.13 [[ 9.96646464e-01 8.18083689e-02 1.79373316e-03 1.81076030e+02] [-8.18082427e-02 9.96648078e-01 -1.43746070e-04 -8.27678833e+00] [-1.79948034e-03 -3.47814553e-06 9.99998381e-01 -1.12942650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.240281693 meters Centerline goodness [0,1] 0.999703452658335 Centerline is valid? [True, True] Translation: X:181.11, Y:-8.28, Z:-1.13 [[ 9.96572969e-01 8.27138196e-02 8.61317388e-04 1.81105817e+02] [-8.27137908e-02 9.96573341e-01 -6.90895085e-05 -8.27535833e+00] [-8.64080604e-04 -2.39008957e-06 9.99999627e-01 -1.13211919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.270281693 meters Centerline goodness [0,1] 0.999555141295598 Centerline is valid? [True, True] Translation: X:181.14, Y:-8.28, Z:-1.13 [[ 9.96573688e-01 8.27025202e-02 1.08514577e-03 1.81135210e+02] [-8.27024745e-02 9.96574279e-01 -8.70178388e-05 -8.27719975e+00] [-1.08862496e-03 -3.02455199e-06 9.99999407e-01 -1.13182404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.300281693 meters Centerline goodness [0,1] 0.999362976175309 Centerline is valid? [True, True] Translation: X:181.16, Y:-8.28, Z:-1.13 [[ 9.96770299e-01 8.02755855e-02 2.19128830e-03 1.81164934e+02] [-8.02753934e-02 9.96772707e-01 -1.75643851e-04 -8.28135799e+00] [-2.19831629e-03 -8.29956974e-07 9.99997584e-01 -1.13108337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.330281693 meters Centerline goodness [0,1] 0.999343984763517 Centerline is valid? [True, True] Translation: X:181.19, Y:-8.28, Z:-1.13 [[ 9.96837848e-01 7.94157312e-02 2.72897825e-03 1.81194797e+02] [-7.94154301e-02 9.96841583e-01 -2.18699610e-04 -8.28402456e+00] [-2.73772719e-03 1.28506723e-06 9.99996252e-01 -1.13131734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.360281693 meters Centerline goodness [0,1] 0.9989374814059246 Centerline is valid? [True, True] Translation: X:181.23, Y:-8.29, Z:-1.13 [[ 9.96861754e-01 7.90850136e-02 3.49356789e-03 1.81225688e+02] [-7.90845183e-02 9.96867875e-01 -2.79910148e-04 -8.28631078e+00] [-3.50476229e-03 2.74458724e-06 9.99993858e-01 -1.12971069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.390281693 meters Centerline goodness [0,1] 0.9988746151396114 Centerline is valid? [True, True] Translation: X:181.26, Y:-8.29, Z:-1.13 [[ 9.96809473e-01 7.96882486e-02 4.54500477e-03 1.81255665e+02] [-7.96874165e-02 9.96819835e-01 -3.64156776e-04 -8.28840252e+00] [-4.55956992e-03 8.15235254e-07 9.99989605e-01 -1.12706702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.420281693 meters Centerline goodness [0,1] 0.9991157336252816 Centerline is valid? [True, True] Translation: X:181.29, Y:-8.29, Z:-1.13 [[ 9.96819670e-01 7.96183734e-02 3.38526443e-03 1.81286581e+02] [-7.96179109e-02 9.96825418e-01 -2.71386626e-04 -8.29167413e+00] [-3.39612499e-03 9.95845702e-07 9.99994233e-01 -1.12916004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.450281693 meters Centerline goodness [0,1] 0.9991029474583512 Centerline is valid? [True, True] Translation: X:181.32, Y:-8.29, Z:-1.13 [[ 9.96821446e-01 7.96250699e-02 2.61768150e-03 1.81317224e+02] [-7.96247932e-02 9.96824883e-01 -2.09929262e-04 -8.29447860e+00] [-2.62608569e-03 8.29642615e-07 9.99996552e-01 -1.13050507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.480281693 meters Centerline goodness [0,1] 0.9993251792492619 Centerline is valid? [True, True] Translation: X:181.35, Y:-8.30, Z:-1.13 [[ 9.96787110e-01 8.00714791e-02 2.00376724e-03 1.81346936e+02] [-8.00713178e-02 9.96789124e-01 -1.60723501e-04 -8.29736880e+00] [-2.01020277e-03 -2.37169413e-07 9.99997980e-01 -1.13177376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.510281693 meters Centerline goodness [0,1] 0.9992385625753506 Centerline is valid? [True, True] Translation: X:181.38, Y:-8.30, Z:-1.13 [[ 9.96700620e-01 8.11548448e-02 1.32896644e-03 1.81376877e+02] [-8.11547748e-02 9.96701506e-01 -1.06563513e-04 -8.29958880e+00] [-1.33323099e-03 -1.64005299e-06 9.99999111e-01 -1.13255479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.540281693 meters Centerline goodness [0,1] 0.9994271651037467 Centerline is valid? [True, True] Translation: X:181.41, Y:-8.30, Z:-1.13 [[ 9.96506616e-01 8.34903577e-02 1.98089917e-03 1.81407178e+02] [-8.34902069e-02 9.96508585e-01 -1.58838905e-04 -8.30072412e+00] [-1.98724454e-03 -7.10166194e-06 9.99998025e-01 -1.13227600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.570281693 meters Centerline goodness [0,1] 0.999639173069576 Centerline is valid? [True, True] Translation: X:181.44, Y:-8.30, Z:-1.13 [[ 9.96385927e-01 8.48828253e-02 3.16090742e-03 1.81437691e+02] [-8.48824483e-02 9.96390940e-01 -2.53458167e-04 -8.30170452e+00] [-3.17101376e-03 -1.57634099e-05 9.99994972e-01 -1.13069182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.600281693 meters Centerline goodness [0,1] 0.9996801569363299 Centerline is valid? [True, True] Translation: X:181.47, Y:-8.30, Z:-1.13 [[ 9.96096716e-01 8.81494828e-02 4.58259124e-03 1.81468226e+02] [-8.81487251e-02 9.96107257e-01 -3.67456247e-04 -8.30121010e+00] [-4.59714347e-03 -3.79276144e-05 9.99989432e-01 -1.12768564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.630281693 meters Centerline goodness [0,1] 0.9996181505759563 Centerline is valid? [True, True] Translation: X:181.50, Y:-8.30, Z:-1.13 [[ 9.95990070e-01 8.93403593e-02 4.69891093e-03 1.81497522e+02] [-8.93395759e-02 9.96001154e-01 -3.76780705e-04 -8.30017539e+00] [-4.71378243e-03 -4.45288688e-05 9.99988889e-01 -1.12787180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.660281693 meters Centerline goodness [0,1] 0.9997466537178566 Centerline is valid? [True, True] Translation: X:181.53, Y:-8.30, Z:-1.13 [[ 9.95930720e-01 9.00093609e-02 4.50737043e-03 1.81527263e+02] [-9.00086471e-02 9.95940918e-01 -3.61370965e-04 -8.30187809e+00] [-4.52160142e-03 -4.58018692e-05 9.99989776e-01 -1.12800808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.690281693 meters Centerline goodness [0,1] 0.9996815354238764 Centerline is valid? [True, True] Translation: X:181.56, Y:-8.30, Z:-1.13 [[ 9.95774648e-01 9.17458093e-02 3.94431881e-03 1.81557105e+02] [-9.17452766e-02 9.95782458e-01 -3.16156863e-04 -8.30296865e+00] [-3.95668955e-03 -4.70516311e-05 9.99992171e-01 -1.12878428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.720281693 meters Centerline goodness [0,1] 0.9997663601028015 Centerline is valid? [True, True] Translation: X:181.59, Y:-8.30, Z:-1.13 [[ 9.95656866e-01 9.30193481e-02 3.84789863e-03 1.81586870e+02] [-9.30188510e-02 9.95664300e-01 -3.08344221e-04 -8.30420676e+00] [-3.85989728e-03 -5.09220685e-05 9.99992549e-01 -1.12889898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.750281693 meters Centerline goodness [0,1] 0.9996597409778194 Centerline is valid? [True, True] Translation: X:181.62, Y:-8.30, Z:-1.13 [[ 9.95461088e-01 9.50708340e-02 4.33105897e-03 1.81616055e+02] [-9.50702241e-02 9.95470508e-01 -3.46947642e-04 -8.30054585e+00] [-4.34442607e-03 -6.63818693e-05 9.99990561e-01 -1.12896389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.780281693 meters Centerline goodness [0,1] 0.9995767016593295 Centerline is valid? [True, True] Translation: X:181.64, Y:-8.30, Z:-1.13 [[ 9.95415136e-01 9.55385563e-02 4.59251020e-03 1.81644581e+02] [-9.55378763e-02 9.95425728e-01 -3.67721072e-04 -8.29976279e+00] [-4.60663434e-03 -7.27235499e-05 9.99989387e-01 -1.12864299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.810281693 meters Centerline goodness [0,1] 0.9995721101388503 Centerline is valid? [True, True] Translation: X:181.67, Y:-8.30, Z:-1.13 [[ 9.95381828e-01 9.58709155e-02 4.87683960e-03 1.81674268e+02] [-9.58701536e-02 9.95393772e-01 -3.90312568e-04 -8.30280455e+00] [-4.89179539e-03 -7.90333244e-05 9.99988032e-01 -1.12831717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.840281693 meters Centerline goodness [0,1] 0.9994093948406421 Centerline is valid? [True, True] Translation: X:181.70, Y:-8.30, Z:-1.13 [[ 9.95367341e-01 9.60612178e-02 4.01225457e-03 1.81703054e+02] [-9.60607039e-02 9.95375426e-01 -3.21045252e-04 -8.29653339e+00] [-4.02453959e-03 -6.58620387e-05 9.99991899e-01 -1.12944794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.870281693 meters Centerline goodness [0,1] 0.999549211119459 Centerline is valid? [True, True] Translation: X:181.73, Y:-8.30, Z:-1.13 [[ 9.95379965e-01 9.59497695e-02 3.51655079e-03 1.81731846e+02] [-9.59493744e-02 9.95386176e-01 -2.81264234e-04 -8.30379771e+00] [-3.52731328e-03 -5.74460644e-05 9.99993777e-01 -1.13010062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.900281693 meters Centerline goodness [0,1] 0.9995957876821615 Centerline is valid? [True, True] Translation: X:181.76, Y:-8.30, Z:-1.13 [[ 9.95419554e-01 9.55484130e-02 3.22667280e-03 1.81760680e+02] [-9.55480785e-02 9.95424783e-01 -2.58025919e-04 -8.30146574e+00] [-3.23656404e-03 -5.14583405e-05 9.99994761e-01 -1.13175891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.930281693 meters Centerline goodness [0,1] 0.9995142452850113 Centerline is valid? [True, True] Translation: X:181.79, Y:-8.30, Z:-1.13 [[ 9.95453356e-01 9.51786905e-02 3.69224738e-03 1.81789736e+02] [-9.51782505e-02 9.95460202e-01 -2.95092624e-04 -8.30280300e+00] [-3.70357185e-03 -5.76707031e-05 9.99993140e-01 -1.13143556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96028169299998 meters Centerline goodness [0,1] 0.9994260570116702 Centerline is valid? [True, True] Translation: X:181.82, Y:-8.30, Z:-1.13 [[ 9.95542038e-01 9.42492565e-02 3.62321941e-03 1.81819113e+02] [-9.42488269e-02 9.95548630e-01 -2.89504265e-04 -8.30367647e+00] [-3.63437668e-03 -5.32705126e-05 9.99993394e-01 -1.13174305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.990281693 meters Centerline goodness [0,1] 0.9994536782164695 Centerline is valid? [True, True] Translation: X:181.85, Y:-8.30, Z:-1.13 [[ 9.95620341e-01 9.34397918e-02 3.02345645e-03 1.81847574e+02] [-9.34394891e-02 9.95624931e-01 -2.41503837e-04 -8.30246826e+00] [-3.03279469e-03 -4.20640937e-05 9.99995400e-01 -1.13280077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.020281693 meters Centerline goodness [0,1] 0.9994502706359946 Centerline is valid? [True, True] Translation: X:181.88, Y:-8.31, Z:-1.13 [[ 9.95709672e-01 9.25005630e-02 2.42778181e-03 1.81876615e+02] [-9.25003653e-02 9.95712632e-01 -1.93848657e-04 -8.30817667e+00] [-2.43530413e-03 -3.15537213e-05 9.99997034e-01 -1.13348014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.050281693 meters Centerline goodness [0,1] 0.9995712662650861 Centerline is valid? [True, True] Translation: X:181.91, Y:-8.31, Z:-1.13 [[ 9.95946320e-01 8.99253447e-02 2.08793176e-03 1.81906508e+02] [-8.99251927e-02 9.95948509e-01 -1.66763583e-04 -8.31214417e+00] [-2.09446879e-03 -2.16700890e-05 9.99997806e-01 -1.13412935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.080281693 meters Centerline goodness [0,1] 0.9997232982844494 Centerline is valid? [True, True] Translation: X:181.93, Y:-8.31, Z:-1.13 [[ 9.96102677e-01 8.81681036e-02 2.41694395e-03 1.81934903e+02] [-8.81678954e-02 9.96105609e-01 -1.92784761e-04 -8.31498436e+00] [-2.42452890e-03 -2.10634448e-05 9.99997061e-01 -1.13424796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.110281693 meters Centerline goodness [0,1] 0.9997434252726106 Centerline is valid? [True, True] Translation: X:181.96, Y:-8.32, Z:-1.13 [[ 9.96242996e-01 8.65322718e-02 3.47270242e-03 1.81963135e+02] [-8.65318323e-02 9.96249048e-01 -2.76889992e-04 -8.31757224e+00] [-3.48363640e-03 -2.46495884e-05 9.99993932e-01 -1.13247529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.140281693 meters Centerline goodness [0,1] 0.9994084840290688 Centerline is valid? [True, True] Translation: X:181.99, Y:-8.32, Z:-1.13 [[ 9.96488856e-01 8.36242502e-02 4.11629386e-03 1.81991999e+02] [-8.36236086e-02 9.96497358e-01 -3.28034409e-04 -8.31932921e+00] [-4.12930759e-03 -1.73367145e-05 9.99991474e-01 -1.13072323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.170281693 meters Centerline goodness [0,1] 0.9995370175512437 Centerline is valid? [True, True] Translation: X:182.02, Y:-8.32, Z:-1.13 [[ 9.96585819e-01 8.24929321e-02 3.40898994e-03 1.82020923e+02] [-8.24924857e-02 9.96591650e-01 -2.71575729e-04 -8.32149365e+00] [-3.41977399e-03 -1.05675342e-05 9.99994153e-01 -1.13155742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.200281693 meters Centerline goodness [0,1] 0.9990871069783241 Centerline is valid? [True, True] Translation: X:182.05, Y:-8.32, Z:-1.13 [[ 9.96645756e-01 8.17523033e-02 3.71452722e-03 1.82050703e+02] [-8.17517688e-02 9.96652678e-01 -2.95775941e-04 -8.32038518e+00] [-3.72627386e-03 -8.88533417e-06 9.99993057e-01 -1.13095938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.230281693 meters Centerline goodness [0,1] 0.9992060937667632 Centerline is valid? [True, True] Translation: X:182.08, Y:-8.32, Z:-1.13 [[ 9.96641673e-01 8.17411125e-02 4.87502650e-03 1.82080832e+02] [-8.17401923e-02 9.96653596e-01 -3.88042194e-04 -8.32032947e+00] [-4.89043170e-03 -1.17465827e-05 9.99988042e-01 -1.12979946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.260281693 meters Centerline goodness [0,1] 0.9991520573209252 Centerline is valid? [True, True] Translation: X:182.11, Y:-8.32, Z:-1.13 [[ 9.96661605e-01 8.14534938e-02 5.56538860e-03 1.82110772e+02] [-8.14522908e-02 9.96677143e-01 -4.42854813e-04 -8.32070441e+00] [-5.58296768e-03 -1.19372616e-05 9.99984415e-01 -1.12791919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.290281693 meters Centerline goodness [0,1] 0.9990276897061932 Centerline is valid? [True, True] Translation: X:182.14, Y:-8.32, Z:-1.13 [[ 9.96682062e-01 8.11836973e-02 5.83736443e-03 1.82140843e+02] [-8.11823700e-02 9.96699156e-01 -4.64361425e-04 -8.32167438e+00] [-5.85579478e-03 -1.10703767e-05 9.99982855e-01 -1.12776540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.320281693 meters Centerline goodness [0,1] 0.9991658289307638 Centerline is valid? [True, True] Translation: X:182.17, Y:-8.32, Z:-1.13 [[ 9.96780108e-01 8.00921191e-02 3.82990856e-03 1.82171071e+02] [-8.00915400e-02 9.96787466e-01 -3.04603198e-04 -8.32219379e+00] [-3.84200117e-03 -3.12086653e-06 9.99992619e-01 -1.13166509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.350281693 meters Centerline goodness [0,1] 0.9991715523833801 Centerline is valid? [True, True] Translation: X:182.20, Y:-8.32, Z:-1.13 [[ 9.96681387e-01 8.13171903e-02 3.70501609e-03 1.82200736e+02] [-8.13166566e-02 9.96688273e-01 -2.94697287e-04 -8.31624531e+00] [-3.71671005e-03 -7.56022002e-06 9.99993093e-01 -1.13112000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.380281693 meters Centerline goodness [0,1] 0.9991715523833801 Centerline is valid? [True, True] Translation: X:182.23, Y:-8.32, Z:-1.13 [[ 9.96683275e-01 8.12940482e-02 3.70502717e-03 1.82229811e+02] [-8.12935149e-02 9.96690161e-01 -2.94557898e-04 -8.31851073e+00] [-3.71670993e-03 -7.61375157e-06 9.99993093e-01 -1.13125084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.410281693 meters Centerline goodness [0,1] 0.9993678621096549 Centerline is valid? [True, True] Translation: X:182.26, Y:-8.31, Z:-1.13 [[ 9.96494651e-01 8.35456926e-02 4.30445282e-03 1.82258226e+02] [-8.35449942e-02 9.96503947e-01 -3.42101916e-04 -8.31220529e+00] [-4.31798537e-03 -1.87127571e-05 9.99990677e-01 -1.13095245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.440281693 meters Centerline goodness [0,1] 0.999446360887526 Centerline is valid? [True, True] Translation: X:182.29, Y:-8.31, Z:-1.13 [[ 9.96296929e-01 8.58671678e-02 4.38836830e-03 1.82286473e+02] [-8.58664657e-02 9.96306594e-01 -3.48510768e-04 -8.30648417e+00] [-4.40208590e-03 -2.95934680e-05 9.99990310e-01 -1.13070977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.470281693 meters Centerline goodness [0,1] 0.9993667145149033 Centerline is valid? [True, True] Translation: X:182.32, Y:-8.30, Z:-1.13 [[ 9.96095591e-01 8.81651628e-02 4.52521990e-03 1.82315873e+02] [-8.81644410e-02 9.96105869e-01 -3.59125226e-04 -8.30370754e+00] [-4.53926044e-03 -4.12404291e-05 9.99989697e-01 -1.13097810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.500281693 meters Centerline goodness [0,1] 0.9994713693647974 Centerline is valid? [True, True] Translation: X:182.34, Y:-8.29, Z:-1.13 [[ 9.95880905e-01 9.05066208e-02 5.45664653e-03 1.82344814e+02] [-9.05056081e-02 9.95895852e-01 -4.32737058e-04 -8.29341255e+00] [-5.47341721e-03 -6.29025399e-05 9.99985019e-01 -1.12931097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.530281693 meters Centerline goodness [0,1] 0.9995306165991039 Centerline is valid? [True, True] Translation: X:182.37, Y:-8.29, Z:-1.13 [[ 9.95809779e-01 9.12793586e-02 5.56442719e-03 1.82373310e+02] [-9.12783194e-02 9.95825323e-01 -4.40969260e-04 -8.29319852e+00] [-5.58144890e-03 -6.87900608e-05 9.99984421e-01 -1.12951968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.560281693 meters Centerline goodness [0,1] 0.999409345005801 Centerline is valid? [True, True] Translation: X:182.40, Y:-8.28, Z:-1.13 [[ 9.95704199e-01 9.24755205e-02 4.62888400e-03 1.82401985e+02] [-9.24748151e-02 9.95714956e-01 -3.66644924e-04 -8.28437254e+00] [-4.64295471e-03 -6.29853023e-05 9.99989219e-01 -1.13199442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.590281693 meters Centerline goodness [0,1] 0.9994220395581813 Centerline is valid? [True, True] Translation: X:182.43, Y:-8.28, Z:-1.13 [[ 9.95697248e-01 9.25840379e-02 3.89699403e-03 1.82431150e+02] [-9.25835396e-02 9.95704872e-01 -3.08479571e-04 -8.28403071e+00] [-3.90881623e-03 -5.36452415e-05 9.99992359e-01 -1.13372741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.620281693 meters Centerline goodness [0,1] 0.999366152545954 Centerline is valid? [True, True] Translation: X:182.46, Y:-8.28, Z:-1.13 [[ 9.95731090e-01 9.22377095e-02 3.43519929e-03 1.82458960e+02] [-9.22373206e-02 9.95737015e-01 -2.71799667e-04 -8.28174804e+00] [-3.44562526e-03 -4.62141990e-05 9.99994063e-01 -1.13499564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.650281693 meters Centerline goodness [0,1] 0.9994917838387261 Centerline is valid? [True, True] Translation: X:182.49, Y:-8.28, Z:-1.14 [[ 9.95983198e-01 8.94983404e-02 2.74166929e-03 1.82488553e+02] [-8.94980826e-02 9.95986971e-01 -2.16832077e-04 -8.27914446e+00] [-2.75007300e-03 -2.94130394e-05 9.99996218e-01 -1.13624277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.680281693 meters Centerline goodness [0,1] 0.9994482875694946 Centerline is valid? [True, True] Translation: X:182.52, Y:-8.28, Z:-1.14 [[ 9.96119082e-01 8.79857306e-02 2.29893466e-03 1.82517694e+02] [-8.79855457e-02 9.96121735e-01 -1.81669976e-04 -8.28058565e+00] [-2.30600315e-03 -2.13080911e-05 9.99997341e-01 -1.13676603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71028169299998 meters Centerline goodness [0,1] 0.9995139989434759 Centerline is valid? [True, True] Translation: X:182.55, Y:-8.28, Z:-1.14 [[ 9.96444626e-01 8.42308324e-02 1.80923922e-03 1.82545808e+02] [-8.42307117e-02 9.96446269e-01 -1.42932011e-04 -8.28359839e+00] [-1.81484896e-03 -9.96967286e-06 9.99998353e-01 -1.13818485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.740281693 meters Centerline goodness [0,1] 0.9995126499131245 Centerline is valid? [True, True] Translation: X:182.57, Y:-8.29, Z:-1.14 [[ 9.96698772e-01 8.11719865e-02 1.63264218e-03 1.82572856e+02] [-8.11718841e-02 9.96700110e-01 -1.28954296e-04 -8.28875338e+00] [-1.63772212e-03 -3.99605339e-06 9.99998659e-01 -1.13880664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.770281693 meters Centerline goodness [0,1] 0.9992748832348739 Centerline is valid? [True, True] Translation: X:182.60, Y:-8.29, Z:-1.14 [[ 9.96954068e-01 7.79770636e-02 1.47121466e-03 1.82600997e+02] [-7.79769772e-02 9.96955153e-01 -1.16115388e-04 -8.29356624e+00] [-1.47578937e-03 1.04083711e-06 9.99998911e-01 -1.13874135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.800281693 meters Centerline goodness [0,1] 0.9986308583464981 Centerline is valid? [True, True] Translation: X:182.63, Y:-8.30, Z:-1.14 [[ 9.97426924e-01 7.16654987e-02 1.89390639e-03 1.82627980e+02] [-7.16653443e-02 9.97428722e-01 -1.49358066e-04 -8.30105908e+00] [-1.89974045e-03 1.32463031e-05 9.99998195e-01 -1.13793399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.830281693 meters Centerline goodness [0,1] 0.9980379332897319 Centerline is valid? [True, True] Translation: X:182.65, Y:-8.31, Z:-1.14 [[ 9.97626432e-01 6.88330843e-02 1.87298487e-03 1.82654676e+02] [-6.88329285e-02 9.97628190e-01 -1.47580676e-04 -8.31011083e+00] [-1.87870094e-03 1.83073495e-05 9.99998235e-01 -1.13928466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.860281693 meters Centerline goodness [0,1] 0.9979880980113938 Centerline is valid? [True, True] Translation: X:182.68, Y:-8.31, Z:-1.14 [[ 9.97812783e-01 6.60758417e-02 1.90604558e-03 1.82683105e+02] [-6.60756756e-02 9.97814603e-01 -1.50073289e-04 -8.31431229e+00] [-1.91179633e-03 2.38017971e-05 9.99998172e-01 -1.13860306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.890281693 meters Centerline goodness [0,1] 0.9973091510053606 Centerline is valid? [True, True] Translation: X:182.71, Y:-8.32, Z:-1.14 [[ 9.98021231e-01 6.28139721e-02 2.83338774e-03 1.82712385e+02] [-6.28135925e-02 9.98025252e-01 -2.22838677e-04 -8.31794295e+00] [-2.84178990e-03 4.44224673e-05 9.99995961e-01 -1.13744302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.920281693 meters Centerline goodness [0,1] 0.996464785452698 Centerline is valid? [True, True] Translation: X:182.74, Y:-8.32, Z:-1.14 [[ 9.98065691e-01 6.20781162e-02 3.34416479e-03 1.82740460e+02] [-6.20775837e-02 9.98071292e-01 -2.62917892e-04 -8.32322310e+00] [-3.35403632e-03 5.48116583e-05 9.99994374e-01 -1.13734066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.950281693 meters Centerline goodness [0,1] 0.9970162069335623 Centerline is valid? [True, True] Translation: X:182.77, Y:-8.32, Z:-1.14 [[ 9.98097048e-01 6.16099161e-02 2.54965788e-03 1.82770500e+02] [-6.16096051e-02 9.98100304e-01 -2.00413836e-04 -8.32462329e+00] [-2.55716178e-03 4.29490429e-05 9.99996730e-01 -1.13830332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.980281693 meters Centerline goodness [0,1] 0.99706838996833 Centerline is valid? [True, True] Translation: X:182.80, Y:-8.33, Z:-1.14 [[ 9.98121678e-01 6.12304371e-02 1.98739628e-03 1.82799518e+02] [-6.12302473e-02 9.98123656e-01 -1.56251114e-04 -8.32692226e+00] [-1.99323457e-03 3.42688587e-05 9.99998013e-01 -1.13913720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.010281693 meters Centerline goodness [0,1] 0.9968840038416391 Centerline is valid? [True, True] Translation: X:182.83, Y:-8.33, Z:-1.14 [[ 9.98165485e-01 6.05266706e-02 1.47898276e-03 1.82827924e+02] [-6.05265648e-02 9.98166580e-01 -1.16263021e-04 -8.32996452e+00] [-1.48330818e-03 2.65319890e-05 9.99998900e-01 -1.14054904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.040281693 meters Centerline goodness [0,1] 0.9965559760193886 Centerline is valid? [True, True] Translation: X:182.86, Y:-8.34, Z:-1.14 [[ 9.98243588e-01 5.92205117e-02 1.63421554e-03 1.82856432e+02] [-5.92203810e-02 9.98244925e-01 -1.28339714e-04 -8.33640767e+00] [-1.63894772e-03 3.13354298e-05 9.99998656e-01 -1.14050950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.070281693 meters Centerline goodness [0,1] 0.9965348940395952 Centerline is valid? [True, True] Translation: X:182.89, Y:-8.34, Z:-1.14 [[ 9.98265690e-01 5.88252479e-02 2.28088076e-03 1.82885767e+02] [-5.88249925e-02 9.98268295e-01 -1.78964577e-04 -8.34054893e+00] [-2.28745858e-03 4.44814036e-05 9.99997383e-01 -1.13896833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.100281693 meters Centerline goodness [0,1] 0.9959465801937109 Centerline is valid? [True, True] Translation: X:182.92, Y:-8.34, Z:-1.14 [[ 9.98322650e-01 5.78171454e-02 3.01065912e-03 1.82915709e+02] [-5.78166961e-02 9.98327188e-01 -2.36127686e-04 -8.34381817e+00] [-3.01927508e-03 6.16652536e-05 9.99995440e-01 -1.13682277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.130281693 meters Centerline goodness [0,1] 0.9953597266457151 Centerline is valid? [True, True] Translation: X:182.94, Y:-8.35, Z:-1.14 [[ 9.98377083e-01 5.68482802e-02 3.38730194e-03 1.82943412e+02] [-5.68477061e-02 9.98382826e-01 -2.65590750e-04 -8.35195831e+00] [-3.39692246e-03 7.25993730e-05 9.99994228e-01 -1.13667250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.160281693 meters Centerline goodness [0,1] 0.9953517987901942 Centerline is valid? [True, True] Translation: X:182.97, Y:-8.36, Z:-1.14 [[ 9.98429998e-01 5.58935621e-02 3.66715396e-03 1.82973201e+02] [-5.58928834e-02 9.98436730e-01 -2.87387045e-04 -8.35586686e+00] [-3.67748430e-03 8.19680380e-05 9.99993235e-01 -1.13558183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.190281693 meters Centerline goodness [0,1] 0.9952672014941212 Centerline is valid? [True, True] Translation: X:183.00, Y:-8.36, Z:-1.14 [[ 9.98577424e-01 5.31863346e-02 3.78709854e-03 1.83002512e+02] [-5.31855916e-02 9.98584601e-01 -2.96702440e-04 -8.36055813e+00] [-3.79751880e-03 9.48612824e-05 9.99992785e-01 -1.13547074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.220281693 meters Centerline goodness [0,1] 0.9943101604278075 Centerline is valid? [True, True] Translation: X:183.03, Y:-8.37, Z:-1.14 [[ 9.98653735e-01 5.17465333e-02 3.60748385e-03 1.83031634e+02] [-5.17458501e-02 9.98660246e-01 -2.82541382e-04 -8.36741003e+00] [-3.61727125e-03 9.54886875e-05 9.99993453e-01 -1.13636615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.250281693 meters Centerline goodness [0,1] 0.9928248290373488 Centerline is valid? [True, True] Translation: X:183.06, Y:-8.38, Z:-1.14 [[ 9.98709971e-01 5.07005540e-02 2.80123457e-03 1.83059916e+02] [-5.07001380e-02 9.98713897e-01 -2.19392791e-04 -8.37759022e+00] [-2.80875523e-03 7.70867890e-05 9.99996052e-01 -1.13841272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.280281693 meters Centerline goodness [0,1] 0.9956175213216181 Centerline is valid? [True, True] Translation: X:183.09, Y:-8.38, Z:-1.14 [[ 9.98741653e-01 5.01502584e-02 2.50378192e-04 1.83090358e+02] [-5.01502551e-02 9.98741684e-01 -1.96005865e-05 -8.38056450e+00] [-2.51046112e-04 7.01939190e-06 9.99999968e-01 -1.14223685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.310281693 meters Centerline goodness [0,1] 0.9949670843066468 Centerline is valid? [True, True] Translation: X:183.12, Y:-8.39, Z:-1.14 [[ 9.98717068e-01 5.06371581e-02 -3.09552155e-04 1.83118894e+02] [-5.06371531e-02 9.98717116e-01 2.40701016e-05 -8.38572863e+00] [ 3.10373877e-04 -8.36438142e-06 9.99999952e-01 -1.14308304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.340281693 meters Centerline goodness [0,1] 0.9950805008944544 Centerline is valid? [True, True] Translation: X:183.15, Y:-8.38, Z:-1.14 [[ 9.98644750e-01 5.20376928e-02 8.61331370e-04 1.83148728e+02] [-5.20376539e-02 9.98645121e-01 -6.74808337e-05 -8.38453941e+00] [-8.63675917e-04 2.25677166e-05 9.99999627e-01 -1.14014371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.370281693 meters Centerline goodness [0,1] 0.9944958027839762 Centerline is valid? [True, True] Translation: X:183.18, Y:-8.39, Z:-1.14 [[ 9.98600639e-01 5.28388719e-02 2.19495625e-03 1.83177606e+02] [-5.28386219e-02 9.98603050e-01 -1.71782231e-04 -8.38764527e+00] [-2.20096678e-03 5.55633828e-05 9.99997576e-01 -1.13810686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.400281693 meters Centerline goodness [0,1] 0.9948637832516533 Centerline is valid? [True, True] Translation: X:183.21, Y:-8.39, Z:-1.14 [[ 9.98522529e-01 5.41783591e-02 4.17901178e-03 1.83207786e+02] [-5.41774657e-02 9.98531269e-01 -3.26780729e-04 -8.38801140e+00] [-4.19057838e-03 9.98896529e-05 9.99991214e-01 -1.13523869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.430281693 meters Centerline goodness [0,1] 0.9937118942918446 Centerline is valid? [True, True] Translation: X:183.24, Y:-8.40, Z:-1.13 [[ 9.98520669e-01 5.41698141e-02 4.70168055e-03 1.83237196e+02] [-5.41686839e-02 9.98531731e-01 -3.67488080e-04 -8.39506835e+00] [-4.71468398e-03 1.12260596e-04 9.99988880e-01 -1.13460289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46028169299998 meters Centerline goodness [0,1] 0.9932 Centerline is valid? [True, True] Translation: X:183.27, Y:-8.40, Z:-1.13 [[ 9.98539634e-01 5.37741641e-02 5.19016206e-03 1.83266578e+02] [-5.37727818e-02 9.98553115e-01 -4.05605414e-04 -8.39958541e+00] [-5.20446358e-03 1.25923629e-04 9.99986449e-01 -1.13323728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.490281693 meters Centerline goodness [0,1] 0.9946475978419115 Centerline is valid? [True, True] Translation: X:183.30, Y:-8.40, Z:-1.13 [[ 9.98596615e-01 5.26951384e-02 5.29373987e-03 1.83297239e+02] [-5.26936855e-02 9.98610637e-01 -4.13651961e-04 -8.39608457e+00] [-5.30818240e-03 1.34124784e-04 9.99985903e-01 -1.13256348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.520281693 meters Centerline goodness [0,1] 0.9945456878850103 Centerline is valid? [True, True] Translation: X:183.33, Y:-8.40, Z:-1.13 [[ 9.98614956e-01 5.23567063e-02 5.19085842e-03 1.83327725e+02] [-5.23553048e-02 9.98628438e-01 -4.05612822e-04 -8.39946254e+00] [-5.20497539e-03 1.33282055e-04 9.99986445e-01 -1.13282948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.550281693 meters Centerline goodness [0,1] 0.9918638896540034 Centerline is valid? [True, True] Translation: X:183.36, Y:-8.41, Z:-1.13 [[ 9.98600529e-01 5.26064515e-02 5.43543115e-03 1.83357266e+02] [-5.26049184e-02 9.98615312e-01 -4.24735028e-04 -8.41408256e+00] [-5.45024858e-03 1.38210211e-04 9.99985138e-01 -1.13286375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.580281693 meters Centerline goodness [0,1] 0.9937928850416975 Centerline is valid? [True, True] Translation: X:183.39, Y:-8.41, Z:-1.13 [[ 9.98545218e-01 5.36019543e-02 5.85477289e-03 1.83388149e+02] [-5.36001923e-02 9.98562372e-01 -4.57559901e-04 -8.41169501e+00] [-5.87088201e-03 1.43077298e-04 9.99982756e-01 -1.13236343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.610281693 meters Centerline goodness [0,1] 0.9952786246612466 Centerline is valid? [True, True] Translation: X:183.42, Y:-8.41, Z:-1.13 [[ 9.98480032e-01 5.48183778e-02 5.70712163e-03 1.83418757e+02] [-5.48167234e-02 9.98496333e-01 -4.46020718e-04 -8.40738724e+00] [-5.72299015e-03 1.32497073e-04 9.99983615e-01 -1.13205444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.640281693 meters Centerline goodness [0,1] 0.9941676843390744 Centerline is valid? [True, True] Translation: X:183.45, Y:-8.41, Z:-1.13 [[ 9.98365457e-01 5.69226706e-02 5.12097890e-03 1.83448191e+02] [-5.69213663e-02 9.98378584e-01 -4.00205186e-04 -8.41233900e+00] [-5.13545641e-03 1.08057917e-04 9.99986808e-01 -1.13278292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.670281693 meters Centerline goodness [0,1] 0.9965192810733271 Centerline is valid? [True, True] Translation: X:183.48, Y:-8.41, Z:-1.14 [[ 9.98055755e-01 6.22505788e-02 3.09432754e-03 1.83477814e+02] [-6.22501282e-02 9.98060551e-01 -2.41805500e-04 -8.40630826e+00] [-3.10337878e-03 4.87130851e-05 9.99995183e-01 -1.13581251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.700281693 meters Centerline goodness [0,1] 0.9972912445344994 Centerline is valid? [True, True] Translation: X:183.51, Y:-8.40, Z:-1.14 [[ 9.97859928e-01 6.53302346e-02 2.74315020e-03 1.83508155e+02] [-6.53298922e-02 9.97863698e-01 -2.14360424e-04 -8.40011121e+00] [-2.75129422e-03 3.46919706e-05 9.99996215e-01 -1.13666944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.730281693 meters Centerline goodness [0,1] 0.9982802912889323 Centerline is valid? [True, True] Translation: X:183.54, Y:-8.39, Z:-1.14 [[ 9.97424037e-01 7.16934257e-02 2.31148423e-03 1.83536336e+02] [-7.16931995e-02 9.97426715e-01 -1.80665891e-04 -8.39240173e+00] [-2.31848868e-03 1.44828020e-05 9.99997312e-01 -1.13834500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.760281693 meters Centerline goodness [0,1] 0.9986362377208123 Centerline is valid? [True, True] Translation: X:183.57, Y:-8.39, Z:-1.14 [[ 9.97245671e-01 7.41371414e-02 2.18064193e-03 1.83565689e+02] [-7.41369462e-02 9.97248056e-01 -1.70299800e-04 -8.38857928e+00] [-2.18726647e-03 8.16460419e-06 9.99997608e-01 -1.13794110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.790281693 meters Centerline goodness [0,1] 0.9990494296577946 Centerline is valid? [True, True] Translation: X:183.59, Y:-8.39, Z:-1.14 [[ 9.97119220e-01 7.58217168e-02 2.08071154e-03 1.83594946e+02] [-7.58215430e-02 9.97121390e-01 -1.62409569e-04 -8.38684975e+00] [-2.08703616e-03 4.17894251e-06 9.99997822e-01 -1.13879273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.820281693 meters Centerline goodness [0,1] 0.9993222062187579 Centerline is valid? [True, True] Translation: X:183.62, Y:-8.38, Z:-1.14 [[ 9.96989286e-01 7.75139440e-02 1.98819074e-03 1.83622957e+02] [-7.75137887e-02 9.96991268e-01 -1.55134149e-04 -8.38240039e+00] [-1.99423387e-03 5.54887164e-07 9.99998012e-01 -1.14017411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.850281693 meters Centerline goodness [0,1] 0.9991533316399966 Centerline is valid? [True, True] Translation: X:183.65, Y:-8.38, Z:-1.14 [[ 9.96912303e-01 7.84921197e-02 2.20149633e-03 1.83652461e+02] [-7.84919321e-02 9.96914734e-01 -1.71600392e-04 -8.38045076e+00] [-2.20817341e-03 -1.72915868e-06 9.99997562e-01 -1.13906654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.880281693 meters Centerline goodness [0,1] 0.9992827609484431 Centerline is valid? [True, True] Translation: X:183.68, Y:-8.38, Z:-1.14 [[ 9.96823203e-01 7.96048140e-02 2.56444466e-03 1.83680976e+02] [-7.96045635e-02 9.96826501e-01 -1.99761696e-04 -8.37774499e+00] [-2.57220839e-03 -5.01440392e-06 9.99996692e-01 -1.13930000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.910281693 meters Centerline goodness [0,1] 0.999210059992741 Centerline is valid? [True, True] Translation: X:183.71, Y:-8.37, Z:-1.14 [[ 9.96630753e-01 8.19348097e-02 3.71866183e-03 1.83710191e+02] [-8.19343004e-02 9.96637691e-01 -2.89337198e-04 -8.37218388e+00] [-3.72986533e-03 -1.63236059e-05 9.99993044e-01 -1.13640372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.940281693 meters Centerline goodness [0,1] 0.9992390615091947 Centerline is valid? [True, True] Translation: X:183.74, Y:-8.37, Z:-1.14 [[ 9.96548604e-01 8.29066629e-02 4.16712714e-03 1.83738946e+02] [-8.29060328e-02 9.96557316e-01 -3.24018890e-04 -8.36992450e+00] [-4.17964436e-03 -2.25794070e-05 9.99991265e-01 -1.13505021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.970281693 meters Centerline goodness [0,1] 0.99937689349176 Centerline is valid? [True, True] Translation: X:183.77, Y:-8.36, Z:-1.14 [[ 9.96450116e-01 8.40997081e-02 3.79534520e-03 1.83768050e+02] [-8.40991947e-02 9.96457344e-01 -2.94957187e-04 -8.36498187e+00] [-3.80670541e-03 -2.52753515e-05 9.99992754e-01 -1.13574440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.000281693 meters Centerline goodness [0,1] 0.9994504797734286 Centerline is valid? [True, True] Translation: X:183.80, Y:-8.36, Z:-1.14 [[ 9.96441094e-01 8.42538666e-02 2.53622172e-03 1.83795578e+02] [-8.42536378e-02 9.96444321e-01 -1.97077715e-04 -8.36483164e+00] [-2.54380829e-03 -1.73095726e-05 9.99996764e-01 -1.13883046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.030281693 meters Centerline goodness [0,1] 0.9993636247931781 Centerline is valid? [True, True] Translation: X:183.82, Y:-8.37, Z:-1.14 [[ 9.96473946e-01 8.38799313e-02 1.95738604e-03 1.83823768e+02] [-8.38797944e-02 9.96475869e-01 -1.52073761e-04 -8.36679227e+00] [-1.96324389e-03 -1.26475976e-05 9.99998073e-01 -1.14122786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.060281693 meters Centerline goodness [0,1] 0.9996399983058744 Centerline is valid? [True, True] Translation: X:183.85, Y:-8.37, Z:-1.14 [[ 9.96608019e-01 8.22570350e-02 2.49718618e-03 1.83851909e+02] [-8.22568078e-02 9.96611148e-01 -1.93719673e-04 -8.37058253e+00] [-2.50465839e-03 -1.23479839e-05 9.99996863e-01 -1.14001969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.090281693 meters Centerline goodness [0,1] 0.9994286318908052 Centerline is valid? [True, True] Translation: X:183.88, Y:-8.37, Z:-1.14 [[ 9.96702528e-01 8.10986499e-02 2.66079539e-03 1.83880185e+02] [-8.10983882e-02 9.96706079e-01 -2.06280897e-04 -8.37393930e+00] [-2.66876004e-03 -1.01855255e-05 9.99996439e-01 -1.13926354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.120281693 meters Centerline goodness [0,1] 0.9994662909354852 Centerline is valid? [True, True] Translation: X:183.91, Y:-8.38, Z:-1.14 [[ 9.96840831e-01 7.93781268e-02 2.73318542e-03 1.83907951e+02] [-7.93778445e-02 9.96844578e-01 -2.11786639e-04 -8.37753022e+00] [-2.74137229e-03 -5.83679797e-06 9.99996242e-01 -1.13820665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.150281693 meters Centerline goodness [0,1] 0.9993417560250557 Centerline is valid? [True, True] Translation: X:183.94, Y:-8.38, Z:-1.14 [[ 9.96852150e-01 7.92283664e-02 2.94242024e-03 1.83935373e+02] [-7.92280391e-02 9.96856492e-01 -2.27820532e-04 -8.37884702e+00] [-2.95122057e-03 -6.01879919e-06 9.99995645e-01 -1.13663534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.180281693 meters Centerline goodness [0,1] 0.9993031211724458 Centerline is valid? [True, True] Translation: X:183.96, Y:-8.38, Z:-1.14 [[ 9.96846738e-01 7.92646440e-02 3.70085467e-03 1.83963805e+02] [-7.92641274e-02 9.96853608e-01 -2.86289160e-04 -8.37962560e+00] [-3.71190294e-03 -7.95860034e-06 9.99993111e-01 -1.13542802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21028169299998 meters Centerline goodness [0,1] 0.9991723084106199 Centerline is valid? [True, True] Translation: X:183.99, Y:-8.38, Z:-1.13 [[ 9.96912363e-01 7.83510279e-02 5.18227695e-03 1.83992007e+02] [-7.83500049e-02 9.96925833e-01 -4.00444066e-04 -8.38133825e+00] [-5.19772097e-03 -6.82378433e-06 9.99986492e-01 -1.13212282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.240281693 meters Centerline goodness [0,1] 0.9989929929089917 Centerline is valid? [True, True] Translation: X:184.02, Y:-8.39, Z:-1.13 [[ 9.97030132e-01 7.68389898e-02 5.16589951e-03 1.84020861e+02] [-7.68379543e-02 9.97043514e-01 -3.98909694e-04 -8.38537805e+00] [-5.18127842e-03 7.87834574e-07 9.99986577e-01 -1.13248404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.270281693 meters Centerline goodness [0,1] 0.9991727473273375 Centerline is valid? [True, True] Translation: X:184.05, Y:-8.39, Z:-1.13 [[ 9.97146454e-01 7.53446615e-02 4.70449018e-03 1.84049424e+02] [-7.53437870e-02 9.97157551e-01 -3.63096536e-04 -8.39048379e+00] [-4.71847529e-03 7.60631691e-06 9.99988868e-01 -1.13395521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.300281693 meters Centerline goodness [0,1] 0.9991727473273375 Centerline is valid? [True, True] Translation: X:184.08, Y:-8.39, Z:-1.13 [[ 9.97149638e-01 7.53025053e-02 4.70450553e-03 1.84077673e+02] [-7.53016312e-02 9.97160736e-01 -3.62897599e-04 -8.39256815e+00] [-4.71847529e-03 7.60626962e-06 9.99988868e-01 -1.13408230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.330281693 meters Centerline goodness [0,1] 0.998621596403427 Centerline is valid? [True, True] Translation: X:184.11, Y:-8.40, Z:-1.14 [[ 9.97334307e-01 7.28906552e-02 3.35136747e-03 1.84105719e+02] [-7.28901983e-02 9.97339938e-01 -2.58433489e-04 -8.39969250e+00] [-3.36129002e-03 1.34627456e-05 9.99994351e-01 -1.13656081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.360281693 meters Centerline goodness [0,1] 0.9986623351805848 Centerline is valid? [True, True] Translation: X:184.13, Y:-8.40, Z:-1.14 [[ 9.97398317e-01 7.19881686e-02 3.78173780e-03 1.84133733e+02] [-7.19875811e-02 9.97405486e-01 -2.91433259e-04 -8.40416423e+00] [-3.79290577e-03 1.84368857e-05 9.99992807e-01 -1.13604503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.390281693 meters Centerline goodness [0,1] 0.9980300629523361 Centerline is valid? [True, True] Translation: X:184.16, Y:-8.41, Z:-1.13 [[ 9.97609997e-01 6.89022326e-02 5.17448864e-03 1.84160804e+02] [-6.89010930e-02 9.97623416e-01 -3.98383183e-04 -8.41258746e+00] [-5.18964053e-03 4.09031228e-05 9.99986533e-01 -1.13394921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.420281693 meters Centerline goodness [0,1] 0.9978819392963802 Centerline is valid? [True, True] Translation: X:184.19, Y:-8.42, Z:-1.13 [[ 9.97754101e-01 6.67564104e-02 5.50784428e-03 1.84188766e+02] [-6.67550883e-02 9.97769301e-01 -4.23740293e-04 -8.41956440e+00] [-5.52384532e-03 5.51119847e-05 9.99984742e-01 -1.13404156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.450281693 meters Centerline goodness [0,1] 0.9974294684056383 Centerline is valid? [True, True] Translation: X:184.22, Y:-8.43, Z:-1.14 [[ 9.97886657e-01 6.47901339e-02 4.94557741e-03 1.84216797e+02] [-6.47890447e-02 9.97898910e-01 -3.80300987e-04 -8.42719220e+00] [-4.95982606e-03 5.90780444e-05 9.99987698e-01 -1.13518092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.480281693 meters Centerline goodness [0,1] 0.9974631630129167 Centerline is valid? [True, True] Translation: X:184.25, Y:-8.43, Z:-1.14 [[ 9.98050562e-01 6.23028954e-02 3.66392079e-03 1.84245801e+02] [-6.23022811e-02 9.98057286e-01 -2.81669929e-04 -8.43126020e+00] [-3.67435169e-03 5.28502080e-05 9.99993248e-01 -1.13754269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.510281693 meters Centerline goodness [0,1] 0.9967993556318623 Centerline is valid? [True, True] Translation: X:184.27, Y:-8.44, Z:-1.14 [[ 9.98129685e-01 6.10647328e-02 2.86883923e-03 1.84273407e+02] [-6.10643512e-02 9.98133807e-01 -2.20482249e-04 -8.44080376e+00] [-2.87694911e-03 4.48860721e-05 9.99995861e-01 -1.13942573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.540281693 meters Centerline goodness [0,1] 0.9976200004212389 Centerline is valid? [True, True] Translation: X:184.30, Y:-8.45, Z:-1.14 [[ 9.98231161e-01 5.94161369e-02 2.06698381e-03 1.84302856e+02] [-5.94159354e-02 9.98233300e-01 -1.58801304e-04 -8.44560095e+00] [-2.07276743e-03 3.57086333e-05 9.99997851e-01 -1.14010351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.570281693 meters Centerline goodness [0,1] 0.9975914913570774 Centerline is valid? [True, True] Translation: X:184.33, Y:-8.45, Z:-1.14 [[ 9.98251950e-01 5.90646584e-02 2.09998494e-03 1.84331812e+02] [-5.90644497e-02 9.98254158e-01 -1.61315164e-04 -8.44928670e+00] [-2.10584673e-03 3.69987218e-05 9.99997782e-01 -1.13923332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.600281693 meters Centerline goodness [0,1] 0.9967502619032348 Centerline is valid? [True, True] Translation: X:184.36, Y:-8.46, Z:-1.14 [[ 9.98266427e-01 5.88041044e-02 2.49343916e-03 1.84359797e+02] [-5.88038097e-02 9.98269540e-01 -1.91426749e-04 -8.45866851e+00] [-2.50038104e-03 4.44711752e-05 9.99996873e-01 -1.13895109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.630281693 meters Centerline goodness [0,1] 0.9974309153713299 Centerline is valid? [True, True] Translation: X:184.39, Y:-8.45, Z:-1.14 [[ 9.98221025e-01 5.95319310e-02 3.27635478e-03 1.84390360e+02] [-5.95314266e-02 9.98226400e-01 -2.51350979e-04 -8.45468455e+00] [-3.28550725e-03 5.58577575e-05 9.99994601e-01 -1.13693148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.660281693 meters Centerline goodness [0,1] 0.9967931136334867 Centerline is valid? [True, True] Translation: X:184.42, Y:-8.46, Z:-1.14 [[ 9.98150812e-01 6.07124624e-02 2.99214907e-03 1.84418912e+02] [-6.07120470e-02 9.98155296e-01 -2.29531863e-04 -8.46224875e+00] [-3.00056488e-03 4.74479209e-05 9.99995497e-01 -1.13807485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.690281693 meters Centerline goodness [0,1] 0.9976629060700704 Centerline is valid? [True, True] Translation: X:184.45, Y:-8.46, Z:-1.14 [[ 9.98082451e-01 6.18690905e-02 1.90691893e-03 1.84449194e+02] [-6.18689239e-02 9.98084272e-01 -1.46280317e-04 -8.45715714e+00] [-1.91231602e-03 2.80207949e-05 9.99998171e-01 -1.14009006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.720281693 meters Centerline goodness [0,1] 0.9978765006412548 Centerline is valid? [True, True] Translation: X:184.48, Y:-8.46, Z:-1.15 [[ 9.98002070e-01 6.31807695e-02 2.41370867e-04 1.84477690e+02] [-6.31807668e-02 9.98002099e-01 -1.85877292e-05 -8.46134285e+00] [-2.42063019e-04 3.30059573e-06 9.99999971e-01 -1.14569830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.750281693 meters Centerline goodness [0,1] 0.9976424030648761 Centerline is valid? [True, True] Translation: X:184.51, Y:-8.46, Z:-1.14 [[ 9.97989735e-01 6.33746393e-02 3.79297409e-04 1.84506388e+02] [-6.33746328e-02 9.97989807e-01 -2.92381800e-05 -8.46258353e+00] [-3.80387907e-04 5.14156956e-06 9.99999928e-01 -1.14494540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.780281693 meters Centerline goodness [0,1] 0.9979072422102905 Centerline is valid? [True, True] Translation: X:184.54, Y:-8.46, Z:-1.14 [[ 9.97900571e-01 6.47480207e-02 1.46422190e-03 1.84536141e+02] [-6.47479257e-02 9.97901645e-01 -1.12251699e-04 -8.45751787e+00] [-1.46841752e-03 1.72107034e-05 9.99998922e-01 -1.14097208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.810281693 meters Centerline goodness [0,1] 0.9983348632666567 Centerline is valid? [True, True] Translation: X:184.56, Y:-8.46, Z:-1.14 [[ 9.97832918e-01 6.57774926e-02 1.67019249e-03 1.84564948e+02] [-6.57773705e-02 9.97834315e-01 -1.27997567e-04 -8.45742714e+00] [-1.67499474e-03 1.78593153e-05 9.99998597e-01 -1.14016148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.840281693 meters Centerline goodness [0,1] 0.9983835977710664 Centerline is valid? [True, True] Translation: X:184.59, Y:-8.46, Z:-1.14 [[ 9.97805327e-01 6.62020683e-02 1.34751159e-03 1.84593669e+02] [-6.62019892e-02 9.97806237e-01 -1.03249270e-04 -8.45855462e+00] [-1.35139078e-03 1.38147234e-05 9.99999087e-01 -1.14045086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.870281693 meters Centerline goodness [0,1] 0.9986581469648562 Centerline is valid? [True, True] Translation: X:184.62, Y:-8.46, Z:-1.14 [[ 9.97817699e-01 6.60237159e-02 8.41657402e-04 1.84621434e+02] [-6.60236849e-02 9.97818054e-01 -6.45654204e-05 -8.46158403e+00] [-8.44083800e-04 8.85519607e-06 9.99999644e-01 -1.14186254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.900281693 meters Centerline goodness [0,1] 0.9981673663349457 Centerline is valid? [True, True] Translation: X:184.65, Y:-8.47, Z:-1.14 [[ 9.97901983e-01 6.47369692e-02 8.70235508e-04 1.84650431e+02] [-6.47369356e-02 9.97902362e-01 -6.66644592e-05 -8.46615770e+00] [-8.72725724e-04 1.01882160e-05 9.99999619e-01 -1.14216290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.930281693 meters Centerline goodness [0,1] 0.9979691995261466 Centerline is valid? [True, True] Translation: X:184.68, Y:-8.47, Z:-1.14 [[ 9.97924490e-01 6.43553086e-02 2.25994596e-03 1.84679007e+02] [-6.43550825e-02 9.97927048e-01 -1.72709530e-04 -8.46868404e+00] [-2.26637598e-03 2.69120609e-05 9.99997431e-01 -1.14065638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96028169299998 meters Centerline goodness [0,1] 0.9980850656396945 Centerline is valid? [True, True] Translation: X:184.71, Y:-8.48, Z:-1.14 [[ 9.97953004e-01 6.39246802e-02 1.85373489e-03 1.84707326e+02] [-6.39245274e-02 9.97954726e-01 -1.41590428e-04 -8.47663649e+00] [-1.85899462e-03 2.28014655e-05 9.99998272e-01 -1.14234016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.990281693 meters Centerline goodness [0,1] 0.9984122216023688 Centerline is valid? [True, True] Translation: X:184.74, Y:-8.47, Z:-1.14 [[ 9.97992681e-01 6.33144415e-02 1.37456077e-03 1.84736276e+02] [-6.33143569e-02 9.97993628e-01 -1.05027290e-04 -8.47264187e+00] [-1.37845263e-03 1.77870353e-05 9.99999050e-01 -1.14137707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.020281693 meters Centerline goodness [0,1] 0.9982618280481601 Centerline is valid? [True, True] Translation: X:184.76, Y:-8.48, Z:-1.14 [[ 9.98006243e-01 6.31070502e-02 1.01918294e-03 1.84764357e+02] [-6.31070037e-02 9.98006764e-01 -7.78019356e-05 -8.47881306e+00] [-1.02206131e-03 1.33292362e-05 9.99999478e-01 -1.14278326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.050281693 meters Centerline goodness [0,1] 0.9982934074963656 Centerline is valid? [True, True] Translation: X:184.79, Y:-8.49, Z:-1.14 [[ 9.97925132e-01 6.43786853e-02 9.03457875e-04 1.84791725e+02] [-6.43786491e-02 9.97925541e-01 -6.90746351e-05 -8.48917300e+00] [-9.06030622e-04 1.07679168e-05 9.99999589e-01 -1.14444905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.080281693 meters Centerline goodness [0,1] 0.9986541624831771 Centerline is valid? [True, True] Translation: X:184.82, Y:-8.49, Z:-1.14 [[ 9.97861392e-01 6.53570437e-02 1.04828909e-03 1.84821230e+02] [-6.53569957e-02 9.97861943e-01 -8.00068647e-05 -8.48631159e+00] [-1.05127680e-03 1.13227359e-05 9.99999447e-01 -1.14145985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.110281693 meters Centerline goodness [0,1] 0.9984982761902748 Centerline is valid? [True, True] Translation: X:184.85, Y:-8.49, Z:-1.14 [[ 9.97769868e-01 6.67207732e-02 1.90506860e-03 1.84849147e+02] [-6.67206176e-02 9.97771686e-01 -1.45180778e-04 -8.49195242e+00] [-1.91051008e-03 1.77496522e-05 9.99998175e-01 -1.13910942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.140281693 meters Centerline goodness [0,1] 0.9989887498419922 Centerline is valid? [True, True] Translation: X:184.88, Y:-8.49, Z:-1.14 [[ 9.97686278e-01 6.79443090e-02 2.37933070e-03 1.84877331e+02] [-6.79440704e-02 9.97689115e-01 -1.81091943e-04 -8.49481436e+00] [-2.38613651e-03 1.90115346e-05 9.99997153e-01 -1.13875370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.170281693 meters Centerline goodness [0,1] 0.9991746905089408 Centerline is valid? [True, True] Translation: X:184.91, Y:-8.49, Z:-1.14 [[ 9.97458893e-01 7.12093081e-02 2.23398384e-03 1.84906221e+02] [-7.12091061e-02 9.97461395e-01 -1.69947787e-04 -8.49494621e+00] [-2.24041450e-03 1.04359395e-05 9.99997490e-01 -1.13774435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.200281693 meters Centerline goodness [0,1] 0.999299526649827 Centerline is valid? [True, True] Translation: X:184.93, Y:-8.50, Z:-1.14 [[ 9.97349648e-01 7.27015293e-02 2.85767858e-03 1.84933807e+02] [-7.27012054e-02 9.97353742e-01 -2.17225507e-04 -8.49921638e+00] [-2.86590905e-03 8.89310566e-06 9.99995893e-01 -1.13806613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.230281693 meters Centerline goodness [0,1] 0.9992588514314755 Centerline is valid? [True, True] Translation: X:184.96, Y:-8.50, Z:-1.14 [[ 9.97260883e-01 7.38862013e-02 3.39992688e-03 1.84962186e+02] [-7.38857505e-02 9.97266679e-01 -2.58190128e-04 -8.50068069e+00] [-3.40971047e-03 6.27676684e-06 9.99994187e-01 -1.13611802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.260281693 meters Centerline goodness [0,1] 0.9994459597681554 Centerline is valid? [True, True] Translation: X:184.99, Y:-8.51, Z:-1.14 [[ 9.97201594e-01 7.47557566e-02 7.47453335e-04 1.84989608e+02] [-7.47557349e-02 9.97201874e-01 -5.69467961e-05 -8.50785710e+00] [-7.49618967e-04 9.11012464e-07 9.99999719e-01 -1.14115208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.290281693 meters Centerline goodness [0,1] 0.999468548712825 Centerline is valid? [True, True] Translation: X:185.02, Y:-8.51, Z:-1.14 [[ 9.97195747e-01 7.48336564e-02 -7.52500109e-04 1.85017073e+02] [-7.48336349e-02 9.97196031e-01 5.67587989e-05 -8.51292693e+00] [ 7.54637590e-04 -2.87314456e-07 9.99999715e-01 -1.14436807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.320281693 meters Centerline goodness [0,1] 0.9994053812992418 Centerline is valid? [True, True] Translation: X:185.05, Y:-8.52, Z:-1.14 [[ 9.97189366e-01 7.49203195e-02 -5.61269751e-04 1.85045136e+02] [-7.49203076e-02 9.97189523e-01 4.22973004e-05 -8.52001650e+00] [ 5.62861243e-04 -1.27915743e-07 9.99999842e-01 -1.14270255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.350281693 meters Centerline goodness [0,1] 0.9994527813440532 Centerline is valid? [True, True] Translation: X:185.07, Y:-8.52, Z:-1.14 [[ 9.97144451e-01 7.55175948e-02 -1.92802232e-04 1.85072717e+02] [-7.55175934e-02 9.97144469e-01 1.43212716e-05 -8.52324899e+00] [ 1.93333187e-04 2.79584006e-07 9.99999981e-01 -1.14321244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.380281693 meters Centerline goodness [0,1] 0.9994522741157387 Centerline is valid? [True, True] Translation: X:185.10, Y:-8.53, Z:-1.14 [[ 9.97063870e-01 7.65742935e-02 -1.29991797e-04 1.85101743e+02] [-7.65742929e-02 9.97063878e-01 9.63521897e-06 -8.52624454e+00] [ 1.30347936e-04 3.47101243e-07 9.99999992e-01 -1.14276582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.410281693 meters Centerline goodness [0,1] 0.9994064023743905 Centerline is valid? [True, True] Translation: X:185.13, Y:-8.53, Z:-1.14 [[ 9.96950157e-01 7.80361414e-02 -8.63409568e-04 1.85130189e+02] [-7.80361143e-02 9.96950531e-01 6.50483858e-05 -8.52876730e+00] [ 8.65852752e-04 2.52712929e-06 9.99999625e-01 -1.14413000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.440281693 meters Centerline goodness [0,1] 0.999658688510602 Centerline is valid? [True, True] Translation: X:185.16, Y:-8.53, Z:-1.15 [[ 9.96722347e-01 8.08931641e-02 -9.26894932e-04 1.85158470e+02] [-8.08931342e-02 9.96722778e-01 6.97450122e-05 -8.52972929e+00] [ 9.29499186e-04 5.46302387e-06 9.99999568e-01 -1.14533069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.470281693 meters Centerline goodness [0,1] 0.9997233924847866 Centerline is valid? [True, True] Translation: X:185.19, Y:-8.53, Z:-1.14 [[ 9.96466649e-01 8.39893189e-02 1.11320151e-04 1.85187220e+02] [-8.39893184e-02 9.96466655e-01 -8.59839414e-06 -8.52765049e+00] [-1.11648992e-04 -7.81690625e-07 9.99999994e-01 -1.14267680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.500281693 meters Centerline goodness [0,1] 0.999662147894759 Centerline is valid? [True, True] Translation: X:185.21, Y:-8.53, Z:-1.14 [[ 9.96321630e-01 8.56888995e-02 7.88970701e-04 1.85214762e+02] [-8.56888790e-02 9.96321942e-01 -5.97866829e-05 -8.52652280e+00] [-7.91191876e-04 -8.03924957e-06 9.99999687e-01 -1.14170969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.530281693 meters Centerline goodness [0,1] 0.9994304638555488 Centerline is valid? [True, True] Translation: X:185.24, Y:-8.52, Z:-1.14 [[ 9.96153836e-01 8.76129021e-02 1.23036096e-03 1.85242835e+02] [-8.76128541e-02 9.96154596e-01 -9.29453609e-05 -8.52422724e+00] [-1.23377294e-03 -1.52075576e-05 9.99999239e-01 -1.14102115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.560281693 meters Centerline goodness [0,1] 0.9995122778743798 Centerline is valid? [True, True] Translation: X:185.27, Y:-8.53, Z:-1.14 [[ 9.96004212e-01 8.92961657e-02 1.34304730e-03 1.85270907e+02] [-8.92961103e-02 9.96005118e-01 -1.01350364e-04 -8.53087736e+00] [-1.34673218e-03 -1.89835101e-05 9.99999093e-01 -1.13981444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.590281693 meters Centerline goodness [0,1] 0.9994040143887954 Centerline is valid? [True, True] Translation: X:185.30, Y:-8.53, Z:-1.14 [[ 9.95739902e-01 9.21858397e-02 1.95408003e-03 1.85298854e+02] [-9.21857281e-02 9.95741819e-01 -1.47299194e-04 -8.52639720e+00] [-1.95933810e-03 -3.34666052e-05 9.99998080e-01 -1.13997168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.620281693 meters Centerline goodness [0,1] 0.9992593062874315 Centerline is valid? [True, True] Translation: X:185.33, Y:-8.53, Z:-1.14 [[ 9.95684736e-01 9.27412688e-02 3.31111176e-03 1.85326391e+02] [-9.27409527e-02 9.95690240e-01 -2.49207210e-04 -8.52681569e+00] [-3.31995345e-03 -5.89438439e-05 9.99994487e-01 -1.13819121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.650281693 meters Centerline goodness [0,1] 0.9991083749071223 Centerline is valid? [True, True] Translation: X:185.36, Y:-8.53, Z:-1.13 [[ 9.95666469e-01 9.28479072e-02 5.24868454e-03 1.85355382e+02] [-9.28471167e-02 9.95680299e-01 -3.94599587e-04 -8.52961258e+00] [-5.26264954e-03 -9.44356490e-05 9.99986148e-01 -1.13442233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.680281693 meters Centerline goodness [0,1] 0.999091331727315 Centerline is valid? [True, True] Translation: X:185.38, Y:-8.53, Z:-1.13 [[ 9.95632280e-01 9.32433941e-02 4.69394732e-03 1.85383492e+02] [-9.32427672e-02 9.95643341e-01 -3.52700201e-04 -8.53090754e+00] [-4.70638436e-03 -8.65169324e-05 9.99988921e-01 -1.13481935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71028169299998 meters Centerline goodness [0,1] 0.9987889089556996 Centerline is valid? [True, True] Translation: X:185.41, Y:-8.52, Z:-1.14 [[ 9.95372654e-01 9.60761533e-02 1.62872651e-03 1.85412115e+02] [-9.60760815e-02 9.95373986e-01 -1.22421337e-04 -8.52390441e+00] [-1.63295377e-03 -3.46268098e-05 9.99998666e-01 -1.14066328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.740281693 meters Centerline goodness [0,1] 0.9984190556492412 Centerline is valid? [True, True] Translation: X:185.44, Y:-8.52, Z:-1.14 [[ 9.95136360e-01 9.85060132e-02 4.36220326e-04 1.85442041e+02] [-9.85060083e-02 9.95136456e-01 -3.28194925e-05 -8.52164706e+00] [-4.37331666e-04 -1.03104527e-05 9.99999904e-01 -1.14353086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.770281693 meters Centerline goodness [0,1] 0.9988069622275719 Centerline is valid? [True, True] Translation: X:185.47, Y:-8.53, Z:-1.14 [[ 9.94891466e-01 1.00949580e-01 3.90772146e-04 1.85470855e+02] [-1.00949576e-01 9.94891543e-01 -2.94584658e-05 -8.52670347e+00] [-3.91749723e-04 -1.01403062e-05 9.99999923e-01 -1.14284840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.800281693 meters Centerline goodness [0,1] 0.9961986822098328 Centerline is valid? [True, True] Translation: X:185.50, Y:-8.51, Z:-1.14 [[ 9.94498918e-01 1.04731810e-01 1.77470317e-03 1.85501007e+02] [-1.04731739e-01 9.94500500e-01 -1.33169251e-04 -8.51134399e+00] [-1.77889024e-03 -5.34310732e-05 9.99998416e-01 -1.14195280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.830281693 meters Centerline goodness [0,1] 0.9942319432456898 Centerline is valid? [True, True] Translation: X:185.53, Y:-8.51, Z:-1.14 [[ 9.94387453e-01 1.05791345e-01 1.33580176e-03 1.85529847e+02] [-1.05791306e-01 9.94388349e-01 -1.00249785e-04 -8.50820243e+00] [-1.33891127e-03 -4.16290839e-05 9.99999103e-01 -1.14266529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.860281693 meters Centerline goodness [0,1] 0.9945778302881978 Centerline is valid? [True, True] Translation: X:185.56, Y:-8.51, Z:-1.14 [[ 9.94312205e-01 1.06503057e-01 5.81486958e-04 1.85557816e+02] [-1.06503050e-01 9.94312375e-01 -4.37609383e-05 -8.51303896e+00] [-5.82840352e-04 -1.84180996e-05 9.99999830e-01 -1.14481916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.890281693 meters Centerline goodness [0,1] 0.9938462844289776 Centerline is valid? [True, True] Translation: X:185.59, Y:-8.52, Z:-1.15 [[ 9.94263262e-01 1.06959052e-01 5.71498742e-04 1.85586444e+02] [-1.06959044e-01 9.94263426e-01 -4.29433261e-05 -8.51833280e+00] [-5.72813475e-04 -1.84299878e-05 9.99999836e-01 -1.14580860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.920281693 meters Centerline goodness [0,1] 0.9958801656384687 Centerline is valid? [True, True] Translation: X:185.61, Y:-8.53, Z:-1.14 [[ 9.94281429e-01 1.06767144e-01 2.28412670e-03 1.85614277e+02] [-1.06767033e-01 9.94284050e-01 -1.70985077e-04 -8.53052181e+00] [-2.28932633e-03 -7.38621436e-05 9.99997377e-01 -1.14270782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.950281693 meters Centerline goodness [0,1] 0.9968480284312067 Centerline is valid? [True, True] Translation: X:185.64, Y:-8.54, Z:-1.14 [[ 9.94287731e-01 1.06656602e-01 4.03453299e-03 1.85642647e+02] [-1.06656255e-01 9.94295908e-01 -3.01684308e-04 -8.53801055e+00] [-4.04369626e-03 -1.30347173e-04 9.99991816e-01 -1.13965086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.980281693 meters Centerline goodness [0,1] 0.995104865594801 Centerline is valid? [True, True] Translation: X:185.67, Y:-8.53, Z:-1.14 [[ 9.94179123e-01 1.07586791e-01 5.74049950e-03 1.85670991e+02] [-1.07586106e-01 9.94195678e-01 -4.28860324e-04 -8.53381795e+00] [-5.75331949e-03 -1.91234008e-04 9.99983431e-01 -1.13609179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.010281693 meters Centerline goodness [0,1] 0.9962251346651397 Centerline is valid? [True, True] Translation: X:185.70, Y:-8.54, Z:-1.14 [[ 9.94065070e-01 1.08668930e-01 5.06964015e-03 1.85699418e+02] [-1.08668411e-01 9.94077981e-01 -3.78434628e-04 -8.53969038e+00] [-5.08074173e-03 -1.74721096e-04 9.99987078e-01 -1.13784198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.040281693 meters Centerline goodness [0,1] 0.9955024086626594 Centerline is valid? [True, True] Translation: X:185.73, Y:-8.54, Z:-1.14 [[ 9.93798231e-01 1.11191878e-01 1.20121136e-03 1.85727712e+02] [-1.11191850e-01 9.93798956e-01 -8.97762617e-05 -8.53843814e+00] [-1.20374499e-03 -4.43454243e-05 9.99999275e-01 -1.14449490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.070281693 meters Centerline goodness [0,1] 0.9948218286342309 Centerline is valid? [True, True] Translation: X:185.76, Y:-8.54, Z:-1.15 [[ 9.93601498e-01 1.12941891e-01 -4.39723737e-04 1.85757141e+02] [-1.12941888e-01 9.93601595e-01 3.26152597e-05 -8.53872016e+00] [ 4.40593835e-04 1.72566580e-05 9.99999903e-01 -1.14722230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.100281693 meters Centerline goodness [0,1] 0.9934273703079319 Centerline is valid? [True, True] Translation: X:185.79, Y:-8.54, Z:-1.15 [[ 9.93404945e-01 1.14657795e-01 -4.52383631e-04 1.85787158e+02] [-1.14657792e-01 9.93405048e-01 3.36005194e-05 -8.53835841e+00] [ 4.53252744e-04 1.84903859e-05 9.99999897e-01 -1.14770044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.130281693 meters Centerline goodness [0,1] 0.9924427841470222 Centerline is valid? [True, True] Translation: X:185.82, Y:-8.54, Z:-1.14 [[ 9.93051507e-01 1.17663860e-01 1.98013062e-03 1.85817571e+02] [-1.17663799e-01 9.93053477e-01 -1.47549180e-04 -8.53921895e+00] [-1.98373681e-03 -8.64657567e-05 9.99998029e-01 -1.14264590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.160281693 meters Centerline goodness [0,1] 0.9810244667769156 Centerline is valid? [True, True] Translation: X:185.85, Y:-8.53, Z:-1.14 [[ 9.92913426e-01 1.18795470e-01 3.25046509e-03 1.85846391e+02] [-1.18795313e-01 9.92918735e-01 -2.42193452e-04 -8.52912091e+00] [-3.25621918e-03 -1.45662887e-04 9.99994688e-01 -1.14112642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.190281693 meters Centerline goodness [0,1] 0.9810244667769156 Centerline is valid? [True, True] Translation: X:185.87, Y:-8.53, Z:-1.14 [[ 9.92921081e-01 1.18731469e-01 3.25047853e-03 1.85873842e+02] [-1.18731312e-01 9.92926390e-01 -2.42012983e-04 -8.53102428e+00] [-3.25622047e-03 -1.45633788e-04 9.99994688e-01 -1.14124988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.220281693 meters Centerline goodness [0,1] 0.9867635935792923 Centerline is valid? [True, True] Translation: X:185.90, Y:-8.53, Z:-1.14 [[ 9.92752647e-01 1.20083000e-01 4.71755484e-03 1.85903636e+02] [-1.20082686e-01 9.92763832e-01 -3.50817232e-04 -8.53440941e+00] [-4.72554500e-03 -2.18221920e-04 9.99988811e-01 -1.13821234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.250281693 meters Centerline goodness [0,1] 0.9842451045010949 Centerline is valid? [True, True] Translation: X:185.93, Y:-8.53, Z:-1.14 [[ 9.92737141e-01 1.20203559e-01 4.90637559e-03 1.85931816e+02] [-1.20203222e-01 9.92749239e-01 -3.64720887e-04 -8.53290384e+00] [-4.91464138e-03 -2.27690180e-04 9.99987897e-01 -1.13825236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.280281693 meters Centerline goodness [0,1] 0.9830125770237191 Centerline is valid? [True, True] Translation: X:185.96, Y:-8.53, Z:-1.14 [[ 9.92798647e-01 1.19753488e-01 3.15406541e-03 1.85961119e+02] [-1.19753346e-01 9.92803647e-01 -2.34294372e-04 -8.53268399e+00] [-3.15942521e-03 -1.45102752e-04 9.99994998e-01 -1.14187618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.310281693 meters Centerline goodness [0,1] 0.9850173772993134 Centerline is valid? [True, True] Translation: X:185.99, Y:-8.53, Z:-1.14 [[ 9.92889845e-01 1.19007966e-01 2.61907935e-03 1.85990401e+02] [-1.19007866e-01 9.92893292e-01 -1.94451609e-04 -8.53456780e+00] [-2.62360761e-03 -1.18622016e-04 9.99996551e-01 -1.14358428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.340281693 meters Centerline goodness [0,1] 0.9904690990320179 Centerline is valid? [True, True] Translation: X:186.02, Y:-8.54, Z:-1.14 [[ 9.92991666e-01 1.18158222e-01 2.48717419e-03 1.86018502e+02] [-1.18158130e-01 9.92994775e-01 -1.84609558e-04 -8.54240301e+00] [-2.49156411e-03 -1.10564099e-04 9.99996890e-01 -1.14349933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.370281693 meters Centerline goodness [0,1] 0.9923723003085362 Centerline is valid? [True, True] Translation: X:186.05, Y:-8.55, Z:-1.14 [[ 9.93305491e-01 1.15456183e-01 3.75128923e-03 1.86046791e+02] [-1.15455955e-01 9.93312562e-01 -2.78151064e-04 -8.54617463e+00] [-3.75831698e-03 -1.56819701e-04 9.99992925e-01 -1.14046307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.400281693 meters Centerline goodness [0,1] 0.9917334458034585 Centerline is valid? [True, True] Translation: X:186.08, Y:-8.55, Z:-1.14 [[ 9.93475272e-01 1.13996089e-01 3.43148012e-03 1.86075002e+02] [-1.13995890e-01 9.93481189e-01 -2.54344411e-04 -8.54640927e+00] [-3.43810522e-03 -1.38489745e-04 9.99994080e-01 -1.14055076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.430281693 meters Centerline goodness [0,1] 0.9917373108702651 Centerline is valid? [True, True] Translation: X:186.10, Y:-8.55, Z:-1.14 [[ 9.93820875e-01 1.10930382e-01 3.81041996e-03 1.86103704e+02] [-1.10930114e-01 9.93828169e-01 -2.82219730e-04 -8.55152357e+00] [-3.81820943e-03 -1.42214461e-04 9.99992700e-01 -1.14119406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46028169299998 meters Centerline goodness [0,1] 0.993428698206098 Centerline is valid? [True, True] Translation: X:186.13, Y:-8.56, Z:-1.14 [[ 9.94075146e-01 1.08625633e-01 3.88282142e-03 1.86133252e+02] [-1.08625338e-01 9.94082720e-01 -2.87487468e-04 -8.55813655e+00] [-3.89107419e-03 -1.35988641e-04 9.99992420e-01 -1.14168337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.490281693 meters Centerline goodness [0,1] 0.9938119077802368 Centerline is valid? [True, True] Translation: X:186.16, Y:-8.56, Z:-1.14 [[ 9.94327314e-01 1.06262047e-01 4.64432065e-03 1.86162126e+02] [-1.06261599e-01 9.94338149e-01 -3.43809824e-04 -8.56372440e+00] [-4.65455913e-03 -1.51653440e-04 9.99989156e-01 -1.14052791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.520281693 meters Centerline goodness [0,1] 0.9960038261239239 Centerline is valid? [True, True] Translation: X:186.19, Y:-8.57, Z:-1.14 [[ 9.94661303e-01 1.03079685e-01 4.84474115e-03 1.86191319e+02] [-1.03079160e-01 9.94673091e-01 -3.58592280e-04 -8.57405887e+00] [-4.85589723e-03 -1.42713982e-04 9.99988200e-01 -1.13964939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.550281693 meters Centerline goodness [0,1] 0.9960991038481813 Centerline is valid? [True, True] Translation: X:186.22, Y:-8.58, Z:-1.14 [[ 9.94728215e-01 1.02424893e-01 4.99199460e-03 1.86218803e+02] [-1.02424328e-01 9.94740730e-01 -3.69414161e-04 -8.57824572e+00] [-5.00357756e-03 -1.43835002e-04 9.99987472e-01 -1.13944830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.580281693 meters Centerline goodness [0,1] 0.9980584618703484 Centerline is valid? [True, True] Translation: X:186.25, Y:-8.59, Z:-1.14 [[ 9.94645179e-01 1.03265734e-01 4.14206539e-03 1.86246372e+02] [-1.03265353e-01 9.94653796e-01 -3.06335928e-04 -8.59219195e+00] [-4.15155507e-03 -1.23036291e-04 9.99991375e-01 -1.14088191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.610281693 meters Centerline goodness [0,1] 0.9952693099132354 Centerline is valid? [True, True] Translation: X:186.28, Y:-8.58, Z:-1.14 [[ 9.94535572e-01 1.04336195e-01 3.59934991e-03 1.86275433e+02] [-1.04335914e-01 9.94542079e-01 -2.66063130e-04 -8.58198990e+00] [-3.60746496e-03 -1.10932217e-04 9.99993487e-01 -1.14266471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.640281693 meters Centerline goodness [0,1] 0.9944529657722775 Centerline is valid? [True, True] Translation: X:186.30, Y:-8.58, Z:-1.14 [[ 9.94428466e-01 1.05360661e-01 3.34013558e-03 1.86303243e+02] [-1.05360426e-01 9.94434070e-01 -2.46712055e-04 -8.58170184e+00] [-3.34753837e-03 -1.06580618e-04 9.99994391e-01 -1.14280756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.670281693 meters Centerline goodness [0,1] 0.9930019356348244 Centerline is valid? [True, True] Translation: X:186.33, Y:-8.58, Z:-1.14 [[ 9.94200056e-01 1.07479573e-01 3.79345647e-03 1.86332559e+02] [-1.07479286e-01 9.94207285e-01 -2.79948405e-04 -8.57848694e+00] [-3.80157079e-03 -1.29393275e-04 9.99992766e-01 -1.14145799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.700281693 meters Centerline goodness [0,1] 0.9920578853852247 Centerline is valid? [True, True] Translation: X:186.36, Y:-8.58, Z:-1.14 [[ 9.94115900e-01 1.08229727e-01 4.46135737e-03 1.86361599e+02] [-1.08229339e-01 9.94125898e-01 -3.29073147e-04 -8.57852420e+00] [-4.47076640e-03 -1.55712909e-04 9.99989994e-01 -1.14057767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.730281693 meters Centerline goodness [0,1] 0.9903141028358272 Centerline is valid? [True, True] Translation: X:186.39, Y:-8.58, Z:-1.14 [[ 9.94060674e-01 1.08690288e-01 5.45880393e-03 1.86389046e+02] [-1.08689715e-01 9.94075643e-01 -4.02355156e-04 -8.57854020e+00] [-5.47019613e-03 -1.93350406e-04 9.99985020e-01 -1.13930137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.760281693 meters Centerline goodness [0,1] 0.989563607288642 Centerline is valid? [True, True] Translation: X:186.42, Y:-8.58, Z:-1.14 [[ 9.94110548e-01 1.08229022e-01 5.54047463e-03 1.86417448e+02] [-1.08228427e-01 9.94125968e-01 -4.08046921e-04 -8.57988623e+00] [-5.55209222e-03 -1.93993104e-04 9.99984568e-01 -1.13904485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.790281693 meters Centerline goodness [0,1] 0.996600748262961 Centerline is valid? [True, True] Translation: X:186.45, Y:-8.60, Z:-1.14 [[ 9.94182495e-01 1.07552714e-01 5.79490720e-03 1.86445109e+02] [-1.07552053e-01 9.94199363e-01 -4.26528240e-04 -8.59685817e+00] [-5.80716732e-03 -1.99207255e-04 9.99983118e-01 -1.13958180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.820281693 meters Centerline goodness [0,1] 0.9970003829298387 Centerline is valid? [True, True] Translation: X:186.47, Y:-8.59, Z:-1.14 [[ 9.94325295e-01 1.06264686e-01 5.00241115e-03 1.86473494e+02] [-1.06264178e-01 9.94337865e-01 -3.67981330e-04 -8.59470919e+00] [-5.01319025e-03 -1.65683967e-04 9.99987420e-01 -1.14125271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.850281693 meters Centerline goodness [0,1] 0.9968594164456234 Centerline is valid? [True, True] Translation: X:186.50, Y:-8.59, Z:-1.14 [[ 9.94397025e-01 1.05625168e-01 4.22855948e-03 1.86501827e+02] [-1.05624800e-01 9.94406006e-01 -3.10845446e-04 -8.59361311e+00] [-4.23773805e-03 -1.37536962e-04 9.99991011e-01 -1.14223053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.880281693 meters Centerline goodness [0,1] 0.9930955120828538 Centerline is valid? [True, True] Translation: X:186.53, Y:-8.58, Z:-1.15 [[ 9.94423161e-01 1.05431007e-01 2.62285340e-03 1.86530148e+02] [-1.05430865e-01 9.94426616e-01 -1.92794888e-04 -8.57741214e+00] [-2.62856179e-03 -8.48099994e-05 9.99996542e-01 -1.14554954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.910281693 meters Centerline goodness [0,1] 0.996953412601024 Centerline is valid? [True, True] Translation: X:186.56, Y:-8.59, Z:-1.15 [[ 9.94421159e-01 1.05460425e-01 2.15814244e-03 1.86558113e+02] [-1.05460329e-01 9.94423498e-01 -1.58443883e-04 -8.58528359e+00] [-2.16281712e-03 -7.00384625e-05 9.99997659e-01 -1.14533620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.940281693 meters Centerline goodness [0,1] 0.9978488274000338 Centerline is valid? [True, True] Translation: X:186.59, Y:-8.59, Z:-1.15 [[ 9.94437384e-01 1.05309975e-01 2.02430873e-03 1.86585854e+02] [-1.05309890e-01 9.94439443e-01 -1.48601771e-04 -8.58675096e+00] [-2.02870170e-03 -6.54045747e-05 9.99997940e-01 -1.14546616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.970281693 meters Centerline goodness [0,1] 0.9972551626530568 Centerline is valid? [True, True] Translation: X:186.61, Y:-8.58, Z:-1.15 [[ 9.94484546e-01 1.04859590e-01 2.22585373e-03 1.86614491e+02] [-1.04859487e-01 9.94487034e-01 -1.63181599e-04 -8.57943551e+00] [-2.23069383e-03 -7.11203019e-05 9.99997509e-01 -1.14559894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.000281693 meters Centerline goodness [0,1] 0.997517030623289 Centerline is valid? [True, True] Translation: X:186.64, Y:-8.58, Z:-1.15 [[ 9.94599396e-01 1.03755013e-01 2.63432049e-03 1.86643121e+02] [-1.03754865e-01 9.94602881e-01 -1.92904241e-04 -8.57842371e+00] [-2.64011753e-03 -8.14611264e-05 9.99996512e-01 -1.14614604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.030281693 meters Centerline goodness [0,1] 0.9985636129359329 Centerline is valid? [True, True] Translation: X:186.67, Y:-8.57, Z:-1.15 [[ 9.94978869e-01 1.00060283e-01 2.23384300e-03 1.86673057e+02] [-1.00060168e-01 9.94981375e-01 -1.63453162e-04 -8.57217231e+00] [-2.23898735e-03 -6.08862629e-05 9.99997492e-01 -1.14808654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.060281693 meters Centerline goodness [0,1] 0.9992166659609604 Centerline is valid? [True, True] Translation: X:186.70, Y:-8.58, Z:-1.15 [[ 9.95257302e-01 9.72450698e-02 2.50971503e-03 1.86701653e+02] [-9.72449158e-02 9.95260465e-01 -1.83614173e-04 -8.57656961e+00] [-2.51567572e-03 -6.13136798e-05 9.99996834e-01 -1.14721504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.090281693 meters Centerline goodness [0,1] 0.9993840402710222 Centerline is valid? [True, True] Translation: X:186.73, Y:-8.58, Z:-1.15 [[ 9.95562980e-01 9.40545134e-02 2.84623297e-03 1.86729460e+02] [-9.40543027e-02 9.95567047e-01 -2.08092709e-04 -8.57991875e+00] [-2.85318781e-03 -6.05310605e-05 9.99995928e-01 -1.14692870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.120281693 meters Centerline goodness [0,1] 0.9997676579925651 Centerline is valid? [True, True] Translation: X:186.76, Y:-8.59, Z:-1.15 [[ 9.96241042e-01 8.65793063e-02 2.79449913e-03 1.86758077e+02] [-8.65790744e-02 9.96244961e-01 -2.04093863e-04 -8.58885901e+00] [-2.80167598e-03 -3.86184644e-05 9.99996075e-01 -1.14663338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.150281693 meters Centerline goodness [0,1] 0.9998310097169413 Centerline is valid? [True, True] Translation: X:186.79, Y:-8.59, Z:-1.15 [[ 9.96539155e-01 8.30566310e-02 3.36279177e-03 1.86786323e+02] [-8.30562754e-02 9.96544828e-01 -2.45526284e-04 -8.59433489e+00] [-3.37156533e-03 -3.46244035e-05 9.99994316e-01 -1.14549070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.180281693 meters Centerline goodness [0,1] 0.9999577381455498 Centerline is valid? [True, True] Translation: X:186.81, Y:-8.60, Z:-1.14 [[ 9.96921621e-01 7.82250515e-02 5.30306797e-03 1.86813440e+02] [-7.82241005e-02 9.96935725e-01 -3.86817238e-04 -8.60031597e+00] [-5.31707671e-03 -2.92012542e-05 9.99985864e-01 -1.14177844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21028169299998 meters Centerline goodness [0,1] 0.9998527121996381 Centerline is valid? [True, True] Translation: X:186.84, Y:-8.61, Z:-1.14 [[ 9.97087187e-01 7.60482836e-02 5.81379585e-03 1.86841799e+02] [-7.60471056e-02 9.97104136e-01 -4.23728690e-04 -8.60534937e+00] [-5.82918373e-03 -1.96278993e-05 9.99983010e-01 -1.14140593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.240281693 meters Centerline goodness [0,1] 0.9996818731310047 Centerline is valid? [True, True] Translation: X:186.87, Y:-8.61, Z:-1.14 [[ 9.97410519e-01 7.16906338e-02 5.71921008e-03 1.86868602e+02] [-7.16894237e-02 9.97426916e-01 -4.16563639e-04 -8.61449108e+00] [-5.73435779e-03 5.47808089e-06 9.99983558e-01 -1.14213135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.270281693 meters Centerline goodness [0,1] 0.9997260447179315 Centerline is valid? [True, True] Translation: X:186.90, Y:-8.62, Z:-1.14 [[ 9.97570244e-01 6.94558548e-02 5.43062971e-03 1.86896500e+02] [-6.94547322e-02 9.97585026e-01 -3.95249443e-04 -8.62041116e+00] [-5.44496727e-03 1.71061508e-05 9.99985176e-01 -1.14236714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.300281693 meters Centerline goodness [0,1] 0.9995969623690127 Centerline is valid? [True, True] Translation: X:186.92, Y:-8.63, Z:-1.14 [[ 9.97689293e-01 6.77250626e-02 5.42136316e-03 1.86924932e+02] [-6.77239199e-02 9.97704022e-01 -3.94281860e-04 -8.62581331e+00] [-5.43561859e-03 2.62148252e-05 9.99985227e-01 -1.14325975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.330281693 meters Centerline goodness [0,1] 0.9995550187527812 Centerline is valid? [True, True] Translation: X:186.95, Y:-8.63, Z:-1.14 [[ 9.97873585e-01 6.49734991e-02 5.17234329e-03 1.86953283e+02] [-6.49724231e-02 9.97886989e-01 -3.75956716e-04 -8.63490557e+00] [-5.18584130e-03 3.90975993e-05 9.99986553e-01 -1.14418172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.360281693 meters Centerline goodness [0,1] 0.9994499915383314 Centerline is valid? [True, True] Translation: X:186.98, Y:-8.64, Z:-1.14 [[ 9.97994630e-01 6.30631908e-02 5.45454311e-03 1.86982854e+02] [-6.30619667e-02 9.98009535e-01 -3.96289094e-04 -8.64096016e+00] [-5.46867729e-03 5.15201720e-05 9.99985045e-01 -1.14355904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.390281693 meters Centerline goodness [0,1] 0.9988680776541443 Centerline is valid? [True, True] Translation: X:187.01, Y:-8.65, Z:-1.14 [[ 9.98276215e-01 5.83386788e-02 6.41850279e-03 1.87012341e+02] [-5.83368868e-02 9.98296845e-01 -4.66207132e-04 -8.65248827e+00] [-6.43476899e-03 9.09680196e-05 9.99979293e-01 -1.14303188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.420281693 meters Centerline goodness [0,1] 0.9982077705946362 Centerline is valid? [True, True] Translation: X:187.04, Y:-8.66, Z:-1.14 [[ 9.98423896e-01 5.57913328e-02 6.08695480e-03 1.87042829e+02] [-5.57896738e-02 9.98442445e-01 -4.42142953e-04 -8.65933304e+00] [-6.10214178e-03 1.01856867e-04 9.99981377e-01 -1.14380121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.450281693 meters Centerline goodness [0,1] 0.9980633353196561 Centerline is valid? [True, True] Translation: X:187.07, Y:-8.67, Z:-1.14 [[ 9.98544474e-01 5.36602992e-02 5.43200376e-03 1.87073048e+02] [-5.36589462e-02 9.98559243e-01 -3.94612751e-04 -8.66507592e+00] [-5.44535260e-03 1.02562784e-04 9.99985169e-01 -1.14499001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.480281693 meters Centerline goodness [0,1] 0.9978495539421296 Centerline is valid? [True, True] Translation: X:187.10, Y:-8.68, Z:-1.15 [[ 9.98752472e-01 4.98357000e-02 3.14692211e-03 1.87102291e+02] [-4.98352270e-02 9.98757427e-01 -2.28596239e-04 -8.67864084e+00] [-3.15440409e-03 7.14834805e-05 9.99995022e-01 -1.14909385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.510281693 meters Centerline goodness [0,1] 0.9975901576966981 Centerline is valid? [True, True] Translation: X:187.13, Y:-8.68, Z:-1.15 [[ 9.98858639e-01 4.77143050e-02 2.18252057e-03 1.87131842e+02] [-4.77140723e-02 9.98861022e-01 -1.58600093e-04 -8.68488541e+00] [-2.18760222e-03 5.42821285e-05 9.99997606e-01 -1.15064353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.540281693 meters Centerline goodness [0,1] 0.996618963574117 Centerline is valid? [True, True] Translation: X:187.16, Y:-8.70, Z:-1.15 [[ 9.99004122e-01 4.45602438e-02 2.26890969e-03 1.87161340e+02] [-4.45599843e-02 9.99006697e-01 -1.64803976e-04 -8.69648016e+00] [-2.27399968e-03 6.35372708e-05 9.99997412e-01 -1.15042040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.570281693 meters Centerline goodness [0,1] 0.9964281131026222 Centerline is valid? [True, True] Translation: X:187.19, Y:-8.70, Z:-1.15 [[ 9.99040387e-01 4.37336313e-02 2.38223455e-03 1.87191451e+02] [-4.37333428e-02 9.99043225e-01 -1.73085811e-04 -8.70276067e+00] [-2.38752496e-03 6.87366356e-05 9.99997147e-01 -1.14995590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.600281693 meters Centerline goodness [0,1] 0.9960624893580794 Centerline is valid? [True, True] Translation: X:187.22, Y:-8.71, Z:-1.15 [[ 9.99077953e-01 4.28515268e-02 2.64397005e-03 1.87221136e+02] [-4.28511684e-02 9.99081448e-01 -1.92083290e-04 -8.71020962e+00] [-2.64977249e-03 7.86089742e-05 9.99996486e-01 -1.15000958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.630281693 meters Centerline goodness [0,1] 0.9942610279324877 Centerline is valid? [True, True] Translation: X:187.25, Y:-8.73, Z:-1.15 [[ 9.99194671e-01 3.99527649e-02 3.71294277e-03 1.87250171e+02] [-3.99520379e-02 9.99201562e-01 -2.69810347e-04 -8.72543693e+00] [-3.72075789e-03 1.21253431e-04 9.99993071e-01 -1.14745683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.660281693 meters Centerline goodness [0,1] 0.9934993201903467 Centerline is valid? [True, True] Translation: X:187.28, Y:-8.73, Z:-1.15 [[ 9.99237471e-01 3.87629803e-02 4.68061237e-03 1.87281855e+02] [-3.87618117e-02 9.99248421e-01 -3.40158124e-04 -8.73426619e+00] [-4.69028007e-03 1.58469728e-04 9.99988988e-01 -1.14577078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.690281693 meters Centerline goodness [0,1] 0.9949690897463227 Centerline is valid? [True, True] Translation: X:187.31, Y:-8.74, Z:-1.14 [[ 9.99234791e-01 3.86211076e-02 6.18411097e-03 1.87314496e+02] [-3.86190580e-02 9.99253904e-01 -4.50546615e-04 -8.73510669e+00] [-6.19689764e-03 2.11377312e-04 9.99980777e-01 -1.14347178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.720281693 meters Centerline goodness [0,1] 0.993332059204519 Centerline is valid? [True, True] Translation: X:187.34, Y:-8.75, Z:-1.14 [[ 9.99191151e-01 3.97793504e-02 5.88619776e-03 1.87344943e+02] [-3.97775083e-02 9.99208469e-01 -4.29734138e-04 -8.74623291e+00] [-5.89863320e-03 1.95248268e-04 9.99982584e-01 -1.14372240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.750281693 meters Centerline goodness [0,1] 0.9929700123811722 Centerline is valid? [True, True] Translation: X:187.37, Y:-8.75, Z:-1.14 [[ 9.99125061e-01 4.14059204e-02 5.88742591e-03 1.87374744e+02] [-4.14041018e-02 9.99142390e-01 -4.30501297e-04 -8.75220917e+00] [-5.90020209e-03 1.86361053e-04 9.99982576e-01 -1.14346043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.780281693 meters Centerline goodness [0,1] 0.9945262005515906 Centerline is valid? [True, True] Translation: X:187.41, Y:-8.75, Z:-1.14 [[ 9.98977464e-01 4.46895802e-02 6.84604734e-03 1.87406502e+02] [-4.46871972e-02 9.99000903e-01 -5.00727669e-04 -8.75338493e+00] [-6.86158479e-03 1.94284989e-04 9.99976440e-01 -1.14142941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.810281693 meters Centerline goodness [0,1] 0.9951579581647585 Centerline is valid? [True, True] Translation: X:187.44, Y:-8.76, Z:-1.14 [[ 9.98925512e-01 4.58461172e-02 6.77904635e-03 1.87438134e+02] [-4.58438039e-02 9.98948497e-01 -4.96314137e-04 -8.75675747e+00] [-6.79467223e-03 1.85003582e-04 9.99976899e-01 -1.14214083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.840281693 meters Centerline goodness [0,1] 0.9967767754775347 Centerline is valid? [True, True] Translation: X:187.47, Y:-8.76, Z:-1.15 [[ 9.98890053e-01 4.67865724e-02 5.44774020e-03 1.87470109e+02] [-4.67850887e-02 9.98904898e-01 -3.99545423e-04 -8.75699934e+00] [-5.46046773e-03 1.44228941e-04 9.99985081e-01 -1.14520063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.870281693 meters Centerline goodness [0,1] 0.9978861059509321 Centerline is valid? [True, True] Translation: X:187.50, Y:-8.77, Z:-1.15 [[ 9.98784539e-01 4.92698498e-02 1.38829913e-03 1.87499733e+02] [-4.92697557e-02 9.98785503e-01 -1.01968542e-04 -8.76523104e+00] [-1.39163702e-03 3.34434439e-05 9.99999031e-01 -1.15266470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.900281693 meters Centerline goodness [0,1] 0.9974571961349381 Centerline is valid? [True, True] Translation: X:187.53, Y:-8.77, Z:-1.15 [[ 9.98693829e-01 5.10826138e-02 1.09686153e-03 1.87530090e+02] [-5.10825566e-02 9.98694431e-01 -8.01111541e-05 -8.77268897e+00] [-1.09952179e-03 2.39760240e-05 9.99999395e-01 -1.15387777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.930281693 meters Centerline goodness [0,1] 0.9979354947439382 Centerline is valid? [True, True] Translation: X:187.56, Y:-8.77, Z:-1.15 [[ 9.98415456e-01 5.61426615e-02 3.81822701e-03 1.87560363e+02] [-5.61419968e-02 9.98422755e-01 -2.81141777e-04 -8.77336563e+00] [-3.82798878e-03 6.63334068e-05 9.99992671e-01 -1.14841057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96028169299998 meters Centerline goodness [0,1] 0.9984974349067336 Centerline is valid? [True, True] Translation: X:187.59, Y:-8.77, Z:-1.15 [[ 9.98224731e-01 5.93835275e-02 4.58069677e-03 1.87592710e+02] [-5.93826048e-02 9.98235239e-01 -3.37300174e-04 -8.77072152e+00] [-4.59264301e-03 6.46876692e-05 9.99989452e-01 -1.14688290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.990281693 meters Centerline goodness [0,1] 0.9992953084627048 Centerline is valid? [True, True] Translation: X:187.62, Y:-8.77, Z:-1.15 [[ 9.97791133e-01 6.63850526e-02 2.42478224e-03 1.87624175e+02] [-6.63848138e-02 9.97794079e-01 -1.78924565e-04 -8.76548719e+00] [-2.43131128e-03 1.75606276e-05 9.99997044e-01 -1.15180727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.020281693 meters Centerline goodness [0,1] 0.999555912705126 Centerline is valid? [True, True] Translation: X:187.65, Y:-8.76, Z:-1.15 [[ 9.97515132e-01 7.04409556e-02 1.27831806e-03 1.87653626e+02] [-7.04408925e-02 9.97515951e-01 -9.43565739e-05 -8.76277159e+00] [-1.28178922e-03 4.07624515e-06 9.99999179e-01 -1.15419271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.050281693 meters Centerline goodness [0,1] 0.9998310132865803 Centerline is valid? [True, True] Translation: X:187.68, Y:-8.76, Z:-1.16 [[ 9.97227868e-01 7.44071640e-02 3.91887591e-04 1.87683547e+02] [-7.44071584e-02 9.97227945e-01 -2.89568958e-05 -8.75883887e+00] [-3.92955858e-04 -2.82618580e-07 9.99999923e-01 -1.15550098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.080281693 meters Centerline goodness [0,1] 0.9999570372916309 Centerline is valid? [True, True] Translation: X:187.71, Y:-8.75, Z:-1.16 [[ 9.96731354e-01 8.07869009e-02 2.92036720e-04 1.87713823e+02] [-8.07868980e-02 9.96731396e-01 -2.16369386e-05 -8.74994286e+00] [-2.92830149e-04 -2.02652566e-06 9.99999957e-01 -1.15563660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.110281693 meters Centerline goodness [0,1] 0.9999570372916309 Centerline is valid? [True, True] Translation: X:187.74, Y:-8.75, Z:-1.16 [[ 9.96733207e-01 8.07640357e-02 2.92037181e-04 1.87742912e+02] [-8.07640329e-02 9.96733249e-01 -2.16307078e-05 -8.75204136e+00] [-2.92830152e-04 -2.02605571e-06 9.99999957e-01 -1.15576744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.140281693 meters Centerline goodness [0,1] 0.9998310275636287 Centerline is valid? [True, True] Translation: X:187.77, Y:-8.75, Z:-1.16 [[ 9.96502827e-01 8.35556513e-02 7.54226395e-04 1.87771567e+02] [-8.35556331e-02 9.96503112e-01 -5.57124085e-05 -8.74761851e+00] [-7.56244036e-04 -7.50229133e-06 9.99999714e-01 -1.15527383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.170281693 meters Centerline goodness [0,1] 0.999746589517253 Centerline is valid? [True, True] Translation: X:187.80, Y:-8.73, Z:-1.16 [[ 9.96178179e-01 8.73318421e-02 1.47847378e-03 1.87800916e+02] [-8.73317763e-02 9.96179275e-01 -1.09136919e-04 -8.73261604e+00] [-1.48235607e-03 -2.03979242e-05 9.99998901e-01 -1.15561148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.200281693 meters Centerline goodness [0,1] 0.9998301414072784 Centerline is valid? [True, True] Translation: X:187.83, Y:-8.73, Z:-1.15 [[ 9.96072003e-01 8.85279508e-02 1.83496759e-03 1.87829953e+02] [-8.85278519e-02 9.96073693e-01 -1.35197759e-04 -8.73178325e+00] [-1.83973173e-03 -2.77790371e-05 9.99998307e-01 -1.15424910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.230281693 meters Centerline goodness [0,1] 0.9996611318197222 Centerline is valid? [True, True] Translation: X:187.86, Y:-8.73, Z:-1.15 [[ 9.96003328e-01 8.92811478e-02 2.49956488e-03 1.87858484e+02] [-8.92809671e-02 9.96006463e-01 -1.83995188e-04 -8.73356907e+00] [-2.50601008e-03 -3.99037505e-05 9.99996859e-01 -1.15186990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.260281693 meters Centerline goodness [0,1] 0.9996579003634809 Centerline is valid? [True, True] Translation: X:187.89, Y:-8.74, Z:-1.14 [[ 9.96008022e-01 8.90839864e-02 5.66247099e-03 1.87886937e+02] [-8.90830587e-02 9.96024114e-01 -4.16338628e-04 -8.73587799e+00] [-5.67704675e-03 -8.97536225e-05 9.99983881e-01 -1.14492704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.290281693 meters Centerline goodness [0,1] 0.9995954434153093 Centerline is valid? [True, True] Translation: X:187.92, Y:-8.74, Z:-1.14 [[ 9.96072019e-01 8.82146698e-02 7.66193718e-03 1.87915304e+02] [-8.82129481e-02 9.96101480e-01 -5.63023302e-04 -8.73510589e+00] [-7.68173388e-03 -1.15070309e-04 9.99970488e-01 -1.14198919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.320281693 meters Centerline goodness [0,1] 0.999658243800329 Centerline is valid? [True, True] Translation: X:187.94, Y:-8.74, Z:-1.14 [[ 9.96272700e-01 8.59566871e-02 7.22183594e-03 1.87943687e+02] [-8.59551000e-02 9.96298871e-01 -5.30440511e-04 -8.73676513e+00] [-7.24070190e-03 -9.22902296e-05 9.99973782e-01 -1.14266848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.350281693 meters Centerline goodness [0,1] 0.999597517317347 Centerline is valid? [True, True] Translation: X:187.97, Y:-8.74, Z:-1.15 [[ 9.96405360e-01 8.44993127e-02 6.01869640e-03 1.87971891e+02] [-8.44981848e-02 9.96423535e-01 -4.41892251e-04 -8.73954642e+00] [-6.03451034e-03 -6.82651135e-05 9.99981790e-01 -1.14563056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.380281693 meters Centerline goodness [0,1] 0.9997877984084881 Centerline is valid? [True, True] Translation: X:188.00, Y:-8.74, Z:-1.15 [[ 9.96595724e-01 8.22785937e-02 5.21490302e-03 1.88000947e+02] [-8.22777173e-02 9.96609367e-01 -3.82730022e-04 -8.74432725e+00] [-5.22871169e-03 -4.76432132e-05 9.99986329e-01 -1.14725006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.410281693 meters Centerline goodness [0,1] 0.9997887130511949 Centerline is valid? [True, True] Translation: X:188.03, Y:-8.75, Z:-1.15 [[ 9.97056003e-01 7.65166192e-02 4.95325253e-03 1.88030187e+02] [-7.65157579e-02 9.97068306e-01 -3.63437223e-04 -8.75084464e+00] [-4.96654010e-03 -1.66346067e-05 9.99987667e-01 -1.14695836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.440281693 meters Centerline goodness [0,1] 0.999808900968235 Centerline is valid? [True, True] Translation: X:188.06, Y:-8.76, Z:-1.15 [[ 9.97297485e-01 7.33298083e-02 4.52388594e-03 1.88060459e+02] [-7.33290567e-02 9.97307745e-01 -3.32019427e-04 -8.75760650e+00] [-4.53605341e-03 -6.10148347e-07 9.99989712e-01 -1.14820092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.470281693 meters Centerline goodness [0,1] 0.99957400583612 Centerline is valid? [True, True] Translation: X:188.09, Y:-8.77, Z:-1.15 [[ 9.97833292e-01 6.56246162e-02 4.70446531e-03 1.88089573e+02] [-6.56237177e-02 9.97844381e-01 -3.45275246e-04 -8.77255531e+00] [-4.71698283e-03 3.58026320e-05 9.99988874e-01 -1.14793391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.500281693 meters Centerline goodness [0,1] 0.999202066228503 Centerline is valid? [True, True] Translation: X:188.12, Y:-8.78, Z:-1.15 [[ 9.98043861e-01 6.23300010e-02 4.83964638e-03 1.88120103e+02] [-6.23290110e-02 9.98055594e-01 -3.55257714e-04 -8.78003891e+00] [-4.85237936e-03 5.29124079e-05 9.99988226e-01 -1.14799606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.530281693 meters Centerline goodness [0,1] 0.9989178866963717 Centerline is valid? [True, True] Translation: X:188.15, Y:-8.79, Z:-1.15 [[ 9.98185968e-01 5.99901390e-02 5.09479837e-03 1.88151130e+02] [-5.99890108e-02 9.98198967e-01 -3.74108563e-04 -8.78556735e+00] [-5.10806530e-03 6.77980032e-05 9.99986951e-01 -1.14747385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.560281693 meters Centerline goodness [0,1] 0.9989326274442831 Centerline is valid? [True, True] Translation: X:188.18, Y:-8.79, Z:-1.15 [[ 9.98292807e-01 5.82566829e-02 4.19890557e-03 1.88182190e+02] [-5.82559011e-02 9.98301635e-01 -3.08367164e-04 -8.79338452e+00] [-4.20973875e-03 6.32296934e-05 9.99991137e-01 -1.15067674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.590281693 meters Centerline goodness [0,1] 0.9990911972947268 Centerline is valid? [True, True] Translation: X:188.21, Y:-8.80, Z:-1.15 [[ 9.98310180e-01 5.80436533e-02 2.77838462e-03 1.88213287e+02] [-5.80433091e-02 9.98314045e-01 -2.04438379e-04 -8.79775858e+00] [-2.78556674e-03 4.28262775e-05 9.99996119e-01 -1.15393720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.620281693 meters Centerline goodness [0,1] 0.9990228359001593 Centerline is valid? [True, True] Translation: X:188.24, Y:-8.80, Z:-1.16 [[ 9.98331166e-01 5.77436953e-02 7.41289174e-04 1.88243850e+02] [-5.77436707e-02 9.98331441e-01 -5.45720186e-05 -8.80079815e+00] [-7.43203479e-04 1.16761890e-05 9.99999724e-01 -1.15829543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.650281693 meters Centerline goodness [0,1] 0.9989374362461748 Centerline is valid? [True, True] Translation: X:188.27, Y:-8.80, Z:-1.16 [[ 9.98308860e-01 5.81279094e-02 7.52629302e-04 1.88274055e+02] [-5.81278841e-02 9.98309144e-01 -5.54068530e-05 -8.80355232e+00] [-7.54577398e-04 1.15644034e-05 9.99999715e-01 -1.15861527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.680281693 meters Centerline goodness [0,1] 0.9990638696225692 Centerline is valid? [True, True] Translation: X:188.30, Y:-8.80, Z:-1.16 [[ 9.98269814e-01 5.87868196e-02 1.22029926e-03 1.88304354e+02] [-5.87867537e-02 9.98270559e-01 -8.98356490e-05 -8.80482193e+00] [-1.22346998e-03 1.79427844e-05 9.99999251e-01 -1.15723329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71028169299998 meters Centerline goodness [0,1] 0.9993233814014463 Centerline is valid? [True, True] Translation: X:188.33, Y:-8.81, Z:-1.16 [[ 9.98266992e-01 5.88061238e-02 2.20297833e-03 1.88333728e+02] [-5.88059091e-02 9.98269422e-01 -1.62152013e-04 -8.81383498e+00] [-2.20870143e-03 3.23228589e-05 9.99997560e-01 -1.15640258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.740281693 meters Centerline goodness [0,1] 0.9988171679621494 Centerline is valid? [True, True] Translation: X:188.36, Y:-8.82, Z:-1.16 [[ 9.98339354e-01 5.75874623e-02 1.48962966e-03 1.88363179e+02] [-5.75873628e-02 9.98340465e-01 -1.09647744e-04 -8.82194778e+00] [-1.49347191e-03 2.36818143e-05 9.99998884e-01 -1.15897326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.770281693 meters Centerline goodness [0,1] 0.9987730580470469 Centerline is valid? [True, True] Translation: X:188.39, Y:-8.83, Z:-1.16 [[ 9.98349913e-01 5.74149429e-02 9.87696460e-04 1.88394288e+02] [-5.74148991e-02 9.98350401e-01 -7.26583464e-05 -8.82736793e+00] [-9.90238832e-04 1.58299612e-05 9.99999510e-01 -1.15982783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.800281693 meters Centerline goodness [0,1] 0.9987903995925557 Centerline is valid? [True, True] Translation: X:188.42, Y:-8.83, Z:-1.16 [[ 9.98345273e-01 5.74919143e-02 1.18118848e-03 1.88424741e+02] [-5.74918516e-02 9.98345972e-01 -8.69730265e-05 -8.83304439e+00] [-1.18423500e-03 1.89203973e-05 9.99999299e-01 -1.15977910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.830281693 meters Centerline goodness [0,1] 0.9991765724299558 Centerline is valid? [True, True] Translation: X:188.46, Y:-8.84, Z:-1.16 [[ 9.98305040e-01 5.81719682e-02 1.75217609e-03 1.88455798e+02] [-5.81718313e-02 9.98306577e-01 -1.29028830e-04 -8.83686824e+00] [-1.75671478e-03 2.68828392e-05 9.99998457e-01 -1.15857532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.860281693 meters Centerline goodness [0,1] 0.9993419376751295 Centerline is valid? [True, True] Translation: X:188.49, Y:-8.83, Z:-1.16 [[ 9.98149179e-01 6.07924134e-02 1.58049118e-03 1.88487457e+02] [-6.07923053e-02 9.98150431e-01 -1.16405594e-04 -8.83286345e+00] [-1.58464453e-03 2.01084460e-05 9.99998744e-01 -1.15758797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.890281693 meters Centerline goodness [0,1] 0.9994691468127574 Centerline is valid? [True, True] Translation: X:188.52, Y:-8.83, Z:-1.16 [[ 9.97926934e-01 6.43449548e-02 1.24932377e-03 1.88517620e+02] [-6.43448899e-02 9.97927716e-01 -9.20973239e-05 -8.83157387e+00] [-1.25266082e-03 1.15187994e-05 9.99999215e-01 -1.15834728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.920281693 meters Centerline goodness [0,1] 0.9995153507385633 Centerline is valid? [True, True] Translation: X:188.55, Y:-8.83, Z:-1.16 [[ 9.97861081e-01 6.53320719e-02 2.23254571e-03 1.88548027e+02] [-6.53318672e-02 9.97863578e-01 -1.64578222e-04 -8.83342413e+00] [-2.23852829e-03 1.83698225e-05 9.99997494e-01 -1.15672061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.950281693 meters Centerline goodness [0,1] 0.9994952150594174 Centerline is valid? [True, True] Translation: X:188.58, Y:-8.84, Z:-1.15 [[ 9.97847559e-01 6.54810923e-02 3.53206770e-03 1.88578507e+02] [-6.54805808e-02 9.97853810e-01 -2.60376045e-04 -8.83580335e+00] [-3.54153692e-03 2.85337563e-05 9.99993728e-01 -1.15420820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.980281693 meters Centerline goodness [0,1] 0.9994908890350226 Centerline is valid? [True, True] Translation: X:188.61, Y:-8.84, Z:-1.15 [[ 9.97906972e-01 6.44210055e-02 5.62222910e-03 1.88609299e+02] [-6.44196926e-02 9.97922808e-01 -4.14484456e-04 -8.83960562e+00] [-5.63725215e-03 5.14346586e-05 9.99984109e-01 -1.15045543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.010281693 meters Centerline goodness [0,1] 0.9993649046298453 Centerline is valid? [True, True] Translation: X:188.64, Y:-8.84, Z:-1.15 [[ 9.97941195e-01 6.38359755e-02 6.19186608e-03 1.88640949e+02] [-6.38343694e-02 9.97960402e-01 -4.56869831e-04 -8.84427308e+00] [-6.20840190e-03 6.06753584e-05 9.99980726e-01 -1.14931981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.040281693 meters Centerline goodness [0,1] 0.9992398488143753 Centerline is valid? [True, True] Translation: X:188.67, Y:-8.85, Z:-1.15 [[ 9.97966829e-01 6.34189744e-02 6.34366360e-03 1.88673439e+02] [-6.34172733e-02 9.97986989e-01 -4.69154011e-04 -8.84864582e+00] [-6.36064700e-03 6.59022924e-05 9.99979769e-01 -1.14894062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.070281693 meters Centerline goodness [0,1] 0.9993473271996126 Centerline is valid? [True, True] Translation: X:188.70, Y:-8.85, Z:-1.15 [[ 9.97959902e-01 6.35730631e-02 5.87364434e-03 1.88704876e+02] [-6.35716019e-02 9.97977185e-01 -4.35317274e-04 -8.85203988e+00] [-5.88943749e-03 6.10322044e-05 9.99982655e-01 -1.14962031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.100281693 meters Centerline goodness [0,1] 0.9992214460062284 Centerline is valid? [True, True] Translation: X:188.74, Y:-8.85, Z:-1.15 [[ 9.97905695e-01 6.44312857e-02 5.73003294e-03 1.88736633e+02] [-6.44299052e-02 9.97922144e-01 -4.25371698e-04 -8.85398138e+00] [-5.74553401e-03 5.52953600e-05 9.99983493e-01 -1.15010066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.130281693 meters Centerline goodness [0,1] 0.9993689524610854 Centerline is valid? [True, True] Translation: X:188.77, Y:-8.86, Z:-1.15 [[ 9.97768668e-01 6.65219629e-02 5.70204153e-03 1.88768661e+02] [-6.65206249e-02 9.97784960e-01 -4.24193614e-04 -8.85704664e+00] [-5.71762947e-03 4.39437316e-05 9.99983653e-01 -1.14960626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.160281693 meters Centerline goodness [0,1] 0.9995960454980334 Centerline is valid? [True, True] Translation: X:188.80, Y:-8.86, Z:-1.15 [[ 9.97741137e-01 6.69310026e-02 5.73276557e-03 1.88800636e+02] [-6.69296517e-02 9.97757605e-01 -4.27387938e-04 -8.86162488e+00] [-5.74851595e-03 4.27305243e-05 9.99983476e-01 -1.14971220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.190281693 meters Centerline goodness [0,1] 0.9994222003466798 Centerline is valid? [True, True] Translation: X:188.83, Y:-8.87, Z:-1.15 [[ 9.97744133e-01 6.69145511e-02 5.39324705e-03 1.88832003e+02] [-6.69133508e-02 9.97758709e-01 -4.02896578e-04 -8.86717619e+00] [-5.40811886e-03 4.11074657e-05 9.99985375e-01 -1.15069758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.220281693 meters Centerline goodness [0,1] 0.9993406079169591 Centerline is valid? [True, True] Translation: X:188.86, Y:-8.88, Z:-1.16 [[ 9.97805352e-01 6.61030937e-02 3.85488655e-03 1.88863330e+02] [-6.61024727e-02 9.97812798e-01 -2.88417166e-04 -8.87647289e+00] [-3.86552040e-03 3.29666595e-05 9.99992528e-01 -1.15554582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.250281693 meters Centerline goodness [0,1] 0.999507768694089 Centerline is valid? [True, True] Translation: X:188.89, Y:-8.88, Z:-1.16 [[ 9.97784176e-01 6.64426140e-02 3.48100561e-03 1.88894773e+02] [-6.64421079e-02 9.97790248e-01 -2.60965598e-04 -8.88225866e+00] [-3.49065268e-03 2.91019944e-05 9.99993907e-01 -1.15634893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.280281693 meters Centerline goodness [0,1] 0.9995536568258624 Centerline is valid? [True, True] Translation: X:188.93, Y:-8.88, Z:-1.16 [[ 9.97545981e-01 6.99616059e-02 2.71820264e-03 1.88925951e+02] [-6.99613094e-02 9.97549685e-01 -2.04130301e-04 -8.88362294e+00] [-2.72582347e-03 1.34603459e-05 9.99996285e-01 -1.15680918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.310281693 meters Centerline goodness [0,1] 0.9998097573349116 Centerline is valid? [True, True] Translation: X:188.96, Y:-8.88, Z:-1.16 [[ 9.97300038e-01 7.34046424e-02 2.09598528e-03 1.88956370e+02] [-7.34044735e-02 9.97302240e-01 -1.57479794e-04 -8.88015475e+00] [-2.10189057e-03 3.19990852e-06 9.99997791e-01 -1.15746560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.340281693 meters Centerline goodness [0,1] 0.9998067798793447 Centerline is valid? [True, True] Translation: X:188.99, Y:-8.87, Z:-1.16 [[ 9.97005033e-01 7.73165318e-02 1.76567145e-03 1.88986953e+02] [-7.73164181e-02 9.97006597e-01 -1.32661989e-04 -8.87499786e+00] [-1.77064305e-03 -4.25072124e-06 9.99998432e-01 -1.15788550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.370281693 meters Centerline goodness [0,1] 0.9993685274059105 Centerline is valid? [True, True] Translation: X:189.02, Y:-8.86, Z:-1.15 [[ 9.96275583e-01 8.61376489e-02 3.90756679e-03 1.89016714e+02] [-8.61371598e-02 9.96283245e-01 -2.93610249e-04 -8.86038789e+00] [-3.91833422e-03 -4.40699828e-05 9.99992322e-01 -1.15467458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.400281693 meters Centerline goodness [0,1] 0.9990969422043011 Centerline is valid? [True, True] Translation: X:189.05, Y:-8.85, Z:-1.15 [[ 9.95929160e-01 8.99962532e-02 5.07761485e-03 1.89046773e+02] [-8.99954785e-02 9.95942101e-01 -3.81324042e-04 -8.85424002e+00] [-5.09132814e-03 -7.71906451e-05 9.99987036e-01 -1.15268146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.430281693 meters Centerline goodness [0,1] 0.9990181430096051 Centerline is valid? [True, True] Translation: X:189.08, Y:-8.85, Z:-1.15 [[ 9.95416372e-01 9.54735108e-02 5.57271100e-03 1.89077692e+02] [-9.54726636e-02 9.95431964e-01 -4.18451810e-04 -8.84754548e+00] [-5.58720572e-03 -1.15507780e-04 9.99984385e-01 -1.15250801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46028169299998 meters Centerline goodness [0,1] 0.9986292703500632 Centerline is valid? [True, True] Translation: X:189.11, Y:-8.84, Z:-1.15 [[ 9.95182017e-01 9.79388770e-02 4.55302031e-03 1.89107132e+02] [-9.79383373e-02 9.95192426e-01 -3.41881017e-04 -8.84137290e+00] [-4.56461477e-03 -1.05681399e-04 9.99989577e-01 -1.15471290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.490281693 meters Centerline goodness [0,1] 0.9985971177145773 Centerline is valid? [True, True] Translation: X:189.14, Y:-8.84, Z:-1.16 [[ 9.94972788e-01 1.00095810e-01 3.15924169e-03 1.89137111e+02] [-1.00095561e-01 9.94977800e-01 -2.37145170e-04 -8.83793906e+00] [-3.16711258e-03 -8.02730791e-05 9.99994981e-01 -1.15803056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.520281693 meters Centerline goodness [0,1] 0.9980833528547395 Centerline is valid? [True, True] Translation: X:189.17, Y:-8.83, Z:-1.16 [[ 9.94616762e-01 1.03602720e-01 1.99313945e-03 1.89167095e+02] [-1.03602628e-01 9.94618758e-01 -1.49635938e-04 -8.83214071e+00] [-1.99791658e-03 -5.76640736e-05 9.99998003e-01 -1.15983725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.550281693 meters Centerline goodness [0,1] 0.9973999619506627 Centerline is valid? [True, True] Translation: X:189.20, Y:-8.82, Z:-1.16 [[ 9.94222906e-01 1.07298619e-01 2.79651738e-03 1.89198582e+02] [-1.07298453e-01 9.94226834e-01 -2.09728835e-04 -8.82275234e+00] [-2.80287624e-03 -9.15447780e-05 9.99996068e-01 -1.15786094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.580281693 meters Centerline goodness [0,1] 0.9968519574908622 Centerline is valid? [True, True] Translation: X:189.23, Y:-8.82, Z:-1.16 [[ 9.94042806e-01 1.08958519e-01 2.63444026e-03 1.89227844e+02] [-1.08958378e-01 9.94046293e-01 -1.97637893e-04 -8.81584865e+00] [-2.64028990e-03 -9.05838107e-05 9.99996510e-01 -1.15793394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.610281693 meters Centerline goodness [0,1] 0.9967581311579616 Centerline is valid? [True, True] Translation: X:189.26, Y:-8.82, Z:-1.16 [[ 9.93899884e-01 1.10269400e-01 1.91810012e-03 1.89256637e+02] [-1.10269328e-01 9.93901733e-01 -1.43903488e-04 -8.81585887e+00] [-1.92227118e-03 -6.84819504e-05 9.99998150e-01 -1.15856219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.640281693 meters Centerline goodness [0,1] 0.997178763785586 Centerline is valid? [True, True] Translation: X:189.29, Y:-8.81, Z:-1.16 [[ 9.93799768e-01 1.11179704e-01 1.04620097e-03 1.89285907e+02] [-1.11179683e-01 9.93800318e-01 -7.85380978e-05 -8.81432322e+00] [-1.04844670e-03 -3.82651492e-05 9.99999450e-01 -1.15972637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.670281693 meters Centerline goodness [0,1] 0.9958190963305673 Centerline is valid? [True, True] Translation: X:189.31, Y:-8.80, Z:-1.16 [[ 9.93799207e-01 1.11188733e-01 4.49946896e-04 1.89314655e+02] [-1.11188729e-01 9.93799308e-01 -3.39231178e-05 -8.80278345e+00] [-4.50928783e-04 -1.63162561e-05 9.99999898e-01 -1.16229382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.700281693 meters Centerline goodness [0,1] 0.9974258057653441 Centerline is valid? [True, True] Translation: X:189.34, Y:-8.81, Z:-1.16 [[ 9.93920215e-01 1.10099155e-01 8.84387169e-04 1.89343476e+02] [-1.10099140e-01 9.93920608e-01 -6.63260880e-05 -8.80721606e+00] [-8.86313079e-04 -3.14474267e-05 9.99999607e-01 -1.16209154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.730281693 meters Centerline goodness [0,1] 0.9975806451612903 Centerline is valid? [True, True] Translation: X:189.37, Y:-8.81, Z:-1.16 [[ 9.94475934e-01 1.04896341e-01 3.79134997e-03 1.89373939e+02] [-1.04896021e-01 9.94483154e-01 -2.83451056e-04 -8.81330560e+00] [-3.80016665e-03 -1.15812274e-04 9.99992773e-01 -1.15788425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.760281693 meters Centerline goodness [0,1] 0.9974720876342953 Centerline is valid? [True, True] Translation: X:189.40, Y:-8.81, Z:-1.16 [[ 9.94784389e-01 1.01881754e-01 4.91191896e-03 1.89402774e+02] [-1.01881182e-01 9.94796507e-01 -3.67198368e-04 -8.81142653e+00] [-4.92377064e-03 -1.35148904e-04 9.99987869e-01 -1.15548472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.790281693 meters Centerline goodness [0,1] 0.9988114440954241 Centerline is valid? [True, True] Translation: X:189.43, Y:-8.82, Z:-1.16 [[ 9.95076307e-01 9.89945646e-02 4.81868178e-03 1.89430630e+02] [-9.89939807e-02 9.95087967e-01 -3.60113168e-04 -8.82277432e+00] [-4.83066150e-03 -1.18680410e-04 9.99988325e-01 -1.15589118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.820281693 meters Centerline goodness [0,1] 0.9989211144253348 Centerline is valid? [True, True] Translation: X:189.46, Y:-8.83, Z:-1.16 [[ 9.95480860e-01 9.49360344e-02 2.23769757e-03 1.89458839e+02] [-9.49358983e-02 9.95483374e-01 -1.67210478e-04 -8.82699435e+00] [-2.24346502e-03 -4.59829987e-05 9.99997482e-01 -1.16040708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.850281693 meters Centerline goodness [0,1] 0.9990728253540121 Centerline is valid? [True, True] Translation: X:189.49, Y:-8.83, Z:-1.16 [[ 9.95675559e-01 9.28890905e-02 1.34094040e-03 1.89486409e+02] [-9.28890396e-02 9.95676462e-01 -1.00286509e-04 -8.82862027e+00] [-1.34445831e-03 -2.47058395e-05 9.99999096e-01 -1.16188329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.880281693 meters Centerline goodness [0,1] 0.9992562369841472 Centerline is valid? [True, True] Translation: X:189.52, Y:-8.83, Z:-1.16 [[ 9.95708581e-01 9.25165996e-02 2.25863720e-03 1.89515469e+02] [-9.25164551e-02 9.95711141e-01 -1.68589195e-04 -8.83095430e+00] [-2.26454753e-03 -4.10953989e-05 9.99997435e-01 -1.16073438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.910281693 meters Centerline goodness [0,1] 0.9992632354489002 Centerline is valid? [True, True] Translation: X:189.54, Y:-8.83, Z:-1.16 [[ 9.95715761e-01 9.24162204e-02 3.06022161e-03 1.89542965e+02] [-9.24159553e-02 9.95720462e-01 -2.28223849e-04 -8.83208874e+00] [-3.06821687e-03 -5.55672207e-05 9.99995291e-01 -1.15928473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.940281693 meters Centerline goodness [0,1] 0.9988767140707459 Centerline is valid? [True, True] Translation: X:189.57, Y:-8.84, Z:-1.16 [[ 9.95686825e-01 9.26599438e-02 4.67780811e-03 1.89571317e+02] [-9.26593289e-02 9.95697809e-01 -3.48461997e-04 -8.83604622e+00] [-4.68997176e-03 -8.64835405e-05 9.99988998e-01 -1.15582819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.970281693 meters Centerline goodness [0,1] 0.9988087134104833 Centerline is valid? [True, True] Translation: X:189.60, Y:-8.84, Z:-1.16 [[ 9.95728118e-01 9.22110218e-02 4.75830877e-03 1.89600307e+02] [-9.22103815e-02 9.95739484e-01 -3.54239958e-04 -8.83965054e+00] [-4.77070075e-03 -8.60387795e-05 9.99988616e-01 -1.15549198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.000281693 meters Centerline goodness [0,1] 0.9991734135899284 Centerline is valid? [True, True] Translation: X:189.63, Y:-8.85, Z:-1.16 [[ 9.96093063e-01 8.82163647e-02 4.05984929e-03 1.89628954e+02] [-8.82158660e-02 9.96101335e-01 -3.02081717e-04 -8.84799713e+00] [-4.07066985e-03 -5.72416186e-05 9.99991713e-01 -1.15782179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.030281693 meters Centerline goodness [0,1] 0.9991734135899284 Centerline is valid? [True, True] Translation: X:189.66, Y:-8.85, Z:-1.16 [[ 9.96097053e-01 8.81713033e-02 4.05985907e-03 1.89657212e+02] [-8.81708049e-02 9.96105325e-01 -3.01950291e-04 -8.85000511e+00] [-4.07067059e-03 -5.71892462e-05 9.99991713e-01 -1.15794889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.060281693 meters Centerline goodness [0,1] 0.9994884801466357 Centerline is valid? [True, True] Translation: X:189.69, Y:-8.86, Z:-1.16 [[ 9.96319070e-01 8.56173758e-02 4.23967386e-03 1.89685815e+02] [-8.56168099e-02 9.96328090e-01 -3.15122521e-04 -8.85905140e+00] [-4.25108612e-03 -4.90247742e-05 9.99990963e-01 -1.15848725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.090281693 meters Centerline goodness [0,1] 0.9993622177813682 Centerline is valid? [True, True] Translation: X:189.71, Y:-8.87, Z:-1.16 [[ 9.96502925e-01 8.33915234e-02 5.27019643e-03 1.89713823e+02] [-8.33906194e-02 9.96516860e-01 -3.91416681e-04 -8.86705804e+00] [-5.28448043e-03 -4.94370771e-05 9.99986036e-01 -1.15720128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.120281693 meters Centerline goodness [0,1] 0.9997041795207708 Centerline is valid? [True, True] Translation: X:189.74, Y:-8.88, Z:-1.16 [[ 9.96744865e-01 8.03979095e-02 5.98743366e-03 1.89741668e+02] [-8.03966905e-02 9.96762848e-01 -4.44389517e-04 -8.87722003e+00] [-6.00377942e-03 -3.84268815e-05 9.99981976e-01 -1.15543504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.150281693 meters Centerline goodness [0,1] 0.999531546110768 Centerline is valid? [True, True] Translation: X:189.77, Y:-8.88, Z:-1.16 [[ 9.96812940e-01 7.96427234e-02 4.58239312e-03 1.89770946e+02] [-7.96420020e-02 9.96823473e-01 -3.39982416e-04 -8.88112496e+00] [-4.59491415e-03 -2.60520907e-05 9.99989443e-01 -1.15706988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.180281693 meters Centerline goodness [0,1] 0.999641395603932 Centerline is valid? [True, True] Translation: X:189.80, Y:-8.89, Z:-1.16 [[ 9.96859090e-01 7.91829319e-02 1.42070774e-03 1.89799548e+02] [-7.91828620e-02 9.96860102e-01 -1.05481093e-04 -8.88615727e+00] [-1.42459916e-03 -7.34591768e-06 9.99998985e-01 -1.16276536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21028169299998 meters Centerline goodness [0,1] 0.999659204668896 Centerline is valid? [True, True] Translation: X:189.83, Y:-8.89, Z:-1.16 [[ 9.96886955e-01 7.88296665e-02 1.51062004e-03 1.89828950e+02] [-7.88295872e-02 9.96888100e-01 -1.12059698e-04 -8.89147201e+00] [-1.51475277e-03 -7.37070219e-06 9.99998853e-01 -1.16273314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.240281693 meters Centerline goodness [0,1] 0.9996598639455783 Centerline is valid? [True, True] Translation: X:189.86, Y:-8.90, Z:-1.16 [[ 9.96920582e-01 7.83827342e-02 2.34512602e-03 1.89858195e+02] [-7.83825421e-02 9.96923341e-01 -1.73851615e-04 -8.89609930e+00] [-2.35153783e-03 -1.05006863e-05 9.99997235e-01 -1.16078940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.270281693 meters Centerline goodness [0,1] 0.9995792485378887 Centerline is valid? [True, True] Translation: X:189.89, Y:-8.90, Z:-1.16 [[ 9.96949718e-01 7.79486018e-02 3.90840001e-03 1.89887073e+02] [-7.79480655e-02 9.96957379e-01 -2.89587673e-04 -8.90000398e+00] [-3.91908119e-03 -1.59478716e-05 9.99992320e-01 -1.15811583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.300281693 meters Centerline goodness [0,1] 0.9995785480981982 Centerline is valid? [True, True] Translation: X:189.92, Y:-8.90, Z:-1.16 [[ 9.96956310e-01 7.78919747e-02 3.30989778e-03 1.89916237e+02] [-7.78915901e-02 9.96961805e-01 -2.45123722e-04 -8.90368684e+00] [-3.31893484e-03 -1.34355603e-05 9.99994492e-01 -1.15943895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.330281693 meters Centerline goodness [0,1] 0.9997050085336817 Centerline is valid? [True, True] Translation: X:189.95, Y:-8.91, Z:-1.16 [[ 9.96979948e-01 7.76296162e-02 2.15074371e-03 1.89945755e+02] [-7.76294534e-02 9.96982268e-01 -1.59217474e-04 -8.91047511e+00] [-2.15661333e-03 -8.22442925e-06 9.99997674e-01 -1.16238262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.360281693 meters Centerline goodness [0,1] 0.9997220440453282 Centerline is valid? [True, True] Translation: X:189.97, Y:-8.91, Z:-1.16 [[ 9.97050740e-01 7.67008761e-02 2.60721964e-03 1.89974828e+02] [-7.67006334e-02 9.97054149e-01 -1.93119681e-04 -8.91408075e+00] [-2.61435161e-03 -7.42527741e-06 9.99996583e-01 -1.16141061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.390281693 meters Centerline goodness [0,1] 0.9997262985030634 Centerline is valid? [True, True] Translation: X:190.00, Y:-8.92, Z:-1.16 [[ 9.97118678e-01 7.57994924e-02 2.96296837e-03 1.90004555e+02] [-7.57991752e-02 9.97123080e-01 -2.19371930e-04 -8.91683381e+00] [-2.97107243e-03 -5.85070923e-06 9.99995586e-01 -1.16032466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.420281693 meters Centerline goodness [0,1] 0.9997676285436647 Centerline is valid? [True, True] Translation: X:190.03, Y:-8.92, Z:-1.16 [[ 9.97283602e-01 7.35895517e-02 3.16148966e-03 1.90034681e+02] [-7.35891796e-02 9.97288613e-01 -2.34016087e-04 -8.92377942e+00] [-3.17013878e-03 7.28975618e-07 9.99994975e-01 -1.16105767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.450281693 meters Centerline goodness [0,1] 0.999765773055384 Centerline is valid? [True, True] Translation: X:190.07, Y:-8.93, Z:-1.16 [[ 9.97367891e-01 7.24646723e-02 2.48213271e-03 1.90065124e+02] [-7.24644395e-02 9.97370980e-01 -1.83729522e-04 -8.93082340e+00] [-2.48892103e-03 3.37957039e-06 9.99996903e-01 -1.16310870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.480281693 meters Centerline goodness [0,1] 0.9997666327223353 Centerline is valid? [True, True] Translation: X:190.09, Y:-8.94, Z:-1.16 [[ 9.97516956e-01 7.04073043e-02 1.65344058e-03 1.90094800e+02] [-7.04071982e-02 9.97518326e-01 -1.22357285e-04 -8.93974692e+00] [-1.65795213e-03 5.63934815e-06 9.99998626e-01 -1.16427842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.510281693 meters Centerline goodness [0,1] 0.9997883060248105 Centerline is valid? [True, True] Translation: X:190.12, Y:-8.94, Z:-1.16 [[ 9.97544150e-01 6.99897303e-02 2.66590410e-03 1.90123925e+02] [-6.99894529e-02 9.97547712e-01 -1.97339597e-04 -8.94292720e+00] [-2.67317828e-03 1.02697914e-05 9.99996427e-01 -1.16259863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.540281693 meters Centerline goodness [0,1] 0.999765213122452 Centerline is valid? [True, True] Translation: X:190.15, Y:-8.95, Z:-1.16 [[ 9.97594859e-01 6.91522833e-02 4.73903633e-03 1.90154431e+02] [-6.91513966e-02 9.97606115e-01 -3.50900661e-04 -8.94708941e+00] [-4.75195721e-03 2.23457144e-05 9.99988709e-01 -1.15869943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.570281693 meters Centerline goodness [0,1] 0.9996821562519865 Centerline is valid? [True, True] Translation: X:190.19, Y:-8.95, Z:-1.16 [[ 9.97610826e-01 6.88704623e-02 5.43125481e-03 1.90185953e+02] [-6.88692934e-02 9.97625610e-01 -4.02178168e-04 -8.95164093e+00] [-5.44605709e-03 2.71706138e-05 9.99985170e-01 -1.15816024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.600281693 meters Centerline goodness [0,1] 0.999724091092387 Centerline is valid? [True, True] Translation: X:190.22, Y:-8.96, Z:-1.16 [[ 9.97712188e-01 6.74667237e-02 4.31626430e-03 1.90217418e+02] [-6.74659721e-02 9.97721524e-01 -3.19671735e-04 -8.95856678e+00] [-4.32799700e-03 2.77394193e-05 9.99990634e-01 -1.16005725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.630281693 meters Centerline goodness [0,1] 0.9996803409696324 Centerline is valid? [True, True] Translation: X:190.25, Y:-8.96, Z:-1.16 [[ 9.97829222e-01 6.57445830e-02 3.80700580e-03 1.90249531e+02] [-6.57439837e-02 9.97836484e-01 -2.82489921e-04 -8.96478122e+00] [-3.81734146e-03 3.15889711e-05 9.99992713e-01 -1.16136760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.660281693 meters Centerline goodness [0,1] 0.999198717948718 Centerline is valid? [True, True] Translation: X:190.28, Y:-8.97, Z:-1.16 [[ 9.97974073e-01 6.34817564e-02 4.22089427e-03 1.90281052e+02] [-6.34809962e-02 9.97982998e-01 -3.13980513e-04 -8.97303362e+00] [-4.23231275e-03 4.53978383e-05 9.99991043e-01 -1.16099777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.690281693 meters Centerline goodness [0,1] 0.9988671824904886 Centerline is valid? [True, True] Translation: X:190.31, Y:-8.99, Z:-1.16 [[ 9.98293810e-01 5.81110269e-02 5.70768262e-03 1.90311964e+02] [-5.81095429e-02 9.98310122e-01 -4.25633813e-04 -8.98804284e+00] [-5.72277135e-03 9.32367729e-05 9.99983620e-01 -1.15847933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.720281693 meters Centerline goodness [0,1] 0.9986494186169202 Centerline is valid? [True, True] Translation: X:190.34, Y:-9.00, Z:-1.16 [[ 9.98404343e-01 5.62283675e-02 5.20945319e-03 1.90342590e+02] [-5.62271041e-02 9.98417929e-01 -3.88788866e-04 -8.99772015e+00] [-5.22307243e-03 9.52560261e-05 9.99986355e-01 -1.15877228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.750281693 meters Centerline goodness [0,1] 0.9983732967149044 Centerline is valid? [True, True] Translation: X:190.37, Y:-9.01, Z:-1.16 [[ 9.98535005e-01 5.39526196e-02 4.11797732e-03 1.90372668e+02] [-5.39518085e-02 9.98543493e-01 -3.07866641e-04 -9.00822106e+00] [-4.12858967e-03 8.52432946e-05 9.99991474e-01 -1.16055557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.780281693 meters Centerline goodness [0,1] 0.998136422354461 Centerline is valid? [True, True] Translation: X:190.40, Y:-9.01, Z:-1.16 [[ 9.98568772e-01 5.33018560e-02 4.39549143e-03 1.90404153e+02] [-5.33009253e-02 9.98578441e-01 -3.28711803e-04 -9.01446398e+00] [-4.40676393e-03 9.39575809e-05 9.99990286e-01 -1.15980969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.810281693 meters Centerline goodness [0,1] 0.9975154488118749 Centerline is valid? [True, True] Translation: X:190.44, Y:-9.02, Z:-1.16 [[ 9.98609720e-01 5.24677310e-02 5.07576514e-03 1.90435026e+02] [-5.24664743e-02 9.98622614e-01 -3.80505997e-04 -9.02251212e+00] [-5.08873813e-03 1.13669486e-04 9.99987046e-01 -1.15864960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.840281693 meters Centerline goodness [0,1] 0.9976694421491981 Centerline is valid? [True, True] Translation: X:190.47, Y:-9.03, Z:-1.16 [[ 9.98632141e-01 5.20443595e-02 5.02318354e-03 1.90466237e+02] [-5.20431196e-02 9.98644767e-01 -3.77312496e-04 -9.03180158e+00] [-5.03601294e-03 1.15374244e-04 9.99987313e-01 -1.15878504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.870281693 meters Centerline goodness [0,1] 0.9976886702432197 Centerline is valid? [True, True] Translation: X:190.50, Y:-9.04, Z:-1.16 [[ 9.98600586e-01 5.27195060e-02 4.18619764e-03 1.90496917e+02] [-5.27186484e-02 9.98609355e-01 -3.15001179e-04 -9.03789471e+00] [-4.19698284e-03 9.38696794e-05 9.99991188e-01 -1.16037328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.900281693 meters Centerline goodness [0,1] 0.9983908192000678 Centerline is valid? [True, True] Translation: X:190.53, Y:-9.04, Z:-1.16 [[ 9.98499383e-01 5.47073402e-02 2.46754824e-03 1.90527713e+02] [-5.47070481e-02 9.98502431e-01 -1.85775030e-04 -9.04254677e+00] [-2.47401617e-03 5.05039731e-05 9.99996938e-01 -1.16261856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.930281693 meters Centerline goodness [0,1] 0.9987692568857955 Centerline is valid? [True, True] Translation: X:190.56, Y:-9.04, Z:-1.16 [[ 9.98419862e-01 5.61369906e-02 2.53309840e-03 1.90560373e+02] [-5.61366860e-02 9.98423075e-01 -1.91274014e-04 -9.04402304e+00] [-2.53984144e-03 4.87720256e-05 9.99996773e-01 -1.16221654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96028169299998 meters Centerline goodness [0,1] 0.9989087174220054 Centerline is valid? [True, True] Translation: X:190.59, Y:-9.05, Z:-1.16 [[ 9.98330260e-01 5.77174373e-02 2.32170542e-03 1.90591435e+02] [-5.77171858e-02 9.98332958e-01 -1.75227903e-04 -9.04722968e+00] [-2.32794874e-03 4.09330146e-05 9.99997289e-01 -1.16263489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.990281693 meters Centerline goodness [0,1] 0.9993004027983888 Centerline is valid? [True, True] Translation: X:190.62, Y:-9.05, Z:-1.16 [[ 9.98159732e-01 6.05911081e-02 2.42234715e-03 1.90622918e+02] [-6.05908419e-02 9.98162670e-01 -1.83189564e-04 -9.05077934e+00] [-2.42899616e-03 3.60803929e-05 9.99997049e-01 -1.16284747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.020281693 meters Centerline goodness [0,1] 0.9992377887404459 Centerline is valid? [True, True] Translation: X:190.65, Y:-9.05, Z:-1.16 [[ 9.98011838e-01 6.29346953e-02 3.40513652e-03 1.90654190e+02] [-6.29341799e-02 9.98017646e-01 -2.58414228e-04 -9.05179946e+00] [-3.41464955e-03 4.36009845e-05 9.99994169e-01 -1.16135422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.050281693 meters Centerline goodness [0,1] 0.9998281307065976 Centerline is valid? [True, True] Translation: X:190.69, Y:-9.05, Z:-1.16 [[ 9.97666849e-01 6.80840226e-02 5.04228354e-03 1.90685672e+02] [-6.80829550e-02 9.97679590e-01 -3.83272291e-04 -9.04634820e+00] [-5.05667809e-03 3.90844953e-05 9.99987214e-01 -1.15906713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.080281693 meters Centerline goodness [0,1] 0.9998736522911051 Centerline is valid? [True, True] Translation: X:190.72, Y:-9.05, Z:-1.16 [[ 9.97509717e-01 7.03808120e-02 4.57221667e-03 1.90717480e+02] [-7.03799576e-02 9.97520196e-01 -3.47695586e-04 -9.04593996e+00] [-4.58534956e-03 2.50373103e-05 9.99989487e-01 -1.16034835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.110281693 meters Centerline goodness [0,1] 0.9999151931476064 Centerline is valid? [True, True] Translation: X:190.75, Y:-9.05, Z:-1.16 [[ 9.97392206e-01 7.21094635e-02 3.00195660e-03 1.90749521e+02] [-7.21091023e-02 9.97396724e-01 -2.28522438e-04 -9.04595233e+00] [-3.01062031e-03 1.14581035e-05 9.99995468e-01 -1.16350350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.140281693 meters Centerline goodness [0,1] 0.9998302819441204 Centerline is valid? [True, True] Translation: X:190.78, Y:-9.05, Z:-1.17 [[ 9.97417459e-01 7.18193572e-02 6.26086447e-04 1.90780424e+02] [-7.18193417e-02 9.97417656e-01 -4.72532709e-05 -9.05173230e+00] [-6.27863376e-04 2.16612097e-06 9.99999803e-01 -1.16978486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.170281693 meters Centerline goodness [0,1] 0.9998309347196687 Centerline is valid? [True, True] Translation: X:190.81, Y:-9.07, Z:-1.17 [[ 9.97632584e-01 6.87483015e-02 1.70267616e-03 1.90811696e+02] [-6.87481801e-02 9.97634037e-01 -1.29826044e-04 -9.06572522e+00] [-1.70757301e-03 1.24628043e-05 9.99998542e-01 -1.16762772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.200281693 meters Centerline goodness [0,1] 0.9997452175205418 Centerline is valid? [True, True] Translation: X:190.84, Y:-9.07, Z:-1.17 [[ 9.97716450e-01 6.74940712e-02 2.53673443e-03 1.90841995e+02] [-6.74937956e-02 9.97719675e-01 -1.94172200e-04 -9.07321898e+00] [-2.54405532e-03 2.25149627e-05 9.99996764e-01 -1.16579726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.230281693 meters Centerline goodness [0,1] 0.9996997705389119 Centerline is valid? [True, True] Translation: X:190.87, Y:-9.08, Z:-1.16 [[ 9.97727686e-01 6.72963312e-02 3.26631248e-03 1.90874923e+02] [-6.72958713e-02 9.97733032e-01 -2.50624894e-04 -9.07825549e+00] [-3.27577399e-03 3.02460515e-05 9.99994634e-01 -1.16412844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.260281693 meters Centerline goodness [0,1] 0.9997237627759716 Centerline is valid? [True, True] Translation: X:190.91, Y:-9.08, Z:-1.16 [[ 9.97505996e-01 7.04655410e-02 4.04907202e-03 1.90907613e+02] [-7.04648567e-02 9.97514214e-01 -3.11587260e-04 -9.07793242e+00] [-4.06096306e-03 2.54928802e-05 9.99991754e-01 -1.16264450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.290281693 meters Centerline goodness [0,1] 0.9997668503603222 Centerline is valid? [True, True] Translation: X:190.94, Y:-9.08, Z:-1.16 [[ 9.97314929e-01 7.31276314e-02 3.90930913e-03 1.90938481e+02] [-7.31270117e-02 9.97322590e-01 -3.01431266e-04 -9.07885887e+00] [-3.92088526e-03 1.47458070e-05 9.99992313e-01 -1.16378019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.320281693 meters Centerline goodness [0,1] 0.9998935127997615 Centerline is valid? [True, True] Translation: X:190.97, Y:-9.08, Z:-1.17 [[ 9.96954052e-01 7.79719496e-02 1.72985112e-03 1.90971659e+02] [-7.79718358e-02 9.96955553e-01 -1.33181113e-04 -9.07690914e+00] [-1.73496908e-03 -2.10421813e-06 9.99998495e-01 -1.16895848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.350281693 meters Centerline goodness [0,1] 0.9998727141584285 Centerline is valid? [True, True] Translation: X:191.00, Y:-9.08, Z:-1.17 [[ 9.96784303e-01 8.01314714e-02 -3.51223534e-05 1.91004232e+02] [-8.01314713e-02 9.96784303e-01 3.41895769e-06 -9.07797892e+00] [ 3.52833767e-05 -5.93557506e-07 9.99999999e-01 -1.17225672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.380281693 meters Centerline goodness [0,1] 0.9999576961313112 Centerline is valid? [True, True] Translation: X:191.04, Y:-9.08, Z:-1.18 [[ 9.96602557e-01 8.23463437e-02 -1.55643672e-03 1.91036571e+02] [-8.23462540e-02 9.96603773e-01 1.21726722e-04 -9.07910860e+00] [ 1.56117446e-03 6.85357095e-06 9.99998781e-01 -1.17545498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.410281693 meters Centerline goodness [0,1] 0.9998724381324943 Centerline is valid? [True, True] Translation: X:191.07, Y:-9.08, Z:-1.18 [[ 9.96406224e-01 8.46761134e-02 -2.14308248e-03 1.91067485e+02] [-8.46759488e-02 9.96408528e-01 1.67602072e-04 -9.07954674e+00] [ 2.14957755e-03 1.44677946e-05 9.99997690e-01 -1.17696544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.440281693 meters Centerline goodness [0,1] 0.9997021530082546 Centerline is valid? [True, True] Translation: X:191.10, Y:-9.08, Z:-1.18 [[ 9.96115952e-01 8.80286477e-02 -1.99200061e-03 1.91098392e+02] [-8.80285132e-02 9.96117943e-01 1.55259607e-04 -9.07687358e+00] [ 1.99793484e-03 2.06962810e-05 9.99998004e-01 -1.17603595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.470281693 meters Centerline goodness [0,1] 0.9995550093236142 Centerline is valid? [True, True] Translation: X:191.13, Y:-9.07, Z:-1.17 [[ 9.95807473e-01 9.14660867e-02 -1.19681647e-03 1.91129545e+02] [-9.14660407e-02 9.95808192e-01 9.32522825e-05 -9.07262121e+00] [ 1.20032907e-03 1.66067441e-05 9.99999279e-01 -1.17438282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.500281693 meters Centerline goodness [0,1] 0.9994697435679895 Centerline is valid? [True, True] Translation: X:191.16, Y:-9.07, Z:-1.17 [[ 9.95672238e-01 9.29343492e-02 2.87719312e-05 1.91160240e+02] [-9.29343492e-02 9.95672239e-01 -2.19354414e-06 -9.07113192e+00] [-2.88512687e-05 -4.89849689e-07 1.00000000e+00 -1.17203213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.530281693 meters Centerline goodness [0,1] 0.999594779047944 Centerline is valid? [True, True] Translation: X:191.19, Y:-9.07, Z:-1.17 [[ 9.95568331e-01 9.40236969e-02 1.80070270e-03 1.91191502e+02] [-9.40235969e-02 9.95569959e-01 -1.40263449e-04 -9.07455824e+00] [-1.80591360e-03 -2.96666973e-05 9.99998369e-01 -1.16787984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.560281693 meters Centerline goodness [0,1] 0.9994269949066213 Centerline is valid? [True, True] Translation: X:191.22, Y:-9.08, Z:-1.17 [[ 9.95563896e-01 9.40358601e-02 3.12832299e-03 1.91222851e+02] [-9.40355586e-02 9.95568809e-01 -2.43655129e-04 -9.07507627e+00] [-3.13737311e-03 -5.15993504e-05 9.99995077e-01 -1.16651367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.590281693 meters Centerline goodness [0,1] 0.9994926326025834 Centerline is valid? [True, True] Translation: X:191.25, Y:-9.08, Z:-1.17 [[ 9.95698229e-01 9.26176871e-02 2.64579769e-03 1.91253670e+02] [-9.26174656e-02 9.95701744e-01 -2.06361306e-04 -9.08084567e+00] [-2.65353808e-03 -3.95734904e-05 9.99996479e-01 -1.16866690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.620281693 meters Centerline goodness [0,1] 0.999621204149919 Centerline is valid? [True, True] Translation: X:191.28, Y:-9.09, Z:-1.17 [[ 9.96048393e-01 8.87602972e-02 3.03462069e-03 1.91284810e+02] [-8.87599858e-02 9.96053015e-01 -2.37412354e-04 -9.09059426e+00] [-3.04371588e-03 -3.28786964e-05 9.99995367e-01 -1.16819258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.650281693 meters Centerline goodness [0,1] 0.9997249317619179 Centerline is valid? [True, True] Translation: X:191.32, Y:-9.10, Z:-1.17 [[ 9.96207646e-01 8.69374644e-02 3.49334863e-03 1.91316678e+02] [-8.69370405e-02 9.96213770e-01 -2.73312030e-04 -9.09729756e+00] [-3.50388306e-03 -3.14258567e-05 9.99993861e-01 -1.16652194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.680281693 meters Centerline goodness [0,1] 0.9998306770800263 Centerline is valid? [True, True] Translation: X:191.35, Y:-9.10, Z:-1.17 [[ 9.96322704e-01 8.56105073e-02 3.45109486e-03 1.91348247e+02] [-8.56100837e-02 9.96328681e-01 -2.70541414e-04 -9.10148127e+00] [-3.46158597e-03 -2.59019661e-05 9.99994008e-01 -1.16652779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71028169299998 meters Centerline goodness [0,1] 0.9997884403824998 Centerline is valid? [True, True] Translation: X:191.38, Y:-9.10, Z:-1.17 [[ 9.96437818e-01 8.42891583e-02 2.64816467e-03 1.91379016e+02] [-8.42889035e-02 9.96441337e-01 -2.07873728e-04 -9.10294851e+00] [-2.65626224e-03 -1.60776520e-05 9.99996472e-01 -1.16836806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.740281693 meters Centerline goodness [0,1] 0.9998525974436185 Centerline is valid? [True, True] Translation: X:191.41, Y:-9.10, Z:-1.17 [[ 9.96374058e-01 8.50477389e-02 2.37046007e-03 1.91411578e+02] [-8.50475364e-02 9.96376877e-01 -1.86273307e-04 -9.10499925e+00] [-2.37771373e-03 -1.60038988e-05 9.99997173e-01 -1.16763712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.770281693 meters Centerline goodness [0,1] 0.9997243075879034 Centerline is valid? [True, True] Translation: X:191.44, Y:-9.10, Z:-1.17 [[ 9.96151665e-01 8.75927255e-02 3.06195040e-03 1.91443067e+02] [-8.75923970e-02 9.96156370e-01 -2.41465552e-04 -9.09748009e+00] [-3.07133202e-03 -2.76672630e-05 9.99995283e-01 -1.16660703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.800281693 meters Centerline goodness [0,1] 0.9995984529872984 Centerline is valid? [True, True] Translation: X:191.47, Y:-9.09, Z:-1.17 [[ 9.95996282e-01 8.93374829e-02 3.19704991e-03 1.91474381e+02] [-8.93371321e-02 9.96001412e-01 -2.52628215e-04 -9.09353534e+00] [-3.20683539e-03 -3.39985068e-05 9.99994858e-01 -1.16612980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.830281693 meters Centerline goodness [0,1] 0.9995776313566481 Centerline is valid? [True, True] Translation: X:191.51, Y:-9.09, Z:-1.17 [[ 9.95788872e-01 9.16440113e-02 2.42836329e-03 1.91505744e+02] [-9.16438146e-02 9.95791833e-01 -1.92358662e-04 -9.08774718e+00] [-2.43577285e-03 -3.09958610e-05 9.99997033e-01 -1.16781224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.860281693 meters Centerline goodness [0,1] 0.9997226370812887 Centerline is valid? [True, True] Translation: X:191.54, Y:-9.09, Z:-1.17 [[ 9.95738325e-01 9.22106407e-02 1.54478881e-03 1.91537593e+02] [-9.22105618e-02 9.95739523e-01 -1.22334171e-04 -9.08718957e+00] [-1.54948778e-03 -2.06330215e-05 9.99998799e-01 -1.16970483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.890281693 meters Centerline goodness [0,1] 0.9996401507133483 Centerline is valid? [True, True] Translation: X:191.57, Y:-9.09, Z:-1.17 [[ 9.95747750e-01 9.21203463e-02 5.10788734e-04 1.91569227e+02] [-9.21203377e-02 9.95747881e-01 -4.03945503e-05 -9.08767266e+00] [-5.12337959e-04 -6.83124811e-06 9.99999869e-01 -1.17146682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.920281693 meters Centerline goodness [0,1] 0.9996401507133483 Centerline is valid? [True, True] Translation: X:191.60, Y:-9.09, Z:-1.17 [[ 9.95747750e-01 9.21203467e-02 5.10780840e-04 1.91599135e+02] [-9.21203381e-02 9.95747881e-01 -4.04941244e-05 -9.09004373e+00] [-5.12339271e-04 -6.73137043e-06 9.99999869e-01 -1.17160143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.950281693 meters Centerline goodness [0,1] 0.9997449413365074 Centerline is valid? [True, True] Translation: X:191.63, Y:-9.09, Z:-1.17 [[ 9.95877457e-01 9.07082341e-02 3.25786851e-04 1.91629379e+02] [-9.07082305e-02 9.95877511e-01 -2.57817108e-05 -9.08975761e+00] [-3.26782412e-04 -3.87612423e-06 9.99999947e-01 -1.17263222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.980281693 meters Centerline goodness [0,1] 0.9997232629427792 Centerline is valid? [True, True] Translation: X:191.66, Y:-9.09, Z:-1.17 [[ 9.95952431e-01 8.98776054e-02 8.78382765e-04 1.91660298e+02] [-8.98775789e-02 9.95952818e-01 -6.96469957e-05 -9.09094066e+00] [-8.81087495e-04 -9.58182158e-06 9.99999612e-01 -1.17187373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.010281693 meters Centerline goodness [0,1] 0.9996205493602041 Centerline is valid? [True, True] Translation: X:191.69, Y:-9.09, Z:-1.17 [[ 9.96050980e-01 8.87724185e-02 1.37946841e-03 1.91690067e+02] [-8.87723521e-02 9.96051935e-01 -1.09412475e-04 -9.08822341e+00] [-1.38373499e-03 -1.34782524e-05 9.99999043e-01 -1.17308104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.040281693 meters Centerline goodness [0,1] 0.9997023366572406 Centerline is valid? [True, True] Translation: X:191.72, Y:-9.09, Z:-1.18 [[ 9.96107117e-01 8.81492165e-02 5.72696565e-04 1.91719535e+02] [-8.81492049e-02 9.96107281e-01 -4.54843200e-05 -9.09075308e+00] [-5.74476626e-04 -5.17549202e-06 9.99999835e-01 -1.17520454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.070281693 meters Centerline goodness [0,1] 0.9997239035786344 Centerline is valid? [True, True] Translation: X:191.75, Y:-9.10, Z:-1.18 [[ 9.96155517e-01 8.76018371e-02 -3.21856157e-04 1.91749761e+02] [-8.76018334e-02 9.96155569e-01 2.55096741e-05 -9.09790097e+00] [ 3.22853498e-04 2.78358685e-06 9.99999948e-01 -1.17581922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.100281693 meters Centerline goodness [0,1] 0.9995100336585574 Centerline is valid? [True, True] Translation: X:191.78, Y:-9.10, Z:-1.18 [[ 9.96282241e-01 8.61452974e-02 -8.26641619e-04 1.91779705e+02] [-8.61452727e-02 9.96282584e-01 6.55179583e-05 -9.09931240e+00] [ 8.29212712e-04 5.93688929e-06 9.99999656e-01 -1.17786574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.130281693 meters Centerline goodness [0,1] 0.9992579557741641 Centerline is valid? [True, True] Translation: X:191.81, Y:-9.10, Z:-1.17 [[ 9.96339228e-01 8.54822659e-02 9.61978598e-04 1.91810200e+02] [-8.54822321e-02 9.96339692e-01 -7.62444961e-05 -9.10304151e+00] [-9.64975012e-04 -6.26669539e-06 9.99999534e-01 -1.17399636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.160281693 meters Centerline goodness [0,1] 0.9992345637013097 Centerline is valid? [True, True] Translation: X:191.84, Y:-9.10, Z:-1.17 [[ 9.96308646e-01 8.58316756e-02 1.41577215e-03 1.91840326e+02] [-8.58316028e-02 9.96309652e-01 -1.12211264e-04 -9.10482328e+00] [-1.42017874e-03 -9.72094057e-06 9.99998991e-01 -1.17240442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.190281693 meters Centerline goodness [0,1] 0.9993216458567401 Centerline is valid? [True, True] Translation: X:191.87, Y:-9.10, Z:-1.17 [[ 9.96235277e-01 8.66784366e-02 1.45652426e-03 1.91869897e+02] [-8.66783604e-02 9.96236342e-01 -1.15476375e-04 -9.10288935e+00] [-1.46105171e-03 -1.12074962e-05 9.99998933e-01 -1.17351482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.220281693 meters Centerline goodness [0,1] 0.999195733152726 Centerline is valid? [True, True] Translation: X:191.90, Y:-9.10, Z:-1.17 [[ 9.95954850e-01 8.98451249e-02 1.33829423e-03 1.91899960e+02] [-8.98450634e-02 9.95955749e-01 -1.06126495e-04 -9.09716756e+00] [-1.34241678e-03 -1.45419322e-05 9.99999099e-01 -1.17325702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.250281693 meters Centerline goodness [0,1] 0.9988731555895735 Centerline is valid? [True, True] Translation: X:191.93, Y:-9.09, Z:-1.17 [[ 9.95786189e-01 9.16924225e-02 1.53782488e-03 1.91929721e+02] [-9.16923436e-02 9.95787377e-01 -1.21899099e-04 -9.09425143e+00] [-1.54252383e-03 -1.96213283e-05 9.99998810e-01 -1.17269374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.280281693 meters Centerline goodness [0,1] 0.9985287936107609 Centerline is valid? [True, True] Translation: X:191.96, Y:-9.09, Z:-1.17 [[ 9.95558634e-01 9.41123381e-02 2.42379218e-03 1.91959182e+02] [-9.41121494e-02 9.95561583e-01 -1.92035749e-04 -9.08583459e+00] [-2.43110731e-03 -3.69254431e-05 9.99997044e-01 -1.17100891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.310281693 meters Centerline goodness [0,1] 0.9984339618648551 Centerline is valid? [True, True] Translation: X:191.99, Y:-9.08, Z:-1.17 [[ 9.95539224e-01 9.43001826e-02 3.02134847e-03 1.91988869e+02] [-9.42998907e-02 9.95543808e-01 -2.39222034e-04 -9.08354461e+00] [-3.03044344e-03 -4.67579119e-05 9.99995407e-01 -1.17042489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.340281693 meters Centerline goodness [0,1] 0.9984572467137242 Centerline is valid? [True, True] Translation: X:192.02, Y:-9.08, Z:-1.17 [[ 9.95615357e-01 9.34817728e-02 3.34956706e-03 1.92017766e+02] [-9.34814097e-02 9.95620990e-01 -2.65135325e-04 -9.08255937e+00] [-3.35968459e-03 -4.91494490e-05 9.99994355e-01 -1.17048324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.370281693 meters Centerline goodness [0,1] 0.9985899783235473 Centerline is valid? [True, True] Translation: X:192.05, Y:-9.09, Z:-1.17 [[ 9.96064482e-01 8.85635008e-02 3.47188935e-03 1.92047764e+02] [-8.85630813e-02 9.96070532e-01 -2.74672045e-04 -9.08501078e+00] [-3.48257259e-03 -3.38901513e-05 9.99993935e-01 -1.17049297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.400281693 meters Centerline goodness [0,1] 0.9992366574076037 Centerline is valid? [True, True] Translation: X:192.08, Y:-9.09, Z:-1.17 [[ 9.96392903e-01 8.48092464e-02 2.92831589e-03 1.92077624e+02] [-8.48089319e-02 9.96397206e-01 -2.31625914e-04 -9.09064757e+00] [-2.93740978e-03 -1.75569253e-05 9.99995686e-01 -1.17112695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.430281693 meters Centerline goodness [0,1] 0.9997024315592586 Centerline is valid? [True, True] Translation: X:192.11, Y:-9.10, Z:-1.18 [[ 9.96961626e-01 7.78933673e-02 3.73488529e-04 1.92108208e+02] [-7.78933618e-02 9.96961696e-01 -2.94453586e-05 -9.09873498e+00] [-3.74647355e-04 2.63615459e-07 9.99999930e-01 -1.17539657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46028169299998 meters Centerline goodness [0,1] 0.9999361511939727 Centerline is valid? [True, True] Translation: X:192.14, Y:-9.10, Z:-1.18 [[ 9.97218396e-01 7.45344909e-02 -2.82335897e-04 1.92138438e+02] [-7.45344875e-02 9.97218436e-01 2.23390841e-05 -9.10405476e+00] [ 2.83215594e-04 -1.23318425e-06 9.99999960e-01 -1.17676886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.490281693 meters Centerline goodness [0,1] 0.9999574241617882 Centerline is valid? [True, True] Translation: X:192.17, Y:-9.11, Z:-1.18 [[ 9.97414168e-01 7.18677756e-02 6.61513958e-06 1.92168214e+02] [-7.18677756e-02 9.97414168e-01 -4.77235156e-07 -9.10854660e+00] [-6.63233177e-06 5.85738511e-10 1.00000000e+00 -1.17625292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.520281693 meters Centerline goodness [0,1] 0.9997252282718972 Centerline is valid? [True, True] Translation: X:192.20, Y:-9.11, Z:-1.17 [[ 9.97678078e-01 6.81014390e-02 8.03949656e-04 1.92197804e+02] [-6.81014098e-02 9.97678402e-01 -6.35938429e-05 -9.11351741e+00] [-8.06414041e-04 8.69607797e-06 9.99999675e-01 -1.17413391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.550281693 meters Centerline goodness [0,1] 0.9996833104613111 Centerline is valid? [True, True] Translation: X:192.23, Y:-9.12, Z:-1.17 [[ 9.97795353e-01 6.63514388e-02 1.38558662e-03 1.92228405e+02] [-6.63513505e-02 9.97796315e-01 -1.09654611e-04 -9.11779845e+00] [-1.38980897e-03 1.74773177e-05 9.99999034e-01 -1.17356333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.580281693 meters Centerline goodness [0,1] 0.9994071188091558 Centerline is valid? [True, True] Translation: X:192.26, Y:-9.13, Z:-1.17 [[ 9.98055061e-01 6.22619443e-02 3.08952450e-03 1.92258414e+02] [-6.22614857e-02 9.98059842e-01 -2.44487446e-04 -9.12707298e+00] [-3.09875260e-03 5.16535468e-05 9.99995198e-01 -1.17166659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.610281693 meters Centerline goodness [0,1] 0.9989917660897328 Centerline is valid? [True, True] Translation: X:192.29, Y:-9.14, Z:-1.17 [[ 9.98191506e-01 6.00309599e-02 3.16236554e-03 1.92288506e+02] [-6.00304684e-02 9.98196514e-01 -2.50199482e-04 -9.13646520e+00] [-3.17168197e-03 5.99087134e-05 9.99994968e-01 -1.17189925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.640281693 meters Centerline goodness [0,1] 0.9987704309851392 Centerline is valid? [True, True] Translation: X:192.32, Y:-9.15, Z:-1.17 [[ 9.98406676e-01 5.63384968e-02 3.17549184e-03 1.92319605e+02] [-5.63379821e-02 9.98411723e-01 -2.51400843e-04 -9.14556903e+00] [-3.18461183e-03 7.20994770e-05 9.99994927e-01 -1.17258952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.670281693 meters Centerline goodness [0,1] 0.9982194954522052 Centerline is valid? [True, True] Translation: X:192.35, Y:-9.15, Z:-1.17 [[ 9.98480392e-01 5.50259717e-02 3.00813316e-03 1.92350392e+02] [-5.50255022e-02 9.98484921e-01 -2.38668072e-04 -9.15481764e+00] [-3.01670854e-03 7.27813526e-05 9.99995447e-01 -1.17325040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.700281693 meters Centerline goodness [0,1] 0.9982283713671067 Centerline is valid? [True, True] Translation: X:192.38, Y:-9.16, Z:-1.17 [[ 9.98508203e-01 5.45417855e-02 2.56165477e-03 1.92381394e+02] [-5.45414434e-02 9.98511487e-01 -2.03291799e-04 -9.16266369e+00] [-2.56892961e-03 6.32721799e-05 9.99996698e-01 -1.17424075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.730281693 meters Centerline goodness [0,1] 0.9985159115483283 Centerline is valid? [True, True] Translation: X:192.41, Y:-9.17, Z:-1.17 [[ 9.98417761e-01 5.61926678e-02 2.08788344e-03 1.92413305e+02] [-5.61924437e-02 9.98419943e-01 -1.65858114e-04 -9.16827025e+00] [-2.09390448e-03 4.82724143e-05 9.99997807e-01 -1.17365416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.760281693 meters Centerline goodness [0,1] 0.9987913998558161 Centerline is valid? [True, True] Translation: X:192.44, Y:-9.17, Z:-1.17 [[ 9.98335702e-01 5.76200648e-02 2.39860148e-03 1.92444789e+02] [-5.76197721e-02 9.98338583e-01 -1.91022059e-04 -9.17156565e+00] [-2.40562311e-03 5.24972712e-05 9.99997105e-01 -1.17287054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.790281693 meters Centerline goodness [0,1] 0.9984193222053617 Centerline is valid? [True, True] Translation: X:192.47, Y:-9.18, Z:-1.17 [[ 9.98177215e-01 6.02598013e-02 3.31710280e-03 1.92474811e+02] [-6.02592529e-02 9.98182725e-01 -2.65116371e-04 -9.17615507e+00] [-3.32705057e-03 6.47469847e-05 9.99994463e-01 -1.17251938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.820281693 meters Centerline goodness [0,1] 0.9983995902951156 Centerline is valid? [True, True] Translation: X:192.51, Y:-9.18, Z:-1.17 [[ 9.98157122e-01 6.05765824e-02 3.58281894e-03 1.92507226e+02] [-6.05759450e-02 9.98163550e-01 -2.86254895e-04 -9.18188303e+00] [-3.59357961e-03 6.86947190e-05 9.99993541e-01 -1.17267212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.850281693 meters Centerline goodness [0,1] 0.9984419084515939 Centerline is valid? [True, True] Translation: X:192.54, Y:-9.19, Z:-1.17 [[ 9.98228018e-01 5.93306595e-02 4.54949381e-03 1.92539273e+02] [-5.93296143e-02 9.98238380e-01 -3.64471379e-04 -9.18932715e+00] [-4.56310366e-03 9.39058292e-05 9.99989585e-01 -1.17092811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.880281693 meters Centerline goodness [0,1] 0.9980151188817096 Centerline is valid? [True, True] Translation: X:192.57, Y:-9.20, Z:-1.17 [[ 9.98272926e-01 5.84925439e-02 5.45774251e-03 1.92570646e+02] [-5.84910217e-02 9.98287838e-01 -4.38240859e-04 -9.19539744e+00] [-5.47403180e-03 1.18255049e-04 9.99985010e-01 -1.16985955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.910281693 meters Centerline goodness [0,1] 0.998035446460635 Centerline is valid? [True, True] Translation: X:192.60, Y:-9.20, Z:-1.17 [[ 9.98311854e-01 5.78639028e-02 5.02109375e-03 1.92602401e+02] [-5.78626028e-02 9.98324474e-01 -4.03919334e-04 -9.20029514e+00] [-5.03605313e-03 1.12703905e-04 9.99987313e-01 -1.16952408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.940281693 meters Centerline goodness [0,1] 0.9978590849729174 Centerline is valid? [True, True] Translation: X:192.63, Y:-9.21, Z:-1.17 [[ 9.98392980e-01 5.65334745e-02 3.92733025e-03 1.92632618e+02] [-5.65326667e-02 9.98400700e-01 -3.16473710e-04 -9.20772087e+00] [-3.93894063e-03 9.39426785e-05 9.99992238e-01 -1.17192557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.970281693 meters Centerline goodness [0,1] 0.9979055154759134 Centerline is valid? [True, True] Translation: X:192.66, Y:-9.21, Z:-1.17 [[ 9.98458262e-01 5.54343832e-02 2.85089320e-03 1.92664236e+02] [-5.54339536e-02 9.98462330e-01 -2.29548374e-04 -9.21435642e+00] [-2.85923433e-03 7.11581892e-05 9.99995910e-01 -1.17385653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.000281693 meters Centerline goodness [0,1] 0.9970517626247736 Centerline is valid? [True, True] Translation: X:192.69, Y:-9.23, Z:-1.18 [[ 9.98647411e-01 5.19610572e-02 1.84315966e-03 1.92693434e+02] [-5.19608709e-02 9.98649110e-01 -1.48835884e-04 -9.22951955e+00] [-1.84840342e-03 5.28623898e-05 9.99998290e-01 -1.17654867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.030281693 meters Centerline goodness [0,1] 0.9964537491988891 Centerline is valid? [True, True] Translation: X:192.73, Y:-9.24, Z:-1.18 [[ 9.98733064e-01 5.02811826e-02 2.01748690e-03 1.92725044e+02] [-5.02809561e-02 9.98735099e-01 -1.62855880e-04 -9.23588715e+00] [-2.02312357e-03 6.12083815e-05 9.99997952e-01 -1.17645502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.060281693 meters Centerline goodness [0,1] 0.995603931100074 Centerline is valid? [True, True] Translation: X:192.76, Y:-9.24, Z:-1.18 [[ 9.98769967e-01 4.95403288e-02 2.07570154e-03 1.92755101e+02] [-4.95400871e-02 9.98772122e-01 -1.67710995e-04 -9.24476112e+00] [-2.08146129e-03 6.46742699e-05 9.99997832e-01 -1.17628270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.090281693 meters Centerline goodness [0,1] 0.9962276875092201 Centerline is valid? [True, True] Translation: X:192.79, Y:-9.25, Z:-1.18 [[ 9.98710315e-01 5.07178732e-02 2.32480828e-03 1.92785413e+02] [-5.07175737e-02 9.98713018e-01 -1.87642439e-04 -9.25346524e+00] [-2.33133311e-03 6.94918043e-05 9.99997280e-01 -1.17519476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.120281693 meters Centerline goodness [0,1] 0.9966125944160408 Centerline is valid? [True, True] Translation: X:192.82, Y:-9.26, Z:-1.18 [[ 9.98606842e-01 5.27282552e-02 2.02646425e-03 1.92815323e+02] [-5.27280307e-02 9.98608896e-01 -1.64097418e-04 -9.25764881e+00] [-2.03229780e-03 5.70173354e-05 9.99997933e-01 -1.17526573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.150281693 meters Centerline goodness [0,1] 0.9987648800017036 Centerline is valid? [True, True] Translation: X:192.85, Y:-9.25, Z:-1.18 [[ 9.98195188e-01 6.00205974e-02 1.97360914e-03 1.92846231e+02] [-6.00203986e-02 9.98197138e-01 -1.59863625e-04 -9.25378280e+00] [-1.97964610e-03 4.11182938e-05 9.99998040e-01 -1.17562683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.180281693 meters Centerline goodness [0,1] 0.999145043389048 Centerline is valid? [True, True] Translation: X:192.88, Y:-9.25, Z:-1.18 [[ 9.97913595e-01 6.45146083e-02 2.51422062e-03 1.92878147e+02] [-6.45143001e-02 9.97916762e-01 -2.03593495e-04 -9.25134449e+00] [-2.52211765e-03 4.09655332e-05 9.99996819e-01 -1.17513027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21028169299998 meters Centerline goodness [0,1] 0.9997038228014132 Centerline is valid? [True, True] Translation: X:192.91, Y:-9.24, Z:-1.17 [[ 9.97399135e-01 7.19907198e-02 3.50727151e-03 1.92909578e+02] [-7.19901655e-02 9.97405301e-01 -2.84190750e-04 -9.24473519e+00] [-3.51863030e-03 3.09625515e-05 9.99993809e-01 -1.17229449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.240281693 meters Centerline goodness [0,1] 0.9998291948673058 Centerline is valid? [True, True] Translation: X:192.94, Y:-9.24, Z:-1.17 [[ 9.97214335e-01 7.44827170e-02 3.98684919e-03 1.92941874e+02] [-7.44820206e-02 9.97222304e-01 -3.23085777e-04 -9.24388622e+00] [-3.99983924e-03 2.52371847e-05 9.99992000e-01 -1.17132714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.270281693 meters Centerline goodness [0,1] 0.9997666921184356 Centerline is valid? [True, True] Translation: X:192.97, Y:-9.24, Z:-1.17 [[ 9.96992807e-01 7.74608113e-02 2.27259935e-03 1.92974491e+02] [-7.74605926e-02 9.96995398e-01 -1.84222031e-04 -9.24279842e+00] [-2.28004108e-03 7.63114719e-06 9.99997401e-01 -1.17485052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.300281693 meters Centerline goodness [0,1] 0.9997213827986027 Centerline is valid? [True, True] Translation: X:193.01, Y:-9.24, Z:-1.18 [[ 9.96868487e-01 7.90617841e-02 1.56666387e-03 1.93006114e+02] [-7.90616822e-02 9.96869718e-01 -1.26995734e-04 -9.24314010e+00] [-1.57180028e-03 2.73496385e-06 9.99998765e-01 -1.17737189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.330281693 meters Centerline goodness [0,1] 0.9995742959919968 Centerline is valid? [True, True] Translation: X:193.04, Y:-9.24, Z:-1.18 [[ 9.96696484e-01 8.12046298e-02 1.38829660e-03 1.93038127e+02] [-8.12045516e-02 9.96697451e-01 -1.12684355e-04 -9.24217262e+00] [-1.39286217e-03 -4.23902427e-07 9.99999030e-01 -1.17799618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.360281693 meters Centerline goodness [0,1] 0.9993230808283798 Centerline is valid? [True, True] Translation: X:193.07, Y:-9.24, Z:-1.18 [[ 9.96488218e-01 8.37177997e-02 1.60035993e-03 1.93070810e+02] [-8.37176984e-02 9.96489503e-01 -1.30302262e-04 -9.23999801e+00] [-1.60565049e-03 -4.13378072e-06 9.99998711e-01 -1.17683977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.390281693 meters Centerline goodness [0,1] 0.9991562427489611 Centerline is valid? [True, True] Translation: X:193.10, Y:-9.23, Z:-1.17 [[ 9.96153818e-01 8.75811805e-02 2.66601697e-03 1.93102997e+02] [-8.75809108e-02 9.96157385e-01 -2.17960282e-04 -9.23270257e+00] [-2.67486172e-03 -1.63702273e-05 9.99996422e-01 -1.17392122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.420281693 meters Centerline goodness [0,1] 0.9986440677966102 Centerline is valid? [True, True] Translation: X:193.13, Y:-9.23, Z:-1.17 [[ 9.96011901e-01 8.90494781e-02 5.52120212e-03 1.93134722e+02] [-8.90483358e-02 9.96027203e-01 -4.52853187e-04 -9.22847325e+00] [-5.53959384e-03 -4.06066968e-05 9.99984656e-01 -1.16836975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.450281693 meters Centerline goodness [0,1] 0.9985926905198516 Centerline is valid? [True, True] Translation: X:193.17, Y:-9.23, Z:-1.17 [[ 9.95978178e-01 8.93596665e-02 6.50530382e-03 1.93167025e+02] [-8.93580805e-02 9.95999421e-01 -5.34629584e-04 -9.23135969e+00] [-6.52705316e-03 -4.88220635e-05 9.99978697e-01 -1.16724595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.480281693 meters Centerline goodness [0,1] 0.9987223984839129 Centerline is valid? [True, True] Translation: X:193.20, Y:-9.23, Z:-1.17 [[ 9.96025529e-01 8.88028956e-02 6.86954703e-03 1.93198788e+02] [-8.88011058e-02 9.96049217e-01 -5.65716260e-04 -9.23307290e+00] [-6.89264418e-03 -4.65555350e-05 9.99976244e-01 -1.16702098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.510281693 meters Centerline goodness [0,1] 0.9989241641177091 Centerline is valid? [True, True] Translation: X:193.23, Y:-9.24, Z:-1.17 [[ 9.96174904e-01 8.71248457e-02 6.69487491e-03 1.93230869e+02] [-8.71231007e-02 9.96197400e-01 -5.52415438e-04 -9.24058699e+00] [-6.71754609e-03 -3.29758645e-05 9.99977436e-01 -1.16895440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.540281693 meters Centerline goodness [0,1] 0.9993242957895181 Centerline is valid? [True, True] Translation: X:193.26, Y:-9.26, Z:-1.17 [[ 9.96773858e-01 8.00887140e-02 5.26054600e-03 1.93260617e+02] [-8.00875353e-02 9.96787740e-01 -4.34684691e-04 -9.25741045e+00] [-5.27846109e-03 1.19781729e-05 9.99986069e-01 -1.17230473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.570281693 meters Centerline goodness [0,1] 0.9994532761376062 Centerline is valid? [True, True] Translation: X:193.29, Y:-9.28, Z:-1.18 [[ 9.97515110e-01 7.03680937e-02 3.45486869e-03 1.93291114e+02] [-7.03675262e-02 9.97521092e-01 -2.85695473e-04 -9.28086246e+00] [-3.46640823e-03 4.18749880e-05 9.99993991e-01 -1.17666441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.600281693 meters Centerline goodness [0,1] 0.9992189479017141 Centerline is valid? [True, True] Translation: X:193.32, Y:-9.30, Z:-1.18 [[ 9.97849882e-01 6.54800210e-02 2.82468857e-03 1.93321565e+02] [-6.54796217e-02 9.97853879e-01 -2.33708067e-04 -9.29514152e+00] [-2.83392966e-03 4.82460283e-05 9.99995983e-01 -1.17827171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.630281693 meters Centerline goodness [0,1] 0.9982065997130559 Centerline is valid? [True, True] Translation: X:193.35, Y:-9.31, Z:-1.18 [[ 9.98133838e-01 6.09986461e-02 2.82971851e-03 1.93351428e+02] [-6.09982272e-02 9.98137847e-01 -2.34204348e-04 -9.30879916e+00] [-2.83873529e-03 6.11594724e-05 9.99995969e-01 -1.17802817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.660281693 meters Centerline goodness [0,1] 0.9943048292507357 Centerline is valid? [True, True] Translation: X:193.38, Y:-9.33, Z:-1.18 [[ 9.98439567e-01 5.57209352e-02 3.68894649e-03 1.93378984e+02] [-5.57201869e-02 9.98446377e-01 -3.05382960e-04 -9.33394440e+00] [-3.70023148e-03 9.93576422e-05 9.99993149e-01 -1.17612703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.690281693 meters Centerline goodness [0,1] 0.9972503463710967 Centerline is valid? [True, True] Translation: X:193.41, Y:-9.33, Z:-1.18 [[ 9.98464928e-01 5.52986961e-02 3.13705543e-03 1.93411203e+02] [-5.52981536e-02 9.98469853e-01 -2.59476861e-04 -9.32946798e+00] [-3.14660400e-03 8.56051725e-05 9.99995046e-01 -1.17615282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.720281693 meters Centerline goodness [0,1] 0.9966913934080756 Centerline is valid? [True, True] Translation: X:193.44, Y:-9.34, Z:-1.18 [[ 9.98444092e-01 5.57282382e-02 1.93874784e-03 1.93441983e+02] [-5.57280318e-02 9.98445973e-01 -1.60370253e-04 -9.34279484e+00] [-1.94467212e-03 5.20781305e-05 9.99998108e-01 -1.17889030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.750281693 meters Centerline goodness [0,1] 0.9987265472450972 Centerline is valid? [True, True] Translation: X:193.47, Y:-9.34, Z:-1.18 [[ 9.98271294e-01 5.87742446e-02 1.12304647e-04 1.93473926e+02] [-5.87742440e-02 9.98271300e-01 -9.23268761e-06 -9.33966434e+00] [-1.12653150e-04 2.61610628e-06 9.99999994e-01 -1.18166429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.780281693 meters Centerline goodness [0,1] 0.9986914586015492 Centerline is valid? [True, True] Translation: X:193.51, Y:-9.34, Z:-1.18 [[ 9.98150456e-01 6.07915567e-02 2.32381568e-04 1.93505183e+02] [-6.07915540e-02 9.98150483e-01 -1.86819047e-05 -9.34335106e+00] [-2.33087476e-04 4.52051510e-06 9.99999973e-01 -1.18239773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.810281693 meters Centerline goodness [0,1] 0.9993159469858914 Centerline is valid? [True, True] Translation: X:193.54, Y:-9.34, Z:-1.18 [[ 9.98009138e-01 6.30693305e-02 -1.43339908e-04 1.93537416e+02] [-6.30693293e-02 9.98009148e-01 1.26878327e-05 -9.34408024e+00] [ 1.43854752e-04 -3.62222108e-06 9.99999990e-01 -1.18244185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.840281693 meters Centerline goodness [0,1] 0.9993159469858914 Centerline is valid? [True, True] Translation: X:193.57, Y:-9.35, Z:-1.18 [[ 9.97997529e-01 6.32527598e-02 -1.43329129e-04 1.93569787e+02] [-6.32527587e-02 9.97997539e-01 1.28160450e-05 -9.34698137e+00] [ 1.43852768e-04 -3.72441843e-06 9.99999990e-01 -1.18258774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.870281693 meters Centerline goodness [0,1] 0.9993020895017342 Centerline is valid? [True, True] Translation: X:193.60, Y:-9.35, Z:-1.18 [[ 9.97960149e-01 6.38325441e-02 -9.73234133e-04 1.93602228e+02] [-6.38324947e-02 9.97960623e-01 8.17199851e-05 -9.35078499e+00] [ 9.76465736e-04 -1.94293258e-05 9.99999523e-01 -1.18403191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.900281693 meters Centerline goodness [0,1] 0.9991564206930004 Centerline is valid? [True, True] Translation: X:193.63, Y:-9.36, Z:-1.19 [[ 9.97933882e-01 6.42329808e-02 -1.44634217e-03 1.93633306e+02] [-6.42328713e-02 9.97934929e-01 1.22086541e-04 -9.35916411e+00] [ 1.45119735e-03 -2.89315856e-05 9.99998947e-01 -1.18588960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.930281693 meters Centerline goodness [0,1] 0.9992085561497326 Centerline is valid? [True, True] Translation: X:193.67, Y:-9.36, Z:-1.18 [[ 9.97939824e-01 6.41543050e-02 5.77405275e-04 1.93665796e+02] [-6.41542882e-02 9.97939991e-01 -4.77177132e-05 -9.36098920e+00] [-5.79277112e-04 1.05763819e-05 9.99999832e-01 -1.18146054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96028169299998 meters Centerline goodness [0,1] 0.9990236654993102 Centerline is valid? [True, True] Translation: X:193.70, Y:-9.37, Z:-1.18 [[ 9.97982552e-01 6.34633688e-02 1.79656361e-03 1.93696350e+02] [-6.34632005e-02 9.97984168e-01 -1.50619362e-04 -9.36755618e+00] [-1.80250085e-03 3.62998186e-05 9.99998375e-01 -1.17976791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.990281693 meters Centerline goodness [0,1] 0.9987833251510171 Centerline is valid? [True, True] Translation: X:193.73, Y:-9.38, Z:-1.18 [[ 9.98077892e-01 6.18897948e-02 3.18986671e-03 1.93728199e+02] [-6.18892529e-02 9.98082987e-01 -2.68398662e-04 -9.37748423e+00] [-3.20036283e-03 7.04643032e-05 9.99994876e-01 -1.17704138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.020281693 meters Centerline goodness [0,1] 0.9986543313708999 Centerline is valid? [True, True] Translation: X:193.76, Y:-9.39, Z:-1.18 [[ 9.98102253e-01 6.14924334e-02 3.25163169e-03 1.93758793e+02] [-6.14918664e-02 9.98107547e-01 -2.74153211e-04 -9.38509923e+00] [-3.26233647e-03 7.36840366e-05 9.99994676e-01 -1.17744569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.050281693 meters Centerline goodness [0,1] 0.9968446242138032 Centerline is valid? [True, True] Translation: X:193.79, Y:-9.40, Z:-1.17 [[ 9.98066928e-01 6.19691194e-02 4.71538686e-03 1.93788663e+02] [-6.19679276e-02 9.98078062e-01 -3.98561163e-04 -9.39689043e+00] [-4.73102266e-03 1.05587964e-04 9.99988803e-01 -1.17408073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.080281693 meters Centerline goodness [0,1] 0.9971333927888903 Centerline is valid? [True, True] Translation: X:193.82, Y:-9.40, Z:-1.17 [[ 9.97965554e-01 6.35222661e-02 5.44741297e-03 1.93820792e+02] [-6.35206954e-02 9.97980415e-01 -4.61036231e-04 -9.39860923e+00] [-5.46569753e-03 1.14074818e-04 9.99985056e-01 -1.17232957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.110281693 meters Centerline goodness [0,1] 0.99913091402408 Centerline is valid? [True, True] Translation: X:193.85, Y:-9.39, Z:-1.17 [[ 9.97658362e-01 6.81983048e-02 5.17534020e-03 1.93852991e+02] [-6.81969465e-02 9.97671782e-01 -4.38669645e-04 -9.39249470e+00] [-5.19320741e-03 8.47000401e-05 9.99986512e-01 -1.17264155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.140281693 meters Centerline goodness [0,1] 0.9989685513408832 Centerline is valid? [True, True] Translation: X:193.88, Y:-9.40, Z:-1.17 [[ 9.97411658e-01 7.16898011e-02 5.52784143e-03 1.93884306e+02] [-7.16883029e-02 9.97426973e-01 -4.68957838e-04 -9.39568506e+00] [-5.54723764e-03 7.14624446e-05 9.99984611e-01 -1.17202898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.170281693 meters Centerline goodness [0,1] 0.9997051762624773 Centerline is valid? [True, True] Translation: X:193.92, Y:-9.39, Z:-1.17 [[ 9.97123302e-01 7.56105311e-02 5.30738585e-03 1.93916510e+02] [-7.56092015e-02 9.97137425e-01 -4.51002012e-04 -9.39270251e+00] [-5.32629357e-03 4.84174084e-05 9.99985814e-01 -1.17298196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.200281693 meters Centerline goodness [0,1] 0.9995571582210413 Centerline is valid? [True, True] Translation: X:193.95, Y:-9.38, Z:-1.18 [[ 9.96550580e-01 8.29001470e-02 3.80877972e-03 1.93950084e+02] [-8.28995139e-02 9.96557859e-01 -3.24075184e-04 -9.38191348e+00] [-3.82253524e-03 7.21132550e-06 9.99992694e-01 -1.17699918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.230281693 meters Centerline goodness [0,1] 0.9995129388844183 Centerline is valid? [True, True] Translation: X:193.98, Y:-9.38, Z:-1.18 [[ 9.96281229e-01 8.61197842e-02 2.66385542e-03 1.93983517e+02] [-8.61194861e-02 9.96284790e-01 -2.26608775e-04 -9.37756080e+00] [-2.67347413e-03 -3.64379026e-06 9.99996426e-01 -1.17977124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.260281693 meters Centerline goodness [0,1] 0.9991476485755076 Centerline is valid? [True, True] Translation: X:194.02, Y:-9.37, Z:-1.18 [[ 9.95747399e-01 9.21113138e-02 1.61956988e-03 1.94016861e+02] [-9.21112115e-02 9.95748716e-01 -1.37789675e-04 -9.36902860e+00] [-1.62537662e-03 -1.19768333e-05 9.99998679e-01 -1.18235282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.290281693 meters Centerline goodness [0,1] 0.9990930948664951 Centerline is valid? [True, True] Translation: X:194.05, Y:-9.37, Z:-1.18 [[ 9.95550871e-01 9.42085871e-02 1.79042188e-03 1.94048551e+02] [-9.42084648e-02 9.95552481e-01 -1.52704638e-04 -9.36805407e+00] [-1.79684504e-03 -1.66476619e-05 9.99998386e-01 -1.18174821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.320281693 meters Centerline goodness [0,1] 0.9989714799974287 Centerline is valid? [True, True] Translation: X:194.08, Y:-9.37, Z:-1.18 [[ 9.95392644e-01 9.58508110e-02 2.47092493e-03 1.94080749e+02] [-9.58505817e-02 9.95395711e-01 -2.11324367e-04 -9.36906378e+00] [-2.47980369e-03 -2.64888708e-05 9.99996925e-01 -1.17994586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.350281693 meters Centerline goodness [0,1] 0.9987917841320982 Centerline is valid? [True, True] Translation: X:194.11, Y:-9.36, Z:-1.18 [[ 9.95109117e-01 9.87442177e-02 2.72476684e-03 1.94112090e+02] [-9.87439481e-02 9.95112847e-01 -2.33639305e-04 -9.36443319e+00] [-2.73452102e-03 -3.65576329e-05 9.99996261e-01 -1.17932361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.380281693 meters Centerline goodness [0,1] 0.998771394678868 Centerline is valid? [True, True] Translation: X:194.14, Y:-9.36, Z:-1.18 [[ 9.94937364e-01 1.00463506e-01 2.59336821e-03 1.94144800e+02] [-1.00463268e-01 9.94940743e-01 -2.22432611e-04 -9.36223554e+00] [-2.60259406e-03 -3.92317292e-05 9.99996612e-01 -1.18031377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.410281693 meters Centerline goodness [0,1] 0.9986019318759533 Centerline is valid? [True, True] Translation: X:194.18, Y:-9.35, Z:-1.18 [[ 9.94567784e-01 1.04081748e-01 1.38286029e-03 1.94176168e+02] [-1.04081684e-01 9.94568745e-01 -1.18894388e-04 -9.35373567e+00] [-1.38772436e-03 -2.56818995e-05 9.99999037e-01 -1.18334522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.440281693 meters Centerline goodness [0,1] 0.9981073494385846 Centerline is valid? [True, True] Translation: X:194.21, Y:-9.35, Z:-1.18 [[ 9.94343438e-01 1.06205463e-01 1.23535247e-03 1.94208710e+02] [-1.06205414e-01 9.94344205e-01 -1.05810704e-04 -9.35352385e+00] [-1.23960324e-03 -2.59889410e-05 9.99999231e-01 -1.18335505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.470281693 meters Centerline goodness [0,1] 0.9980592049138373 Centerline is valid? [True, True] Translation: X:194.24, Y:-9.35, Z:-1.18 [[ 9.93894411e-01 1.10327784e-01 1.29634912e-03 1.94240815e+02] [-1.10327732e-01 9.93895256e-01 -1.11668635e-04 -9.34753135e+00] [-1.30075539e-03 -3.20364258e-05 9.99999154e-01 -1.18197380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.500281693 meters Centerline goodness [0,1] 0.9974048626917105 Centerline is valid? [True, True] Translation: X:194.27, Y:-9.34, Z:-1.18 [[ 9.93679874e-01 1.12243220e-01 1.32975261e-03 1.94271979e+02] [-1.12243167e-01 9.93680763e-01 -1.14524799e-04 -9.33986821e+00] [-1.33420422e-03 -3.54546565e-05 9.99999109e-01 -1.18243925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.530281693 meters Centerline goodness [0,1] 0.9978165471475972 Centerline is valid? [True, True] Translation: X:194.30, Y:-9.34, Z:-1.18 [[ 9.93542127e-01 1.13451114e-01 1.69899898e-03 1.94303078e+02] [-1.13451029e-01 9.93543579e-01 -1.46488173e-04 -9.34331902e+00] [-1.70464877e-03 -4.72110117e-05 9.99998546e-01 -1.18152652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.560281693 meters Centerline goodness [0,1] 0.9967748055397457 Centerline is valid? [True, True] Translation: X:194.33, Y:-9.34, Z:-1.18 [[ 9.93536578e-01 1.13474198e-01 2.94516638e-03 1.94333467e+02] [-1.13473943e-01 9.93540940e-01 -2.54090092e-04 -9.34127156e+00] [-2.95497605e-03 -8.17518402e-05 9.99995631e-01 -1.18008828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.590281693 meters Centerline goodness [0,1] 0.9971054299598563 Centerline is valid? [True, True] Translation: X:194.36, Y:-9.34, Z:-1.18 [[ 9.93628978e-01 1.12648343e-01 3.43578485e-03 1.94364799e+02] [-1.12647991e-01 9.93634914e-01 -2.96453237e-04 -9.34497617e+00] [-3.44731075e-03 -9.24697348e-05 9.99994054e-01 -1.17889253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.620281693 meters Centerline goodness [0,1] 0.9977914631556594 Centerline is valid? [True, True] Translation: X:194.40, Y:-9.35, Z:-1.18 [[ 9.93660734e-01 1.12352726e-01 3.90008559e-03 1.94396605e+02] [-1.12352270e-01 9.93668382e-01 -3.36532290e-04 -9.34786285e+00] [-3.91320206e-03 -1.03784545e-04 9.99992338e-01 -1.17870509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.650281693 meters Centerline goodness [0,1] 0.9967324394974281 Centerline is valid? [True, True] Translation: X:194.43, Y:-9.34, Z:-1.18 [[ 9.93552811e-01 1.13281169e-01 4.49312712e-03 1.94428074e+02] [-1.13280569e-01 9.93562963e-01 -3.88548360e-04 -9.34095884e+00] [-4.50821990e-03 -1.22940680e-04 9.99989830e-01 -1.17842771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.680281693 meters Centerline goodness [0,1] 0.9950860991676022 Centerline is valid? [True, True] Translation: X:194.46, Y:-9.33, Z:-1.18 [[ 9.93468006e-01 1.14013210e-01 4.72319049e-03 1.94458426e+02] [-1.14012555e-01 9.93479225e-01 -4.08495357e-04 -9.33492754e+00] [-4.73896550e-03 -1.32675950e-04 9.99988762e-01 -1.17766554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71028169299998 meters Centerline goodness [0,1] 0.9962255398110661 Centerline is valid? [True, True] Translation: X:194.49, Y:-9.34, Z:-1.18 [[ 9.93267243e-01 1.15794100e-01 3.45126401e-03 1.94488588e+02] [-1.15793761e-01 9.93273233e-01 -2.98454769e-04 -9.33887006e+00] [-3.46260746e-03 -1.03189495e-04 9.99994000e-01 -1.17865980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.740281693 meters Centerline goodness [0,1] 0.9974599786552828 Centerline is valid? [True, True] Translation: X:194.52, Y:-9.34, Z:-1.18 [[ 9.93222251e-01 1.16198187e-01 2.74605873e-03 1.94518456e+02] [-1.16197975e-01 9.93226044e-01 -2.37470771e-04 -9.34478672e+00] [-2.75505073e-03 -8.32252091e-05 9.99996201e-01 -1.17941181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.770281693 meters Centerline goodness [0,1] 0.9976084728390844 Centerline is valid? [True, True] Translation: X:194.55, Y:-9.34, Z:-1.18 [[ 9.93224939e-01 1.16164325e-01 3.17338290e-03 1.94548008e+02] [-1.16164040e-01 9.93230004e-01 -2.74454206e-04 -9.34349017e+00] [-3.18378089e-03 -9.60382171e-05 9.99994927e-01 -1.17978240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.800281693 meters Centerline goodness [0,1] 0.9977763999059246 Centerline is valid? [True, True] Translation: X:194.58, Y:-9.35, Z:-1.18 [[ 9.93287796e-01 1.15597861e-01 4.06062457e-03 1.94578827e+02] [-1.15597391e-01 9.93296089e-01 -3.51047532e-04 -9.34996653e+00] [-4.07398285e-03 -1.20706376e-04 9.99991694e-01 -1.17925274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.830281693 meters Centerline goodness [0,1] 0.9965819179238317 Centerline is valid? [True, True] Translation: X:194.61, Y:-9.35, Z:-1.18 [[ 9.93505151e-01 1.13683751e-01 4.84971608e-03 1.94609717e+02] [-1.13683057e-01 9.93516979e-01 -4.19396646e-04 -9.34756535e+00] [-4.86595385e-03 -1.34657820e-04 9.99988152e-01 -1.17828741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.860281693 meters Centerline goodness [0,1] 0.9974482802252261 Centerline is valid? [True, True] Translation: X:194.64, Y:-9.36, Z:-1.18 [[ 9.93566862e-01 1.13130555e-01 5.13494279e-03 1.94640370e+02] [-1.13129769e-01 9.93580122e-01 -4.44133342e-04 -9.35578335e+00] [-5.15222213e-03 -1.39638722e-04 9.99986717e-01 -1.17861886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.890281693 meters Centerline goodness [0,1] 0.9978624714105551 Centerline is valid? [True, True] Translation: X:194.67, Y:-9.36, Z:-1.18 [[ 9.93559933e-01 1.13178006e-01 5.42201126e-03 1.94671414e+02] [-1.13177130e-01 9.93574716e-01 -4.69092245e-04 -9.36125702e+00] [-5.44026423e-03 -1.47576416e-04 9.99985191e-01 -1.17856068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.920281693 meters Centerline goodness [0,1] 0.9974007158684166 Centerline is valid? [True, True] Translation: X:194.70, Y:-9.36, Z:-1.18 [[ 9.93346196e-01 1.15068799e-01 4.74399343e-03 1.94701798e+02] [-1.15068150e-01 9.93357515e-01 -4.10528258e-04 -9.36048318e+00] [-4.75972052e-03 -1.38085863e-04 9.99988663e-01 -1.17902040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.950281693 meters Centerline goodness [0,1] 0.9974687852296173 Centerline is valid? [True, True] Translation: X:194.73, Y:-9.36, Z:-1.18 [[ 9.93139349e-01 1.16869060e-01 3.98193963e-03 1.94733408e+02] [-1.16868616e-01 9.93147324e-01 -3.44615331e-04 -9.36185432e+00] [-3.99492756e-03 -1.23112730e-04 9.99992013e-01 -1.18024033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.980281693 meters Centerline goodness [0,1] 0.9956057356713343 Centerline is valid? [True, True] Translation: X:194.76, Y:-9.35, Z:-1.18 [[ 9.92668227e-01 1.20849832e-01 2.26033455e-03 1.94763784e+02] [-1.20849699e-01 9.92670797e-01 -1.95672924e-04 -9.35172021e+00] [-2.26741514e-03 -7.89224558e-05 9.99997426e-01 -1.18416176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.010281693 meters Centerline goodness [0,1] 0.996484614895915 Centerline is valid? [True, True] Translation: X:194.79, Y:-9.35, Z:-1.19 [[ 9.92472480e-01 1.22458776e-01 1.49123651e-03 1.94793797e+02] [-1.22458720e-01 9.92473599e-01 -1.29135836e-04 -9.35489477e+00] [-1.49582668e-03 -5.44511509e-05 9.99998880e-01 -1.18572555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.040281693 meters Centerline goodness [0,1] 0.9954676380887835 Centerline is valid? [True, True] Translation: X:194.82, Y:-9.36, Z:-1.19 [[ 9.92328792e-01 1.23624019e-01 8.18816739e-04 1.94822302e+02] [-1.23624003e-01 9.92329129e-01 -7.10035425e-05 -9.35520601e+00] [-8.21313445e-04 -3.07665431e-05 9.99999662e-01 -1.18812919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.070281693 meters Centerline goodness [0,1] 0.993062018783315 Centerline is valid? [True, True] Translation: X:194.85, Y:-9.35, Z:-1.19 [[ 9.92101601e-01 1.25435868e-01 5.05313976e-04 1.94850907e+02] [-1.25435862e-01 9.92101730e-01 -4.39037051e-05 -9.35283286e+00] [-5.06829969e-04 -1.98275580e-05 9.99999871e-01 -1.18846781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.100281693 meters Centerline goodness [0,1] 0.9911216336194141 Centerline is valid? [True, True] Translation: X:194.88, Y:-9.35, Z:-1.19 [[ 9.92047872e-01 1.25857304e-01 9.78591792e-04 1.94879260e+02] [-1.25857282e-01 9.92048354e-01 -8.48274669e-05 -9.35062765e+00] [-9.81486534e-04 -3.90099950e-05 9.99999518e-01 -1.18762139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.130281693 meters Centerline goodness [0,1] 0.9931667234332425 Centerline is valid? [True, True] Translation: X:194.91, Y:-9.35, Z:-1.19 [[ 9.92159726e-01 1.24957738e-01 2.15473082e-03 1.94907947e+02] [-1.24957627e-01 9.92162062e-01 -1.86328417e-04 -9.35382337e+00] [-2.16112535e-03 -8.43824999e-05 9.99997661e-01 -1.18569312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.160281693 meters Centerline goodness [0,1] 0.9907043337037353 Centerline is valid? [True, True] Translation: X:194.94, Y:-9.35, Z:-1.19 [[ 9.92227349e-01 1.24419502e-01 2.16236387e-03 1.94937120e+02] [-1.24419390e-01 9.92229702e-01 -1.86864766e-04 -9.35195048e+00] [-2.16881128e-03 -8.36276617e-05 9.99997645e-01 -1.18558600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.190281693 meters Centerline goodness [0,1] 0.9934551636209095 Centerline is valid? [True, True] Translation: X:194.97, Y:-9.36, Z:-1.19 [[ 9.92245130e-01 1.24284667e-01 1.71005064e-03 1.94965250e+02] [-1.24284596e-01 9.92246601e-01 -1.47784119e-04 -9.35897112e+00] [-1.71515924e-03 -6.58948812e-05 9.99998527e-01 -1.18561185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.220281693 meters Centerline goodness [0,1] 0.9936271793341575 Centerline is valid? [True, True] Translation: X:194.99, Y:-9.36, Z:-1.19 [[ 9.92157799e-01 1.24990257e-01 5.81642837e-04 1.94994540e+02] [-1.24990249e-01 9.92157969e-01 -5.03725152e-05 -9.35554764e+00] [-5.83377650e-04 -2.27221992e-05 9.99999830e-01 -1.18766352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.250281693 meters Centerline goodness [0,1] 0.9416484472840738 Centerline is valid? [True, False] Translation: X:194.99, Y:-9.35, Z:-1.19 [[ 9.92651361e-01 1.21009352e-01 1.11247137e-04 1.94994763e+02] [-1.21006749e-01 9.92635259e-01 -5.71051736e-03 -9.34627586e+00] [-8.01453836e-04 5.65509118e-03 9.99983689e-01 -1.18744001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.280281693 meters Centerline goodness [0,1] 0.9803509067194008 Centerline is valid? [False, True] Translation: X:194.99, Y:-9.34, Z:-1.19 [[ 9.93128996e-01 1.17024578e-01 -2.11220608e-04 1.94994292e+02] [-1.17019934e-01 9.93069941e-01 -1.08823964e-02 -9.34029086e+00] [-1.06375101e-03 1.08323404e-02 9.99940763e-01 -1.18708750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.310281693 meters Centerline goodness [0,1] 0.9924141008478358 Centerline is valid? [True, True] Translation: X:195.02, Y:-9.36, Z:-1.18 [[ 9.93102051e-01 1.17233951e-01 2.12552096e-03 1.95021867e+02] [-1.17233874e-01 9.93104321e-01 -1.61529451e-04 -9.35772096e+00] [-2.12980078e-03 -8.87678264e-05 9.99997728e-01 -1.18370536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.340281693 meters Centerline goodness [0,1] 0.9890715029872643 Centerline is valid? [True, True] Translation: X:195.05, Y:-9.35, Z:-1.18 [[ 9.93053358e-01 1.17644758e-01 2.17686529e-03 1.95051114e+02] [-1.17644677e-01 9.93055740e-01 -1.65317709e-04 -9.35219654e+00] [-2.18119733e-03 -9.19273089e-05 9.99997617e-01 -1.18389359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.370281693 meters Centerline goodness [0,1] 0.9914126779331204 Centerline is valid? [True, True] Translation: X:195.08, Y:-9.35, Z:-1.19 [[ 9.92958545e-01 1.18459500e-01 8.20797937e-04 1.95080748e+02] [-1.18459489e-01 9.92958884e-01 -6.23454653e-05 -9.35486420e+00] [-8.22404017e-04 -3.53248419e-05 9.99999661e-01 -1.18606746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.400281693 meters Centerline goodness [0,1] 0.984026706670329 Centerline is valid? [True, True] Translation: X:195.11, Y:-9.35, Z:-1.19 [[ 9.92500036e-01 1.22242955e-01 -5.81075294e-04 1.95111076e+02] [-1.22242950e-01 9.92500206e-01 4.40390138e-05 -9.34578866e+00] [ 5.82100808e-04 2.73236354e-05 9.99999830e-01 -1.18833469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43028169299998 meters Centerline goodness [0,1] 0.9846153846153847 Centerline is valid? [True, True] Translation: X:195.14, Y:-9.35, Z:-1.19 [[ 9.92252185e-01 1.24240060e-01 8.98755913e-05 1.95140454e+02] [-1.24240060e-01 9.92252189e-01 -6.95571195e-06 -9.34554027e+00] [-9.00434303e-05 -4.26432843e-06 9.99999996e-01 -1.18649567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46028169299998 meters Centerline goodness [0,1] 0.9687953403284479 Centerline is valid? [True, True] Translation: X:195.17, Y:-9.33, Z:-1.18 [[ 9.91886543e-01 1.27106951e-01 2.21581580e-03 1.95170366e+02] [-1.27106892e-01 9.91889011e-01 -1.68004004e-04 -9.33376953e+00] [-2.21919782e-03 -1.15004549e-04 9.99997531e-01 -1.18324684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.490281693 meters Centerline goodness [0,1] 0.9783060480108576 Centerline is valid? [True, True] Translation: X:195.20, Y:-9.34, Z:-1.18 [[ 9.91782103e-01 1.27908868e-01 2.75341850e-03 1.95199478e+02] [-1.27908780e-01 9.91785915e-01 -2.08691221e-04 -9.33537126e+00] [-2.75749515e-03 -1.45210183e-04 9.99996188e-01 -1.18285429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.520281693 meters Centerline goodness [0,1] 0.9610302021202605 Centerline is valid? [True, True] Translation: X:195.23, Y:-9.33, Z:-1.18 [[ 9.91712983e-01 1.28444043e-01 2.73618944e-03 1.95228374e+02] [-1.28443959e-01 9.91716747e-01 -2.07263903e-04 -9.32504653e+00] [-2.74014670e-03 -1.45900700e-04 9.99996235e-01 -1.18353290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.550281693 meters Centerline goodness [0,1] 0.966034771902265 Centerline is valid? [True, True] Translation: X:195.26, Y:-9.32, Z:-1.18 [[ 9.91714081e-01 1.28447343e-01 2.11217808e-03 1.95257429e+02] [-1.28447293e-01 9.91716324e-01 -1.59902997e-04 -9.32477170e+00] [-2.11522060e-03 -1.12725502e-04 9.99997757e-01 -1.18396039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.580281693 meters Centerline goodness [0,1] 0.9522910479422996 Centerline is valid? [True, True] Translation: X:195.29, Y:-9.32, Z:-1.18 [[ 9.91696148e-01 1.28593748e-01 1.54857106e-03 1.95285419e+02] [-1.28593721e-01 9.91697354e-01 -1.17218164e-04 -9.31916818e+00] [-1.55078734e-03 -8.28917122e-05 9.99998794e-01 -1.18441002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.610281693 meters Centerline goodness [0,1] 0.9469132685267012 Centerline is valid? [True, False] Translation: X:195.29, Y:-9.31, Z:-1.18 [[ 9.91812572e-01 1.27696491e-01 1.19521688e-03 1.95286986e+02] [-1.27693391e-01 9.91810823e-01 -2.38523819e-03 -9.30801478e+00] [-1.49001559e-03 2.21308793e-03 9.99996441e-01 -1.18442926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.640281693 meters Centerline goodness [0,1] 0.9700268416343573 Centerline is valid? [False, True] Translation: X:195.28, Y:-9.31, Z:-1.18 [[ 9.91494063e-01 1.30134578e-01 2.12493980e-03 1.95283506e+02] [-1.30135396e-01 9.91496201e-01 2.50699642e-04 -9.30540918e+00] [-2.07424504e-03 -5.25097089e-04 9.99997711e-01 -1.18218860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.670281693 meters Centerline goodness [0,1] 0.9739419228476539 Centerline is valid? [True, True] Translation: X:195.31, Y:-9.30, Z:-1.19 [[ 9.91858642e-01 1.27342752e-01 5.06866442e-04 1.95312602e+02] [-1.27342749e-01 9.91858772e-01 -3.88116781e-05 -9.30151207e+00] [-5.07682313e-04 -2.60500675e-05 9.99999871e-01 -1.18531228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.700281693 meters Centerline goodness [0,1] 0.9645449763282483 Centerline is valid? [True, True] Translation: X:195.34, Y:-9.30, Z:-1.19 [[ 9.92126233e-01 1.25241818e-01 -1.60026471e-04 1.95341837e+02] [-1.25241818e-01 9.92126245e-01 1.21557057e-05 -9.29772272e+00] [ 1.60288865e-04 7.98201164e-06 9.99999987e-01 -1.18679213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.730281693 meters Centerline goodness [0,1] 0.9645449763282483 Centerline is valid? [True, True] Translation: X:195.37, Y:-9.30, Z:-1.19 [[ 9.92134422e-01 1.25176927e-01 -1.60037836e-04 1.95369291e+02] [-1.25176926e-01 9.92134435e-01 1.20068672e-05 -9.29968237e+00] [ 1.60282031e-04 8.12061819e-06 9.99999987e-01 -1.18688067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.760281693 meters Centerline goodness [0,1] 0.9856845503589482 Centerline is valid? [True, True] Translation: X:195.40, Y:-9.30, Z:-1.18 [[ 9.92651951e-01 1.20990873e-01 1.82025669e-03 1.95400197e+02] [-1.20990821e-01 9.92653616e-01 -1.38952921e-04 -9.30187510e+00] [-1.82369642e-03 -8.23024636e-05 9.99998334e-01 -1.18329053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.790281693 meters Centerline goodness [0,1] 0.9870121574722678 Centerline is valid? [True, True] Translation: X:195.43, Y:-9.30, Z:-1.18 [[ 9.92858913e-01 1.19249588e-01 3.27324002e-03 1.95429795e+02] [-1.19249411e-01 9.92864299e-01 -2.49918244e-04 -9.30209840e+00] [-3.27968581e-03 -1.42198389e-04 9.99994612e-01 -1.18051801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.820281693 meters Centerline goodness [0,1] 0.985409132957699 Centerline is valid? [True, True] Translation: X:195.46, Y:-9.30, Z:-1.18 [[ 9.93065276e-01 1.17517142e-01 3.32856995e-03 1.95458412e+02] [-1.17516950e-01 9.93070844e-01 -2.54065274e-04 -9.29913198e+00] [-3.33536279e-03 -1.38859985e-04 9.99994428e-01 -1.18031938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.850281693 meters Centerline goodness [0,1] 0.9908613978676595 Centerline is valid? [True, True] Translation: X:195.49, Y:-9.30, Z:-1.18 [[ 9.93624365e-01 1.12725403e-01 1.89879681e-03 1.95488852e+02] [-1.12725331e-01 9.93626177e-01 -1.44853902e-04 -9.30273544e+00] [-1.90302293e-03 -7.01121332e-05 9.99998187e-01 -1.18481277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.880281693 meters Centerline goodness [0,1] 0.9929544487015751 Centerline is valid? [True, True] Translation: X:195.52, Y:-9.31, Z:-1.19 [[ 9.93867546e-01 1.10563365e-01 1.74465740e-03 1.95518659e+02] [-1.10563301e-01 9.93869075e-01 -1.33107919e-04 -9.30699095e+00] [-1.74867789e-03 -6.06034402e-05 9.99998469e-01 -1.18543802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.910281693 meters Centerline goodness [0,1] 0.9944758344010586 Centerline is valid? [True, True] Translation: X:195.55, Y:-9.31, Z:-1.18 [[ 9.94183582e-01 1.07668794e-01 2.53682941e-03 1.95548378e+02] [-1.07668651e-01 9.94186816e-01 -1.93503457e-04 -9.31144027e+00] [-2.54291664e-03 -8.07590395e-05 9.99996764e-01 -1.18342317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.940281693 meters Centerline goodness [0,1] 0.996551213422762 Centerline is valid? [True, True] Translation: X:195.58, Y:-9.32, Z:-1.18 [[ 9.94263350e-01 1.06934592e-01 2.32023663e-03 1.95576894e+02] [-1.06934470e-01 9.94266055e-01 -1.76991594e-04 -9.31776488e+00] [-2.32585904e-03 -7.21370199e-05 9.99997293e-01 -1.18270468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.970281693 meters Centerline goodness [0,1] 0.9963103543332131 Centerline is valid? [True, True] Translation: X:195.61, Y:-9.31, Z:-1.19 [[ 9.94352106e-01 1.06127963e-01 8.62608129e-04 1.95605729e+02] [-1.06127946e-01 9.94352480e-01 -6.58544657e-05 -9.31179271e+00] [-8.64725533e-04 -2.60643019e-05 9.99999626e-01 -1.18608869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.000281693 meters Centerline goodness [0,1] 0.9976294289463659 Centerline is valid? [True, True] Translation: X:195.63, Y:-9.31, Z:-1.19 [[ 9.94475017e-01 1.04973431e-01 1.42178719e-04 1.95634986e+02] [-1.04973431e-01 9.94475027e-01 -1.09346795e-05 -9.31427283e+00] [-1.42541037e-04 -4.05072240e-06 9.99999990e-01 -1.18840542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.030281693 meters Centerline goodness [0,1] 0.9984750931887496 Centerline is valid? [True, True] Translation: X:195.66, Y:-9.32, Z:-1.19 [[ 9.94797115e-01 1.01875890e-01 5.87362321e-05 1.95664472e+02] [-1.01875890e-01 9.94797116e-01 -4.54501562e-06 -9.31952766e+00] [-5.88936618e-05 -1.46243750e-06 9.99999998e-01 -1.19026730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.060281693 meters Centerline goodness [0,1] 0.9980636063227463 Centerline is valid? [True, True] Translation: X:195.69, Y:-9.32, Z:-1.19 [[ 9.95020884e-01 9.96645315e-02 6.49229373e-04 1.95692414e+02] [-9.96645204e-02 9.95021096e-01 -4.95632983e-05 -9.31981543e+00] [-6.50936625e-04 -1.53886172e-05 9.99999788e-01 -1.18969420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.090281693 meters Centerline goodness [0,1] 0.9988917306052856 Centerline is valid? [True, True] Translation: X:195.72, Y:-9.33, Z:-1.19 [[ 9.95257209e-01 9.72762450e-02 6.47934936e-04 1.95720127e+02] [-9.72762335e-02 9.95257420e-01 -4.93989587e-05 -9.33095166e+00] [-6.49667398e-04 -1.38640003e-05 9.99999789e-01 -1.18915405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.120281693 meters Centerline goodness [0,1] 0.9993624752959177 Centerline is valid? [True, True] Translation: X:195.75, Y:-9.34, Z:-1.19 [[ 9.95580956e-01 9.39041810e-02 -7.50963258e-04 1.95748780e+02] [-9.39041648e-02 9.95581240e-01 5.68953160e-05 -9.33593779e+00] [ 7.52987639e-04 1.38746844e-05 9.99999716e-01 -1.19115480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.150281693 meters Centerline goodness [0,1] 0.9995103674373057 Centerline is valid? [True, True] Translation: X:195.78, Y:-9.34, Z:-1.19 [[ 9.95723288e-01 9.23845512e-02 -4.77748152e-04 1.95777527e+02] [-9.23845445e-02 9.95723403e-01 3.61186334e-05 -9.33919252e+00] [ 4.79041819e-04 8.17238097e-06 9.99999885e-01 -1.19076349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18028169299998 meters Centerline goodness [0,1] 0.9997657780427561 Centerline is valid? [True, True] Translation: X:195.81, Y:-9.35, Z:-1.18 [[ 9.96054803e-01 8.87210419e-02 1.84548407e-03 1.95805813e+02] [-8.87209345e-02 9.96056513e-01 -1.40164520e-04 -9.34670310e+00] [-1.85064197e-03 -2.41215274e-05 9.99998287e-01 -1.18495104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21028169299998 meters Centerline goodness [0,1] 0.9997648567764001 Centerline is valid? [True, True] Translation: X:195.83, Y:-9.35, Z:-1.18 [[ 9.96263577e-01 8.63354501e-02 2.25272291e-03 1.95833364e+02] [-8.63352842e-02 9.96266124e-01 -1.70966505e-04 -9.35206231e+00] [-2.25907199e-03 -2.41617704e-05 9.99997448e-01 -1.18434675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.240281693 meters Centerline goodness [0,1] 0.999850755815193 Centerline is valid? [True, True] Translation: X:195.86, Y:-9.36, Z:-1.19 [[ 9.96451930e-01 8.41446590e-02 1.79670729e-03 1.95861875e+02] [-8.41445501e-02 9.96453549e-01 -1.36276197e-04 -9.35919245e+00] [-1.80180227e-03 -1.53904476e-05 9.99998377e-01 -1.18575759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.270281693 meters Centerline goodness [0,1] 0.9998069705093834 Centerline is valid? [True, True] Translation: X:195.89, Y:-9.37, Z:-1.19 [[ 9.96829102e-01 7.95666118e-02 9.46834422e-04 1.95889181e+02] [-7.95665794e-02 9.96829551e-01 -7.18693443e-05 -9.37201834e+00] [-9.49550932e-04 -3.69492229e-06 9.99999549e-01 -1.18868112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.300281693 meters Centerline goodness [0,1] 0.9998731071821335 Centerline is valid? [True, True] Translation: X:195.92, Y:-9.38, Z:-1.19 [[ 9.97025622e-01 7.70635585e-02 1.05712531e-03 1.95916268e+02] [-7.70635168e-02 9.97026182e-01 -8.01490238e-05 -9.38059338e+00] [-1.06015819e-03 -1.55516415e-06 9.99999438e-01 -1.18805427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.330281693 meters Centerline goodness [0,1] 0.9998103226622268 Centerline is valid? [True, True] Translation: X:195.95, Y:-9.39, Z:-1.18 [[ 9.97330110e-01 7.29808300e-02 2.53954730e-03 1.95945106e+02] [-7.29805774e-02 9.97333344e-01 -1.92122735e-04 -9.39370254e+00] [-2.54679648e-03 6.27216054e-06 9.99996757e-01 -1.18465445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.360281693 meters Centerline goodness [0,1] 0.999893962208131 Centerline is valid? [True, True] Translation: X:195.97, Y:-9.40, Z:-1.18 [[ 9.97405874e-01 7.19217557e-02 2.96384076e-03 1.95974924e+02] [-7.19214072e-02 9.97410277e-01 -2.24142274e-04 -9.39934663e+00] [-2.97228594e-03 1.03972223e-05 9.99995583e-01 -1.18367466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.390281693 meters Centerline goodness [0,1] 0.9999147539586131 Centerline is valid? [True, True] Translation: X:196.00, Y:-9.40, Z:-1.19 [[ 9.97349683e-01 7.27356564e-02 1.77041407e-03 1.96004695e+02] [-7.27355333e-02 9.97351254e-01 -1.33877363e-04 -9.40437200e+00] [-1.77546235e-03 4.75053380e-06 9.99998424e-01 -1.18522167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.420281693 meters Centerline goodness [0,1] 0.9998945725973095 Centerline is valid? [True, True] Translation: X:196.03, Y:-9.40, Z:-1.19 [[ 9.97201901e-01 7.47537427e-02 4.96805659e-04 1.96033499e+02] [-7.47537333e-02 9.97202025e-01 -3.76414553e-05 -9.40451846e+00] [-4.98229449e-04 3.98053019e-07 9.99999876e-01 -1.18756458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.450281693 meters Centerline goodness [0,1] 0.9997663055024432 Centerline is valid? [True, True] Translation: X:196.06, Y:-9.40, Z:-1.19 [[ 9.96992899e-01 7.74925280e-02 -2.61552763e-04 1.96062524e+02] [-7.74925255e-02 9.96992933e-01 1.96380762e-05 -9.40246069e+00] [ 2.62288060e-04 6.89361669e-07 9.99999966e-01 -1.18908052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.480281693 meters Centerline goodness [0,1] 0.9998496692723993 Centerline is valid? [True, True] Translation: X:196.09, Y:-9.40, Z:-1.19 [[ 9.96502319e-01 8.35644613e-02 -3.31494846e-04 1.96092125e+02] [-8.35644576e-02 9.96502374e-01 2.48607790e-05 -9.39726491e+00] [ 3.32412879e-04 2.92736312e-06 9.99999945e-01 -1.18940882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.510281693 meters Centerline goodness [0,1] 0.9996780494086841 Centerline is valid? [True, True] Translation: X:196.12, Y:-9.39, Z:-1.19 [[ 9.96084124e-01 8.84072081e-02 7.63546320e-04 1.96120531e+02] [-8.84071898e-02 9.96084417e-01 -5.77626002e-05 -9.39193887e+00] [-7.65663221e-04 -9.96657533e-06 9.99999707e-01 -1.18794688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.540281693 meters Centerline goodness [0,1] 0.999470933062451 Centerline is valid? [True, True] Translation: X:196.15, Y:-9.39, Z:-1.19 [[ 9.95822478e-01 9.12975827e-02 1.53088629e-03 1.96149670e+02] [-9.12975130e-02 9.95823654e-01 -1.15504911e-04 -9.38887338e+00] [-1.53503810e-03 -2.47437244e-05 9.99998822e-01 -1.18693044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.570281693 meters Centerline goodness [0,1] 0.9993067226890756 Centerline is valid? [True, True] Translation: X:196.18, Y:-9.38, Z:-1.19 [[ 9.95536508e-01 9.43563829e-02 1.98334043e-03 1.96178270e+02] [-9.43562722e-02 9.95538483e-01 -1.49508537e-04 -9.38285026e+00] [-1.98859881e-03 -3.82994033e-05 9.99998022e-01 -1.18585626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.600281693 meters Centerline goodness [0,1] 0.9980524978831499 Centerline is valid? [True, True] Translation: X:196.21, Y:-9.37, Z:-1.19 [[ 9.94966773e-01 1.00194853e-01 1.45352534e-03 1.96208094e+02] [-1.00194799e-01 9.94967834e-01 -1.09481096e-04 -9.37242143e+00] [-1.45718040e-03 -3.67056273e-05 9.99998938e-01 -1.18773741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.630281693 meters Centerline goodness [0,1] 0.9984055783498799 Centerline is valid? [True, True] Translation: X:196.24, Y:-9.37, Z:-1.19 [[ 9.94716696e-01 1.02651018e-01 1.20922702e-03 1.96237320e+02] [-1.02650983e-01 9.94717431e-01 -9.11225838e-05 -9.37485718e+00] [-1.21219302e-03 -3.34871870e-05 9.99999265e-01 -1.18795671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.660281693 meters Centerline goodness [0,1] 0.9971054591891029 Centerline is valid? [True, True] Translation: X:196.27, Y:-9.36, Z:-1.19 [[ 9.94320062e-01 1.06427624e-01 8.80644593e-04 1.96267348e+02] [-1.06427607e-01 9.94320451e-01 -6.62954813e-05 -9.36384938e+00] [-8.82698600e-04 -2.78059692e-05 9.99999610e-01 -1.18858901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.690281693 meters Centerline goodness [0,1] 0.9961380129864619 Centerline is valid? [True, True] Translation: X:196.30, Y:-9.36, Z:-1.19 [[ 9.94178362e-01 1.07745011e-01 6.30774970e-04 1.96295119e+02] [-1.07745002e-01 9.94178562e-01 -4.76145457e-05 -9.36155249e+00] [-6.32233182e-04 -2.06254994e-05 9.99999800e-01 -1.18933489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.720281693 meters Centerline goodness [0,1] 0.9947188699654288 Centerline is valid? [True, True] Translation: X:196.32, Y:-9.36, Z:-1.19 [[ 9.93977896e-01 1.09568853e-01 1.61501322e-03 1.96324641e+02] [-1.09568800e-01 9.93979207e-01 -1.21504559e-04 -9.36035286e+00] [-1.61860267e-03 -5.61822147e-05 9.99998688e-01 -1.18753451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.750281693 meters Centerline goodness [0,1] 0.9937628179377127 Centerline is valid? [True, True] Translation: X:196.35, Y:-9.36, Z:-1.18 [[ 9.93932739e-01 1.09945043e-01 3.13017365e-03 1.96353805e+02] [-1.09944846e-01 9.93937662e-01 -2.35290353e-04 -9.36040463e+00] [-3.13706649e-03 -1.10283677e-04 9.99995073e-01 -1.18450874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.780281693 meters Centerline goodness [0,1] 0.9893899763752954 Centerline is valid? [True, True] Translation: X:196.38, Y:-9.35, Z:-1.18 [[ 9.93877753e-01 1.10400511e-01 4.32881654e-03 1.96382430e+02] [-1.10400141e-01 9.93887168e-01 -3.25128606e-04 -9.34971456e+00] [-4.33824957e-03 -1.54763866e-04 9.99990578e-01 -1.18146842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.810281693 meters Centerline goodness [0,1] 0.9920200880982274 Centerline is valid? [True, True] Translation: X:196.41, Y:-9.35, Z:-1.18 [[ 9.93848962e-01 1.10680682e-01 3.74533168e-03 1.96410867e+02] [-1.10680408e-01 9.93856010e-01 -2.81125841e-04 -9.35460828e+00] [-3.75343560e-03 -1.35138213e-04 9.99992947e-01 -1.18319349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.840281693 meters Centerline goodness [0,1] 0.9936644272472149 Centerline is valid? [True, True] Translation: X:196.44, Y:-9.36, Z:-1.18 [[ 9.93686827e-01 1.12138189e-01 3.39346264e-03 1.96440284e+02] [-1.12137973e-01 9.93692614e-01 -2.54582205e-04 -9.35856916e+00] [-3.40060715e-03 -1.27561039e-04 9.99994210e-01 -1.18393519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.870281693 meters Centerline goodness [0,1] 0.9906960062448575 Centerline is valid? [True, True] Translation: X:196.47, Y:-9.35, Z:-1.18 [[ 9.93639364e-01 1.12549857e-01 3.65294220e-03 1.96468172e+02] [-1.12549609e-01 9.93646069e-01 -2.73942637e-04 -9.35373485e+00] [-3.66056386e-03 -1.38937029e-04 9.99993290e-01 -1.18346747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.900281693 meters Centerline goodness [0,1] 0.9912624669678629 Centerline is valid? [True, True] Translation: X:196.50, Y:-9.35, Z:-1.18 [[ 9.93649609e-01 1.12459423e-01 3.65144241e-03 1.96496151e+02] [-1.12459176e-01 9.93656308e-01 -2.73615351e-04 -9.35446195e+00] [-3.65904940e-03 -1.38760417e-04 9.99993296e-01 -1.18376542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93028169299998 meters Centerline goodness [0,1] 0.9910845686253599 Centerline is valid? [True, True] Translation: X:196.52, Y:-9.35, Z:-1.19 [[ 9.93842096e-01 1.10740043e-01 3.81208275e-03 1.96523945e+02] [-1.10739762e-01 9.93849397e-01 -2.85395974e-04 -9.35455640e+00] [-3.82024091e-03 -1.38510604e-04 9.99992693e-01 -1.18506173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96028169299998 meters Centerline goodness [0,1] 0.9919051564790617 Centerline is valid? [True, True] Translation: X:196.55, Y:-9.36, Z:-1.18 [[ 9.93934736e-01 1.09899955e-01 3.96743456e-03 1.96552388e+02] [-1.09899645e-01 9.93942644e-01 -2.96809579e-04 -9.35646307e+00] [-3.97602176e-03 -1.41010298e-04 9.99992086e-01 -1.18451941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.990281693 meters Centerline goodness [0,1] 0.9919144276930851 Centerline is valid? [True, True] Translation: X:196.58, Y:-9.35, Z:-1.18 [[ 9.93902497e-01 1.10202006e-01 3.65306435e-03 1.96580795e+02] [-1.10201745e-01 9.93909201e-01 -2.73127114e-04 -9.35081049e+00] [-3.66091342e-03 -1.31112345e-04 9.99993290e-01 -1.18425056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.020281693 meters Centerline goodness [0,1] 0.9909864053784649 Centerline is valid? [True, True] Translation: X:196.61, Y:-9.35, Z:-1.19 [[ 9.93799140e-01 1.11156751e-01 2.72872191e-03 1.96608905e+02] [-1.11156610e-01 9.93802881e-01 -2.03852656e-04 -9.34748184e+00] [-2.73447129e-03 -1.00726882e-04 9.99996256e-01 -1.18605602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.050281693 meters Centerline goodness [0,1] 0.9900939368061485 Centerline is valid? [True, True] Translation: X:196.64, Y:-9.34, Z:-1.19 [[ 9.93615808e-01 1.12812123e-01 1.02489113e-03 1.96637567e+02] [-1.12812104e-01 9.93616336e-01 -7.65942612e-05 -9.34048641e+00] [-1.02698933e-03 -3.95148563e-05 9.99999472e-01 -1.18969580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.080281693 meters Centerline goodness [0,1] 0.990076660988075 Centerline is valid? [True, True] Translation: X:196.67, Y:-9.34, Z:-1.19 [[ 9.93587856e-01 1.13058596e-01 9.62471645e-04 1.96666553e+02] [-1.13058579e-01 9.93588321e-01 -7.18979176e-05 -9.34104653e+00] [-9.64429264e-04 -3.73787789e-05 9.99999534e-01 -1.18962099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.110281693 meters Centerline goodness [0,1] 0.9898723494039455 Centerline is valid? [True, True] Translation: X:196.69, Y:-9.34, Z:-1.19 [[ 9.93715036e-01 1.11914721e-01 2.35004896e-03 1.96694672e+02] [-1.11914619e-01 9.93717811e-01 -1.75280769e-04 -9.33624141e+00] [-2.35490200e-03 -8.88256974e-05 9.99997223e-01 -1.18804235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.140281693 meters Centerline goodness [0,1] 0.9913294797687862 Centerline is valid? [True, True] Translation: X:196.72, Y:-9.34, Z:-1.19 [[ 9.93858669e-01 1.10619543e-01 2.87449142e-03 1.96723525e+02] [-1.10619386e-01 9.93862820e-01 -2.14103582e-04 -9.34035262e+00] [-2.88053419e-03 -1.05185776e-04 9.99995846e-01 -1.18786344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.170281693 meters Centerline goodness [0,1] 0.9915056275217669 Centerline is valid? [True, True] Translation: X:196.75, Y:-9.34, Z:-1.19 [[ 9.94060502e-01 1.08803588e-01 2.34447075e-03 1.96751308e+02] [-1.08803479e-01 9.94063264e-01 -1.74559416e-04 -9.34272322e+00] [-2.34954493e-03 -8.15639533e-05 9.99997236e-01 -1.18908589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.200281693 meters Centerline goodness [0,1] 0.9972018113465482 Centerline is valid? [True, True] Translation: X:196.78, Y:-9.36, Z:-1.19 [[ 9.94656110e-01 1.03243114e-01 -2.86570734e-04 1.96780154e+02] [-1.03243112e-01 9.94656151e-01 2.13481149e-05 -9.35943616e+00] [ 2.87243389e-04 8.35242155e-06 9.99999959e-01 -1.19393576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.230281693 meters Centerline goodness [0,1] 0.9981521208130668 Centerline is valid? [True, True] Translation: X:196.81, Y:-9.36, Z:-1.19 [[ 9.94951846e-01 1.00353230e-01 -2.30985048e-04 1.96808811e+02] [-1.00353229e-01 9.94951873e-01 1.71052614e-05 -9.36390195e+00] [ 2.31535574e-04 6.16118396e-06 9.99999973e-01 -1.19376533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.260281693 meters Centerline goodness [0,1] 0.9979185501335072 Centerline is valid? [True, True] Translation: X:196.84, Y:-9.37, Z:-1.19 [[ 9.95341290e-01 9.63405092e-02 3.77141767e-03 1.96838211e+02] [-9.63401377e-02 9.95348431e-01 -2.80465037e-04 -9.36535242e+00] [-3.78089480e-03 -8.41804664e-05 9.99992849e-01 -1.18537808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.290281693 meters Centerline goodness [0,1] 0.9983760336759332 Centerline is valid? [True, True] Translation: X:196.87, Y:-9.37, Z:-1.18 [[ 9.95462288e-01 9.48292144e-02 7.89009446e-03 1.96866315e+02] [-9.48275440e-02 9.95493542e-01 -5.86385810e-04 -9.37448928e+00] [-7.91014459e-03 -1.64473319e-04 9.99968701e-01 -1.17802760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.320281693 meters Centerline goodness [0,1] 0.9985233002130667 Centerline is valid? [True, True] Translation: X:196.89, Y:-9.38, Z:-1.18 [[ 9.95501802e-01 9.43714132e-02 8.37843796e-03 1.96894972e+02] [-9.43695168e-02 9.95537045e-01 -6.22280654e-04 -9.37544163e+00] [-8.39977087e-03 -1.71187630e-04 9.99964707e-01 -1.17714590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.350281693 meters Centerline goodness [0,1] 0.9986183735067806 Centerline is valid? [True, True] Translation: X:196.92, Y:-9.38, Z:-1.18 [[ 9.95585870e-01 9.35034168e-02 8.11700748e-03 1.96923581e+02] [-9.35016111e-02 9.95618946e-01 -6.02492252e-04 -9.37733924e+00] [-8.13778151e-03 -1.59120503e-04 9.99966875e-01 -1.17792101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.380281693 meters Centerline goodness [0,1] 0.9991671471586905 Centerline is valid? [True, True] Translation: X:196.95, Y:-9.38, Z:-1.18 [[ 9.95922164e-01 8.99580593e-02 6.82574848e-03 1.96951803e+02] [-8.99567011e-02 9.95945548e-01 -5.06354860e-04 -9.38309559e+00] [-6.84362452e-03 -1.09731788e-04 9.99976576e-01 -1.18051954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.410281693 meters Centerline goodness [0,1] 0.9992570421787769 Centerline is valid? [True, True] Translation: X:196.98, Y:-9.39, Z:-1.18 [[ 9.96144840e-01 8.75061837e-02 6.17466383e-03 1.96980148e+02] [-8.75050269e-02 9.96163973e-01 -4.57784312e-04 -9.38867578e+00] [-6.19103661e-03 -8.42946446e-05 9.99980832e-01 -1.18234804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.440281693 meters Centerline goodness [0,1] 0.9995095007570749 Centerline is valid? [True, True] Translation: X:197.01, Y:-9.40, Z:-1.19 [[ 9.96564315e-01 8.26890783e-02 4.69916047e-03 1.97008201e+02] [-8.26883555e-02 9.96575393e-01 -3.48208727e-04 -9.39804756e+00] [-4.71186075e-03 -4.15534607e-05 9.99988898e-01 -1.18570917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.470281693 meters Centerline goodness [0,1] 0.9998074783947977 Centerline is valid? [True, True] Translation: X:197.04, Y:-9.40, Z:-1.19 [[ 9.96720937e-01 8.08411507e-02 3.47602224e-03 1.97035720e+02] [-8.08407444e-02 9.96726998e-01 -2.57445365e-04 -9.40046948e+00] [-3.48545739e-03 -2.44030404e-05 9.99993925e-01 -1.18752056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.500281693 meters Centerline goodness [0,1] 0.9998517734250927 Centerline is valid? [True, True] Translation: X:197.06, Y:-9.40, Z:-1.19 [[ 9.96934463e-01 7.82407209e-02 -2.57868903e-04 1.97063142e+02] [-7.82407187e-02 9.96934496e-01 1.88883996e-05 -9.40372845e+00] [ 2.58556247e-04 1.34535179e-06 9.99999967e-01 -1.19352391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.530281693 meters Centerline goodness [0,1] 0.9999365495653645 Centerline is valid? [True, True] Translation: X:197.09, Y:-9.41, Z:-1.20 [[ 9.97068532e-01 7.65077880e-02 -9.49393033e-04 1.97091526e+02] [-7.65077560e-02 9.97068984e-01 7.00231719e-05 -9.40737314e+00] [ 9.51967664e-04 2.81802931e-06 9.99999547e-01 -1.19508846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.560281693 meters Centerline goodness [0,1] 0.9999787559483345 Centerline is valid? [True, True] Translation: X:197.12, Y:-9.41, Z:-1.19 [[ 9.97211888e-01 7.46215024e-02 -2.84645462e-04 1.97120086e+02] [-7.46214995e-02 9.97211929e-01 2.08815141e-05 -9.41219024e+00] [ 2.85410061e-04 4.17377138e-07 9.99999959e-01 -1.19356314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.590281693 meters Centerline goodness [0,1] 0.9998729217409722 Centerline is valid? [True, True] Translation: X:197.15, Y:-9.42, Z:-1.19 [[ 9.97456230e-01 7.12559380e-02 1.91343842e-03 1.97147939e+02] [-7.12557979e-02 9.97458065e-01 -1.41390088e-04 -9.42025356e+00] [-1.91864946e-03 4.68684340e-06 9.99998159e-01 -1.18966411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.620281693 meters Centerline goodness [0,1] 0.9998285726530525 Centerline is valid? [True, True] Translation: X:197.18, Y:-9.43, Z:-1.19 [[ 9.97557858e-01 6.98156000e-02 2.02534897e-03 1.97176552e+02] [-6.98154403e-02 9.97559914e-01 -1.49555730e-04 -9.42746119e+00] [-2.03084827e-03 7.78986365e-06 9.99997938e-01 -1.19105979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.650281693 meters Centerline goodness [0,1] 0.9998285726530525 Centerline is valid? [True, True] Translation: X:197.20, Y:-9.43, Z:-1.19 [[ 9.97561107e-01 6.97691640e-02 2.02535595e-03 1.97204808e+02] [-6.97690043e-02 9.97563163e-01 -1.49461143e-04 -9.42945636e+00] [-2.03084826e-03 7.78955564e-06 9.99997938e-01 -1.19115092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68028169299998 meters Centerline goodness [0,1] 0.9999364110390436 Centerline is valid? [True, True] Translation: X:197.23, Y:-9.43, Z:-1.19 [[ 9.97556991e-01 6.98459684e-02 1.26102121e-03 1.97233390e+02] [-6.98459065e-02 9.97557788e-01 -9.30546779e-05 -9.43251457e+00] [-1.26444102e-03 4.75017494e-06 9.99999201e-01 -1.19258663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71028169299998 meters Centerline goodness [0,1] 0.9999575956747588 Centerline is valid? [True, True] Translation: X:197.26, Y:-9.44, Z:-1.19 [[ 9.97536227e-01 7.01509045e-02 5.71217858e-04 1.97261648e+02] [-7.01508918e-02 9.97536391e-01 -4.22069873e-05 -9.43520472e+00] [-5.72771459e-04 2.03155672e-06 9.99999836e-01 -1.19380223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.740281693 meters Centerline goodness [0,1] 0.9999367835468644 Centerline is valid? [True, True] Translation: X:197.29, Y:-9.44, Z:-1.20 [[ 9.97470612e-01 7.10692039e-02 -1.24341571e-03 1.97289629e+02] [-7.10691453e-02 9.97471387e-01 9.12910542e-05 -9.43832217e+00] [ 1.24675957e-03 -2.69165211e-06 9.99999223e-01 -1.19711609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.770281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.32, Y:-9.44, Z:-1.20 [[ 9.97392189e-01 7.21377311e-02 -2.22898729e-03 1.97318909e+02] [-7.21375453e-02 9.97394680e-01 1.63735895e-04 -9.43938565e+00] [ 2.23499160e-03 -2.51523145e-06 9.99997502e-01 -1.19817448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.800281693 meters Centerline goodness [0,1] 0.9999784427006985 Centerline is valid? [True, True] Translation: X:197.35, Y:-9.44, Z:-1.20 [[ 9.97174274e-01 7.50594451e-02 -3.08990989e-03 1.97347844e+02] [-7.50591024e-02 9.97179061e-01 2.26885858e-04 -9.43884993e+00] [ 3.09822337e-03 5.68112275e-06 9.99995200e-01 -1.20113500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.830281693 meters Centerline goodness [0,1] 0.9999788511970222 Centerline is valid? [True, True] Translation: X:197.38, Y:-9.44, Z:-1.20 [[ 9.96934319e-01 7.82074257e-02 -2.35850766e-03 1.97375710e+02] [-7.82072354e-02 9.96937109e-01 1.72971493e-04 -9.43798834e+00] [ 2.36481147e-03 1.20111465e-05 9.99997204e-01 -1.20110138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.860281693 meters Centerline goodness [0,1] 0.9998305228370477 Centerline is valid? [True, True] Translation: X:197.40, Y:-9.44, Z:-1.20 [[ 9.96852352e-01 7.92692201e-02 -1.33369283e-03 1.97403963e+02] [-7.92691604e-02 9.96853244e-01 9.76077922e-05 -9.43898472e+00] [ 1.33723332e-03 8.42015387e-06 9.99999106e-01 -1.19834730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.890281693 meters Centerline goodness [0,1] 0.9998303575215234 Centerline is valid? [True, True] Translation: X:197.43, Y:-9.44, Z:-1.20 [[ 9.96768179e-01 8.03316937e-02 -1.27883031e-04 1.97432437e+02] [-8.03316931e-02 9.96768187e-01 9.22822619e-06 -9.43896379e+00] [ 1.28211056e-04 1.07465818e-06 9.99999992e-01 -1.19586412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.920281693 meters Centerline goodness [0,1] 0.9997471927865675 Centerline is valid? [True, True] Translation: X:197.46, Y:-9.43, Z:-1.19 [[ 9.96508289e-01 8.34735085e-02 1.84461765e-03 1.97460290e+02] [-8.34734010e-02 9.96509996e-01 -1.35311382e-04 -9.43490441e+00] [-1.84947485e-03 -1.91375957e-05 9.99998290e-01 -1.19194727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.950281693 meters Centerline goodness [0,1] 0.9994510019214933 Centerline is valid? [True, True] Translation: X:197.49, Y:-9.43, Z:-1.19 [[ 9.96314725e-01 8.57385998e-02 2.42102951e-03 1.97489246e+02] [-8.57384219e-02 9.96317666e-01 -1.77344307e-04 -9.43322025e+00] [-2.42731973e-03 -3.08845059e-05 9.99997054e-01 -1.19102504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.980281693 meters Centerline goodness [0,1] 0.9993649315184487 Centerline is valid? [True, True] Translation: X:197.52, Y:-9.43, Z:-1.19 [[ 9.95968192e-01 8.96618389e-02 2.84876004e-03 1.97518828e+02] [-8.96616092e-02 9.95972265e-01 -2.08518819e-04 -9.42780891e+00] [-2.85598217e-03 -4.77462986e-05 9.99995921e-01 -1.18935539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.010281693 meters Centerline goodness [0,1] 0.9995078002953198 Centerline is valid? [True, True] Translation: X:197.55, Y:-9.43, Z:-1.19 [[ 9.95744559e-01 9.21052941e-02 3.06391114e-03 1.97547687e+02] [-9.21050402e-02 9.95749271e-01 -2.24157028e-04 -9.42713879e+00] [-3.07153334e-03 -5.89985175e-05 9.99995281e-01 -1.18912302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.040281693 meters Centerline goodness [0,1] 0.9975339087546239 Centerline is valid? [True, True] Translation: X:197.58, Y:-9.41, Z:-1.19 [[ 9.95108315e-01 9.87703547e-02 1.96405871e-03 1.97578868e+02] [-9.87702635e-02 9.95110252e-01 -1.43606395e-04 -9.40548164e+00] [-1.96863901e-03 -5.10866784e-05 9.99998061e-01 -1.19153474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.070281693 meters Centerline goodness [0,1] 0.9975829022135527 Centerline is valid? [True, True] Translation: X:197.61, Y:-9.40, Z:-1.19 [[ 9.94810301e-01 1.01731177e-01 1.79778302e-03 1.97608130e+02] [-1.01731106e-01 9.94811924e-01 -1.31463137e-04 -9.40382057e+00] [-1.80182989e-03 -5.21095721e-05 9.99998375e-01 -1.19199519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.100281693 meters Centerline goodness [0,1] 0.9960144927536232 Centerline is valid? [True, True] Translation: X:197.64, Y:-9.39, Z:-1.19 [[ 9.94612345e-01 1.03645712e-01 1.96210263e-03 1.97637846e+02] [-1.03645631e-01 9.94614278e-01 -1.43414953e-04 -9.39242121e+00] [-1.96639963e-03 -6.07210817e-05 9.99998065e-01 -1.19239453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.130281693 meters Centerline goodness [0,1] 0.995655200050619 Centerline is valid? [True, True] Translation: X:197.67, Y:-9.38, Z:-1.19 [[ 9.94628604e-01 1.03484181e-01 2.22802568e-03 1.97666881e+02] [-1.03484076e-01 9.94631097e-01 -1.62730565e-04 -9.38299987e+00] [-2.23290366e-03 -6.87087039e-05 9.99997505e-01 -1.19251182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.160281693 meters Centerline goodness [0,1] 0.9987451881154427 Centerline is valid? [True, True] Translation: X:197.70, Y:-9.40, Z:-1.19 [[ 9.95298669e-01 9.68204545e-02 2.52173103e-03 1.97696668e+02] [-9.68202989e-02 9.95301862e-01 -1.83983035e-04 -9.39740664e+00] [-2.52769690e-03 -6.10366815e-05 9.99996804e-01 -1.19198685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.190281693 meters Centerline goodness [0,1] 0.9989433643279797 Centerline is valid? [True, True] Translation: X:197.73, Y:-9.40, Z:-1.19 [[ 9.95755941e-01 9.19930285e-02 2.71832534e-03 1.97725605e+02] [-9.19928297e-02 9.95759650e-01 -1.98330935e-04 -9.40019701e+00] [-2.72504375e-03 -5.25772331e-05 9.99996286e-01 -1.19218479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.220281693 meters Centerline goodness [0,1] 0.9993026794015721 Centerline is valid? [True, True] Translation: X:197.75, Y:-9.41, Z:-1.19 [[ 9.96258112e-01 8.63858263e-02 2.69498467e-03 1.97754986e+02] [-8.63856105e-02 9.96261757e-01 -1.96564096e-04 -9.40738911e+00] [-2.70189052e-03 -3.69793209e-05 9.99996349e-01 -1.19225196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.250281693 meters Centerline goodness [0,1] 0.9998735750858636 Centerline is valid? [True, True] Translation: X:197.78, Y:-9.42, Z:-1.19 [[ 9.97195159e-01 7.48077425e-02 2.36997078e-03 1.97784468e+02] [-7.48075431e-02 9.97197975e-01 -1.72819466e-04 -9.42065012e+00] [-2.37625830e-03 -4.95695625e-06 9.99997177e-01 -1.19314159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.280281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.81, Y:-9.43, Z:-1.19 [[ 9.97589015e-01 6.93541866e-02 2.48085218e-03 1.97812263e+02] [-6.93539514e-02 9.97592099e-01 -1.80834540e-04 -9.42924989e+00] [-2.48742017e-03 8.34164932e-06 9.99996906e-01 -1.19282829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.310281693 meters Centerline goodness [0,1] 0.999618061449669 Centerline is valid? [True, True] Translation: X:197.84, Y:-9.45, Z:-1.19 [[ 9.98228896e-01 5.94582579e-02 1.94589186e-03 1.97839779e+02] [-5.94580945e-02 9.98230792e-01 -1.41770546e-04 -9.44537787e+00] [-1.95087861e-03 2.58204333e-05 9.99998097e-01 -1.19331042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.340281693 meters Centerline goodness [0,1] 0.998682000807806 Centerline is valid? [True, True] Translation: X:197.87, Y:-9.46, Z:-1.19 [[ 9.98636964e-01 5.21661784e-02 1.70385952e-03 1.97869016e+02] [-5.21660427e-02 9.98638417e-01 -1.24050782e-04 -9.45851669e+00] [-1.70801083e-03 3.49980874e-05 9.99998541e-01 -1.19361003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.370281693 meters Centerline goodness [0,1] 0.9987848295563562 Centerline is valid? [True, True] Translation: X:197.90, Y:-9.46, Z:-1.19 [[ 9.98777922e-01 4.93828567e-02 1.99920498e-03 1.97898094e+02] [-4.93826643e-02 9.98779921e-01 -1.45538780e-04 -9.46484667e+00] [-2.00395291e-03 4.66348521e-05 9.99997991e-01 -1.19320165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.400281693 meters Centerline goodness [0,1] 0.997608060624021 Centerline is valid? [True, True] Translation: X:197.93, Y:-9.47, Z:-1.19 [[ 9.98906205e-01 4.66955852e-02 2.43231585e-03 1.97926002e+02] [-4.66952925e-02 9.98909164e-01 -1.77004420e-04 -9.47495567e+00] [-2.43792792e-03 6.32331133e-05 9.99997026e-01 -1.19244520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43028169299998 meters Centerline goodness [0,1] 0.9914752994169526 Centerline is valid? [True, True] Translation: X:197.95, Y:-9.50, Z:-1.19 [[ 9.99169620e-01 4.05463334e-02 4.00818684e-03 1.97953378e+02] [-4.05454900e-02 9.99177651e-01 -2.91491674e-04 -9.50192065e+00] [-4.01670963e-03 1.28735726e-04 9.99991925e-01 -1.18862318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46028169299998 meters Centerline goodness [0,1] 0.993277203995504 Centerline is valid? [True, True] Translation: X:197.98, Y:-9.50, Z:-1.19 [[ 9.99270913e-01 3.78824479e-02 4.75007783e-03 1.97983878e+02] [-3.78812335e-02 9.99282189e-01 -3.45406923e-04 -9.50279762e+00] [-4.75975303e-03 1.65216285e-04 9.99988659e-01 -1.18699887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.490281693 meters Centerline goodness [0,1] 0.991635668200828 Centerline is valid? [True, True] Translation: X:198.01, Y:-9.52, Z:-1.19 [[ 9.99380767e-01 3.48982096e-02 4.49410040e-03 1.98013684e+02] [-3.48970923e-02 9.99390858e-01 -3.26807739e-04 -9.51725082e+00] [-4.50276785e-03 1.69774332e-04 9.99989848e-01 -1.18761722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.520281693 meters Centerline goodness [0,1] 0.9907927098442328 Centerline is valid? [True, True] Translation: X:198.04, Y:-9.53, Z:-1.19 [[ 9.99414866e-01 3.39711639e-02 3.98563573e-03 1.98043001e+02] [-3.39702775e-02 9.99422802e-01 -2.89908232e-04 -9.52705219e+00] [-3.99318375e-03 1.54345445e-04 9.99992015e-01 -1.18880765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.550281693 meters Centerline goodness [0,1] 0.9909411065852003 Centerline is valid? [True, True] Translation: X:198.07, Y:-9.54, Z:-1.19 [[ 9.99425050e-01 3.37725209e-02 2.99772957e-03 1.98073757e+02] [-3.37720182e-02 9.99429539e-01 -2.18180362e-04 -9.53731667e+00] [-3.00338798e-03 1.16815541e-04 9.99995483e-01 -1.19060864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.580281693 meters Centerline goodness [0,1] 0.9915685818735076 Centerline is valid? [True, True] Translation: X:198.10, Y:-9.54, Z:-1.19 [[ 9.99401926e-01 3.44705041e-02 2.75219052e-03 1.98104912e+02] [-3.44700829e-02 9.99405710e-01 -2.00365294e-04 -9.54439197e+00] [-2.75746161e-03 1.05377226e-04 9.99996193e-01 -1.19092587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.610281693 meters Centerline goodness [0,1] 0.9922933208780943 Centerline is valid? [True, True] Translation: X:198.14, Y:-9.56, Z:-1.19 [[ 9.99376063e-01 3.52078800e-02 2.80883399e-03 1.98135231e+02] [-3.52074439e-02 9.99380005e-01 -2.04553184e-04 -9.55804831e+00] [-2.81429441e-03 1.05533691e-04 9.99996034e-01 -1.19047890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.640281693 meters Centerline goodness [0,1] 0.9922824128061062 Centerline is valid? [True, True] Translation: X:198.17, Y:-9.56, Z:-1.19 [[ 9.99380311e-01 3.50758801e-02 2.94546107e-03 1.98166060e+02] [-3.50753999e-02 9.99384646e-01 -2.14571908e-04 -9.56490817e+00] [-2.95117487e-03 1.11125716e-04 9.99995639e-01 -1.18974819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.670281693 meters Centerline goodness [0,1] 0.9934697710151732 Centerline is valid? [True, True] Translation: X:198.20, Y:-9.57, Z:-1.19 [[ 9.99338004e-01 3.61921228e-02 3.69911840e-03 1.98197470e+02] [-3.61913726e-02 9.99344841e-01 -2.69581534e-04 -9.57280189e+00] [-3.70645162e-03 1.35526900e-04 9.99993122e-01 -1.18838007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.700281693 meters Centerline goodness [0,1] 0.9933253975002125 Centerline is valid? [True, True] Translation: X:198.23, Y:-9.58, Z:-1.19 [[ 9.99283295e-01 3.76911339e-02 3.50343734e-03 1.98227348e+02] [-3.76904698e-02 9.99289429e-01 -2.55428729e-04 -9.58017714e+00] [-3.51057530e-03 1.23199462e-04 9.99993830e-01 -1.18801147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.730281693 meters Centerline goodness [0,1] 0.9947436468069774 Centerline is valid? [True, True] Translation: X:198.26, Y:-9.58, Z:-1.19 [[ 9.99206786e-01 3.96950859e-02 3.17789721e-03 1.98258452e+02] [-3.96945494e-02 9.99211834e-01 -2.31726651e-04 -9.58293775e+00] [-3.18459091e-03 1.05397644e-04 9.99994924e-01 -1.18819012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.760281693 meters Centerline goodness [0,1] 0.9959152038208555 Centerline is valid? [True, True] Translation: X:198.29, Y:-9.58, Z:-1.19 [[ 9.98978586e-01 4.50677015e-02 3.26896524e-03 1.98288204e+02] [-4.50671624e-02 9.98983931e-01 -2.38441615e-04 -9.58365589e+00] [-3.27638976e-03 9.08750808e-05 9.99994628e-01 -1.18845362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.790281693 meters Centerline goodness [0,1] 0.99756561105298 Centerline is valid? [True, True] Translation: X:198.32, Y:-9.58, Z:-1.19 [[ 9.98827311e-01 4.83317064e-02 2.83699144e-03 1.98318892e+02] [-4.83313136e-02 9.98831338e-01 -2.06907707e-04 -9.58424280e+00] [-2.84367616e-03 6.95495456e-05 9.99995954e-01 -1.18951583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.820281693 meters Centerline goodness [0,1] 0.9989690721649485 Centerline is valid? [True, True] Translation: X:198.35, Y:-9.59, Z:-1.20 [[ 9.98503487e-01 5.46880156e-02 8.82891330e-05 1.98348467e+02] [-5.46880152e-02 9.98503491e-01 -6.44023864e-06 -9.58609924e+00] [-8.85092113e-05 1.60224329e-06 9.99999996e-01 -1.19608940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.850281693 meters Centerline goodness [0,1] 0.9994064023743905 Centerline is valid? [True, True] Translation: X:198.38, Y:-9.58, Z:-1.20 [[ 9.98360773e-01 5.72240650e-02 -1.08303134e-03 1.98378433e+02] [-5.72240130e-02 9.98361360e-01 7.89049153e-05 -9.58492298e+00] [ 1.08577191e-03 -1.68001725e-05 9.99999410e-01 -1.19798043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.880281693 meters Centerline goodness [0,1] 0.9996785117236058 Centerline is valid? [True, True] Translation: X:198.41, Y:-9.58, Z:-1.20 [[ 9.98103950e-01 6.15416927e-02 -1.06057853e-03 1.98408028e+02] [-6.15416454e-02 9.98104514e-01 7.72441307e-05 -9.58469205e+00] [ 1.06332195e-03 -1.18279241e-05 9.99999435e-01 -1.19870689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.910281693 meters Centerline goodness [0,1] 0.9998307164924457 Centerline is valid? [True, True] Translation: X:198.44, Y:-9.58, Z:-1.20 [[ 9.97953647e-01 6.39399532e-02 -4.48939778e-04 1.98436815e+02] [-6.39399450e-02 9.97953748e-01 3.26049100e-05 -9.58394134e+00] [ 4.50105890e-04 -3.83300415e-06 9.99999899e-01 -1.19696390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.940281693 meters Centerline goodness [0,1] 0.9998099341104917 Centerline is valid? [True, True] Translation: X:198.47, Y:-9.58, Z:-1.19 [[ 9.97622829e-01 6.88944983e-02 1.49635345e-03 1.98465918e+02] [-6.88944122e-02 9.97623951e-01 -1.09090990e-04 -9.57773208e+00] [-1.50031381e-03 5.74127076e-06 9.99998875e-01 -1.19283601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.970281693 meters Centerline goodness [0,1] 0.9999354158145142 Centerline is valid? [True, True] Translation: X:198.50, Y:-9.57, Z:-1.19 [[ 9.97442742e-01 7.14235637e-02 2.57907601e-03 1.98496266e+02] [-7.14233167e-02 9.97446076e-01 -1.87856425e-04 -9.57474249e+00] [-2.58590662e-03 3.16986506e-06 9.99996657e-01 -1.19085944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.000281693 meters Centerline goodness [0,1] 0.9998311666385278 Centerline is valid? [True, True] Translation: X:198.52, Y:-9.57, Z:-1.19 [[ 9.97237459e-01 7.42166907e-02 3.05497953e-03 1.98524900e+02] [-7.42163576e-02 9.97242138e-01 -2.22436911e-04 -9.57149485e+00] [-3.06306285e-03 -4.90703304e-06 9.99995309e-01 -1.19052795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.030281693 meters Centerline goodness [0,1] 0.9998731018146441 Centerline is valid? [True, True] Translation: X:198.55, Y:-9.56, Z:-1.19 [[ 9.96992600e-01 7.74743698e-02 1.86470284e-03 1.98553188e+02] [-7.74742513e-02 9.96994344e-01 -1.35777495e-04 -9.56475423e+00] [-1.86961746e-03 -9.09729914e-06 9.99998252e-01 -1.19306979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.060281693 meters Centerline goodness [0,1] 0.9998505837904758 Centerline is valid? [True, True] Translation: X:198.58, Y:-9.57, Z:-1.20 [[ 9.97129126e-01 7.57197794e-02 1.48324151e-04 1.98582083e+02] [-7.57197787e-02 9.97129137e-01 -1.09234342e-05 -9.56627455e+00] [-1.48725453e-04 -3.38997485e-07 9.99999989e-01 -1.19665375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.090281693 meters Centerline goodness [0,1] 0.9999576432716337 Centerline is valid? [True, True] Translation: X:198.61, Y:-9.57, Z:-1.20 [[ 9.97345866e-01 7.28085414e-02 3.73981072e-04 1.98610000e+02] [-7.28085362e-02 9.97345936e-01 -2.73375724e-05 -9.57214647e+00] [-3.74978911e-04 3.60003466e-08 9.99999930e-01 -1.19658321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.120281693 meters Centerline goodness [0,1] 0.9999144897173885 Centerline is valid? [True, True] Translation: X:198.64, Y:-9.58, Z:-1.20 [[ 9.97611392e-01 6.90657800e-02 1.19503831e-03 1.98638271e+02] [-6.90657255e-02 9.97612108e-01 -8.68469357e-05 -9.58075183e+00] [-1.19818284e-03 4.10330432e-06 9.99999282e-01 -1.19500746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.150281693 meters Centerline goodness [0,1] 0.9994488839900799 Centerline is valid? [True, True] Translation: X:198.67, Y:-9.60, Z:-1.19 [[ 9.98091251e-01 6.17185456e-02 2.16255279e-03 1.98667557e+02] [-6.17183503e-02 9.98093593e-01 -1.56969973e-04 -9.59583414e+00] [-2.16811804e-03 2.32011664e-05 9.99997649e-01 -1.19325597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18028169299998 meters Centerline goodness [0,1] 0.9986767122702922 Centerline is valid? [True, True] Translation: X:198.70, Y:-9.60, Z:-1.19 [[ 9.98372655e-01 5.69133468e-02 3.59345406e-03 1.98697899e+02] [-5.69127765e-02 9.98379120e-01 -2.60848411e-04 -9.60435053e+00] [-3.60247526e-03 5.59104724e-05 9.99993510e-01 -1.19094032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21028169299998 meters Centerline goodness [0,1] 0.997851840823532 Centerline is valid? [True, True] Translation: X:198.73, Y:-9.61, Z:-1.19 [[ 9.98460772e-01 5.52779624e-02 4.52027293e-03 1.98728011e+02] [-5.52770424e-02 9.98471001e-01 -3.28305883e-04 -9.61370484e+00] [-4.53150952e-03 7.79332267e-05 9.99989730e-01 -1.18896035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.240281693 meters Centerline goodness [0,1] 0.9976968352810714 Centerline is valid? [True, True] Translation: X:198.76, Y:-9.62, Z:-1.19 [[ 9.98581088e-01 5.28859882e-02 6.23565713e-03 1.98758961e+02] [-5.28841901e-02 9.98600549e-01 -4.53011213e-04 -9.62254736e+00] [-6.25088858e-03 1.22600753e-04 9.99980455e-01 -1.18608055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.270281693 meters Centerline goodness [0,1] 0.9978309889401912 Centerline is valid? [True, True] Translation: X:198.79, Y:-9.63, Z:-1.19 [[ 9.98643282e-01 5.16465819e-02 6.65029052e-03 1.98790395e+02] [-5.16445067e-02 9.98665415e-01 -4.83516371e-04 -9.62660807e+00] [-6.66638711e-03 1.39409402e-04 9.99977770e-01 -1.18634729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.300281693 meters Centerline goodness [0,1] 0.9964672533423591 Centerline is valid? [True, True] Translation: X:198.82, Y:-9.64, Z:-1.19 [[ 9.98761984e-01 4.94187369e-02 5.68216027e-03 1.98819846e+02] [-4.94171834e-02 9.98778139e-01 -4.13575479e-04 -9.64349062e+00] [-5.69565584e-03 1.32267110e-04 9.99983771e-01 -1.18814470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.330281693 meters Centerline goodness [0,1] 0.9964426538659352 Centerline is valid? [True, True] Translation: X:198.85, Y:-9.65, Z:-1.19 [[ 9.98817162e-01 4.83558410e-02 5.09792978e-03 1.98851247e+02] [-4.83545739e-02 9.98830164e-01 -3.71584705e-04 -9.65271437e+00] [-5.10993433e-03 1.24636959e-04 9.99986936e-01 -1.18906166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.360281693 meters Centerline goodness [0,1] 0.9973074046372475 Centerline is valid? [True, True] Translation: X:198.88, Y:-9.66, Z:-1.19 [[ 9.98891805e-01 4.68774488e-02 4.20327975e-03 1.98882337e+02] [-4.68765719e-02 9.98900642e-01 -3.06950640e-04 -9.66400293e+00] [-4.21304790e-03 1.09575133e-04 9.99991119e-01 -1.18985023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.390281693 meters Centerline goodness [0,1] 0.9964807507731684 Centerline is valid? [True, True] Translation: X:198.91, Y:-9.67, Z:-1.19 [[ 9.98871395e-01 4.73162270e-02 4.13654702e-03 1.98912788e+02] [-4.73153787e-02 9.98879954e-01 -3.02739854e-04 -9.67374345e+00] [-4.14623841e-03 1.06675891e-04 9.99991399e-01 -1.18972215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.420281693 meters Centerline goodness [0,1] 0.9974547691263494 Centerline is valid? [True, True] Translation: X:198.94, Y:-9.68, Z:-1.19 [[ 9.98640954e-01 5.19906659e-02 3.63543180e-03 1.98941852e+02] [-5.19900401e-02 9.98647568e-01 -2.66491499e-04 -9.67771516e+00] [-3.64437020e-03 7.71230801e-05 9.99993356e-01 -1.19027163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.450281693 meters Centerline goodness [0,1] 0.9992290230008138 Centerline is valid? [True, True] Translation: X:198.97, Y:-9.67, Z:-1.19 [[ 9.98411127e-01 5.62775501e-02 2.83879817e-03 1.98973313e+02] [-5.62771860e-02 9.98415162e-01 -2.08054181e-04 -9.67330279e+00] [-2.84600792e-03 4.79640365e-05 9.99995949e-01 -1.19143617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.480281693 meters Centerline goodness [0,1] 0.9995540075606337 Centerline is valid? [True, True] Translation: X:199.01, Y:-9.67, Z:-1.19 [[ 9.98115668e-01 6.13255039e-02 2.07263771e-03 1.99005116e+02] [-6.13253206e-02 9.98117820e-01 -1.51958279e-04 -9.67035733e+00] [-2.07805555e-03 2.45667668e-05 9.99997841e-01 -1.19247376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.510281693 meters Centerline goodness [0,1] 0.9997458219482748 Centerline is valid? [True, True] Translation: X:199.04, Y:-9.66, Z:-1.19 [[ 9.97409183e-01 7.19219584e-02 1.46748725e-03 1.99036039e+02] [-7.19218779e-02 9.97410263e-01 -1.07644498e-04 -9.65807711e+00] [-1.47142885e-03 1.82117179e-06 9.99998917e-01 -1.19304525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.540281693 meters Centerline goodness [0,1] 0.9997458219482748 Centerline is valid? [True, True] Translation: X:199.07, Y:-9.66, Z:-1.19 [[ 9.97409183e-01 7.19219584e-02 1.46748725e-03 1.99065959e+02] [-7.19218779e-02 9.97410263e-01 -1.07644498e-04 -9.66027180e+00] [-1.47142885e-03 1.82117179e-06 9.99998917e-01 -1.19314175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.570281693 meters Centerline goodness [0,1] 0.9999361892202323 Centerline is valid? [True, True] Translation: X:199.10, Y:-9.65, Z:-1.19 [[ 9.97065626e-01 7.65376072e-02 1.45986388e-03 1.99096122e+02] [-7.65375324e-02 9.97066695e-01 -1.07124848e-04 -9.65410346e+00] [-1.46378073e-03 -4.92387503e-06 9.99998929e-01 -1.19374845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.600281693 meters Centerline goodness [0,1] 0.9997869938441221 Centerline is valid? [True, True] Translation: X:199.13, Y:-9.64, Z:-1.19 [[ 9.96496714e-01 8.36208121e-02 1.36346262e-03 1.99126371e+02] [-8.36207535e-02 9.96497647e-01 -1.00025873e-04 -9.64328056e+00] [-1.36705154e-03 -1.43383175e-05 9.99999065e-01 -1.19353341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.630281693 meters Centerline goodness [0,1] 0.9995761903752834 Centerline is valid? [True, True] Translation: X:199.16, Y:-9.64, Z:-1.19 [[ 9.96249045e-01 8.65060610e-02 2.13125341e-03 1.99156076e+02] [-8.65059246e-02 9.96251324e-01 -1.56260898e-04 -9.63941652e+00] [-2.13678154e-03 -2.86912761e-05 9.99997717e-01 -1.19356961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.660281693 meters Centerline goodness [0,1] 0.9991128384943602 Centerline is valid? [True, True] Translation: X:199.19, Y:-9.63, Z:-1.19 [[ 9.95915702e-01 9.02467935e-02 2.72582474e-03 1.99185239e+02] [-9.02465847e-02 9.95919432e-01 -1.99765686e-04 -9.62839362e+00] [-2.73273004e-03 -4.70465897e-05 9.99996265e-01 -1.19369938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.690281693 meters Centerline goodness [0,1] 0.999578743391537 Centerline is valid? [True, True] Translation: X:199.21, Y:-9.63, Z:-1.20 [[ 9.95878561e-01 9.06750962e-02 1.97939823e-03 1.99213829e+02] [-9.06749868e-02 9.95880528e-01 -1.45089676e-04 -9.62953473e+00] [-1.98440018e-03 -3.49902109e-05 9.99998030e-01 -1.19506782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.720281693 meters Centerline goodness [0,1] 0.9995278564683664 Centerline is valid? [True, True] Translation: X:199.24, Y:-9.63, Z:-1.20 [[ 9.95953968e-01 8.98627762e-02 6.12511713e-04 1.99241514e+02] [-8.98627655e-02 9.95954156e-01 -4.49989720e-05 -9.62736458e+00] [-6.14077319e-04 -1.02250918e-05 9.99999811e-01 -1.19782938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.750281693 meters Centerline goodness [0,1] 0.9995544333877915 Centerline is valid? [True, True] Translation: X:199.27, Y:-9.63, Z:-1.20 [[ 9.96188437e-01 8.72171231e-02 1.33065602e-03 1.99269830e+02] [-8.72170707e-02 9.96189326e-01 -9.74481332e-05 -9.62704898e+00] [-1.33408447e-03 -1.89792170e-05 9.99999110e-01 -1.19752159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.780281693 meters Centerline goodness [0,1] 0.9995107007616049 Centerline is valid? [True, True] Translation: X:199.30, Y:-9.63, Z:-1.20 [[ 9.96310300e-01 8.58026599e-02 1.92109965e-03 1.99298721e+02] [-8.58025484e-02 9.96312151e-01 -1.40538291e-04 -9.63204023e+00] [-1.92607349e-03 -2.48154992e-05 9.99998145e-01 -1.19703801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.810281693 meters Centerline goodness [0,1] 0.9998085758039816 Centerline is valid? [True, True] Translation: X:199.33, Y:-9.64, Z:-1.20 [[ 9.96622906e-01 8.20928695e-02 1.88246846e-03 1.99328289e+02] [-8.20927560e-02 9.96624684e-01 -1.37599832e-04 -9.63844565e+00] [-1.88741050e-03 -1.74018796e-05 9.99998219e-01 -1.19835501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.840281693 meters Centerline goodness [0,1] 0.9998104105664511 Centerline is valid? [True, True] Translation: X:199.36, Y:-9.64, Z:-1.20 [[ 9.96782472e-01 8.01381403e-02 1.60682603e-03 1.99356830e+02] [-8.01380551e-02 9.96783767e-01 -1.17443776e-04 -9.64332432e+00] [-1.61106983e-03 -1.17020157e-05 9.99998702e-01 -1.19917294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.870281693 meters Centerline goodness [0,1] 0.9997874872492349 Centerline is valid? [True, True] Translation: X:199.39, Y:-9.65, Z:-1.20 [[ 9.97000195e-01 7.73772183e-02 1.83770266e-03 1.99385069e+02] [-7.73771024e-02 9.97001889e-01 -1.34223563e-04 -9.64995951e+00] [-1.84257887e-03 -8.37518839e-06 9.99998302e-01 -1.19728671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.900281693 meters Centerline goodness [0,1] 0.9997425279464458 Centerline is valid? [True, True] Translation: X:199.42, Y:-9.65, Z:-1.20 [[ 9.97029900e-01 7.70062176e-02 1.19204508e-03 1.99415007e+02] [-7.70061685e-02 9.97030613e-01 -8.70682798e-05 -9.65302747e+00] [-1.19521023e-03 -4.98514603e-06 9.99999286e-01 -1.19712543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93028169299998 meters Centerline goodness [0,1] 0.9997433155080214 Centerline is valid? [True, True] Translation: X:199.45, Y:-9.65, Z:-1.20 [[ 9.96999826e-01 7.74037250e-02 1.01699668e-04 1.99445181e+02] [-7.74037246e-02 9.96999831e-01 -7.49351073e-06 -9.65364746e+00] [-1.01974578e-04 -4.00904227e-07 9.99999995e-01 -1.19869844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96028169299998 meters Centerline goodness [0,1] 0.999829613222014 Centerline is valid? [True, True] Translation: X:199.47, Y:-9.65, Z:-1.20 [[ 9.96934050e-01 7.82463791e-02 -6.01921826e-05 1.99474370e+02] [-7.82463790e-02 9.96934052e-01 4.30134318e-06 -9.65243028e+00] [ 6.03442010e-05 4.21664851e-07 9.99999998e-01 -1.20111626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.990281693 meters Centerline goodness [0,1] 0.9998511525048907 Centerline is valid? [True, True] Translation: X:199.50, Y:-9.66, Z:-1.20 [[ 9.97097665e-01 7.60738358e-02 3.00299492e-03 1.99504057e+02] [-7.60735212e-02 9.97102187e-01 -2.19008047e-04 -9.65855772e+00] [-3.01095359e-03 -1.00759856e-05 9.99995467e-01 -1.19613973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.020281693 meters Centerline goodness [0,1] 0.9997670133226019 Centerline is valid? [True, True] Translation: X:199.53, Y:-9.67, Z:-1.20 [[ 9.97299099e-01 7.33682696e-02 3.40644223e-03 1.99533693e+02] [-7.33678494e-02 9.97304917e-01 -2.48348971e-04 -9.66589386e+00] [-3.41548251e-03 -2.24513534e-06 9.99994167e-01 -1.19535511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.050281693 meters Centerline goodness [0,1] 0.9996176964084702 Centerline is valid? [True, True] Translation: X:199.56, Y:-9.68, Z:-1.20 [[ 9.97766406e-01 6.67874391e-02 1.27914838e-03 1.99562713e+02] [-6.67873745e-02 9.97767226e-01 -9.32353527e-05 -9.67974462e+00] [-1.28251928e-03 7.59614131e-06 9.99999178e-01 -1.19839513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.080281693 meters Centerline goodness [0,1] 0.9995350901291181 Centerline is valid? [True, True] Translation: X:199.59, Y:-9.69, Z:-1.20 [[ 9.97959663e-01 6.38433668e-02 7.32094375e-04 1.99593104e+02] [-6.38433449e-02 9.97959931e-01 -5.33821169e-05 -9.68747865e+00] [-7.34008946e-04 6.53384573e-06 9.99999731e-01 -1.19908738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.110281693 meters Centerline goodness [0,1] 0.9993432899057303 Centerline is valid? [True, True] Translation: X:199.62, Y:-9.69, Z:-1.20 [[ 9.98087185e-01 6.18123541e-02 1.09764814e-03 1.99623243e+02] [-6.18123034e-02 9.98087788e-01 -8.00371964e-05 -9.69391360e+00] [-1.10049649e-03 1.20359402e-05 9.99999394e-01 -1.19871667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.140281693 meters Centerline goodness [0,1] 0.9990891953146512 Centerline is valid? [True, True] Translation: X:199.65, Y:-9.70, Z:-1.20 [[ 9.98144104e-01 6.08568003e-02 2.19028850e-03 1.99653474e+02] [-6.08565963e-02 9.98146507e-01 -1.59709241e-04 -9.69759697e+00] [-2.19594821e-03 2.61193340e-05 9.99997589e-01 -1.19682092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.170281693 meters Centerline goodness [0,1] 0.9990588637919233 Centerline is valid? [True, True] Translation: X:199.68, Y:-9.70, Z:-1.20 [[ 9.98064699e-01 6.21690290e-02 1.36698408e-03 1.99684262e+02] [-6.21689508e-02 9.98065635e-01 -9.96763617e-05 -9.69778787e+00] [-1.37053661e-03 1.44994923e-05 9.99999061e-01 -1.19905412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.200281693 meters Centerline goodness [0,1] 0.9989842989546743 Centerline is valid? [True, True] Translation: X:199.71, Y:-9.70, Z:-1.20 [[ 9.98035065e-01 6.26563530e-02 4.37277561e-04 1.99713336e+02] [-6.26563451e-02 9.98035160e-01 -3.19158337e-05 -9.70076358e+00] [-4.38418110e-04 4.45490746e-06 9.99999904e-01 -1.20043073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.230281693 meters Centerline goodness [0,1] 0.999513258417455 Centerline is valid? [True, True] Translation: X:199.74, Y:-9.70, Z:-1.20 [[ 9.97915381e-01 6.45359239e-02 8.48598306e-05 1.99743980e+02] [-6.45359236e-02 9.97915384e-01 -6.18677783e-06 -9.70039082e+00] [-8.50821999e-05 6.97373214e-07 9.99999996e-01 -1.19916660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.260281693 meters Centerline goodness [0,1] 0.9993885081707959 Centerline is valid? [True, True] Translation: X:199.77, Y:-9.70, Z:-1.20 [[ 9.97816378e-01 6.60460064e-02 6.33493614e-04 1.99773245e+02] [-6.60459904e-02 9.97816579e-01 -4.62141221e-05 -9.69962043e+00] [-6.35162688e-04 4.27349485e-06 9.99999798e-01 -1.19820354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.290281693 meters Centerline goodness [0,1] 0.9995320741875107 Centerline is valid? [True, True] Translation: X:199.80, Y:-9.70, Z:-1.20 [[ 9.97661359e-01 6.83410034e-02 1.14869989e-03 1.99803227e+02] [-6.83409522e-02 9.97662021e-01 -8.37803496e-05 -9.69504148e+00] [-1.15173989e-03 5.08117320e-06 9.99999337e-01 -1.19848907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.320281693 meters Centerline goodness [0,1] 0.9994905864623352 Centerline is valid? [True, True] Translation: X:199.83, Y:-9.70, Z:-1.20 [[ 9.97672324e-01 6.81709650e-02 1.62864938e-03 1.99832328e+02] [-6.81708620e-02 9.97673654e-01 -1.18700996e-04 -9.69788197e+00] [-1.63295254e-03 7.39826658e-06 9.99998667e-01 -1.19857630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.350281693 meters Centerline goodness [0,1] 0.9995087254629729 Centerline is valid? [True, True] Translation: X:199.86, Y:-9.71, Z:-1.20 [[ 9.97910032e-01 6.45688925e-02 2.53512929e-03 1.99862064e+02] [-6.45686315e-02 9.97913252e-01 -1.84712193e-04 -9.70665999e+00] [-2.54176577e-03 2.06363211e-05 9.99996769e-01 -1.19617106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.380281693 meters Centerline goodness [0,1] 0.9990046379635317 Centerline is valid? [True, True] Translation: X:199.89, Y:-9.72, Z:-1.20 [[ 9.98092494e-01 6.16751622e-02 2.74735601e-03 1.99891472e+02] [-6.16748449e-02 9.98096275e-01 -2.00153904e-04 -9.71557354e+00] [-2.75447032e-03 3.03293535e-05 9.99996206e-01 -1.19561398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.410281693 meters Centerline goodness [0,1] 0.9981152684671564 Centerline is valid? [True, True] Translation: X:199.92, Y:-9.73, Z:-1.20 [[ 9.98437482e-01 5.57872009e-02 3.22226588e-03 1.99922221e+02] [-5.57867332e-02 9.98442680e-01 -2.34927296e-04 -9.72849939e+00] [-3.23035371e-03 5.48005316e-05 9.99994781e-01 -1.19502715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.440281693 meters Centerline goodness [0,1] 0.9973400325107138 Centerline is valid? [True, True] Translation: X:199.95, Y:-9.74, Z:-1.20 [[ 9.98551613e-01 5.37470190e-02 2.43597007e-03 1.99952323e+02] [-5.37467458e-02 9.98554583e-01 -1.77541255e-04 -9.73988064e+00] [-2.44199140e-03 4.63586421e-05 9.99997017e-01 -1.19647075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.470281693 meters Centerline goodness [0,1] 0.9976114986260832 Centerline is valid? [True, True] Translation: X:199.98, Y:-9.75, Z:-1.20 [[ 9.98691398e-01 5.11417490e-02 1.15017029e-04 1.99983849e+02] [-5.11417484e-02 9.98691405e-01 -8.27190991e-06 -9.75246382e+00] [-1.15289558e-04 2.37891333e-06 9.99999993e-01 -1.20136562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.500281693 meters Centerline goodness [0,1] 0.9971231543766129 Centerline is valid? [True, True] Translation: X:200.01, Y:-9.76, Z:-1.20 [[ 9.98715265e-01 5.06725599e-02 -3.32218599e-04 2.00014659e+02] [-5.06725544e-02 9.98715321e-01 2.47873548e-05 -9.75853113e+00] [ 3.33047844e-04 -7.92114456e-06 9.99999945e-01 -1.20192251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.530281693 meters Centerline goodness [0,1] 0.9972605085181063 Centerline is valid? [True, True] Translation: X:200.05, Y:-9.76, Z:-1.20 [[ 9.98699192e-01 5.09894565e-02 7.28828209e-06 2.00046341e+02] [-5.09894565e-02 9.98699192e-01 -4.64141518e-07 -9.76093556e+00] [-7.30246776e-06 9.19122149e-08 1.00000000e+00 -1.20065592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.560281693 meters Centerline goodness [0,1] 0.9972623089983023 Centerline is valid? [True, True] Translation: X:200.08, Y:-9.76, Z:-1.20 [[ 9.98519717e-01 5.43287320e-02 2.60058968e-03 2.00076335e+02] [-5.43284198e-02 9.98523103e-01 -1.90574984e-04 -9.76301056e+00] [-2.60710257e-03 4.90069512e-05 9.99996600e-01 -1.19549319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.590281693 meters Centerline goodness [0,1] 0.9978568366909558 Centerline is valid? [True, True] Translation: X:200.11, Y:-9.76, Z:-1.19 [[ 9.98356164e-01 5.72293161e-02 3.12644607e-03 2.00108542e+02] [-5.72288791e-02 9.98361058e-01 -2.29140439e-04 -9.76440882e+00] [-3.13443555e-03 4.98407659e-05 9.99995086e-01 -1.19476259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.620281693 meters Centerline goodness [0,1] 0.998307272381033 Centerline is valid? [True, True] Translation: X:200.14, Y:-9.77, Z:-1.20 [[ 9.98325064e-01 5.77935886e-02 2.63981769e-03 2.00139536e+02] [-5.77932781e-02 9.98328553e-01 -1.93833426e-04 -9.76866228e+00] [-2.64660770e-03 4.09450496e-05 9.99996497e-01 -1.19645595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.650281693 meters Centerline goodness [0,1] 0.998637950114923 Centerline is valid? [True, True] Translation: X:200.17, Y:-9.77, Z:-1.20 [[ 9.98292205e-01 5.84098708e-02 9.80494064e-04 2.00171883e+02] [-5.84098284e-02 9.98292686e-01 -7.17638394e-05 -9.77247697e+00] [-9.83011770e-04 1.43707913e-05 9.99999517e-01 -1.19963599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68028169299998 meters Centerline goodness [0,1] 0.9986029676354169 Centerline is valid? [True, True] Translation: X:200.20, Y:-9.78, Z:-1.20 [[ 9.98298679e-01 5.83064571e-02 3.23470581e-04 2.00203159e+02] [-5.83064526e-02 9.98298731e-01 -2.34352913e-05 -9.77626237e+00] [-3.24286699e-04 4.53499830e-06 9.99999947e-01 -1.20113510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71028169299998 meters Centerline goodness [0,1] 0.998478321438522 Centerline is valid? [True, True] Translation: X:200.23, Y:-9.78, Z:-1.20 [[ 9.98291359e-01 5.84305483e-02 4.83750790e-04 2.00234685e+02] [-5.84305379e-02 9.98291476e-01 -3.56473044e-05 -9.77637641e+00] [-4.85007182e-04 7.32057706e-06 9.99999882e-01 -1.20052395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.740281693 meters Centerline goodness [0,1] 0.9986496624156039 Centerline is valid? [True, True] Translation: X:200.27, Y:-9.78, Z:-1.20 [[ 9.98231749e-01 5.94351309e-02 9.16981150e-04 2.00265683e+02] [-5.94350938e-02 9.98232170e-01 -6.76570474e-05 -9.77804114e+00] [-9.19381288e-04 1.30365521e-05 9.99999577e-01 -1.19962760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.770281693 meters Centerline goodness [0,1] 0.9989484752891693 Centerline is valid? [True, True] Translation: X:200.30, Y:-9.78, Z:-1.20 [[ 9.98006908e-01 6.30976406e-02 9.48588730e-04 2.00296664e+02] [-6.30976026e-02 9.98007359e-01 -7.00132027e-05 -9.77747289e+00] [-9.51116201e-04 1.00199853e-05 9.99999548e-01 -1.20009836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.800281693 meters Centerline goodness [0,1] 0.9991101883434673 Centerline is valid? [True, True] Translation: X:200.33, Y:-9.77, Z:-1.20 [[ 9.97858437e-01 6.54069996e-02 6.81211908e-04 2.00327420e+02] [-6.54069804e-02 9.97858670e-01 -5.03301194e-05 -9.77433498e+00] [-6.83045150e-04 5.66632035e-06 9.99999767e-01 -1.20004791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.830281693 meters Centerline goodness [0,1] 0.999682640431609 Centerline is valid? [True, True] Translation: X:200.36, Y:-9.76, Z:-1.20 [[ 9.97494146e-01 7.07490511e-02 7.72181477e-06 2.00358576e+02] [-7.07490511e-02 9.97494146e-01 -5.70512424e-07 -9.76425223e+00] [-7.74282825e-06 2.27717352e-08 1.00000000e+00 -1.20100207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.860281693 meters Centerline goodness [0,1] 0.9999140154772141 Centerline is valid? [True, True] Translation: X:200.39, Y:-9.76, Z:-1.20 [[ 9.97288408e-01 7.35920046e-02 -2.20764820e-04 2.00389195e+02] [-7.35920027e-02 9.97288432e-01 1.63108126e-05 -9.76059050e+00] [ 2.21366547e-04 -2.00590577e-08 9.99999975e-01 -1.20066198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.890281693 meters Centerline goodness [0,1] 0.9997476924370808 Centerline is valid? [True, True] Translation: X:200.42, Y:-9.75, Z:-1.20 [[ 9.97020151e-01 7.71387026e-02 -6.63145232e-04 2.00418226e+02] [-7.71386872e-02 9.97020371e-01 4.88592013e-05 -9.75473616e+00] [ 6.64938241e-04 2.44054442e-06 9.99999779e-01 -1.20335361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.920281693 meters Centerline goodness [0,1] 0.9997044917257684 Centerline is valid? [True, True] Translation: X:200.45, Y:-9.76, Z:-1.20 [[ 9.96994995e-01 7.74633053e-02 -6.45123843e-04 2.00447419e+02] [-7.74632908e-02 9.96995204e-01 4.75145472e-05 -9.75545827e+00] [ 6.46866012e-04 2.60165010e-06 9.99999791e-01 -1.20318550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.950281693 meters Centerline goodness [0,1] 0.9997668503603222 Centerline is valid? [True, True] Translation: X:200.48, Y:-9.76, Z:-1.20 [[ 9.97092446e-01 7.62013389e-02 -9.75297525e-05 2.00476748e+02] [-7.62013386e-02 9.97092451e-01 7.12426947e-06 -9.75939144e+00] [ 9.77890588e-05 3.28342418e-07 9.99999995e-01 -1.20170841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.980281693 meters Centerline goodness [0,1] 0.9996836177258442 Centerline is valid? [True, True] Translation: X:200.51, Y:-9.76, Z:-1.20 [[ 9.97174570e-01 7.51188389e-02 1.92255845e-04 2.00507293e+02] [-7.51188375e-02 9.97174589e-01 -1.41870458e-05 -9.76495817e+00] [-1.92778358e-04 -2.95074255e-07 9.99999981e-01 -1.20121774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.010281693 meters Centerline goodness [0,1] 0.9997447785954315 Centerline is valid? [True, True] Translation: X:200.54, Y:-9.77, Z:-1.20 [[ 9.97344027e-01 7.28343262e-02 -2.30429585e-04 2.00537572e+02] [-7.28343242e-02 9.97344053e-01 1.70039828e-05 -9.77454638e+00] [ 2.31056050e-04 -1.75637588e-07 9.99999973e-01 -1.20249092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.040281693 meters Centerline goodness [0,1] 0.9996417658834685 Centerline is valid? [True, True] Translation: X:200.57, Y:-9.78, Z:-1.20 [[ 9.97396653e-01 7.21095270e-02 -3.64199188e-04 2.00566862e+02] [-7.21095220e-02 9.97396720e-01 2.68351719e-05 -9.77906457e+00] [ 3.65186147e-04 -5.03081285e-07 9.99999933e-01 -1.20301482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.070281693 meters Centerline goodness [0,1] 0.999621251972646 Centerline is valid? [True, True] Translation: X:200.60, Y:-9.78, Z:-1.20 [[ 9.97408055e-01 7.19458745e-02 9.81660203e-04 2.00596166e+02] [-7.19458381e-02 9.97408538e-01 -7.23994123e-05 -9.78349231e+00] [-9.84325107e-04 1.58539097e-06 9.99999516e-01 -1.19986553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.100281693 meters Centerline goodness [0,1] 0.9997889271165333 Centerline is valid? [True, True] Translation: X:200.63, Y:-9.79, Z:-1.20 [[ 9.97241594e-01 7.42059024e-02 1.63900191e-03 2.00626542e+02] [-7.42058038e-02 9.97242941e-01 -1.20948938e-04 -9.78625275e+00] [-1.64345821e-03 -1.00814245e-06 9.99998650e-01 -1.19774269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.130281693 meters Centerline goodness [0,1] 0.9997454715140203 Centerline is valid? [True, True] Translation: X:200.66, Y:-9.79, Z:-1.20 [[ 9.97146344e-01 7.54881927e-02 8.37195065e-04 2.00657393e+02] [-7.54881675e-02 9.97146696e-01 -6.17263219e-05 -9.78897889e+00] [-8.39465902e-04 -1.64814506e-06 9.99999648e-01 -1.19880724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.160281693 meters Centerline goodness [0,1] 0.9997668009327962 Centerline is valid? [True, True] Translation: X:200.69, Y:-9.79, Z:-1.20 [[ 9.97034319e-01 7.69555121e-02 6.45355629e-04 2.00688059e+02] [-7.69554974e-02 9.97034528e-01 -4.76382072e-05 -9.79132395e+00] [-6.47107867e-04 -2.16673596e-06 9.99999791e-01 -1.19981565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.190281693 meters Centerline goodness [0,1] 0.9996630231039785 Centerline is valid? [True, True] Translation: X:200.72, Y:-9.79, Z:-1.20 [[ 9.96800798e-01 7.98996834e-02 2.05176034e-03 2.00717744e+02] [-7.98995409e-02 9.96802910e-01 -1.51468350e-04 -9.79035372e+00] [-2.05730295e-03 -1.29509376e-05 9.99997884e-01 -1.19747511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.220281693 meters Centerline goodness [0,1] 0.9995330078539588 Centerline is valid? [True, True] Translation: X:200.75, Y:-9.79, Z:-1.20 [[ 9.96496803e-01 8.36010883e-02 2.23162247e-03 2.00747790e+02] [-8.36009290e-02 9.96499301e-01 -1.64716339e-04 -9.78521319e+00] [-2.23758070e-03 -2.24264066e-05 9.99997496e-01 -1.19649942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.250281693 meters Centerline goodness [0,1] 0.9994464316130132 Centerline is valid? [True, True] Translation: X:200.78, Y:-9.79, Z:-1.20 [[ 9.96339598e-01 8.54361309e-02 2.84119261e-03 2.00778600e+02] [-8.54358803e-02 9.96343649e-01 -2.09663122e-04 -9.78661741e+00] [-2.84871702e-03 -3.38441210e-05 9.99995942e-01 -1.19557408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.280281693 meters Centerline goodness [0,1] 0.9995757768586276 Centerline is valid? [True, True] Translation: X:200.81, Y:-9.78, Z:-1.19 [[ 9.96168536e-01 8.73467472e-02 4.33511336e-03 2.00809033e+02] [-8.73461819e-02 9.96177967e-01 -3.19905591e-04 -9.78403782e+00] [-4.34648713e-03 -5.99757157e-05 9.99990552e-01 -1.19374738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.310281693 meters Centerline goodness [0,1] 0.9996192410204341 Centerline is valid? [True, True] Translation: X:200.84, Y:-9.79, Z:-1.19 [[ 9.96163257e-01 8.74003916e-02 4.46519327e-03 2.00839421e+02] [-8.73997924e-02 9.96173262e-01 -3.29504715e-04 -9.78541017e+00] [-4.47690499e-03 -6.20164748e-05 9.99989977e-01 -1.19409239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.340281693 meters Centerline goodness [0,1] 0.9995145323680267 Centerline is valid? [True, True] Translation: X:200.87, Y:-9.79, Z:-1.20 [[ 9.96320498e-01 8.56399225e-02 3.35679948e-03 2.00869231e+02] [-8.56395739e-02 9.96326152e-01 -2.47711843e-04 -9.79084885e+00] [-3.36568113e-03 -4.06744897e-05 9.99994335e-01 -1.19665848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.370281693 meters Centerline goodness [0,1] 0.9996352870505449 Centerline is valid? [True, True] Translation: X:200.90, Y:-9.80, Z:-1.20 [[ 9.96515744e-01 8.33871024e-02 1.72143714e-03 2.00899737e+02] [-8.33870073e-02 9.96517231e-01 -1.27014746e-04 -9.79775993e+00] [-1.72603317e-03 -1.69732974e-05 9.99998510e-01 -1.20051472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.400281693 meters Centerline goodness [0,1] 0.9995954950927168 Centerline is valid? [True, True] Translation: X:200.93, Y:-9.80, Z:-1.20 [[ 9.96607798e-01 8.22926113e-02 9.07670709e-04 2.00928791e+02] [-8.22925844e-02 9.96608211e-01 -6.70174615e-05 -9.80118990e+00] [-9.10107123e-04 -7.90444370e-06 9.99999586e-01 -1.20204735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43028169299998 meters Centerline goodness [0,1] 0.9995954950927168 Centerline is valid? [True, True] Translation: X:200.96, Y:-9.80, Z:-1.20 [[ 9.96607798e-01 8.22926112e-02 9.07673404e-04 2.00958711e+02] [-8.22925843e-02 9.96608211e-01 -6.69809396e-05 -9.80339781e+00] [-9.10106803e-04 -7.94106345e-06 9.99999586e-01 -1.20214386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46028169299998 meters Centerline goodness [0,1] 0.99967878710009 Centerline is valid? [True, True] Translation: X:200.99, Y:-9.81, Z:-1.20 [[ 9.96663464e-01 8.16144381e-02 1.01139490e-03 2.00989054e+02] [-8.16144043e-02 9.96663977e-01 -7.46349736e-05 -9.80675375e+00] [-1.01411215e-03 -8.15844080e-06 9.99999486e-01 -1.20214059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.490281693 meters Centerline goodness [0,1] 0.9996581415721214 Centerline is valid? [True, True] Translation: X:201.02, Y:-9.81, Z:-1.20 [[ 9.96812528e-01 7.97280136e-02 2.86842125e-03 2.01019705e+02] [-7.97277346e-02 9.96816655e-01 -2.11672557e-04 -9.81137021e+00] [-2.87616631e-03 -1.76948714e-05 9.99995864e-01 -1.19860168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.520281693 meters Centerline goodness [0,1] 0.9997475225651707 Centerline is valid? [True, True] Translation: X:201.05, Y:-9.81, Z:-1.20 [[ 9.96878664e-01 7.88873017e-02 3.11825082e-03 2.01049823e+02] [-7.88869679e-02 9.96883541e-01 -2.30107483e-04 -9.81384681e+00] [-3.12668548e-03 -1.66001120e-05 9.99995112e-01 -1.19838006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.550281693 meters Centerline goodness [0,1] 0.999766939277088 Centerline is valid? [True, True] Translation: X:201.08, Y:-9.82, Z:-1.20 [[ 9.97031018e-01 7.69947920e-02 9.75016344e-04 2.01080246e+02] [-7.69947585e-02 9.97031495e-01 -7.18419748e-05 -9.82000895e+00] [-9.77653461e-04 -3.44247064e-06 9.99999522e-01 -1.20239921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.580281693 meters Centerline goodness [0,1] 0.9998941081790842 Centerline is valid? [True, True] Translation: X:201.11, Y:-9.83, Z:-1.20 [[ 9.97141631e-01 7.55550322e-02 7.33207697e-05 2.01111409e+02] [-7.55550320e-02 9.97141633e-01 -5.34508757e-06 -9.82635243e+00] [-7.35150403e-05 -2.09943768e-07 9.99999997e-01 -1.20404357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.610281693 meters Centerline goodness [0,1] 0.9996216420734014 Centerline is valid? [True, True] Translation: X:201.14, Y:-9.84, Z:-1.20 [[ 9.97447736e-01 7.13982356e-02 5.53121071e-04 2.01142619e+02] [-7.13982241e-02 9.97447889e-01 -4.04371003e-05 -9.83787957e+00] [-5.54596582e-04 8.42031971e-07 9.99999846e-01 -1.20209466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.640281693 meters Centerline goodness [0,1] 0.9991513377039442 Centerline is valid? [True, True] Translation: X:201.17, Y:-9.85, Z:-1.20 [[ 9.97685740e-01 6.79532910e-02 2.34839450e-03 2.01174414e+02] [-6.79530703e-02 9.97688504e-01 -1.73743284e-04 -9.84841613e+00] [-2.35477262e-03 1.37605808e-05 9.99997227e-01 -1.19833049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.670281693 meters Centerline goodness [0,1] 0.9991086776596422 Centerline is valid? [True, True] Translation: X:201.21, Y:-9.85, Z:-1.20 [[ 9.97711093e-01 6.75735202e-02 2.52864964e-03 2.01205749e+02] [-6.75732619e-02 9.97714297e-01 -1.87557344e-04 -9.85278405e+00] [-2.53554380e-03 1.62589386e-05 9.99996785e-01 -1.19804088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.700281693 meters Centerline goodness [0,1] 0.9989637524848792 Centerline is valid? [True, True] Translation: X:201.24, Y:-9.85, Z:-1.20 [[ 9.97557630e-01 6.97913186e-02 2.81883108e-03 2.01237600e+02] [-6.97910054e-02 9.97561613e-01 -2.09430047e-04 -9.85172801e+00] [-2.82657408e-03 1.21894863e-05 9.99996005e-01 -1.19711352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.730281693 meters Centerline goodness [0,1] 0.9993233384787803 Centerline is valid? [True, True] Translation: X:201.27, Y:-9.85, Z:-1.20 [[ 9.97414438e-01 7.18192602e-02 2.53612629e-03 2.01269314e+02] [-7.18190122e-02 9.97417663e-01 -1.88869068e-04 -9.84899020e+00] [-2.54314160e-03 6.23864983e-06 9.99996766e-01 -1.19751397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.760281693 meters Centerline goodness [0,1] 0.9997451201121471 Centerline is valid? [True, True] Translation: X:201.30, Y:-9.84, Z:-1.20 [[ 9.97010926e-01 7.72353163e-02 1.97972628e-03 2.01301135e+02] [-7.72351757e-02 9.97012892e-01 -1.47487869e-04 -9.83725175e+00] [-1.98520390e-03 -5.85749030e-06 9.99998029e-01 -1.19674021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.790281693 meters Centerline goodness [0,1] 0.9995945801771045 Centerline is valid? [True, True] Translation: X:201.33, Y:-9.83, Z:-1.20 [[ 9.96804217e-01 7.98389310e-02 2.66417001e-03 2.01332100e+02] [-7.98386857e-02 9.96807777e-01 -1.98472045e-04 -9.83158264e+00] [-2.67151119e-03 -1.48660610e-05 9.99996431e-01 -1.19623156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.820281693 meters Centerline goodness [0,1] 0.9995314463399569 Centerline is valid? [True, True] Translation: X:201.36, Y:-9.82, Z:-1.19 [[ 9.96501900e-01 8.34547819e-02 4.38892888e-03 2.01363200e+02] [-8.34541510e-02 9.96511564e-01 -3.27022053e-04 -9.82155215e+00] [-4.40090994e-03 -4.03962362e-05 9.99990315e-01 -1.19488277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.850281693 meters Centerline goodness [0,1] 0.9995080950445923 Centerline is valid? [True, True] Translation: X:201.39, Y:-9.82, Z:-1.20 [[ 9.96510522e-01 8.33455112e-02 4.50618388e-03 2.01392825e+02] [-8.33448449e-02 9.96520709e-01 -3.35776024e-04 -9.82066092e+00] [-4.51849098e-03 -4.09628550e-05 9.99989791e-01 -1.19534171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.880281693 meters Centerline goodness [0,1] 0.999829001367989 Centerline is valid? [True, True] Translation: X:201.42, Y:-9.82, Z:-1.20 [[ 9.96870557e-01 7.90195383e-02 2.23719167e-03 2.01423194e+02] [-7.90193632e-02 9.96873067e-01 -1.66713303e-04 -9.82422729e+00] [-2.24336973e-03 -1.05898774e-05 9.99997484e-01 -1.19984281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.910281693 meters Centerline goodness [0,1] 0.9997013651877134 Centerline is valid? [True, True] Translation: X:201.45, Y:-9.83, Z:-1.20 [[ 9.97115775e-01 7.58888334e-02 1.00800636e-03 2.01452517e+02] [-7.58887962e-02 9.97116285e-01 -7.51570083e-05 -9.82857016e+00] [-1.01080313e-03 -1.55615066e-06 9.99999489e-01 -1.20255117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.940281693 meters Centerline goodness [0,1] 0.9993558914462384 Centerline is valid? [True, True] Translation: X:201.48, Y:-9.84, Z:-1.20 [[ 9.97594914e-01 6.93032073e-02 1.20532090e-03 2.01482197e+02] [-6.93031494e-02 9.97595642e-01 -8.98252958e-05 -9.83567633e+00] [-1.20864806e-03 6.07672398e-06 9.99999270e-01 -1.20140161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.970281693 meters Centerline goodness [0,1] 0.9991648643439902 Centerline is valid? [True, True] Translation: X:201.51, Y:-9.84, Z:-1.20 [[ 9.97800998e-01 6.62502739e-02 2.01726142e-03 2.01512194e+02] [-6.62501054e-02 9.97803037e-01 -1.50334325e-04 -9.84029685e+00] [-2.02278926e-03 1.63599580e-05 9.99997954e-01 -1.20033786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.000281693 meters Centerline goodness [0,1] 0.9982693849985227 Centerline is valid? [True, True] Translation: X:201.54, Y:-9.85, Z:-1.20 [[ 9.98181206e-01 6.02653392e-02 1.53918763e-03 2.01542410e+02] [-6.02652344e-02 9.98182392e-01 -1.14452740e-04 -9.85172272e+00] [-1.54328753e-03 2.14850703e-05 9.99998809e-01 -1.20179406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.030281693 meters Centerline goodness [0,1] 0.9977323301896789 Centerline is valid? [True, True] Translation: X:201.57, Y:-9.86, Z:-1.20 [[ 9.98353382e-01 5.73435998e-02 1.49535835e-03 2.01573117e+02] [-5.73434969e-02 9.98354502e-01 -1.11629342e-04 -9.85682908e+00] [-1.49929897e-03 2.56964542e-05 9.99998876e-01 -1.20200422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.060281693 meters Centerline goodness [0,1] 0.9968040298854953 Centerline is valid? [True, True] Translation: X:201.60, Y:-9.87, Z:-1.20 [[ 9.98615186e-01 5.25514684e-02 2.46043148e-03 2.01603802e+02] [-5.25511750e-02 9.98618215e-01 -1.83772714e-04 -9.86583952e+00] [-2.46668922e-03 5.42196577e-05 9.99996956e-01 -1.20033898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.090281693 meters Centerline goodness [0,1] 0.9962702381961516 Centerline is valid? [True, True] Translation: X:201.64, Y:-9.87, Z:-1.20 [[ 9.98699927e-01 5.09140837e-02 2.49217141e-03 2.01635441e+02] [-5.09137778e-02 9.98703035e-01 -1.86102260e-04 -9.87158263e+00] [-2.49841438e-03 5.89744520e-05 9.99996877e-01 -1.20007555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.120281693 meters Centerline goodness [0,1] 0.99632110579479 Centerline is valid? [True, True] Translation: X:201.67, Y:-9.88, Z:-1.20 [[ 9.98787489e-01 4.92059524e-02 1.52529000e-03 2.01665977e+02] [-4.92058357e-02 9.98788653e-01 -1.13965629e-04 -9.88027426e+00] [-1.52905013e-03 3.87742750e-05 9.99998830e-01 -1.20263849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.150281693 meters Centerline goodness [0,1] 0.9962328042328042 Centerline is valid? [True, True] Translation: X:201.70, Y:-9.88, Z:-1.20 [[ 9.98798798e-01 4.89937436e-02 7.57160363e-04 2.01698218e+02] [-4.89937149e-02 9.98799085e-01 -5.64191998e-05 -9.88298695e+00] [-7.59015266e-04 1.92553300e-05 9.99999712e-01 -1.20397877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18028169299998 meters Centerline goodness [0,1] 0.9960033163970322 Centerline is valid? [True, True] Translation: X:201.73, Y:-9.88, Z:-1.21 [[ 9.98739064e-01 5.02024038e-02 4.96399448e-06 2.01729126e+02] [-5.02024038e-02 9.98739064e-01 1.33402867e-07 -9.88470162e+00] [-4.95103806e-06 -3.82439111e-07 1.00000000e+00 -1.20513539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21028169299998 meters Centerline goodness [0,1] 0.9968845357744917 Centerline is valid? [True, True] Translation: X:201.76, Y:-9.89, Z:-1.21 [[ 9.98649653e-01 5.19495641e-02 -3.36501608e-04 2.01760905e+02] [-5.19495585e-02 9.98649710e-01 2.54760987e-05 -9.88501738e+00] [ 3.37370706e-04 -7.96058717e-06 9.99999943e-01 -1.20540536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.240281693 meters Centerline goodness [0,1] 0.9969455539654399 Centerline is valid? [True, True] Translation: X:201.79, Y:-9.89, Z:-1.20 [[ 9.98641999e-01 5.20931386e-02 6.79627469e-04 2.01792326e+02] [-5.20931159e-02 9.98642231e-01 -5.11453453e-05 -9.88893210e+00] [-6.81369013e-04 1.56719774e-05 9.99999768e-01 -1.20432870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.270281693 meters Centerline goodness [0,1] 0.9959077773324615 Centerline is valid? [True, True] Translation: X:201.82, Y:-9.90, Z:-1.20 [[ 9.98752262e-01 4.98162774e-02 3.50101308e-03 2.01822620e+02] [-4.98156576e-02 9.98758394e-01 -2.64076604e-04 -9.90054050e+00] [-3.50982152e-03 8.93418366e-05 9.99993837e-01 -1.19943162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.300281693 meters Centerline goodness [0,1] 0.9952530971944314 Centerline is valid? [True, True] Translation: X:201.85, Y:-9.91, Z:-1.20 [[ 9.98844300e-01 4.78454068e-02 4.56969356e-03 2.01853723e+02] [-4.78443268e-02 9.98854745e-01 -3.45415185e-04 -9.90781729e+00] [-4.58098663e-03 1.26382076e-04 9.99989499e-01 -1.19766523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.330281693 meters Centerline goodness [0,1] 0.9945015131494821 Centerline is valid? [True, True] Translation: X:201.88, Y:-9.92, Z:-1.20 [[ 9.98944604e-01 4.56720916e-02 4.87221725e-03 2.01884781e+02] [-4.56708356e-02 9.98956475e-01 -3.68798818e-04 -9.91627511e+00] [-4.88397678e-03 1.45891356e-04 9.99988063e-01 -1.19734940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.360281693 meters Centerline goodness [0,1] 0.9925908627717391 Centerline is valid? [True, True] Translation: X:201.91, Y:-9.93, Z:-1.20 [[ 9.99095281e-01 4.23097726e-02 4.30150202e-03 2.01914588e+02] [-4.23087606e-02 9.99104530e-01 -3.26022790e-04 -9.92857116e+00] [-4.31144410e-03 1.43736612e-04 9.99990695e-01 -1.19850908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.390281693 meters Centerline goodness [0,1] 0.9923704792958677 Centerline is valid? [True, True] Translation: X:201.95, Y:-9.93, Z:-1.20 [[ 9.99119219e-01 4.17659705e-02 4.04841349e-03 2.01946822e+02] [-4.17650690e-02 9.99127412e-01 -3.07005441e-04 -9.93451988e+00] [-4.05770328e-03 1.37652768e-04 9.99991758e-01 -1.19856891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.420281693 meters Centerline goodness [0,1] 0.9924354165788697 Centerline is valid? [True, True] Translation: X:201.98, Y:-9.94, Z:-1.20 [[ 9.99103755e-01 4.22227531e-02 2.98763665e-03 2.01977878e+02] [-4.22222631e-02 9.99108217e-01 -2.26898697e-04 -9.94363619e+00] [-2.99455261e-03 1.00550560e-04 9.99995511e-01 -1.20106239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.450281693 meters Centerline goodness [0,1] 0.9922699568901442 Centerline is valid? [True, True] Translation: X:202.01, Y:-9.95, Z:-1.20 [[ 9.99058734e-01 4.32003145e-02 3.92159828e-03 2.02008506e+02] [-4.31994751e-02 9.99066422e-01 -2.98543977e-04 -9.95177095e+00] [-3.93083436e-03 1.28851980e-04 9.99992266e-01 -1.20015768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.480281693 meters Centerline goodness [0,1] 0.9917480633209835 Centerline is valid? [True, True] Translation: X:202.04, Y:-9.96, Z:-1.20 [[ 9.99039955e-01 4.36200650e-02 4.05678547e-03 2.02039378e+02] [-4.36191685e-02 9.99048183e-01 -3.09249028e-04 -9.95875793e+00] [-4.06641361e-03 1.31998526e-04 9.99991723e-01 -1.20033701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.510281693 meters Centerline goodness [0,1] 0.9926028861571352 Centerline is valid? [True, True] Translation: X:202.07, Y:-9.97, Z:-1.20 [[ 9.99017648e-01 4.41701840e-02 3.56832166e-03 2.02071053e+02] [-4.41694922e-02 9.99024015e-01 -2.72469721e-04 -9.96529217e+00] [-3.57687407e-03 1.14591104e-04 9.99993596e-01 -1.20150821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.540281693 meters Centerline goodness [0,1] 0.9954222740277631 Centerline is valid? [True, True] Translation: X:202.10, Y:-9.97, Z:-1.20 [[ 9.98912193e-01 4.65564510e-02 2.63208568e-03 2.02102022e+02] [-4.65560820e-02 9.98915657e-01 -2.01328846e-04 -9.96758725e+00] [-2.63860475e-03 7.85702427e-05 9.99996516e-01 -1.20260285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.570281693 meters Centerline goodness [0,1] 0.996175382989963 Centerline is valid? [True, True] Translation: X:202.13, Y:-9.97, Z:-1.20 [[ 9.98594850e-01 5.29476138e-02 2.20802785e-03 2.02131571e+02] [-5.29473695e-02 9.98597290e-01 -1.68963123e-04 -9.96882008e+00] [-2.21387683e-03 5.18164380e-05 9.99997548e-01 -1.20372877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.600281693 meters Centerline goodness [0,1] 0.9973377632952101 Centerline is valid? [True, True] Translation: X:202.16, Y:-9.97, Z:-1.21 [[ 9.98395576e-01 5.66103575e-02 1.24121630e-03 2.02163016e+02] [-5.66102832e-02 9.98396348e-01 -9.49221822e-05 -9.96690210e+00] [-1.24459940e-03 2.45042805e-05 9.99999225e-01 -1.20597132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.630281693 meters Centerline goodness [0,1] 0.9986736833098019 Centerline is valid? [True, True] Translation: X:202.19, Y:-9.96, Z:-1.21 [[ 9.97977532e-01 6.35632903e-02 -7.44237376e-04 2.02194192e+02] [-6.35632655e-02 9.97977809e-01 5.69573459e-05 -9.95833925e+00] [ 7.46352783e-04 -9.53599353e-06 9.99999721e-01 -1.20929096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.660281693 meters Centerline goodness [0,1] 0.9991192266380237 Centerline is valid? [True, True] Translation: X:202.23, Y:-9.96, Z:-1.21 [[ 9.97776456e-01 6.66460229e-02 -6.72395266e-04 2.02225696e+02] [-6.66460030e-02 9.97776682e-01 5.20313633e-05 -9.95818972e+00] [ 6.74368001e-04 -7.10321232e-06 9.99999773e-01 -1.20966566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.690281693 meters Centerline goodness [0,1] 0.9992331124981361 Centerline is valid? [True, True] Translation: X:202.26, Y:-9.96, Z:-1.21 [[ 9.97600774e-01 6.92287407e-02 2.79309770e-04 2.02258252e+02] [-6.92287375e-02 9.97600813e-01 -2.09528047e-05 -9.95853528e+00] [-2.80090190e-04 1.56627140e-06 9.99999961e-01 -1.20777014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.720281693 meters Centerline goodness [0,1] 0.9991906283280085 Centerline is valid? [True, True] Translation: X:202.29, Y:-9.96, Z:-1.21 [[ 9.97419665e-01 7.17765061e-02 1.46488602e-03 2.02289068e+02] [-7.17764186e-02 9.97420740e-01 -1.12302678e-04 -9.96009135e+00] [-1.46916839e-03 6.86862725e-06 9.99998921e-01 -1.20538990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.750281693 meters Centerline goodness [0,1] 0.99894510316891 Centerline is valid? [True, True] Translation: X:202.32, Y:-9.97, Z:-1.21 [[ 9.97500357e-01 7.06566399e-02 8.22478460e-04 2.02319451e+02] [-7.06566118e-02 9.97500696e-01 -6.31136803e-05 -9.96783143e+00] [-8.24882237e-04 4.84237737e-06 9.99999660e-01 -1.20815139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.780281693 meters Centerline goodness [0,1] 0.9992795389048992 Centerline is valid? [True, True] Translation: X:202.35, Y:-9.97, Z:-1.21 [[ 9.97499908e-01 7.06677109e-02 -8.64687707e-05 2.02352594e+02] [-7.06677105e-02 9.97499912e-01 7.25437642e-06 -9.97174778e+00] [ 8.67652414e-05 -1.12568976e-06 9.99999996e-01 -1.20995287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.810281693 meters Centerline goodness [0,1] 0.9993614847607696 Centerline is valid? [True, True] Translation: X:202.38, Y:-9.98, Z:-1.21 [[ 9.97477895e-01 7.09654039e-02 -1.32667772e-03 2.02384566e+02] [-7.09653294e-02 9.97478777e-01 1.03240996e-04 -9.97641363e+00] [ 1.33065941e-03 -8.83248995e-06 9.99999115e-01 -1.21243030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.840281693 meters Centerline goodness [0,1] 0.999490521578534 Centerline is valid? [True, True] Translation: X:202.42, Y:-9.98, Z:-1.21 [[ 9.97476838e-01 7.09855620e-02 -1.00344139e-03 2.02417033e+02] [-7.09855191e-02 9.97477343e-01 7.83506048e-05 -9.97834970e+00] [ 1.00647182e-03 -6.92310545e-06 9.99999493e-01 -1.21133502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.870281693 meters Centerline goodness [0,1] 0.9993441374349427 Centerline is valid? [True, True] Translation: X:202.45, Y:-9.98, Z:-1.21 [[ 9.97463656e-01 7.11774428e-02 1.62343665e-04 2.02448589e+02] [-7.11774417e-02 9.97463669e-01 -1.23225101e-05 -9.98047645e+00] [-1.62808993e-04 7.36049212e-07 9.99999987e-01 -1.20933240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.900281693 meters Centerline goodness [0,1] 0.9992582074052095 Centerline is valid? [True, True] Translation: X:202.48, Y:-9.98, Z:-1.21 [[ 9.97471365e-01 7.10681089e-02 4.47778367e-04 2.02481239e+02] [-7.10681006e-02 9.97471465e-01 -3.42724908e-05 -9.98498942e+00] [-4.49081825e-04 2.36307009e-06 9.99999899e-01 -1.20896058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93028169299998 meters Centerline goodness [0,1] 0.9990719649034 Centerline is valid? [True, True] Translation: X:202.51, Y:-9.99, Z:-1.21 [[ 9.97571179e-01 6.96382969e-02 1.50032106e-03 2.02511398e+02] [-6.96382004e-02 9.97572307e-01 -1.16541960e-04 -9.99347873e+00] [-1.50479453e-03 1.17792419e-05 9.99998868e-01 -1.20642797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96028169299998 meters Centerline goodness [0,1] 0.9988466713654129 Centerline is valid? [True, True] Translation: X:202.54, Y:-10.00, Z:-1.21 [[ 9.97593785e-01 6.92971936e-02 2.13034273e-03 2.02542832e+02] [-6.92969971e-02 9.97596060e-01 -1.65972026e-04 -9.99699589e+00] [-2.13672291e-03 1.79463072e-05 9.99997717e-01 -1.20509366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.990281693 meters Centerline goodness [0,1] 0.9991010081551404 Centerline is valid? [True, True] Translation: X:202.58, Y:-9.99, Z:-1.20 [[ 9.97534941e-01 7.01372779e-02 2.19176708e-03 2.02575661e+02] [-7.01370712e-02 9.97537349e-01 -1.71117624e-04 -9.99474146e+00] [-2.19837125e-03 1.69716852e-05 9.99997583e-01 -1.20477843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.020281693 meters Centerline goodness [0,1] 0.9990818047874271 Centerline is valid? [True, True] Translation: X:202.61, Y:-10.00, Z:-1.20 [[ 9.97450469e-01 7.13235946e-02 2.34675234e-03 2.02606810e+02] [-7.13233597e-02 9.97453229e-01 -1.83733717e-04 -9.99542588e+00] [-2.35388025e-03 1.58870211e-05 9.99997229e-01 -1.20462622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.050281693 meters Centerline goodness [0,1] 0.999473639885464 Centerline is valid? [True, True] Translation: X:202.64, Y:-9.99, Z:-1.21 [[ 9.97221652e-01 7.44699517e-02 1.78954139e-03 2.02638741e+02] [-7.44698199e-02 9.97223258e-01 -1.40248784e-04 -9.99278797e+00] [-1.79501662e-03 6.59229902e-06 9.99998389e-01 -1.20574232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.080281693 meters Centerline goodness [0,1] 0.9995533340423269 Centerline is valid? [True, True] Translation: X:202.67, Y:-9.99, Z:-1.21 [[ 9.97114505e-01 7.59048945e-02 1.05378040e-03 2.02672294e+02] [-7.59048497e-02 9.97115062e-01 -8.24944080e-05 -9.99105907e+00] [-1.05700204e-03 2.26932796e-06 9.99999441e-01 -1.20668314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.110281693 meters Centerline goodness [0,1] 0.9996585501184404 Centerline is valid? [True, True] Translation: X:202.71, Y:-9.99, Z:-1.21 [[ 9.97015962e-01 7.71954780e-02 1.72188438e-04 2.02705345e+02] [-7.71954769e-02 9.97015977e-01 -1.30840337e-05 -9.98713514e+00] [-1.72684652e-04 -2.47178193e-07 9.99999985e-01 -1.20888735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.140281693 meters Centerline goodness [0,1] 0.9996809189534142 Centerline is valid? [True, True] Translation: X:202.74, Y:-9.99, Z:-1.21 [[ 9.96983058e-01 7.76194596e-02 -3.73233678e-05 2.02736213e+02] [-7.76194596e-02 9.96983059e-01 3.43764371e-06 -9.98755431e+00] [ 3.74775934e-05 -5.30252902e-07 9.99999999e-01 -1.20932967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.170281693 meters Centerline goodness [0,1] 0.9995688075372442 Centerline is valid? [True, True] Translation: X:202.77, Y:-9.99, Z:-1.21 [[ 9.97119556e-01 7.58456007e-02 -1.88860007e-04 2.02768433e+02] [-7.58455991e-02 9.97119574e-01 1.55274907e-05 -9.99000992e+00] [ 1.89493701e-04 -1.15856427e-06 9.99999982e-01 -1.20869085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.200281693 meters Centerline goodness [0,1] 0.9995693738696064 Centerline is valid? [True, True] Translation: X:202.80, Y:-10.00, Z:-1.21 [[ 9.97271090e-01 7.38253402e-02 -4.38837981e-04 2.02799627e+02] [-7.38253318e-02 9.97271186e-01 3.53866533e-05 -9.99587258e+00] [ 4.40252906e-04 -2.89272673e-06 9.99999903e-01 -1.20991735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.230281693 meters Centerline goodness [0,1] 0.9987299436941705 Centerline is valid? [True, True] Translation: X:202.83, Y:-10.01, Z:-1.21 [[ 9.97620990e-01 6.89324292e-02 8.25043172e-04 2.02830315e+02] [-6.89323988e-02 9.97621331e-01 -6.52317638e-05 -1.00065511e+01] [-8.27577252e-04 8.20437179e-06 9.99999658e-01 -1.20786587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.260281693 meters Centerline goodness [0,1] 0.9987312100815037 Centerline is valid? [True, True] Translation: X:202.86, Y:-10.01, Z:-1.21 [[ 9.97814069e-01 6.60591355e-02 1.80959352e-03 2.02861974e+02] [-6.60589832e-02 9.97815709e-01 -1.43878960e-04 -1.00127434e+01] [-1.81514536e-03 2.40245420e-05 9.99998352e-01 -1.20673481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.290281693 meters Centerline goodness [0,1] 0.9976103874132972 Centerline is valid? [True, True] Translation: X:202.89, Y:-10.03, Z:-1.21 [[ 9.98189183e-01 6.01462454e-02 8.85437703e-04 2.02890736e+02] [-6.01462063e-02 9.98189576e-01 -7.06598484e-05 -1.00298375e+01] [-8.88084610e-04 1.72761775e-05 9.99999606e-01 -1.20864819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.320281693 meters Centerline goodness [0,1] 0.9978046575696268 Centerline is valid? [True, True] Translation: X:202.92, Y:-10.03, Z:-1.21 [[ 9.98348536e-01 5.74417730e-02 -8.01660344e-04 2.02922835e+02] [-5.74417400e-02 9.98348858e-01 6.41653755e-05 -1.00349172e+01] [ 8.04022462e-04 -1.80106437e-05 9.99999677e-01 -1.21132367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.350281693 meters Centerline goodness [0,1] 0.9978046575696268 Centerline is valid? [True, True] Translation: X:202.96, Y:-10.04, Z:-1.21 [[ 9.98337656e-01 5.76305650e-02 -8.01611882e-04 2.02955224e+02] [-5.76305315e-02 9.98337978e-01 6.47713965e-05 -1.00376923e+01] [ 8.04012397e-04 -1.84664054e-05 9.99999677e-01 -1.21142826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.380281693 meters Centerline goodness [0,1] 0.9975255972696245 Centerline is valid? [True, True] Translation: X:202.98, Y:-10.06, Z:-1.22 [[ 9.98574273e-01 5.32915939e-02 -3.07053332e-03 2.02984094e+02] [-5.32910897e-02 9.98578990e-01 2.45840223e-04 -1.00559010e+01] [ 3.07927128e-03 -8.18576553e-05 9.99995256e-01 -1.21659094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.410281693 meters Centerline goodness [0,1] 0.9966025396016478 Centerline is valid? [True, True] Translation: X:203.01, Y:-10.07, Z:-1.21 [[ 9.98639358e-01 5.21103364e-02 -1.98624585e-03 2.03014234e+02] [-5.21101216e-02 9.98641332e-01 1.59797452e-04 -1.00705409e+01] [ 1.99187430e-03 -5.60765124e-05 9.99998015e-01 -1.21494391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.440281693 meters Centerline goodness [0,1] 0.9963554394539479 Centerline is valid? [True, True] Translation: X:203.05, Y:-10.08, Z:-1.21 [[ 9.98637657e-01 5.21677969e-02 1.16264673e-03 2.03045959e+02] [-5.21677240e-02 9.98638333e-01 -9.29262419e-05 -1.00825524e+01] [-1.16591135e-03 3.21470108e-05 9.99999320e-01 -1.20744540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.470281693 meters Centerline goodness [0,1] 0.9968467028869713 Centerline is valid? [True, True] Translation: X:203.08, Y:-10.09, Z:-1.21 [[ 9.98568645e-01 5.34617724e-02 1.58111182e-03 2.03077823e+02] [-5.34616386e-02 9.98569896e-01 -1.26797104e-04 -1.00866331e+01] [-1.58562947e-03 4.20867833e-05 9.99998742e-01 -1.20687689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.500281693 meters Centerline goodness [0,1] 0.9979198064146377 Centerline is valid? [True, True] Translation: X:203.11, Y:-10.10, Z:-1.21 [[ 9.98275792e-01 5.86977753e-02 1.19119330e-04 2.03106874e+02] [-5.86977746e-02 9.98275799e-01 -9.55637232e-06 -1.00966712e+01] [-1.19474882e-04 2.54785556e-06 9.99999993e-01 -1.21072712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.530281693 meters Centerline goodness [0,1] 0.9984982126615479 Centerline is valid? [True, True] Translation: X:203.14, Y:-10.10, Z:-1.21 [[ 9.98056550e-01 6.23146517e-02 -8.66117941e-05 2.03137016e+02] [-6.23146513e-02 9.98056554e-01 7.01334969e-06 -1.00996576e+01] [ 8.68805032e-05 -1.60253584e-06 9.99999996e-01 -1.21125781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.560281693 meters Centerline goodness [0,1] 0.9993631114130435 Centerline is valid? [True, True] Translation: X:203.17, Y:-10.10, Z:-1.21 [[ 9.97455102e-01 7.12933109e-02 7.64181135e-04 2.03167612e+02] [-7.12932847e-02 9.97455394e-01 -6.15552037e-05 -1.00975750e+01] [-7.66625070e-04 6.91756878e-06 9.99999706e-01 -1.20759053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.590281693 meters Centerline goodness [0,1] 0.9995984529872984 Centerline is valid? [True, True] Translation: X:203.20, Y:-10.10, Z:-1.21 [[ 9.97045325e-01 7.67964066e-02 1.71251165e-03 2.03199087e+02] [-7.67962833e-02 9.97046795e-01 -1.37720407e-04 -1.00963052e+01] [-1.71803068e-03 5.79895818e-06 9.99998524e-01 -1.20579103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.620281693 meters Centerline goodness [0,1] 0.9998513926630435 Centerline is valid? [True, True] Translation: X:203.23, Y:-10.09, Z:-1.20 [[ 9.96055586e-01 8.87031122e-02 2.24228280e-03 2.03231964e+02] [-8.87029299e-02 9.96058110e-01 -1.80798349e-04 -1.00863955e+01] [-2.24948134e-03 -1.88118491e-05 9.99997470e-01 -1.20371167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.650281693 meters Centerline goodness [0,1] 0.9996835910308605 Centerline is valid? [True, True] Translation: X:203.26, Y:-10.08, Z:-1.20 [[ 9.95474208e-01 9.49919931e-02 2.76073498e-03 2.03263524e+02] [-9.49917393e-02 9.95478036e-01 -2.23197030e-04 -1.00784297e+01] [-2.76945297e-03 -4.00601304e-05 9.99996164e-01 -1.20375657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68028169299998 meters Centerline goodness [0,1] 0.9987995450907713 Centerline is valid? [True, True] Translation: X:203.30, Y:-10.07, Z:-1.21 [[ 9.94296936e-01 1.06630049e-01 1.90700007e-03 2.03295691e+02] [-1.06629949e-01 9.94298763e-01 -1.54327829e-04 -1.00662633e+01] [-1.91258380e-03 -4.98956331e-05 9.99998170e-01 -1.20527598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71028169299998 meters Centerline goodness [0,1] 0.9986688359710102 Centerline is valid? [True, True] Translation: X:203.33, Y:-10.06, Z:-1.21 [[ 9.93758628e-01 1.11549487e-01 7.08214485e-04 2.03327455e+02] [-1.11549475e-01 9.93758880e-01 -5.72783841e-05 -1.00631769e+01] [-7.10183808e-04 -2.20800654e-05 9.99999748e-01 -1.20697161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.740281693 meters Centerline goodness [0,1] 0.9976990433985982 Centerline is valid? [True, True] Translation: X:203.36, Y:-10.06, Z:-1.21 [[ 9.93260559e-01 1.15901295e-01 -5.92352495e-04 2.03358680e+02] [-1.15901287e-01 9.93260736e-01 4.79871427e-05 -1.00576718e+01] [ 5.93922247e-04 2.09906801e-05 9.99999823e-01 -1.20861451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.770281693 meters Centerline goodness [0,1] 0.9887056026155446 Centerline is valid? [True, True] Translation: X:203.39, Y:-10.04, Z:-1.21 [[ 9.92414466e-01 1.22926857e-01 -1.58616736e-03 2.03389530e+02] [-1.22926808e-01 9.92415731e-01 1.28423557e-04 -1.00432039e+01] [ 1.58992414e-03 6.75330957e-05 9.99998734e-01 -1.21080508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.800281693 meters Centerline goodness [0,1] 0.9822067104896902 Centerline is valid? [True, True] Translation: X:203.42, Y:-10.04, Z:-1.21 [[ 9.92154376e-01 1.25012844e-01 -1.21784237e-03 2.03420379e+02] [-1.25012817e-01 9.92155122e-01 9.86183287e-05 -1.00386049e+01] [ 1.22061710e-03 5.44012983e-05 9.99999254e-01 -1.21055940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.830281693 meters Centerline goodness [0,1] 0.9786704131809183 Centerline is valid? [True, True] Translation: X:203.45, Y:-10.03, Z:-1.21 [[ 9.91891883e-01 1.27082677e-01 6.96301704e-04 2.03450279e+02] [-1.27082668e-01 9.91892127e-01 -5.64415295e-05 -1.00287412e+01] [-6.97828919e-04 -3.25039835e-05 9.99999756e-01 -1.20719615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.860281693 meters Centerline goodness [0,1] 0.9834220177651524 Centerline is valid? [True, True] Translation: X:203.48, Y:-10.03, Z:-1.20 [[ 9.91803841e-01 1.27756799e-01 1.82769278e-03 2.03480360e+02] [-1.27756742e-01 9.91805522e-01 -1.47992874e-04 -1.00267290e+01] [-1.83162289e-03 -8.67201744e-05 9.99998319e-01 -1.20444636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.890281693 meters Centerline goodness [0,1] 0.9910790873220107 Centerline is valid? [True, True] Translation: X:203.51, Y:-10.02, Z:-1.20 [[ 9.91871595e-01 1.27171010e-01 4.27465747e-03 2.03510454e+02] [-1.27170697e-01 9.91880786e-01 -3.45947173e-04 -1.00239111e+01] [-4.28394506e-03 -2.00475997e-04 9.99990804e-01 -1.20053309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.920281693 meters Centerline goodness [0,1] 0.9897061931938279 Centerline is valid? [True, True] Translation: X:203.54, Y:-10.02, Z:-1.20 [[ 9.92005748e-01 1.26106391e-01 4.66632883e-03 2.03540222e+02] [-1.26106007e-01 9.92016700e-01 -3.77586805e-04 -1.00209431e+01] [-4.67669223e-03 -2.13883818e-04 9.99989041e-01 -1.20046320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.950281693 meters Centerline goodness [0,1] 0.9909096661253243 Centerline is valid? [True, True] Translation: X:203.57, Y:-10.02, Z:-1.20 [[ 9.92435815e-01 1.22728147e-01 2.99250279e-03 2.03570065e+02] [-1.22727974e-01 9.92440319e-01 -2.42121724e-04 -1.00159359e+01] [-2.99959557e-03 -1.26973535e-04 9.99995493e-01 -1.20455923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.980281693 meters Centerline goodness [0,1] 0.995283320883577 Centerline is valid? [True, True] Translation: X:203.60, Y:-10.02, Z:-1.21 [[ 9.92738934e-01 1.20277173e-01 1.67638747e-03 2.03599938e+02] [-1.20277115e-01 9.92740347e-01 -1.35648296e-04 -1.00219879e+01] [-1.68053287e-03 -6.69677040e-05 9.99998586e-01 -1.20677942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.010281693 meters Centerline goodness [0,1] 0.9966322879393812 Centerline is valid? [True, True] Translation: X:203.63, Y:-10.02, Z:-1.21 [[ 9.93386393e-01 1.14819169e-01 -1.78998923e-04 2.03629930e+02] [-1.14819168e-01 9.93386409e-01 1.44367698e-05 -1.00213564e+01] [ 1.79472715e-04 6.21121672e-06 9.99999984e-01 -1.20924139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.040281693 meters Centerline goodness [0,1] 0.9984699407102026 Centerline is valid? [True, True] Translation: X:203.66, Y:-10.03, Z:-1.21 [[ 9.93687194e-01 1.12183859e-01 -7.36111187e-04 2.03659459e+02] [-1.12183846e-01 9.93687467e-01 5.94516431e-05 -1.00289136e+01] [ 7.38133975e-04 2.35034477e-05 9.99999727e-01 -1.20837589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.070281693 meters Centerline goodness [0,1] 0.9989597486413043 Centerline is valid? [True, True] Translation: X:203.69, Y:-10.03, Z:-1.21 [[ 9.94073137e-01 1.08711051e-01 7.11285411e-04 2.03688203e+02] [-1.08711038e-01 9.94073391e-01 -5.75023365e-05 -1.00276427e+01] [-7.13321040e-04 -2.01630473e-05 9.99999745e-01 -1.20664630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.100281693 meters Centerline goodness [0,1] 0.9988069113918657 Centerline is valid? [True, True] Translation: X:203.72, Y:-10.03, Z:-1.21 [[ 9.94148441e-01 1.08007595e-01 1.79885133e-03 2.03718414e+02] [-1.08007508e-01 9.94150068e-01 -1.45480405e-04 -1.00281123e+01] [-1.80404116e-03 -4.96603320e-05 9.99998371e-01 -1.20521109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.130281693 meters Centerline goodness [0,1] 0.9987849331713244 Centerline is valid? [True, True] Translation: X:203.75, Y:-10.02, Z:-1.20 [[ 9.94154209e-01 1.07949501e-01 2.07705873e-03 2.03748356e+02] [-1.07949385e-01 9.94156377e-01 -1.67963736e-04 -1.00246605e+01] [-2.08305279e-03 -5.72353583e-05 9.99997829e-01 -1.20484197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.160281693 meters Centerline goodness [0,1] 0.9986128302531051 Centerline is valid? [True, True] Translation: X:203.78, Y:-10.02, Z:-1.21 [[ 9.94223222e-01 1.07326096e-01 1.13780389e-03 2.03777214e+02] [-1.07326061e-01 9.94223872e-01 -9.20401992e-05 -1.00245109e+01] [-1.14111010e-03 -3.06075066e-05 9.99999348e-01 -1.20644589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.190281693 meters Centerline goodness [0,1] 0.9989604327994059 Centerline is valid? [True, True] Translation: X:203.81, Y:-10.02, Z:-1.21 [[ 9.94443161e-01 1.05274864e-01 4.49121047e-05 2.03805979e+02] [-1.05274864e-01 9.94443162e-01 -3.73517497e-06 -1.00245947e+01] [-4.50557554e-05 -1.01369651e-06 9.99999999e-01 -1.20848701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.220281693 meters Centerline goodness [0,1] 0.9993175517167839 Centerline is valid? [True, True] Translation: X:203.84, Y:-10.03, Z:-1.21 [[ 9.94578613e-01 1.03986849e-01 -3.42108501e-04 2.03835379e+02] [-1.03986845e-01 9.94578672e-01 2.75495337e-05 -1.00281325e+01] [ 3.43118608e-04 8.17460685e-06 9.99999941e-01 -1.20893867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.250281693 meters Centerline goodness [0,1] 0.9992951579486961 Centerline is valid? [True, True] Translation: X:203.86, Y:-10.04, Z:-1.21 [[ 9.94952786e-01 1.00339844e-01 -9.31871111e-04 2.03863621e+02] [-1.00339818e-01 9.94953223e-01 7.50997615e-05 -1.00365219e+01] [ 9.34703663e-04 1.87830603e-05 9.99999563e-01 -1.20979274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.280281693 meters Centerline goodness [0,1] 0.9993196266451215 Centerline is valid? [True, True] Translation: X:203.89, Y:-10.04, Z:-1.21 [[ 9.95141907e-01 9.84508432e-02 -1.27150869e-04 2.03892019e+02] [-9.84508428e-02 9.95141915e-01 1.01499072e-05 -1.00415200e+01] [ 1.27532426e-04 2.41751218e-06 9.99999992e-01 -1.20887095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.310281693 meters Centerline goodness [0,1] 0.9991894716635028 Centerline is valid? [True, True] Translation: X:203.92, Y:-10.05, Z:-1.21 [[ 9.95342368e-01 9.64013872e-02 5.85708342e-04 2.03922097e+02] [-9.64013761e-02 9.95342540e-01 -4.72509076e-05 -1.00454239e+01] [-5.87535482e-04 -9.43225990e-06 9.99999827e-01 -1.20736824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.340281693 meters Centerline goodness [0,1] 0.9991990557288593 Centerline is valid? [True, True] Translation: X:203.95, Y:-10.05, Z:-1.21 [[ 9.95293944e-01 9.69014322e-02 2.77248180e-04 2.03951811e+02] [-9.69014297e-02 9.95293983e-01 -2.24317922e-05 -1.00454535e+01] [-2.78117118e-04 -4.53951815e-06 9.99999961e-01 -1.20837319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.370281693 meters Centerline goodness [0,1] 0.9988538195402543 Centerline is valid? [True, True] Translation: X:203.98, Y:-10.04, Z:-1.21 [[ 9.94972735e-01 1.00145303e-01 -4.18401141e-04 2.03981070e+02] [-1.00145298e-01 9.94972823e-01 3.36239105e-05 -1.00399015e+01] [ 4.19665041e-04 8.44603276e-06 9.99999912e-01 -1.20869755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.400281693 meters Centerline goodness [0,1] 0.9987644327041881 Centerline is valid? [True, True] Translation: X:204.01, Y:-10.04, Z:-1.21 [[ 9.94806773e-01 1.01780992e-01 -3.38126802e-04 2.04010613e+02] [-1.01780989e-01 9.94806830e-01 2.71808183e-05 -1.00380535e+01] [ 3.39137342e-04 7.37521821e-06 9.99999942e-01 -1.20874403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43028169299998 meters Centerline goodness [0,1] 0.9981884444065557 Centerline is valid? [True, True] Translation: X:204.04, Y:-10.03, Z:-1.21 [[ 9.94504880e-01 1.04684766e-01 -1.06963971e-03 2.04041054e+02] [-1.04684734e-01 9.94505455e-01 8.61143685e-05 -1.00308775e+01] [ 1.07277739e-03 2.63337894e-05 9.99999424e-01 -1.20958697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46028169299998 meters Centerline goodness [0,1] 0.9979977237280276 Centerline is valid? [True, True] Translation: X:204.07, Y:-10.03, Z:-1.21 [[ 9.94372388e-01 1.05930870e-01 -1.48491096e-03 2.04069285e+02] [-1.05930810e-01 9.94373496e-01 1.19388364e-04 -1.00269028e+01] [ 1.48920302e-03 3.85813280e-05 9.99998890e-01 -1.21042359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.490281693 meters Centerline goodness [0,1] 0.997814910025707 Centerline is valid? [True, True] Translation: X:204.10, Y:-10.02, Z:-1.21 [[ 9.94221362e-01 1.07342047e-01 -1.25208619e-03 2.04097831e+02] [-1.07342006e-01 9.94222150e-01 1.00574574e-04 -1.00196432e+01] [ 1.25564770e-03 3.44080525e-05 9.99999211e-01 -1.21075589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.520281693 meters Centerline goodness [0,1] 0.9982851335902104 Centerline is valid? [True, True] Translation: X:204.13, Y:-10.02, Z:-1.21 [[ 9.94251829e-01 1.07066204e-01 -3.59546765e-04 2.04126701e+02] [-1.07066201e-01 9.94251894e-01 2.87689246e-05 -1.00227590e+01] [ 3.60560232e-04 9.89175030e-06 9.99999935e-01 -1.20853330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.550281693 meters Centerline goodness [0,1] 0.9982653212328912 Centerline is valid? [True, True] Translation: X:204.16, Y:-10.02, Z:-1.21 [[ 9.94516045e-01 1.04582225e-01 6.28672152e-04 2.04155251e+02] [-1.04582213e-01 9.94516243e-01 -5.06737985e-05 -1.00214622e+01] [-6.30524245e-04 -1.53520196e-05 9.99999801e-01 -1.20719077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.580281693 meters Centerline goodness [0,1] 0.9984220824304139 Centerline is valid? [True, True] Translation: X:204.18, Y:-10.02, Z:-1.21 [[ 9.94707405e-01 1.02747821e-01 2.54216175e-04 2.04183678e+02] [-1.02747819e-01 9.94707437e-01 -2.05614503e-05 -1.00226570e+01] [-2.54983364e-04 -5.66753071e-06 9.99999967e-01 -1.20763430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.610281693 meters Centerline goodness [0,1] 0.9986510412275524 Centerline is valid? [True, True] Translation: X:204.21, Y:-10.03, Z:-1.21 [[ 9.94892273e-01 1.00942338e-01 -9.44076637e-05 2.04212513e+02] [-1.00942337e-01 9.94892278e-01 7.44243635e-06 -1.00269290e+01] [ 9.46767125e-05 2.12530782e-06 9.99999996e-01 -1.20738413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.640281693 meters Centerline goodness [0,1] 0.9989787668609846 Centerline is valid? [True, True] Translation: X:204.24, Y:-10.04, Z:-1.21 [[ 9.95216340e-01 9.76947471e-02 4.16690291e-04 2.04241077e+02] [-9.76947416e-02 9.95216427e-01 -3.35537877e-05 -1.00363984e+01] [-4.17975052e-04 -7.31517257e-06 9.99999913e-01 -1.20549328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.670281693 meters Centerline goodness [0,1] 0.99902861366276 Centerline is valid? [True, True] Translation: X:204.27, Y:-10.03, Z:-1.21 [[ 9.95419079e-01 9.56021636e-02 1.04094147e-03 2.04269642e+02] [-9.56021285e-02 9.95419623e-01 -8.36144175e-05 -1.00345857e+01] [-1.04416729e-03 -1.62848340e-05 9.99999455e-01 -1.20523281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.700281693 meters Centerline goodness [0,1] 0.9992089115049924 Centerline is valid? [True, True] Translation: X:204.30, Y:-10.04, Z:-1.21 [[ 9.95518797e-01 9.45602307e-02 8.28676519e-04 2.04297761e+02] [-9.45602081e-02 9.95519142e-01 -6.65872919e-05 -1.00391355e+01] [-8.31259847e-04 -1.20709233e-05 9.99999654e-01 -1.20560821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.730281693 meters Centerline goodness [0,1] 0.9992387235932246 Centerline is valid? [True, True] Translation: X:204.33, Y:-10.04, Z:-1.21 [[ 9.95605452e-01 9.36471244e-02 -5.65303607e-06 2.04325504e+02] [-9.36471244e-02 9.95605452e-01 2.62426546e-07 -1.00388879e+01] [ 5.65276902e-06 2.68117272e-07 1.00000000e+00 -1.20807496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.760281693 meters Centerline goodness [0,1] 0.9990497307570478 Centerline is valid? [True, True] Translation: X:204.35, Y:-10.04, Z:-1.21 [[ 9.95694324e-01 9.26840345e-02 -1.57552780e-03 2.04353172e+02] [-9.26839513e-02 9.95695571e-01 1.25920138e-04 -1.00419285e+01] [ 1.58041684e-03 2.06481755e-05 9.99998751e-01 -1.21187641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.790281693 meters Centerline goodness [0,1] 0.9992613384547201 Centerline is valid? [True, True] Translation: X:204.38, Y:-10.05, Z:-1.21 [[ 9.95869753e-01 9.07776261e-02 -1.69037528e-03 2.04381541e+02] [-9.07775276e-02 9.95871188e-01 1.35087203e-04 -1.00459384e+01] [ 1.69565893e-03 1.89188288e-05 9.99998562e-01 -1.21032601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.820281693 meters Centerline goodness [0,1] 0.9993884565909618 Centerline is valid? [True, True] Translation: X:204.41, Y:-10.05, Z:-1.21 [[ 9.95994866e-01 8.94027394e-02 -1.17347179e-03 2.04410164e+02] [-8.94026911e-02 9.95995557e-01 9.36760360e-05 -1.00494052e+01] [ 1.17714759e-03 1.16106852e-05 9.99999307e-01 -1.20907929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.850281693 meters Centerline goodness [0,1] 0.999297887278994 Centerline is valid? [True, True] Translation: X:204.44, Y:-10.05, Z:-1.21 [[ 9.96130147e-01 8.78898132e-02 -3.32632071e-04 2.04438797e+02] [-8.78898093e-02 9.96130203e-01 2.64296096e-05 -1.00539962e+01] [ 3.33667745e-04 2.90763833e-06 9.99999944e-01 -1.20790908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.880281693 meters Centerline goodness [0,1] 0.9992657856093979 Centerline is valid? [True, True] Translation: X:204.47, Y:-10.06, Z:-1.21 [[ 9.96406054e-01 8.47009461e-02 8.51148018e-04 2.04466519e+02] [-8.47009189e-02 9.96406418e-01 -6.80623218e-05 -1.00620311e+01] [-8.53854291e-04 -4.27530973e-06 9.99999635e-01 -1.20780866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.910281693 meters Centerline goodness [0,1] 0.9992583488726903 Centerline is valid? [True, True] Translation: X:204.50, Y:-10.07, Z:-1.21 [[ 9.96553655e-01 8.29486690e-02 5.75366786e-04 2.04495949e+02] [-8.29486562e-02 9.96553821e-01 -4.60266889e-05 -1.00697765e+01] [-5.77201822e-04 -1.85783665e-06 9.99999833e-01 -1.20718618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.940281693 meters Centerline goodness [0,1] 0.9991950516861549 Centerline is valid? [True, True] Translation: X:204.53, Y:-10.08, Z:-1.21 [[ 9.96829465e-01 7.95674950e-02 -1.74685821e-04 2.04526222e+02] [-7.95674938e-02 9.96829481e-01 1.39512296e-05 -1.00777503e+01] [ 1.75242041e-04 -7.68372470e-09 9.99999985e-01 -1.20871009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.970281693 meters Centerline goodness [0,1] 0.9991109417666857 Centerline is valid? [True, True] Translation: X:204.56, Y:-10.08, Z:-1.21 [[ 9.96960328e-01 7.79094900e-02 -4.64586332e-04 2.04555425e+02] [-7.79094812e-02 9.96960436e-01 3.71505308e-05 -1.00838494e+01] [ 4.66068571e-04 -8.41925286e-07 9.99999891e-01 -1.20993754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.000281693 meters Centerline goodness [0,1] 0.9994286077074471 Centerline is valid? [True, True] Translation: X:204.58, Y:-10.10, Z:-1.21 [[ 9.97150886e-01 7.54126302e-02 -1.74494956e-03 2.04583689e+02] [-7.54125018e-02 9.97152413e-01 1.39325197e-04 -1.00962524e+01] [ 1.75048754e-03 -7.33723218e-06 9.99998468e-01 -1.21218423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.030281693 meters Centerline goodness [0,1] 0.9993607364316308 Centerline is valid? [True, True] Translation: X:204.61, Y:-10.10, Z:-1.21 [[ 9.97193547e-01 7.48188906e-02 -2.67640790e-03 2.04613855e+02] [-7.48185863e-02 9.97197139e-01 2.13753706e-04 -1.01037426e+01] [ 2.68489911e-03 -1.29087613e-05 9.99996396e-01 -1.21374164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.060281693 meters Centerline goodness [0,1] 0.9991802934129219 Centerline is valid? [True, True] Translation: X:204.64, Y:-10.11, Z:-1.21 [[ 9.97152696e-01 7.53745071e-02 -2.27711035e-03 2.04643815e+02] [-7.53742883e-02 9.97155296e-01 1.81863451e-04 -1.01062106e+01] [ 2.28434051e-03 -9.71005850e-06 9.99997391e-01 -1.21323688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.090281693 meters Centerline goodness [0,1] 0.9992110705985202 Centerline is valid? [True, True] Translation: X:204.67, Y:-10.11, Z:-1.21 [[ 9.97069338e-01 7.64841877e-02 -1.70425847e-03 2.04674500e+02] [-7.64840667e-02 9.97070794e-01 1.36112125e-04 -1.01077094e+01] [ 1.70967677e-03 -5.36460712e-06 9.99998538e-01 -1.21180990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.120281693 meters Centerline goodness [0,1] 0.9991777529463852 Centerline is valid? [True, True] Translation: X:204.70, Y:-10.11, Z:-1.21 [[ 9.96916014e-01 7.84744302e-02 -4.73632906e-04 2.04704998e+02] [-7.84744211e-02 9.96916127e-01 3.78271149e-05 -1.01096983e+01] [ 4.75140744e-04 -5.42388523e-07 9.99999887e-01 -1.21036872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.150281693 meters Centerline goodness [0,1] 0.9993437486769127 Centerline is valid? [True, True] Translation: X:204.74, Y:-10.11, Z:-1.21 [[ 9.96907561e-01 7.85825777e-02 3.04432518e-04 2.04735342e+02] [-7.85825739e-02 9.96907608e-01 -2.43137748e-05 -1.01138908e+01] [-3.05401732e-04 3.15495143e-07 9.99999953e-01 -1.20840293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18028169299998 meters Centerline goodness [0,1] 0.9990255063130243 Centerline is valid? [True, True] Translation: X:204.76, Y:-10.12, Z:-1.21 [[ 9.97005279e-01 7.73228933e-02 1.28197208e-03 2.04764648e+02] [-7.73228256e-02 9.97006103e-01 -1.02363854e-04 -1.01237290e+01] [-1.28604905e-03 2.93159989e-06 9.99999173e-01 -1.20704896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21028169299998 meters Centerline goodness [0,1] 0.9993833723155433 Centerline is valid? [True, True] Translation: X:204.80, Y:-10.14, Z:-1.21 [[ 9.97192032e-01 7.48798503e-02 1.02900960e-03 2.04795278e+02] [-7.48798057e-02 9.97192563e-01 -8.18479806e-05 -1.01392741e+01] [-1.03224949e-03 4.56611486e-06 9.99999467e-01 -1.20837543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.240281693 meters Centerline goodness [0,1] 0.9993833723155433 Centerline is valid? [True, True] Translation: X:204.83, Y:-10.14, Z:-1.21 [[ 9.97190336e-01 7.49024329e-02 1.02897297e-03 2.04826010e+02] [-7.49023878e-02 9.97190867e-01 -8.23057386e-05 -1.01417807e+01] [-1.03224735e-03 5.00195489e-06 9.99999467e-01 -1.20847465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.270281693 meters Centerline goodness [0,1] 0.9991025257489636 Centerline is valid? [True, True] Translation: X:204.86, Y:-10.15, Z:-1.21 [[ 9.97266096e-01 7.38838290e-02 1.23029658e-03 2.04857777e+02] [-7.38837641e-02 9.97266855e-01 -9.81826149e-05 -1.01510047e+01] [-1.23418811e-03 7.01525055e-06 9.99999238e-01 -1.20790614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.300281693 meters Centerline goodness [0,1] 0.9991627307857449 Centerline is valid? [True, True] Translation: X:204.89, Y:-10.16, Z:-1.21 [[ 9.97274153e-01 7.37720919e-02 1.39388341e-03 2.04889719e+02] [-7.37720081e-02 9.97275127e-01 -1.11525495e-04 -1.01585378e+01] [-1.39831273e-03 8.39191513e-06 9.99999022e-01 -1.20681753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.330281693 meters Centerline goodness [0,1] 0.9993158153556692 Centerline is valid? [True, True] Translation: X:204.92, Y:-10.16, Z:-1.21 [[ 9.97070652e-01 7.64829766e-02 6.85706457e-04 2.04920892e+02] [-7.64829570e-02 9.97070887e-01 -5.47432575e-05 -1.01622732e+01] [-6.87884872e-04 2.13803799e-06 9.99999763e-01 -1.20697678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.360281693 meters Centerline goodness [0,1] 0.9993196700399694 Centerline is valid? [True, True] Translation: X:204.95, Y:-10.16, Z:-1.21 [[ 9.96820316e-01 7.96822002e-02 6.65797697e-05 2.04952942e+02] [-7.96822000e-02 9.96820318e-01 -5.24986058e-06 -1.01607306e+01] [-6.67863877e-05 -7.20548417e-08 9.99999998e-01 -1.20748128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.390281693 meters Centerline goodness [0,1] 0.9991764159310723 Centerline is valid? [True, True] Translation: X:204.98, Y:-10.15, Z:-1.21 [[ 9.96052628e-01 8.87646050e-02 8.81335411e-05 2.04983838e+02] [-8.87646047e-02 9.96052632e-01 -7.13680027e-06 -1.01477318e+01] [-8.84191408e-05 -7.14510279e-07 9.99999996e-01 -1.20865620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.420281693 meters Centerline goodness [0,1] 0.9990492689934928 Centerline is valid? [True, True] Translation: X:205.01, Y:-10.13, Z:-1.21 [[ 9.95206584e-01 9.77946378e-02 -2.51427360e-04 2.05014793e+02] [-9.77946358e-02 9.95206616e-01 2.02137143e-05 -1.01312542e+01] [ 2.52198965e-04 4.47142551e-06 9.99999968e-01 -1.20906029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.450281693 meters Centerline goodness [0,1] 0.9989531256676495 Centerline is valid? [True, True] Translation: X:205.04, Y:-10.13, Z:-1.21 [[ 9.94877674e-01 1.01084951e-01 -4.96955757e-04 2.05044994e+02] [-1.01084943e-01 9.94877798e-01 3.99420924e-05 -1.01272992e+01] [ 4.98447794e-04 1.04972485e-05 9.99999876e-01 -1.20972544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.480281693 meters Centerline goodness [0,1] 0.9990755471470955 Centerline is valid? [True, True] Translation: X:205.07, Y:-10.13, Z:-1.21 [[ 9.94651056e-01 1.03292171e-01 5.77289994e-05 2.05074549e+02] [-1.03292171e-01 9.94651058e-01 -4.72395288e-06 -1.01291898e+01] [-5.79081577e-05 -1.26426897e-06 9.99999998e-01 -1.20784775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.510281693 meters Centerline goodness [0,1] 0.9982404816416518 Centerline is valid? [True, True] Translation: X:205.10, Y:-10.11, Z:-1.20 [[ 9.94376842e-01 1.05857614e-01 2.97685584e-03 2.05104140e+02] [-1.05857371e-01 9.94381295e-01 -2.39623740e-04 -1.01119878e+01] [-2.98549577e-03 -7.68458349e-05 9.99995540e-01 -1.20341029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.540281693 meters Centerline goodness [0,1] 0.9982084518916641 Centerline is valid? [True, True] Translation: X:205.13, Y:-10.11, Z:-1.20 [[ 9.94347937e-01 1.06119191e-01 3.30117636e-03 2.05133056e+02] [-1.06118894e-01 9.94353413e-01 -2.65555658e-04 -1.01103805e+01] [-3.31071653e-03 -8.62624637e-05 9.99994516e-01 -1.20315179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.570281693 meters Centerline goodness [0,1] 0.9981150856682974 Centerline is valid? [True, True] Translation: X:205.16, Y:-10.11, Z:-1.21 [[ 9.94484821e-01 1.04864721e-01 1.82541312e-03 2.05161767e+02] [-1.04864628e-01 9.94486495e-01 -1.46823916e-04 -1.01066898e+01] [-1.83074535e-03 -4.54071120e-05 9.99998323e-01 -1.20689768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.600281693 meters Centerline goodness [0,1] 0.9989113961877522 Centerline is valid? [True, True] Translation: X:205.19, Y:-10.11, Z:-1.21 [[ 9.94648078e-01 1.03313525e-01 1.23171319e-03 2.05190961e+02] [-1.03313482e-01 9.94648840e-01 -9.90251433e-05 -1.01141006e+01] [-1.23535274e-03 -2.87574101e-05 9.99999237e-01 -1.20829811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.630281693 meters Centerline goodness [0,1] 0.9990128119836041 Centerline is valid? [True, True] Translation: X:205.22, Y:-10.11, Z:-1.21 [[ 9.94975180e-01 1.00121085e-01 4.00535424e-04 2.05219817e+02] [-1.00121080e-01 9.94975260e-01 -3.23057878e-05 -1.01073912e+01] [-4.01757328e-04 -7.95858216e-06 9.99999919e-01 -1.21137720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.660281693 meters Centerline goodness [0,1] 0.9991965324030024 Centerline is valid? [True, True] Translation: X:205.25, Y:-10.11, Z:-1.21 [[ 9.95138860e-01 9.84791494e-02 -7.11371242e-04 2.05248451e+02] [-9.84791339e-02 9.95139114e-01 5.69335294e-05 -1.01140709e+01] [ 7.13520113e-04 1.33984561e-05 9.99999745e-01 -1.21235021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.690281693 meters Centerline goodness [0,1] 0.9992070465699406 Centerline is valid? [True, True] Translation: X:205.28, Y:-10.12, Z:-1.22 [[ 9.95410826e-01 9.56519943e-02 -2.82539708e-03 2.05276883e+02] [-9.56517368e-02 9.95414835e-01 2.26438258e-04 -1.01166593e+01] [ 2.83410143e-03 4.48550436e-05 9.99995983e-01 -1.21606086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.720281693 meters Centerline goodness [0,1] 0.9992179077976706 Centerline is valid? [True, True] Translation: X:205.31, Y:-10.11, Z:-1.22 [[ 9.95502073e-01 9.46929181e-02 -2.97878650e-03 2.05305561e+02] [-9.46926282e-02 9.95506529e-01 2.38531532e-04 -1.01125295e+01] [ 2.98798865e-03 4.46104875e-05 9.99995535e-01 -1.21837122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.750281693 meters Centerline goodness [0,1] 0.9991303241133548 Centerline is valid? [True, True] Translation: X:205.33, Y:-10.11, Z:-1.21 [[ 9.95394553e-01 9.58495960e-02 -1.59318861e-03 2.05334859e+02] [-9.58495147e-02 9.95395828e-01 1.27473547e-04 -1.01057575e+01] [ 1.59807159e-03 2.58198813e-05 9.99998723e-01 -1.21406317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.780281693 meters Centerline goodness [0,1] 0.9990872232482116 Centerline is valid? [True, True] Translation: X:205.36, Y:-10.10, Z:-1.21 [[ 9.95309923e-01 9.67301069e-02 -1.20109566e-03 2.05364382e+02] [-9.67300614e-02 9.95310648e-01 9.60177028e-05 -1.01017396e+01] [ 1.20475111e-03 2.06146850e-05 9.99999274e-01 -1.21327164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.810281693 meters Centerline goodness [0,1] 0.9992585374120837 Centerline is valid? [True, True] Translation: X:205.39, Y:-10.10, Z:-1.21 [[ 9.95237190e-01 9.74749270e-02 -1.25506632e-03 2.05393272e+02] [-9.74748780e-02 9.95237981e-01 1.00268902e-04 -1.01023778e+01] [ 1.25886337e-03 2.25460958e-05 9.99999207e-01 -1.21267208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.840281693 meters Centerline goodness [0,1] 0.9993798383302681 Centerline is valid? [True, True] Translation: X:205.42, Y:-10.10, Z:-1.21 [[ 9.95281271e-01 9.70318506e-02 -1.07416072e-04 2.05422569e+02] [-9.70318502e-02 9.95281277e-01 8.43508998e-06 -1.00961663e+01] [ 1.07727678e-04 2.02749313e-06 9.99999994e-01 -1.21083632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.870281693 meters Centerline goodness [0,1] 0.9993264292329713 Centerline is valid? [True, True] Translation: X:205.45, Y:-10.09, Z:-1.21 [[ 9.95672884e-01 9.29025835e-02 2.14900019e-03 2.05451207e+02] [-9.29024288e-02 9.95675203e-01 -1.71894342e-04 -1.00900771e+01] [-2.15567563e-03 -2.84968027e-05 9.99997676e-01 -1.20765198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.900281693 meters Centerline goodness [0,1] 0.9993893579836179 Centerline is valid? [True, True] Translation: X:205.48, Y:-10.10, Z:-1.21 [[ 9.96028873e-01 8.89819803e-02 2.94811564e-03 2.05479941e+02] [-8.89816727e-02 9.96033236e-01 -2.35578471e-04 -1.00959715e+01] [-2.95738340e-03 -2.76853025e-05 9.99995627e-01 -1.20603552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93028169299998 meters Centerline goodness [0,1] 0.9993622448979592 Centerline is valid? [True, True] Translation: X:205.51, Y:-10.11, Z:-1.21 [[ 9.96963734e-01 7.78443752e-02 1.88851323e-03 2.05508722e+02] [-7.78442292e-02 9.96965523e-01 -1.50852569e-04 -1.01126202e+01] [-1.89452560e-03 3.38468347e-06 9.99998205e-01 -1.20796263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96028169299998 meters Centerline goodness [0,1] 0.999048605678767 Centerline is valid? [True, True] Translation: X:205.54, Y:-10.12, Z:-1.21 [[ 9.97443726e-01 7.14441519e-02 1.32138050e-03 2.05536771e+02] [-7.14440747e-02 9.97444601e-01 -1.05563380e-04 -1.01227432e+01] [-1.32554574e-03 1.08887234e-05 9.99999121e-01 -1.20944465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.990281693 meters Centerline goodness [0,1] 0.9981871838111298 Centerline is valid? [True, True] Translation: X:205.57, Y:-10.14, Z:-1.21 [[ 9.97870300e-01 6.52162037e-02 1.30817311e-03 2.05565077e+02] [-6.52161229e-02 9.97871157e-01 -1.04397819e-04 -1.01358877e+01] [-1.31219665e-03 1.88615046e-05 9.99999139e-01 -1.20973178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.020281693 meters Centerline goodness [0,1] 0.9953521933827119 Centerline is valid? [True, True] Translation: X:205.59, Y:-10.15, Z:-1.21 [[ 9.98544109e-01 5.38295075e-02 3.47093795e-03 2.05594913e+02] [-5.38288696e-02 9.98550137e-01 -2.76999374e-04 -1.01527611e+01] [-3.48081631e-03 8.97594263e-05 9.99993938e-01 -1.20544439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.050281693 meters Centerline goodness [0,1] 0.9939235000639631 Centerline is valid? [True, True] Translation: X:205.63, Y:-10.16, Z:-1.20 [[ 9.98787659e-01 4.90287624e-02 4.40375352e-03 2.05625515e+02] [-4.90276885e-02 9.98797358e-01 -3.51543794e-04 -1.01624123e+01] [-4.41569314e-03 1.35211747e-04 9.99990242e-01 -1.20419813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.080281693 meters Centerline goodness [0,1] 0.9872419145633545 Centerline is valid? [True, True] Translation: X:205.65, Y:-10.19, Z:-1.21 [[ 9.99138636e-01 4.13708644e-02 3.23083667e-03 2.05653854e+02] [-4.13702462e-02 9.99143852e-01 -2.57975415e-04 -1.01885915e+01] [-3.23874326e-03 1.24092696e-04 9.99994748e-01 -1.20749797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.110281693 meters Centerline goodness [0,1] 0.9887275506304929 Centerline is valid? [True, True] Translation: X:205.68, Y:-10.19, Z:-1.21 [[ 9.99291468e-01 3.75915261e-02 1.85424575e-03 2.05683991e+02] [-3.75913159e-02 9.99293186e-01 -1.48099012e-04 -1.01931756e+01] [-1.85850241e-03 7.82905412e-05 9.99998270e-01 -1.21016354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.140281693 meters Centerline goodness [0,1] 0.971029433422398 Centerline is valid? [True, True] Translation: X:205.71, Y:-10.22, Z:-1.21 [[ 9.99513833e-01 3.11765277e-02 -3.48206877e-04 2.05711128e+02] [-3.11765199e-02 9.99513894e-01 2.78757769e-05 -1.02213502e+01] [ 3.48906682e-04 -1.70063460e-05 9.99999939e-01 -1.21399478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.170281693 meters Centerline goodness [0,1] 0.9227809837867547 Centerline is valid? [True, False] Translation: X:205.71, Y:-10.22, Z:-1.21 [[ 9.99626801e-01 2.73089503e-02 -6.92348374e-04 2.05711896e+02] [-2.73112648e-02 9.99620535e-01 -3.58893415e-03 -1.02243909e+01] [ 5.94075627e-04 3.60650368e-03 9.99993320e-01 -1.21416890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.200281693 meters Centerline goodness [0,1] 0.9160480326386407 Centerline is valid? [False, False] Translation: X:205.71, Y:-10.23, Z:-1.21 [[ 9.99708483e-01 2.41205664e-02 -1.07094787e-03 2.05712885e+02] [-2.41264511e-02 9.99691670e-01 -5.87189879e-03 -1.02334899e+01] [ 9.28984140e-04 5.89602520e-03 9.99982187e-01 -1.21456735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.230281693 meters Centerline goodness [0,1] 0.9660440349913367 Centerline is valid? [False, True] Translation: X:205.71, Y:-10.24, Z:-1.21 [[ 9.99695527e-01 2.46467614e-02 -1.17944483e-03 2.05713366e+02] [-2.46521436e-02 9.99684614e-01 -4.78998763e-03 -1.02385941e+01] [ 1.06101516e-03 4.81760505e-03 9.99987832e-01 -1.21490237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.260281693 meters Centerline goodness [0,1] 0.9827727818377103 Centerline is valid? [True, True] Translation: X:205.74, Y:-10.25, Z:-1.22 [[ 9.99527725e-01 3.06775152e-02 -1.79363334e-03 2.05742336e+02] [-3.06773263e-02 9.99529331e-01 1.32729751e-04 -1.02469768e+01] [ 1.79686095e-03 -7.76431911e-05 9.99998383e-01 -1.21585782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.290281693 meters Centerline goodness [0,1] 0.9924495924495924 Centerline is valid? [True, True] Translation: X:205.77, Y:-10.25, Z:-1.21 [[ 9.99229403e-01 3.92447741e-02 -6.69514431e-04 2.05772700e+02] [-3.92447496e-02 9.99229627e-01 4.95854052e-05 -1.02475304e+01] [ 6.70944623e-04 -2.32722686e-05 9.99999775e-01 -1.21403260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.320281693 meters Centerline goodness [0,1] 0.9944860348228108 Centerline is valid? [True, True] Translation: X:205.80, Y:-10.25, Z:-1.21 [[ 9.99037540e-01 4.38623952e-02 2.89429608e-04 2.05803708e+02] [-4.38623908e-02 9.99037582e-01 -2.13965293e-05 -1.02480950e+01] [-2.90089559e-04 8.68086140e-06 9.99999958e-01 -1.21247528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.350281693 meters Centerline goodness [0,1] 0.9962332825461317 Centerline is valid? [True, True] Translation: X:205.83, Y:-10.25, Z:-1.21 [[ 9.98823527e-01 4.84842852e-02 9.14450331e-04 2.05833370e+02] [-4.84842435e-02 9.98823945e-01 -6.77090635e-05 -1.02482503e+01] [-9.16657713e-04 2.32929731e-05 9.99999580e-01 -1.21113732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.380281693 meters Centerline goodness [0,1] 0.998442170855964 Centerline is valid? [True, True] Translation: X:205.86, Y:-10.24, Z:-1.21 [[ 9.98327792e-01 5.78066420e-02 1.12008257e-04 2.05864345e+02] [-5.78066414e-02 9.98327798e-01 -8.29949833e-06 -1.02405934e+01] [-1.12300723e-04 1.81079869e-06 9.99999994e-01 -1.21274698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.410281693 meters Centerline goodness [0,1] 0.9988803920740209 Centerline is valid? [True, True] Translation: X:205.90, Y:-10.24, Z:-1.22 [[ 9.98068486e-01 6.21172626e-02 -8.61574368e-04 2.05895546e+02] [-6.21172303e-02 9.98068858e-01 6.43080062e-05 -1.02408906e+01] [ 8.63905183e-04 -1.06651811e-05 9.99999627e-01 -1.21573447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.440281693 meters Centerline goodness [0,1] 0.9993031653187491 Centerline is valid? [True, True] Translation: X:205.93, Y:-10.24, Z:-1.22 [[ 9.97686142e-01 6.79879541e-02 2.40487957e-05 2.05926471e+02] [-6.79879540e-02 9.97686142e-01 -1.73092776e-06 -1.02377688e+01] [-2.41108325e-05 9.18942171e-08 1.00000000e+00 -1.21547531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.470281693 meters Centerline goodness [0,1] 0.9994936388379011 Centerline is valid? [True, True] Translation: X:205.96, Y:-10.24, Z:-1.21 [[ 9.97441756e-01 7.14380105e-02 2.55991231e-03 2.05958793e+02] [-7.14377595e-02 9.97445041e-01 -1.89464723e-04 -1.02369792e+01] [-2.56690683e-03 6.10562578e-06 9.99996705e-01 -1.21011907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.500281693 meters Centerline goodness [0,1] 0.9994317942674354 Centerline is valid? [True, True] Translation: X:205.99, Y:-10.24, Z:-1.21 [[ 9.97373083e-01 7.23658540e-02 3.18049656e-03 2.05990548e+02] [-7.23654691e-02 9.97378155e-01 -2.36071844e-04 -1.02401217e+01] [-3.18924133e-03 5.29357750e-06 9.99994914e-01 -1.20895297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.530281693 meters Centerline goodness [0,1] 0.999424736337488 Centerline is valid? [True, True] Translation: X:206.02, Y:-10.24, Z:-1.21 [[ 9.97339253e-01 7.28140486e-02 3.53964025e-03 2.06023377e+02] [-7.28135723e-02 9.97345534e-01 -2.63413403e-04 -1.02443123e+01] [-3.54942459e-03 4.97867521e-06 9.99993701e-01 -1.20871907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.560281693 meters Centerline goodness [0,1] 0.999443052074631 Centerline is valid? [True, True] Translation: X:206.06, Y:-10.25, Z:-1.21 [[ 9.97343673e-01 7.27391551e-02 3.82262282e-03 2.06056175e+02] [-7.27385962e-02 9.97350999e-01 -2.85239066e-04 -1.02513736e+01] [-3.83324473e-03 6.42916082e-06 9.99992653e-01 -1.20838044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.590281693 meters Centerline goodness [0,1] 0.9993480820995962 Centerline is valid? [True, True] Translation: X:206.09, Y:-10.26, Z:-1.21 [[ 9.97344975e-01 7.27294305e-02 3.66487164e-03 2.06088113e+02] [-7.27289143e-02 9.97351708e-01 -2.74113340e-04 -1.02557884e+01] [-3.67510210e-03 6.84342603e-06 9.99993247e-01 -1.20861188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.620281693 meters Centerline goodness [0,1] 0.999408496524917 Centerline is valid? [True, True] Translation: X:206.12, Y:-10.26, Z:-1.21 [[ 9.97270165e-01 7.37305231e-02 4.00347229e-03 2.06119433e+02] [-7.37299121e-02 9.97278201e-01 -3.00192597e-04 -1.02599298e+01] [-4.01470900e-03 4.19746092e-06 9.99991941e-01 -1.20819229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.650281693 meters Centerline goodness [0,1] 0.9994492575568218 Centerline is valid? [True, True] Translation: X:206.15, Y:-10.26, Z:-1.21 [[ 9.97141347e-01 7.54378474e-02 4.27371398e-03 2.06152681e+02] [-7.54371635e-02 9.97150506e-01 -3.21222185e-04 -1.02607619e+01] [-4.28576836e-03 -2.09293795e-06 9.99990816e-01 -1.20705358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68028169299998 meters Centerline goodness [0,1] 0.9996618122635328 Centerline is valid? [True, True] Translation: X:206.18, Y:-10.25, Z:-1.20 [[ 9.96734343e-01 8.05562224e-02 5.59860921e-03 2.06184012e+02] [-8.05551225e-02 9.96750066e-01 -4.22041716e-04 -1.02549748e+01] [-5.61441219e-03 -3.03331781e-05 9.99984239e-01 -1.20403476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71028169299998 meters Centerline goodness [0,1] 0.9995765941231264 Centerline is valid? [True, True] Translation: X:206.22, Y:-10.25, Z:-1.20 [[ 9.96452522e-01 8.39447481e-02 5.97089304e-03 2.06216598e+02] [-8.39435524e-02 9.96470409e-01 -4.51027166e-04 -1.02514051e+01] [-5.98767960e-03 -5.17908165e-05 9.99982072e-01 -1.20320418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.740281693 meters Centerline goodness [0,1] 0.9996603477190227 Centerline is valid? [True, True] Translation: X:206.25, Y:-10.25, Z:-1.20 [[ 9.96166346e-01 8.72921222e-02 5.71809831e-03 2.06249558e+02] [-8.72910758e-02 9.96182755e-01 -4.32786064e-04 -1.02473814e+01] [-5.73404974e-03 -6.80120412e-05 9.99983558e-01 -1.20343312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.770281693 meters Centerline goodness [0,1] 0.9996168092987611 Centerline is valid? [True, True] Translation: X:206.28, Y:-10.23, Z:-1.21 [[ 9.95701707e-01 9.25084083e-02 4.50607257e-03 2.06280901e+02] [-9.25078093e-02 9.95711900e-01 -3.41618327e-04 -1.02340391e+01] [-4.51835265e-03 -7.66969509e-05 9.99989789e-01 -1.20614319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.800281693 meters Centerline goodness [0,1] 0.9992224930654787 Centerline is valid? [True, True] Translation: X:206.31, Y:-10.22, Z:-1.21 [[ 9.95223916e-01 9.75210798e-02 4.35842642e-03 2.06311550e+02] [-9.75205668e-02 9.95233455e-01 -3.30577391e-04 -1.02204852e+01] [-4.36989005e-03 -9.60376895e-05 9.99990447e-01 -1.20752105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.830281693 meters Centerline goodness [0,1] 0.9986075949367088 Centerline is valid? [True, True] Translation: X:206.34, Y:-10.22, Z:-1.21 [[ 9.94995196e-01 9.98081788e-02 4.78406852e-03 2.06342399e+02] [-9.98075872e-02 9.95006690e-01 -3.62839826e-04 -1.02155793e+01] [-4.79639456e-03 -1.16462452e-04 9.99988490e-01 -1.20714116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.860281693 meters Centerline goodness [0,1] 0.9971303779039099 Centerline is valid? [True, True] Translation: X:206.37, Y:-10.20, Z:-1.21 [[ 9.94607628e-01 1.03604200e-01 4.67295822e-03 2.06372377e+02] [-1.03603678e-01 9.94618596e-01 -3.54412795e-04 -1.02024069e+01] [-4.68452980e-03 -1.31633989e-04 9.99989019e-01 -1.20559853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.890281693 meters Centerline goodness [0,1] 0.9965063664106072 Centerline is valid? [True, True] Translation: X:206.40, Y:-10.19, Z:-1.21 [[ 9.94424139e-01 1.05376190e-01 4.06075268e-03 2.06402935e+02] [-1.05375810e-01 9.94432423e-01 -3.08004768e-04 -1.01949190e+01] [-4.07060050e-03 -1.21617726e-04 9.99991708e-01 -1.20635813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.920281693 meters Centerline goodness [0,1] 0.9967410855994074 Centerline is valid? [True, True] Translation: X:206.43, Y:-10.19, Z:-1.21 [[ 9.94257450e-01 1.06972943e-01 2.98549300e-03 2.06432855e+02] [-1.06972745e-01 9.94261928e-01 -2.26426761e-04 -1.01873938e+01] [-2.99258357e-03 -9.42398867e-05 9.99995518e-01 -1.20847782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.950281693 meters Centerline goodness [0,1] 0.9950866744655961 Centerline is valid? [True, True] Translation: X:206.46, Y:-10.17, Z:-1.21 [[ 9.93997865e-01 1.09393365e-01 1.15583982e-03 2.06462698e+02] [-1.09393337e-01 9.93998536e-01 -8.77548805e-05 -1.01712835e+01] [-1.15850289e-03 -3.92130106e-05 9.99999328e-01 -1.21357858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.980281693 meters Centerline goodness [0,1] 0.99781186267845 Centerline is valid? [True, True] Translation: X:206.49, Y:-10.17, Z:-1.21 [[ 9.94055725e-01 1.08861875e-01 1.51886943e-03 2.06492076e+02] [-1.08861826e-01 9.94056885e-01 -1.15203209e-04 -1.01707823e+01] [-1.52238385e-03 -5.08284891e-05 9.99998840e-01 -1.21284399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.010281693 meters Centerline goodness [0,1] 0.9982383529661467 Centerline is valid? [True, True] Translation: X:206.52, Y:-10.17, Z:-1.21 [[ 9.94193929e-01 1.07571191e-01 2.62130556e-03 2.06521261e+02] [-1.07571041e-01 9.94197381e-01 -1.98542622e-04 -1.01702599e+01] [-2.62745259e-03 -8.45866996e-05 9.99996545e-01 -1.21091672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.040281693 meters Centerline goodness [0,1] 0.9978069713008456 Centerline is valid? [True, True] Translation: X:206.55, Y:-10.17, Z:-1.21 [[ 9.94617407e-01 1.03561475e-01 3.35194657e-03 2.06550685e+02] [-1.03561207e-01 9.94623050e-01 -2.53633044e-04 -1.01673261e+01] [-3.36018994e-03 -9.48637940e-05 9.99994350e-01 -1.20933566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.070281693 meters Centerline goodness [0,1] 0.998065681794027 Centerline is valid? [True, True] Translation: X:206.58, Y:-10.16, Z:-1.21 [[ 9.94940821e-01 1.00430431e-01 2.54781738e-03 2.06579413e+02] [-1.00430266e-01 9.94944081e-01 -1.92776755e-04 -1.01636046e+01] [-2.55429648e-03 -6.40765152e-05 9.99996736e-01 -1.21139294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.100281693 meters Centerline goodness [0,1] 0.9994265689710099 Centerline is valid? [True, True] Translation: X:206.61, Y:-10.17, Z:-1.21 [[ 9.95542410e-01 9.42941907e-02 1.97893585e-03 2.06608665e+02] [-9.42940794e-02 9.95544376e-01 -1.49657909e-04 -1.01688833e+01] [-1.98423033e-03 -3.76111396e-05 9.99998031e-01 -1.21393790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.130281693 meters Centerline goodness [0,1] 0.9995161968868321 Centerline is valid? [True, True] Translation: X:206.64, Y:-10.17, Z:-1.21 [[ 9.95793202e-01 9.15817264e-02 2.94741084e-03 2.06637704e+02] [-9.15814678e-02 9.95797562e-01 -2.22876440e-04 -1.01740773e+01] [-2.95543594e-03 -4.79893669e-05 9.99995632e-01 -1.21247274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.160281693 meters Centerline goodness [0,1] 0.9995161968868321 Centerline is valid? [True, True] Translation: X:206.67, Y:-10.18, Z:-1.21 [[ 9.95797012e-01 9.15402837e-02 2.94742612e-03 2.06665962e+02] [-9.15400255e-02 9.95801373e-01 -2.22674122e-04 -1.01761133e+01] [-2.95543463e-03 -4.80692371e-05 9.99995632e-01 -1.21260613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.190281693 meters Centerline goodness [0,1] 0.9995171009259065 Centerline is valid? [True, True] Translation: X:206.69, Y:-10.18, Z:-1.21 [[ 9.96026321e-01 8.89794165e-02 3.77241749e-03 2.06694158e+02] [-8.89789759e-02 9.96033464e-01 -2.84788235e-04 -1.01820206e+01] [-3.78279435e-03 -5.20092673e-05 9.99992844e-01 -1.21114646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.220281693 meters Centerline goodness [0,1] 0.9995771312584574 Centerline is valid? [True, True] Translation: X:206.72, Y:-10.19, Z:-1.21 [[ 9.96366741e-01 8.50481621e-02 4.48643454e-03 2.06723132e+02] [-8.50475002e-02 9.96376840e-01 -3.38461665e-04 -1.01895194e+01] [-4.49896502e-03 -4.43280963e-05 9.99989879e-01 -1.20911261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.250281693 meters Centerline goodness [0,1] 0.9996562540282731 Centerline is valid? [True, True] Translation: X:206.75, Y:-10.19, Z:-1.21 [[ 9.96475838e-01 8.37889943e-02 3.91269143e-03 2.06751630e+02] [-8.37884813e-02 9.96483519e-01 -2.95129297e-04 -1.01949766e+01] [-3.92366111e-03 -3.37492593e-05 9.99992302e-01 -1.20918367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.280281693 meters Centerline goodness [0,1] 0.9995753354849669 Centerline is valid? [True, True] Translation: X:206.78, Y:-10.19, Z:-1.21 [[ 9.96437286e-01 8.42631778e-02 3.52883007e-03 2.06780070e+02] [-8.42627639e-02 9.96443534e-01 -2.66042468e-04 -1.01911098e+01] [-3.53869749e-03 -3.22543408e-05 9.99993738e-01 -1.21039102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.310281693 meters Centerline goodness [0,1] 0.9996357637177812 Centerline is valid? [True, True] Translation: X:206.81, Y:-10.20, Z:-1.21 [[ 9.96381101e-01 8.49259721e-02 3.50430990e-03 2.06808900e+02] [-8.49255689e-02 9.96387263e-01 -2.63975062e-04 -1.01951604e+01] [-3.51406809e-03 -3.45857487e-05 9.99993825e-01 -1.21076248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.340281693 meters Centerline goodness [0,1] 0.9997456333729015 Centerline is valid? [True, True] Translation: X:206.84, Y:-10.19, Z:-1.21 [[ 9.96451328e-01 8.40688369e-02 4.14507857e-03 2.06837302e+02] [-8.40682663e-02 9.96459949e-01 -3.12014423e-04 -1.01920119e+01] [-4.15663547e-03 -3.75623834e-05 9.99991360e-01 -1.21122120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.370281693 meters Centerline goodness [0,1] 0.9997456225887141 Centerline is valid? [True, True] Translation: X:206.87, Y:-10.20, Z:-1.21 [[ 9.96601423e-01 8.22349054e-02 4.79843063e-03 2.06865764e+02] [-8.22341210e-02 9.96612974e-01 -3.60871551e-04 -1.01965266e+01] [-4.81185446e-03 -3.49496245e-05 9.99988422e-01 -1.20974350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.400281693 meters Centerline goodness [0,1] 0.9998729863036897 Centerline is valid? [True, True] Translation: X:206.89, Y:-10.21, Z:-1.21 [[ 9.96863888e-01 7.89144427e-02 5.90763253e-03 2.06894488e+02] [-7.89131971e-02 9.96881392e-01 -4.44020066e-04 -1.02054485e+01] [-5.92424853e-03 -2.35626008e-05 9.99982451e-01 -1.20787128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43028169299998 meters Centerline goodness [0,1] 0.9996844098464128 Centerline is valid? [True, True] Translation: X:206.92, Y:-10.21, Z:-1.21 [[ 9.97001495e-01 7.72588063e-02 4.36982211e-03 2.06922724e+02] [-7.72581091e-02 9.97011072e-01 -3.28368685e-04 -1.02081334e+01] [-4.38213040e-03 -1.02201234e-05 9.99990398e-01 -1.21125704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46028169299998 meters Centerline goodness [0,1] 0.9997261947387266 Centerline is valid? [True, True] Translation: X:206.95, Y:-10.21, Z:-1.22 [[ 9.97039896e-01 7.68467201e-02 2.45488434e-03 2.06952044e+02] [-7.68464989e-02 9.97042919e-01 -1.84431770e-04 -1.02102274e+01] [-2.46179802e-03 -4.76343370e-06 9.99996970e-01 -1.21553995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.490281693 meters Centerline goodness [0,1] 0.9997448654165072 Centerline is valid? [True, True] Translation: X:206.98, Y:-10.21, Z:-1.22 [[ 9.97082847e-01 7.63267799e-02 -1.38495828e-04 2.06981010e+02] [-7.63267792e-02 9.97082856e-01 1.01800805e-05 -1.02125630e+01] [ 1.38868828e-04 4.20556854e-07 9.99999990e-01 -1.22040164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.520281693 meters Centerline goodness [0,1] 0.9996397694524496 Centerline is valid? [True, True] Translation: X:207.01, Y:-10.22, Z:-1.23 [[ 9.97167567e-01 7.51554444e-02 -2.91593679e-03 2.07008483e+02] [-7.51551272e-02 9.97171830e-01 2.18381693e-04 -1.02163121e+01] [ 2.92410260e-03 1.38445942e-06 9.99995725e-01 -1.22541900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.550281693 meters Centerline goodness [0,1] 0.9997042545101187 Centerline is valid? [True, True] Translation: X:207.04, Y:-10.22, Z:-1.22 [[ 9.97326098e-01 7.30795456e-02 1.86050839e-04 2.07036127e+02] [-7.30795442e-02 9.97326115e-01 -1.42032546e-05 -1.02228847e+01] [-1.86591328e-04 5.68765986e-07 9.99999983e-01 -1.22213373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.580281693 meters Centerline goodness [0,1] 0.999575821845175 Centerline is valid? [True, True] Translation: X:207.06, Y:-10.23, Z:-1.22 [[ 9.97422147e-01 7.17248845e-02 2.14534982e-03 2.07064818e+02] [-7.17247044e-02 9.97424454e-01 -1.60859899e-04 -1.02269549e+01] [-2.15136203e-03 6.57064410e-06 9.99997686e-01 -1.21668261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.610281693 meters Centerline goodness [0,1] 0.9995351883543555 Centerline is valid? [True, True] Translation: X:207.09, Y:-10.23, Z:-1.21 [[ 9.97507765e-01 7.04878134e-02 3.11871913e-03 2.07094665e+02] [-7.04874276e-02 9.97512641e-01 -2.33574089e-04 -1.02319429e+01] [-3.12742589e-03 1.31614783e-05 9.99995110e-01 -1.21484807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.640281693 meters Centerline goodness [0,1] 0.9993021928062422 Centerline is valid? [True, True] Translation: X:207.12, Y:-10.24, Z:-1.22 [[ 9.97626847e-01 6.88043044e-02 2.57728263e-03 2.07124418e+02] [-6.88040356e-02 9.97630176e-01 -1.92933670e-04 -1.02401123e+01] [-2.58444959e-03 1.51483626e-05 9.99996660e-01 -1.21613312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.670281693 meters Centerline goodness [0,1] 0.9993653614266675 Centerline is valid? [True, True] Translation: X:207.15, Y:-10.24, Z:-1.22 [[ 9.97654216e-01 6.84319726e-02 1.76929380e-03 2.07153537e+02] [-6.84318452e-02 9.97655785e-01 -1.32516730e-04 -1.02432421e+01] [-1.77421457e-03 1.11298352e-05 9.99998426e-01 -1.21764773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.700281693 meters Centerline goodness [0,1] 0.9991410779471763 Centerline is valid? [True, True] Translation: X:207.18, Y:-10.25, Z:-1.22 [[ 9.97636301e-01 6.87125589e-02 6.28248498e-04 2.07181693e+02] [-6.87125429e-02 9.97636499e-01 -4.71573829e-05 -1.02469375e+01] [-6.30003937e-04 3.87736520e-06 9.99999802e-01 -1.22064698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.730281693 meters Centerline goodness [0,1] 0.999406779661017 Centerline is valid? [True, True] Translation: X:207.21, Y:-10.25, Z:-1.22 [[ 9.97551986e-01 6.99264277e-02 5.73919030e-04 2.07211066e+02] [-6.99264145e-02 9.97552151e-01 -4.30239643e-05 -1.02481708e+01] [-5.75522676e-04 2.78654106e-06 9.99999834e-01 -1.22014049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.760281693 meters Centerline goodness [0,1] 0.9997659972770592 Centerline is valid? [True, True] Translation: X:207.24, Y:-10.25, Z:-1.22 [[ 9.97341321e-01 7.28681744e-02 7.20229022e-04 2.07239681e+02] [-7.28681544e-02 9.97341581e-01 -5.39933818e-05 -1.02454127e+01] [-7.22248751e-04 1.36807112e-06 9.99999739e-01 -1.21928600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.790281693 meters Centerline goodness [0,1] 0.9997217346632989 Centerline is valid? [True, True] Translation: X:207.27, Y:-10.24, Z:-1.22 [[ 9.97264669e-01 7.39058140e-02 1.05354149e-03 2.07269454e+02] [-7.39057720e-02 9.97265226e-01 -7.88323250e-05 -1.02444373e+01] [-1.05648646e-03 7.53895590e-07 9.99999442e-01 -1.21804996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.820281693 meters Centerline goodness [0,1] 0.9997871253405994 Centerline is valid? [True, True] Translation: X:207.30, Y:-10.25, Z:-1.22 [[ 9.97236127e-01 7.42644902e-02 2.21200010e-03 2.07298478e+02] [-7.42643061e-02 9.97238580e-01 -1.65368842e-04 -1.02451685e+01] [-2.21817287e-03 6.39131141e-07 9.99997540e-01 -1.21649034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.850281693 meters Centerline goodness [0,1] 0.9992548911076576 Centerline is valid? [True, True] Translation: X:207.33, Y:-10.25, Z:-1.21 [[ 9.97336405e-01 7.27335975e-02 5.46988162e-03 2.07327472e+02] [-7.27324510e-02 9.97351404e-01 -4.08499494e-04 -1.02505804e+01] [-5.48510575e-03 9.57351981e-06 9.99984957e-01 -1.21154695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.880281693 meters Centerline goodness [0,1] 0.9991525782805813 Centerline is valid? [True, True] Translation: X:207.36, Y:-10.26, Z:-1.21 [[ 9.97451746e-01 7.10259769e-02 6.73243950e-03 2.07356553e+02] [-7.10242022e-02 9.97474466e-01 -5.02635702e-04 -1.02559288e+01] [-6.75113669e-03 2.31887140e-05 9.99977211e-01 -1.20945315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.910281693 meters Centerline goodness [0,1] 0.9983321721873878 Centerline is valid? [True, True] Translation: X:207.39, Y:-10.27, Z:-1.21 [[ 9.97712493e-01 6.71621001e-02 7.68330579e-03 2.07387270e+02] [-6.71596739e-02 9.97742075e-01 -5.73634254e-04 -1.02651413e+01] [-7.70448394e-03 5.63137502e-05 9.99970318e-01 -1.20810945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.940281693 meters Centerline goodness [0,1] 0.9981964778272863 Centerline is valid? [True, True] Translation: X:207.42, Y:-10.27, Z:-1.21 [[ 9.97824934e-01 6.55708611e-02 6.77218250e-03 2.07418301e+02] [-6.55689387e-02 9.97847914e-01 -5.05751539e-04 -1.02707587e+01] [-6.79077074e-03 6.06066778e-05 9.99976941e-01 -1.20953469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.970281693 meters Centerline goodness [0,1] 0.9980820705207917 Centerline is valid? [True, True] Translation: X:207.45, Y:-10.28, Z:-1.22 [[ 9.97960253e-01 6.36979457e-02 4.23150995e-03 2.07448868e+02] [-6.36971781e-02 9.97969223e-01 -3.16039099e-04 -1.02773878e+01] [-4.24304773e-03 4.58592158e-05 9.99990997e-01 -1.21536786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.000281693 meters Centerline goodness [0,1] 0.9978402189718587 Centerline is valid? [True, True] Translation: X:207.48, Y:-10.28, Z:-1.22 [[ 9.98031840e-01 6.25974058e-02 3.74322146e-03 2.07479614e+02] [-6.25967961e-02 9.98038858e-01 -2.79927789e-04 -1.02807589e+01] [-3.75340323e-03 4.50631750e-05 9.99992955e-01 -1.21664627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.030281693 meters Centerline goodness [0,1] 0.9972859505534116 Centerline is valid? [True, True] Translation: X:207.51, Y:-10.29, Z:-1.21 [[ 9.98150488e-01 6.06378461e-02 4.31924878e-03 2.07509169e+02] [-6.06370161e-02 9.98159831e-01 -3.22983601e-04 -1.02869558e+01] [-4.33088566e-03 6.04798813e-05 9.99990620e-01 -1.21482972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.060281693 meters Centerline goodness [0,1] 0.9970917800017107 Centerline is valid? [True, True] Translation: X:207.54, Y:-10.29, Z:-1.21 [[ 9.98193874e-01 5.98939970e-02 4.65816276e-03 2.07540576e+02] [-5.98930222e-02 9.98204741e-01 -3.48609238e-04 -1.02917828e+01] [-4.67067975e-03 6.89881599e-05 9.99989090e-01 -1.21410254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.090281693 meters Centerline goodness [0,1] 0.9970092268533248 Centerline is valid? [True, True] Translation: X:207.57, Y:-10.30, Z:-1.21 [[ 9.98255565e-01 5.88586450e-02 4.63529200e-03 2.07571514e+02] [-5.88576681e-02 9.98266324e-01 -3.47000494e-04 -1.02974943e+01] [-4.64767989e-03 7.35726961e-05 9.99989197e-01 -1.21405499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.120281693 meters Centerline goodness [0,1] 0.9955768131891388 Centerline is valid? [True, True] Translation: X:207.60, Y:-10.31, Z:-1.22 [[ 9.98441418e-01 5.56989240e-02 3.51633443e-03 2.07601743e+02] [-5.56983425e-02 9.98447608e-01 -2.63144650e-04 -1.03097572e+01] [-3.52553258e-03 6.68805175e-05 9.99993783e-01 -1.21712207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.150281693 meters Centerline goodness [0,1] 0.9960743712523187 Centerline is valid? [True, True] Translation: X:207.63, Y:-10.31, Z:-1.22 [[ 9.98575060e-01 5.32829991e-02 2.96182325e-03 2.07633417e+02] [-5.32825750e-02 9.98579450e-01 -2.21948962e-04 -1.03112951e+01] [-2.96944193e-03 6.38191286e-05 9.99995589e-01 -1.21899347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18028169299998 meters Centerline goodness [0,1] 0.994899260392757 Centerline is valid? [True, True] Translation: X:207.66, Y:-10.33, Z:-1.22 [[ 9.98845220e-01 4.79951756e-02 2.16534675e-03 2.07662627e+02] [-4.79949355e-02 9.98847566e-01 -1.62761502e-04 -1.03265246e+01] [-2.17066309e-03 5.86478706e-05 9.99997642e-01 -1.22058555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21028169299998 meters Centerline goodness [0,1] 0.9942103224140157 Centerline is valid? [True, True] Translation: X:207.69, Y:-10.34, Z:-1.22 [[ 9.98943088e-01 4.58998098e-02 2.43202900e-03 2.07694529e+02] [-4.58995008e-02 9.98946046e-01 -1.82763388e-04 -1.03356309e+01] [-2.43785456e-03 7.09413055e-05 9.99997026e-01 -1.21982734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.240281693 meters Centerline goodness [0,1] 0.9938313767342583 Centerline is valid? [True, True] Translation: X:207.72, Y:-10.34, Z:-1.22 [[ 9.98998660e-01 4.46476034e-02 2.87538522e-03 2.07724867e+02] [-4.46471662e-02 9.99002795e-01 -2.16066256e-04 -1.03436662e+01] [-2.88216472e-03 8.74720985e-05 9.99995843e-01 -1.21869185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.270281693 meters Centerline goodness [0,1] 0.9934305027460921 Centerline is valid? [True, True] Translation: X:207.76, Y:-10.35, Z:-1.22 [[ 9.99035410e-01 4.37728821e-02 3.49071488e-03 2.07755340e+02] [-4.37722299e-02 9.99041502e-01 -2.63059610e-04 -1.03547359e+01] [-3.49888392e-03 1.10009491e-04 9.99993873e-01 -1.21770753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.300281693 meters Centerline goodness [0,1] 0.9931212018906145 Centerline is valid? [True, True] Translation: X:207.79, Y:-10.36, Z:-1.22 [[ 9.99013040e-01 4.43512942e-02 2.43056368e-03 2.07785701e+02] [-4.43509799e-02 9.99015994e-01 -1.83110520e-04 -1.03616143e+01] [-2.43629318e-03 7.51319169e-05 9.99997029e-01 -1.21942586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.330281693 meters Centerline goodness [0,1] 0.9943893056765775 Centerline is valid? [True, True] Translation: X:207.82, Y:-10.37, Z:-1.22 [[ 9.98859732e-01 4.77353643e-02 7.56009062e-04 2.07816276e+02] [-4.77353348e-02 9.98860017e-01 -5.70392993e-05 -1.03681392e+01] [-7.57870017e-04 2.08859135e-05 9.99999713e-01 -1.22193342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.360281693 meters Centerline goodness [0,1] 0.995366452268111 Centerline is valid? [True, True] Translation: X:207.85, Y:-10.37, Z:-1.22 [[ 9.98747831e-01 5.00141071e-02 1.16572831e-03 2.07847801e+02] [-5.00140383e-02 9.98748511e-01 -8.81155348e-05 -1.03663425e+01] [-1.16867643e-03 2.97024191e-05 9.99999317e-01 -1.22062698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.390281693 meters Centerline goodness [0,1] 0.9957967875447663 Centerline is valid? [True, True] Translation: X:207.88, Y:-10.37, Z:-1.22 [[ 9.98632701e-01 5.22416341e-02 1.88137445e-03 2.07878243e+02] [-5.22414589e-02 9.98634473e-01 -1.42196531e-04 -1.03679086e+01] [-1.88623396e-03 4.37163593e-05 9.99998220e-01 -1.21949765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.420281693 meters Centerline goodness [0,1] 0.9966715119341044 Centerline is valid? [True, True] Translation: X:207.91, Y:-10.37, Z:-1.22 [[ 9.98380756e-01 5.68056949e-02 2.99644894e-03 2.07908990e+02] [-5.68052696e-02 9.98385251e-01 -2.26939143e-04 -1.03681191e+01] [-3.00450187e-03 5.63575832e-05 9.99995485e-01 -1.21816670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.450281693 meters Centerline goodness [0,1] 0.9968072199399758 Centerline is valid? [True, True] Translation: X:207.94, Y:-10.37, Z:-1.22 [[ 9.98233052e-01 5.93218589e-02 3.41911036e-03 2.07941063e+02] [-5.93213201e-02 9.98238906e-01 -2.58868490e-04 -1.03682611e+01] [-3.42844554e-03 5.55849434e-05 9.99994121e-01 -1.21749966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.480281693 meters Centerline goodness [0,1] 0.9975987822395643 Centerline is valid? [True, True] Translation: X:207.97, Y:-10.37, Z:-1.22 [[ 9.97998123e-01 6.31338354e-02 3.72351815e-03 2.07972982e+02] [-6.31332205e-02 9.98005068e-01 -2.82578207e-04 -1.03672444e+01] [-3.73393024e-03 4.69348281e-05 9.99993028e-01 -1.21747291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.510281693 meters Centerline goodness [0,1] 0.9978374252639614 Centerline is valid? [True, True] Translation: X:208.01, Y:-10.37, Z:-1.22 [[ 9.97869569e-01 6.51585551e-02 3.26879145e-03 2.08005240e+02] [-6.51580906e-02 9.97874923e-01 -2.48500103e-04 -1.03671758e+01] [-3.27803693e-03 3.49824805e-05 9.99994627e-01 -1.21781264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.540281693 meters Centerline goodness [0,1] 0.9987255734919286 Centerline is valid? [True, True] Translation: X:208.04, Y:-10.37, Z:-1.22 [[ 9.97636850e-01 6.86793450e-02 1.96541005e-03 2.08036377e+02] [-6.86791838e-02 9.97638786e-01 -1.49461301e-04 -1.03663145e+01] [-1.97103420e-03 1.41253429e-05 9.99998057e-01 -1.22107955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.570281693 meters Centerline goodness [0,1] 0.9988161677659395 Centerline is valid? [True, True] Translation: X:208.07, Y:-10.37, Z:-1.22 [[ 9.97548760e-01 6.99499687e-02 1.86373287e-03 2.08067855e+02] [-6.99498249e-02 9.97550501e-01 -1.42319169e-04 -1.03678507e+01] [-1.86912287e-03 1.16025230e-05 9.99998253e-01 -1.22142721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.600281693 meters Centerline goodness [0,1] 0.998626431680825 Centerline is valid? [True, True] Translation: X:208.10, Y:-10.37, Z:-1.22 [[ 9.97472777e-01 7.10145154e-02 2.23543154e-03 2.08098922e+02] [-7.10143110e-02 9.97475282e-01 -1.70774040e-04 -1.03688714e+01] [-2.24191514e-03 1.15948261e-05 9.99997487e-01 -1.22072566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.630281693 meters Centerline goodness [0,1] 0.9989422690444458 Centerline is valid? [True, True] Translation: X:208.13, Y:-10.36, Z:-1.22 [[ 9.97240104e-01 7.41209108e-02 4.27383211e-03 2.08130242e+02] [-7.41201914e-02 9.97249262e-01 -3.26695918e-04 -1.03649876e+01] [-4.28629092e-03 9.01701694e-06 9.99990814e-01 -1.21682803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.660281693 meters Centerline goodness [0,1] 0.9995770328856931 Centerline is valid? [True, True] Translation: X:208.16, Y:-10.36, Z:-1.22 [[ 9.96993081e-01 7.73193499e-02 5.14930495e-03 2.08161233e+02] [-7.73183482e-02 9.97006378e-01 -3.93622956e-04 -1.03618157e+01] [-5.16432455e-03 -5.69638994e-06 9.99986665e-01 -1.21558818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.690281693 meters Centerline goodness [0,1] 0.9996363791923341 Centerline is valid? [True, True] Translation: X:208.19, Y:-10.36, Z:-1.22 [[ 9.96938272e-01 7.80567168e-02 4.60775985e-03 2.08192830e+02] [-7.80559224e-02 9.96948920e-01 -3.52270743e-04 -1.03628372e+01] [-4.62119830e-03 -8.47075974e-06 9.99989322e-01 -1.21655881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.720281693 meters Centerline goodness [0,1] 0.9996824590372158 Centerline is valid? [True, True] Translation: X:208.22, Y:-10.36, Z:-1.22 [[ 9.96931137e-01 7.81924011e-02 3.77577372e-03 2.08224107e+02] [-7.81918688e-02 9.96938287e-01 -2.88617475e-04 -1.03647651e+01] [-3.78678108e-03 -7.50305610e-06 9.99992830e-01 -1.21831721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.750281693 meters Centerline goodness [0,1] 0.9995114179500797 Centerline is valid? [True, True] Translation: X:208.25, Y:-10.37, Z:-1.22 [[ 9.97089569e-01 7.62076223e-02 2.18840627e-03 2.08254561e+02] [-7.62074379e-02 9.97091971e-01 -1.67642904e-04 -1.03696386e+01] [-2.19481799e-03 3.82156019e-07 9.99997591e-01 -1.22186139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.780281693 meters Centerline goodness [0,1] 0.9994262521515545 Centerline is valid? [True, True] Translation: X:208.29, Y:-10.38, Z:-1.22 [[ 9.97214108e-01 7.45718679e-02 1.74890778e-03 2.08285595e+02] [-7.45717476e-02 9.97215642e-01 -1.33951803e-04 -1.03756232e+01] [-1.75402723e-03 3.15951879e-06 9.99998462e-01 -1.22342969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.810281693 meters Centerline goodness [0,1] 0.9988178670944862 Centerline is valid? [True, True] Translation: X:208.32, Y:-10.39, Z:-1.22 [[ 9.97458337e-01 7.12087854e-02 2.48489236e-03 2.08315625e+02] [-7.12085326e-02 9.97461432e-01 -1.90156062e-04 -1.03874592e+01] [-2.49212508e-03 1.27272111e-05 9.99996895e-01 -1.22275597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.840281693 meters Centerline goodness [0,1] 0.9985611815238781 Centerline is valid? [True, True] Translation: X:208.35, Y:-10.39, Z:-1.22 [[ 9.97570162e-01 6.95803564e-02 3.51380739e-03 2.08346900e+02] [-6.95798383e-02 9.97576350e-01 -2.69651112e-04 -1.03947972e+01] [-3.52405357e-03 2.45057532e-05 9.99993790e-01 -1.22052897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.870281693 meters Centerline goodness [0,1] 0.9980891719745223 Centerline is valid? [True, True] Translation: X:208.38, Y:-10.41, Z:-1.21 [[ 9.97741589e-01 6.68992742e-02 6.01740799e-03 2.08378081e+02] [-6.68976973e-02 9.97759732e-01 -4.63181826e-04 -1.04054302e+01] [-6.03491391e-03 5.95850322e-05 9.99981788e-01 -1.21478548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.900281693 meters Centerline goodness [0,1] 0.9976665747438536 Centerline is valid? [True, True] Translation: X:208.41, Y:-10.41, Z:-1.21 [[ 9.97756846e-01 6.66245003e-02 6.51557573e-03 2.08410779e+02] [-6.66226386e-02 9.97778117e-01 -5.02593191e-04 -1.04108103e+01] [-6.53458391e-03 6.73809501e-05 9.99978647e-01 -1.21353679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93028169299998 meters Centerline goodness [0,1] 0.9979926043317485 Centerline is valid? [True, True] Translation: X:208.44, Y:-10.41, Z:-1.22 [[ 9.97732490e-01 6.70564177e-02 5.77186844e-03 2.08443221e+02] [-6.70549589e-02 9.97749184e-01 -4.46110890e-04 -1.04145833e+01] [-5.78879162e-03 5.80669287e-05 9.99983243e-01 -1.21567332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96028169299998 meters Centerline goodness [0,1] 0.9984977042381668 Centerline is valid? [True, True] Translation: X:208.47, Y:-10.42, Z:-1.23 [[ 9.97650041e-01 6.84928202e-02 1.76888842e-03 2.08474662e+02] [-6.84926857e-02 9.97651609e-01 -1.36561815e-04 -1.04167651e+01] [-1.77408788e-03 1.50849819e-05 9.99998426e-01 -1.22600364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.990281693 meters Centerline goodness [0,1] 0.9984826452551052 Centerline is valid? [True, True] Translation: X:208.51, Y:-10.42, Z:-1.23 [[ 9.97611837e-01 6.90663749e-02 6.76940630e-04 2.08505596e+02] [-6.90663553e-02 9.97612067e-01 -5.24226773e-05 -1.04191810e+01] [-6.78944786e-04 5.54366138e-06 9.99999770e-01 -1.22912158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.020281693 meters Centerline goodness [0,1] 0.998623697806386 Centerline is valid? [True, True] Translation: X:208.54, Y:-10.42, Z:-1.23 [[ 9.97661432e-01 6.83433570e-02 9.23822832e-04 2.08537585e+02] [-6.83433205e-02 9.97661859e-01 -7.10692006e-05 -1.04243307e+01] [-9.26519912e-04 7.76588052e-06 9.99999571e-01 -1.22689372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.050281693 meters Centerline goodness [0,1] 0.998623697806386 Centerline is valid? [True, True] Translation: X:208.57, Y:-10.43, Z:-1.23 [[ 9.97650496e-01 6.85028004e-02 9.23811394e-04 2.08569152e+02] [-6.85027638e-02 9.97650924e-01 -7.12169470e-05 -1.04269403e+01] [-9.26519851e-04 7.76598883e-06 9.99999571e-01 -1.22704288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.080281693 meters Centerline goodness [0,1] 0.9986158432708688 Centerline is valid? [True, True] Translation: X:208.60, Y:-10.43, Z:-1.23 [[ 9.97738128e-01 6.72104041e-02 1.17859286e-03 2.08600611e+02] [-6.72103432e-02 9.97738824e-01 -9.12503755e-05 -1.04328854e+01] [-1.18206083e-03 1.18303483e-05 9.99999301e-01 -1.22647308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.110281693 meters Centerline goodness [0,1] 0.9981692304454872 Centerline is valid? [True, True] Translation: X:208.63, Y:-10.45, Z:-1.23 [[ 9.97939761e-01 6.41406089e-02 1.48882912e-03 2.08630485e+02] [-6.41405070e-02 9.97940871e-01 -1.16157959e-04 -1.04457127e+01] [-1.49321387e-03 2.04243906e-05 9.99998885e-01 -1.22716227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.140281693 meters Centerline goodness [0,1] 0.9977530471648118 Centerline is valid? [True, True] Translation: X:208.66, Y:-10.45, Z:-1.22 [[ 9.98013305e-01 6.29618350e-02 2.29118520e-03 2.08662887e+02] [-6.29615911e-02 9.98015935e-01 -1.78533237e-04 -1.04455235e+01] [-2.29788012e-03 3.39218807e-05 9.99997359e-01 -1.22444968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.170281693 meters Centerline goodness [0,1] 0.9975420083486958 Centerline is valid? [True, True] Translation: X:208.69, Y:-10.45, Z:-1.22 [[ 9.98060300e-01 6.20671092e-02 4.82828579e-03 2.08694469e+02] [-6.20660073e-02 9.98071975e-01 -3.77863828e-04 -1.04507851e+01] [-4.84242965e-03 7.74584642e-05 9.99988272e-01 -1.22122249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.200281693 meters Centerline goodness [0,1] 0.9980211923911656 Centerline is valid? [True, True] Translation: X:208.73, Y:-10.45, Z:-1.22 [[ 9.98016157e-01 6.27258341e-02 5.40552809e-03 2.08726592e+02] [-6.27244572e-02 9.98030792e-01 -4.24026612e-04 -1.04538681e+01] [-5.42148091e-03 8.41265945e-05 9.99985300e-01 -1.22071919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.230281693 meters Centerline goodness [0,1] 0.9973767834673377 Centerline is valid? [True, True] Translation: X:208.76, Y:-10.46, Z:-1.22 [[ 9.97916949e-01 6.42745764e-02 5.52651235e-03 2.08757010e+02] [-6.42731561e-02 9.97932249e-01 -4.34392708e-04 -1.04617715e+01] [-5.54300531e-03 7.82814541e-05 9.99984634e-01 -1.22024847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.260281693 meters Centerline goodness [0,1] 0.9983755274261603 Centerline is valid? [True, True] Translation: X:208.79, Y:-10.45, Z:-1.22 [[ 9.97596458e-01 6.92114845e-02 3.32812849e-03 2.08789490e+02] [-6.92109961e-02 9.97602010e-01 -2.61833692e-04 -1.04519314e+01] [-3.33826957e-03 3.08612757e-05 9.99994427e-01 -1.22484925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.290281693 meters Centerline goodness [0,1] 0.998843658322448 Centerline is valid? [True, True] Translation: X:208.82, Y:-10.45, Z:-1.23 [[ 9.97407610e-01 7.19450958e-02 1.40068885e-03 2.08821955e+02] [-7.19450127e-02 9.97408594e-01 -1.09693012e-04 -1.04493542e+01] [-1.40495097e-03 8.63606809e-06 9.99999013e-01 -1.22776552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.320281693 meters Centerline goodness [0,1] 0.9994725627122935 Centerline is valid? [True, True] Translation: X:208.85, Y:-10.44, Z:-1.23 [[ 9.96999711e-01 7.74025537e-02 -6.49548564e-04 2.08853288e+02] [-7.74025362e-02 9.96999922e-01 5.20521942e-05 -1.04435260e+01] [ 6.51628840e-04 -1.61931632e-06 9.99999788e-01 -1.23193794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.350281693 meters Centerline goodness [0,1] 0.9996405007612925 Centerline is valid? [True, True] Translation: X:208.88, Y:-10.44, Z:-1.23 [[ 9.96828364e-01 7.95804662e-02 4.01988385e-04 2.08883821e+02] [-7.95804599e-02 9.96828445e-01 -3.17671334e-05 -1.04412734e+01] [-4.03241500e-04 -3.24040895e-07 9.99999919e-01 -1.22956298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.380281693 meters Centerline goodness [0,1] 0.9997036660739989 Centerline is valid? [True, True] Translation: X:208.92, Y:-10.44, Z:-1.23 [[ 9.96680755e-01 8.13812804e-02 2.13550340e-03 2.08915750e+02] [-8.13811058e-02 9.96683042e-01 -1.68698102e-04 -1.04399867e+01] [-2.14214889e-03 -5.65147635e-06 9.99997706e-01 -1.22606637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.410281693 meters Centerline goodness [0,1] 0.9996154257023823 Centerline is valid? [True, True] Translation: X:208.95, Y:-10.44, Z:-1.22 [[ 9.96619839e-01 8.19905466e-02 5.14268193e-03 2.08947252e+02] [-8.19895404e-02 9.96633107e-01 -4.06532074e-04 -1.04373933e+01] [-5.15869886e-03 -1.64881983e-05 9.99986694e-01 -1.22089616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.440281693 meters Centerline goodness [0,1] 0.9993866068784636 Centerline is valid? [True, True] Translation: X:208.98, Y:-10.44, Z:-1.22 [[ 9.96714459e-01 8.07678796e-02 6.06935391e-03 2.08978982e+02] [-8.07664532e-02 9.96732938e-01 -4.80150305e-04 -1.04380722e+01] [-6.08830568e-03 -1.16274377e-05 9.99981466e-01 -1.21945189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.470281693 meters Centerline goodness [0,1] 0.9993037827802275 Centerline is valid? [True, True] Translation: X:209.01, Y:-10.44, Z:-1.22 [[ 9.96806965e-01 7.96334455e-02 5.86414862e-03 2.09010604e+02] [-7.96320886e-02 9.96824214e-01 -4.64880855e-04 -1.04414915e+01] [-5.88254541e-03 -3.57792796e-06 9.99982698e-01 -1.22015671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.500281693 meters Centerline goodness [0,1] 0.999155316228487 Centerline is valid? [True, True] Translation: X:209.04, Y:-10.45, Z:-1.22 [[ 9.96969587e-01 7.75588022e-02 6.02291626e-03 2.09043570e+02] [-7.75573264e-02 9.96987779e-01 -4.78559847e-04 -1.04472571e+01] [-6.04189044e-03 9.98833021e-06 9.99981748e-01 -1.22046770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.530281693 meters Centerline goodness [0,1] 0.9978833739020002 Centerline is valid? [True, True] Translation: X:209.07, Y:-10.46, Z:-1.22 [[ 9.97456331e-01 7.09325361e-02 7.03162394e-03 2.09073907e+02] [-7.09303512e-02 9.97481113e-01 -5.59939712e-04 -1.04618263e+01] [-7.05363002e-03 5.97598556e-05 9.99975121e-01 -1.21852672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.560281693 meters Centerline goodness [0,1] 0.9979202920079793 Centerline is valid? [True, True] Translation: X:209.11, Y:-10.47, Z:-1.22 [[ 9.97690259e-01 6.75629102e-02 7.02849545e-03 2.09105839e+02] [-6.75606380e-02 9.97715012e-01 -5.60482187e-04 -1.04682400e+01] [-7.05030323e-03 8.43379817e-05 9.99975143e-01 -1.21913606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.590281693 meters Centerline goodness [0,1] 0.9971892303140454 Centerline is valid? [True, True] Translation: X:209.13, Y:-10.48, Z:-1.22 [[ 9.98057372e-01 6.20430108e-02 5.66975654e-03 2.09134781e+02] [-6.20414392e-02 9.98073472e-01 -4.52814180e-04 -1.04831575e+01] [-5.68692755e-03 1.00174675e-04 9.99983824e-01 -1.22085128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.620281693 meters Centerline goodness [0,1] 0.9972077160822764 Centerline is valid? [True, True] Translation: X:209.17, Y:-10.49, Z:-1.22 [[ 9.98142220e-01 6.06988104e-02 5.26907852e-03 2.09166201e+02] [-6.06974326e-02 9.98156122e-01 -4.21158118e-04 -1.04870695e+01] [-5.28492678e-03 1.00556161e-04 9.99986030e-01 -1.22258416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.650281693 meters Centerline goodness [0,1] 0.9965589309463996 Centerline is valid? [True, True] Translation: X:209.20, Y:-10.49, Z:-1.22 [[ 9.98176804e-01 6.01831753e-02 4.58832348e-03 2.09196547e+02] [-6.01821222e-02 9.98187346e-01 -3.67355602e-04 -1.04948795e+01] [-4.60211507e-03 9.05507962e-05 9.99989406e-01 -1.22337582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68028169299998 meters Centerline goodness [0,1] 0.9969360155523624 Centerline is valid? [True, True] Translation: X:209.23, Y:-10.50, Z:-1.22 [[ 9.98151167e-01 6.05511089e-02 5.27368544e-03 2.09229092e+02] [-6.05497180e-02 9.98165093e-01 -4.23160785e-04 -1.04973028e+01] [-5.28963157e-03 1.03058265e-04 9.99986004e-01 -1.22318101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71028169299998 meters Centerline goodness [0,1] 0.99701625190452 Centerline is valid? [True, True] Translation: X:209.26, Y:-10.50, Z:-1.22 [[ 9.98111921e-01 6.11924219e-02 5.29917023e-03 2.09261394e+02] [-6.11910214e-02 9.98125983e-01 -4.26184809e-04 -1.05004826e+01] [-5.31531877e-03 1.01118500e-04 9.99985868e-01 -1.22302292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.740281693 meters Centerline goodness [0,1] 0.9969947725974053 Centerline is valid? [True, True] Translation: X:209.29, Y:-10.51, Z:-1.23 [[ 9.98026100e-01 6.26799272e-02 3.88976111e-03 2.09292499e+02] [-6.26791820e-02 9.98033678e-01 -3.13321998e-04 -1.05062650e+01] [-3.90175159e-03 6.88964877e-05 9.99992386e-01 -1.22616042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.770281693 meters Centerline goodness [0,1] 0.9974875441808968 Centerline is valid? [True, True] Translation: X:209.33, Y:-10.51, Z:-1.23 [[ 9.97964234e-01 6.37084228e-02 2.93686221e-03 2.09325195e+02] [-6.37080018e-02 9.97968554e-01 -2.36793113e-04 -1.05072141e+01] [-2.94598185e-03 4.92094351e-05 9.99995659e-01 -1.22777996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.800281693 meters Centerline goodness [0,1] 0.998065311676163 Centerline is valid? [True, True] Translation: X:209.36, Y:-10.50, Z:-1.23 [[ 9.97684931e-01 6.79868576e-02 1.60187843e-03 2.09356216e+02] [-6.79867377e-02 9.97686217e-01 -1.29234594e-04 -1.05043374e+01] [-1.60695829e-03 2.00289180e-05 9.99998709e-01 -1.22949077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.830281693 meters Centerline goodness [0,1] 0.9984482941864172 Centerline is valid? [True, True] Translation: X:209.39, Y:-10.50, Z:-1.23 [[ 9.97432377e-01 7.16099672e-02 8.15874383e-04 2.09387716e+02] [-7.16099376e-02 9.97432711e-01 -6.55134279e-05 -1.05004741e+01] [-8.18471212e-04 6.92050042e-06 9.99999665e-01 -1.23051233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.860281693 meters Centerline goodness [0,1] 0.9992934072757639 Centerline is valid? [True, True] Translation: X:209.42, Y:-10.48, Z:-1.23 [[ 9.96717076e-01 8.09628557e-02 2.94122285e-04 2.09419781e+02] [-8.09628522e-02 9.96717119e-01 -2.37247492e-05 -1.04831651e+01] [-2.95077540e-04 -1.66116377e-07 9.99999956e-01 -1.23165384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.890281693 meters Centerline goodness [0,1] 0.9998942425652524 Centerline is valid? [True, True] Translation: X:209.45, Y:-10.47, Z:-1.23 [[ 9.96233668e-01 8.67076281e-02 5.15992372e-04 2.09450502e+02] [-8.67076180e-02 9.96233801e-01 -4.17690314e-05 -1.04730987e+01] [-5.17670736e-04 -3.12875419e-06 9.99999866e-01 -1.23200103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.920281693 meters Centerline goodness [0,1] 0.9999153868934298 Centerline is valid? [True, True] Translation: X:209.48, Y:-10.46, Z:-1.23 [[ 9.95702623e-01 9.26041493e-02 8.70284634e-04 2.09481111e+02] [-9.26041231e-02 9.95703004e-01 -7.04415659e-05 -1.04620638e+01] [-8.73068206e-04 -1.04530935e-05 9.99999619e-01 -1.23165073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.950281693 meters Centerline goodness [0,1] 0.9993211565794777 Centerline is valid? [True, True] Translation: X:209.51, Y:-10.44, Z:-1.23 [[ 9.94738848e-01 1.02440609e-01 7.39315815e-04 2.09513234e+02] [-1.02440593e-01 9.94739122e-01 -5.97654187e-05 -1.04407669e+01] [-7.41548770e-04 -1.62849665e-05 9.99999725e-01 -1.23141321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.980281693 meters Centerline goodness [0,1] 0.9987472662802301 Centerline is valid? [True, True] Translation: X:209.54, Y:-10.43, Z:-1.23 [[ 9.94415852e-01 1.05527685e-01 1.01096872e-03 2.09543740e+02] [-1.05527656e-01 9.94416365e-01 -8.17858653e-05 -1.04332540e+01] [-1.01395451e-03 -2.53559979e-05 9.99999486e-01 -1.23139344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.010281693 meters Centerline goodness [0,1] 0.996701344836336 Centerline is valid? [True, True] Translation: X:209.57, Y:-10.42, Z:-1.23 [[ 9.94103209e-01 1.08391630e-01 3.17251086e-03 2.09574680e+02] [-1.08391364e-01 9.94108267e-01 -2.56345178e-04 -1.04208852e+01] [-3.18160495e-03 -8.90392147e-05 9.99994935e-01 -1.22808317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.040281693 meters Centerline goodness [0,1] 0.9962505792644395 Centerline is valid? [True, True] Translation: X:209.60, Y:-10.42, Z:-1.23 [[ 9.94153955e-01 1.07895643e-01 4.05510687e-03 2.09602845e+02] [-1.07895203e-01 9.94162219e-01 -3.27557583e-04 -1.04154335e+01] [-4.06677608e-03 -1.11883914e-04 9.99991724e-01 -1.22755180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.070281693 meters Centerline goodness [0,1] 0.99612354106097 Centerline is valid? [True, True] Translation: X:209.63, Y:-10.41, Z:-1.23 [[ 9.94305801e-01 1.06482655e-01 4.17362046e-03 2.09632634e+02] [-1.06482178e-01 9.94314554e-01 -3.36873929e-04 -1.04087445e+01] [-4.18576280e-03 -1.09460496e-04 9.99991234e-01 -1.22791957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.100281693 meters Centerline goodness [0,1] 0.9973537634179133 Centerline is valid? [True, True] Translation: X:209.66, Y:-10.41, Z:-1.23 [[ 9.94394421e-01 1.05664989e-01 3.82699014e-03 2.09661623e+02] [-1.05664583e-01 9.94401780e-01 -3.08741782e-04 -1.04092868e+01] [-3.83818901e-03 -9.73662107e-05 9.99992629e-01 -1.22821325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.130281693 meters Centerline goodness [0,1] 0.9980819088168961 Centerline is valid? [True, True] Translation: X:209.69, Y:-10.41, Z:-1.23 [[ 9.94486356e-01 1.04810248e-01 3.42054483e-03 2.09690636e+02] [-1.04809919e-01 9.94492235e-01 -2.75815122e-04 -1.04074483e+01] [-3.43061352e-03 -8.42126513e-05 9.99994112e-01 -1.22904308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.160281693 meters Centerline goodness [0,1] 0.9985763763465992 Centerline is valid? [True, True] Translation: X:209.72, Y:-10.41, Z:-1.23 [[ 9.94751564e-01 1.02231583e-01 4.24606205e-03 2.09719553e+02] [-1.02231054e-01 9.94760622e-01 -3.42127655e-04 -1.04050166e+01] [-4.25879158e-03 -9.37473782e-05 9.99990927e-01 -1.22798952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.190281693 meters Centerline goodness [0,1] 0.998521366257578 Centerline is valid? [True, True] Translation: X:209.75, Y:-10.41, Z:-1.23 [[ 9.94964622e-01 1.00124109e-01 4.53478104e-03 2.09747272e+02] [-1.00123484e-01 9.94974952e-01 -3.65161880e-04 -1.04058963e+01] [-4.54855506e-03 -9.07149268e-05 9.99989651e-01 -1.22811113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.220281693 meters Centerline goodness [0,1] 0.9995736971117979 Centerline is valid? [True, True] Translation: X:209.78, Y:-10.41, Z:-1.23 [[ 9.95543678e-01 9.42442933e-02 3.28600299e-03 2.09776706e+02] [-9.42439337e-02 9.95549100e-01 -2.64457810e-04 -1.04123622e+01] [-3.29630096e-03 -4.64065471e-05 9.99994566e-01 -1.23128108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.250281693 meters Centerline goodness [0,1] 0.9998095963442498 Centerline is valid? [True, True] Translation: X:209.80, Y:-10.42, Z:-1.23 [[ 9.95837602e-01 9.11144921e-02 2.37076002e-03 2.09804312e+02] [-9.11142960e-02 9.95840423e-01 -1.90838897e-04 -1.04150969e+01] [-2.37828685e-03 -2.59655803e-05 9.99997172e-01 -1.23286977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.280281693 meters Centerline goodness [0,1] 0.9998517200474496 Centerline is valid? [True, True] Translation: X:209.83, Y:-10.42, Z:-1.23 [[ 9.96125151e-01 8.79268319e-02 1.88556442e-03 2.09831757e+02] [-8.79267022e-02 9.96126936e-01 -1.51723035e-04 -1.04189520e+01] [-1.89160204e-03 -1.46563302e-05 9.99998211e-01 -1.23414139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.310281693 meters Centerline goodness [0,1] 0.9994703614253634 Centerline is valid? [True, True] Translation: X:209.86, Y:-10.43, Z:-1.23 [[ 9.96715573e-01 8.09575343e-02 1.98604143e-03 2.09859884e+02] [-8.09573769e-02 9.96717552e-01 -1.59647764e-04 -1.04301732e+01] [-1.99244704e-03 -1.66129200e-06 9.99998015e-01 -1.23397954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.340281693 meters Centerline goodness [0,1] 0.9992370618403764 Centerline is valid? [True, True] Translation: X:209.89, Y:-10.44, Z:-1.23 [[ 9.97030590e-01 7.69838425e-02 1.86841413e-03 2.09888537e+02] [-7.69836964e-02 9.97032340e-01 -1.50124713e-04 -1.04384140e+01] [-1.87442649e-03 5.84150520e-06 9.99998243e-01 -1.23353144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.370281693 meters Centerline goodness [0,1] 0.9985285964089222 Centerline is valid? [True, True] Translation: X:209.92, Y:-10.45, Z:-1.23 [[ 9.97578609e-01 6.95032850e-02 2.49239722e-03 2.09917187e+02] [-6.95030021e-02 9.97581722e-01 -2.00018461e-04 -1.04507161e+01] [-2.50027185e-03 2.63050494e-05 9.99996874e-01 -1.23316122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.400281693 meters Centerline goodness [0,1] 0.9977393251780017 Centerline is valid? [True, True] Translation: X:209.95, Y:-10.46, Z:-1.23 [[ 9.97799015e-01 6.62521790e-02 2.78823781e-03 2.09945925e+02] [-6.62518127e-02 9.97802910e-01 -2.23627964e-04 -1.04585448e+01] [-2.79692764e-03 3.84099527e-05 9.99996088e-01 -1.23261109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43028169299998 meters Centerline goodness [0,1] 0.9969476651758272 Centerline is valid? [True, True] Translation: X:209.98, Y:-10.47, Z:-1.23 [[ 9.98164311e-01 6.04826913e-02 3.13884399e-03 2.09975817e+02] [-6.04821986e-02 9.98169244e-01 -2.51721298e-04 -1.04721181e+01] [-3.14832232e-03 6.14150299e-05 9.99995042e-01 -1.23163148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46028169299998 meters Centerline goodness [0,1] 0.9967981777548565 Centerline is valid? [True, True] Translation: X:210.01, Y:-10.48, Z:-1.23 [[ 9.98338707e-01 5.75126023e-02 3.48242868e-03 2.10006616e+02] [-5.75119773e-02 9.98344777e-01 -2.79414043e-04 -1.04809421e+01] [-3.49273431e-03 7.86684947e-05 9.99993897e-01 -1.23057795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.490281693 meters Centerline goodness [0,1] 0.9957723852202587 Centerline is valid? [True, True] Translation: X:210.04, Y:-10.50, Z:-1.23 [[ 9.98604431e-01 5.26674561e-02 3.91521221e-03 2.10035294e+02] [-5.26666287e-02 9.98612101e-01 -3.14224318e-04 -1.04980713e+01] [-3.92632769e-03 1.07584769e-04 9.99992286e-01 -1.22869944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.520281693 meters Centerline goodness [0,1] 0.9952119658481812 Centerline is valid? [True, True] Translation: X:210.07, Y:-10.51, Z:-1.23 [[ 9.98694945e-01 5.09118903e-02 4.04809049e-03 2.10065401e+02] [-5.09109906e-02 9.98703142e-01 -3.25063558e-04 -1.05082609e+01] [-4.05939029e-03 1.18547035e-04 9.99991754e-01 -1.22847586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.550281693 meters Centerline goodness [0,1] 0.9946855057306896 Centerline is valid? [True, True] Translation: X:210.10, Y:-10.52, Z:-1.23 [[ 9.98764091e-01 4.95373695e-02 4.04222066e-03 2.10095996e+02] [-4.95364600e-02 9.98772263e-01 -3.24869962e-04 -1.05180046e+01] [-4.05335108e-03 1.24231151e-04 9.99991777e-01 -1.22905728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.580281693 meters Centerline goodness [0,1] 0.9938656795346378 Centerline is valid? [True, True] Translation: X:210.13, Y:-10.53, Z:-1.23 [[ 9.98836530e-01 4.79854039e-02 4.79451660e-03 2.10127476e+02] [-4.79841026e-02 9.98848025e-01 -3.86143978e-04 -1.05310561e+01] [-4.80752271e-03 1.55634135e-04 9.99988432e-01 -1.22798948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.610281693 meters Centerline goodness [0,1] 0.9955611785392632 Centerline is valid? [True, True] Translation: X:210.16, Y:-10.53, Z:-1.23 [[ 9.98826620e-01 4.81826786e-02 4.87972900e-03 2.10160093e+02] [-4.81813318e-02 9.98838528e-01 -3.93253713e-04 -1.05291873e+01] [-4.89300935e-03 1.57680435e-04 9.99988017e-01 -1.22732819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.640281693 meters Centerline goodness [0,1] 0.9946843293184551 Centerline is valid? [True, True] Translation: X:210.19, Y:-10.55, Z:-1.23 [[ 9.98732508e-01 5.01567592e-02 4.20431264e-03 2.10189065e+02] [-5.01557739e-02 9.98741349e-01 -3.39513637e-04 -1.05453952e+01] [-4.21604978e-03 1.28212752e-04 9.99991104e-01 -1.22721500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.670281693 meters Centerline goodness [0,1] 0.9965277777777778 Centerline is valid? [True, True] Translation: X:210.22, Y:-10.55, Z:-1.23 [[ 9.98619568e-01 5.24360849e-02 3.06860831e-03 2.10220626e+02] [-5.24355709e-02 9.98624278e-01 -2.47786658e-04 -1.05468183e+01] [-3.07737972e-03 8.65403765e-05 9.99995261e-01 -1.22914244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.700281693 meters Centerline goodness [0,1] 0.9968754618194101 Centerline is valid? [True, True] Translation: X:210.25, Y:-10.55, Z:-1.23 [[ 9.98389473e-01 5.66987776e-02 1.92604074e-03 2.10250180e+02] [-5.66985828e-02 9.98391329e-01 -1.55627990e-04 -1.05534361e+01] [-1.93176629e-03 4.61735667e-05 9.99998133e-01 -1.23207201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.730281693 meters Centerline goodness [0,1] 0.9970061787374992 Centerline is valid? [True, True] Translation: X:210.28, Y:-10.56, Z:-1.23 [[ 9.98294361e-01 5.83422586e-02 2.13321888e-03 2.10281998e+02] [-5.83420243e-02 9.98296639e-01 -1.71968684e-04 -1.05570898e+01] [-2.13961828e-03 4.72190601e-05 9.99997710e-01 -1.23197780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.760281693 meters Centerline goodness [0,1] 0.997006556063832 Centerline is valid? [True, True] Translation: X:210.31, Y:-10.56, Z:-1.23 [[ 9.98216728e-01 5.96339990e-02 2.67410039e-03 2.10313170e+02] [-5.96336334e-02 9.98220308e-01 -2.16310228e-04 -1.05626901e+01] [-2.68224076e-03 5.64581657e-05 9.99996401e-01 -1.23138238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.790281693 meters Centerline goodness [0,1] 0.997234748574832 Centerline is valid? [True, True] Translation: X:210.34, Y:-10.57, Z:-1.23 [[ 9.98126483e-01 6.10239307e-02 4.42765623e-03 2.10344945e+02] [-6.10229392e-02 9.98136299e-01 -3.58808743e-04 -1.05724006e+01] [-4.44130032e-03 8.79479121e-05 9.99990134e-01 -1.22793220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.820281693 meters Centerline goodness [0,1] 0.9969883351007424 Centerline is valid? [True, True] Translation: X:210.38, Y:-10.58, Z:-1.23 [[ 9.98074203e-01 6.18550721e-02 4.67289779e-03 2.10375721e+02] [-6.18539732e-02 9.98085138e-01 -3.79458064e-04 -1.05793268e+01] [-4.68742124e-03 8.96900103e-05 9.99989010e-01 -1.22784150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.850281693 meters Centerline goodness [0,1] 0.9981905268759979 Centerline is valid? [True, True] Translation: X:210.41, Y:-10.58, Z:-1.23 [[ 9.97787480e-01 6.63921506e-02 3.49665017e-03 2.10407287e+02] [-6.63915615e-02 9.97793606e-01 -2.84423347e-04 -1.05767793e+01] [-3.50781866e-03 5.16459897e-05 9.99993846e-01 -1.22922250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.880281693 meters Centerline goodness [0,1] 0.9983832883064945 Centerline is valid? [True, True] Translation: X:210.44, Y:-10.58, Z:-1.23 [[ 9.97505558e-01 7.05382915e-02 2.64804364e-03 2.10438449e+02] [-7.05379688e-02 9.97509072e-01 -2.15169698e-04 -1.05752352e+01] [-2.65662526e-03 2.78453491e-05 9.99996471e-01 -1.23086378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.910281693 meters Centerline goodness [0,1] 0.9989195601974451 Centerline is valid? [True, True] Translation: X:210.47, Y:-10.57, Z:-1.23 [[ 9.97144456e-01 7.54852481e-02 2.21613234e-03 2.10470422e+02] [-7.54850331e-02 9.97146919e-01 -1.80612775e-04 -1.05711987e+01] [-2.22344314e-03 1.28122042e-05 9.99997528e-01 -1.23131879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.940281693 meters Centerline goodness [0,1] 0.9997231391758066 Centerline is valid? [True, True] Translation: X:210.50, Y:-10.56, Z:-1.23 [[ 9.96385364e-01 8.49195232e-02 2.20908302e-03 2.10502074e+02] [-8.49193325e-02 9.96387813e-01 -1.80147209e-04 -1.05590372e+01] [-2.21640141e-03 -8.09781338e-06 9.99997544e-01 -1.23101508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.970281693 meters Centerline goodness [0,1] 0.9998517734250927 Centerline is valid? [True, True] Translation: X:210.53, Y:-10.55, Z:-1.23 [[ 9.96051891e-01 8.87311785e-02 2.72188490e-03 2.10531596e+02] [-8.87309031e-02 9.96055610e-01 -2.22012472e-04 -1.05545301e+01] [-2.73084815e-03 -2.03793623e-05 9.99996271e-01 -1.23088866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.000281693 meters Centerline goodness [0,1] 0.9998517734250927 Centerline is valid? [True, True] Translation: X:210.56, Y:-10.56, Z:-1.23 [[ 9.96051891e-01 8.87311780e-02 2.72189398e-03 2.10561497e+02] [-8.87309029e-02 9.96055610e-01 -2.21901080e-04 -1.05569679e+01] [-2.73084731e-03 -2.04911197e-05 9.99996271e-01 -1.23102989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.030281693 meters Centerline goodness [0,1] 0.9995919594536552 Centerline is valid? [True, True] Translation: X:210.59, Y:-10.55, Z:-1.23 [[ 9.95456758e-01 9.51486653e-02 3.54605604e-03 2.10592802e+02] [-9.51482391e-02 9.95463073e-01 -2.89090491e-04 -1.05469788e+01] [-3.55747442e-03 -4.96239054e-05 9.99993671e-01 -1.23037891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.060281693 meters Centerline goodness [0,1] 0.9991962094931889 Centerline is valid? [True, True] Translation: X:210.62, Y:-10.54, Z:-1.23 [[ 9.95256586e-01 9.72228563e-02 3.47035728e-03 2.10622260e+02] [-9.72224605e-02 9.95262635e-01 -2.82961749e-04 -1.05426635e+01] [-3.48142728e-03 -5.57771287e-05 9.99993938e-01 -1.23024339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.090281693 meters Centerline goodness [0,1] 0.999090466823191 Centerline is valid? [True, True] Translation: X:210.65, Y:-10.54, Z:-1.23 [[ 9.95127840e-01 9.85460765e-02 3.04188212e-03 2.10652042e+02] [-9.85457789e-02 9.95132488e-01 -2.47919426e-04 -1.05411030e+01] [-3.05150721e-03 -5.30531207e-05 9.99995343e-01 -1.23104309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.120281693 meters Centerline goodness [0,1] 0.9993188735871948 Centerline is valid? [True, True] Translation: X:210.68, Y:-10.54, Z:-1.23 [[ 9.95027657e-01 9.95823930e-02 1.81900231e-03 2.10680717e+02] [-9.95822883e-02 9.95029319e-01 -1.48285937e-04 -1.05371206e+01] [-1.82472730e-03 -3.35918041e-05 9.99998335e-01 -1.23346494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.150281693 meters Centerline goodness [0,1] 0.9993407201037834 Centerline is valid? [True, True] Translation: X:210.71, Y:-10.54, Z:-1.23 [[ 9.95012442e-01 9.97334991e-02 1.86282678e-03 2.10709115e+02] [-9.97333896e-02 9.95014185e-01 -1.51829198e-04 -1.05382035e+01] [-1.86868153e-03 -3.47140881e-05 9.99998253e-01 -1.23369504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18028169299998 meters Centerline goodness [0,1] 0.9992245724378581 Centerline is valid? [True, True] Translation: X:210.74, Y:-10.54, Z:-1.23 [[ 9.95057888e-01 9.92805909e-02 1.77890405e-03 2.10738328e+02] [-9.92804905e-02 9.95059477e-01 -1.44881300e-04 -1.05406582e+01] [-1.78449924e-03 -3.24451861e-05 9.99998407e-01 -1.23412190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21028169299998 meters Centerline goodness [0,1] 0.9996592627297315 Centerline is valid? [True, True] Translation: X:210.77, Y:-10.54, Z:-1.23 [[ 9.95125236e-01 9.86088319e-02 1.43650290e-03 2.10766856e+02] [-9.86087657e-02 9.95126272e-01 -1.17015445e-04 -1.05432736e+01] [-1.44104053e-03 -2.52067559e-05 9.99998961e-01 -1.23479115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.240281693 meters Centerline goodness [0,1] 0.9995736971117979 Centerline is valid? [True, True] Translation: X:210.79, Y:-10.54, Z:-1.24 [[ 9.95230028e-01 9.75473202e-02 1.30836289e-03 2.10794702e+02] [-9.75472644e-02 9.95230888e-01 -1.06574482e-04 -1.05413528e+01] [-1.31251922e-03 -2.15610964e-05 9.99999138e-01 -1.23523420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.270281693 meters Centerline goodness [0,1] 0.9994711009562495 Centerline is valid? [True, True] Translation: X:210.82, Y:-10.54, Z:-1.23 [[ 9.95224001e-01 9.76008528e-02 1.80574669e-03 2.10823160e+02] [-9.76007469e-02 9.95225639e-01 -1.46836305e-04 -1.05425959e+01] [-1.81145675e-03 -3.01072105e-05 9.99998359e-01 -1.23339651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.300281693 meters Centerline goodness [0,1] 0.9995092181631956 Centerline is valid? [True, True] Translation: X:210.85, Y:-10.54, Z:-1.23 [[ 9.95178352e-01 9.80386510e-02 2.91029731e-03 2.10852078e+02] [-9.80383788e-02 9.95182607e-01 -2.36393374e-04 -1.05400587e+01] [-2.91945295e-03 -5.00672614e-05 9.99995737e-01 -1.23151094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.330281693 meters Centerline goodness [0,1] 0.9992363983455298 Centerline is valid? [True, True] Translation: X:210.88, Y:-10.54, Z:-1.23 [[ 9.95137662e-01 9.84452470e-02 3.09295804e-03 2.10879922e+02] [-9.84449419e-02 9.95142467e-01 -2.51090539e-04 -1.05376742e+01] [-3.10265257e-03 -5.46164227e-05 9.99995185e-01 -1.23230705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.360281693 meters Centerline goodness [0,1] 0.999385476044161 Centerline is valid? [True, True] Translation: X:210.91, Y:-10.54, Z:-1.23 [[ 9.95124765e-01 9.85766446e-02 3.05726457e-03 2.10907574e+02] [-9.85763477e-02 9.95129460e-01 -2.48017027e-04 -1.05363446e+01] [-3.06682273e-03 -5.45660901e-05 9.99995296e-01 -1.23300089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.390281693 meters Centerline goodness [0,1] 0.9992589926534414 Centerline is valid? [True, True] Translation: X:210.94, Y:-10.53, Z:-1.23 [[ 9.95233267e-01 9.74972391e-02 2.24332473e-03 2.10936275e+02] [-9.74970767e-02 9.95235795e-01 -1.81903719e-04 -1.05344471e+01] [-2.25037218e-03 -3.76809701e-05 9.99997467e-01 -1.23495155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.420281693 meters Centerline goodness [0,1] 0.999491374560251 Centerline is valid? [True, True] Translation: X:210.97, Y:-10.54, Z:-1.24 [[ 9.95375999e-01 9.60424749e-02 1.56964715e-03 2.10965573e+02] [-9.60423935e-02 9.95377236e-01 -1.27348306e-04 -1.05354366e+01] [-1.57462189e-03 -2.39932226e-05 9.99998760e-01 -1.23579694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.450281693 meters Centerline goodness [0,1] 0.999683644416324 Centerline is valid? [True, True] Translation: X:210.99, Y:-10.53, Z:-1.23 [[ 9.95657921e-01 9.30659026e-02 2.01031669e-03 2.10993450e+02] [-9.30657636e-02 9.95659951e-01 -1.62796535e-04 -1.05347398e+01] [-2.01674262e-03 -2.50019979e-05 9.99997966e-01 -1.23479225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.480281693 meters Centerline goodness [0,1] 0.9998090752879781 Centerline is valid? [True, True] Translation: X:211.02, Y:-10.54, Z:-1.23 [[ 9.95760591e-01 9.19343949e-02 2.98539287e-03 2.11022639e+02] [-9.19340839e-02 9.95765066e-01 -2.41519238e-04 -1.05355201e+01] [-2.99495385e-03 -3.39640194e-05 9.99995515e-01 -1.23228343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.510281693 meters Centerline goodness [0,1] 0.9998724760892668 Centerline is valid? [True, True] Translation: X:211.05, Y:-10.54, Z:-1.23 [[ 9.95825826e-01 9.11945902e-02 3.80420080e-03 2.11051267e+02] [-9.11940807e-02 9.95833091e-01 -3.07531862e-04 -1.05371309e+01] [-3.81639429e-03 -4.06724243e-05 9.99992717e-01 -1.23029194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.540281693 meters Centerline goodness [0,1] 0.9998102866779089 Centerline is valid? [True, True] Translation: X:211.08, Y:-10.53, Z:-1.23 [[ 9.95957120e-01 8.97008034e-02 4.81458268e-03 2.11079721e+02] [-8.96999713e-02 9.95968756e-01 -3.88918637e-04 -1.05341946e+01] [-4.83006024e-03 -4.45216434e-05 9.99988334e-01 -1.22891858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.570281693 meters Centerline goodness [0,1] 0.9997055421179935 Centerline is valid? [True, True] Translation: X:211.11, Y:-10.54, Z:-1.23 [[ 9.96080464e-01 8.83387478e-02 4.46934180e-03 2.11107978e+02] [-8.83380181e-02 9.96090490e-01 -3.60780566e-04 -1.05377507e+01] [-4.48373976e-03 -3.54463233e-05 9.99989947e-01 -1.22960667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.600281693 meters Centerline goodness [0,1] 0.9997654534211817 Centerline is valid? [True, True] Translation: X:211.14, Y:-10.54, Z:-1.23 [[ 9.96405190e-01 8.46374569e-02 3.63287156e-03 2.11136993e+02] [-8.46369506e-02 9.96411813e-01 -2.93158610e-04 -1.05427246e+01] [-3.64464834e-03 -1.53704103e-05 9.99993358e-01 -1.23177411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.630281693 meters Centerline goodness [0,1] 0.999703515459551 Centerline is valid? [True, True] Translation: X:211.17, Y:-10.55, Z:-1.23 [[ 9.96580681e-01 8.25701680e-02 3.01884066e-03 2.11165604e+02] [-8.25698096e-02 9.96585253e-01 -2.43379120e-04 -1.05470118e+01] [-3.02862793e-03 -6.71816920e-06 9.99995414e-01 -1.23272851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.660281693 meters Centerline goodness [0,1] 0.9997263964305257 Centerline is valid? [True, True] Translation: X:211.19, Y:-10.55, Z:-1.23 [[ 9.96742726e-01 8.06176986e-02 2.17345669e-03 2.11193850e+02] [-8.06175082e-02 9.96745096e-01 -1.75222778e-04 -1.05520275e+01] [-2.18050835e-03 -5.66633218e-07 9.99997623e-01 -1.23411595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.690281693 meters Centerline goodness [0,1] 0.9996193537472509 Centerline is valid? [True, True] Translation: X:211.22, Y:-10.56, Z:-1.23 [[ 9.96920902e-01 7.84006106e-02 1.43484217e-03 2.11222907e+02] [-7.84005254e-02 9.96921935e-01 -1.15607528e-04 -1.05585037e+01] [-1.43948933e-03 2.75918149e-06 9.99998964e-01 -1.23497347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.720281693 meters Centerline goodness [0,1] 0.9996375807448782 Centerline is valid? [True, True] Translation: X:211.25, Y:-10.56, Z:-1.23 [[ 9.96796788e-01 7.99233629e-02 2.90159439e-03 2.11250643e+02] [-7.99230213e-02 9.96801011e-01 -2.33668122e-04 -1.05558633e+01] [-2.91098776e-03 1.01544371e-06 9.99995763e-01 -1.23159912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.750281693 meters Centerline goodness [0,1] 0.9997872204608805 Centerline is valid? [True, True] Translation: X:211.28, Y:-10.55, Z:-1.23 [[ 9.96639096e-01 8.18401927e-02 3.56305071e-03 2.11279595e+02] [-8.18396908e-02 9.96645465e-01 -2.86653711e-04 -1.05526505e+01] [-3.57455813e-03 -5.90867331e-06 9.99993611e-01 -1.22986586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.780281693 meters Centerline goodness [0,1] 0.9999143780636599 Centerline is valid? [True, True] Translation: X:211.31, Y:-10.55, Z:-1.23 [[ 9.96456517e-01 8.40080249e-02 4.13057209e-03 2.11309041e+02] [-8.40073701e-02 9.96465078e-01 -3.32083542e-04 -1.05488150e+01] [-4.14386853e-03 -1.60916888e-05 9.99991414e-01 -1.22973046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.810281693 meters Centerline goodness [0,1] 0.9998517922550867 Centerline is valid? [True, True] Translation: X:211.34, Y:-10.54, Z:-1.23 [[ 9.96225544e-01 8.67062674e-02 4.08524844e-03 2.11337536e+02] [-8.67056503e-02 9.96233920e-01 -3.28257381e-04 -1.05439261e+01] [-4.09832504e-03 -2.71957345e-05 9.99991601e-01 -1.23020712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.840281693 meters Centerline goodness [0,1] 0.9996814069070983 Centerline is valid? [True, True] Translation: X:211.37, Y:-10.53, Z:-1.23 [[ 9.95740801e-01 9.21166010e-02 3.84567709e-03 2.11368310e+02] [-9.21160954e-02 9.95748226e-01 -3.08768519e-04 -1.05309397e+01] [-3.85776884e-03 -4.67953454e-05 9.99992558e-01 -1.23049365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.870281693 meters Centerline goodness [0,1] 0.9994938737636813 Centerline is valid? [True, True] Translation: X:211.40, Y:-10.52, Z:-1.23 [[ 9.95441417e-01 9.53225764e-02 3.16091848e-03 2.11397283e+02] [-9.53222510e-02 9.95446435e-01 -2.53788444e-04 -1.05188375e+01] [-3.17071680e-03 -4.86743363e-05 9.99994972e-01 -1.23160044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.900281693 meters Centerline goodness [0,1] 0.9996370390930247 Centerline is valid? [True, True] Translation: X:211.43, Y:-10.52, Z:-1.23 [[ 9.95449784e-01 9.52350430e-02 3.16459818e-03 2.11425182e+02] [-9.52347169e-02 9.95454813e-01 -2.53918301e-04 -1.05171809e+01] [-3.17439641e-03 -4.86166944e-05 9.99994960e-01 -1.23193909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93028169299998 meters Centerline goodness [0,1] 0.9996179074062281 Centerline is valid? [True, True] Translation: X:211.45, Y:-10.52, Z:-1.23 [[ 9.95589533e-01 9.37542190e-02 3.41006247e-03 2.11454282e+02] [-9.37538326e-02 9.95595372e-01 -2.73327319e-04 -1.05191170e+01] [-3.42066800e-03 -4.75846084e-05 9.99994148e-01 -1.23132072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96028169299998 meters Centerline goodness [0,1] 0.9998943766107566 Centerline is valid? [True, True] Translation: X:211.48, Y:-10.52, Z:-1.23 [[ 9.96000504e-01 8.92926739e-02 3.13276262e-03 2.11482094e+02] [-8.92923261e-02 9.96005430e-01 -2.50991673e-04 -1.05226048e+01] [-3.14266030e-03 -2.97438286e-05 9.99995061e-01 -1.23189997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.990281693 meters Centerline goodness [0,1] 0.9998727168586521 Centerline is valid? [True, True] Translation: X:211.51, Y:-10.53, Z:-1.23 [[ 9.96144140e-01 8.77053996e-02 2.14823474e-03 2.11511164e+02] [-8.77052325e-02 9.96146456e-01 -1.72044735e-04 -1.05252218e+01] [-2.15504567e-03 -1.70300727e-05 9.99997678e-01 -1.23416982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.020281693 meters Centerline goodness [0,1] 0.9998945192185984 Centerline is valid? [True, True] Translation: X:211.54, Y:-10.53, Z:-1.24 [[ 9.96370526e-01 8.51176612e-02 8.70532424e-04 2.11538929e+02] [-8.51176327e-02 9.96370907e-01 -6.98481744e-05 -1.05276601e+01] [-8.73318494e-04 -4.50299687e-06 9.99999619e-01 -1.23807198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.050281693 meters Centerline goodness [0,1] 0.9998729298149011 Centerline is valid? [True, True] Translation: X:211.57, Y:-10.53, Z:-1.24 [[ 9.96454022e-01 8.41385385e-02 2.96408584e-04 2.11566390e+02] [-8.41385351e-02 9.96454066e-01 -2.39903797e-05 -1.05298337e+01] [-2.97376055e-04 -1.03407369e-06 9.99999956e-01 -1.23879119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.080281693 meters Centerline goodness [0,1] 0.999787960391001 Centerline is valid? [True, True] Translation: X:211.59, Y:-10.53, Z:-1.24 [[ 9.96644360e-01 8.18507063e-02 -6.93747392e-04 2.11594359e+02] [-8.18506877e-02 9.96644602e-01 5.51032350e-05 -1.05326537e+01] [ 6.95929831e-04 1.86537271e-06 9.99999758e-01 -1.24179892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.110281693 meters Centerline goodness [0,1] 0.9995968426413173 Centerline is valid? [True, True] Translation: X:211.62, Y:-10.54, Z:-1.24 [[ 9.96770669e-01 8.02876053e-02 -1.46101084e-03 2.11623200e+02] [-8.02875211e-02 9.96771739e-01 1.16310654e-04 -1.05368506e+01] [ 1.46563262e-03 1.36588978e-06 9.99998926e-01 -1.24233499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.140281693 meters Centerline goodness [0,1] 0.9997472513585239 Centerline is valid? [True, True] Translation: X:211.65, Y:-10.54, Z:-1.24 [[ 9.97057810e-01 7.66531838e-02 -1.13097752e-04 2.11650618e+02] [-7.66531833e-02 9.97057816e-01 8.74131685e-06 -1.05448427e+01] [ 1.13435047e-04 -4.62955186e-08 9.99999994e-01 -1.24090806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.170281693 meters Centerline goodness [0,1] 0.9995749744984699 Centerline is valid? [True, True] Translation: X:211.68, Y:-10.55, Z:-1.24 [[ 9.97241442e-01 7.42081215e-02 1.63109091e-03 2.11679466e+02] [-7.42080079e-02 9.97242776e-01 -1.30137805e-04 -1.05502989e+01] [-1.63625091e-03 8.73880502e-06 9.99998661e-01 -1.23713764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.200281693 meters Centerline goodness [0,1] 0.9993681683199596 Centerline is valid? [True, True] Translation: X:211.71, Y:-10.56, Z:-1.23 [[ 9.97389455e-01 7.21374353e-02 3.23516531e-03 2.11706857e+02] [-7.21369786e-02 9.97394701e-01 -2.57785653e-04 -1.05567135e+01] [-3.24533273e-03 2.37376408e-05 9.99994734e-01 -1.23412423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.230281693 meters Centerline goodness [0,1] 0.9994231755255512 Centerline is valid? [True, True] Translation: X:211.74, Y:-10.56, Z:-1.23 [[ 9.97584920e-01 6.93576723e-02 3.72043088e-03 2.11735532e+02] [-6.93570499e-02 9.97591856e-01 -2.96196794e-04 -1.05643342e+01] [-3.73201507e-03 3.74433445e-05 9.99993035e-01 -1.23307017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.260281693 meters Centerline goodness [0,1] 0.9994875080076874 Centerline is valid? [True, True] Translation: X:211.76, Y:-10.57, Z:-1.23 [[ 9.97638255e-01 6.86077366e-02 3.29999696e-03 2.11764492e+02] [-6.86072432e-02 9.97643713e-01 -2.62600801e-04 -1.05669850e+01] [-3.31023767e-03 3.55769110e-05 9.99994521e-01 -1.23483640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.290281693 meters Centerline goodness [0,1] 0.999092712157657 Centerline is valid? [True, True] Translation: X:211.79, Y:-10.57, Z:-1.24 [[ 9.97704990e-01 6.76567797e-02 2.70433207e-03 2.11793186e+02] [-6.76564452e-02 9.97708654e-01 -2.15089956e-04 -1.05717501e+01] [-2.71268780e-03 3.16308283e-05 9.99996320e-01 -1.23590876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.320281693 meters Centerline goodness [0,1] 0.9991145405097717 Centerline is valid? [True, True] Translation: X:211.82, Y:-10.58, Z:-1.24 [[ 9.97712126e-01 6.75293618e-02 3.20928824e-03 2.11822340e+02] [-6.75288905e-02 9.97717287e-01 -2.55125467e-04 -1.05750134e+01] [-3.21919082e-03 3.78220979e-05 9.99994818e-01 -1.23503019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.350281693 meters Centerline goodness [0,1] 0.9994452268168822 Centerline is valid? [True, True] Translation: X:211.85, Y:-10.58, Z:-1.24 [[ 9.97743573e-01 6.70458835e-02 3.55131323e-03 2.11851531e+02] [-6.70453040e-02 9.97749892e-01 -2.82108559e-04 -1.05790598e+01] [-3.56223661e-03 4.33731263e-05 9.99993654e-01 -1.23505015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.380281693 meters Centerline goodness [0,1] 0.9991953584889679 Centerline is valid? [True, True] Translation: X:211.88, Y:-10.58, Z:-1.24 [[ 9.97794901e-01 6.63239083e-02 2.54443609e-03 2.11881424e+02] [-6.63236085e-02 9.97798145e-01 -2.02097473e-04 -1.05819687e+01] [-2.55223751e-03 3.28956451e-05 9.99996742e-01 -1.23679998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.410281693 meters Centerline goodness [0,1] 0.9987867435771908 Centerline is valid? [True, True] Translation: X:211.91, Y:-10.59, Z:-1.24 [[ 9.98003592e-01 6.31499853e-02 9.53381214e-04 2.11910529e+02] [-6.31499417e-02 9.98004048e-01 -7.57698506e-05 -1.05898250e+01] [-9.56263175e-04 1.54126150e-05 9.99999543e-01 -1.24060513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.440281693 meters Centerline goodness [0,1] 0.9988702010189507 Centerline is valid? [True, True] Translation: X:211.94, Y:-10.60, Z:-1.24 [[ 9.98142509e-01 6.09117958e-02 1.13329190e-03 2.11939683e+02] [-6.09117328e-02 9.98143152e-01 -9.00230673e-05 -1.05970612e+01] [-1.13667101e-03 2.08250770e-05 9.99999354e-01 -1.24082915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.470281693 meters Centerline goodness [0,1] 0.9987815826599974 Centerline is valid? [True, True] Translation: X:211.97, Y:-10.61, Z:-1.24 [[ 9.98271448e-01 5.87352754e-02 2.06984596e-03 2.11967393e+02] [-5.87350609e-02 9.98273593e-01 -1.64296803e-04 -1.06065385e+01] [-2.07592258e-03 4.24402787e-05 9.99997844e-01 -1.23932845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.500281693 meters Centerline goodness [0,1] 0.9971005223323739 Centerline is valid? [True, True] Translation: X:212.00, Y:-10.62, Z:-1.24 [[ 9.98575283e-01 5.32966563e-02 2.62136223e-03 2.11996166e+02] [-5.32962941e-02 9.98578721e-01 -2.07900606e-04 -1.06245163e+01] [-2.62871695e-03 6.78955138e-05 9.99996543e-01 -1.23886866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.530281693 meters Centerline goodness [0,1] 0.9957501420125813 Centerline is valid? [True, True] Translation: X:212.03, Y:-10.63, Z:-1.24 [[ 9.98705783e-01 5.08219185e-02 1.97257743e-03 2.12026490e+02] [-5.08217086e-02 9.98707730e-01 -1.56416114e-04 -1.06337694e+01] [-1.97797769e-03 5.59639221e-05 9.99998042e-01 -1.24036277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.560281693 meters Centerline goodness [0,1] 0.9948093600320722 Centerline is valid? [True, True] Translation: X:212.06, Y:-10.65, Z:-1.24 [[ 9.98876638e-01 4.73626854e-02 1.49579474e-03 2.12055410e+02] [-4.73625608e-02 9.98877757e-01 -1.18647789e-04 -1.06480806e+01] [-1.49973557e-03 4.76698351e-05 9.99998874e-01 -1.24129421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.590281693 meters Centerline goodness [0,1] 0.995134588651586 Centerline is valid? [True, True] Translation: X:212.09, Y:-10.65, Z:-1.24 [[ 9.98904625e-01 4.67695053e-02 1.47069676e-03 2.12086018e+02] [-4.67693841e-02 9.98905707e-01 -1.16656994e-04 -1.06516476e+01] [-1.47454338e-03 4.77456295e-05 9.99998912e-01 -1.24107291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.620281693 meters Centerline goodness [0,1] 0.9949624843241864 Centerline is valid? [True, True] Translation: X:212.12, Y:-10.66, Z:-1.24 [[ 9.98900358e-01 4.68653193e-02 1.31054598e-03 2.12116462e+02] [-4.68652232e-02 9.98901216e-01 -1.03953690e-04 -1.06573791e+01] [-1.31397779e-03 4.24203480e-05 9.99999136e-01 -1.24126119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.650281693 meters Centerline goodness [0,1] 0.9961517789960228 Centerline is valid? [True, True] Translation: X:212.15, Y:-10.66, Z:-1.24 [[ 9.98889999e-01 4.70940867e-02 9.57089890e-04 2.12146857e+02] [-4.70940356e-02 9.98890457e-01 -7.59172339e-05 -1.06572554e+01] [-9.59603211e-04 3.07597404e-05 9.99999539e-01 -1.24170822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68028169299998 meters Centerline goodness [0,1] 0.9953871008885676 Centerline is valid? [True, True] Translation: X:212.18, Y:-10.67, Z:-1.24 [[ 9.98895914e-01 4.69748128e-02 5.65941935e-04 2.12176259e+02] [-4.69747949e-02 9.98896074e-01 -4.48435143e-05 -1.06652156e+01] [-5.67423693e-04 1.82089969e-05 9.99999839e-01 -1.24346349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71028169299998 meters Centerline goodness [0,1] 0.9957739599481832 Centerline is valid? [True, True] Translation: X:212.21, Y:-10.67, Z:-1.25 [[ 9.98961401e-01 4.55549407e-02 -9.30885117e-04 2.12206095e+02] [-4.55548916e-02 9.98961834e-01 7.38493640e-05 -1.06715229e+01] [ 9.33282907e-04 -3.13662935e-05 9.99999564e-01 -1.24586800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.740281693 meters Centerline goodness [0,1] 0.9943984723106302 Centerline is valid? [True, True] Translation: X:212.23, Y:-10.68, Z:-1.25 [[ 9.99024247e-01 4.41485002e-02 -1.20957989e-03 2.12234981e+02] [-4.41484163e-02 9.99024979e-01 9.59588936e-05 -1.06844206e+01] [ 1.21263697e-03 -4.24642247e-05 9.99999264e-01 -1.24754917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.770281693 meters Centerline goodness [0,1] 0.9940213704206241 Centerline is valid? [True, True] Translation: X:212.27, Y:-10.69, Z:-1.24 [[ 9.99151604e-01 4.11833840e-02 -3.36219274e-05 2.12265053e+02] [-4.11833839e-02 9.99151605e-01 2.72200839e-06 -1.06941500e+01] [ 3.37055043e-05 -1.33503430e-06 9.99999999e-01 -1.24413940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.800281693 meters Centerline goodness [0,1] 0.987832308648058 Centerline is valid? [True, True] Translation: X:212.29, Y:-10.71, Z:-1.24 [[ 9.99221166e-01 3.94258465e-02 1.63203894e-03 2.12294690e+02] [-3.94256883e-02 9.99222497e-01 -1.29036468e-04 -1.07133750e+01] [-1.63585740e-03 6.45917111e-05 9.99998660e-01 -1.24172205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.830281693 meters Centerline goodness [0,1] 0.985468085106383 Centerline is valid? [True, True] Translation: X:212.33, Y:-10.72, Z:-1.24 [[ 9.99286697e-01 3.76370242e-02 3.09067190e-03 2.12325148e+02] [-3.76364441e-02 9.99291468e-01 -2.45652353e-04 -1.07229712e+01] [-3.09772768e-03 1.29155228e-04 9.99995194e-01 -1.23807908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.860281693 meters Centerline goodness [0,1] 0.985468085106383 Centerline is valid? [True, True] Translation: X:212.36, Y:-10.73, Z:-1.24 [[ 9.99281109e-01 3.77850826e-02 3.09068285e-03 2.12356737e+02] [-3.77845036e-02 9.99285881e-01 -2.45514828e-04 -1.07256377e+01] [-3.09775254e-03 1.28558412e-04 9.99995194e-01 -1.23822833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.890281693 meters Centerline goodness [0,1] 0.9802537300851387 Centerline is valid? [True, True] Translation: X:212.39, Y:-10.74, Z:-1.24 [[ 9.99370044e-01 3.52286513e-02 4.29626167e-03 2.12385869e+02] [-3.52275048e-02 9.99379260e-01 -3.42250976e-04 -1.07438512e+01] [-4.30565185e-03 1.90688794e-04 9.99990712e-01 -1.23606811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.920281693 meters Centerline goodness [0,1] 0.9860145769515158 Centerline is valid? [True, True] Translation: X:212.42, Y:-10.75, Z:-1.24 [[ 9.99414217e-01 3.40262301e-02 3.66579374e-03 2.12418240e+02] [-3.40253874e-02 9.99420926e-01 -2.92022668e-04 -1.07465270e+01] [-3.67360740e-03 1.67121555e-04 9.99993238e-01 -1.23790246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.950281693 meters Centerline goodness [0,1] 0.9675714225783446 Centerline is valid? [True, True] Translation: X:212.45, Y:-10.77, Z:-1.24 [[ 9.99412298e-01 3.42625977e-02 1.06397473e-03 2.12448293e+02] [-3.42625274e-02 9.99412864e-01 -8.42119176e-05 -1.07714260e+01] [-1.06623535e-03 4.77079629e-05 9.99999430e-01 -1.24297257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.980281693 meters Centerline goodness [0,1] 0.9877503689647902 Centerline is valid? [True, True] Translation: X:212.48, Y:-10.77, Z:-1.24 [[ 9.99364632e-01 3.56364628e-02 6.12968734e-04 2.12480519e+02] [-3.56364399e-02 9.99364819e-01 -4.83195900e-05 -1.07681419e+01] [-6.14301328e-04 2.64448658e-05 9.99999811e-01 -1.24293449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.010281693 meters Centerline goodness [0,1] 0.9915620850644622 Centerline is valid? [True, True] Translation: X:212.51, Y:-10.77, Z:-1.24 [[ 9.99173930e-01 4.05913179e-02 1.94986981e-03 2.12511206e+02] [-4.05910905e-02 9.99175830e-01 -1.56078265e-04 -1.07713751e+01] [-1.95459820e-03 7.68019913e-05 9.99998087e-01 -1.23933152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.040281693 meters Centerline goodness [0,1] 0.993124376631369 Centerline is valid? [True, True] Translation: X:212.54, Y:-10.77, Z:-1.24 [[ 9.99026743e-01 4.40384056e-02 2.48715585e-03 2.12541627e+02] [-4.40380463e-02 9.99029835e-01 -1.99084107e-04 -1.07728656e+01] [-2.49351025e-03 8.93608629e-05 9.99996887e-01 -1.23766457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.070281693 meters Centerline goodness [0,1] 0.9957777259128812 Centerline is valid? [True, True] Translation: X:212.57, Y:-10.77, Z:-1.24 [[ 9.98708960e-01 5.07515958e-02 2.16523303e-03 2.12571733e+02] [-5.07513392e-02 9.98711305e-01 -1.73316535e-04 -1.07724452e+01] [-2.17123880e-03 6.32043003e-05 9.99997641e-01 -1.23876273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.100281693 meters Centerline goodness [0,1] 0.9959584903277412 Centerline is valid? [True, True] Translation: X:212.60, Y:-10.78, Z:-1.24 [[ 9.98549418e-01 5.37929391e-02 2.31945693e-03 2.12602485e+02] [-5.37926530e-02 9.98552110e-01 -1.85605615e-04 -1.07761326e+01] [-2.32608289e-03 6.05666368e-05 9.99997293e-01 -1.23956071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.130281693 meters Centerline goodness [0,1] 0.998033011203284 Centerline is valid? [True, True] Translation: X:212.63, Y:-10.77, Z:-1.24 [[ 9.98267781e-01 5.87135721e-02 3.76210540e-03 2.12633519e+02] [-5.87128537e-02 9.98274867e-01 -3.01215512e-04 -1.07737174e+01] [-3.77330071e-03 7.98097971e-05 9.99992878e-01 -1.23715471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.160281693 meters Centerline goodness [0,1] 0.9977816745188346 Centerline is valid? [True, True] Translation: X:212.66, Y:-10.78, Z:-1.24 [[ 9.98135802e-01 6.08798774e-02 4.30821568e-03 2.12664319e+02] [-6.08789555e-02 9.98145097e-01 -3.44921701e-04 -1.07806624e+01] [-4.32122314e-03 8.19990280e-05 9.99990660e-01 -1.23685087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.190281693 meters Centerline goodness [0,1] 0.998792014580596 Centerline is valid? [True, True] Translation: X:212.70, Y:-10.78, Z:-1.24 [[ 9.98058453e-01 6.21837785e-02 3.53570305e-03 2.12696613e+02] [-6.21831643e-02 9.98064714e-01 -2.83478774e-04 -1.07828638e+01] [-3.54648824e-03 6.30671827e-05 9.99993709e-01 -1.23863134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.220281693 meters Centerline goodness [0,1] 0.9994033921418222 Centerline is valid? [True, True] Translation: X:212.73, Y:-10.79, Z:-1.25 [[ 9.97974652e-01 6.36111652e-02 4.61749010e-04 2.12728911e+02] [-6.36111549e-02 9.97974759e-01 -3.68788600e-05 -1.07887114e+01] [-4.63159764e-04 7.43177969e-06 9.99999893e-01 -1.24515215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.250281693 meters Centerline goodness [0,1] 0.9991945398278859 Centerline is valid? [True, True] Translation: X:212.76, Y:-10.79, Z:-1.25 [[ 9.97920607e-01 6.44535798e-02 -4.44819162e-04 2.12759444e+02] [-6.44535699e-02 9.97920706e-01 3.65337333e-05 -1.07922336e+01] [ 4.46248982e-04 -7.78758231e-06 9.99999900e-01 -1.24675367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.280281693 meters Centerline goodness [0,1] 0.99936565665109 Centerline is valid? [True, True] Translation: X:212.79, Y:-10.80, Z:-1.25 [[ 9.97783353e-01 6.65460599e-02 -5.38376183e-05 2.12790299e+02] [-6.65460597e-02 9.97783354e-01 5.02750599e-06 -1.07953673e+01] [ 5.40528401e-05 -1.43368042e-06 9.99999999e-01 -1.24602825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.310281693 meters Centerline goodness [0,1] 0.9995931303267805 Centerline is valid? [True, True] Translation: X:212.82, Y:-10.80, Z:-1.24 [[ 9.97686988e-01 6.79701132e-02 8.58681784e-04 2.12822597e+02] [-6.79700793e-02 9.97687358e-01 -6.86725534e-05 -1.07954188e+01] [-8.61363642e-04 1.01490440e-05 9.99999629e-01 -1.24315244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.340281693 meters Centerline goodness [0,1] 0.9995785303352791 Centerline is valid? [True, True] Translation: X:212.85, Y:-10.80, Z:-1.24 [[ 9.97549883e-01 6.99511078e-02 1.03602834e-03 2.12853762e+02] [-6.99510590e-02 9.97550421e-01 -8.32452420e-05 -1.08001294e+01] [-1.03931360e-03 1.05700023e-05 9.99999460e-01 -1.24307552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.370281693 meters Centerline goodness [0,1] 0.9998515596836101 Centerline is valid? [True, True] Translation: X:212.89, Y:-10.80, Z:-1.24 [[ 9.97137967e-01 7.55886821e-02 1.49206014e-03 2.12886817e+02] [-7.55885860e-02 9.97139083e-01 -1.20760278e-04 -1.07966929e+01] [-1.49691959e-03 7.63194247e-06 9.99998880e-01 -1.24196307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.400281693 meters Centerline goodness [0,1] 0.9999364258619594 Centerline is valid? [True, True] Translation: X:212.92, Y:-10.79, Z:-1.24 [[ 9.96861955e-01 7.91305148e-02 2.14594561e-03 2.12917923e+02] [-7.91303242e-02 9.96864264e-01 -1.73691076e-04 -1.07944632e+01] [-2.15296076e-03 3.33665375e-06 9.99997682e-01 -1.24128259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43028169299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.95, Y:-10.79, Z:-1.24 [[ 9.96289992e-01 8.59975179e-02 3.26790203e-03 2.12949748e+02] [-8.59971100e-02 9.96295351e-01 -2.65385011e-04 -1.07855298e+01] [-3.27861806e-03 -1.66297008e-05 9.99994625e-01 -1.24000008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46028169299998 meters Centerline goodness [0,1] 0.9999572119293141 Centerline is valid? [True, True] Translation: X:212.98, Y:-10.78, Z:-1.24 [[ 9.95966998e-01 8.96543026e-02 3.44178342e-03 2.12982076e+02] [-8.96538702e-02 9.95972944e-01 -2.80040301e-04 -1.07835509e+01] [-3.45302998e-03 -2.96583065e-05 9.99994038e-01 -1.23852558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.490281693 meters Centerline goodness [0,1] 0.9998298306815281 Centerline is valid? [True, True] Translation: X:213.01, Y:-10.76, Z:-1.24 [[ 9.95224607e-01 9.75579901e-02 3.22793820e-03 2.13014231e+02] [-9.75576489e-02 9.95229841e-01 -2.63364291e-04 -1.07630501e+01] [-3.23823371e-03 -5.28034391e-05 9.99994756e-01 -1.23784793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.520281693 meters Centerline goodness [0,1] 0.9997875955819882 Centerline is valid? [True, True] Translation: X:213.05, Y:-10.76, Z:-1.24 [[ 9.94777187e-01 1.01997499e-01 3.85454767e-03 2.13045365e+02] [-1.01997046e-01 9.94784652e-01 -3.14555541e-04 -1.07586588e+01] [-3.86652874e-03 -8.02397993e-05 9.99992522e-01 -1.23696717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.550281693 meters Centerline goodness [0,1] 0.9986374861619688 Centerline is valid? [True, True] Translation: X:213.08, Y:-10.74, Z:-1.24 [[ 9.94056972e-01 1.08736069e-01 5.21569413e-03 2.13076792e+02] [-1.08735331e-01 9.94070645e-01 -4.25630172e-04 -1.07435385e+01] [-5.23104978e-03 -1.44029589e-04 9.99986308e-01 -1.23637761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.580281693 meters Centerline goodness [0,1] 0.9948294783049131 Centerline is valid? [True, True] Translation: X:213.11, Y:-10.73, Z:-1.24 [[ 9.93842195e-01 1.10672593e-01 5.41012715e-03 2.13106982e+02] [-1.10671828e-01 9.93856907e-01 -4.41438843e-04 -1.07300730e+01] [-5.42574742e-03 -1.60028116e-04 9.99985268e-01 -1.23544859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.610281693 meters Centerline goodness [0,1] 0.9969733785195132 Centerline is valid? [True, True] Translation: X:213.14, Y:-10.73, Z:-1.24 [[ 9.93747537e-01 1.11497956e-01 5.83426260e-03 2.13136351e+02] [-1.11497082e-01 9.93764647e-01 -4.75842714e-04 -1.07330318e+01] [-5.85093940e-03 -1.77635730e-04 9.99982867e-01 -1.23563854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.640281693 meters Centerline goodness [0,1] 0.9982120051085568 Centerline is valid? [True, True] Translation: X:213.17, Y:-10.73, Z:-1.24 [[ 9.93886326e-01 1.10354050e-01 3.45762721e-03 2.13166975e+02] [-1.10353736e-01 9.93892335e-01 -2.81968807e-04 -1.07263634e+01] [-3.46762558e-03 -1.01317139e-04 9.99993983e-01 -1.23893890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.670281693 meters Centerline goodness [0,1] 0.9979562166831715 Centerline is valid? [True, True] Translation: X:213.20, Y:-10.72, Z:-1.24 [[ 9.94053055e-01 1.08872601e-01 2.29813594e-03 2.13195258e+02] [-1.08872458e-01 9.94055709e-01 -1.87476441e-04 -1.07207137e+01] [-2.30488620e-03 -6.38421801e-05 9.99997342e-01 -1.24217679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.700281693 meters Centerline goodness [0,1] 0.9994948750868183 Centerline is valid? [True, True] Translation: X:213.22, Y:-10.73, Z:-1.24 [[ 9.94677038e-01 1.03011206e-01 2.50646138e-03 2.13224835e+02] [-1.03011019e-01 9.94680194e-01 -2.04202684e-04 -1.07273018e+01] [-2.51416266e-03 -5.50774189e-05 9.99996838e-01 -1.24167712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.730281693 meters Centerline goodness [0,1] 0.9998091886276422 Centerline is valid? [True, True] Translation: X:213.25, Y:-10.73, Z:-1.24 [[ 9.95097203e-01 9.88552172e-02 3.03353682e-03 2.13254318e+02] [-9.88549230e-02 9.95101826e-01 -2.47119555e-04 -1.07332986e+01] [-3.04310708e-03 -5.39720707e-05 9.99995368e-01 -1.24085012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.760281693 meters Centerline goodness [0,1] 0.999978879783729 Centerline is valid? [True, True] Translation: X:213.28, Y:-10.74, Z:-1.24 [[ 9.95828518e-01 9.11704080e-02 3.67696966e-03 2.13283357e+02] [-9.11699239e-02 9.95835305e-01 -2.99425692e-04 -1.07420388e+01] [-3.68895497e-03 -3.70524012e-05 9.99993195e-01 -1.24014070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.790281693 meters Centerline goodness [0,1] 0.9999574513349644 Centerline is valid? [True, True] Translation: X:213.31, Y:-10.75, Z:-1.24 [[ 9.96149159e-01 8.76062341e-02 3.46435390e-03 2.13312211e+02] [-8.76057831e-02 9.96155182e-01 -2.82037451e-04 -1.07486524e+01] [-3.47574233e-03 -2.25460674e-05 9.99993959e-01 -1.24056254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.820281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.34, Y:-10.76, Z:-1.24 [[ 9.96419506e-01 8.44901885e-02 3.09459165e-03 2.13340891e+02] [-8.44898137e-02 9.96424311e-01 -2.51855010e-04 -1.07552369e+01] [-3.10480563e-03 -1.05082271e-05 9.99995180e-01 -1.24205863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.850281693 meters Centerline goodness [0,1] 0.9998940565737896 Centerline is valid? [True, True] Translation: X:213.37, Y:-10.76, Z:-1.24 [[ 9.96752520e-01 8.05056594e-02 1.80361148e-03 2.13370955e+02] [-8.05055256e-02 9.96754152e-01 -1.46755952e-04 -1.07647169e+01] [-1.80957192e-03 1.07867440e-06 9.99998363e-01 -1.24375668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.880281693 meters Centerline goodness [0,1] 0.9999786853099156 Centerline is valid? [True, True] Translation: X:213.40, Y:-10.77, Z:-1.24 [[ 9.96823448e-01 7.96246456e-02 1.71168660e-03 2.13401386e+02] [-7.96245238e-02 9.96824917e-01 -1.39276224e-04 -1.07684497e+01] [-1.71734168e-03 2.54157499e-06 9.99998525e-01 -1.24320003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.910281693 meters Centerline goodness [0,1] 0.9999359302921579 Centerline is valid? [True, True] Translation: X:213.43, Y:-10.77, Z:-1.24 [[ 9.96754699e-01 8.04701386e-02 2.15082276e-03 2.13431340e+02] [-8.04699482e-02 9.96757020e-01 -1.75037648e-04 -1.07689220e+01] [-2.15793299e-03 1.39300235e-06 9.99997672e-01 -1.24298353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.940281693 meters Centerline goodness [0,1] 0.9999362691989039 Centerline is valid? [True, True] Translation: X:213.46, Y:-10.77, Z:-1.24 [[ 9.96657541e-01 8.16697439e-02 1.94894745e-03 2.13462051e+02] [-8.16695900e-02 9.96659447e-01 -1.58558719e-04 -1.07691225e+01] [-1.95538634e-03 -1.14099624e-06 9.99998088e-01 -1.24272905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.970281693 meters Centerline goodness [0,1] 0.9999152685985426 Centerline is valid? [True, True] Translation: X:213.49, Y:-10.77, Z:-1.24 [[ 9.96544968e-01 8.30344530e-02 1.84574911e-03 2.13491954e+02] [-8.30343172e-02 9.96546677e-01 -1.50196202e-04 -1.07694388e+01] [-1.85184660e-03 -3.58324698e-06 9.99998285e-01 -1.24316196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.000281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.52, Y:-10.77, Z:-1.24 [[ 9.96493195e-01 8.36480178e-02 2.07872722e-03 2.13521754e+02] [-8.36478470e-02 9.96495363e-01 -1.69152396e-04 -1.07712230e+01] [-2.08559130e-03 -5.32184476e-06 9.99997825e-01 -1.24311154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.030281693 meters Centerline goodness [0,1] 0.9999360382065113 Centerline is valid? [True, True] Translation: X:213.55, Y:-10.78, Z:-1.24 [[ 9.96622353e-01 8.19378161e-02 5.48443550e-03 2.13551520e+02] [-8.19366025e-02 9.96637444e-01 -4.45993689e-04 -1.07776584e+01] [-5.50253753e-03 -4.88873155e-06 9.99984861e-01 -1.23693066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.060281693 meters Centerline goodness [0,1] 0.9998509940823365 Centerline is valid? [True, True] Translation: X:213.58, Y:-10.78, Z:-1.24 [[ 9.96717113e-01 8.07123874e-02 6.36449848e-03 2.13581404e+02] [-8.07107285e-02 9.96737433e-01 -5.17497045e-04 -1.07827263e+01] [-6.38550230e-03 2.11485206e-06 9.99979612e-01 -1.23568445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.090281693 meters Centerline goodness [0,1] 0.9997002012934173 Centerline is valid? [True, True] Translation: X:213.61, Y:-10.79, Z:-1.24 [[ 9.96842643e-01 7.92011166e-02 5.65051036e-03 2.13612771e+02] [-7.91997845e-02 9.96858657e-01 -4.59464812e-04 -1.07873769e+01] [-5.66915030e-03 1.04949146e-05 9.99983930e-01 -1.23709656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.120281693 meters Centerline goodness [0,1] 0.9996837444655281 Centerline is valid? [True, True] Translation: X:213.64, Y:-10.79, Z:-1.24 [[ 9.96956975e-01 7.79124037e-02 2.53903989e-03 2.13643153e+02] [-7.79121305e-02 9.96960208e-01 -2.06483057e-04 -1.07889699e+01] [-2.54740933e-03 8.03271687e-06 9.99996755e-01 -1.24283858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.150281693 meters Centerline goodness [0,1] 0.9997680694948132 Centerline is valid? [True, True] Translation: X:213.67, Y:-10.79, Z:-1.24 [[ 9.96944472e-01 7.80853683e-02 2.09621533e-03 2.13672279e+02] [-7.80851823e-02 9.96946676e-01 -1.70544938e-04 -1.07896742e+01] [-2.10313197e-03 6.34047682e-06 9.99997788e-01 -1.24346446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18028169299998 meters Centerline goodness [0,1] 0.9996590085674097 Centerline is valid? [True, True] Translation: X:213.70, Y:-10.79, Z:-1.24 [[ 9.96995416e-01 7.73383384e-02 4.34997224e-03 2.13702700e+02] [-7.73375309e-02 9.97004905e-01 -3.53797100e-04 -1.07917219e+01] [-4.36430574e-03 1.63179747e-05 9.99990476e-01 -1.23835560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21028169299998 meters Centerline goodness [0,1] 0.9993622991242241 Centerline is valid? [True, True] Translation: X:213.73, Y:-10.80, Z:-1.24 [[ 9.97056836e-01 7.64819389e-02 5.30830286e-03 2.13732668e+02] [-7.64807243e-02 9.97070967e-01 -4.31741183e-04 -1.07953204e+01] [-5.32577507e-03 2.44876504e-05 9.99985818e-01 -1.23684703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.240281693 meters Centerline goodness [0,1] 0.9991495875499617 Centerline is valid? [True, True] Translation: X:213.76, Y:-10.81, Z:-1.24 [[ 9.97338231e-01 7.27624439e-02 4.69901243e-03 2.13763134e+02] [-7.27614508e-02 9.97349300e-01 -3.82186635e-04 -1.08067019e+01] [-4.71436559e-03 3.92623805e-05 9.99988887e-01 -1.23975960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.270281693 meters Centerline goodness [0,1] 0.9989950608308923 Centerline is valid? [True, True] Translation: X:213.79, Y:-10.81, Z:-1.24 [[ 9.97510631e-01 7.04065696e-02 3.93131249e-03 2.13794225e+02] [-7.04058544e-02 9.97518377e-01 -3.20201220e-04 -1.08144805e+01] [-3.94410072e-03 4.26167062e-05 9.99992221e-01 -1.24184899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.300281693 meters Centerline goodness [0,1] 0.9989655026812482 Centerline is valid? [True, True] Translation: X:213.82, Y:-10.83, Z:-1.24 [[ 9.97681631e-01 6.79569279e-02 3.63588934e-03 2.13824793e+02] [-6.79562980e-02 9.97688255e-01 -2.96650371e-04 -1.08257159e+01] [-3.64764354e-03 4.88810462e-05 9.99993346e-01 -1.24281038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.330281693 meters Centerline goodness [0,1] 0.997770767613039 Centerline is valid? [True, True] Translation: X:213.85, Y:-10.84, Z:-1.24 [[ 9.97936456e-01 6.40665414e-02 4.27880762e-03 2.13854793e+02] [-6.40656297e-02 9.97945626e-01 -3.49929918e-04 -1.08425458e+01] [-4.29243615e-03 7.50833183e-05 9.99990785e-01 -1.24062734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.360281693 meters Centerline goodness [0,1] 0.9971343686129079 Centerline is valid? [True, True] Translation: X:213.89, Y:-10.85, Z:-1.24 [[ 9.97917524e-01 6.42899601e-02 5.23612957e-03 2.13886460e+02] [-6.42885951e-02 9.97931256e-01 -4.28763252e-04 -1.08531513e+01] [-5.25286254e-03 9.12469484e-05 9.99986199e-01 -1.23903044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.390281693 meters Centerline goodness [0,1] 0.998218036021129 Centerline is valid? [True, True] Translation: X:213.92, Y:-10.85, Z:-1.24 [[ 9.97839634e-01 6.55368665e-02 4.58074367e-03 2.13918293e+02] [-6.55358318e-02 9.97850146e-01 -3.75767277e-04 -1.08538223e+01] [-4.59552235e-03 7.47526357e-05 9.99989438e-01 -1.24112175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.420281693 meters Centerline goodness [0,1] 0.9982294542925194 Centerline is valid? [True, True] Translation: X:213.95, Y:-10.86, Z:-1.24 [[ 9.97688966e-01 6.78677070e-02 3.27140887e-03 2.13949346e+02] [-6.78671908e-02 9.97694328e-01 -2.68676201e-04 -1.08595298e+01] [-3.28210051e-03 4.60339509e-05 9.99994613e-01 -1.24343336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.450281693 meters Centerline goodness [0,1] 0.9993901284936174 Centerline is valid? [True, True] Translation: X:213.98, Y:-10.86, Z:-1.25 [[ 9.97319850e-01 7.31559542e-02 1.15044266e-03 2.13980901e+02] [-7.31558937e-02 9.97320513e-01 -9.46733958e-05 -1.08564502e+01] [-1.15428599e-03 1.02579958e-05 9.99999334e-01 -1.24704520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.480281693 meters Centerline goodness [0,1] 0.9992974238875878 Centerline is valid? [True, True] Translation: X:214.01, Y:-10.86, Z:-1.25 [[ 9.97166719e-01 7.52091977e-02 1.45322661e-03 2.14012111e+02] [-7.52091032e-02 9.97167778e-01 -1.19644530e-04 -1.08550678e+01] [-1.45810912e-03 1.00096727e-05 9.99998937e-01 -1.24588949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.510281693 meters Centerline goodness [0,1] 0.9995762711864407 Centerline is valid? [True, True] Translation: X:214.04, Y:-10.86, Z:-1.24 [[ 9.97015345e-01 7.71300911e-02 3.36900274e-03 2.14043492e+02] [-7.71295934e-02 9.97021037e-01 -2.77591115e-04 -1.08572210e+01] [-3.38037723e-03 1.69127900e-05 9.99994286e-01 -1.24278576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.540281693 meters Centerline goodness [0,1] 0.9993152004108797 Centerline is valid? [True, True] Translation: X:214.07, Y:-10.86, Z:-1.24 [[ 9.97002407e-01 7.72654379e-02 4.03151381e-03 2.14074366e+02] [-7.72647262e-02 9.97010557e-01 -3.32210060e-04 -1.08611043e+01] [-4.04513019e-03 1.97204188e-05 9.99991818e-01 -1.24237028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.570281693 meters Centerline goodness [0,1] 0.9993456602499156 Centerline is valid? [True, True] Translation: X:214.11, Y:-10.87, Z:-1.24 [[ 9.97008642e-01 7.71856601e-02 4.01778024e-03 2.14106376e+02] [-7.71849502e-02 9.97016737e-01 -3.31673516e-04 -1.08652898e+01] [-4.03139458e-03 2.05691945e-05 9.99991874e-01 -1.24296943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.600281693 meters Centerline goodness [0,1] 0.9994240368616408 Centerline is valid? [True, True] Translation: X:214.14, Y:-10.87, Z:-1.24 [[ 9.97029426e-01 7.69382751e-02 3.58140724e-03 2.14138758e+02] [-7.69377077e-02 9.97035858e-01 -2.96128356e-04 -1.08686365e+01] [-3.59357504e-03 1.97034212e-05 9.99993543e-01 -1.24384967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.630281693 meters Centerline goodness [0,1] 0.9993656834760546 Centerline is valid? [True, True] Translation: X:214.17, Y:-10.87, Z:-1.25 [[ 9.97000238e-01 7.73435036e-02 2.91676896e-03 2.14170459e+02] [-7.73431280e-02 9.97004505e-01 -2.41497122e-04 -1.08728290e+01] [-2.92671002e-03 1.51806537e-05 9.99995717e-01 -1.24502043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.660281693 meters Centerline goodness [0,1] 0.9995042248663563 Centerline is valid? [True, True] Translation: X:214.20, Y:-10.87, Z:-1.24 [[ 9.96868151e-01 7.90208208e-02 3.09843137e-03 2.14202778e+02] [-7.90204032e-02 9.96872966e-01 -2.57163456e-04 -1.08735798e+01] [-3.10906373e-03 1.15187625e-05 9.99995167e-01 -1.24440828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.690281693 meters Centerline goodness [0,1] 0.9997883105061496 Centerline is valid? [True, True] Translation: X:214.23, Y:-10.88, Z:-1.24 [[ 9.96743972e-01 8.05624162e-02 3.33933704e-03 2.14234027e+02] [-8.05619376e-02 9.96749566e-01 -2.77793164e-04 -1.08753783e+01] [-3.35086244e-03 7.86519908e-06 9.99994386e-01 -1.24417867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.720281693 meters Centerline goodness [0,1] 0.9997259234272221 Centerline is valid? [True, True] Translation: X:214.27, Y:-10.88, Z:-1.24 [[ 9.96587691e-01 8.24780834e-02 3.21544625e-03 2.14265226e+02] [-8.24776481e-02 9.96592879e-01 -2.67962681e-04 -1.08760696e+01] [-3.22659188e-03 1.84586568e-06 9.99994795e-01 -1.24460790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.750281693 meters Centerline goodness [0,1] 0.9998305515546895 Centerline is valid? [True, True] Translation: X:214.30, Y:-10.87, Z:-1.25 [[ 9.96252179e-01 8.64463825e-02 2.93584494e-03 2.14297249e+02] [-8.64460350e-02 9.96256505e-01 -2.45271734e-04 -1.08725839e+01] [-2.94605748e-03 -9.43965501e-06 9.99995660e-01 -1.24584352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.780281693 meters Centerline goodness [0,1] 0.9999365951600973 Centerline is valid? [True, True] Translation: X:214.33, Y:-10.87, Z:-1.25 [[ 9.96101126e-01 8.81652156e-02 3.07275595e-03 2.14328003e+02] [-8.81648429e-02 9.96105865e-01 -2.56806777e-04 -1.08722166e+01] [-3.08343164e-03 -1.51035255e-05 9.99995246e-01 -1.24658974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.810281693 meters Centerline goodness [0,1] 0.9999365951600973 Centerline is valid? [True, True] Translation: X:214.36, Y:-10.87, Z:-1.25 [[ 9.96099158e-01 8.81874451e-02 3.07275438e-03 2.14358727e+02] [-8.81870724e-02 9.96103897e-01 -2.56825568e-04 -1.08748321e+01] [-3.08343140e-03 -1.51534802e-05 9.99995246e-01 -1.24673491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.840281693 meters Centerline goodness [0,1] 0.9999787048276155 Centerline is valid? [True, True] Translation: X:214.39, Y:-10.88, Z:-1.24 [[ 9.95909970e-01 9.02578780e-02 4.10454216e-03 2.14388899e+02] [-9.02572300e-02 9.95918428e-01 -3.43204819e-04 -1.08768832e+01] [-4.11876612e-03 -2.86635054e-05 9.99991517e-01 -1.24376756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.870281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.42, Y:-10.88, Z:-1.24 [[ 9.95886316e-01 9.04921938e-02 4.64849340e-03 2.14418775e+02] [-9.04913653e-02 9.95897164e-01 -3.88687272e-04 -1.08780297e+01] [-4.66459456e-03 -3.35601791e-05 9.99989120e-01 -1.24254802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.900281693 meters Centerline goodness [0,1] 0.9999786543715847 Centerline is valid? [True, True] Translation: X:214.45, Y:-10.88, Z:-1.24 [[ 9.95889203e-01 9.04567961e-02 4.71838207e-03 2.14450007e+02] [-9.04559418e-02 9.95900380e-01 -3.94586877e-04 -1.08818675e+01] [-4.73473156e-03 -3.38408835e-05 9.99988791e-01 -1.24263863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93028169299998 meters Centerline goodness [0,1] 0.9999787973878382 Centerline is valid? [True, True] Translation: X:214.48, Y:-10.89, Z:-1.25 [[ 9.95975674e-01 8.95523747e-02 3.58179945e-03 2.14480578e+02] [-8.95518769e-02 9.95982114e-01 -2.99452444e-04 -1.08868444e+01] [-3.59422487e-03 -2.25095132e-05 9.99993540e-01 -1.24568320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96028169299998 meters Centerline goodness [0,1] 0.9999359097609434 Centerline is valid? [True, True] Translation: X:214.51, Y:-10.89, Z:-1.25 [[ 9.96037582e-01 8.88848266e-02 2.93636243e-03 2.14512704e+02] [-8.88844882e-02 9.96041910e-01 -2.45780093e-04 -1.08942382e+01] [-2.94658616e-03 -1.61908616e-05 9.99995659e-01 -1.24707032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.990281693 meters Centerline goodness [0,1] 0.9998098377281948 Centerline is valid? [True, True] Translation: X:214.54, Y:-10.91, Z:-1.25 [[ 9.96283257e-01 8.61163332e-02 1.91037020e-03 2.14542823e+02] [-8.61161848e-02 9.96285088e-01 -1.59982810e-04 -1.09068441e+01] [-1.91705048e-03 -5.12559801e-06 9.99998162e-01 -1.24960650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.020281693 meters Centerline goodness [0,1] 0.9998930229572733 Centerline is valid? [True, True] Translation: X:214.57, Y:-10.91, Z:-1.25 [[ 9.96339642e-01 8.54538399e-02 2.22668391e-03 2.14573553e+02] [-8.54536348e-02 9.96342131e-01 -1.87264315e-04 -1.09131740e+01] [-2.23454145e-03 -3.69937369e-06 9.99997503e-01 -1.24875746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.050281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.60, Y:-10.92, Z:-1.25 [[ 9.96119057e-01 8.79512331e-02 3.37708828e-03 2.14604328e+02] [-8.79507758e-02 9.96124782e-01 -2.83980277e-04 -1.09175390e+01] [-3.38897774e-03 -1.41393685e-05 9.99994257e-01 -1.24571473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.080281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.64, Y:-10.92, Z:-1.25 [[ 9.95893793e-01 9.04452526e-02 3.89997732e-03 2.14635619e+02] [-9.04446586e-02 9.95901429e-01 -3.28776823e-04 -1.09196725e+01] [-3.91372929e-03 -2.53053205e-05 9.99992341e-01 -1.24512298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.110281693 meters Centerline goodness [0,1] 0.9999145682492898 Centerline is valid? [True, True] Translation: X:214.67, Y:-10.92, Z:-1.24 [[ 9.95661817e-01 9.29556347e-02 4.09835072e-03 2.14667056e+02] [-9.29549997e-02 9.95670251e-01 -3.45559704e-04 -1.09200172e+01] [-4.11272762e-03 -3.69015873e-05 9.99991542e-01 -1.24483570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.140281693 meters Centerline goodness [0,1] 0.9998942984588716 Centerline is valid? [True, True] Translation: X:214.70, Y:-10.92, Z:-1.25 [[ 9.95208749e-01 9.76921394e-02 3.97377420e-03 2.14697901e+02] [-9.76915787e-02 9.95216681e-01 -3.35442417e-04 -1.09204683e+01] [-3.98753646e-03 -5.43690473e-05 9.99992048e-01 -1.24627596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.170281693 meters Centerline goodness [0,1] 0.9997682161068735 Centerline is valid? [True, True] Translation: X:214.73, Y:-10.92, Z:-1.25 [[ 9.94886980e-01 1.00969151e-01 2.26426174e-03 2.14728589e+02] [-1.00968978e-01 9.94889556e-01 -1.91056243e-04 -1.09208840e+01] [-2.27198115e-03 -3.85408257e-05 9.99997418e-01 -1.25032183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.200281693 meters Centerline goodness [0,1] 0.9998937368499352 Centerline is valid? [True, True] Translation: X:214.76, Y:-10.93, Z:-1.25 [[ 9.94795060e-01 1.01880264e-01 1.78874401e-03 2.14759951e+02] [-1.01880158e-01 9.94796668e-01 -1.50972968e-04 -1.09261690e+01] [-1.79481775e-03 -3.20503590e-05 9.99998389e-01 -1.25115525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.230281693 meters Centerline goodness [0,1] 0.9999357697989595 Centerline is valid? [True, True] Translation: X:214.79, Y:-10.93, Z:-1.25 [[ 9.94738294e-01 1.02433933e-01 1.73671052e-03 2.14790777e+02] [-1.02433833e-01 9.94739809e-01 -1.46924571e-04 -1.09292417e+01] [-1.74262515e-03 -3.17464183e-05 9.99998481e-01 -1.25126540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.260281693 meters Centerline goodness [0,1] 0.9996638514223287 Centerline is valid? [True, True] Translation: X:214.82, Y:-10.93, Z:-1.25 [[ 9.94702035e-01 1.02780514e-01 2.00688926e-03 2.14821875e+02] [-1.02780380e-01 9.94704059e-01 -1.69879233e-04 -1.09265200e+01] [-2.01372117e-03 -3.72896230e-05 9.99997972e-01 -1.25173842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.290281693 meters Centerline goodness [0,1] 0.999788175983393 Centerline is valid? [True, True] Translation: X:214.85, Y:-10.93, Z:-1.25 [[ 9.94537790e-01 1.04329818e-01 3.14215767e-03 2.14852888e+02] [-1.04329498e-01 9.94542752e-01 -2.66028355e-04 -1.09334719e+01] [-3.15276482e-03 -6.32444785e-05 9.99995028e-01 -1.24867491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.320281693 meters Centerline goodness [0,1] 0.9998092492899835 Centerline is valid? [True, True] Translation: X:214.88, Y:-10.93, Z:-1.25 [[ 9.94270880e-01 1.06858920e-01 2.56690214e-03 2.14883123e+02] [-1.06858715e-01 9.94274191e-01 -2.17291054e-04 -1.09308219e+01] [-2.57542404e-03 -5.82496961e-05 9.99996682e-01 -1.25041770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.350281693 meters Centerline goodness [0,1] 0.9996393644328475 Centerline is valid? [True, True] Translation: X:214.91, Y:-10.93, Z:-1.25 [[ 9.94085935e-01 1.08573301e-01 2.23455001e-03 2.14913939e+02] [-1.08573149e-01 9.94088444e-01 -1.89395009e-04 -1.09305422e+01] [-2.24190358e-03 -5.43372163e-05 9.99997485e-01 -1.25148817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.380281693 meters Centerline goodness [0,1] 0.9993825714833188 Centerline is valid? [True, True] Translation: X:214.94, Y:-10.93, Z:-1.25 [[ 9.93877198e-01 1.10469886e-01 2.12581125e-03 2.14944160e+02] [-1.10469753e-01 9.93879470e-01 -1.80175669e-04 -1.09272371e+01] [-2.13270415e-03 -5.57653554e-05 9.99997724e-01 -1.25266962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.410281693 meters Centerline goodness [0,1] 0.9990685662270582 Centerline is valid? [True, True] Translation: X:214.97, Y:-10.92, Z:-1.25 [[ 9.93506322e-01 1.13767652e-01 1.45217617e-03 2.14973955e+02] [-1.13767593e-01 9.93507383e-01 -1.23121554e-04 -1.09231866e+01] [-1.45675500e-03 -4.28885459e-05 9.99998938e-01 -1.25293253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.440281693 meters Centerline goodness [0,1] 0.9987655897501383 Centerline is valid? [True, True] Translation: X:215.00, Y:-10.92, Z:-1.25 [[ 9.93393473e-01 1.14751371e-01 1.23694574e-03 2.15004113e+02] [-1.14751329e-01 9.93394243e-01 -1.04814013e-04 -1.09234887e+01] [-1.24080233e-03 -3.78196114e-05 9.99999229e-01 -1.25324628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.470281693 meters Centerline goodness [0,1] 0.998273538824322 Centerline is valid? [True, True] Translation: X:215.03, Y:-10.92, Z:-1.25 [[ 9.93187719e-01 1.16511066e-01 1.82401614e-03 2.15033416e+02] [-1.16510978e-01 9.93189392e-01 -1.54685483e-04 -1.09195043e+01] [-1.82961605e-03 -5.88861821e-05 9.99998325e-01 -1.25213510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.500281693 meters Centerline goodness [0,1] 0.9981281374968093 Centerline is valid? [True, True] Translation: X:215.06, Y:-10.92, Z:-1.25 [[ 9.93102768e-01 1.17234436e-01 1.72573685e-03 2.15062662e+02] [-1.17234359e-01 9.93104266e-01 -1.46267797e-04 -1.09218544e+01] [-1.73098425e-03 -5.70566995e-05 9.99998500e-01 -1.25208703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.530281693 meters Centerline goodness [0,1] 0.9978838665989505 Centerline is valid? [True, True] Translation: X:215.09, Y:-10.92, Z:-1.25 [[ 9.93100219e-01 1.17260033e-01 1.42842182e-03 2.15090604e+02] [-1.17259980e-01 9.93101245e-01 -1.21165724e-04 -1.09201159e+01] [-1.43277539e-03 -4.71670081e-05 9.99998972e-01 -1.25332025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.560281693 meters Centerline goodness [0,1] 0.9976265655131492 Centerline is valid? [True, True] Translation: X:215.12, Y:-10.92, Z:-1.25 [[ 9.93203914e-01 1.16346360e-01 3.08391561e-03 2.15119884e+02] [-1.16346110e-01 9.93208696e-01 -2.61048792e-04 -1.09210411e+01] [-3.09334388e-03 -9.95269019e-05 9.99995211e-01 -1.25076390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.590281693 meters Centerline goodness [0,1] 0.9971782939206975 Centerline is valid? [True, True] Translation: X:215.15, Y:-10.92, Z:-1.25 [[ 9.93242073e-01 1.16001303e-01 3.72593104e-03 2.15149016e+02] [-1.16000936e-01 9.93249054e-01 -3.15299801e-04 -1.09204689e+01] [-3.73735267e-03 -1.19042459e-04 9.99993009e-01 -1.24947158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.620281693 meters Centerline goodness [0,1] 0.9985288787497602 Centerline is valid? [True, True] Translation: X:215.18, Y:-10.93, Z:-1.25 [[ 9.93444216e-01 1.14238250e-01 4.26758542e-03 2.15178347e+02] [-1.14237752e-01 9.93453374e-01 -3.60962446e-04 -1.09308008e+01] [-4.28088285e-03 -1.28923311e-04 9.99990829e-01 -1.24818739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.650281693 meters Centerline goodness [0,1] 0.9989437661075669 Centerline is valid? [True, True] Translation: X:215.21, Y:-10.93, Z:-1.25 [[ 9.93537591e-01 1.13442287e-01 3.72854037e-03 2.15208144e+02] [-1.13441902e-01 9.93544582e-01 -3.15332137e-04 -1.09317551e+01] [-3.74024308e-03 -1.09678380e-04 9.99992999e-01 -1.24932836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68028169299998 meters Centerline goodness [0,1] 0.9992154867162818 Centerline is valid? [True, True] Translation: X:215.24, Y:-10.93, Z:-1.25 [[ 9.93580688e-01 1.13073454e-01 3.43666200e-03 2.15237482e+02] [-1.13073125e-01 9.93586626e-01 -2.90626260e-04 -1.09331016e+01] [-3.44748352e-03 -9.98334717e-05 9.99994052e-01 -1.25008475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71028169299998 meters Centerline goodness [0,1] 0.9987979995277855 Centerline is valid? [True, True] Translation: X:215.27, Y:-10.93, Z:-1.25 [[ 9.93491304e-01 1.13806288e-01 4.81216896e-03 2.15267301e+02] [-1.13805651e-01 9.93502948e-01 -4.06792249e-04 -1.09334802e+01] [-4.82719956e-03 -1.43507461e-04 9.99988339e-01 -1.24781089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.740281693 meters Centerline goodness [0,1] 0.9980487391036925 Centerline is valid? [True, True] Translation: X:215.30, Y:-10.93, Z:-1.25 [[ 9.93365890e-01 1.14839384e-01 6.01033535e-03 2.15296524e+02] [-1.14838411e-01 9.93384055e-01 -5.07888151e-04 -1.09283275e+01] [-6.02889687e-03 -1.85698594e-04 9.99981809e-01 -1.24587240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.770281693 meters Centerline goodness [0,1] 0.9969111642372057 Centerline is valid? [True, True] Translation: X:215.33, Y:-10.92, Z:-1.24 [[ 9.93022396e-01 1.17747858e-01 6.47783338e-03 2.15325652e+02] [-1.17746791e-01 9.93043501e-01 -5.47127368e-04 -1.09178055e+01] [-6.49719341e-03 -2.19434362e-04 9.99978869e-01 -1.24479757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.800281693 meters Centerline goodness [0,1] 0.9943680391495107 Centerline is valid? [True, True] Translation: X:215.35, Y:-10.91, Z:-1.25 [[ 9.92872877e-01 1.19022985e-01 6.08109379e-03 2.15354837e+02] [-1.19022070e-01 9.92891476e-01 -5.13368282e-04 -1.09086863e+01] [-6.09896882e-03 -2.14074931e-04 9.99981378e-01 -1.24536582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.830281693 meters Centerline goodness [0,1] 0.9967710894900033 Centerline is valid? [True, True] Translation: X:215.39, Y:-10.91, Z:-1.25 [[ 9.92499443e-01 1.22152794e-01 4.85284621e-03 2.15385609e+02] [-1.22152249e-01 9.92511290e-01 -4.09557004e-04 -1.09079593e+01] [-4.86653318e-03 -1.86300982e-04 9.99988141e-01 -1.24731353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.860281693 meters Centerline goodness [0,1] 0.9941800972115631 Centerline is valid? [True, True] Translation: X:215.41, Y:-10.90, Z:-1.25 [[ 9.92375129e-01 1.23187427e-01 4.05717432e-03 2.15414254e+02] [-1.23187054e-01 9.92383410e-01 -3.42444387e-04 -1.08985958e+01] [-4.06845733e-03 -1.59958061e-04 9.99991711e-01 -1.24920734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.890281693 meters Centerline goodness [0,1] 0.9921840436513788 Centerline is valid? [True, True] Translation: X:215.44, Y:-10.89, Z:-1.25 [[ 9.92288707e-01 1.23912126e-01 2.98453601e-03 2.15443600e+02] [-1.23911929e-01 9.92293188e-01 -2.51798461e-04 -1.08865491e+01] [-2.99273563e-03 -1.19962843e-04 9.99995515e-01 -1.25130994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.920281693 meters Centerline goodness [0,1] 0.9946697368982133 Centerline is valid? [True, True] Translation: X:215.47, Y:-10.89, Z:-1.25 [[ 9.92368463e-01 1.23256505e-01 3.55917474e-03 2.15472439e+02] [-1.23256221e-01 9.92374835e-01 -3.00010764e-04 -1.08921744e+01] [-3.56901373e-03 -1.40969208e-04 9.99993621e-01 -1.25066463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.950281693 meters Centerline goodness [0,1] 0.9924252123074296 Centerline is valid? [True, True] Translation: X:215.50, Y:-10.89, Z:-1.25 [[ 9.92514296e-01 1.22057506e-01 4.16385221e-03 2.15500928e+02] [-1.22057107e-01 9.92523017e-01 -3.50751735e-04 -1.08857835e+01] [-4.17553104e-03 -1.60101644e-04 9.99991270e-01 -1.24981202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.980281693 meters Centerline goodness [0,1] 0.9934478558528288 Centerline is valid? [True, True] Translation: X:215.53, Y:-10.88, Z:-1.25 [[ 9.92837952e-01 1.19351536e-01 5.29263391e-03 2.15529819e+02] [-1.19350854e-01 9.92852041e-01 -4.45492796e-04 -1.08845358e+01] [-5.30797263e-03 -1.89378224e-04 9.99985895e-01 -1.24818524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.010281693 meters Centerline goodness [0,1] 0.9948437335578239 Centerline is valid? [True, True] Translation: X:215.56, Y:-10.88, Z:-1.25 [[ 9.93041239e-01 1.17661117e-01 4.99585070e-03 2.15558972e+02] [-1.17660489e-01 9.93053791e-01 -4.20352959e-04 -1.08842381e+01] [-5.01060768e-03 -1.70386415e-04 9.99987432e-01 -1.24855591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.040281693 meters Centerline goodness [0,1] 0.9966504133983464 Centerline is valid? [True, True] Translation: X:215.59, Y:-10.89, Z:-1.25 [[ 9.93097340e-01 1.17213972e-01 4.30780393e-03 2.15587499e+02] [-1.17213502e-01 9.93106673e-01 -3.62299163e-04 -1.08894845e+01] [-4.32057536e-03 -1.45134449e-04 9.99990656e-01 -1.24970035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.070281693 meters Centerline goodness [0,1] 0.9968496944837939 Centerline is valid? [True, True] Translation: X:215.62, Y:-10.89, Z:-1.25 [[ 9.93136575e-01 1.16901929e-01 3.69907255e-03 2.15616173e+02] [-1.16901580e-01 9.93143456e-01 -3.10960558e-04 -1.08885698e+01] [-3.71006159e-03 -1.23601124e-04 9.99993110e-01 -1.25097438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.100281693 meters Centerline goodness [0,1] 0.9971109845848886 Centerline is valid? [True, True] Translation: X:215.64, Y:-10.88, Z:-1.25 [[ 9.93275507e-01 1.15741574e-01 2.76676352e-03 2.15644296e+02] [-1.15741375e-01 9.93279356e-01 -2.32534178e-04 -1.08824904e+01] [-2.77508296e-03 -8.92585098e-05 9.99996145e-01 -1.25286553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.130281693 meters Centerline goodness [0,1] 0.9976609912339852 Centerline is valid? [True, True] Translation: X:215.67, Y:-10.89, Z:-1.25 [[ 9.93394472e-01 1.14720386e-01 2.57979353e-03 2.15673057e+02] [-1.14720210e-01 9.93397819e-01 -2.16661259e-04 -1.08852479e+01] [-2.58761673e-03 -8.07243579e-05 9.99996649e-01 -1.25287533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.160281693 meters Centerline goodness [0,1] 0.9979550537863457 Centerline is valid? [True, True] Translation: X:215.70, Y:-10.89, Z:-1.25 [[ 9.93589029e-01 1.13005181e-01 3.26649233e-03 2.15702360e+02] [-1.13004890e-01 9.93594394e-01 -2.74106142e-04 -1.08851024e+01] [-3.27654388e-03 -9.67807523e-05 9.99994627e-01 -1.25285688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.190281693 meters Centerline goodness [0,1] 0.9977782009775916 Centerline is valid? [True, True] Translation: X:215.73, Y:-10.88, Z:-1.25 [[ 9.93717304e-01 1.11871770e-01 3.25983668e-03 2.15730805e+02] [-1.11871475e-01 9.93722647e-01 -2.73449510e-04 -1.08840035e+01] [-3.26996482e-03 -9.29512265e-05 9.99994649e-01 -1.25321343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.220281693 meters Centerline goodness [0,1] 0.9985326017608779 Centerline is valid? [True, True] Translation: X:215.76, Y:-10.89, Z:-1.25 [[ 9.93866979e-01 1.10537340e-01 3.15020827e-03 2.15759638e+02] [-1.10537058e-01 9.93871968e-01 -2.64113566e-04 -1.08859273e+01] [-3.16009811e-03 -8.57210028e-05 9.99995003e-01 -1.25366009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.250281693 meters Centerline goodness [0,1] 0.9985666104553119 Centerline is valid? [True, True] Translation: X:215.79, Y:-10.89, Z:-1.25 [[ 9.94169128e-01 1.07804598e-01 2.43182924e-03 2.15788228e+02] [-1.07804422e-01 9.94172100e-01 -2.03820177e-04 -1.08852196e+01] [-2.43962954e-03 -5.95302177e-05 9.99997022e-01 -1.25472333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.280281693 meters Centerline goodness [0,1] 0.9991326973113617 Centerline is valid? [True, True] Translation: X:215.82, Y:-10.89, Z:-1.25 [[ 9.94514099e-01 1.04566607e-01 2.74430523e-03 2.15817026e+02] [-1.04566371e-01 9.94517884e-01 -2.29806180e-04 -1.08907144e+01] [-2.75329068e-03 -5.84165520e-05 9.99996208e-01 -1.25417799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.310281693 meters Centerline goodness [0,1] 0.99894969240992 Centerline is valid? [True, True] Translation: X:215.85, Y:-10.89, Z:-1.25 [[ 9.94695389e-01 1.02802858e-01 3.55736970e-03 2.15845458e+02] [-1.02802451e-01 9.94701748e-01 -2.97807795e-04 -1.08945504e+01] [-3.56913735e-03 -6.94782822e-05 9.99993628e-01 -1.25327800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.340281693 meters Centerline goodness [0,1] 0.9991315215319113 Centerline is valid? [True, True] Translation: X:215.87, Y:-10.90, Z:-1.25 [[ 9.94931687e-01 1.00461221e-01 4.29891761e-03 2.15873592e+02] [-1.00460604e-01 9.94940972e-01 -3.59641636e-04 -1.08979828e+01] [-4.31329931e-03 -7.40530005e-05 9.99990695e-01 -1.25215109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.370281693 meters Centerline goodness [0,1] 0.9994316148453782 Centerline is valid? [True, True] Translation: X:215.90, Y:-10.91, Z:-1.25 [[ 9.95388940e-01 9.57701537e-02 5.37916200e-03 2.15901438e+02] [-9.57691216e-02 9.95403473e-01 -4.49711182e-04 -1.09076825e+01] [-5.39750545e-03 -6.75200829e-05 9.99985431e-01 -1.25154925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.400281693 meters Centerline goodness [0,1] 0.9996163928137587 Centerline is valid? [True, True] Translation: X:215.93, Y:-10.92, Z:-1.25 [[ 9.95622913e-01 9.32616973e-02 6.10496988e-03 2.15929625e+02] [-9.32603226e-02 9.95641628e-01 -5.10084001e-04 -1.09150213e+01] [-6.12593345e-03 -6.15001418e-05 9.99981234e-01 -1.25028910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43028169299998 meters Centerline goodness [0,1] 0.9996363169604655 Centerline is valid? [True, True] Translation: X:215.96, Y:-10.92, Z:-1.25 [[ 9.95967808e-01 8.94616790e-02 6.68835318e-03 2.15957967e+02] [-8.94599456e-02 9.95990264e-01 -5.58501272e-04 -1.09234890e+01] [-6.71149911e-03 -4.20904236e-05 9.99977477e-01 -1.24894600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46028169299998 meters Centerline goodness [0,1] 0.9996395708773269 Centerline is valid? [True, True] Translation: X:215.99, Y:-10.93, Z:-1.25 [[ 9.96052167e-01 8.85997439e-02 5.49235431e-03 2.15986009e+02] [-8.85985631e-02 9.96067309e-01 -4.58410024e-04 -1.09261323e+01] [-5.51136959e-03 -3.00144018e-05 9.99984812e-01 -1.25147569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.490281693 meters Centerline goodness [0,1] 0.9996603477190227 Centerline is valid? [True, True] Translation: X:216.01, Y:-10.93, Z:-1.25 [[ 9.96113741e-01 8.79763557e-02 4.19229392e-03 2.16014044e+02] [-8.79756630e-02 9.96122563e-01 -3.49728157e-04 -1.09281764e+01] [-4.20680637e-03 -2.04508137e-05 9.99991151e-01 -1.25468792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.520281693 meters Centerline goodness [0,1] 0.9998929817426853 Centerline is valid? [True, True] Translation: X:216.04, Y:-10.93, Z:-1.26 [[ 9.96259947e-01 8.63595022e-02 2.85572361e-03 2.16041757e+02] [-8.63591744e-02 9.96264039e-01 -2.38150740e-04 -1.09325370e+01] [-2.86562132e-03 -9.35788985e-06 9.99995894e-01 -1.25745550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.550281693 meters Centerline goodness [0,1] 0.9998311131752834 Centerline is valid? [True, True] Translation: X:216.07, Y:-10.94, Z:-1.26 [[ 9.96360177e-01 8.52116361e-02 2.31845406e-03 2.16069853e+02] [-8.52114171e-02 9.96362874e-01 -1.93241782e-04 -1.09368000e+01] [-2.32648800e-03 -5.02033949e-06 9.99997294e-01 -1.25873824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.580281693 meters Centerline goodness [0,1] 0.9998515911548328 Centerline is valid? [True, True] Translation: X:216.10, Y:-10.94, Z:-1.26 [[ 9.96434921e-01 8.43383408e-02 2.11964426e-03 2.16097786e+02] [-8.43381559e-02 9.96437175e-01 -1.76622799e-04 -1.09404748e+01] [-2.12698841e-03 -2.77376384e-06 9.99997738e-01 -1.25906353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.610281693 meters Centerline goodness [0,1] 0.9997264252193859 Centerline is valid? [True, True] Translation: X:216.13, Y:-10.94, Z:-1.25 [[ 9.96502707e-01 8.34391901e-02 4.50064913e-03 2.16126691e+02] [-8.34383498e-02 9.96512871e-01 -3.74480431e-04 -1.09429026e+01] [-4.51620113e-03 -2.35597321e-06 9.99989802e-01 -1.25417841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.640281693 meters Centerline goodness [0,1] 0.9996385670245562 Centerline is valid? [True, True] Translation: X:216.16, Y:-10.94, Z:-1.25 [[ 9.96486903e-01 8.35269284e-02 6.09141503e-03 2.16155844e+02] [-8.35253928e-02 9.96505520e-01 -5.06501456e-04 -1.09439472e+01] [-6.11243521e-03 -4.06576548e-06 9.99981319e-01 -1.25087349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.670281693 meters Centerline goodness [0,1] 0.9996385670245562 Centerline is valid? [True, True] Translation: X:216.18, Y:-10.95, Z:-1.25 [[ 9.96490648e-01 8.34822347e-02 6.09143772e-03 2.16184082e+02] [-8.34806999e-02 9.96509266e-01 -5.06228433e-04 -1.09462017e+01] [-6.11243521e-03 -4.06558475e-06 9.99981319e-01 -1.25100685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.700281693 meters Centerline goodness [0,1] 0.999495183206428 Centerline is valid? [True, True] Translation: X:216.21, Y:-10.95, Z:-1.25 [[ 9.96431313e-01 8.41070437e-02 7.11647788e-03 2.16212278e+02] [-8.41049676e-02 9.96456725e-01 -5.91030561e-04 -1.09456168e+01] [-7.14097208e-03 -9.60978418e-06 9.99974503e-01 -1.25013085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.730281693 meters Centerline goodness [0,1] 0.9994962005121961 Centerline is valid? [True, True] Translation: X:216.24, Y:-10.95, Z:-1.25 [[ 9.96418038e-01 8.43544564e-02 5.95137640e-03 2.16240382e+02] [-8.43530106e-02 9.96435811e-01 -4.93978686e-04 -1.09462653e+01] [-5.97183388e-03 -9.80724365e-06 9.99982168e-01 -1.25222710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.760281693 meters Centerline goodness [0,1] 0.9996586156866092 Centerline is valid? [True, True] Translation: X:216.27, Y:-10.95, Z:-1.26 [[ 9.96403308e-01 8.46212446e-02 4.43757123e-03 2.16269145e+02] [-8.46204442e-02 9.96413190e-01 -3.68149612e-04 -1.09462080e+01] [-4.45280778e-03 -8.68375749e-06 9.99990086e-01 -1.25602963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.790281693 meters Centerline goodness [0,1] 0.999743024177142 Centerline is valid? [True, True] Translation: X:216.30, Y:-10.94, Z:-1.26 [[ 9.96408663e-01 8.46579408e-02 1.67612306e-03 2.16298055e+02] [-8.46578265e-02 9.96410073e-01 -1.39116605e-04 -1.09437935e+01] [-1.68188322e-03 -3.27994437e-06 9.99998586e-01 -1.26068918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.820281693 meters Centerline goodness [0,1] 0.9997887041223825 Centerline is valid? [True, True] Translation: X:216.33, Y:-10.94, Z:-1.26 [[ 9.96429293e-01 8.44163469e-02 1.59531261e-03 2.16326198e+02] [-8.44162432e-02 9.96430570e-01 -1.32381007e-04 -1.09411580e+01] [-1.60079337e-03 -2.76198363e-06 9.99998719e-01 -1.26168925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.850281693 meters Centerline goodness [0,1] 0.999660116834838 Centerline is valid? [True, True] Translation: X:216.36, Y:-10.94, Z:-1.26 [[ 9.96462956e-01 8.39904430e-02 2.68011864e-03 2.16355085e+02] [-8.39901496e-02 9.96466560e-01 -2.22042888e-04 -1.09418868e+01] [-2.68929809e-03 -3.84605336e-06 9.99996384e-01 -1.25853161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.880281693 meters Centerline goodness [0,1] 0.9997034840622684 Centerline is valid? [True, True] Translation: X:216.38, Y:-10.94, Z:-1.26 [[ 9.96533155e-01 8.30862671e-02 4.28289085e-03 2.16384368e+02] [-8.30855108e-02 9.96542358e-01 -3.54497267e-04 -1.09427382e+01] [-4.29753600e-03 -2.57789355e-06 9.99990766e-01 -1.25585298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.910281693 meters Centerline goodness [0,1] 0.999251912965417 Centerline is valid? [True, True] Translation: X:216.41, Y:-10.95, Z:-1.25 [[ 9.96736405e-01 8.03663768e-02 7.60161944e-03 2.16412561e+02] [-8.03639197e-02 9.96765391e-01 -6.28630284e-04 -1.09452255e+01] [-7.62755192e-03 1.56827554e-05 9.99970910e-01 -1.25039625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.940281693 meters Centerline goodness [0,1] 0.999063750106392 Centerline is valid? [True, True] Translation: X:216.44, Y:-10.95, Z:-1.25 [[ 9.96843615e-01 7.89921375e-02 7.94036943e-03 2.16441008e+02] [-7.89894164e-02 9.96875239e-01 -6.56205173e-04 -1.09481435e+01] [-7.96739272e-03 2.69287901e-05 9.99968259e-01 -1.25015336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.970281693 meters Centerline goodness [0,1] 0.9990048276446176 Centerline is valid? [True, True] Translation: X:216.47, Y:-10.95, Z:-1.26 [[ 9.97084907e-01 7.61467966e-02 4.83258481e-03 2.16469384e+02] [-7.61457559e-02 9.97096617e-01 -3.99233107e-04 -1.09528349e+01] [-4.84895429e-03 3.00884814e-05 9.99988243e-01 -1.25624139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.000281693 meters Centerline goodness [0,1] 0.9988303596112541 Centerline is valid? [True, True] Translation: X:216.50, Y:-10.96, Z:-1.26 [[ 9.97204203e-01 7.46105102e-02 4.12900111e-03 2.16498463e+02] [-7.46097378e-02 9.97212751e-01 -3.40993592e-04 -1.09554065e+01] [-4.14293426e-03 3.19765533e-05 9.99991417e-01 -1.25794128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.030281693 meters Centerline goodness [0,1] 0.9985320710562706 Centerline is valid? [True, True] Translation: X:216.53, Y:-10.96, Z:-1.26 [[ 9.97322045e-01 7.29916142e-02 4.57852318e-03 2.16526688e+02] [-7.29906485e-02 9.97332554e-01 -3.77883238e-04 -1.09578805e+01] [-4.59389252e-03 4.26819080e-05 9.99989447e-01 -1.25691338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.060281693 meters Centerline goodness [0,1] 0.9974426174071099 Centerline is valid? [True, True] Translation: X:216.56, Y:-10.97, Z:-1.25 [[ 9.97568591e-01 6.94307635e-02 6.02288366e-03 2.16555037e+02] [-6.94290300e-02 9.97586770e-01 -4.96686543e-04 -1.09656077e+01] [-6.04283438e-03 7.73159248e-05 9.99981739e-01 -1.25385004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.090281693 meters Centerline goodness [0,1] 0.9970984412063707 Centerline is valid? [True, True] Translation: X:216.58, Y:-10.98, Z:-1.26 [[ 9.97837730e-01 6.55340719e-02 5.01502564e-03 2.16583521e+02] [-6.55328214e-02 9.97850329e-01 -4.13436129e-04 -1.09758543e+01] [-5.03133914e-03 8.38933882e-05 9.99987339e-01 -1.25591921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.120281693 meters Centerline goodness [0,1] 0.9968477616992468 Centerline is valid? [True, True] Translation: X:216.61, Y:-10.98, Z:-1.26 [[ 9.97919116e-01 6.43499208e-02 4.06512298e-03 2.16612954e+02] [-6.43490895e-02 9.97927393e-01 -3.35098390e-04 -1.09807041e+01] [-4.07826113e-03 7.28141266e-05 9.99991681e-01 -1.25840118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.150281693 meters Centerline goodness [0,1] 0.9970780045735581 Centerline is valid? [True, True] Translation: X:216.64, Y:-10.99, Z:-1.26 [[ 9.98006123e-01 6.30409423e-02 3.10123688e-03 2.16642272e+02] [-6.30404523e-02 9.98010940e-01 -2.55598023e-04 -1.09857649e+01] [-3.11118147e-03 5.95850166e-05 9.99995158e-01 -1.26025915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18028169299998 meters Centerline goodness [0,1] 0.9957234347349794 Centerline is valid? [True, True] Translation: X:216.67, Y:-11.00, Z:-1.26 [[ 9.98175108e-01 6.02981406e-02 3.25380489e-03 2.16670771e+02] [-6.02975871e-02 9.98180409e-01 -2.68019730e-04 -1.09950466e+01] [-3.26404539e-03 7.13340389e-05 9.99994670e-01 -1.26026544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21028169299998 meters Centerline goodness [0,1] 0.9953988710192779 Centerline is valid? [True, True] Translation: X:216.70, Y:-11.00, Z:-1.26 [[ 9.98262449e-01 5.88215743e-02 3.47916386e-03 2.16700370e+02] [-5.88209319e-02 9.98268509e-01 -2.86754000e-04 -1.10014547e+01] [-3.49000704e-03 8.16080898e-05 9.99993907e-01 -1.25998325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.240281693 meters Centerline goodness [0,1] 0.9942577626541897 Centerline is valid? [True, True] Translation: X:216.73, Y:-11.01, Z:-1.26 [[ 9.98437829e-01 5.57838948e-02 3.17149793e-03 2.16729438e+02] [-5.57833460e-02 9.98442863e-01 -2.61300080e-04 -1.10134626e+01] [-3.18113581e-03 8.39751177e-05 9.99994937e-01 -1.26084061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.270281693 meters Centerline goodness [0,1] 0.9942460871245464 Centerline is valid? [True, True] Translation: X:216.76, Y:-11.02, Z:-1.26 [[ 9.98529265e-01 5.41425551e-02 2.80916141e-03 2.16759973e+02] [-5.41421181e-02 9.98533213e-01 -2.31447131e-04 -1.10179227e+01] [-2.81757210e-03 7.90127853e-05 9.99996028e-01 -1.26127329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.300281693 meters Centerline goodness [0,1] 0.9932187586089979 Centerline is valid? [True, True] Translation: X:216.79, Y:-11.03, Z:-1.26 [[ 9.98613387e-01 5.25841172e-02 2.49258495e-03 2.16788556e+02] [-5.25837682e-02 9.98616496e-01 -2.05389924e-04 -1.10292162e+01] [-2.49993669e-03 7.40356190e-05 9.99996872e-01 -1.26182083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.330281693 meters Centerline goodness [0,1] 0.9920134510298445 Centerline is valid? [True, True] Translation: X:216.82, Y:-11.04, Z:-1.26 [[ 9.98723182e-01 5.04243722e-02 3.06394487e-03 2.16817801e+02] [-5.04238350e-02 9.98727877e-01 -2.52385251e-04 -1.10429198e+01] [-3.07277352e-03 9.75671504e-05 9.99995274e-01 -1.26119410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.360281693 meters Centerline goodness [0,1] 0.9926180583384304 Centerline is valid? [True, True] Translation: X:216.85, Y:-11.05, Z:-1.26 [[ 9.98719176e-01 5.04710411e-02 3.56098208e-03 2.16848633e+02] [-5.04703156e-02 9.98725518e-01 -2.93362367e-04 -1.10463842e+01] [-3.57124998e-03 1.13262732e-04 9.99993617e-01 -1.25978004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.390281693 meters Centerline goodness [0,1] 0.9938425482049643 Centerline is valid? [True, True] Translation: X:216.88, Y:-11.04, Z:-1.26 [[ 9.98570774e-01 5.33043045e-02 3.88076416e-03 2.16879595e+02] [-5.33034638e-02 9.98578309e-01 -3.19820418e-04 -1.10433231e+01] [-3.89229472e-03 1.12505150e-04 9.99992419e-01 -1.25880042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.420281693 meters Centerline goodness [0,1] 0.9937568548046908 Centerline is valid? [True, True] Translation: X:216.91, Y:-11.05, Z:-1.26 [[ 9.98447567e-01 5.55710934e-02 3.78277215e-03 2.16909365e+02] [-5.55703109e-02 9.98454728e-01 -3.11744728e-04 -1.10462510e+01] [-3.79425073e-03 1.01050941e-04 9.99992797e-01 -1.25910763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.450281693 meters Centerline goodness [0,1] 0.9943566114305039 Centerline is valid? [True, True] Translation: X:216.94, Y:-11.05, Z:-1.26 [[ 9.98278553e-01 5.85953892e-02 2.55146811e-03 2.16938246e+02] [-5.85950431e-02 9.98281812e-01 -2.10270855e-04 -1.10525139e+01] [-2.55940511e-03 6.04055008e-05 9.99996723e-01 -1.26197691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.480281693 meters Centerline goodness [0,1] 0.9948478539734612 Centerline is valid? [True, True] Translation: X:216.97, Y:-11.06, Z:-1.26 [[ 9.98268895e-01 5.87920669e-02 1.64520154e-03 2.16968718e+02] [-5.87919233e-02 9.98270250e-01 -1.35583876e-04 -1.10572240e+01] [-1.65032701e-03 3.86246027e-05 9.99998637e-01 -1.26381723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.510281693 meters Centerline goodness [0,1] 0.9944154244702085 Centerline is valid? [True, True] Translation: X:217.00, Y:-11.06, Z:-1.26 [[ 9.98349181e-01 5.73962873e-02 2.13987484e-03 2.16999005e+02] [-5.73960411e-02 9.98351473e-01 -1.76350749e-04 -1.10613721e+01] [-2.14646907e-03 5.32392812e-05 9.99997695e-01 -1.26325465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.540281693 meters Centerline goodness [0,1] 0.9925317717947086 Centerline is valid? [True, True] Translation: X:217.03, Y:-11.08, Z:-1.26 [[ 9.98600699e-01 5.26065641e-02 5.40304412e-03 2.17029126e+02] [-5.26049242e-02 9.98615303e-01 -4.45282374e-04 -1.10757212e+01] [-5.41898732e-03 1.60432564e-04 9.99985304e-01 -1.25713695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.570281693 meters Centerline goodness [0,1] 0.9889423784397402 Centerline is valid? [True, True] Translation: X:217.06, Y:-11.10, Z:-1.26 [[ 9.98848317e-01 4.75659550e-02 6.28652022e-03 2.17056465e+02] [-4.75636346e-02 9.98868075e-01 -5.18179874e-04 -1.10996091e+01] [-6.30405208e-03 2.18573344e-04 9.99980105e-01 -1.25553972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.600281693 meters Centerline goodness [0,1] 0.9904739628739714 Centerline is valid? [True, True] Translation: X:217.09, Y:-11.10, Z:-1.26 [[ 9.98951582e-01 4.55490429e-02 4.58485549e-03 2.17088633e+02] [-4.55477872e-02 9.98962089e-01 -3.77962974e-04 -1.11044392e+01] [-4.59731267e-03 1.68736689e-04 9.99989418e-01 -1.25880002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.630281693 meters Centerline goodness [0,1] 0.9904416964917169 Centerline is valid? [True, True] Translation: X:217.12, Y:-11.11, Z:-1.26 [[ 9.99036696e-01 4.37798278e-02 3.00121059e-03 2.17120413e+02] [-4.37792816e-02 9.99041197e-01 -2.47474576e-04 -1.11129615e+01] [-3.00916741e-03 1.15845339e-04 9.99995466e-01 -1.26183209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.660281693 meters Centerline goodness [0,1] 0.9899728076138681 Centerline is valid? [True, True] Translation: X:217.15, Y:-11.13, Z:-1.26 [[ 9.99070273e-01 4.30622638e-02 2.05671967e-03 2.17149939e+02] [-4.30620063e-02 9.99072387e-01 -1.69341736e-04 -1.11309056e+01] [-2.06210407e-03 8.06178190e-05 9.99997871e-01 -1.26272058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.690281693 meters Centerline goodness [0,1] 0.9906159104902231 Centerline is valid? [True, True] Translation: X:217.18, Y:-11.14, Z:-1.26 [[ 9.99000779e-01 4.45947888e-02 2.95767470e-03 2.17180590e+02] [-4.45942601e-02 9.99005151e-01 -2.44518642e-04 -1.11383458e+01] [-2.96563652e-03 1.12378999e-04 9.99995596e-01 -1.26041473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.720281693 meters Centerline goodness [0,1] 0.9921579520929934 Centerline is valid? [True, True] Translation: X:217.21, Y:-11.15, Z:-1.26 [[ 9.98748211e-01 4.98708447e-02 3.86134517e-03 2.17210029e+02] [-4.98699822e-02 9.98755667e-01 -3.19380904e-04 -1.11463930e+01] [-3.87246817e-03 1.26415891e-04 9.99992494e-01 -1.25859960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.750281693 meters Centerline goodness [0,1] 0.9930446583824589 Centerline is valid? [True, True] Translation: X:217.24, Y:-11.15, Z:-1.26 [[ 9.98573407e-01 5.32700208e-02 3.66815087e-03 2.17241843e+02] [-5.32692657e-02 9.98580139e-01 -3.03317923e-04 -1.11499145e+01] [-3.67910036e-03 1.07485508e-04 9.99993226e-01 -1.25960969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.780281693 meters Centerline goodness [0,1] 0.9958744658906733 Centerline is valid? [True, True] Translation: X:217.27, Y:-11.15, Z:-1.26 [[ 9.98046305e-01 6.24278076e-02 2.51814689e-03 2.17271263e+02] [-6.24274805e-02 9.98049481e-01 -2.08363815e-04 -1.11518202e+01] [-2.52624289e-03 5.07551696e-05 9.99996808e-01 -1.26177331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.810281693 meters Centerline goodness [0,1] 0.997183217908804 Centerline is valid? [True, True] Translation: X:217.30, Y:-11.15, Z:-1.26 [[ 9.97698007e-01 6.77687631e-02 2.46590680e-03 2.17302946e+02] [-6.77684662e-02 9.97701054e-01 -2.03866210e-04 -1.11460023e+01] [-2.47405357e-03 3.62861902e-05 9.99996939e-01 -1.26116491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.840281693 meters Centerline goodness [0,1] 0.9979849828193272 Centerline is valid? [True, True] Translation: X:217.33, Y:-11.14, Z:-1.26 [[ 9.97289801e-01 7.35242083e-02 2.69147747e-03 2.17334221e+02] [-7.35238749e-02 9.97293432e-01 -2.22743015e-04 -1.11416180e+01] [-2.70056981e-03 2.42514847e-05 9.99996353e-01 -1.26056611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.870281693 meters Centerline goodness [0,1] 0.9990602105982614 Centerline is valid? [True, True] Translation: X:217.37, Y:-11.12, Z:-1.26 [[ 9.96384250e-01 8.49444519e-02 1.69330892e-03 2.17366775e+02] [-8.49443364e-02 9.96385688e-01 -1.40170760e-04 -1.11241185e+01] [-1.69909550e-03 -4.17306470e-06 9.99998557e-01 -1.26274964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.900281693 meters Centerline goodness [0,1] 0.9997025769582121 Centerline is valid? [True, True] Translation: X:217.40, Y:-11.12, Z:-1.27 [[ 9.95963326e-01 8.97543893e-02 1.09634631e-03 2.17396654e+02] [-8.97543437e-02 9.95963930e-01 -9.07623027e-05 -1.11161638e+01] [-1.10006770e-03 -8.00591873e-06 9.99999395e-01 -1.26533497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93028169299998 meters Centerline goodness [0,1] 0.9994228796169631 Centerline is valid? [True, True] Translation: X:217.43, Y:-11.11, Z:-1.27 [[ 9.95345592e-01 9.63677805e-02 6.34974081e-04 2.17426700e+02] [-9.63677664e-02 9.95345795e-01 -5.27290779e-05 -1.11059340e+01] [-6.37100165e-04 -8.70737865e-06 9.99999797e-01 -1.26533683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96028169299998 meters Centerline goodness [0,1] 0.9993627867459643 Centerline is valid? [True, True] Translation: X:217.46, Y:-11.10, Z:-1.26 [[ 9.95187909e-01 9.79704856e-02 1.67644973e-03 2.17455920e+02] [-9.79703906e-02 9.95189320e-01 -1.38888201e-04 -1.11011862e+01] [-1.68199182e-03 -2.60225776e-05 9.99998585e-01 -1.26390101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.990281693 meters Centerline goodness [0,1] 0.9993828999446738 Centerline is valid? [True, True] Translation: X:217.49, Y:-11.10, Z:-1.26 [[ 9.95141669e-01 9.84011607e-02 3.20479424e-03 2.17485477e+02] [-9.84008167e-02 9.95146828e-01 -2.65230758e-04 -1.11039145e+01] [-3.21533983e-03 -5.14121913e-05 9.99994829e-01 -1.26069014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.020281693 meters Centerline goodness [0,1] 0.9993696816892531 Centerline is valid? [True, True] Translation: X:217.51, Y:-11.11, Z:-1.26 [[ 9.95254927e-01 9.71430497e-02 5.55504496e-03 2.17514901e+02] [-9.71419976e-02 9.95270426e-01 -4.59533569e-04 -1.11058778e+01] [-5.57341246e-03 -8.22751160e-05 9.99984465e-01 -1.25625284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.050281693 meters Centerline goodness [0,1] 0.9993561817284374 Centerline is valid? [True, True] Translation: X:217.55, Y:-11.11, Z:-1.26 [[ 9.95417816e-01 9.54850037e-02 5.09763139e-03 2.17545439e+02] [-9.54840966e-02 9.95430866e-01 -4.21596584e-04 -1.11109581e+01] [-5.11459578e-03 -6.70779775e-05 9.99986918e-01 -1.25792491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.080281693 meters Centerline goodness [0,1] 0.9995373485868102 Centerline is valid? [True, True] Translation: X:217.58, Y:-11.11, Z:-1.26 [[ 9.95449322e-01 9.51790802e-02 4.64643242e-03 2.17575289e+02] [-9.51783232e-02 9.95460165e-01 -3.84280974e-04 -1.11116601e+01] [-4.66191389e-03 -5.97074111e-05 9.99989131e-01 -1.25954054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.110281693 meters Centerline goodness [0,1] 0.9994490241369811 Centerline is valid? [True, True] Translation: X:217.61, Y:-11.11, Z:-1.26 [[ 9.95378209e-01 9.59519960e-02 3.92878795e-03 2.17605089e+02] [-9.59514609e-02 9.95385961e-01 -3.24899179e-04 -1.11131162e+01] [-3.94183509e-03 -5.35753798e-05 9.99992230e-01 -1.26007805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.140281693 meters Centerline goodness [0,1] 0.9995559784332382 Centerline is valid? [True, True] Translation: X:217.63, Y:-11.11, Z:-1.26 [[ 9.95202552e-01 9.77864896e-02 3.11176336e-03 2.17634353e+02] [-9.77861630e-02 9.95207416e-01 -2.57295508e-04 -1.11113456e+01] [-3.12201000e-03 -4.82262532e-05 9.99995125e-01 -1.26049501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.170281693 meters Centerline goodness [0,1] 0.9996166052525081 Centerline is valid? [True, True] Translation: X:217.66, Y:-11.12, Z:-1.26 [[ 9.95180752e-01 9.80189109e-02 2.75024951e-03 2.17664004e+02] [-9.80186569e-02 9.95184551e-01 -2.27327137e-04 -1.11160899e+01] [-2.75928818e-03 -4.33441723e-05 9.99996192e-01 -1.26073018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.200281693 meters Centerline goodness [0,1] 0.999635880740233 Centerline is valid? [True, True] Translation: X:217.69, Y:-11.12, Z:-1.26 [[ 9.95286535e-01 9.69627675e-02 1.71293715e-03 2.17693596e+02] [-9.69626674e-02 9.95288009e-01 -1.41587042e-04 -1.11212298e+01] [-1.71859448e-03 -2.51712792e-05 9.99998523e-01 -1.26286721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.230281693 meters Centerline goodness [0,1] 0.9996398686579812 Centerline is valid? [True, True] Translation: X:217.72, Y:-11.13, Z:-1.26 [[ 9.95328192e-01 9.65347700e-02 1.68180720e-03 2.17723422e+02] [-9.65346729e-02 9.95329613e-01 -1.38976123e-04 -1.11252182e+01] [-1.68736853e-03 -2.40258544e-05 9.99998576e-01 -1.26401715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.260281693 meters Centerline goodness [0,1] 0.9997041982716728 Centerline is valid? [True, True] Translation: X:217.75, Y:-11.13, Z:-1.26 [[ 9.95400362e-01 9.57677758e-02 2.57933601e-03 2.17752475e+02] [-9.57675453e-02 9.95403703e-01 -2.13024000e-04 -1.11273593e+01] [-2.58788145e-03 -3.49725117e-05 9.99996651e-01 -1.26372091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.290281693 meters Centerline goodness [0,1] 0.9997239739261524 Centerline is valid? [True, True] Translation: X:217.78, Y:-11.14, Z:-1.26 [[ 9.95539312e-01 9.41393400e-02 6.26595996e-03 2.17781094e+02] [-9.41379492e-02 9.95559028e-01 -5.17194581e-04 -1.11365644e+01] [-6.28682137e-03 -7.49770826e-05 9.99980235e-01 -1.25688285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.320281693 meters Centerline goodness [0,1] 0.999704547852696 Centerline is valid? [True, True] Translation: X:217.81, Y:-11.14, Z:-1.26 [[ 9.95600908e-01 9.34650532e-02 6.56622321e-03 2.17811315e+02] [-9.34635116e-02 9.95622558e-01 -5.41906766e-04 -1.11403462e+01] [-6.58812929e-03 -7.41794108e-05 9.99978295e-01 -1.25614688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.350281693 meters Centerline goodness [0,1] 0.9997010527214879 Centerline is valid? [True, True] Translation: X:217.84, Y:-11.14, Z:-1.26 [[ 9.95603840e-01 9.36301293e-02 2.52830762e-03 2.17842443e+02] [-9.36299013e-02 9.95607050e-01 -2.08652318e-04 -1.11441202e+01] [-2.53673704e-03 -2.89901445e-05 9.99996782e-01 -1.26346251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.380281693 meters Centerline goodness [0,1] 0.9996795419586395 Centerline is valid? [True, True] Translation: X:217.87, Y:-11.14, Z:-1.27 [[ 9.95530471e-01 9.44408362e-02 -1.02341003e-04 2.17871308e+02] [-9.44408359e-02 9.95530476e-01 8.31676825e-06 -1.11449761e+01] [ 1.02669030e-04 1.38557366e-06 9.99999995e-01 -1.26891416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.410281693 meters Centerline goodness [0,1] 0.9995997893628226 Centerline is valid? [True, True] Translation: X:217.90, Y:-11.15, Z:-1.27 [[ 9.95371130e-01 9.60983506e-02 -1.19224034e-03 2.17901412e+02] [-9.60983018e-02 9.95371843e-01 9.82753001e-05 -1.11457110e+01] [ 1.19616656e-03 1.67518759e-05 9.99999284e-01 -1.27093612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.440281693 meters Centerline goodness [0,1] 0.999577417173766 Centerline is valid? [True, True] Translation: X:217.93, Y:-11.14, Z:-1.27 [[ 9.95155472e-01 9.83064952e-02 1.19111448e-03 2.17930655e+02] [-9.83064478e-02 9.95156185e-01 -9.84075447e-05 -1.11423347e+01] [-1.19501905e-03 -1.91634270e-05 9.99999286e-01 -1.26655805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.470281693 meters Centerline goodness [0,1] 0.999576208335982 Centerline is valid? [True, True] Translation: X:217.96, Y:-11.15, Z:-1.26 [[ 9.95107309e-01 9.87723724e-02 2.33724282e-03 2.17960546e+02] [-9.87721918e-02 9.95110053e-01 -1.92839501e-04 -1.11465715e+01] [-2.34486104e-03 -3.89585992e-05 9.99997250e-01 -1.26420493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.500281693 meters Centerline goodness [0,1] 0.9994721283783784 Centerline is valid? [True, True] Translation: X:217.99, Y:-11.15, Z:-1.27 [[ 9.95038702e-01 9.94684506e-02 2.00242768e-03 2.17988860e+02] [-9.94683195e-02 9.95040716e-01 -1.65214845e-04 -1.11485245e+01] [-2.00893074e-03 -3.47829511e-05 9.99997981e-01 -1.26608076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.530281693 meters Centerline goodness [0,1] 0.999469653577717 Centerline is valid? [True, True] Translation: X:218.02, Y:-11.15, Z:-1.27 [[ 9.95049239e-01 9.93708115e-02 1.56634953e-03 2.18018499e+02] [-9.93707313e-02 9.95050472e-01 -1.29181393e-04 -1.11514944e+01] [-1.57143370e-03 -2.71074509e-05 9.99998765e-01 -1.26743220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.560281693 meters Centerline goodness [0,1] 0.9994693496349125 Centerline is valid? [True, True] Translation: X:218.05, Y:-11.15, Z:-1.27 [[ 9.95013975e-01 9.97277952e-02 1.24760089e-03 2.18047912e+02] [-9.97277445e-02 9.95014757e-01 -1.02887951e-04 -1.11538409e+01] [-1.25164208e-03 -2.20454734e-05 9.99999216e-01 -1.26707675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.590281693 meters Centerline goodness [0,1] 0.9995331961212841 Centerline is valid? [True, True] Translation: X:218.08, Y:-11.15, Z:-1.26 [[ 9.94816241e-01 1.01670303e-01 1.94849293e-03 2.18078042e+02] [-1.01670184e-01 9.94818148e-01 -1.60587470e-04 -1.11524550e+01] [-1.95472310e-03 -3.83486103e-05 9.99998089e-01 -1.26482495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.620281693 meters Centerline goodness [0,1] 0.9995331961212841 Centerline is valid? [True, True] Translation: X:218.11, Y:-11.15, Z:-1.26 [[ 9.94818619e-01 1.01647025e-01 1.94849668e-03 2.18107118e+02] [-1.01646906e-01 9.94820527e-01 -1.60541975e-04 -1.11548045e+01] [-1.95472310e-03 -3.83485119e-05 9.99998089e-01 -1.26496228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.650281693 meters Centerline goodness [0,1] 0.9995301253710942 Centerline is valid? [True, True] Translation: X:218.14, Y:-11.15, Z:-1.26 [[ 9.94675758e-01 1.03029701e-01 2.23987738e-03 2.18136928e+02] [-1.03029547e-01 9.94678279e-01 -1.84480521e-04 -1.11541226e+01] [-2.24696435e-03 -4.72752499e-05 9.99997474e-01 -1.26418028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68028169299998 meters Centerline goodness [0,1] 0.999155548049316 Centerline is valid? [True, True] Translation: X:218.17, Y:-11.15, Z:-1.26 [[ 9.94408373e-01 1.05574926e-01 2.43383869e-03 2.18165727e+02] [-1.05574751e-01 9.94411349e-01 -2.00441096e-04 -1.11494242e+01] [-2.44139837e-03 -5.76316104e-05 9.99997018e-01 -1.26376477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71028169299998 meters Centerline goodness [0,1] 0.999174777824799 Centerline is valid? [True, True] Translation: X:218.19, Y:-11.15, Z:-1.26 [[ 9.94365257e-01 1.05983510e-01 2.28733530e-03 2.18194040e+02] [-1.05983357e-01 9.94367886e-01 -1.88329453e-04 -1.11507295e+01] [-2.29441259e-03 -5.51512087e-05 9.99997366e-01 -1.26352394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.740281693 meters Centerline goodness [0,1] 0.9988553501780566 Centerline is valid? [True, True] Translation: X:218.22, Y:-11.15, Z:-1.26 [[ 9.94381635e-01 1.05766883e-01 4.30460093e-03 2.18223006e+02] [-1.05766341e-01 9.94390947e-01 -3.53849957e-04 -1.11513464e+01] [-4.31788180e-03 -1.03419993e-04 9.99990673e-01 -1.25977725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.770281693 meters Centerline goodness [0,1] 0.9987671640522042 Centerline is valid? [True, True] Translation: X:218.25, Y:-11.16, Z:-1.26 [[ 9.94407935e-01 1.05455402e-01 5.65838283e-03 2.18252396e+02] [-1.05454464e-01 9.94424024e-01 -4.64822300e-04 -1.11555149e+01] [-5.67584985e-03 -1.34478745e-04 9.99983883e-01 -1.25726994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.800281693 meters Centerline goodness [0,1] 0.9987148456743847 Centerline is valid? [True, True] Translation: X:218.28, Y:-11.16, Z:-1.26 [[ 9.94449239e-01 1.05002440e-01 6.72292460e-03 2.18281444e+02] [-1.05001106e-01 9.94471952e-01 -5.52090803e-04 -1.11594068e+01] [-6.74373083e-03 -1.56888241e-04 9.99977248e-01 -1.25595785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.830281693 meters Centerline goodness [0,1] 0.9986678226300988 Centerline is valid? [True, True] Translation: X:218.31, Y:-11.17, Z:-1.26 [[ 9.94626141e-01 1.03323327e-01 6.56726777e-03 2.18310430e+02] [-1.03322019e-01 9.94647812e-01 -5.39177452e-04 -1.11657003e+01] [-6.58782813e-03 -1.42263374e-04 9.99978290e-01 -1.25721118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.860281693 meters Centerline goodness [0,1] 0.9991522909337516 Centerline is valid? [True, True] Translation: X:218.34, Y:-11.17, Z:-1.26 [[ 9.94740698e-01 1.02276606e-01 5.51723199e-03 2.18339778e+02] [-1.02275666e-01 9.94755992e-01 -4.52902868e-04 -1.11706774e+01] [-5.53462095e-03 -1.13757663e-04 9.99984677e-01 -1.25969497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.890281693 meters Centerline goodness [0,1] 0.9992135524050417 Centerline is valid? [True, True] Translation: X:218.37, Y:-11.18, Z:-1.26 [[ 9.94884143e-01 1.00950764e-01 3.80592849e-03 2.18368647e+02] [-1.00950307e-01 9.94891420e-01 -3.12368741e-04 -1.11777056e+01] [-3.81801946e-03 -7.34389427e-05 9.99992709e-01 -1.26292054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.920281693 meters Centerline goodness [0,1] 0.9993019566367002 Centerline is valid? [True, True] Translation: X:218.40, Y:-11.18, Z:-1.26 [[ 9.94930762e-01 1.00527026e-01 2.66364892e-03 2.18397242e+02] [-1.00526800e-01 9.94934327e-01 -2.18610978e-04 -1.11815820e+01] [-2.67213205e-03 -5.02653165e-05 9.99996429e-01 -1.26451917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.950281693 meters Centerline goodness [0,1] 0.9993440402886222 Centerline is valid? [True, True] Translation: X:218.43, Y:-11.19, Z:-1.27 [[ 9.95017609e-01 9.96923013e-02 1.18442165e-03 2.18425799e+02] [-9.96922562e-02 9.95018314e-01 -9.72142779e-05 -1.11863236e+01] [-1.18821275e-03 -2.13477485e-05 9.99999294e-01 -1.26772038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.980281693 meters Centerline goodness [0,1] 0.9995494335736355 Centerline is valid? [True, True] Translation: X:218.45, Y:-11.19, Z:-1.27 [[ 9.95027088e-01 9.95986641e-02 1.09572027e-03 2.18454947e+02] [-9.95986255e-02 9.95027691e-01 -8.99199534e-05 -1.11915338e+01] [-1.09922792e-03 -1.96594438e-05 9.99999396e-01 -1.26796967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.010281693 meters Centerline goodness [0,1] 0.9994911480971059 Centerline is valid? [True, True] Translation: X:218.48, Y:-11.19, Z:-1.27 [[ 9.95005615e-01 9.98108755e-02 1.27091805e-03 2.18484686e+02] [-9.98108238e-02 9.95006426e-01 -1.04249510e-04 -1.11938029e+01] [-1.27497687e-03 -2.31225298e-05 9.99999187e-01 -1.26780142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.040281693 meters Centerline goodness [0,1] 0.9996806472216309 Centerline is valid? [True, True] Translation: X:218.51, Y:-11.20, Z:-1.27 [[ 9.94940439e-01 1.00453213e-01 1.63533406e-03 2.18513818e+02] [-1.00453128e-01 9.94941783e-01 -1.34071503e-04 -1.11961105e+01] [-1.64053010e-03 -3.08812623e-05 9.99998654e-01 -1.26662612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.070281693 meters Centerline goodness [0,1] 0.9996815083763297 Centerline is valid? [True, True] Translation: X:218.54, Y:-11.20, Z:-1.27 [[ 9.94900690e-01 1.00845406e-01 1.67945457e-03 2.18542559e+02] [-1.00845317e-01 9.94902107e-01 -1.37681230e-04 -1.11967482e+01] [-1.68477741e-03 -3.23859777e-05 9.99998580e-01 -1.26601197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.100281693 meters Centerline goodness [0,1] 0.9996764661475745 Centerline is valid? [True, True] Translation: X:218.57, Y:-11.20, Z:-1.27 [[ 9.94811646e-01 1.01716529e-01 1.88083948e-03 2.18572098e+02] [-1.01716420e-01 9.94813423e-01 -1.54070998e-04 -1.11951080e+01] [-1.88675593e-03 -3.80406346e-05 9.99998219e-01 -1.26624146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.130281693 meters Centerline goodness [0,1] 0.9995711191645401 Centerline is valid? [True, True] Translation: X:218.60, Y:-11.20, Z:-1.27 [[ 9.94807312e-01 1.01761266e-01 1.74832659e-03 2.18600944e+02] [-1.01761171e-01 9.94808848e-01 -1.43217297e-04 -1.11956381e+01] [-1.75382474e-03 -3.54381480e-05 9.99998461e-01 -1.26671739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.160281693 meters Centerline goodness [0,1] 0.9995784237263127 Centerline is valid? [True, True] Translation: X:218.63, Y:-11.19, Z:-1.27 [[ 9.94867325e-01 1.01175214e-01 1.60681221e-03 2.18629566e+02] [-1.01175134e-01 9.94868622e-01 -1.31578916e-04 -1.11945440e+01] [-1.61187958e-03 -3.16658756e-05 9.99998700e-01 -1.26792431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.190281693 meters Centerline goodness [0,1] 0.999722613408441 Centerline is valid? [True, True] Translation: X:218.66, Y:-11.20, Z:-1.27 [[ 9.95049381e-01 9.93607688e-02 2.04114437e-03 2.18658613e+02] [-9.93606353e-02 9.95051474e-01 -1.66998039e-04 -1.11995462e+01] [-2.04763677e-03 -3.66381062e-05 9.99997903e-01 -1.26607786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.220281693 meters Centerline goodness [0,1] 0.9997866757685006 Centerline is valid? [True, True] Translation: X:218.69, Y:-11.20, Z:-1.27 [[ 9.95131844e-01 9.85380774e-02 1.69112299e-03 2.18688086e+02] [-9.85379846e-02 9.95133281e-01 -1.38340830e-04 -1.11988142e+01] [-1.69652460e-03 -2.89724855e-05 9.99998560e-01 -1.26602722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.250281693 meters Centerline goodness [0,1] 0.9995595914686576 Centerline is valid? [True, True] Translation: X:218.72, Y:-11.20, Z:-1.27 [[ 9.95148940e-01 9.83664478e-02 1.62147518e-03 2.18716570e+02] [-9.83663621e-02 9.95150261e-01 -1.32743516e-04 -1.11958359e+01] [-1.62666895e-03 -2.73990446e-05 9.99998677e-01 -1.26710760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.280281693 meters Centerline goodness [0,1] 0.9996613971599687 Centerline is valid? [True, True] Translation: X:218.75, Y:-11.20, Z:-1.27 [[ 9.95165483e-01 9.81925345e-02 1.97188164e-03 2.18745810e+02] [-9.81924078e-02 9.95167436e-01 -1.61170568e-04 -1.11969017e+01] [-1.97817814e-03 -3.32324199e-05 9.99998043e-01 -1.26623573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.310281693 meters Centerline goodness [0,1] 0.9997023556424866 Centerline is valid? [True, True] Translation: X:218.78, Y:-11.19, Z:-1.26 [[ 9.95156145e-01 9.82117980e-02 4.32310229e-03 2.18775107e+02] [-9.82111914e-02 9.95165533e-01 -3.52882059e-04 -1.11943340e+01] [-4.33685957e-03 -7.34042764e-05 9.99990593e-01 -1.26235471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.340281693 meters Centerline goodness [0,1] 0.9995772117112356 Centerline is valid? [True, True] Translation: X:218.80, Y:-11.20, Z:-1.26 [[ 9.95167380e-01 9.80539439e-02 5.22584460e-03 2.18804777e+02] [-9.80530569e-02 9.95181097e-01 -4.26292988e-04 -1.11954622e+01] [-5.24246147e-03 -8.81771612e-05 9.99986254e-01 -1.26122296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.370281693 meters Centerline goodness [0,1] 0.9997004899129281 Centerline is valid? [True, True] Translation: X:218.83, Y:-11.20, Z:-1.26 [[ 9.95278427e-01 9.69269655e-02 5.10060047e-03 2.18833859e+02] [-9.69261063e-02 9.95291493e-01 -4.15960368e-04 -1.11958057e+01] [-5.11690203e-03 -8.03849625e-05 9.99986905e-01 -1.26148360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.400281693 meters Centerline goodness [0,1] 0.9996009577015164 Centerline is valid? [True, True] Translation: X:218.86, Y:-11.20, Z:-1.26 [[ 9.95352757e-01 9.61777294e-02 4.76795103e-03 2.18862297e+02] [-9.61769705e-02 9.95364174e-01 -3.88735086e-04 -1.11977730e+01] [-4.78323529e-03 -7.16385455e-05 9.99988558e-01 -1.26271160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43028169299998 meters Centerline goodness [0,1] 0.9996188459502382 Centerline is valid? [True, True] Translation: X:218.89, Y:-11.20, Z:-1.26 [[ 9.95445597e-01 9.52481158e-02 3.98244329e-03 2.18890611e+02] [-9.52475793e-02 9.95453562e-01 -3.24573769e-04 -1.11982812e+01] [-3.99525240e-03 -5.62225534e-05 9.99992017e-01 -1.26448881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46028169299998 meters Centerline goodness [0,1] 0.9996819945303059 Centerline is valid? [True, True] Translation: X:218.92, Y:-11.20, Z:-1.27 [[ 9.95587877e-01 9.38032975e-02 2.39182227e-03 2.18919547e+02] [-9.38030998e-02 9.95590749e-01 -1.94928164e-04 -1.12032022e+01] [-2.39956103e-03 -3.02922261e-05 9.99997121e-01 -1.26780841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.490281693 meters Centerline goodness [0,1] 0.9998944212171123 Centerline is valid? [True, True] Translation: X:218.95, Y:-11.20, Z:-1.27 [[ 9.95675327e-01 9.28822631e-02 1.87841549e-03 2.18947846e+02] [-9.28821395e-02 9.95677099e-01 -1.53098538e-04 -1.12047221e+01] [-1.88451542e-03 -2.20348126e-05 9.99998224e-01 -1.26909228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.520281693 meters Centerline goodness [0,1] 0.9999785444558874 Centerline is valid? [True, True] Translation: X:218.98, Y:-11.21, Z:-1.27 [[ 9.95961868e-01 8.97575644e-02 1.88097637e-03 2.18977158e+02] [-8.97574351e-02 9.95963644e-01 -1.53209832e-04 -1.12086722e+01] [-1.88713582e-03 -1.62404639e-05 9.99998219e-01 -1.26906335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.550281693 meters Centerline goodness [0,1] 0.9999157344793445 Centerline is valid? [True, True] Translation: X:219.01, Y:-11.21, Z:-1.27 [[ 9.96143881e-01 8.77074389e-02 2.18483283e-03 2.19005325e+02] [-8.77072596e-02 9.96146277e-01 -1.77920628e-04 -1.12128964e+01] [-2.19201805e-03 -1.43911558e-05 9.99997597e-01 -1.26974771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.580281693 meters Centerline goodness [0,1] 0.9999151715655088 Centerline is valid? [True, True] Translation: X:219.03, Y:-11.22, Z:-1.27 [[ 9.96500692e-01 8.35748513e-02 1.27119427e-03 2.19034669e+02] [-8.35747873e-02 9.96501502e-01 -1.03503175e-04 -1.12207008e+01] [-1.27539726e-03 -3.09880544e-06 9.99999187e-01 -1.27234956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.610281693 meters Centerline goodness [0,1] 0.9997639839509087 Centerline is valid? [True, True] Translation: X:219.06, Y:-11.23, Z:-1.27 [[ 9.96657482e-01 8.16932710e-02 2.70532349e-04 2.19064253e+02] [-8.16932680e-02 9.96657519e-01 -2.21046284e-05 -1.12257298e+01] [-2.71433899e-04 -6.99283511e-08 9.99999963e-01 -1.27389689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.640281693 meters Centerline goodness [0,1] 0.9997020135370993 Centerline is valid? [True, True] Translation: X:219.09, Y:-11.23, Z:-1.28 [[ 9.96786583e-01 8.01030846e-02 -5.51015831e-05 2.19094064e+02] [-8.01030845e-02 9.96786585e-01 4.37420125e-06 -1.12304871e+01] [ 5.52749058e-05 5.36616424e-08 9.99999998e-01 -1.27516948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.670281693 meters Centerline goodness [0,1] 0.9993041938136504 Centerline is valid? [True, True] Translation: X:219.12, Y:-11.24, Z:-1.27 [[ 9.97044895e-01 7.68202067e-02 3.64617110e-04 2.19121707e+02] [-7.68202010e-02 9.97044962e-01 -2.97514237e-05 -1.12388512e+01] [-3.65825164e-04 1.65354541e-06 9.99999933e-01 -1.27416962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.700281693 meters Centerline goodness [0,1] 0.9991022188021034 Centerline is valid? [True, True] Translation: X:219.15, Y:-11.24, Z:-1.27 [[ 9.97168864e-01 7.51920915e-02 6.37574065e-04 2.19151932e+02] [-7.51920737e-02 9.97169068e-01 -5.18142317e-05 -1.12445127e+01] [-6.39665157e-04 3.72702246e-06 9.99999795e-01 -1.27313157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.730281693 meters Centerline goodness [0,1] 0.9989889415481833 Centerline is valid? [True, True] Translation: X:219.18, Y:-11.25, Z:-1.27 [[ 9.97376736e-01 7.23798044e-02 9.00302096e-04 2.19182139e+02] [-7.23797678e-02 9.97377142e-01 -7.31655567e-05 -1.12522863e+01] [-9.03236440e-04 7.80996743e-06 9.99999592e-01 -1.27189015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.760281693 meters Centerline goodness [0,1] 0.9984840397138892 Centerline is valid? [True, True] Translation: X:219.21, Y:-11.26, Z:-1.27 [[ 9.97476712e-01 7.09858068e-02 1.10642368e-03 2.19212405e+02] [-7.09857508e-02 9.97477326e-01 -8.98758665e-05 -1.12590415e+01] [-1.11001244e-03 1.11087682e-05 9.99999384e-01 -1.27148245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.790281693 meters Centerline goodness [0,1] 0.9982695265766536 Centerline is valid? [True, True] Translation: X:219.24, Y:-11.27, Z:-1.27 [[ 9.97560631e-01 6.97871419e-02 1.59448122e-03 2.19242862e+02] [-6.97870240e-02 9.97561905e-01 -1.29528122e-04 -1.12661137e+01] [-1.59963312e-03 1.79380562e-05 9.99998720e-01 -1.27078535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.820281693 meters Centerline goodness [0,1] 0.9981428722169463 Centerline is valid? [True, True] Translation: X:219.27, Y:-11.28, Z:-1.27 [[ 9.97681471e-01 6.80139378e-02 2.40553893e-03 2.19272107e+02] [-6.80136639e-02 9.97684371e-01 -1.95548845e-04 -1.12791343e+01] [-2.41326864e-03 3.14859432e-05 9.99997088e-01 -1.26955644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.850281693 meters Centerline goodness [0,1] 0.9980370636160243 Centerline is valid? [True, True] Translation: X:219.30, Y:-11.29, Z:-1.27 [[ 9.97723446e-01 6.74000308e-02 2.27201063e-03 2.19302520e+02] [-6.73997856e-02 9.97726032e-01 -1.84401663e-04 -1.12851245e+01] [-2.27927283e-03 3.08488336e-05 9.99997402e-01 -1.26973627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.880281693 meters Centerline goodness [0,1] 0.9979942148934823 Centerline is valid? [True, True] Translation: X:219.33, Y:-11.29, Z:-1.27 [[ 9.97672922e-01 6.81718939e-02 1.15520886e-03 2.19333377e+02] [-6.81718312e-02 9.97673590e-01 -9.36008277e-05 -1.12895350e+01] [-1.15890231e-03 1.46303082e-05 9.99999328e-01 -1.27174791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.910281693 meters Centerline goodness [0,1] 0.9983575786015955 Centerline is valid? [True, True] Translation: X:219.36, Y:-11.29, Z:-1.27 [[ 9.97563879e-01 6.97479161e-02 1.23894169e-03 2.19364940e+02] [-6.97478444e-02 9.97564649e-01 -1.01016148e-04 -1.12909513e+01] [-1.24297010e-03 1.43565486e-05 9.99999227e-01 -1.27120607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.940281693 meters Centerline goodness [0,1] 0.9987521678439998 Centerline is valid? [True, True] Translation: X:219.40, Y:-11.29, Z:-1.27 [[ 9.97393094e-01 7.21396205e-02 1.70023267e-03 2.19395453e+02] [-7.21394891e-02 9.97394543e-01 -1.38589821e-04 -1.12908395e+01] [-1.70580061e-03 1.55746146e-05 9.99998545e-01 -1.26972295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.970281693 meters Centerline goodness [0,1] 0.9994045467111838 Centerline is valid? [True, True] Translation: X:219.43, Y:-11.28, Z:-1.27 [[ 9.96985757e-01 7.75355798e-02 2.76295652e-03 2.19426426e+02] [-7.75352521e-02 9.96989586e-01 -2.25664939e-04 -1.12831650e+01] [-2.77213593e-03 1.07581994e-05 9.99996158e-01 -1.26615260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.000281693 meters Centerline goodness [0,1] 0.9998105303046252 Centerline is valid? [True, True] Translation: X:219.46, Y:-11.28, Z:-1.26 [[ 9.96565098e-01 8.26962207e-02 4.39771075e-03 2.19456096e+02] [-8.26954408e-02 9.96574802e-01 -3.59187097e-04 -1.12771094e+01] [-4.41235113e-03 -5.71730394e-06 9.99990266e-01 -1.26492614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.030281693 meters Centerline goodness [0,1] 0.9998513611075721 Centerline is valid? [True, True] Translation: X:219.49, Y:-11.28, Z:-1.26 [[ 9.96416755e-01 8.44569867e-02 4.54609973e-03 2.19486954e+02] [-8.44561719e-02 9.96427126e-01 -3.71250343e-04 -1.12772764e+01] [-4.56121178e-03 -1.40261189e-05 9.99989598e-01 -1.26483927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.060281693 meters Centerline goodness [0,1] 0.9998931030059435 Centerline is valid? [True, True] Translation: X:219.52, Y:-11.28, Z:-1.27 [[ 9.96332899e-01 8.54635642e-02 4.09057774e-03 2.19517721e+02] [-8.54629128e-02 9.96341296e-01 -3.34099229e-04 -1.12777944e+01] [-4.10416484e-03 -1.67186352e-05 9.99991578e-01 -1.26631482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.090281693 meters Centerline goodness [0,1] 0.9997882029016203 Centerline is valid? [True, True] Translation: X:219.55, Y:-11.28, Z:-1.27 [[ 9.96271435e-01 8.62577626e-02 1.68117565e-03 2.19548263e+02] [-8.62576537e-02 9.96272853e-01 -1.37310552e-04 -1.12769435e+01] [-1.68675376e-03 -8.21568609e-06 9.99998577e-01 -1.27075172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.120281693 meters Centerline goodness [0,1] 0.9999361022364217 Centerline is valid? [True, True] Translation: X:219.58, Y:-11.28, Z:-1.27 [[ 9.96254499e-01 8.64539010e-02 1.64216493e-03 2.19577705e+02] [-8.64537972e-02 9.96255852e-01 -1.34194672e-04 -1.12786085e+01] [-1.64761807e-03 -8.27934764e-06 9.99998643e-01 -1.27081177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.150281693 meters Centerline goodness [0,1] 0.9998940251372375 Centerline is valid? [True, True] Translation: X:219.61, Y:-11.28, Z:-1.27 [[ 9.96306133e-01 8.58170857e-02 3.08490932e-03 2.19606461e+02] [-8.58167170e-02 9.96310909e-01 -2.51928480e-04 -1.12803173e+01] [-3.09514858e-03 -1.37389004e-05 9.99995210e-01 -1.26853723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18028169299998 meters Centerline goodness [0,1] 0.9999573224078697 Centerline is valid? [True, True] Translation: X:219.64, Y:-11.28, Z:-1.27 [[ 9.96345129e-01 8.53740106e-02 2.76798358e-03 2.19636172e+02] [-8.53737123e-02 9.96348974e-01 -2.25985893e-04 -1.12829383e+01] [-2.77717092e-03 -1.11530903e-05 9.99996144e-01 -1.26888432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21028169299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.67, Y:-11.28, Z:-1.27 [[ 9.96325131e-01 8.56388395e-02 1.49102300e-03 2.19665653e+02] [-8.56387532e-02 9.96326246e-01 -1.21748248e-04 -1.12843340e+01] [-1.49597173e-03 -6.38851172e-06 9.99998881e-01 -1.27091635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.240281693 meters Centerline goodness [0,1] 0.9999362475295918 Centerline is valid? [True, True] Translation: X:219.69, Y:-11.28, Z:-1.28 [[ 9.96177182e-01 8.73527134e-02 -7.24644614e-04 2.19694964e+02] [-8.73526936e-02 9.96177446e-01 5.89738842e-05 -1.12812055e+01] [ 7.27026150e-04 4.55122118e-06 9.99999736e-01 -1.27610707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.270281693 meters Centerline goodness [0,1] 0.9999788971658894 Centerline is valid? [True, True] Translation: X:219.72, Y:-11.28, Z:-1.28 [[ 9.96116843e-01 8.80388729e-02 -6.26121096e-04 2.19724218e+02] [-8.80388583e-02 9.96117040e-01 5.08925335e-05 -1.12813606e+01] [ 6.28170414e-04 4.42807663e-06 9.99999803e-01 -1.27658176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.300281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.75, Y:-11.28, Z:-1.27 [[ 9.96123150e-01 8.79684280e-02 4.74986960e-04 2.19752696e+02] [-8.79684194e-02 9.96123263e-01 -3.89108606e-05 -1.12815985e+01] [-4.76568488e-04 -3.02384306e-06 9.99999886e-01 -1.27418105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.330281693 meters Centerline goodness [0,1] 0.9999789411616056 Centerline is valid? [True, True] Translation: X:219.78, Y:-11.28, Z:-1.27 [[ 9.96224149e-01 8.68155207e-02 7.13697827e-04 2.19781642e+02] [-8.68155012e-02 9.96224405e-01 -5.82846903e-05 -1.12830650e+01] [-7.16063209e-04 -3.89541852e-06 9.99999744e-01 -1.27486222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.360281693 meters Centerline goodness [0,1] 0.9999574893191915 Centerline is valid? [True, True] Translation: X:219.81, Y:-11.29, Z:-1.28 [[ 9.96359262e-01 8.52537654e-02 1.31002720e-04 2.19811208e+02] [-8.52537647e-02 9.96359270e-01 -1.07656416e-05 -1.12878219e+01] [-1.31443586e-04 -4.42028300e-07 9.99999991e-01 -1.27649753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.390281693 meters Centerline goodness [0,1] 0.9998292130993552 Centerline is valid? [True, True] Translation: X:219.84, Y:-11.30, Z:-1.28 [[ 9.96767008e-01 8.03210220e-02 -2.01635624e-03 2.19840514e+02] [-8.03208545e-02 9.96769047e-01 1.64039372e-04 -1.12991189e+01] [ 2.02301730e-03 -1.55357713e-06 9.99997954e-01 -1.27899444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.420281693 meters Centerline goodness [0,1] 0.9996604630435244 Centerline is valid? [True, True] Translation: X:219.87, Y:-11.31, Z:-1.28 [[ 9.97024998e-01 7.70472619e-02 -2.20751636e-03 2.19868966e+02] [-7.70470532e-02 9.97027442e-01 1.79532692e-04 -1.13074179e+01] [ 2.21478689e-03 -8.91595176e-06 9.99997547e-01 -1.28165530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.450281693 meters Centerline goodness [0,1] 0.9986942695280416 Centerline is valid? [True, True] Translation: X:219.90, Y:-11.32, Z:-1.28 [[ 9.97525973e-01 7.02985761e-02 2.08760251e-04 2.19898426e+02] [-7.02985741e-02 9.97525995e-01 -1.69890363e-05 -1.13212696e+01] [-2.09438082e-04 2.27145701e-06 9.99999978e-01 -1.27556524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.480281693 meters Centerline goodness [0,1] 0.9986942695280416 Centerline is valid? [True, True] Translation: X:219.93, Y:-11.32, Z:-1.28 [[ 9.97525973e-01 7.02985761e-02 2.08760251e-04 2.19928328e+02] [-7.02985741e-02 9.97525995e-01 -1.69890363e-05 -1.13237031e+01] [-2.09438082e-04 2.27145702e-06 9.99999978e-01 -1.27570648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.510281693 meters Centerline goodness [0,1] 0.9984572141090939 Centerline is valid? [True, True] Translation: X:219.96, Y:-11.33, Z:-1.27 [[ 9.97748709e-01 6.70369754e-02 1.88638208e-03 2.19959127e+02] [-6.70368050e-02 9.97750491e-01 -1.53449469e-04 -1.13302330e+01] [-1.89242543e-03 2.66469822e-05 9.99998209e-01 -1.27128167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.540281693 meters Centerline goodness [0,1] 0.996142596752999 Centerline is valid? [True, True] Translation: X:219.99, Y:-11.35, Z:-1.27 [[ 9.98101849e-01 6.14449519e-02 4.14939633e-03 2.19987649e+02] [-6.14440785e-02 9.98110470e-01 -3.37777193e-04 -1.13466072e+01] [-4.16231063e-03 8.21802076e-05 9.99991334e-01 -1.26651961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.570281693 meters Centerline goodness [0,1] 0.9958976988654573 Centerline is valid? [True, True] Translation: X:220.02, Y:-11.35, Z:-1.27 [[ 9.98227945e-01 5.93611012e-02 4.15078737e-03 2.20019571e+02] [-5.93602095e-02 9.98236571e-01 -3.37800159e-04 -1.13505969e+01] [-4.16351994e-03 9.08099511e-05 9.99991328e-01 -1.26595606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.600281693 meters Centerline goodness [0,1] 0.9947150106331459 Centerline is valid? [True, True] Translation: X:220.05, Y:-11.37, Z:-1.27 [[ 9.98361612e-01 5.70905569e-02 3.84192854e-03 2.20049476e+02] [-5.70897738e-02 9.98369000e-01 -3.13258154e-04 -1.13655080e+01] [-3.85354644e-03 9.34100841e-05 9.99992571e-01 -1.26749574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.630281693 meters Centerline goodness [0,1] 0.9943596122501501 Centerline is valid? [True, True] Translation: X:220.08, Y:-11.38, Z:-1.27 [[ 9.98582609e-01 5.31534321e-02 2.73592518e-03 2.20079626e+02] [-5.31530189e-02 9.98586354e-01 -2.23568427e-04 -1.13750142e+01] [-2.74394098e-03 7.78288604e-05 9.99996232e-01 -1.27056950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.660281693 meters Centerline goodness [0,1] 0.9938244094989495 Centerline is valid? [True, True] Translation: X:220.11, Y:-11.38, Z:-1.27 [[ 9.98611292e-01 5.25987234e-02 2.97680662e-03 2.20110460e+02] [-5.25982323e-02 9.98615725e-01 -2.43055672e-04 -1.13820159e+01] [-2.98547032e-03 8.61433724e-05 9.99995540e-01 -1.27032335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.690281693 meters Centerline goodness [0,1] 0.9941318532327769 Centerline is valid? [True, True] Translation: X:220.14, Y:-11.39, Z:-1.27 [[ 9.98590127e-01 5.29983099e-02 2.98966739e-03 2.20140666e+02] [-5.29978151e-02 9.98594598e-01 -2.44555468e-04 -1.13918969e+01] [-2.99842673e-03 8.57648363e-05 9.99995501e-01 -1.26960528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.720281693 meters Centerline goodness [0,1] 0.9940926125897224 Centerline is valid? [True, True] Translation: X:220.17, Y:-11.40, Z:-1.27 [[ 9.98600962e-01 5.28222045e-02 2.43573954e-03 2.20172820e+02] [-5.28218750e-02 9.98603930e-01 -1.99457260e-04 -1.13990489e+01] [-2.44287485e-03 7.05178823e-05 9.99997014e-01 -1.27052642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.750281693 meters Centerline goodness [0,1] 0.9939278204523023 Centerline is valid? [True, True] Translation: X:220.20, Y:-11.41, Z:-1.27 [[ 9.98671988e-01 5.14695669e-02 2.26822043e-03 2.20203747e+02] [-5.14692770e-02 9.98674561e-01 -1.86067807e-04 -1.14104876e+01] [-2.27479087e-03 6.90770416e-05 9.99997410e-01 -1.27110137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.780281693 meters Centerline goodness [0,1] 0.9936137602179836 Centerline is valid? [True, True] Translation: X:220.24, Y:-11.42, Z:-1.27 [[ 9.98723341e-01 5.04692026e-02 2.13258556e-03 2.20235481e+02] [-5.04689435e-02 9.98725615e-01 -1.75185780e-04 -1.14175425e+01] [-2.13870932e-03 6.73327875e-05 9.99997711e-01 -1.27150218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.810281693 meters Centerline goodness [0,1] 0.9928316941522838 Centerline is valid? [True, True] Translation: X:220.27, Y:-11.42, Z:-1.27 [[ 9.98754935e-01 4.98528011e-02 1.81066421e-03 2.20266258e+02] [-4.98526129e-02 9.98756574e-01 -1.48951553e-04 -1.14241750e+01] [-1.81583844e-03 5.84997566e-05 9.99998350e-01 -1.27202960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.840281693 meters Centerline goodness [0,1] 0.9944503508398894 Centerline is valid? [True, True] Translation: X:220.30, Y:-11.43, Z:-1.27 [[ 9.98712489e-01 5.07279722e-02 1.94502035e-04 2.20298514e+02] [-5.07279702e-02 9.98712508e-01 -1.53312347e-05 -1.14277919e+01] [-1.95029337e-04 5.44480216e-06 9.99999981e-01 -1.27478123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.870281693 meters Centerline goodness [0,1] 0.9948391207390889 Centerline is valid? [True, True] Translation: X:220.33, Y:-11.43, Z:-1.28 [[ 9.98636677e-01 5.21982343e-02 -3.63839519e-04 2.20329604e+02] [-5.21982266e-02 9.98636743e-01 3.06057089e-05 -1.14335694e+01] [ 3.64941076e-04 -1.15722057e-05 9.99999933e-01 -1.27599087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.900281693 meters Centerline goodness [0,1] 0.9953587477057446 Centerline is valid? [True, True] Translation: X:220.36, Y:-11.44, Z:-1.28 [[ 9.98414026e-01 5.62915531e-02 -8.32574200e-04 2.20358965e+02] [-5.62915151e-02 9.98414373e-01 6.90215482e-05 -1.14400298e+01] [ 8.35139378e-04 -2.20452187e-05 9.99999651e-01 -1.27798035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93028169299998 meters Centerline goodness [0,1] 0.9967607884922749 Centerline is valid? [True, True] Translation: X:220.39, Y:-11.44, Z:-1.28 [[ 9.98261887e-01 5.89335476e-02 -2.06726395e-04 2.20390824e+02] [-5.89335453e-02 9.98261908e-01 1.72530292e-05 -1.14360069e+01] [ 2.07383868e-04 -5.03992215e-06 9.99999978e-01 -1.27595510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96028169299998 meters Centerline goodness [0,1] 0.9972286862703618 Centerline is valid? [True, True] Translation: X:220.42, Y:-11.44, Z:-1.27 [[ 9.98074733e-01 6.20191330e-02 6.73863435e-04 2.20422449e+02] [-6.20191094e-02 9.98074961e-01 -5.57854788e-05 -1.14359489e+01] [-6.76025988e-04 1.38856667e-05 9.99999771e-01 -1.27470393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.990281693 meters Centerline goodness [0,1] 0.9981272611193871 Centerline is valid? [True, True] Translation: X:220.45, Y:-11.44, Z:-1.27 [[ 9.97727946e-01 6.73628654e-02 1.09089925e-03 2.20453583e+02] [-6.73628068e-02 9.97728542e-01 -9.04041426e-05 -1.14358547e+01] [-1.09451120e-03 1.67127041e-05 9.99999401e-01 -1.27380085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.020281693 meters Centerline goodness [0,1] 0.9986683013443814 Centerline is valid? [True, True] Translation: X:220.49, Y:-11.44, Z:-1.28 [[ 9.97563380e-01 6.97654793e-02 2.85735555e-04 2.20485414e+02] [-6.97654755e-02 9.97563420e-01 -2.30088612e-05 -1.14368345e+01] [-2.86644562e-04 3.01832039e-06 9.99999959e-01 -1.27576866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.050281693 meters Centerline goodness [0,1] 0.9989914812351136 Centerline is valid? [True, True] Translation: X:220.52, Y:-11.44, Z:-1.28 [[ 9.97324866e-01 7.30964986e-02 -1.15889834e-04 2.20517512e+02] [-7.30964978e-02 9.97324873e-01 1.04280411e-05 -1.14366865e+01] [ 1.16342067e-04 -1.92900371e-06 9.99999993e-01 -1.27668174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.080281693 meters Centerline goodness [0,1] 0.999015179087542 Centerline is valid? [True, True] Translation: X:220.55, Y:-11.44, Z:-1.28 [[ 9.97254847e-01 7.40432894e-02 6.00418965e-04 2.20548139e+02] [-7.40432731e-02 9.97255028e-01 -4.93877672e-05 -1.14408478e+01] [-6.02427664e-04 4.79520490e-06 9.99999819e-01 -1.27530874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.110281693 meters Centerline goodness [0,1] 0.9989394871359789 Centerline is valid? [True, True] Translation: X:220.58, Y:-11.45, Z:-1.27 [[ 9.97205528e-01 7.46864881e-02 1.75013690e-03 2.20578969e+02] [-7.46863476e-02 9.97207064e-01 -1.45602890e-04 -1.14454320e+01] [-1.75612344e-03 1.44846746e-05 9.99998458e-01 -1.27327340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.140281693 meters Centerline goodness [0,1] 0.9989462814271565 Centerline is valid? [True, True] Translation: X:220.61, Y:-11.45, Z:-1.27 [[ 9.97000630e-01 7.72799330e-02 4.18993745e-03 2.20609838e+02] [-7.72791436e-02 9.97009434e-01 -3.50199468e-04 -1.14484361e+01] [-4.20447055e-03 2.53543121e-05 9.99991161e-01 -1.26825027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.170281693 meters Centerline goodness [0,1] 0.9992777329311298 Centerline is valid? [True, True] Translation: X:220.64, Y:-11.45, Z:-1.27 [[ 9.96826293e-01 7.94483676e-02 5.02978015e-03 2.20641689e+02] [-7.94472532e-02 9.96838982e-01 -4.21292577e-04 -1.14491254e+01] [-5.04735193e-03 2.03533006e-05 9.99987262e-01 -1.26727620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.200281693 meters Centerline goodness [0,1] 0.9994522279574424 Centerline is valid? [True, True] Translation: X:220.67, Y:-11.45, Z:-1.27 [[ 9.96302991e-01 8.57380848e-02 5.41585686e-03 2.20673408e+02] [-8.57368805e-02 9.96317711e-01 -4.54574819e-04 -1.14450081e+01] [-5.43488848e-03 -1.14444210e-05 9.99985231e-01 -1.26685927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.230281693 meters Centerline goodness [0,1] 0.9994073196029042 Centerline is valid? [True, True] Translation: X:220.71, Y:-11.44, Z:-1.27 [[ 9.95981306e-01 8.94208299e-02 5.01532149e-03 2.20705635e+02] [-8.94198402e-02 9.95993933e-01 -4.21672002e-04 -1.14434522e+01] [-5.03293603e-03 -2.84918151e-05 9.99987334e-01 -1.26799871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.260281693 meters Centerline goodness [0,1] 0.9995291196678153 Centerline is valid? [True, True] Translation: X:220.74, Y:-11.44, Z:-1.27 [[ 9.95701329e-01 9.25230494e-02 4.28343004e-03 2.20737809e+02] [-9.25223537e-02 9.95710542e-01 -3.60716658e-04 -1.14429339e+01] [-4.29843106e-03 -3.71469737e-05 9.99990761e-01 -1.26963195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.290281693 meters Centerline goodness [0,1] 0.9995348837209302 Centerline is valid? [True, True] Translation: X:220.77, Y:-11.44, Z:-1.27 [[ 9.95268831e-01 9.71110663e-02 3.06512035e-03 2.20769573e+02] [-9.71107308e-02 9.95273550e-01 -2.58429909e-04 -1.14391685e+01] [-3.07572962e-03 -4.04488438e-05 9.99995269e-01 -1.27131782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.320281693 meters Centerline goodness [0,1] 0.9992983798953948 Centerline is valid? [True, True] Translation: X:220.80, Y:-11.44, Z:-1.27 [[ 9.95116788e-01 9.86496018e-02 3.29151596e-03 2.20801590e+02] [-9.86492216e-02 9.95122231e-01 -2.78058836e-04 -1.14410794e+01] [-3.30289110e-03 -4.80044722e-05 9.99994544e-01 -1.27118272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.350281693 meters Centerline goodness [0,1] 0.9993008474576272 Centerline is valid? [True, True] Translation: X:220.83, Y:-11.45, Z:-1.27 [[ 9.95065603e-01 9.91511157e-02 3.67456085e-03 2.20833292e+02] [-9.91506428e-02 9.95072386e-01 -3.11103543e-04 -1.14458766e+01] [-3.68730029e-03 -5.47666357e-05 9.99993200e-01 -1.27104954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.380281693 meters Centerline goodness [0,1] 0.9991987517395522 Centerline is valid? [True, True] Translation: X:220.86, Y:-11.45, Z:-1.27 [[ 9.95140765e-01 9.84083455e-02 3.26419055e-03 2.20864297e+02] [-9.84079666e-02 9.95146118e-01 -2.76877612e-04 -1.14496861e+01] [-3.27559363e-03 -4.56901565e-05 9.99994634e-01 -1.27209151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.410281693 meters Centerline goodness [0,1] 0.9994075829383886 Centerline is valid? [True, True] Translation: X:220.90, Y:-11.46, Z:-1.27 [[ 9.95230154e-01 9.75171577e-02 2.70996812e-03 2.20896521e+02] [-9.75168925e-02 9.95233843e-01 -2.30130078e-04 -1.14556384e+01] [-2.71949362e-03 -3.52352768e-05 9.99996302e-01 -1.27304693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.440281693 meters Centerline goodness [0,1] 0.999297812579794 Centerline is valid? [True, True] Translation: X:220.93, Y:-11.46, Z:-1.28 [[ 9.95167484e-01 9.81886872e-02 8.13052293e-04 2.20927384e+02] [-9.81886639e-02 9.95167816e-01 -6.86876805e-05 -1.14551425e+01] [-8.15867828e-04 -1.14767721e-05 9.99999667e-01 -1.27610670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.470281693 meters Centerline goodness [0,1] 0.9991921596972725 Centerline is valid? [True, True] Translation: X:220.96, Y:-11.46, Z:-1.28 [[ 9.94985365e-01 1.00020115e-01 3.15617728e-04 2.20959478e+02] [-1.00020112e-01 9.94985415e-01 -2.62169437e-05 -1.14563798e+01] [-3.16657258e-04 -5.48264513e-06 9.99999950e-01 -1.27642437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.500281693 meters Centerline goodness [0,1] 0.999037021185534 Centerline is valid? [True, True] Translation: X:220.99, Y:-11.45, Z:-1.27 [[ 9.94439514e-01 1.05298306e-01 1.52303964e-03 2.20991467e+02] [-1.05298230e-01 9.94440680e-01 -1.30174801e-04 -1.14477881e+01] [-1.52827976e-03 -3.09224133e-05 9.99998832e-01 -1.27403855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.530281693 meters Centerline goodness [0,1] 0.9989514230686924 Centerline is valid? [True, True] Translation: X:221.02, Y:-11.44, Z:-1.27 [[ 9.94178828e-01 1.07709912e-01 2.65186861e-03 2.21022115e+02] [-1.07709690e-01 9.94182363e-01 -2.26755927e-04 -1.14435097e+01] [-2.66086486e-03 -6.01960043e-05 9.99996458e-01 -1.27289019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.560281693 meters Centerline goodness [0,1] 0.9985414729009893 Centerline is valid? [True, True] Translation: X:221.05, Y:-11.44, Z:-1.27 [[ 9.93961060e-01 1.09687217e-01 3.18200109e-03 2.21052997e+02] [-1.09686907e-01 9.93966150e-01 -2.72328671e-04 -1.14391428e+01] [-3.19267235e-03 -7.83397632e-05 9.99994900e-01 -1.27212164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.590281693 meters Centerline goodness [0,1] 0.9983842163449272 Centerline is valid? [True, True] Translation: X:221.08, Y:-11.44, Z:-1.27 [[ 9.93859071e-01 1.10591213e-01 3.70538474e-03 2.21083611e+02] [-1.10590798e-01 9.93865974e-01 -3.17185763e-04 -1.14369771e+01] [-3.71773378e-03 -9.45435088e-05 9.99993085e-01 -1.27164599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.620281693 meters Centerline goodness [0,1] 0.9986446421008047 Centerline is valid? [True, True] Translation: X:221.11, Y:-11.44, Z:-1.27 [[ 9.93965996e-01 1.09616066e-01 3.98971330e-03 2.21113682e+02] [-1.09615578e-01 9.93973998e-01 -3.41524657e-04 -1.14385207e+01] [-4.00310786e-03 -9.78708310e-05 9.99991983e-01 -1.27151080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.650281693 meters Centerline goodness [0,1] 0.9989062072737216 Centerline is valid? [True, True] Translation: X:221.14, Y:-11.44, Z:-1.27 [[ 9.94159075e-01 1.07854841e-01 3.88174001e-03 2.21144093e+02] [-1.07854365e-01 9.94166649e-01 -3.32272674e-04 -1.14402064e+01] [-3.89493368e-03 -8.83307104e-05 9.99992411e-01 -1.27215594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68028169299998 meters Centerline goodness [0,1] 0.9990242453810746 Centerline is valid? [True, True] Translation: X:221.17, Y:-11.44, Z:-1.27 [[ 9.94665841e-01 1.03116911e-01 2.60149934e-03 2.21174097e+02] [-1.03116681e-01 9.94669242e-01 -2.22697724e-04 -1.14441126e+01] [-2.61059528e-03 -4.67481597e-05 9.99996591e-01 -1.27440571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71028169299998 meters Centerline goodness [0,1] 0.9992811383385839 Centerline is valid? [True, True] Translation: X:221.20, Y:-11.45, Z:-1.28 [[ 9.94906886e-01 1.00781793e-01 1.82155409e-03 2.21204236e+02] [-1.00781676e-01 9.94908553e-01 -1.55937327e-04 -1.14485204e+01] [-1.82799539e-03 -2.84361536e-05 9.99998329e-01 -1.27582200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.740281693 meters Centerline goodness [0,1] 0.9995125672869072 Centerline is valid? [True, True] Translation: X:221.24, Y:-11.45, Z:-1.28 [[ 9.95297601e-01 9.68564907e-02 1.22707370e-03 2.21235167e+02] [-9.68564349e-02 9.95298357e-01 -1.05003417e-04 -1.14546607e+01] [-1.23147470e-03 -1.43403347e-05 9.99999242e-01 -1.27727810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.770281693 meters Centerline goodness [0,1] 0.9993222492851848 Centerline is valid? [True, True] Translation: X:221.27, Y:-11.46, Z:-1.28 [[ 9.95433252e-01 9.54485566e-02 1.48760093e-03 2.21266213e+02] [-9.54484728e-02 9.95434364e-01 -1.27352377e-04 -1.14579282e+01] [-1.49296468e-03 -1.52184460e-05 9.99998885e-01 -1.27655125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.800281693 meters Centerline goodness [0,1] 0.9994092328466537 Centerline is valid? [True, True] Translation: X:221.30, Y:-11.46, Z:-1.28 [[ 9.95504748e-01 9.46945073e-02 1.80179714e-03 2.21297739e+02] [-9.46943831e-02 9.95506379e-01 -1.54313220e-04 -1.14601024e+01] [-1.80831316e-03 -1.70005250e-05 9.99998365e-01 -1.27521664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.830281693 meters Centerline goodness [0,1] 0.999471816107496 Centerline is valid? [True, True] Translation: X:221.33, Y:-11.46, Z:-1.27 [[ 9.95511912e-01 9.45987898e-02 2.66483898e-03 2.21328562e+02] [-9.45985174e-02 9.95515479e-01 -2.28362516e-04 -1.14597789e+01] [-2.67449127e-03 -2.47522121e-05 9.99996423e-01 -1.27279297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.860281693 meters Centerline goodness [0,1] 0.9992983202211354 Centerline is valid? [True, True] Translation: X:221.36, Y:-11.46, Z:-1.27 [[ 9.95503677e-01 9.46826478e-02 2.76148036e-03 2.21359175e+02] [-9.46823555e-02 9.95507507e-01 -2.36677611e-04 -1.14609694e+01] [-2.77148369e-03 -2.58500336e-05 9.99996159e-01 -1.27265095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.890281693 meters Centerline goodness [0,1] 0.9992318689056265 Centerline is valid? [True, True] Translation: X:221.39, Y:-11.46, Z:-1.27 [[ 9.95538150e-01 9.42995534e-02 3.37430744e-03 2.21389964e+02] [-9.42991147e-02 9.95543868e-01 -2.89233893e-04 -1.14632648e+01] [-3.38654570e-03 -3.02508288e-05 9.99994265e-01 -1.27239225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.920281693 meters Centerline goodness [0,1] 0.9992724160068478 Centerline is valid? [True, True] Translation: X:221.42, Y:-11.46, Z:-1.27 [[ 9.95540061e-01 9.42771974e-02 3.43470565e-03 2.21421732e+02] [-9.42767425e-02 9.95545985e-01 -2.94494100e-04 -1.14644116e+01] [-3.44717150e-03 -3.06321857e-05 9.99994058e-01 -1.27255721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.950281693 meters Centerline goodness [0,1] 0.9992130505987196 Centerline is valid? [True, True] Translation: X:221.45, Y:-11.47, Z:-1.27 [[ 9.95542041e-01 9.42684879e-02 3.08177468e-03 2.21452572e+02] [-9.42681214e-02 9.95546810e-01 -2.64294464e-04 -1.14660529e+01] [-3.09296559e-03 -2.73968596e-05 9.99995216e-01 -1.27294892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.980281693 meters Centerline goodness [0,1] 0.9994209487861371 Centerline is valid? [True, True] Translation: X:221.48, Y:-11.47, Z:-1.27 [[ 9.95727046e-01 9.23116234e-02 2.49263456e-03 2.21483456e+02] [-9.23113774e-02 9.95730166e-01 -2.13806708e-04 -1.14707367e+01] [-2.50172827e-03 -1.72054080e-05 9.99996871e-01 -1.27411470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.010281693 meters Centerline goodness [0,1] 0.9994047239407275 Centerline is valid? [True, True] Translation: X:221.51, Y:-11.48, Z:-1.27 [[ 9.95871092e-01 9.07442619e-02 2.49949548e-03 2.21513849e+02] [-9.07440098e-02 9.95874228e-01 -2.14300504e-04 -1.14757943e+01] [-2.50862967e-03 -1.33985659e-05 9.99996853e-01 -1.27409821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.040281693 meters Centerline goodness [0,1] 0.9994286077074471 Centerline is valid? [True, True] Translation: X:221.54, Y:-11.48, Z:-1.27 [[ 9.96164733e-01 8.73800881e-02 4.53256427e-03 2.21544851e+02] [-8.73792209e-02 9.96175045e-01 -3.89385024e-04 -1.14846670e+01] [-4.54925191e-03 -8.16030603e-06 9.99989652e-01 -1.27047018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.070281693 meters Centerline goodness [0,1] 0.9994271286414462 Centerline is valid? [True, True] Translation: X:221.58, Y:-11.49, Z:-1.27 [[ 9.96227309e-01 8.65836917e-02 5.86627504e-03 2.21577035e+02] [-8.65822184e-02 9.96244581e-01 -5.05127629e-04 -1.14894569e+01] [-5.88798053e-03 -4.69316785e-06 9.99982666e-01 -1.26856283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.100281693 meters Centerline goodness [0,1] 0.9994074575697296 Centerline is valid? [True, True] Translation: X:221.61, Y:-11.49, Z:-1.27 [[ 9.96191630e-01 8.69259113e-02 6.79130829e-03 2.21609467e+02] [-8.69239364e-02 9.96214779e-01 -5.85981387e-04 -1.14924581e+01] [-6.81653865e-03 -6.57749618e-06 9.99976767e-01 -1.26710699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.130281693 meters Centerline goodness [0,1] 0.9993620007655991 Centerline is valid? [True, True] Translation: X:221.64, Y:-11.49, Z:-1.27 [[ 9.95967959e-01 8.94589822e-02 6.70189979e-03 2.21641363e+02] [-8.94571091e-02 9.95990507e-01 -5.79326285e-04 -1.14923529e+01] [-6.72685451e-03 -2.25421640e-05 9.99977374e-01 -1.26794933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.160281693 meters Centerline goodness [0,1] 0.9995705758577748 Centerline is valid? [True, True] Translation: X:221.67, Y:-11.49, Z:-1.27 [[ 9.95784489e-01 9.15362718e-02 5.86193597e-03 2.21673730e+02] [-9.15348706e-02 9.95801742e-01 -5.07441174e-04 -1.14925815e+01] [-5.88377532e-03 -3.12695004e-05 9.99982690e-01 -1.26931432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.190281693 meters Centerline goodness [0,1] 0.9991698771843937 Centerline is valid? [True, True] Translation: X:221.70, Y:-11.49, Z:-1.27 [[ 9.95289972e-01 9.68480951e-02 4.27994272e-03 2.21704622e+02] [-9.68473964e-02 9.95299173e-01 -3.70692160e-04 -1.14854831e+01] [-4.29572428e-03 -4.55551192e-05 9.99990772e-01 -1.27227629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.220281693 meters Centerline goodness [0,1] 0.999138492572125 Centerline is valid? [True, True] Translation: X:221.73, Y:-11.48, Z:-1.27 [[ 9.94985499e-01 9.99475953e-02 3.78620998e-03 2.21734550e+02] [-9.99470707e-02 9.94992701e-01 -3.27988368e-04 -1.14810041e+01] [-3.80003295e-03 -5.20769267e-05 9.99992778e-01 -1.27307330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.250281693 meters Centerline goodness [0,1] 0.9990149682006039 Centerline is valid? [True, True] Translation: X:221.77, Y:-11.47, Z:-1.27 [[ 9.94351571e-01 1.06090330e-01 3.12973201e-03 2.21766210e+02] [-1.06090002e-01 9.94356494e-01 -2.71075476e-04 -1.14714157e+01] [-3.14082783e-03 -6.24889485e-05 9.99995066e-01 -1.27483913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.280281693 meters Centerline goodness [0,1] 0.9983890455094644 Centerline is valid? [True, True] Translation: X:221.80, Y:-11.47, Z:-1.27 [[ 9.94101167e-01 1.08402310e-01 3.43626753e-03 2.21795587e+02] [-1.08401929e-01 9.94107104e-01 -2.97668976e-04 -1.14655386e+01] [-3.44828597e-03 -7.65849515e-05 9.99994052e-01 -1.27432548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.310281693 meters Centerline goodness [0,1] 0.9983053360730401 Centerline is valid? [True, True] Translation: X:221.83, Y:-11.46, Z:-1.27 [[ 9.93952179e-01 1.09731929e-01 4.23898839e-03 2.21825349e+02] [-1.09731361e-01 9.93961213e-01 -3.67014397e-04 -1.14632107e+01] [-4.25366325e-03 -1.00355205e-04 9.99990948e-01 -1.27331818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.340281693 meters Centerline goodness [0,1] 0.9978220417829654 Centerline is valid? [True, True] Translation: X:221.85, Y:-11.46, Z:-1.27 [[ 9.93897784e-01 1.10224488e-01 4.21397349e-03 2.21854515e+02] [-1.10223931e-01 9.93906712e-01 -3.64760342e-04 -1.14618337e+01] [-4.22850206e-03 -1.01946229e-04 9.99991055e-01 -1.27402035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.370281693 meters Centerline goodness [0,1] 0.9986048281401936 Centerline is valid? [True, True] Translation: X:221.88, Y:-11.46, Z:-1.28 [[ 9.93992483e-01 1.09411829e-01 2.82749746e-03 2.21883159e+02] [-1.09411575e-01 9.93996503e-01 -2.44725986e-04 -1.14609334e+01] [-2.83729851e-03 -6.61051606e-05 9.99995973e-01 -1.27756612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.400281693 meters Centerline goodness [0,1] 0.9984394770139182 Centerline is valid? [True, True] Translation: X:221.91, Y:-11.46, Z:-1.28 [[ 9.94137085e-01 1.08088674e-01 2.88011825e-03 2.21911440e+02] [-1.08088405e-01 9.94141255e-01 -2.49167356e-04 -1.14574548e+01] [-2.89017654e-03 -6.36008786e-05 9.99995821e-01 -1.27763467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43028169299998 meters Centerline goodness [0,1] 0.9984394770139182 Centerline is valid? [True, True] Translation: X:221.94, Y:-11.46, Z:-1.28 [[ 9.94141756e-01 1.08045705e-01 2.88013417e-03 2.21939678e+02] [-1.08045437e-01 9.94145926e-01 -2.48983085e-04 -1.14598002e+01] [-2.89017521e-03 -6.36608740e-05 9.99995821e-01 -1.27776808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46028169299998 meters Centerline goodness [0,1] 0.9987433172165542 Centerline is valid? [True, True] Translation: X:221.97, Y:-11.46, Z:-1.28 [[ 9.94218636e-01 1.07308497e-01 3.76705796e-03 2.21968933e+02] [-1.07308034e-01 9.94225769e-01 -3.25419656e-04 -1.14614023e+01] [-3.78022639e-03 -8.06972974e-05 9.99992852e-01 -1.27593337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.490281693 meters Centerline goodness [0,1] 0.9986875251381274 Centerline is valid? [True, True] Translation: X:222.00, Y:-11.46, Z:-1.27 [[ 9.94295784e-01 1.06577650e-01 4.13495526e-03 2.21997521e+02] [-1.06577087e-01 9.94304378e-01 -3.57055669e-04 -1.14631028e+01] [-4.14945827e-03 -8.56725386e-05 9.99991387e-01 -1.27485243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.520281693 meters Centerline goodness [0,1] 0.9988932166954004 Centerline is valid? [True, True] Translation: X:222.03, Y:-11.46, Z:-1.27 [[ 9.94342892e-01 1.06134023e-01 4.21700773e-03 2.22026847e+02] [-1.06133433e-01 9.94351830e-01 -3.63945379e-04 -1.14622043e+01] [-4.23181634e-03 -8.56790072e-05 9.99991042e-01 -1.27460731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.550281693 meters Centerline goodness [0,1] 0.9988822102710113 Centerline is valid? [True, True] Translation: X:222.06, Y:-11.46, Z:-1.28 [[ 9.94244433e-01 1.07065932e-01 3.85917422e-03 2.22055920e+02] [-1.07065446e-01 9.94251919e-01 -3.32907909e-04 -1.14580419e+01] [-3.87263447e-03 -8.21923740e-05 9.99992498e-01 -1.27638958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.580281693 meters Centerline goodness [0,1] 0.997835952601059 Centerline is valid? [True, True] Translation: X:222.09, Y:-11.44, Z:-1.28 [[ 9.94121093e-01 1.08180773e-01 4.49138554e-03 2.22085421e+02] [-1.08180128e-01 9.94131234e-01 -3.87198161e-04 -1.14434984e+01] [-4.50691404e-03 -1.00956802e-04 9.99989839e-01 -1.27674314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.610281693 meters Centerline goodness [0,1] 0.998378401145649 Centerline is valid? [True, True] Translation: X:222.11, Y:-11.45, Z:-1.27 [[ 9.94079397e-01 1.08527998e-01 5.27503152e-03 2.22114486e+02] [-1.08527114e-01 9.94093385e-01 -4.54403310e-04 -1.14455022e+01] [-5.29318942e-03 -1.20770978e-04 9.99985984e-01 -1.27467879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.640281693 meters Centerline goodness [0,1] 0.9983377376182764 Centerline is valid? [True, True] Translation: X:222.14, Y:-11.45, Z:-1.27 [[ 9.94062486e-01 1.08604570e-01 6.69480607e-03 2.22143400e+02] [-1.08603150e-01 9.94085018e-01 -5.76335011e-04 -1.14452998e+01] [-6.71779903e-03 -1.54164011e-04 9.99977423e-01 -1.27264394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.670281693 meters Centerline goodness [0,1] 0.9972733613747331 Centerline is valid? [True, True] Translation: X:222.17, Y:-11.44, Z:-1.27 [[ 9.94095667e-01 1.08256677e-01 7.36860685e-03 2.22172334e+02] [-1.08254951e-01 9.94122962e-01 -6.33933128e-04 -1.14379597e+01] [-7.39392876e-03 -1.67497996e-04 9.99972651e-01 -1.27130201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.700281693 meters Centerline goodness [0,1] 0.9975806790928599 Centerline is valid? [True, True] Translation: X:222.20, Y:-11.44, Z:-1.27 [[ 9.94420373e-01 1.05284605e-01 6.57832691e-03 2.22200333e+02] [-1.05283166e-01 9.94442122e-01 -5.65591805e-04 -1.14382421e+01] [-6.60131348e-03 -1.30151074e-04 9.99978203e-01 -1.27378025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.730281693 meters Centerline goodness [0,1] 0.9982256020278834 Centerline is valid? [True, True] Translation: X:222.23, Y:-11.44, Z:-1.28 [[ 9.94960155e-01 1.00131906e-01 5.28131120e-03 2.22230215e+02] [-1.00130907e-01 9.94974168e-01 -4.53856295e-04 -1.14439213e+01] [-5.30021371e-03 -7.72535491e-05 9.99985951e-01 -1.27661191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.760281693 meters Centerline goodness [0,1] 0.9986299926230372 Centerline is valid? [True, True] Translation: X:222.26, Y:-11.45, Z:-1.28 [[ 9.95189784e-01 9.78141528e-02 5.44851347e-03 2.22259102e+02] [-9.78130559e-02 9.95204696e-01 -4.68065652e-04 -1.14506267e+01] [-5.46816964e-03 -6.71215979e-05 9.99985047e-01 -1.27640860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.790281693 meters Centerline goodness [0,1] 0.9985059335780756 Centerline is valid? [True, True] Translation: X:222.29, Y:-11.45, Z:-1.27 [[ 9.95385778e-01 9.56904056e-02 7.10624974e-03 2.22287183e+02] [-9.56884881e-02 9.95411142e-01 -6.10128274e-04 -1.14530469e+01] [-7.13202359e-03 -7.26732864e-05 9.99974564e-01 -1.27334050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.820281693 meters Centerline goodness [0,1] 0.9986270119555575 Centerline is valid? [True, True] Translation: X:222.32, Y:-11.46, Z:-1.27 [[ 9.95686463e-01 9.23760757e-02 8.66762416e-03 2.22316524e+02] [-9.23731010e-02 9.95724187e-01 -7.43767739e-04 -1.14618643e+01] [-8.69926937e-03 -6.00958526e-05 9.99962159e-01 -1.27039467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.850281693 meters Centerline goodness [0,1] 0.9987677926492458 Centerline is valid? [True, True] Translation: X:222.35, Y:-11.47, Z:-1.27 [[ 9.95856668e-01 9.05754329e-02 8.09857291e-03 2.22345398e+02] [-9.05727778e-02 9.95889597e-01 -6.94760669e-04 -1.14668890e+01] [-8.12821276e-03 -4.16281995e-05 9.99966965e-01 -1.27217502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.880281693 meters Centerline goodness [0,1] 0.9990828036346572 Centerline is valid? [True, True] Translation: X:222.37, Y:-11.47, Z:-1.28 [[ 9.96049101e-01 8.85476210e-02 6.74596444e-03 2.22374284e+02] [-8.85457332e-02 9.96071944e-01 -5.78585261e-04 -1.14728705e+01] [-6.77069827e-03 -2.10270389e-05 9.99977078e-01 -1.27580051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.910281693 meters Centerline goodness [0,1] 0.9994266785577781 Centerline is valid? [True, True] Translation: X:222.40, Y:-11.48, Z:-1.28 [[ 9.96440870e-01 8.41890395e-02 4.21877915e-03 2.22401839e+02] [-8.41882624e-02 9.96449801e-01 -3.61781515e-04 -1.14830118e+01] [-4.23425968e-03 5.32220160e-06 9.99991035e-01 -1.28101992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.940281693 meters Centerline goodness [0,1] 0.9993392164385898 Centerline is valid? [True, True] Translation: X:222.43, Y:-11.49, Z:-1.28 [[ 9.96612853e-01 8.21147182e-02 4.47142158e-03 2.22429597e+02] [-8.21138250e-02 9.96622884e-01 -3.83277978e-04 -1.14901569e+01] [-4.48779383e-03 1.48142304e-05 9.99989930e-01 -1.28088205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.970281693 meters Centerline goodness [0,1] 0.9989849003933511 Centerline is valid? [True, True] Translation: X:222.46, Y:-11.50, Z:-1.28 [[ 9.96918790e-01 7.82206283e-02 5.87029933e-03 2.22458609e+02] [-7.82190227e-02 9.96936072e-01 -5.02958429e-04 -1.15006938e+01] [-5.89165488e-03 4.22396315e-05 9.99982643e-01 -1.27812746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.000281693 meters Centerline goodness [0,1] 0.9984789589318912 Centerline is valid? [True, True] Translation: X:222.49, Y:-11.51, Z:-1.28 [[ 9.97020875e-01 7.68728513e-02 6.31970026e-03 2.22487203e+02] [-7.68709639e-02 9.97040903e-01 -5.41386436e-04 -1.15078436e+01] [-6.34261757e-03 5.39721281e-05 9.99979884e-01 -1.27730490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.030281693 meters Centerline goodness [0,1] 0.9988301854687766 Centerline is valid? [True, True] Translation: X:222.52, Y:-11.51, Z:-1.28 [[ 9.97082459e-01 7.60726408e-02 6.28680309e-03 2.22517870e+02] [-7.60707573e-02 9.97102277e-01 -5.38515698e-04 -1.15090976e+01] [-6.30955198e-03 5.87026844e-05 9.99980093e-01 -1.27777676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.060281693 meters Centerline goodness [0,1] 0.9990821967514034 Centerline is valid? [True, True] Translation: X:222.55, Y:-11.51, Z:-1.28 [[ 9.97017960e-01 7.69537769e-02 5.77091330e-03 2.22547322e+02] [-7.69522048e-02 9.97034660e-01 -4.94313080e-04 -1.15123173e+01] [-5.79183984e-03 4.87545165e-05 9.99983226e-01 -1.27881365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.090281693 meters Centerline goodness [0,1] 0.9990776886448458 Centerline is valid? [True, True] Translation: X:222.58, Y:-11.51, Z:-1.28 [[ 9.96969649e-01 7.75773218e-02 5.76867153e-03 2.22578062e+02] [-7.75757616e-02 9.96986337e-01 -4.94066929e-04 -1.15148331e+01] [-5.78961509e-03 4.50606448e-05 9.99983239e-01 -1.27913428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.120281693 meters Centerline goodness [0,1] 0.999084619478446 Centerline is valid? [True, True] Translation: X:222.61, Y:-11.52, Z:-1.28 [[ 9.96927302e-01 7.81117812e-02 5.87399389e-03 2.22607786e+02] [-7.81101727e-02 9.96944606e-01 -5.03103474e-04 -1.15165162e+01] [-5.89534483e-03 4.27389125e-05 9.99982621e-01 -1.27906971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.150281693 meters Centerline goodness [0,1] 0.9989875767227014 Centerline is valid? [True, True] Translation: X:222.64, Y:-11.52, Z:-1.28 [[ 9.96962552e-01 7.76649770e-02 5.81567015e-03 2.22636617e+02] [-7.76633924e-02 9.96979513e-01 -4.98158401e-04 -1.15202168e+01] [-5.83679345e-03 4.49805979e-05 9.99982965e-01 -1.28016767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18028169299998 meters Centerline goodness [0,1] 0.9988640991019954 Centerline is valid? [True, True] Translation: X:222.67, Y:-11.53, Z:-1.28 [[ 9.97039412e-01 7.66511105e-02 6.08432167e-03 2.22666510e+02] [-7.66493575e-02 9.97057974e-01 -5.21115319e-04 -1.15254953e+01] [-6.10636551e-03 5.32131646e-05 9.99981355e-01 -1.28092839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21028169299998 meters Centerline goodness [0,1] 0.9987201092173468 Centerline is valid? [True, True] Translation: X:222.70, Y:-11.53, Z:-1.28 [[ 9.97162295e-01 7.51088764e-02 5.10047400e-03 2.22696579e+02] [-7.51076242e-02 9.97175338e-01 -4.36870034e-04 -1.15342413e+01] [-5.11887970e-03 5.25458404e-05 9.99986897e-01 -1.28249496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.240281693 meters Centerline goodness [0,1] 0.9986466483400296 Centerline is valid? [True, True] Translation: X:222.73, Y:-11.54, Z:-1.28 [[ 9.97180559e-01 7.48558649e-02 5.24719865e-03 2.22726580e+02] [-7.48545349e-02 9.97194362e-01 -4.49680955e-04 -1.15384574e+01] [-5.26613816e-03 5.56364922e-05 9.99986132e-01 -1.28172842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.270281693 meters Centerline goodness [0,1] 0.9990485050957838 Centerline is valid? [True, True] Translation: X:222.76, Y:-11.54, Z:-1.28 [[ 9.97073802e-01 7.61350236e-02 6.87684339e-03 2.22756829e+02] [-7.61327691e-02 9.97097515e-01 -5.89408492e-04 -1.15376300e+01] [-6.90175808e-03 6.41306368e-05 9.99976181e-01 -1.27833601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.300281693 meters Centerline goodness [0,1] 0.9992345962495216 Centerline is valid? [True, True] Translation: X:222.79, Y:-11.54, Z:-1.28 [[ 9.96963677e-01 7.74662446e-02 7.89983300e-03 2.22787395e+02] [-7.74633112e-02 9.96994973e-01 -6.77088076e-04 -1.15372551e+01] [-7.92854526e-03 6.30849959e-05 9.99968567e-01 -1.27767187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.330281693 meters Centerline goodness [0,1] 0.9991066870852475 Centerline is valid? [True, True] Translation: X:222.82, Y:-11.54, Z:-1.28 [[ 9.96821189e-01 7.92623233e-02 8.06238154e-03 2.22818480e+02] [-7.92593267e-02 9.96853791e-01 -6.91019975e-04 -1.15370134e+01] [-8.09178745e-03 4.98044205e-05 9.99967260e-01 -1.27825063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.360281693 meters Centerline goodness [0,1] 0.999425776265419 Centerline is valid? [True, True] Translation: X:222.85, Y:-11.53, Z:-1.28 [[ 9.96523212e-01 8.30298835e-02 6.89390980e-03 2.22848244e+02] [-8.30277824e-02 9.96547058e-01 -5.90908260e-04 -1.15318019e+01] [-6.91916857e-03 1.64677552e-05 9.99976062e-01 -1.28056382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.390281693 meters Centerline goodness [0,1] 0.9994501427514011 Centerline is valid? [True, True] Translation: X:222.88, Y:-11.53, Z:-1.28 [[ 9.96378558e-01 8.48158068e-02 6.00399670e-03 2.22877193e+02] [-8.48142454e-02 9.96396647e-01 -5.14654235e-04 -1.15299700e+01] [-6.02601300e-03 3.56599492e-06 9.99981843e-01 -1.28193515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.420281693 meters Centerline goodness [0,1] 0.9992605425504943 Centerline is valid? [True, True] Translation: X:222.91, Y:-11.53, Z:-1.28 [[ 9.96174716e-01 8.71686866e-02 6.12819196e-03 2.22907215e+02] [-8.71671057e-02 9.96193566e-01 -5.25106814e-04 -1.15273597e+01] [-6.15063827e-03 -1.10786242e-05 9.99981085e-01 -1.28215912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.450281693 meters Centerline goodness [0,1] 0.9990881716781882 Centerline is valid? [True, True] Translation: X:222.94, Y:-11.53, Z:-1.28 [[ 9.96096742e-01 8.80038369e-02 6.82679846e-03 2.22936435e+02] [-8.80018957e-02 9.96120136e-01 -5.84797316e-04 -1.15273453e+01] [-6.85177582e-03 -1.82565051e-05 9.99976526e-01 -1.28120266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.480281693 meters Centerline goodness [0,1] 0.9991179760777902 Centerline is valid? [True, True] Translation: X:222.97, Y:-11.53, Z:-1.28 [[ 9.96017414e-01 8.87757365e-02 8.25708512e-03 2.22966283e+02] [-8.87729251e-02 9.96051639e-01 -7.07092545e-04 -1.15269942e+01] [-8.28725583e-03 -2.87291109e-05 9.99965660e-01 -1.28006045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.510281693 meters Centerline goodness [0,1] 0.998995533329059 Centerline is valid? [True, True] Translation: X:223.00, Y:-11.52, Z:-1.28 [[ 9.95861705e-01 9.04591329e-02 8.75267594e-03 2.22995653e+02] [-9.04560412e-02 9.95900167e-01 -7.49275390e-04 -1.15240135e+01] [-8.78457023e-03 -4.55577476e-05 9.99961414e-01 -1.27970723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.540281693 meters Centerline goodness [0,1] 0.9988599208397866 Centerline is valid? [True, True] Translation: X:223.03, Y:-11.53, Z:-1.28 [[ 9.95834399e-01 9.08460272e-02 7.80056532e-03 2.23025039e+02] [-9.08435851e-02 9.95864949e-01 -6.67550617e-04 -1.15257945e+01] [-7.82895391e-03 -4.38614515e-05 9.99969352e-01 -1.28151634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.570281693 meters Centerline goodness [0,1] 0.9991200772615088 Centerline is valid? [True, True] Translation: X:223.05, Y:-11.52, Z:-1.29 [[ 9.95813062e-01 9.12816020e-02 4.90046382e-03 2.23054374e+02] [-9.12806438e-02 9.95825119e-01 -4.19288118e-04 -1.15248901e+01] [-4.91827826e-03 -2.97849083e-05 9.99987905e-01 -1.28719231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.600281693 meters Centerline goodness [0,1] 0.999036711976881 Centerline is valid? [True, True] Translation: X:223.08, Y:-11.52, Z:-1.29 [[ 9.95766109e-01 9.18489644e-02 3.69100499e-03 2.23082219e+02] [-9.18484252e-02 9.95772950e-01 -3.15696487e-04 -1.15235623e+01] [-3.70439933e-03 -2.46531334e-05 9.99993138e-01 -1.28916073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.630281693 meters Centerline goodness [0,1] 0.9992762723770195 Centerline is valid? [True, True] Translation: X:223.11, Y:-11.52, Z:-1.29 [[ 9.95751482e-01 9.20304883e-02 3.06200300e-03 2.23109732e+02] [-9.20301185e-02 9.95756189e-01 -2.61758353e-04 -1.15237170e+01] [-3.07309818e-03 -2.11502304e-05 9.99995278e-01 -1.29078296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.660281693 meters Centerline goodness [0,1] 0.9992779630062223 Centerline is valid? [True, True] Translation: X:223.14, Y:-11.53, Z:-1.29 [[ 9.95876549e-01 9.06127082e-02 4.38582798e-03 2.23138223e+02] [-9.06119373e-02 9.95886207e-01 -3.74560502e-04 -1.15263290e+01] [-4.40172553e-03 -2.43923497e-05 9.99990312e-01 -1.28856393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.690281693 meters Centerline goodness [0,1] 0.9995243346089814 Centerline is valid? [True, True] Translation: X:223.17, Y:-11.53, Z:-1.29 [[ 9.96012515e-01 8.90339758e-02 5.65867401e-03 2.23167125e+02] [-8.90326689e-02 9.96028589e-01 -4.82943418e-04 -1.15318105e+01] [-5.67919946e-03 -2.27891612e-05 9.99983873e-01 -1.28627713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.720281693 meters Centerline goodness [0,1] 0.9993840271877655 Centerline is valid? [True, True] Translation: X:223.20, Y:-11.54, Z:-1.28 [[ 9.96362916e-01 8.49051635e-02 7.21479452e-03 2.23195076e+02] [-8.49029336e-02 9.96389037e-01 -6.15354196e-04 -1.15404347e+01] [-7.24098891e-03 5.58881448e-07 9.99973784e-01 -1.28295953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.750281693 meters Centerline goodness [0,1] 0.9993903592675902 Centerline is valid? [True, True] Translation: X:223.22, Y:-11.55, Z:-1.28 [[ 9.96546928e-01 8.26683805e-02 7.75626179e-03 2.23223790e+02] [-8.26657376e-02 9.96577111e-01 -6.61276772e-04 -1.15475868e+01] [-7.78437965e-03 1.78162339e-05 9.99969701e-01 -1.28261987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.780281693 meters Centerline goodness [0,1] 0.9993866328257192 Centerline is valid? [True, True] Translation: X:223.25, Y:-11.55, Z:-1.28 [[ 9.96736799e-01 8.03195956e-02 8.03223659e-03 2.23253749e+02] [-8.03166858e-02 9.96769161e-01 -6.84696443e-04 -1.15538452e+01] [-8.06128027e-03 3.73395180e-05 9.99967507e-01 -1.28205647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.810281693 meters Centerline goodness [0,1] 0.9991781168338532 Centerline is valid? [True, True] Translation: X:223.28, Y:-11.56, Z:-1.28 [[ 9.96955081e-01 7.75604927e-02 8.05837367e-03 2.23283023e+02] [-7.75574736e-02 9.96987646e-01 -6.86946670e-04 -1.15619569e+01] [-8.08737892e-03 5.98678693e-05 9.99967295e-01 -1.28118851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.840281693 meters Centerline goodness [0,1] 0.9992606362752968 Centerline is valid? [True, True] Translation: X:223.31, Y:-11.56, Z:-1.28 [[ 9.96983916e-01 7.71517850e-02 8.40677205e-03 2.23313691e+02] [-7.71484844e-02 9.97019357e-01 -7.16678620e-04 -1.15628989e+01] [-8.43700749e-03 6.59473344e-05 9.99964406e-01 -1.28179967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.870281693 meters Centerline goodness [0,1] 0.9994518699666906 Centerline is valid? [True, True] Translation: X:223.34, Y:-11.57, Z:-1.28 [[ 9.96949274e-01 7.75419980e-02 8.90977501e-03 2.23342766e+02] [-7.75383067e-02 9.96989084e-01 -7.59510894e-04 -1.15664310e+01] [-8.94184242e-03 6.63449671e-05 9.99960019e-01 -1.28063122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.900281693 meters Centerline goodness [0,1] 0.999469586064965 Centerline is valid? [True, True] Translation: X:223.37, Y:-11.57, Z:-1.28 [[ 9.96936365e-01 7.76928985e-02 9.03871244e-03 2.23373191e+02] [-7.76891062e-02 9.96977336e-01 -7.70447076e-04 -1.15690735e+01] [-9.07124972e-03 6.58772158e-05 9.99958853e-01 -1.28058776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93028169299998 meters Centerline goodness [0,1] 0.9995565222900344 Centerline is valid? [True, True] Translation: X:223.40, Y:-11.57, Z:-1.28 [[ 9.96957320e-01 7.74595876e-02 8.72440493e-03 2.23403255e+02] [-7.74560455e-02 9.96995490e-01 -7.43655947e-04 -1.15731983e+01] [-8.75579565e-03 6.56353348e-05 9.99961665e-01 -1.28183669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96028169299998 meters Centerline goodness [0,1] 0.9991941469621461 Centerline is valid? [True, True] Translation: X:223.43, Y:-11.58, Z:-1.28 [[ 9.97055146e-01 7.61927495e-02 8.70064573e-03 2.23432816e+02] [-7.61891780e-02 9.97093105e-01 -7.41677007e-04 -1.15826920e+01] [-8.73186427e-03 7.65978299e-05 9.99961874e-01 -1.28174261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.990281693 meters Centerline goodness [0,1] 0.9990277719068352 Centerline is valid? [True, True] Translation: X:223.46, Y:-11.59, Z:-1.28 [[ 9.97115691e-01 7.53920734e-02 8.73697971e-03 2.23463629e+02] [-7.53884401e-02 9.97153964e-01 -7.44921828e-04 -1.15878991e+01] [-8.76827515e-03 8.41059713e-05 9.99961554e-01 -1.28198104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.020281693 meters Centerline goodness [0,1] 0.9994507931813861 Centerline is valid? [True, True] Translation: X:223.49, Y:-11.60, Z:-1.28 [[ 9.97181117e-01 7.45054657e-02 8.87441096e-03 2.23494264e+02] [-7.45016802e-02 9.97220601e-01 -7.56848543e-04 -1.15954109e+01] [-8.90613479e-03 9.35565477e-05 9.99960335e-01 -1.28210803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.050281693 meters Centerline goodness [0,1] 0.9994463962525285 Centerline is valid? [True, True] Translation: X:223.52, Y:-11.60, Z:-1.28 [[ 9.97158734e-01 7.48463788e-02 8.51348496e-03 2.23524982e+02] [-7.48429060e-02 9.97195072e-01 -7.26219269e-04 -1.15999664e+01] [-8.54396013e-03 8.69819312e-05 9.99963496e-01 -1.28237682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.080281693 meters Centerline goodness [0,1] 0.9995887089791324 Centerline is valid? [True, True] Translation: X:223.56, Y:-11.60, Z:-1.28 [[ 9.97074783e-01 7.59847481e-02 8.25802263e-03 2.23555961e+02] [-7.59815186e-02 9.97108977e-01 -7.04568285e-04 -1.16025766e+01] [-8.28768494e-03 7.50501703e-05 9.99965654e-01 -1.28313217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.110281693 meters Centerline goodness [0,1] 0.9997437102216906 Centerline is valid? [True, True] Translation: X:223.59, Y:-11.60, Z:-1.28 [[ 9.96819113e-01 7.93590897e-02 7.33416130e-03 2.23585916e+02] [-7.93566316e-02 9.96846093e-01 -6.26021431e-04 -1.16033419e+01] [-7.36071053e-03 4.20157910e-05 9.99972909e-01 -1.28451297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.140281693 meters Centerline goodness [0,1] 0.9997889092943237 Centerline is valid? [True, True] Translation: X:223.62, Y:-11.60, Z:-1.29 [[ 9.96672445e-01 8.12709636e-02 6.25038425e-03 2.23615579e+02] [-8.12692143e-02 9.96692044e-01 -5.33778058e-04 -1.16046594e+01] [-6.27308891e-03 2.40380658e-05 9.99980324e-01 -1.28634380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.170281693 meters Centerline goodness [0,1] 0.9998496983230627 Centerline is valid? [True, True] Translation: X:223.65, Y:-11.61, Z:-1.29 [[ 9.96541034e-01 8.29176777e-02 5.53404031e-03 2.23645886e+02] [-8.29163317e-02 9.96556400e-01 -4.72602831e-04 -1.16050965e+01] [-5.55417042e-03 1.21057922e-05 9.99984575e-01 -1.28910340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.200281693 meters Centerline goodness [0,1] 0.9999574630992386 Centerline is valid? [True, True] Translation: X:223.68, Y:-11.61, Z:-1.29 [[ 9.96388905e-01 8.47467826e-02 5.20891117e-03 2.23676651e+02] [-8.47456152e-02 9.96402520e-01 -4.44837050e-04 -1.16071975e+01] [-5.22787073e-03 1.79831979e-06 9.99986335e-01 -1.28979297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.230281693 meters Centerline goodness [0,1] 0.9999575524757518 Centerline is valid? [True, True] Translation: X:223.71, Y:-11.61, Z:-1.29 [[ 9.96382242e-01 8.47887119e-02 5.77080443e-03 2.23706469e+02] [-8.47872797e-02 9.96398953e-01 -4.92809627e-04 -1.16096337e+01] [-5.79180819e-03 1.73595135e-06 9.99983227e-01 -1.28825747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.260281693 meters Centerline goodness [0,1] 0.9996166868970804 Centerline is valid? [True, True] Translation: X:223.74, Y:-11.61, Z:-1.28 [[ 9.96322412e-01 8.55041586e-02 5.53981615e-03 2.23736136e+02] [-8.55028503e-02 9.96337814e-01 -4.73011159e-04 -1.16113934e+01] [-5.55997273e-03 -2.39845139e-06 9.99984543e-01 -1.28109066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.290281693 meters Centerline goodness [0,1] 0.9996166868970804 Centerline is valid? [True, True] Translation: X:223.77, Y:-11.61, Z:-1.28 [[ 9.96324406e-01 8.54809219e-02 5.53982715e-03 2.23765199e+02] [-8.54796139e-02 9.96339807e-01 -4.72882280e-04 -1.16138286e+01] [-5.55997273e-03 -2.39812869e-06 9.99984543e-01 -1.28122796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.320281693 meters Centerline goodness [0,1] 0.9998729916809551 Centerline is valid? [True, True] Translation: X:223.80, Y:-11.62, Z:-1.29 [[ 9.96262129e-01 8.61732050e-02 5.99578072e-03 2.23795183e+02] [-8.61716863e-02 9.96280171e-01 -5.11652643e-04 -1.16158055e+01] [-6.01756819e-03 -6.92638407e-06 9.99981894e-01 -1.28797169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.350281693 meters Centerline goodness [0,1] 0.9997274690258066 Centerline is valid? [True, True] Translation: X:223.82, Y:-11.62, Z:-1.29 [[ 9.96104341e-01 8.79117610e-02 6.90386747e-03 2.23824248e+02] [-8.79097906e-02 9.96128266e-01 -5.88939248e-04 -1.16159944e+01] [-6.92891221e-03 -2.02726011e-05 9.99975995e-01 -1.28687011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.380281693 meters Centerline goodness [0,1] 0.9996403106023739 Centerline is valid? [True, True] Translation: X:223.85, Y:-11.62, Z:-1.29 [[ 9.96007685e-01 8.89621834e-02 7.37711938e-03 2.23854003e+02] [-8.89599642e-02 9.96035004e-01 -6.29071091e-04 -1.16168844e+01] [-7.40383267e-03 -2.97086352e-05 9.99972591e-01 -1.28643141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.410281693 meters Centerline goodness [0,1] 0.9996430071398572 Centerline is valid? [True, True] Translation: X:223.88, Y:-11.62, Z:-1.29 [[ 9.95916982e-01 8.99525878e-02 7.60906493e-03 2.23882516e+02] [-8.99502572e-02 9.95946048e-01 -6.48659378e-04 -1.16176120e+01] [-7.63656674e-03 -3.84264575e-05 9.99970840e-01 -1.28600682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.440281693 meters Centerline goodness [0,1] 0.9995711835334476 Centerline is valid? [True, True] Translation: X:223.91, Y:-11.62, Z:-1.29 [[ 9.95767045e-01 9.16629970e-02 6.77403175e-03 2.23911815e+02] [-9.16611905e-02 9.95790085e-01 -5.77314006e-04 -1.16202480e+01] [-6.79843198e-03 -4.60455530e-05 9.99976889e-01 -1.28829389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.470281693 meters Centerline goodness [0,1] 0.9996206932883784 Centerline is valid? [True, True] Translation: X:223.94, Y:-11.62, Z:-1.29 [[ 9.95724228e-01 9.21694031e-02 6.16956826e-03 2.23940021e+02] [-9.21679153e-02 9.95743340e-01 -5.25645862e-04 -1.16222650e+01] [-6.19175497e-03 -4.52379240e-05 9.99980830e-01 -1.28997635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.500281693 meters Centerline goodness [0,1] 0.9995316059528625 Centerline is valid? [True, True] Translation: X:223.97, Y:-11.63, Z:-1.29 [[ 9.95664531e-01 9.27029710e-02 7.63554382e-03 2.23969091e+02] [-9.27007099e-02 9.95693806e-01 -6.50275476e-04 -1.16263897e+01] [-7.66294615e-03 -6.03641055e-05 9.99970637e-01 -1.28779166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.530281693 meters Centerline goodness [0,1] 0.9993434011818779 Centerline is valid? [True, True] Translation: X:224.00, Y:-11.63, Z:-1.29 [[ 9.95674328e-01 9.24834220e-02 8.91347100e-03 2.23998720e+02] [-9.24803339e-02 9.95714222e-01 -7.58889295e-04 -1.16300157e+01] [-8.94545452e-03 -6.87141857e-05 9.99959986e-01 -1.28507768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.560281693 meters Centerline goodness [0,1] 0.9994885564505818 Centerline is valid? [True, True] Translation: X:224.03, Y:-11.63, Z:-1.28 [[ 9.95678112e-01 9.23543849e-02 9.78593562e-03 2.24028577e+02] [-9.23506587e-02 9.95726198e-01 -8.32937721e-04 -1.16329489e+01] [-9.82103793e-03 -7.43997426e-05 9.99951770e-01 -1.28361902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.590281693 meters Centerline goodness [0,1] 0.9994445037923299 Centerline is valid? [True, True] Translation: X:224.06, Y:-11.63, Z:-1.28 [[ 9.95571743e-01 9.34697355e-02 1.00156281e-02 2.24057653e+02] [-9.34658894e-02 9.95622118e-01 -8.52420149e-04 -1.16341425e+01] [-1.00514564e-02 -8.74741791e-05 9.99949479e-01 -1.28321111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.620281693 meters Centerline goodness [0,1] 0.9994537700371856 Centerline is valid? [True, True] Translation: X:224.09, Y:-11.64, Z:-1.28 [[ 9.95507035e-01 9.42309568e-02 9.28812683e-03 2.24087391e+02] [-9.42276830e-02 9.95550360e-01 -7.90434098e-04 -1.16362833e+01] [-9.32128137e-03 -8.83159644e-05 9.99956552e-01 -1.28460329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.650281693 meters Centerline goodness [0,1] 0.9995334337157763 Centerline is valid? [True, True] Translation: X:224.12, Y:-11.64, Z:-1.29 [[ 9.95455455e-01 9.48702278e-02 8.25086599e-03 2.24117262e+02] [-9.48676677e-02 9.95489645e-01 -7.01986662e-04 -1.16402369e+01] [-8.28024929e-03 -8.39439610e-05 9.99965715e-01 -1.28710846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68028169299998 meters Centerline goodness [0,1] 0.9997014479773101 Centerline is valid? [True, True] Translation: X:224.15, Y:-11.64, Z:-1.29 [[ 9.95431404e-01 9.50893711e-02 8.62159235e-03 2.24147226e+02] [-9.50865858e-02 9.95468736e-01 -7.33325542e-04 -1.16432693e+01] [-8.65225710e-03 -8.98225069e-05 9.99962564e-01 -1.28646466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71028169299998 meters Centerline goodness [0,1] 0.9995137317913698 Centerline is valid? [True, True] Translation: X:224.18, Y:-11.65, Z:-1.28 [[ 9.95370033e-01 9.56830193e-02 9.12453491e-03 2.24175445e+02] [-9.56799269e-02 9.95411849e-01 -7.75839061e-04 -1.16454929e+01] [-9.15690479e-03 -1.00787881e-04 9.99958070e-01 -1.28495885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.740281693 meters Centerline goodness [0,1] 0.9992562211785707 Centerline is valid? [True, True] Translation: X:224.20, Y:-11.65, Z:-1.28 [[ 9.95304866e-01 9.63590882e-02 9.11863581e-03 2.24204696e+02] [-9.63560306e-02 9.95346630e-01 -7.75076528e-04 -1.16484802e+01] [-9.15088909e-03 -1.07198111e-04 9.99958124e-01 -1.28467204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.770281693 meters Centerline goodness [0,1] 0.9992375304458329 Centerline is valid? [True, True] Translation: X:224.23, Y:-11.65, Z:-1.29 [[ 9.95264923e-01 9.68445958e-02 8.29798172e-03 2.24234518e+02] [-9.68420822e-02 9.95299510e-01 -7.05139817e-04 -1.16511201e+01] [-8.32726612e-03 -1.01792901e-04 9.99965323e-01 -1.28697421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.800281693 meters Centerline goodness [0,1] 0.9993587688361655 Centerline is valid? [True, True] Translation: X:224.26, Y:-11.65, Z:-1.29 [[ 9.95095330e-01 9.87465260e-02 5.86578635e-03 2.24264742e+02] [-9.87453035e-02 9.95112615e-01 -4.98352919e-04 -1.16501023e+01] [-5.88632862e-03 -8.33101915e-05 9.99982672e-01 -1.29149893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.830281693 meters Centerline goodness [0,1] 0.9991361874262599 Centerline is valid? [True, True] Translation: X:224.29, Y:-11.65, Z:-1.29 [[ 9.94964619e-01 1.00058926e-01 5.79816804e-03 2.24293826e+02] [-1.00057755e-01 9.94981509e-01 -4.92466143e-04 -1.16470151e+01] [-5.81834562e-03 -9.01652902e-05 9.99983069e-01 -1.29171813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.860281693 meters Centerline goodness [0,1] 0.9989615343859277 Centerline is valid? [True, True] Translation: X:224.32, Y:-11.65, Z:-1.29 [[ 9.94818388e-01 1.01481798e-01 6.14982708e-03 2.24323660e+02] [-1.01480509e-01 9.94837391e-01 -5.22156028e-04 -1.16473948e+01] [-6.17106726e-03 -1.04637163e-04 9.99980953e-01 -1.29136311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.890281693 meters Centerline goodness [0,1] 0.9988227874710952 Centerline is valid? [True, True] Translation: X:224.35, Y:-11.65, Z:-1.29 [[ 9.94597720e-01 1.03607260e-01 6.39621436e-03 2.24353301e+02] [-1.03605910e-01 9.94618279e-01 -5.42928451e-04 -1.16453519e+01] [-6.41804305e-03 -1.22690209e-04 9.99979397e-01 -1.29188154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.920281693 meters Centerline goodness [0,1] 0.9988386579108511 Centerline is valid? [True, True] Translation: X:224.38, Y:-11.64, Z:-1.29 [[ 9.94608522e-01 1.03525945e-01 6.02223547e-03 2.24381254e+02] [-1.03524748e-01 9.94626747e-01 -5.11002701e-04 -1.16444943e+01] [-6.04277851e-03 -1.15202766e-04 9.99981736e-01 -1.29311097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.950281693 meters Centerline goodness [0,1] 0.9990826862360269 Centerline is valid? [True, True] Translation: X:224.41, Y:-11.65, Z:-1.30 [[ 9.94868132e-01 1.01084765e-01 4.38975012e-03 2.24410186e+02] [-1.01084106e-01 9.94877814e-01 -3.72283366e-04 -1.16491391e+01] [-4.40489718e-03 -7.33611101e-05 9.99990296e-01 -1.29608281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.980281693 meters Centerline goodness [0,1] 0.999424576957504 Centerline is valid? [True, True] Translation: X:224.44, Y:-11.65, Z:-1.30 [[ 9.95056558e-01 9.92260990e-02 4.07769251e-03 2.24438602e+02] [-9.92255153e-02 9.95064911e-01 -3.45701857e-04 -1.16538152e+01] [-4.09187138e-03 -6.06182409e-05 9.99991626e-01 -1.29663605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.010281693 meters Centerline goodness [0,1] 0.9995330177665513 Centerline is valid? [True, True] Translation: X:224.47, Y:-11.66, Z:-1.30 [[ 9.95255383e-01 9.72095427e-02 4.12639706e-03 2.24466494e+02] [-9.72089284e-02 9.95263936e-01 -3.49652932e-04 -1.16582747e+01] [-4.14084378e-03 -5.31286735e-05 9.99991425e-01 -1.29652801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.040281693 meters Centerline goodness [0,1] 0.9998505774115738 Centerline is valid? [True, True] Translation: X:224.50, Y:-11.67, Z:-1.29 [[ 9.95548725e-01 9.41256822e-02 4.80538155e-03 2.24495600e+02] [-9.41248146e-02 9.95560321e-01 -4.06884321e-04 -1.16661294e+01] [-4.82234546e-03 -4.72324801e-05 9.99988371e-01 -1.29496904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.070281693 meters Centerline goodness [0,1] 0.9996583678524149 Centerline is valid? [True, True] Translation: X:224.52, Y:-11.67, Z:-1.29 [[ 9.95626601e-01 9.32627595e-02 5.45237414e-03 2.24523958e+02] [-9.32616304e-02 9.95641530e-01 -4.61511649e-04 -1.16663779e+01] [-5.47165198e-03 -4.90040276e-05 9.99985029e-01 -1.29381002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.100281693 meters Centerline goodness [0,1] 0.9997664593108426 Centerline is valid? [True, True] Translation: X:224.55, Y:-11.67, Z:-1.29 [[ 9.95593621e-01 9.34966372e-02 7.19169911e-03 2.24554197e+02] [-9.34946811e-02 9.95619593e-01 -6.08455069e-04 -1.16659674e+01] [-7.21708504e-03 -6.66116293e-05 9.99973954e-01 -1.29024866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.130281693 meters Centerline goodness [0,1] 0.9997660967933997 Centerline is valid? [True, True] Translation: X:224.58, Y:-11.67, Z:-1.29 [[ 9.95521864e-01 9.42375325e-02 7.45021029e-03 2.24583147e+02] [-9.42354558e-02 9.95549739e-01 -6.30081658e-04 -1.16660683e+01] [-7.47643225e-03 -7.48138957e-05 9.99972048e-01 -1.28939040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.160281693 meters Centerline goodness [0,1] 0.9996189347108138 Centerline is valid? [True, True] Translation: X:224.61, Y:-11.66, Z:-1.29 [[ 9.95341186e-01 9.61131238e-02 7.62830339e-03 2.24611422e+02] [-9.61110047e-02 9.95370413e-01 -6.44740540e-04 -1.16603146e+01] [-7.65495552e-03 -9.14270895e-05 9.99970696e-01 -1.28918990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.190281693 meters Centerline goodness [0,1] 0.9995707693958579 Centerline is valid? [True, True] Translation: X:224.64, Y:-11.66, Z:-1.29 [[ 9.95231263e-01 9.72791519e-02 7.17631930e-03 2.24640132e+02] [-9.72773096e-02 9.95257131e-01 -6.06160234e-04 -1.16581919e+01] [-7.20124971e-03 -9.48234186e-05 9.99974066e-01 -1.28999207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.220281693 meters Centerline goodness [0,1] 0.9995480469170344 Centerline is valid? [True, True] Translation: X:224.67, Y:-11.66, Z:-1.29 [[ 9.95146501e-01 9.81832741e-02 6.59443056e-03 2.24669264e+02] [-9.81817402e-02 9.95168346e-01 -5.56715278e-04 -1.16558203e+01] [-6.61722868e-03 -9.34394070e-05 9.99978102e-01 -1.29087170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.250281693 meters Centerline goodness [0,1] 0.99951176021058 Centerline is valid? [True, True] Translation: X:224.70, Y:-11.65, Z:-1.29 [[ 9.95021584e-01 9.94699144e-02 6.14683837e-03 2.24698040e+02] [-9.94686080e-02 9.95040566e-01 -5.18634901e-04 -1.16463541e+01] [-6.16794210e-03 -9.53645350e-05 9.99980974e-01 -1.29155608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.280281693 meters Centerline goodness [0,1] 0.9995103048884347 Centerline is valid? [True, True] Translation: X:224.73, Y:-11.65, Z:-1.29 [[ 9.94993628e-01 9.97679723e-02 5.83370299e-03 2.24726998e+02] [-9.97668027e-02 9.95010725e-01 -4.91897551e-04 -1.16462966e+01] [-5.85367266e-03 -9.25749654e-05 9.99982863e-01 -1.29254269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.310281693 meters Centerline goodness [0,1] 0.9995966286648409 Centerline is valid? [True, True] Translation: X:224.76, Y:-11.64, Z:-1.29 [[ 9.95100247e-01 9.87349531e-02 5.18715940e-03 2.24755560e+02] [-9.87340154e-02 9.95113764e-01 -4.37156718e-04 -1.16421273e+01] [-5.20497636e-03 -7.71343180e-05 9.99986451e-01 -1.29475714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.340281693 meters Centerline goodness [0,1] 0.999620437340531 Centerline is valid? [True, True] Translation: X:224.78, Y:-11.64, Z:-1.30 [[ 9.95231574e-01 9.74289895e-02 4.65903899e-03 2.24783935e+02] [-9.74282199e-02 9.95242477e-01 -3.92404609e-04 -1.16445827e+01] [-4.67510509e-03 -6.33884191e-05 9.99989070e-01 -1.29636695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.370281693 meters Centerline goodness [0,1] 0.9996835576557951 Centerline is valid? [True, True] Translation: X:224.81, Y:-11.65, Z:-1.30 [[ 9.95438329e-01 9.53238521e-02 3.98711054e-03 2.24811807e+02] [-9.53232722e-02 9.95446313e-01 -3.35668099e-04 -1.16464058e+01] [-4.00095166e-03 -4.59275318e-05 9.99991995e-01 -1.29819891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40028169299998 meters Centerline goodness [0,1] 0.9999142826529519 Centerline is valid? [True, True] Translation: X:224.84, Y:-11.65, Z:-1.30 [[ 9.95870439e-01 9.07044573e-02 3.84327209e-03 2.24840140e+02] [-9.07038848e-02 9.95877854e-01 -3.23341466e-04 -1.16537013e+01] [-3.85675807e-03 -2.65935012e-05 9.99992562e-01 -1.29815289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43028169299998 meters Centerline goodness [0,1] 0.9997874240040815 Centerline is valid? [True, True] Translation: X:224.87, Y:-11.66, Z:-1.30 [[ 9.96078883e-01 8.83644526e-02 4.31067440e-03 2.24867740e+02] [-8.83637116e-02 9.96088211e-01 -3.62435351e-04 -1.16578259e+01] [-4.32583835e-03 -1.98929905e-05 9.99990643e-01 -1.29811478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46028169299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.90, Y:-11.66, Z:-1.30 [[ 9.96372085e-01 8.50355225e-02 3.40993276e-03 2.24895735e+02] [-8.50350398e-02 9.96377920e-01 -2.86542837e-04 -1.16631001e+01] [-3.42194803e-03 -4.46048433e-06 9.99994145e-01 -1.30047119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.490281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.92, Y:-11.67, Z:-1.30 [[ 9.96432470e-01 8.43599581e-02 2.39375281e-03 2.24924744e+02] [-8.43597184e-02 9.96435345e-01 -2.01104283e-04 -1.16650949e+01] [-2.40218505e-03 -1.54947530e-06 9.99997115e-01 -1.30194111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.520281693 meters Centerline goodness [0,1] 0.9999576235274176 Centerline is valid? [True, True] Translation: X:224.95, Y:-11.66, Z:-1.30 [[ 9.96463044e-01 8.40222656e-02 1.28852184e-03 2.24952500e+02] [-8.40221957e-02 9.96463877e-01 -1.08341964e-04 -1.16638525e+01] [-1.29306860e-03 -3.05671041e-07 9.99999164e-01 -1.30422308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.550281693 meters Centerline goodness [0,1] 0.9999785752544188 Centerline is valid? [True, True] Translation: X:224.98, Y:-11.66, Z:-1.30 [[ 9.96423066e-01 8.44953059e-02 1.27180268e-03 2.24981247e+02] [-8.44952384e-02 9.96423877e-01 -1.06816164e-04 -1.16644195e+01] [-1.27628002e-03 -1.02718053e-06 9.99999186e-01 -1.30392959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.580281693 meters Centerline goodness [0,1] 0.9999578787751148 Centerline is valid? [True, True] Translation: X:225.01, Y:-11.67, Z:-1.30 [[ 9.96395209e-01 8.48111904e-02 1.91059222e-03 2.25009323e+02] [-8.48110389e-02 9.96397040e-01 -1.60295195e-04 -1.16652476e+01] [-1.91730326e-03 -2.32194667e-06 9.99998162e-01 -1.30388763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.610281693 meters Centerline goodness [0,1] 0.9999788193929638 Centerline is valid? [True, True] Translation: X:225.04, Y:-11.67, Z:-1.30 [[ 9.96397615e-01 8.47904099e-02 1.54227944e-03 2.25037820e+02] [-8.47903113e-02 9.96398809e-01 -1.29313605e-04 -1.16662395e+01] [-1.54768995e-03 -1.92258623e-06 9.99998802e-01 -1.30440838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.640281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.07, Y:-11.67, Z:-1.31 [[ 9.96454941e-01 8.41279711e-02 1.84814351e-04 2.25065737e+02] [-8.41279697e-02 9.96454959e-01 -1.57300244e-05 -1.16658100e+01] [-1.85482512e-04 1.26204416e-07 9.99999983e-01 -1.30715430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.670281693 meters Centerline goodness [0,1] 0.9999785131070047 Centerline is valid? [True, True] Translation: X:225.10, Y:-11.67, Z:-1.31 [[ 9.96506301e-01 8.35173900e-02 -1.92177757e-04 2.25095068e+02] [-8.35173885e-02 9.96506320e-01 1.58436351e-05 -1.16664093e+01] [ 1.92829569e-04 2.61902161e-07 9.99999981e-01 -1.30646390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.700281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.12, Y:-11.67, Z:-1.30 [[ 9.96557530e-01 8.28996435e-02 8.59261025e-04 2.25123874e+02] [-8.28996123e-02 9.96557901e-01 -7.20161739e-05 -1.16688405e+01] [-8.62273478e-04 5.35854623e-07 9.99999628e-01 -1.30444740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.730281693 meters Centerline goodness [0,1] 0.9999155565876418 Centerline is valid? [True, True] Translation: X:225.15, Y:-11.67, Z:-1.30 [[ 9.96677572e-01 8.14187961e-02 2.19004728e-03 2.25151748e+02] [-8.14185902e-02 9.96679979e-01 -1.83141451e-04 -1.16723903e+01] [-2.19768743e-03 4.22241499e-06 9.99997585e-01 -1.30311886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.760281693 meters Centerline goodness [0,1] 0.9998725979403333 Centerline is valid? [True, True] Translation: X:225.18, Y:-11.68, Z:-1.30 [[ 9.96847966e-01 7.92882499e-02 2.73975717e-03 2.25180163e+02] [-7.92879205e-02 9.96851731e-01 -2.28831371e-04 -1.16770656e+01] [-2.74927531e-03 1.08804382e-05 9.99996221e-01 -1.30213517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.790281693 meters Centerline goodness [0,1] 0.9997659972770592 Centerline is valid? [True, True] Translation: X:225.21, Y:-11.69, Z:-1.30 [[ 9.97280460e-01 7.35921325e-02 3.98529183e-03 2.25208431e+02] [-7.35913911e-02 9.97288422e-01 -3.32567822e-04 -1.16888643e+01] [-3.99895978e-03 3.83802204e-05 9.99992003e-01 -1.30068397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.820281693 meters Centerline goodness [0,1] 0.9991764854934753 Centerline is valid? [True, True] Translation: X:225.24, Y:-11.70, Z:-1.30 [[ 9.97675052e-01 6.79292538e-02 5.48696792e-03 2.25237131e+02] [-6.79277640e-02 9.97690137e-01 -4.57637966e-04 -1.17033412e+01] [-5.50538078e-03 8.38565191e-05 9.99984842e-01 -1.29795677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.850281693 meters Centerline goodness [0,1] 0.9991474669110595 Centerline is valid? [True, True] Translation: X:225.27, Y:-11.71, Z:-1.30 [[ 9.97841083e-01 6.54288907e-02 5.67749597e-03 2.25267107e+02] [-6.54272558e-02 9.97857229e-01 -4.73416733e-04 -1.17116533e+01] [-5.69630553e-03 1.00931684e-04 9.99983771e-01 -1.29763025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.880281693 meters Centerline goodness [0,1] 0.9988217719707968 Centerline is valid? [True, True] Translation: X:225.30, Y:-11.72, Z:-1.30 [[ 9.97979559e-01 6.32698595e-02 5.80731206e-03 2.25297120e+02] [-6.32681124e-02 9.97996449e-01 -4.84241418e-04 -1.17194902e+01] [-5.82631469e-03 1.15845365e-04 9.99983020e-01 -1.29724030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.910281693 meters Centerline goodness [0,1] 0.9982702611483778 Centerline is valid? [True, True] Translation: X:225.33, Y:-11.73, Z:-1.30 [[ 9.98067229e-01 6.19166497e-02 5.30426904e-03 2.25325569e+02] [-6.19151731e-02 9.98081317e-01 -4.42295289e-04 -1.17291823e+01] [-5.32147727e-03 1.13025698e-04 9.99985834e-01 -1.29849197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.940281693 meters Centerline goodness [0,1] 0.9992034617123421 Centerline is valid? [True, True] Translation: X:225.36, Y:-11.74, Z:-1.30 [[ 9.98131640e-01 6.10786653e-02 1.62034129e-03 2.25355434e+02] [-6.10785264e-02 9.98132955e-01 -1.35111796e-04 -1.17355664e+01] [-1.62556848e-03 3.58913006e-05 9.99998678e-01 -1.30450504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.970281693 meters Centerline goodness [0,1] 0.9992312784266831 Centerline is valid? [True, True] Translation: X:225.38, Y:-11.74, Z:-1.31 [[ 9.98097675e-01 6.16524813e-02 4.47268487e-05 2.25384379e+02] [-6.16524812e-02 9.98097676e-01 -3.78407000e-06 -1.17430364e+01] [-4.48750610e-05 1.01935027e-06 9.99999999e-01 -1.30778098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.000281693 meters Centerline goodness [0,1] 0.9993638002332732 Centerline is valid? [True, True] Translation: X:225.41, Y:-11.75, Z:-1.31 [[ 9.97912658e-01 6.45761157e-02 -5.02248796e-04 2.25412646e+02] [-6.45761028e-02 9.97912784e-01 4.16989519e-05 -1.17469251e+01] [ 5.03893251e-04 -9.17864206e-06 9.99999873e-01 -1.30959401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.030281693 meters Centerline goodness [0,1] 0.9993579729064567 Centerline is valid? [True, True] Translation: X:225.44, Y:-11.75, Z:-1.31 [[ 9.97786921e-01 6.64925400e-02 -3.76739214e-05 2.25442297e+02] [-6.64925400e-02 9.97786922e-01 3.03462408e-06 -1.17496376e+01] [ 3.77923259e-05 -5.22873492e-07 9.99999999e-01 -1.30950725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.060281693 meters Centerline goodness [0,1] 0.9996581488761644 Centerline is valid? [True, True] Translation: X:225.47, Y:-11.75, Z:-1.31 [[ 9.97479727e-01 7.09321812e-02 1.67906290e-03 2.25472621e+02] [-7.09320461e-02 9.97481140e-01 -1.39930008e-04 -1.17481782e+01] [-1.68475912e-03 2.04779793e-05 9.99998581e-01 -1.30623176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.090281693 meters Centerline goodness [0,1] 0.9997232216994187 Centerline is valid? [True, True] Translation: X:225.50, Y:-11.75, Z:-1.31 [[ 9.97356622e-01 7.26363444e-02 1.93145337e-03 2.25502182e+02] [-7.26361689e-02 9.97358492e-01 -1.60965415e-04 -1.17496683e+01] [-1.93804336e-03 2.02465489e-05 9.99998122e-01 -1.30615960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.120281693 meters Centerline goodness [0,1] 0.9997657281594753 Centerline is valid? [True, True] Translation: X:225.53, Y:-11.75, Z:-1.31 [[ 9.97241719e-01 7.41951605e-02 2.00780614e-03 2.25531041e+02] [-7.41949740e-02 9.97243740e-01 -1.67308294e-04 -1.17527919e+01] [-2.01468557e-03 1.78776861e-05 9.99997970e-01 -1.30690003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15028169299998 meters Centerline goodness [0,1] 0.9996817651426753 Centerline is valid? [True, True] Translation: X:225.56, Y:-11.75, Z:-1.31 [[ 9.97129797e-01 7.56815181e-02 2.11576815e-03 2.25561065e+02] [-7.56813146e-02 9.97132041e-01 -1.76187463e-04 -1.17544374e+01] [-2.12303435e-03 1.55576544e-05 9.99997746e-01 -1.30698221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18028169299998 meters Centerline goodness [0,1] 0.9998499592746602 Centerline is valid? [True, True] Translation: X:225.59, Y:-11.76, Z:-1.30 [[ 9.96963309e-01 7.78185455e-02 2.90410311e-03 2.25589860e+02] [-7.78181714e-02 9.96967539e-01 -2.41751790e-04 -1.17575518e+01] [-2.91410930e-03 1.50256709e-05 9.99995754e-01 -1.30472353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21028169299998 meters Centerline goodness [0,1] 0.9998499592746602 Centerline is valid? [True, True] Translation: X:225.62, Y:-11.76, Z:-1.30 [[ 9.96965004e-01 7.77968282e-02 2.90411268e-03 2.25618928e+02] [-7.77964544e-02 9.96969234e-01 -2.41636694e-04 -1.17599231e+01] [-2.91410957e-03 1.49736575e-05 9.99995754e-01 -1.30486084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.240281693 meters Centerline goodness [0,1] 0.9999147939077644 Centerline is valid? [True, True] Translation: X:225.65, Y:-11.76, Z:-1.30 [[ 9.96918688e-01 7.83787365e-02 3.14697969e-03 2.25648403e+02] [-7.83783007e-02 9.96923655e-01 -2.61766963e-04 -1.17635012e+01] [-3.15781546e-03 1.43054567e-05 9.99995014e-01 -1.30430142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.270281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.68, Y:-11.77, Z:-1.30 [[ 9.96898600e-01 7.86454786e-02 2.84075053e-03 2.25676516e+02] [-7.86451247e-02 9.96902647e-01 -2.36262401e-04 -1.17690856e+01] [-2.85053270e-03 1.21184766e-05 9.99995937e-01 -1.30447311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.300281693 meters Centerline goodness [0,1] 0.99993648105018 Centerline is valid? [True, True] Translation: X:225.71, Y:-11.77, Z:-1.31 [[ 9.96879160e-01 7.88987382e-02 2.63231384e-03 2.25705721e+02] [-7.88984354e-02 9.96882636e-01 -2.18830888e-04 -1.17715783e+01] [-2.64137343e-03 1.04625085e-05 9.99996512e-01 -1.30511794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.330281693 meters Centerline goodness [0,1] 0.999936039570186 Centerline is valid? [True, True] Translation: X:225.73, Y:-11.77, Z:-1.31 [[ 9.96839819e-01 7.94064734e-02 2.23323408e-03 2.25734369e+02] [-7.94062568e-02 9.96842320e-01 -1.85626761e-04 -1.17746156e+01] [-2.24092221e-03 7.70738875e-06 9.99997489e-01 -1.30661529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.360281693 meters Centerline goodness [0,1] 0.9999355960584788 Centerline is valid? [True, True] Translation: X:225.76, Y:-11.77, Z:-1.31 [[ 9.96697161e-01 8.11658710e-02 2.62123027e-03 2.25764374e+02] [-8.11655790e-02 9.96700608e-01 -2.17783421e-04 -1.17749474e+01] [-2.63025838e-03 4.31044495e-06 9.99996541e-01 -1.30594261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.390281693 meters Centerline goodness [0,1] 0.9999572128447041 Centerline is valid? [True, True] Translation: X:225.79, Y:-11.78, Z:-1.30 [[ 9.96632489e-01 8.19176996e-02 3.62950043e-03 2.25793674e+02] [-8.19171451e-02 9.96639097e-01 -3.01426449e-04 -1.17771064e+01] [-3.64199420e-03 3.09307805e-06 9.99993368e-01 -1.30415461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.420281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.82, Y:-11.78, Z:-1.30 [[ 9.96611287e-01 8.21352477e-02 4.44331021e-03 2.25822436e+02] [-8.21344194e-02 9.96621192e-01 -3.68884962e-04 -1.17821047e+01] [-4.45859558e-03 2.68621263e-06 9.99990060e-01 -1.30272584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.450281693 meters Centerline goodness [0,1] 0.9999575046744859 Centerline is valid? [True, True] Translation: X:225.85, Y:-11.79, Z:-1.30 [[ 9.96700814e-01 8.10723313e-02 3.84257308e-03 2.25852538e+02] [-8.10717044e-02 9.96708221e-01 -3.18868099e-04 -1.17878177e+01] [-3.85577555e-03 6.29214518e-06 9.99992566e-01 -1.30380418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.480281693 meters Centerline goodness [0,1] 0.9998938541556098 Centerline is valid? [True, True] Translation: X:225.88, Y:-11.79, Z:-1.31 [[ 9.96852504e-01 7.92191037e-02 3.06895853e-03 2.25881191e+02] [-7.92186950e-02 9.96857228e-01 -2.54690457e-04 -1.17946007e+01] [-3.07948984e-03 1.07699300e-05 9.99995258e-01 -1.30582885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.510281693 meters Centerline goodness [0,1] 0.9997233630540718 Centerline is valid? [True, True] Translation: X:225.91, Y:-11.81, Z:-1.31 [[ 9.97216551e-01 7.45148932e-02 2.58474897e-03 2.25910994e+02] [-7.45145877e-02 9.97219901e-01 -2.14459568e-04 -1.18071031e+01] [-2.59354354e-03 2.12611274e-05 9.99996637e-01 -1.30665933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.540281693 meters Centerline goodness [0,1] 0.9995970307529162 Centerline is valid? [True, True] Translation: X:225.94, Y:-11.81, Z:-1.31 [[ 9.97395877e-01 7.20698455e-02 2.72065980e-03 2.25940618e+02] [-7.20694978e-02 9.97399587e-01 -2.25736245e-04 -1.18148819e+01] [-2.72985374e-03 2.90718144e-05 9.99996274e-01 -1.30703156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.570281693 meters Centerline goodness [0,1] 0.9993244384394528 Centerline is valid? [True, True] Translation: X:225.97, Y:-11.83, Z:-1.31 [[ 9.97625745e-01 6.88028847e-02 3.00605263e-03 2.25970212e+02] [-6.88024455e-02 9.97630273e-01 -2.49395993e-04 -1.18285826e+01] [-3.01608827e-03 4.19800909e-05 9.99995451e-01 -1.30663883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.600281693 meters Centerline goodness [0,1] 0.9995757948543916 Centerline is valid? [True, True] Translation: X:226.00, Y:-11.83, Z:-1.31 [[ 9.97623330e-01 6.88242586e-02 3.30346769e-03 2.26000968e+02] [-6.88237282e-02 9.97628798e-01 -2.74098599e-04 -1.18319620e+01] [-3.31449913e-03 4.60901952e-05 9.99994506e-01 -1.30554057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.630281693 meters Centerline goodness [0,1] 0.9996380051956901 Centerline is valid? [True, True] Translation: X:226.03, Y:-11.83, Z:-1.30 [[ 9.97413835e-01 7.17694836e-02 3.84490189e-03 2.26032500e+02] [-7.17687866e-02 9.97421245e-01 -3.19130267e-04 -1.18336037e+01] [-3.85789065e-03 4.23609996e-05 9.99992557e-01 -1.30414506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.660281693 meters Centerline goodness [0,1] 0.9998068918165043 Centerline is valid? [True, True] Translation: X:226.06, Y:-11.83, Z:-1.30 [[ 9.97257701e-01 7.39090789e-02 3.81128561e-03 2.26062732e+02] [-7.39084092e-02 9.97264983e-01 -3.16449592e-04 -1.18336188e+01] [-3.82425018e-03 3.38957361e-05 9.99992687e-01 -1.30386511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.690281693 meters Centerline goodness [0,1] 0.9997431176949094 Centerline is valid? [True, True] Translation: X:226.09, Y:-11.83, Z:-1.30 [[ 9.97094521e-01 7.60658634e-02 4.06203749e-03 2.26092153e+02] [-7.60651205e-02 9.97102795e-01 -3.37276792e-04 -1.18335395e+01] [-4.07592419e-03 2.73174694e-05 9.99991693e-01 -1.30386546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.720281693 meters Centerline goodness [0,1] 0.9999154637867996 Centerline is valid? [True, True] Translation: X:226.12, Y:-11.83, Z:-1.30 [[ 9.96801014e-01 7.97572549e-02 5.14958026e-03 2.26121624e+02] [-7.97561107e-02 9.96814316e-01 -4.27502160e-04 -1.18298170e+01] [-5.16727172e-03 1.54240938e-05 9.99986649e-01 -1.30294423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.750281693 meters Centerline goodness [0,1] 0.9998107215714316 Centerline is valid? [True, True] Translation: X:226.15, Y:-11.83, Z:-1.30 [[ 9.96681110e-01 8.12236045e-02 5.43059289e-03 2.26151793e+02] [-8.12223541e-02 9.96695904e-01 -4.50765654e-04 -1.18287100e+01] [-5.44926250e-03 8.18407359e-06 9.99985153e-01 -1.30255577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.780281693 meters Centerline goodness [0,1] 0.9999574314113615 Centerline is valid? [True, True] Translation: X:226.18, Y:-11.82, Z:-1.30 [[ 9.96383209e-01 8.47470596e-02 6.19976523e-03 2.26182825e+02] [-8.47454985e-02 9.96402497e-01 -5.14550375e-04 -1.18217323e+01] [-6.22106819e-03 -1.27128413e-05 9.99980649e-01 -1.30126329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.810281693 meters Centerline goodness [0,1] 0.9999356954536686 Centerline is valid? [True, True] Translation: X:226.21, Y:-11.82, Z:-1.30 [[ 9.96194264e-01 8.69576915e-02 5.94548797e-03 2.26213913e+02] [-8.69562952e-02 9.96212005e-01 -4.93446598e-04 -1.18191773e+01] [-5.96587547e-03 -2.54289361e-05 9.99982204e-01 -1.30219187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.840281693 meters Centerline goodness [0,1] 0.9998307881044037 Centerline is valid? [True, True] Translation: X:226.24, Y:-11.82, Z:-1.30 [[ 9.96002726e-01 8.92066172e-02 4.55517317e-03 2.26242864e+02] [-8.92058211e-02 9.96013142e-01 -3.78062080e-04 -1.18161323e+01] [-4.57073798e-03 -2.97971005e-05 9.99989554e-01 -1.30447712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.870281693 meters Centerline goodness [0,1] 0.9998312699048784 Centerline is valid? [True, True] Translation: X:226.27, Y:-11.81, Z:-1.31 [[ 9.95867572e-01 9.07676337e-02 3.00262229e-03 2.26271539e+02] [-9.07672950e-02 9.95872098e-01 -2.49154722e-04 -1.18135638e+01] [-3.01284294e-03 -2.44147950e-05 9.99995461e-01 -1.30786901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90028169299998 meters Centerline goodness [0,1] 0.9998496498990507 Centerline is valid? [True, True] Translation: X:226.30, Y:-11.81, Z:-1.31 [[ 9.95783687e-01 9.17185242e-02 1.60053764e-03 2.26300690e+02] [-9.17184291e-02 9.95784973e-01 -1.32870971e-04 -1.18110144e+01] [-1.60597806e-03 -1.44880525e-05 9.99998710e-01 -1.30971917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93028169299998 meters Centerline goodness [0,1] 0.9999360286591606 Centerline is valid? [True, True] Translation: X:226.33, Y:-11.81, Z:-1.31 [[ 9.95805336e-01 9.14732982e-02 2.08998759e-03 2.26328279e+02] [-9.14731358e-02 9.95807529e-01 -1.73366527e-04 -1.18094450e+01] [-2.09708378e-03 -1.85384053e-05 9.99997801e-01 -1.30896330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96028169299998 meters Centerline goodness [0,1] 0.9999156723025677 Centerline is valid? [True, True] Translation: X:226.36, Y:-11.81, Z:-1.30 [[ 9.95977100e-01 8.94896895e-02 4.60569369e-03 2.26355863e+02] [-8.94888824e-02 9.95987748e-01 -3.81442541e-04 -1.18099487e+01] [-4.62134966e-03 -3.22503458e-05 9.99989321e-01 -1.30498654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.990281693 meters Centerline goodness [0,1] 0.9999578067973249 Centerline is valid? [True, True] Translation: X:226.38, Y:-11.81, Z:-1.30 [[ 9.96108048e-01 8.79596455e-02 5.64422767e-03 2.26384552e+02] [-8.79584108e-02 9.96124038e-01 -4.67094739e-04 -1.18126208e+01] [-5.66343634e-03 -3.11804664e-05 9.99983962e-01 -1.30353047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.020281693 meters Centerline goodness [0,1] 0.9999150490591683 Centerline is valid? [True, True] Translation: X:226.41, Y:-11.82, Z:-1.30 [[ 9.96230390e-01 8.65387429e-02 6.00463941e-03 2.26414010e+02] [-8.65373209e-02 9.96248486e-01 -4.96723419e-04 -1.18159824e+01] [-6.02509874e-03 -2.47744420e-05 9.99981849e-01 -1.30338716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.050281693 meters Centerline goodness [0,1] 0.9999578290389238 Centerline is valid? [True, True] Translation: X:226.44, Y:-11.82, Z:-1.31 [[ 9.96407331e-01 8.45469542e-02 4.92373464e-03 2.26442258e+02] [-8.45459742e-02 9.96419496e-01 -4.07213265e-04 -1.18192087e+01] [-4.94053383e-03 -1.05316599e-05 9.99987795e-01 -1.30565897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.080281693 meters Centerline goodness [0,1] 0.9998936667942665 Centerline is valid? [True, True] Translation: X:226.47, Y:-11.82, Z:-1.31 [[ 9.96489622e-01 8.35939486e-02 4.52611076e-03 2.26470423e+02] [-8.35931113e-02 9.96499901e-01 -3.74187676e-04 -1.18220554e+01] [-4.54154875e-03 -5.47754529e-06 9.99989687e-01 -1.30649576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.110281693 meters Centerline goodness [0,1] 0.9999360027305502 Centerline is valid? [True, True] Translation: X:226.50, Y:-11.82, Z:-1.31 [[ 9.96561082e-01 8.26873133e-02 5.36816518e-03 2.26500394e+02] [-8.26861231e-02 9.96575541e-01 -4.43657477e-04 -1.18247018e+01] [-5.38646696e-03 -1.74099096e-06 9.99985493e-01 -1.30540359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.140281693 meters Centerline goodness [0,1] 0.9998299319727891 Centerline is valid? [True, True] Translation: X:226.53, Y:-11.83, Z:-1.30 [[ 9.96682294e-01 8.10765622e-02 7.14113275e-03 2.26529680e+02] [-8.10744159e-02 9.96707876e-01 -5.89994254e-04 -1.18275976e+01] [-7.16545796e-03 9.07366021e-06 9.99974328e-01 -1.30145722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.170281693 meters Centerline goodness [0,1] 0.9998280235607722 Centerline is valid? [True, True] Translation: X:226.56, Y:-11.83, Z:-1.30 [[ 9.96728525e-01 8.05785027e-02 6.27311721e-03 2.26559389e+02] [-8.05768375e-02 9.96748266e-01 -5.18153156e-04 -1.18301953e+01] [-6.29447070e-03 1.09900852e-05 9.99980190e-01 -1.30338698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.200281693 meters Centerline goodness [0,1] 0.9998732117574963 Centerline is valid? [True, True] Translation: X:226.59, Y:-11.83, Z:-1.31 [[ 9.96880373e-01 7.88282704e-02 3.95304802e-03 2.26588184e+02] [-7.88275957e-02 9.96888210e-01 -3.26442619e-04 -1.18349586e+01] [-3.96647987e-03 1.38149686e-05 9.99992133e-01 -1.30887877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.230281693 meters Centerline goodness [0,1] 0.9999364137346333 Centerline is valid? [True, True] Translation: X:226.62, Y:-11.84, Z:-1.31 [[ 9.96988253e-01 7.74660446e-02 3.66543296e-03 2.26617257e+02] [-7.74654550e-02 9.96994991e-01 -3.02765420e-04 -1.18391893e+01] [-3.67787234e-03 1.79091347e-05 9.99993236e-01 -1.30990304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.260281693 meters Centerline goodness [0,1] 0.9998511271799234 Centerline is valid? [True, True] Translation: X:226.65, Y:-11.84, Z:-1.31 [[ 9.97069609e-01 7.63913559e-02 4.06876832e-03 2.26646531e+02] [-7.63906209e-02 9.97077911e-01 -3.35981125e-04 -1.18430897e+01] [-4.08254506e-03 2.41808308e-05 9.99991666e-01 -1.30895292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.290281693 meters Centerline goodness [0,1] 0.9997675548887434 Centerline is valid? [True, True] Translation: X:226.67, Y:-11.85, Z:-1.31 [[ 9.97133986e-01 7.54768574e-02 5.20170359e-03 2.26674635e+02] [-7.54756443e-02 9.97147553e-01 -4.29389001e-04 -1.18469517e+01] [-5.21927493e-03 3.55564369e-05 9.99986379e-01 -1.30741516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.320281693 meters Centerline goodness [0,1] 0.9997880592586312 Centerline is valid? [True, True] Translation: X:226.70, Y:-11.85, Z:-1.31 [[ 9.97097304e-01 7.59553630e-02 5.26783692e-03 2.26703907e+02] [-7.59541263e-02 9.97111218e-01 -4.34715635e-04 -1.18469698e+01] [-5.28563827e-03 3.33398370e-05 9.99986030e-01 -1.30715613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.350281693 meters Centerline goodness [0,1] 0.9998728759693207 Centerline is valid? [True, True] Translation: X:226.73, Y:-11.84, Z:-1.31 [[ 9.96857413e-01 7.91093607e-02 4.12406364e-03 2.26733499e+02] [-7.91086300e-02 9.96865943e-01 -3.40266826e-04 -1.18373138e+01] [-4.13805688e-03 1.29484829e-05 9.99991438e-01 -1.30976435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.380281693 meters Centerline goodness [0,1] 0.9998505486997736 Centerline is valid? [True, True] Translation: X:226.76, Y:-11.83, Z:-1.31 [[ 9.96662707e-01 8.15442124e-02 3.74029156e-03 2.26763389e+02] [-8.15436289e-02 9.96669725e-01 -3.08504447e-04 -1.18307659e+01] [-3.75299211e-03 2.47793083e-06 9.99992957e-01 -1.31113066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.410281693 meters Centerline goodness [0,1] 0.999957373345553 Centerline is valid? [True, True] Translation: X:226.79, Y:-11.83, Z:-1.31 [[ 9.96479442e-01 8.37604295e-02 3.59326919e-03 2.26791573e+02] [-8.37599058e-02 9.96485921e-01 -2.96243954e-04 -1.18251104e+01] [-3.60545568e-03 -5.77087848e-06 9.99993500e-01 -1.31196190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.440281693 meters Centerline goodness [0,1] 0.9999573669849932 Centerline is valid? [True, True] Translation: X:226.82, Y:-11.82, Z:-1.31 [[ 9.96238637e-01 8.65751702e-02 3.64932069e-03 2.26820673e+02] [-8.65746497e-02 9.96245321e-01 -3.00659856e-04 -1.18182062e+01] [-3.66164834e-03 -1.64096950e-05 9.99993296e-01 -1.31198972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.470281693 meters Centerline goodness [0,1] 0.9999141428234133 Centerline is valid? [True, True] Translation: X:226.85, Y:-11.82, Z:-1.31 [[ 9.96249547e-01 8.64446937e-02 3.76230432e-03 2.26848690e+02] [-8.64441402e-02 9.96256651e-01 -3.09801269e-04 -1.18175019e+01] [-3.77500138e-03 -1.65897885e-05 9.99992875e-01 -1.31166158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.500281693 meters Centerline goodness [0,1] 0.9999362204222209 Centerline is valid? [True, True] Translation: X:226.88, Y:-11.82, Z:-1.31 [[ 9.96349232e-01 8.52782834e-02 3.97760035e-03 2.26877802e+02] [-8.52776563e-02 9.96357172e-01 -3.27281017e-04 -1.18177732e+01] [-3.99102060e-03 -1.31142455e-05 9.99992036e-01 -1.31162741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.530281693 meters Centerline goodness [0,1] 0.9998288879857977 Centerline is valid? [True, True] Translation: X:226.91, Y:-11.82, Z:-1.31 [[ 9.96639132e-01 8.18218873e-02 3.95221019e-03 2.26905546e+02] [-8.18212417e-02 9.96646968e-01 -3.25026404e-04 -1.18198698e+01] [-3.96555258e-03 5.59288094e-07 9.99992137e-01 -1.31309991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.560281693 meters Centerline goodness [0,1] 0.9998734097094752 Centerline is valid? [True, True] Translation: X:226.93, Y:-11.82, Z:-1.31 [[ 9.96772355e-01 8.02195312e-02 3.11420758e-03 2.26933439e+02] [-8.02191230e-02 9.96777220e-01 -2.55974860e-04 -1.18235496e+01] [-3.12470536e-03 5.32966299e-06 9.99995118e-01 -1.31489586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.590281693 meters Centerline goodness [0,1] 0.9998945992664109 Centerline is valid? [True, True] Translation: X:226.96, Y:-11.83, Z:-1.31 [[ 9.96984994e-01 7.75309507e-02 3.14229538e-03 2.26962517e+02] [-7.75305224e-02 9.96989946e-01 -2.58053218e-04 -1.18263410e+01] [-3.15284401e-03 1.36513836e-05 9.99995030e-01 -1.31325114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.620281693 meters Centerline goodness [0,1] 0.9998725140234574 Centerline is valid? [True, True] Translation: X:226.99, Y:-11.83, Z:-1.31 [[ 9.97007023e-01 7.72036122e-02 4.07408737e-03 2.26990239e+02] [-7.72028905e-02 9.97015347e-01 -3.34337780e-04 -1.18268164e+01] [-4.08773972e-03 1.88057940e-05 9.99991645e-01 -1.31089062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65028169299998 meters Centerline goodness [0,1] 0.9998923735927847 Centerline is valid? [True, True] Translation: X:227.02, Y:-11.83, Z:-1.31 [[ 9.96967754e-01 7.76625200e-02 4.88162741e-03 2.27018853e+02] [-7.76614910e-02 9.96979705e-01 -4.00288255e-04 -1.18253265e+01] [-4.89797085e-03 1.99600194e-05 9.99988005e-01 -1.30924780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68028169299998 meters Centerline goodness [0,1] 0.9999574368469216 Centerline is valid? [True, True] Translation: X:227.05, Y:-11.82, Z:-1.31 [[ 9.96781272e-01 7.99365124e-02 6.10323689e-03 2.27046602e+02] [-7.99349487e-02 9.96799957e-01 -5.00099102e-04 -1.18219872e+01] [-6.12368245e-03 1.06274914e-05 9.99981250e-01 -1.30797649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71028169299998 meters Centerline goodness [0,1] 0.9999786151148369 Centerline is valid? [True, True] Translation: X:227.07, Y:-11.82, Z:-1.31 [[ 9.96722429e-01 8.06036701e-02 6.88819959e-03 2.27074037e+02] [-8.06016973e-02 9.96746231e-01 -5.63980293e-04 -1.18218668e+01] [-6.91124586e-03 6.93122930e-06 9.99976117e-01 -1.30731692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.740281693 meters Centerline goodness [0,1] 0.9998067217867497 Centerline is valid? [True, True] Translation: X:227.10, Y:-11.82, Z:-1.31 [[ 9.96682233e-01 8.10480508e-02 7.46590742e-03 2.27103224e+02] [-8.10457489e-02 9.96710195e-01 -6.10853848e-04 -1.18201247e+01] [-7.49085456e-03 3.74711906e-06 9.99971943e-01 -1.30765441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.770281693 meters Centerline goodness [0,1] 0.9997683039851715 Centerline is valid? [True, True] Translation: X:227.13, Y:-11.82, Z:-1.31 [[ 9.96717717e-01 8.06579523e-02 6.93452304e-03 2.27130976e+02] [-8.06559593e-02 9.96741840e-01 -5.67038075e-04 -1.18222314e+01] [-6.95766538e-03 5.86628730e-06 9.99975795e-01 -1.30847145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.800281693 meters Centerline goodness [0,1] 0.999786734911495 Centerline is valid? [True, True] Translation: X:227.16, Y:-11.83, Z:-1.31 [[ 9.96839618e-01 7.92157125e-02 5.97043898e-03 2.27159390e+02] [-7.92142111e-02 9.96857498e-01 -4.87907752e-04 -1.18261529e+01] [-5.99032682e-03 1.34221634e-05 9.99982058e-01 -1.31076469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.830281693 meters Centerline goodness [0,1] 0.999788632664708 Centerline is valid? [True, True] Translation: X:227.19, Y:-11.83, Z:-1.32 [[ 9.97187905e-01 7.48930405e-02 2.70447604e-03 2.27186785e+02] [-7.48927165e-02 9.97191572e-01 -2.21027297e-04 -1.18345619e+01] [-2.71343412e-03 1.78601901e-05 9.99996318e-01 -1.31610376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.860281693 meters Centerline goodness [0,1] 0.9997240559529621 Centerline is valid? [True, True] Translation: X:227.22, Y:-11.84, Z:-1.32 [[ 9.97375028e-01 7.23664743e-02 2.47910528e-03 2.27215299e+02] [-7.23661946e-02 9.97378109e-01 -2.02461828e-04 -1.18401635e+01] [-2.48725678e-03 2.25269567e-05 9.99996907e-01 -1.31693912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.890281693 meters Centerline goodness [0,1] 0.9993795331521855 Centerline is valid? [True, True] Translation: X:227.24, Y:-11.85, Z:-1.32 [[ 9.97551135e-01 6.98544070e-02 3.47784723e-03 2.27243701e+02] [-6.98538421e-02 9.97557196e-01 -2.83784703e-04 -1.18463277e+01] [-3.48917514e-03 4.01487610e-05 9.99993912e-01 -1.31510189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.920281693 meters Centerline goodness [0,1] 0.9991569185372536 Centerline is valid? [True, True] Translation: X:227.27, Y:-11.86, Z:-1.31 [[ 9.97764166e-01 6.66430862e-02 5.03675135e-03 2.27272008e+02] [-6.66418621e-02 9.97776876e-01 -4.10665602e-04 -1.18568473e+01] [-5.05292205e-03 7.40889324e-05 9.99987231e-01 -1.31241974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.950281693 meters Centerline goodness [0,1] 0.9992086577123792 Centerline is valid? [True, True] Translation: X:227.30, Y:-11.86, Z:-1.31 [[ 9.97838380e-01 6.55186777e-02 5.08634020e-03 2.27301144e+02] [-6.55174156e-02 9.97851340e-01 -4.14533463e-04 -1.18582517e+01] [-5.10257107e-03 8.03935346e-05 9.99986979e-01 -1.31337984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.980281693 meters Centerline goodness [0,1] 0.9991683193653637 Centerline is valid? [True, True] Translation: X:227.33, Y:-11.86, Z:-1.32 [[ 9.97884975e-01 6.49105306e-02 3.49268207e-03 2.27329721e+02] [-6.49099320e-02 9.97891086e-01 -2.84579203e-04 -1.18638662e+01] [-3.50378849e-03 5.72675556e-05 9.99993860e-01 -1.31720262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.010281693 meters Centerline goodness [0,1] 0.9992737370500908 Centerline is valid? [True, True] Translation: X:227.36, Y:-11.86, Z:-1.32 [[ 9.97911991e-01 6.45231539e-02 2.90178261e-03 2.27359770e+02] [-6.45227393e-02 9.97916209e-01 -2.36338327e-04 -1.18640645e+01] [-2.91098520e-03 4.86138873e-05 9.99995762e-01 -1.31824085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.040281693 meters Centerline goodness [0,1] 0.9993358898005527 Centerline is valid? [True, True] Translation: X:227.39, Y:-11.87, Z:-1.32 [[ 9.97936561e-01 6.41732315e-02 2.10147678e-03 2.27389641e+02] [-6.41730133e-02 9.97938773e-01 -1.71137489e-04 -1.18678939e+01] [-2.10812761e-03 3.59262600e-05 9.99997777e-01 -1.31924083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.070281693 meters Centerline goodness [0,1] 0.9993379746294794 Centerline is valid? [True, True] Translation: X:227.42, Y:-11.87, Z:-1.32 [[ 9.97953015e-01 6.39359315e-02 1.40599791e-03 2.27417467e+02] [-6.39358335e-02 9.97954005e-01 -1.14541241e-04 -1.18748917e+01] [-1.41044455e-03 2.44131281e-05 9.99999005e-01 -1.32071500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.100281693 meters Centerline goodness [0,1] 0.9993379746294794 Centerline is valid? [True, True] Translation: X:227.45, Y:-11.88, Z:-1.32 [[ 9.97955791e-01 6.38925840e-02 1.40599957e-03 2.27445713e+02] [-6.38924861e-02 9.97956781e-01 -1.14520941e-04 -1.18770967e+01] [-1.41044384e-03 2.44540290e-05 9.99999005e-01 -1.32084839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.130281693 meters Centerline goodness [0,1] 0.9991098111527945 Centerline is valid? [True, True] Translation: X:227.47, Y:-11.88, Z:-1.32 [[ 9.97909527e-01 6.45895049e-02 2.18448562e-03 2.27474356e+02] [-6.45892707e-02 9.97911917e-01 -1.77692986e-04 -1.18804921e+01] [-2.19140134e-03 3.62271904e-05 9.99997598e-01 -1.31984753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.160281693 meters Centerline goodness [0,1] 0.9992491687225142 Centerline is valid? [True, True] Translation: X:227.50, Y:-11.88, Z:-1.32 [[ 9.97866862e-01 6.52209501e-02 2.82018777e-03 2.27504264e+02] [-6.52205626e-02 9.97870846e-01 -2.29248855e-04 -1.18798828e+01] [-2.82913498e-03 4.48256019e-05 9.99995997e-01 -1.31842029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.190281693 meters Centerline goodness [0,1] 0.9996373255962794 Centerline is valid? [True, True] Translation: X:227.53, Y:-11.88, Z:-1.32 [[ 9.97758127e-01 6.68655670e-02 2.77793427e-03 2.27533951e+02] [-6.68651976e-02 9.97761993e-01 -2.25750931e-04 -1.18842243e+01] [-2.78681219e-03 3.94977024e-05 9.99996116e-01 -1.31810136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.220281693 meters Centerline goodness [0,1] 0.9996335417115758 Centerline is valid? [True, True] Translation: X:227.56, Y:-11.89, Z:-1.32 [[ 9.97729022e-01 6.73023908e-02 2.68068188e-03 2.27562623e+02] [-6.73020483e-02 9.97732623e-01 -2.17896302e-04 -1.18871466e+01] [-2.68926870e-03 3.69860834e-05 9.99996383e-01 -1.31855759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.250281693 meters Centerline goodness [0,1] 0.9995475892972554 Centerline is valid? [True, True] Translation: X:227.59, Y:-11.89, Z:-1.32 [[ 9.97697731e-01 6.77603467e-02 2.78816025e-03 2.27591461e+02] [-6.77599789e-02 9.97701626e-01 -2.26302091e-04 -1.18898034e+01] [-2.79708632e-03 3.68554028e-05 9.99996087e-01 -1.31886823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.280281693 meters Centerline goodness [0,1] 0.9996367987010213 Centerline is valid? [True, True] Translation: X:227.62, Y:-11.89, Z:-1.32 [[ 9.97615415e-01 6.89640882e-02 2.72735130e-03 2.27619530e+02] [-6.89637408e-02 9.97619142e-01 -2.21332889e-04 -1.18929042e+01] [-2.73612189e-03 3.27167533e-05 9.99996256e-01 -1.31850739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.310281693 meters Centerline goodness [0,1] 0.9997018675866182 Centerline is valid? [True, True] Translation: X:227.65, Y:-11.90, Z:-1.32 [[ 9.97590777e-01 6.93169973e-02 2.79198902e-03 2.27647908e+02] [-6.93166349e-02 9.97594684e-01 -2.26477483e-04 -1.18997379e+01] [-2.80097215e-03 3.24005643e-05 9.99996077e-01 -1.31880413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.340281693 meters Centerline goodness [0,1] 0.9993582064008215 Centerline is valid? [True, True] Translation: X:227.68, Y:-11.91, Z:-1.32 [[ 9.97620821e-01 6.88004261e-02 4.38159895e-03 2.27677318e+02] [-6.87995296e-02 9.97630442e-01 -3.55177622e-04 -1.19069095e+01] [-4.39565287e-03 5.28806438e-05 9.99990338e-01 -1.31557852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.370281693 meters Centerline goodness [0,1] 0.9993441790602721 Centerline is valid? [True, True] Translation: X:227.71, Y:-11.91, Z:-1.32 [[ 9.97656951e-01 6.82581644e-02 4.62934021e-03 2.27705140e+02] [-6.82571584e-02 9.97667690e-01 -3.75149579e-04 -1.19125593e+01] [-4.64415017e-03 5.82849781e-05 9.99989214e-01 -1.31558378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40028169299998 meters Centerline goodness [0,1] 0.9987198634521015 Centerline is valid? [True, True] Translation: X:227.74, Y:-11.92, Z:-1.32 [[ 9.97718402e-01 6.73590870e-02 4.55451079e-03 2.27735442e+02] [-6.73581046e-02 9.97728796e-01 -3.68929204e-04 -1.19195408e+01] [-4.56901730e-03 6.13042417e-05 9.99989560e-01 -1.31626167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43028169299998 meters Centerline goodness [0,1] 0.9986670898127579 Centerline is valid? [True, True] Translation: X:227.77, Y:-11.93, Z:-1.32 [[ 9.97779570e-01 6.64857102e-02 3.94704261e-03 2.27765024e+02] [-6.64849655e-02 9.97787376e-01 -3.19722437e-04 -1.19309246e+01] [-3.95956626e-03 5.65935237e-05 9.99992159e-01 -1.31635478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46028169299998 meters Centerline goodness [0,1] 0.9982724054088641 Centerline is valid? [True, True] Translation: X:227.79, Y:-11.94, Z:-1.32 [[ 9.97779974e-01 6.65125605e-02 3.34706645e-03 2.27794490e+02] [-6.65120251e-02 9.97785587e-01 -2.71152449e-04 -1.19365109e+01] [-3.35768970e-03 4.79303158e-05 9.99994362e-01 -1.31684325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.490281693 meters Centerline goodness [0,1] 0.9979350162248726 Centerline is valid? [True, True] Translation: X:227.82, Y:-11.94, Z:-1.32 [[ 9.97533074e-01 7.01195229e-02 3.31942867e-03 2.27823085e+02] [-7.01190164e-02 9.97538596e-01 -2.68855798e-04 -1.19366840e+01] [-3.33011026e-03 3.54374770e-05 9.99994455e-01 -1.31566570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.520281693 meters Centerline goodness [0,1] 0.997651228834369 Centerline is valid? [True, True] Translation: X:227.85, Y:-11.93, Z:-1.32 [[ 9.97302355e-01 7.33024272e-02 3.84278896e-03 2.27853189e+02] [-7.33017726e-02 9.97309758e-01 -3.11083112e-04 -1.19347523e+01] [-3.85525407e-03 2.85606772e-05 9.99992568e-01 -1.31513868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.550281693 meters Centerline goodness [0,1] 0.9971712054042643 Centerline is valid? [True, True] Translation: X:227.88, Y:-11.93, Z:-1.31 [[ 9.96995133e-01 7.73503785e-02 4.19806967e-03 2.27882568e+02] [-7.73496336e-02 9.97003971e-01 -3.39737913e-04 -1.19316594e+01] [-4.21177099e-03 1.39978947e-05 9.99991130e-01 -1.31486806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.580281693 meters Centerline goodness [0,1] 0.9969562460367787 Centerline is valid? [True, True] Translation: X:227.91, Y:-11.93, Z:-1.31 [[ 9.96607750e-01 8.21883486e-02 4.25069156e-03 2.27911616e+02] [-8.21876293e-02 9.96616815e-01 -3.43928864e-04 -1.19256844e+01] [-4.26457763e-03 -6.59209073e-06 9.99990907e-01 -1.31465559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.610281693 meters Centerline goodness [0,1] 0.9973209729545841 Centerline is valid? [True, True] Translation: X:227.94, Y:-11.91, Z:-1.32 [[ 9.95773325e-01 9.17783710e-02 3.49524697e-03 2.27941789e+02] [-9.17779442e-02 9.95779458e-01 -2.82658062e-04 -1.19081518e+01] [-3.50643703e-03 -3.93232231e-05 9.99993852e-01 -1.31683592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.640281693 meters Centerline goodness [0,1] 0.9971568606649551 Centerline is valid? [True, True] Translation: X:227.97, Y:-11.90, Z:-1.32 [[ 9.95439883e-01 9.53319469e-02 3.35555384e-03 2.27969703e+02] [-9.53315737e-02 9.95445537e-01 -2.71349717e-04 -1.19010591e+01] [-3.36613939e-03 -4.97778980e-05 9.99994333e-01 -1.31771635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.670281693 meters Centerline goodness [0,1] 0.9971655691238838 Centerline is valid? [True, True] Translation: X:228.00, Y:-11.89, Z:-1.32 [[ 9.95045595e-01 9.93727616e-02 3.05259028e-03 2.27999495e+02] [-9.93724725e-02 9.95050276e-01 -2.46616934e-04 -1.18946769e+01] [-3.06198781e-03 -5.79483500e-05 9.99995310e-01 -1.31777751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.700281693 meters Centerline goodness [0,1] 0.9970656899912185 Centerline is valid? [True, True] Translation: X:228.03, Y:-11.90, Z:-1.32 [[ 9.95071324e-01 9.91270679e-02 2.62377401e-03 2.28027081e+02] [-9.91268534e-02 9.95074782e-01 -2.11989363e-04 -1.19006817e+01] [-2.63186524e-03 -4.91419258e-05 9.99996535e-01 -1.31855656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.730281693 meters Centerline goodness [0,1] 0.9970904734398733 Centerline is valid? [True, True] Translation: X:228.06, Y:-11.90, Z:-1.32 [[ 9.95175731e-01 9.80912763e-02 1.83484856e-03 2.28056072e+02] [-9.80911699e-02 9.95177422e-01 -1.48149922e-04 -1.19015701e+01] [-1.84053208e-03 -3.25472350e-05 9.99998306e-01 -1.32029611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.760281693 meters Centerline goodness [0,1] 0.9970480020535638 Centerline is valid? [True, True] Translation: X:228.08, Y:-11.90, Z:-1.32 [[ 9.95491198e-01 9.48516034e-02 6.69878101e-04 2.28084895e+02] [-9.48515884e-02 9.95491423e-01 -5.42017878e-05 -1.19049756e+01] [-6.71999031e-04 -9.58159931e-06 9.99999774e-01 -1.32356531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.790281693 meters Centerline goodness [0,1] 0.9970640796527955 Centerline is valid? [True, True] Translation: X:228.11, Y:-11.91, Z:-1.32 [[ 9.95672627e-01 9.29293234e-02 4.01017851e-04 2.28112197e+02] [-9.29293178e-02 9.95672708e-01 -3.25708078e-05 -1.19081713e+01] [-4.02309313e-04 -4.83645358e-06 9.99999919e-01 -1.32445120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.820281693 meters Centerline goodness [0,1] 0.9969227481568543 Centerline is valid? [True, True] Translation: X:228.14, Y:-11.91, Z:-1.32 [[ 9.95853772e-01 9.09664905e-02 6.02704035e-04 2.28140953e+02] [-9.09664777e-02 9.95853954e-01 -4.87222643e-05 -1.19136706e+01] [-6.04637290e-04 -6.30561245e-06 9.99999817e-01 -1.32294772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.850281693 meters Centerline goodness [0,1] 0.9968308720491538 Centerline is valid? [True, True] Translation: X:228.17, Y:-11.92, Z:-1.32 [[ 9.96031375e-01 8.89824006e-02 1.90569940e-03 2.28169157e+02] [-8.89822698e-02 9.96033198e-01 -1.53511554e-04 -1.19152162e+01] [-1.91179970e-03 -1.66711336e-05 9.99998172e-01 -1.31971562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.880281693 meters Centerline goodness [0,1] 0.9966954753431622 Centerline is valid? [True, True] Translation: X:228.20, Y:-11.91, Z:-1.32 [[ 9.96001428e-01 8.93057811e-02 2.37358087e-03 2.28196965e+02] [-8.93055795e-02 9.96004256e-01 -1.90971331e-04 -1.19149661e+01] [-2.38115150e-03 -2.17662972e-05 9.99997165e-01 -1.31887504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.910281693 meters Centerline goodness [0,1] 0.9970696742911352 Centerline is valid? [True, True] Translation: X:228.23, Y:-11.91, Z:-1.32 [[ 9.95828180e-01 9.12326511e-02 1.68507778e-03 2.28225190e+02] [-9.12325524e-02 9.95829605e-01 -1.35555649e-04 -1.19103994e+01] [-1.69041744e-03 -1.87438109e-05 9.99998571e-01 -1.32221563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.940281693 meters Centerline goodness [0,1] 0.997087523119114 Centerline is valid? [True, True] Translation: X:228.25, Y:-11.91, Z:-1.32 [[ 9.95808711e-01 9.14495440e-02 1.41115772e-03 2.28253846e+02] [-9.14494751e-02 9.95809711e-01 -1.13428002e-04 -1.19120140e+01] [-1.41561750e-03 -1.60970404e-05 9.99998998e-01 -1.32360741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.970281693 meters Centerline goodness [0,1] 0.997086025592297 Centerline is valid? [True, True] Translation: X:228.28, Y:-11.92, Z:-1.32 [[ 9.95791884e-01 9.16235746e-02 1.90922573e-03 2.28281178e+02] [-9.16234489e-02 9.95793714e-01 -1.53386584e-04 -1.19166838e+01] [-1.91524881e-03 -2.21887310e-05 9.99998166e-01 -1.32093325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.000281693 meters Centerline goodness [0,1] 0.996992512829141 Centerline is valid? [True, True] Translation: X:228.31, Y:-11.92, Z:-1.32 [[ 9.95803844e-01 9.14227015e-02 4.07349129e-03 2.28310136e+02] [-9.14221302e-02 9.95812175e-01 -3.26606541e-04 -1.19201670e+01] [-4.08629147e-03 -4.71712020e-05 9.99991650e-01 -1.31671993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.030281693 meters Centerline goodness [0,1] 0.997081753504026 Centerline is valid? [True, True] Translation: X:228.34, Y:-11.92, Z:-1.32 [[ 9.95835961e-01 9.10521542e-02 4.49924224e-03 2.28338681e+02] [-9.10514546e-02 9.95846124e-01 -3.60509812e-04 -1.19245610e+01] [-4.51337814e-03 -5.06539153e-05 9.99989813e-01 -1.31591402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.060281693 meters Centerline goodness [0,1] 0.996976296703529 Centerline is valid? [True, True] Translation: X:228.37, Y:-11.93, Z:-1.31 [[ 9.95859807e-01 9.07657669e-02 4.98201708e-03 2.28366460e+02] [-9.07649068e-02 9.95872267e-01 -3.98934516e-04 -1.19285697e+01] [-4.99766224e-03 -5.49094659e-05 9.99987510e-01 -1.31478628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.090281693 meters Centerline goodness [0,1] 0.9971141490952752 Centerline is valid? [True, True] Translation: X:228.39, Y:-11.93, Z:-1.32 [[ 9.95879024e-01 9.05702211e-02 4.69099255e-03 2.28394604e+02] [-9.05694576e-02 9.95890070e-01 -3.75375650e-04 -1.19311953e+01] [-4.70571076e-03 -5.10319152e-05 9.99988927e-01 -1.31528890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.120281693 meters Centerline goodness [0,1] 0.9970751557797465 Centerline is valid? [True, True] Translation: X:228.42, Y:-11.93, Z:-1.32 [[ 9.95852817e-01 9.08592077e-02 4.66606227e-03 2.28423169e+02] [-9.08584567e-02 9.95863747e-01 -3.73116185e-04 -1.19323505e+01] [-4.68066329e-03 -5.23824134e-05 9.99989044e-01 -1.31595975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15028169299998 meters Centerline goodness [0,1] 0.9971813673547238 Centerline is valid? [True, True] Translation: X:228.45, Y:-11.93, Z:-1.32 [[ 9.95791358e-01 9.14994527e-02 5.23663158e-03 2.28451556e+02] [-9.14985170e-02 9.95805125e-01 -4.18481029e-04 -1.19340501e+01] [-5.25295535e-03 -6.24242315e-05 9.99986201e-01 -1.31509073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18028169299998 meters Centerline goodness [0,1] 0.9972577696526508 Centerline is valid? [True, True] Translation: X:228.48, Y:-11.94, Z:-1.31 [[ 9.95687910e-01 9.25522943e-02 6.29757805e-03 2.28479702e+02] [-9.25509643e-02 9.95707822e-01 -5.02918829e-04 -1.19372202e+01] [-6.31709401e-03 -8.20967230e-05 9.99980044e-01 -1.31266214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21028169299998 meters Centerline goodness [0,1] 0.9971657007487627 Centerline is valid? [True, True] Translation: X:228.51, Y:-11.94, Z:-1.31 [[ 9.95637412e-01 9.31348136e-02 5.66134975e-03 2.28507536e+02] [-9.31337498e-02 9.95653504e-01 -4.51813790e-04 -1.19392448e+01] [-5.67882231e-03 -7.74200185e-05 9.99983872e-01 -1.31341505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.240281693 meters Centerline goodness [0,1] 0.9969148846251373 Centerline is valid? [True, True] Translation: X:228.54, Y:-11.94, Z:-1.32 [[ 9.95566457e-01 9.39558424e-02 4.44177483e-03 2.28535194e+02] [-9.39551967e-02 9.95576363e-01 -3.54282002e-04 -1.19388992e+01] [-4.45541290e-03 -6.46165507e-05 9.99990073e-01 -1.31567936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.270281693 meters Centerline goodness [0,1] 0.997172859450727 Centerline is valid? [True, True] Translation: X:228.56, Y:-11.94, Z:-1.32 [[ 9.95405641e-01 9.57204454e-02 2.28152129e-03 2.28564470e+02] [-9.57202798e-02 9.95408255e-01 -1.81950282e-04 -1.19368068e+01] [-2.28846149e-03 -3.72735191e-05 9.99997381e-01 -1.32076741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.300281693 meters Centerline goodness [0,1] 0.9972845687131402 Centerline is valid? [True, True] Translation: X:228.59, Y:-11.94, Z:-1.32 [[ 9.95405772e-01 9.57240348e-02 2.06364422e-03 2.28592307e+02] [-9.57238993e-02 9.95407910e-01 -1.64553064e-04 -1.19384796e+01] [-2.06991947e-03 -3.37430024e-05 9.99997857e-01 -1.32206582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.330281693 meters Centerline goodness [0,1] 0.9971756211509875 Centerline is valid? [True, True] Translation: X:228.62, Y:-11.95, Z:-1.32 [[ 9.95539685e-01 9.42899932e-02 3.18328369e-03 2.28620605e+02] [-9.42896647e-02 9.95544773e-01 -2.53439145e-04 -1.19450276e+01] [-3.19299821e-03 -4.78420254e-05 9.99994901e-01 -1.31875366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.360281693 meters Centerline goodness [0,1] 0.9971811431095778 Centerline is valid? [True, True] Translation: X:228.65, Y:-11.95, Z:-1.32 [[ 9.95660672e-01 9.29770578e-02 3.88503170e-03 2.28648231e+02] [-9.29765594e-02 9.95668250e-01 -3.09086621e-04 -1.19476380e+01] [-3.89694068e-03 -5.34714888e-05 9.99992405e-01 -1.31760507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.390281693 meters Centerline goodness [0,1] 0.997136629770503 Centerline is valid? [True, True] Translation: X:228.68, Y:-11.95, Z:-1.32 [[ 9.95824400e-01 9.11966800e-02 4.11467757e-03 2.28676549e+02] [-9.11961068e-02 9.95832899e-01 -3.27094567e-04 -1.19541258e+01] [-4.12736123e-03 -4.95138242e-05 9.99991481e-01 -1.31711977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.420281693 meters Centerline goodness [0,1] 0.9971391308006227 Centerline is valid? [True, True] Translation: X:228.70, Y:-11.96, Z:-1.32 [[ 9.96289792e-01 8.59897190e-02 3.52388288e-03 2.28704195e+02] [-8.59892665e-02 9.96296024e-01 -2.79989155e-04 -1.19644051e+01] [-3.53490669e-03 -2.40657670e-05 9.99993752e-01 -1.31959146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.450281693 meters Centerline goodness [0,1] 0.9965453609132263 Centerline is valid? [True, True] Translation: X:228.73, Y:-11.98, Z:-1.32 [[ 9.96567611e-01 8.27275775e-02 3.02394087e-03 2.28731801e+02] [-8.27272296e-02 9.96572199e-01 -2.40151153e-04 -1.19752133e+01] [-3.03344253e-03 -1.08353900e-05 9.99995399e-01 -1.32082068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.480281693 meters Centerline goodness [0,1] 0.9960787620694017 Centerline is valid? [True, True] Translation: X:228.76, Y:-11.99, Z:-1.32 [[ 9.97047163e-01 7.67689764e-02 1.86519921e-03 2.28759067e+02] [-7.67688337e-02 9.97048908e-01 -1.48089830e-04 -1.19900501e+01] [-1.87106354e-03 4.46337687e-06 9.99998250e-01 -1.32397716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.510281693 meters Centerline goodness [0,1] 0.9957631606821311 Centerline is valid? [True, True] Translation: X:228.79, Y:-12.00, Z:-1.32 [[ 9.97246327e-01 7.41494520e-02 1.27364825e-03 2.28786947e+02] [-7.41493833e-02 9.97247140e-01 -1.01162719e-04 -1.19979871e+01] [-1.27764324e-03 6.44391750e-06 9.99999184e-01 -1.32425028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.540281693 meters Centerline goodness [0,1] 0.9957126180621882 Centerline is valid? [True, True] Translation: X:228.82, Y:-12.01, Z:-1.32 [[ 9.97375423e-01 7.23928114e-02 1.24392730e-03 2.28816228e+02] [-7.23927446e-02 9.97376198e-01 -9.86712191e-05 -1.20058594e+01] [-1.24780657e-03 8.36093748e-06 9.99999221e-01 -1.32451994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.570281693 meters Centerline goodness [0,1] 0.9958120055839925 Centerline is valid? [True, True] Translation: X:228.85, Y:-12.01, Z:-1.32 [[ 9.97449896e-01 7.13550068e-02 1.47259474e-03 2.28845310e+02] [-7.13549122e-02 9.97450983e-01 -1.16756884e-04 -1.20124604e+01] [-1.47717226e-03 1.13822736e-05 9.99998909e-01 -1.32323706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.600281693 meters Centerline goodness [0,1] 0.9956721086686378 Centerline is valid? [True, True] Translation: X:228.87, Y:-12.02, Z:-1.32 [[ 9.97440967e-01 7.14648069e-02 2.07336824e-03 2.28874932e+02] [-7.14646198e-02 9.97443122e-01 -1.64301897e-04 -1.20166636e+01] [-2.07980869e-03 1.57089701e-05 9.99997837e-01 -1.32174477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.630281693 meters Centerline goodness [0,1] 0.9958441669153063 Centerline is valid? [True, True] Translation: X:228.90, Y:-12.02, Z:-1.32 [[ 9.97295706e-01 7.34501679e-02 2.51943385e-03 2.28903040e+02] [-7.34498981e-02 9.97298888e-01 -1.99592242e-04 -1.20208650e+01] [-2.52728866e-03 1.40003264e-05 9.99996806e-01 -1.32079503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.660281693 meters Centerline goodness [0,1] 0.9960927491673072 Centerline is valid? [True, True] Translation: X:228.93, Y:-12.02, Z:-1.32 [[ 9.97124786e-01 7.57161384e-02 3.03770110e-03 2.28932968e+02] [-7.57157571e-02 9.97129413e-01 -2.40508211e-04 -1.20246662e+01] [-3.04719147e-03 9.81485949e-06 9.99995357e-01 -1.32087426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.690281693 meters Centerline goodness [0,1] 0.99603511152574 Centerline is valid? [True, True] Translation: X:228.96, Y:-12.03, Z:-1.32 [[ 9.97124484e-01 7.57200833e-02 3.03839746e-03 2.28962341e+02] [-7.57197023e-02 9.97129113e-01 -2.40376481e-04 -1.20303686e+01] [-3.04787589e-03 9.61872355e-06 9.99995355e-01 -1.32089149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.720281693 meters Centerline goodness [0,1] 0.9963056291107885 Centerline is valid? [True, True] Translation: X:228.99, Y:-12.04, Z:-1.32 [[ 9.97169566e-01 7.51255002e-02 3.00274077e-03 2.28992890e+02] [-7.51251253e-02 9.97174087e-01 -2.37613919e-04 -1.20359181e+01] [-3.01210615e-03 1.13600917e-05 9.99995464e-01 -1.32096408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.750281693 meters Centerline goodness [0,1] 0.9962070361610091 Centerline is valid? [True, True] Translation: X:229.02, Y:-12.04, Z:-1.32 [[ 9.97203763e-01 7.46710721e-02 2.98089956e-03 2.29022926e+02] [-7.46707006e-02 9.97208218e-01 -2.35885573e-04 -1.20413137e+01] [-2.99019137e-03 1.26401223e-05 9.99995529e-01 -1.32048006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.780281693 meters Centerline goodness [0,1] 0.9960917256866471 Centerline is valid? [True, True] Translation: X:229.05, Y:-12.05, Z:-1.32 [[ 9.97264277e-01 7.38464043e-02 3.26662719e-03 2.29052976e+02] [-7.38459537e-02 9.97269627e-01 -2.58495870e-04 -1.20484694e+01] [-3.27679707e-03 1.65614967e-05 9.99994631e-01 -1.31987938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.810281693 meters Centerline goodness [0,1] 0.9960670712367581 Centerline is valid? [True, True] Translation: X:229.08, Y:-12.05, Z:-1.32 [[ 9.97272280e-01 7.37079566e-02 3.89071249e-03 2.29082067e+02] [-7.37073163e-02 9.97279869e-01 -3.07890970e-04 -1.20539013e+01] [-3.90282325e-03 2.02771537e-05 9.99992384e-01 -1.31916166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.840281693 meters Centerline goodness [0,1] 0.9961468479075244 Centerline is valid? [True, True] Translation: X:229.11, Y:-12.06, Z:-1.32 [[ 9.97121995e-01 7.57310356e-02 3.54093311e-03 2.29112088e+02] [-7.57305183e-02 9.97128282e-01 -2.80159238e-04 -1.20561273e+01] [-3.55198130e-03 1.11962387e-05 9.99993692e-01 -1.31924734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.870281693 meters Centerline goodness [0,1] 0.9964938376540586 Centerline is valid? [True, True] Translation: X:229.14, Y:-12.06, Z:-1.32 [[ 9.96990833e-01 7.74666289e-02 2.86375659e-03 2.29141484e+02] [-7.74662976e-02 9.96994946e-01 -2.26602673e-04 -1.20575394e+01] [-2.87270499e-03 4.07616695e-06 9.99995874e-01 -1.32074336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90028169299998 meters Centerline goodness [0,1] 0.9968675577678131 Centerline is valid? [True, True] Translation: X:229.17, Y:-12.06, Z:-1.32 [[ 9.96816508e-01 7.96979923e-02 2.25364018e-03 2.29171692e+02] [-7.96977927e-02 9.96819056e-01 -1.78338323e-04 -1.20569201e+01] [-2.26068468e-03 -1.83956324e-06 9.99997445e-01 -1.32145443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93028169299998 meters Centerline goodness [0,1] 0.9976106905738571 Centerline is valid? [True, True] Translation: X:229.20, Y:-12.05, Z:-1.32 [[ 9.96295360e-01 8.59805818e-02 1.70132279e-03 2.29200914e+02] [-8.59804772e-02 9.96296813e-01 -1.34652932e-04 -1.20485943e+01] [-1.70660001e-03 -1.21264537e-05 9.99998544e-01 -1.32339416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96028169299998 meters Centerline goodness [0,1] 0.9975631462959824 Centerline is valid? [True, True] Translation: X:229.23, Y:-12.05, Z:-1.32 [[ 9.96001234e-01 8.93215357e-02 1.79054389e-03 2.29230162e+02] [-8.93214254e-02 9.96002843e-01 -1.41678057e-04 -1.20458859e+01] [-1.79604171e-03 -1.88224134e-05 9.99998387e-01 -1.32315798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.990281693 meters Centerline goodness [0,1] 0.9976507272067147 Centerline is valid? [True, True] Translation: X:229.26, Y:-12.04, Z:-1.32 [[ 9.95592854e-01 9.37116751e-02 3.60431210e-03 2.29258987e+02] [-9.37112580e-02 9.95599377e-01 -2.84797787e-04 -1.20416761e+01] [-3.61513976e-03 -5.42219799e-05 9.99993464e-01 -1.31962357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.020281693 meters Centerline goodness [0,1] 0.9976507272067147 Centerline is valid? [True, True] Translation: X:229.29, Y:-12.04, Z:-1.32 [[ 9.95597074e-01 9.36668300e-02 3.60432287e-03 2.29287238e+02] [-9.36664132e-02 9.95603597e-01 -2.84661381e-04 -1.20438137e+01] [-3.61514014e-03 -5.41959573e-05 9.99993464e-01 -1.31975695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.050281693 meters Centerline goodness [0,1] 0.9974127608621279 Centerline is valid? [True, True] Translation: X:229.32, Y:-12.05, Z:-1.32 [[ 9.95566401e-01 9.39790078e-02 3.93547767e-03 2.29315781e+02] [-9.39785141e-02 9.95574177e-01 -3.10617185e-04 -1.20464022e+01] [-3.94725144e-03 -6.06103111e-05 9.99992208e-01 -1.31870276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.080281693 meters Centerline goodness [0,1] 0.9975413691366999 Centerline is valid? [True, True] Translation: X:229.34, Y:-12.05, Z:-1.32 [[ 9.95614318e-01 9.34925922e-02 3.35635036e-03 2.29344466e+02] [-9.34922307e-02 9.95619974e-01 -2.64789082e-04 -1.20515072e+01] [-3.36640528e-03 -5.01648816e-05 9.99994332e-01 -1.31995860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.110281693 meters Centerline goodness [0,1] 0.9976568324635211 Centerline is valid? [True, True] Translation: X:229.37, Y:-12.06, Z:-1.32 [[ 9.95785470e-01 9.16758793e-02 2.61351412e-03 2.29373377e+02] [-9.16756542e-02 9.95788899e-01 -2.06066565e-04 -1.20617839e+01] [-2.62139968e-03 -3.43975256e-05 9.99996564e-01 -1.32244256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.140281693 meters Centerline goodness [0,1] 0.9977000337609723 Centerline is valid? [True, True] Translation: X:229.40, Y:-12.07, Z:-1.32 [[ 9.95809600e-01 9.14079884e-02 2.79647810e-03 2.29401840e+02] [-9.14077297e-02 9.95813526e-01 -2.20440405e-04 -1.20658311e+01] [-2.80492073e-03 -3.61030429e-05 9.99996066e-01 -1.32238774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.170281693 meters Centerline goodness [0,1] 0.9976467064587211 Centerline is valid? [True, True] Translation: X:229.43, Y:-12.07, Z:-1.32 [[ 9.95703056e-01 9.25624648e-02 2.75929889e-03 2.29430451e+02] [-9.25622175e-02 9.95706879e-01 -2.17437100e-04 -1.20678458e+01] [-2.76757940e-03 -3.89040392e-05 9.99996169e-01 -1.32182464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.200281693 meters Centerline goodness [0,1] 0.9976448122215149 Centerline is valid? [True, True] Translation: X:229.46, Y:-12.07, Z:-1.32 [[ 9.95592617e-01 9.37598455e-02 2.10516395e-03 2.29458632e+02] [-9.37597043e-02 9.95594842e-01 -1.65873310e-04 -1.20657636e+01] [-2.11144263e-03 -3.22373068e-05 9.99997770e-01 -1.32347149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.230281693 meters Centerline goodness [0,1] 0.9978418636142437 Centerline is valid? [True, True] Translation: X:229.49, Y:-12.07, Z:-1.32 [[ 9.95476407e-01 9.49930029e-02 1.74734432e-03 2.29486925e+02] [-9.49929076e-02 9.95477940e-01 -1.37621644e-04 -1.20674878e+01] [-1.75251582e-03 -2.89862183e-05 9.99998464e-01 -1.32445796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.260281693 meters Centerline goodness [0,1] 0.9976532332046167 Centerline is valid? [True, True] Translation: X:229.52, Y:-12.07, Z:-1.32 [[ 9.95432803e-01 9.54489422e-02 1.74206696e-03 2.29515680e+02] [-9.54488484e-02 9.95434327e-01 -1.37069921e-04 -1.20702648e+01] [-1.74719643e-03 -2.98343904e-05 9.99998473e-01 -1.32456937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.290281693 meters Centerline goodness [0,1] 0.9976822044810714 Centerline is valid? [True, True] Translation: X:229.54, Y:-12.08, Z:-1.32 [[ 9.95417617e-01 9.55687688e-02 3.22149651e-03 2.29544324e+02] [-9.55684499e-02 9.95422828e-01 -2.53136595e-04 -1.20773393e+01] [-3.23094312e-03 -5.58968023e-05 9.99994779e-01 -1.32125933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.320281693 meters Centerline goodness [0,1] 0.9978215350775153 Centerline is valid? [True, True] Translation: X:229.57, Y:-12.08, Z:-1.32 [[ 9.95399763e-01 9.57383370e-02 3.67191354e-03 2.29572658e+02] [-9.57379247e-02 9.95406533e-01 -2.88304943e-04 -1.20780137e+01] [-3.68264856e-03 -6.45627096e-05 9.99993217e-01 -1.32060296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.350281693 meters Centerline goodness [0,1] 0.9976845951227802 Centerline is valid? [True, True] Translation: X:229.60, Y:-12.08, Z:-1.32 [[ 9.95265529e-01 9.71423589e-02 3.14453928e-03 2.29601646e+02] [-9.71420638e-02 9.95270495e-01 -2.46804583e-04 -1.20756103e+01] [-3.15364234e-03 -5.98309410e-05 9.99995025e-01 -1.32236513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.380281693 meters Centerline goodness [0,1] 0.9974718746049804 Centerline is valid? [True, True] Translation: X:229.63, Y:-12.08, Z:-1.32 [[ 9.95166853e-01 9.81688606e-02 2.41041745e-03 2.29631620e+02] [-9.81686904e-02 9.95169771e-01 -1.89110285e-04 -1.20771882e+01] [-2.41733932e-03 -4.84312375e-05 9.99997077e-01 -1.32430118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.410281693 meters Centerline goodness [0,1] 0.9975072353550077 Centerline is valid? [True, True] Translation: X:229.66, Y:-12.08, Z:-1.33 [[ 9.94823494e-01 1.01607448e-01 1.46388505e-03 2.29661379e+02] [-1.01607388e-01 9.94824570e-01 -1.14864003e-04 -1.20780644e+01] [-1.46797985e-03 -3.44721279e-05 9.99998922e-01 -1.32515831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.440281693 meters Centerline goodness [0,1] 0.9975035965134975 Centerline is valid? [True, True] Translation: X:229.69, Y:-12.08, Z:-1.33 [[ 9.94643440e-01 1.03359105e-01 1.14985402e-03 2.29690279e+02] [-1.03359070e-01 9.94644104e-01 -9.02430998e-05 -1.20755224e+01] [-1.15302297e-03 -2.90881346e-05 9.99999335e-01 -1.32593099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.470281693 meters Centerline goodness [0,1] 0.9976797146908435 Centerline is valid? [True, True] Translation: X:229.72, Y:-12.08, Z:-1.33 [[ 9.94452616e-01 1.05180493e-01 1.02917777e-03 2.29719530e+02] [-1.05180466e-01 9.94453148e-01 -8.07347830e-05 -1.20781823e+01] [-1.03196079e-03 -2.79624808e-05 9.99999467e-01 -1.32565936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.500281693 meters Centerline goodness [0,1] 0.9971631508222597 Centerline is valid? [True, True] Translation: X:229.75, Y:-12.07, Z:-1.33 [[ 9.94296107e-01 1.06650538e-01 9.56182840e-04 2.29748026e+02] [-1.06650515e-01 9.94296566e-01 -7.49791507e-05 -1.20747226e+01] [-9.58725881e-04 -2.74259145e-05 9.99999540e-01 -1.32611875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.530281693 meters Centerline goodness [0,1] 0.9963500551735845 Centerline is valid? [True, True] Translation: X:229.78, Y:-12.07, Z:-1.33 [[ 9.94154235e-01 1.07956999e-01 1.62612412e-03 2.29776796e+02] [-1.07956934e-01 9.94155563e-01 -1.27527659e-04 -1.20688714e+01] [-1.63038784e-03 -4.87692119e-05 9.99998670e-01 -1.32564931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.560281693 meters Centerline goodness [0,1] 0.9972647819304656 Centerline is valid? [True, True] Translation: X:229.81, Y:-12.07, Z:-1.32 [[ 9.94242336e-01 1.07137988e-01 1.90486371e-03 2.29805828e+02] [-1.07137899e-01 9.94244159e-01 -1.49256406e-04 -1.20740565e+01] [-1.90989065e-03 -5.56860573e-05 9.99998175e-01 -1.32437337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.590281693 meters Centerline goodness [0,1] 0.997558562919622 Centerline is valid? [True, True] Translation: X:229.84, Y:-12.08, Z:-1.32 [[ 9.94697990e-01 1.02807284e-01 2.56352908e-03 2.29835060e+02] [-1.02807109e-01 9.94701291e-01 -2.00494205e-04 -1.20765389e+01] [-2.57055795e-03 -6.41178310e-05 9.99996694e-01 -1.32400910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.620281693 meters Centerline goodness [0,1] 0.9976643947597511 Centerline is valid? [True, True] Translation: X:229.86, Y:-12.08, Z:-1.32 [[ 9.94949901e-01 1.00341615e-01 2.50090551e-03 2.29863684e+02] [-1.00341441e-01 9.94953043e-01 -1.95592833e-04 -1.20842862e+01] [-2.50790965e-03 -5.63393926e-05 9.99996854e-01 -1.32362957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65028169299998 meters Centerline goodness [0,1] 0.9980304003425391 Centerline is valid? [True, True] Translation: X:229.89, Y:-12.09, Z:-1.32 [[ 9.95151151e-01 9.83271297e-02 2.44181519e-03 2.29891898e+02] [-9.83269572e-02 9.95154145e-01 -1.90861920e-04 -1.20873094e+01] [-2.44874942e-03 -5.01597986e-05 9.99997001e-01 -1.32395025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68028169299998 meters Centerline goodness [0,1] 0.9979868616232253 Centerline is valid? [True, True] Translation: X:229.92, Y:-12.09, Z:-1.32 [[ 9.95454381e-01 9.51903049e-02 3.06284359e-03 2.29919858e+02] [-9.51900193e-02 9.95459092e-01 -2.39223892e-04 -1.20862042e+01] [-3.07170729e-03 -5.34156688e-05 9.99995281e-01 -1.32251009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71028169299998 meters Centerline goodness [0,1] 0.997803822194066 Centerline is valid? [True, True] Translation: X:229.95, Y:-12.09, Z:-1.32 [[ 9.95557740e-01 9.40591423e-02 4.20291526e-03 2.29948186e+02] [-9.40585959e-02 9.95566609e-01 -3.27916212e-04 -1.20907816e+01] [-4.21512561e-03 -6.88607849e-05 9.99991114e-01 -1.32004062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.740281693 meters Centerline goodness [0,1] 0.9979857518446272 Centerline is valid? [True, True] Translation: X:229.98, Y:-12.09, Z:-1.32 [[ 9.95663741e-01 9.28807040e-02 5.18554794e-03 2.29976505e+02] [-9.28798577e-02 9.95677241e-01 -4.04298607e-04 -1.20935226e+01] [-5.20068360e-03 -7.90874908e-05 9.99986473e-01 -1.31813390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.770281693 meters Centerline goodness [0,1] 0.9983161394833319 Centerline is valid? [True, True] Translation: X:230.01, Y:-12.10, Z:-1.32 [[ 9.95776058e-01 9.16562924e-02 5.40051873e-03 2.30005028e+02] [-9.16553579e-02 9.95790700e-01 -4.20810585e-04 -1.20956367e+01] [-5.41635627e-03 -7.59533713e-05 9.99985329e-01 -1.31752133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.800281693 meters Centerline goodness [0,1] 0.998256320836966 Centerline is valid? [True, True] Translation: X:230.03, Y:-12.10, Z:-1.32 [[ 9.96031542e-01 8.89410770e-02 3.26382183e-03 2.30034496e+02] [-8.89407213e-02 9.96036889e-01 -2.54253433e-04 -1.20988145e+01] [-3.27350051e-03 -3.70422289e-05 9.99994641e-01 -1.32165728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.830281693 meters Centerline goodness [0,1] 0.9981188704768347 Centerline is valid? [True, True] Translation: X:230.06, Y:-12.10, Z:-1.32 [[ 9.96176829e-01 8.73305854e-02 2.25691344e-03 2.30063049e+02] [-8.73304111e-02 9.96179386e-01 -1.75851535e-04 -1.21020763e+01] [-2.26364786e-03 -2.19179537e-05 9.99997438e-01 -1.32382945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.860281693 meters Centerline goodness [0,1] 0.9980611483967189 Centerline is valid? [True, True] Translation: X:230.09, Y:-12.10, Z:-1.32 [[ 9.96348427e-01 8.52929988e-02 3.86214980e-03 2.30092008e+02] [-8.52924743e-02 9.96355912e-01 -3.00599690e-04 -1.21048013e+01] [-3.87371484e-03 -2.99102844e-05 9.99992497e-01 -1.32036933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.890281693 meters Centerline goodness [0,1] 0.997939958369992 Centerline is valid? [True, True] Translation: X:230.12, Y:-12.11, Z:-1.32 [[ 9.96342932e-01 8.52712645e-02 5.43808303e-03 2.30120825e+02] [-8.52702262e-02 9.96357772e-01 -4.22923860e-04 -1.21062129e+01] [-5.45433955e-03 -4.23293716e-05 9.99985124e-01 -1.31711907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.920281693 meters Centerline goodness [0,1] 0.9979079939986899 Centerline is valid? [True, True] Translation: X:230.15, Y:-12.10, Z:-1.32 [[ 9.96288666e-01 8.58386080e-02 6.37389742e-03 2.30149491e+02] [-8.58371952e-02 9.96309054e-01 -4.95393699e-04 -1.21037474e+01] [-6.39289562e-03 -5.35623498e-05 9.99979564e-01 -1.31544400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.950281693 meters Centerline goodness [0,1] 0.9980014457626398 Centerline is valid? [True, True] Translation: X:230.18, Y:-12.10, Z:-1.32 [[ 9.96199877e-01 8.68945695e-02 5.92783682e-03 2.30179777e+02] [-8.68933671e-02 9.96217512e-01 -4.60571722e-04 -1.21021196e+01] [-5.94543602e-03 -5.62682081e-05 9.99982324e-01 -1.31690744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.980281693 meters Centerline goodness [0,1] 0.998028449683068 Centerline is valid? [True, True] Translation: X:230.21, Y:-12.10, Z:-1.32 [[ 9.96178447e-01 8.71923815e-02 5.09805055e-03 2.30208735e+02] [-8.71914966e-02 9.96191491e-01 -3.95987805e-04 -1.21004429e+01] [-5.11316169e-03 -5.00321397e-05 9.99986926e-01 -1.31868314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.010281693 meters Centerline goodness [0,1] 0.9982063163289274 Centerline is valid? [True, True] Translation: X:230.24, Y:-12.09, Z:-1.32 [[ 9.96031534e-01 8.89558802e-02 2.83454601e-03 2.30238037e+02] [-8.89556138e-02 9.96035567e-01 -2.20163987e-04 -1.20941220e+01] [-2.84289352e-03 -3.28585058e-05 9.99995958e-01 -1.32365583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.040281693 meters Centerline goodness [0,1] 0.9982500896038455 Centerline is valid? [True, True] Translation: X:230.27, Y:-12.09, Z:-1.33 [[ 9.95911703e-01 9.03204542e-02 1.44751041e-03 2.30266079e+02] [-9.03203861e-02 9.95912755e-01 -1.12507816e-04 -1.20895194e+01] [-1.45175583e-03 -1.86918478e-05 9.99998946e-01 -1.32595991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.070281693 meters Centerline goodness [0,1] 0.9984702007861468 Centerline is valid? [True, True] Translation: X:230.29, Y:-12.09, Z:-1.33 [[ 9.95862788e-01 9.08618417e-02 1.19688543e-03 2.30294810e+02] [-9.08617955e-02 9.95863507e-01 -9.30090126e-05 -1.20856116e+01] [-1.20038549e-03 -1.61269444e-05 9.99999279e-01 -1.32663997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.100281693 meters Centerline goodness [0,1] 0.9985070807029517 Centerline is valid? [True, True] Translation: X:230.32, Y:-12.09, Z:-1.33 [[ 9.95922958e-01 9.01911332e-02 1.73809451e-03 2.30323243e+02] [-9.01910352e-02 9.95924475e-01 -1.34801343e-04 -1.20851916e+01] [-1.74316875e-03 -2.25087907e-05 9.99998480e-01 -1.32587677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.130281693 meters Centerline goodness [0,1] 0.9984877207182261 Centerline is valid? [True, True] Translation: X:230.35, Y:-12.09, Z:-1.33 [[ 9.96002611e-01 8.93013048e-02 2.01867800e-03 2.30351761e+02] [-8.93011711e-02 9.96004657e-01 -1.56433588e-04 -1.20876015e+01] [-2.02458241e-03 -2.44620465e-05 9.99997950e-01 -1.32525280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.160281693 meters Centerline goodness [0,1] 0.9984813483915127 Centerline is valid? [True, True] Translation: X:230.38, Y:-12.09, Z:-1.33 [[ 9.96143329e-01 8.77239740e-02 1.72410072e-03 2.30379816e+02] [-8.77238741e-02 9.96144821e-01 -1.33608788e-04 -1.20907320e+01] [-1.72917470e-03 -1.81512916e-05 9.99998505e-01 -1.32664403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.190281693 meters Centerline goodness [0,1] 0.9984434304234722 Centerline is valid? [True, True] Translation: X:230.41, Y:-12.10, Z:-1.33 [[ 9.96472616e-01 8.39179854e-02 3.11256840e-04 2.30407494e+02] [-8.39179819e-02 9.96472665e-01 -2.43224359e-05 -1.20957377e+01] [-3.12200022e-04 -1.88340455e-06 9.99999951e-01 -1.33023223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.220281693 meters Centerline goodness [0,1] 0.9981268624946786 Centerline is valid? [True, True] Translation: X:230.44, Y:-12.10, Z:-1.32 [[ 9.96727906e-01 8.08132966e-02 1.64080046e-03 2.30435788e+02] [-8.08131972e-02 9.96729257e-01 -1.26909228e-04 -1.21013052e+01] [-1.64568977e-03 -6.10436206e-06 9.99998646e-01 -1.32277780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.250281693 meters Centerline goodness [0,1] 0.9981385994565566 Centerline is valid? [True, True] Translation: X:230.46, Y:-12.10, Z:-1.32 [[ 9.96777067e-01 8.01599063e-02 3.14141959e-03 2.30464918e+02] [-8.01595397e-02 9.96782017e-01 -2.42626632e-04 -1.21038517e+01] [-3.15075948e-03 -9.97008533e-06 9.99995036e-01 -1.32468456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.280281693 meters Centerline goodness [0,1] 0.9980963381245722 Centerline is valid? [True, True] Translation: X:230.49, Y:-12.11, Z:-1.32 [[ 9.96827729e-01 7.94913819e-02 3.94946258e-03 2.30493102e+02] [-7.94907982e-02 9.96835553e-01 -3.04795159e-04 -1.21080524e+01] [-3.96119331e-03 -1.01176668e-05 9.99992154e-01 -1.32339867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.310281693 meters Centerline goodness [0,1] 0.9981566624997351 Centerline is valid? [True, True] Translation: X:230.52, Y:-12.11, Z:-1.32 [[ 9.96904010e-01 7.85414042e-02 3.69364574e-03 2.30521162e+02] [-7.85408877e-02 9.96910852e-01 -2.84904938e-04 -1.21123875e+01] [-3.70461236e-03 -6.07934024e-06 9.99993138e-01 -1.32390817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.340281693 meters Centerline goodness [0,1] 0.9979505134390811 Centerline is valid? [True, True] Translation: X:230.55, Y:-12.12, Z:-1.33 [[ 9.97072592e-01 7.64302041e-02 2.16111813e-03 2.30549929e+02] [-7.64300224e-02 9.97074934e-01 -1.66654369e-04 -1.21189480e+01] [-2.16753414e-03 9.92196544e-07 9.99997651e-01 -1.32697184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.370281693 meters Centerline goodness [0,1] 0.9981664285866576 Centerline is valid? [True, True] Translation: X:230.58, Y:-12.12, Z:-1.33 [[ 9.97101941e-01 7.60609921e-02 1.56363688e-03 2.30578701e+02] [-7.60608966e-02 9.97103167e-01 -1.20566046e-04 -1.21231190e+01] [-1.56827766e-03 1.28501534e-06 9.99998770e-01 -1.32859851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40028169299998 meters Centerline goodness [0,1] 0.9979803992431812 Centerline is valid? [True, True] Translation: X:230.61, Y:-12.13, Z:-1.33 [[ 9.97096106e-01 7.61195879e-02 2.27249324e-03 2.30606451e+02] [-7.61193866e-02 9.97098695e-01 -1.75044625e-04 -1.21284780e+01] [-2.27922437e-03 1.55552224e-06 9.99997403e-01 -1.32681252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43028169299998 meters Centerline goodness [0,1] 0.9980136693720633 Centerline is valid? [True, True] Translation: X:230.64, Y:-12.13, Z:-1.33 [[ 9.97073653e-01 7.63910986e-02 2.92054181e-03 2.30635480e+02] [-7.63907681e-02 9.97077931e-01 -2.24692646e-04 -1.21317268e+01] [-2.92917230e-03 9.32685232e-07 9.99995710e-01 -1.32594315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46028169299998 meters Centerline goodness [0,1] 0.9978885405336234 Centerline is valid? [True, True] Translation: X:230.66, Y:-12.14, Z:-1.33 [[ 9.97075783e-01 7.63514526e-02 3.21523592e-03 2.30663851e+02] [-7.63510524e-02 9.97080967e-01 -2.47192983e-04 -1.21351268e+01] [-3.22472408e-03 9.83491206e-07 9.99994801e-01 -1.32556005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.490281693 meters Centerline goodness [0,1] 0.9980051780484699 Centerline is valid? [True, True] Translation: X:230.69, Y:-12.14, Z:-1.33 [[ 9.97159383e-01 7.52840325e-02 2.34075847e-03 2.30691679e+02] [-7.52838177e-02 9.97162130e-01 -1.79866546e-04 -1.21421826e+01] [-2.34765678e-03 3.13437970e-06 9.99997244e-01 -1.32776904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.520281693 meters Centerline goodness [0,1] 0.9980382958761568 Centerline is valid? [True, True] Translation: X:230.72, Y:-12.15, Z:-1.33 [[ 9.97276675e-01 7.37163359e-02 2.26593622e-03 2.30721187e+02] [-7.37161307e-02 9.97279250e-01 -1.74044735e-04 -1.21490392e+01] [-2.27260111e-03 6.53470379e-06 9.99997418e-01 -1.32872882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.550281693 meters Centerline goodness [0,1] 0.9977523279460558 Centerline is valid? [True, True] Translation: X:230.75, Y:-12.16, Z:-1.33 [[ 9.97625459e-01 6.87891778e-02 3.38998805e-03 2.30750857e+02] [-6.87886907e-02 9.97631219e-01 -2.60217991e-04 -1.21639305e+01] [-3.39985809e-03 2.64072531e-05 9.99994220e-01 -1.32695157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.580281693 meters Centerline goodness [0,1] 0.99760386804159 Centerline is valid? [True, True] Translation: X:230.78, Y:-12.17, Z:-1.33 [[ 9.97826833e-01 6.57658440e-02 4.05781731e-03 2.30780327e+02] [-6.57651211e-02 9.97835082e-01 -3.11473666e-04 -1.21737678e+01] [-4.06951680e-03 4.39339343e-05 9.99991719e-01 -1.32600108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.610281693 meters Centerline goodness [0,1] 0.997226808925018 Centerline is valid? [True, True] Translation: X:230.81, Y:-12.19, Z:-1.33 [[ 9.98145093e-01 6.07754041e-02 3.56710736e-03 2.30809719e+02] [-6.07748135e-02 9.98151465e-01 -2.73842284e-04 -1.21914596e+01] [-3.57715632e-03 5.65440479e-05 9.99993600e-01 -1.32705204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.640281693 meters Centerline goodness [0,1] 0.9973659614240802 Centerline is valid? [True, True] Translation: X:230.84, Y:-12.20, Z:-1.33 [[ 9.98245525e-01 5.91381104e-02 2.92506453e-03 2.30840180e+02] [-5.91377062e-02 9.98249809e-01 -2.24557569e-04 -1.21987720e+01] [-2.93322501e-03 5.11819819e-05 9.99995697e-01 -1.32803451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.670281693 meters Centerline goodness [0,1] 0.996780547730498 Centerline is valid? [True, True] Translation: X:230.87, Y:-12.21, Z:-1.33 [[ 9.98312291e-01 5.80093055e-02 2.73695941e-03 2.30870944e+02] [-5.80089479e-02 9.98316041e-01 -2.09928001e-04 -1.22071204e+01] [-2.74452826e-03 5.08055677e-05 9.99996232e-01 -1.32872062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.700281693 meters Centerline goodness [0,1] 0.9967051421040325 Centerline is valid? [True, True] Translation: X:230.90, Y:-12.22, Z:-1.33 [[ 9.98381921e-01 5.67790181e-02 3.11168840e-03 2.30900852e+02] [-5.67785482e-02 9.98386768e-01 -2.39225365e-04 -1.22202266e+01] [-3.12025151e-03 6.21611295e-05 9.99995130e-01 -1.32772462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.730281693 meters Centerline goodness [0,1] 0.9967934232896464 Centerline is valid? [True, True] Translation: X:230.93, Y:-12.23, Z:-1.33 [[ 9.98354750e-01 5.72228857e-02 3.65166633e-03 2.30932942e+02] [-5.72222391e-02 9.98361426e-01 -2.81382249e-04 -1.22272406e+01] [-3.66178431e-03 7.19627806e-05 9.99993293e-01 -1.32711833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.760281693 meters Centerline goodness [0,1] 0.9973610845091404 Centerline is valid? [True, True] Translation: X:230.96, Y:-12.24, Z:-1.33 [[ 9.98238750e-01 5.92662259e-02 2.62914960e-03 2.30964912e+02] [-5.92658967e-02 9.98242211e-01 -2.03005137e-04 -1.22364199e+01] [-2.63655946e-03 4.68286853e-05 9.99996523e-01 -1.32851594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.790281693 meters Centerline goodness [0,1] 0.9977406428510529 Centerline is valid? [True, True] Translation: X:231.00, Y:-12.24, Z:-1.33 [[ 9.98114163e-01 6.13562336e-02 1.87879442e-03 2.30997254e+02] [-6.13560697e-02 9.98115931e-01 -1.44791552e-04 -1.22389398e+01] [-1.88413851e-03 2.92430571e-05 9.99998225e-01 -1.32995083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.820281693 meters Centerline goodness [0,1] 0.9978811314757919 Centerline is valid? [True, True] Translation: X:231.03, Y:-12.25, Z:-1.33 [[ 9.97998177e-01 6.32278044e-02 1.37203013e-03 2.31028005e+02] [-6.32277187e-02 9.97999120e-01 -1.05795912e-04 -1.22458485e+01] [-1.37597411e-03 1.88337921e-05 9.99999053e-01 -1.33108976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.850281693 meters Centerline goodness [0,1] 0.9981168414294885 Centerline is valid? [True, True] Translation: X:231.06, Y:-12.25, Z:-1.33 [[ 9.97870201e-01 6.52146251e-02 1.45398896e-03 2.31059540e+02] [-6.52145300e-02 9.97871260e-01 -1.12801583e-04 -1.22490475e+01] [-1.45825011e-03 1.77401314e-05 9.99998937e-01 -1.33135555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.880281693 meters Centerline goodness [0,1] 0.9982164469074464 Centerline is valid? [True, True] Translation: X:231.09, Y:-12.25, Z:-1.33 [[ 9.97539790e-01 7.00494534e-02 2.72784400e-03 2.31090824e+02] [-7.00491362e-02 9.97543520e-01 -2.11779713e-04 -1.22488901e+01] [-2.73597816e-03 2.01755749e-05 9.99996257e-01 -1.32876088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.910281693 meters Centerline goodness [0,1] 0.9982164469074464 Centerline is valid? [True, True] Translation: X:231.12, Y:-12.25, Z:-1.33 [[ 9.97528527e-01 7.02096669e-02 2.72786014e-03 2.31122392e+02] [-7.02093508e-02 9.97532256e-01 -2.11572221e-04 -1.22514958e+01] [-2.73598290e-03 1.95280358e-05 9.99996257e-01 -1.32891001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.940281693 meters Centerline goodness [0,1] 0.9984210638615657 Centerline is valid? [True, True] Translation: X:231.15, Y:-12.25, Z:-1.33 [[ 9.97328481e-01 7.29816770e-02 3.09440373e-03 2.31154296e+02] [-7.29812812e-02 9.97333282e-01 -2.40806348e-04 -1.22521807e+01] [-3.10372628e-03 1.43294802e-05 9.99995183e-01 -1.32872031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.970281693 meters Centerline goodness [0,1] 0.9986344627464367 Centerline is valid? [True, True] Translation: X:231.18, Y:-12.25, Z:-1.33 [[ 9.96857539e-01 7.91765023e-02 2.47568757e-03 2.31184682e+02] [-7.91762677e-02 9.96860613e-01 -1.92787568e-04 -1.22478521e+01] [-2.48317967e-03 -3.83396073e-06 9.99996917e-01 -1.33048761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.000281693 meters Centerline goodness [0,1] 0.9988292142963577 Centerline is valid? [True, True] Translation: X:231.22, Y:-12.25, Z:-1.33 [[ 9.96598997e-01 8.23758347e-02 2.15884112e-03 2.31215356e+02] [-8.23756638e-02 9.96601335e-01 -1.68113996e-04 -1.22452163e+01] [-2.16535248e-03 -1.02937305e-05 9.99997656e-01 -1.33061874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.030281693 meters Centerline goodness [0,1] 0.9989228234697757 Centerline is valid? [True, True] Translation: X:231.25, Y:-12.24, Z:-1.33 [[ 9.96319678e-01 8.56990743e-02 1.66361247e-03 2.31246244e+02] [-8.56989774e-02 9.96321067e-01 -1.29549385e-04 -1.22415839e+01] [-1.66859442e-03 -1.34972856e-05 9.99998608e-01 -1.33142074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.060281693 meters Centerline goodness [0,1] 0.999082137978142 Centerline is valid? [True, True] Translation: X:231.28, Y:-12.23, Z:-1.33 [[ 9.95859079e-01 9.08929223e-02 1.78064643e-03 2.31277109e+02] [-9.08928196e-02 9.95860671e-01 -1.38659197e-04 -1.22336347e+01] [-1.78587889e-03 -2.37629544e-05 9.99998405e-01 -1.33108708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.090281693 meters Centerline goodness [0,1] 0.9992094523855308 Centerline is valid? [True, True] Translation: X:231.31, Y:-12.23, Z:-1.33 [[ 9.95733754e-01 9.22418444e-02 2.39432236e-03 2.31305840e+02] [-9.22416625e-02 9.95736632e-01 -1.86535003e-04 -1.22307685e+01] [-2.40132082e-03 -3.51170763e-05 9.99997116e-01 -1.33063890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.120281693 meters Centerline goodness [0,1] 0.9989207719654647 Centerline is valid? [True, True] Translation: X:231.34, Y:-12.23, Z:-1.33 [[ 9.95662950e-01 9.29815209e-02 3.11868849e-03 2.31336163e+02] [-9.29812164e-02 9.95667833e-01 -2.42790812e-04 -1.22293190e+01] [-3.12775288e-03 -4.82416339e-05 9.99995107e-01 -1.32985731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15028169299998 meters Centerline goodness [0,1] 0.9990155163188871 Centerline is valid? [True, True] Translation: X:231.37, Y:-12.23, Z:-1.33 [[ 9.95713813e-01 9.23701681e-02 4.66408135e-03 2.31366021e+02] [-9.23694812e-02 9.95724735e-01 -3.62940098e-04 -1.22271486e+01] [-4.67766601e-03 -6.94343055e-05 9.99989057e-01 -1.32720558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18028169299998 meters Centerline goodness [0,1] 0.9990061744058192 Centerline is valid? [True, True] Translation: X:231.40, Y:-12.23, Z:-1.33 [[ 9.95825373e-01 9.11579090e-02 4.69706349e-03 2.31396109e+02] [-9.11571993e-02 9.95836448e-01 -3.65396072e-04 -1.22277662e+01] [-4.71081576e-03 -6.43004731e-05 9.99988902e-01 -1.32732129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21028169299998 meters Centerline goodness [0,1] 0.9990261870990961 Centerline is valid? [True, True] Translation: X:231.43, Y:-12.23, Z:-1.33 [[ 9.96134936e-01 8.77666794e-02 3.49279081e-03 2.31425526e+02] [-8.77662664e-02 9.96141059e-01 -2.71658484e-04 -1.22259546e+01] [-3.50315490e-03 -3.59407028e-05 9.99993863e-01 -1.32962431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.240281693 meters Centerline goodness [0,1] 0.9990385642559556 Centerline is valid? [True, True] Translation: X:231.45, Y:-12.23, Z:-1.33 [[ 9.96325144e-01 8.56070849e-02 2.76302370e-03 2.31454888e+02] [-8.56068183e-02 9.96328975e-01 -2.14857447e-04 -1.22286999e+01] [-2.77127389e-03 -2.24657912e-05 9.99996160e-01 -1.33148661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.270281693 meters Centerline goodness [0,1] 0.9989149167038999 Centerline is valid? [True, True] Translation: X:231.48, Y:-12.23, Z:-1.33 [[ 9.96586159e-01 8.25311938e-02 2.15158944e-03 2.31484804e+02] [-8.25310250e-02 9.96588482e-01 -1.67255443e-04 -1.22325897e+01] [-2.15805304e-03 -1.08884216e-05 9.99997671e-01 -1.33366167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.300281693 meters Centerline goodness [0,1] 0.9987835847969441 Centerline is valid? [True, True] Translation: X:231.51, Y:-12.24, Z:-1.33 [[ 9.97145014e-01 7.54851956e-02 1.95106695e-03 2.31514865e+02] [-7.54850437e-02 9.97146923e-01 -1.51456058e-04 -1.22418110e+01] [-1.95693310e-03 3.74727858e-06 9.99998085e-01 -1.33474629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.330281693 meters Centerline goodness [0,1] 0.9985588640457772 Centerline is valid? [True, True] Translation: X:231.54, Y:-12.25, Z:-1.33 [[ 9.97422628e-01 7.17172700e-02 2.17563191e-03 2.31544855e+02] [-7.17170715e-02 9.97425001e-01 -1.69196975e-04 -1.22486539e+01] [-2.18216400e-03 1.27309421e-05 9.99997619e-01 -1.33415438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.360281693 meters Centerline goodness [0,1] 0.9984898436669148 Centerline is valid? [True, True] Translation: X:231.57, Y:-12.25, Z:-1.33 [[ 9.97655089e-01 6.83898630e-02 2.67393929e-03 2.31574982e+02] [-6.83895513e-02 9.97658672e-01 -2.07949901e-04 -1.22547047e+01] [-2.68190039e-03 2.45927683e-05 9.99996403e-01 -1.33298980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.390281693 meters Centerline goodness [0,1] 0.9979442374405756 Centerline is valid? [True, True] Translation: X:231.61, Y:-12.26, Z:-1.33 [[ 9.97979465e-01 6.34895308e-02 2.46318932e-03 2.31606092e+02] [-6.34892515e-02 9.97982504e-01 -1.91509086e-04 -1.22627128e+01] [-2.47037866e-03 3.47360889e-05 9.99996948e-01 -1.33353529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.420281693 meters Centerline goodness [0,1] 0.9977262001801879 Centerline is valid? [True, True] Translation: X:231.64, Y:-12.27, Z:-1.33 [[ 9.98134581e-01 6.09937861e-02 2.66756347e-03 2.31636944e+02] [-6.09934494e-02 9.98138145e-01 -2.07468801e-04 -1.22686840e+01] [-2.67525116e-03 4.43778877e-05 9.99996421e-01 -1.33345884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.450281693 meters Centerline goodness [0,1] 0.9969123228338015 Centerline is valid? [True, True] Translation: X:231.67, Y:-12.28, Z:-1.33 [[ 9.98514162e-01 5.43260699e-02 4.25990108e-03 2.31666321e+02] [-5.43251498e-02 9.98523244e-01 -3.31472764e-04 -1.22831151e+01] [-4.27161785e-03 9.95604847e-05 9.99990872e-01 -1.33059488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.480281693 meters Centerline goodness [0,1] 0.9959207210285763 Centerline is valid? [True, True] Translation: X:231.70, Y:-12.29, Z:-1.33 [[ 9.98669506e-01 5.13240388e-02 5.00598055e-03 2.31696827e+02] [-5.13227297e-02 9.98682044e-01 -3.89706353e-04 -1.22921184e+01] [-5.01938419e-03 1.32267265e-04 9.99987394e-01 -1.32953678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.510281693 meters Centerline goodness [0,1] 0.9948938514343828 Centerline is valid? [True, True] Translation: X:231.73, Y:-12.30, Z:-1.33 [[ 9.98802627e-01 4.86366720e-02 5.27121164e-03 2.31727303e+02] [-4.86351792e-02 9.98816525e-01 -4.11091396e-04 -1.23012738e+01] [-5.28496741e-03 1.54232844e-04 9.99986023e-01 -1.32889643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.540281693 meters Centerline goodness [0,1] 0.9934019306248011 Centerline is valid? [True, True] Translation: X:231.76, Y:-12.32, Z:-1.33 [[ 9.98971138e-01 4.51175324e-02 4.59059790e-03 2.31757757e+02] [-4.51163625e-02 9.98981674e-01 -3.58143238e-04 -1.23157165e+01] [-4.60208171e-03 1.50663680e-04 9.99989399e-01 -1.32962157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.570281693 meters Centerline goodness [0,1] 0.9934353091140854 Centerline is valid? [True, True] Translation: X:231.79, Y:-12.32, Z:-1.33 [[ 9.99004278e-01 4.44213360e-02 4.14703609e-03 2.31789104e+02] [-4.44203750e-02 9.99012876e-01 -3.23586366e-04 -1.23218939e+01] [-4.15731658e-03 1.39051265e-04 9.99991349e-01 -1.33054317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.600281693 meters Centerline goodness [0,1] 0.9935478393751592 Centerline is valid? [True, True] Translation: X:231.82, Y:-12.33, Z:-1.33 [[ 9.98999701e-01 4.45374279e-02 4.00196145e-03 2.31821090e+02] [-4.45365329e-02 9.99007707e-01 -3.12528161e-04 -1.23280918e+01] [-4.01190953e-03 1.33982052e-04 9.99991943e-01 -1.33084755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.630281693 meters Centerline goodness [0,1] 0.9943554376657825 Centerline is valid? [True, True] Translation: X:231.85, Y:-12.33, Z:-1.33 [[ 9.98912687e-01 4.64425777e-02 4.06589384e-03 2.31851399e+02] [-4.64416664e-02 9.98920953e-01 -3.18298798e-04 -1.23325849e+01] [-4.07628917e-03 1.29125822e-04 9.99991684e-01 -1.33046712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.660281693 meters Centerline goodness [0,1] 0.9948693627662326 Centerline is valid? [True, True] Translation: X:231.88, Y:-12.33, Z:-1.33 [[ 9.98832995e-01 4.81134953e-02 4.21174690e-03 2.31882309e+02] [-4.81125324e-02 9.98841867e-01 -3.29701880e-04 -1.23347789e+01] [-4.22273225e-03 1.26679307e-04 9.99991076e-01 -1.33035905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.690281693 meters Centerline goodness [0,1] 0.9962039731747437 Centerline is valid? [True, True] Translation: X:231.91, Y:-12.33, Z:-1.33 [[ 9.98626209e-01 5.23263569e-02 2.76538500e-03 2.31912538e+02] [-5.23259568e-02 9.98630035e-01 -2.16913188e-04 -1.23331089e+01] [-2.77294680e-03 7.19137784e-05 9.99996153e-01 -1.33343523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.720281693 meters Centerline goodness [0,1] 0.9970794268904362 Centerline is valid? [True, True] Translation: X:231.94, Y:-12.33, Z:-1.34 [[ 9.98495963e-01 5.47950268e-02 1.82148234e-03 2.31944337e+02] [-5.47948575e-02 9.98497623e-01 -1.42781950e-04 -1.23334451e+01] [-1.82656952e-03 4.27593359e-05 9.99998331e-01 -1.33540101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.750281693 meters Centerline goodness [0,1] 0.9977033492822966 Centerline is valid? [True, True] Translation: X:231.98, Y:-12.33, Z:-1.34 [[ 9.98354603e-01 5.73208094e-02 1.55291124e-03 2.31976796e+02] [-5.73206899e-02 9.98355810e-01 -1.21388824e-04 -1.23340799e+01] [-1.55731606e-03 3.21751480e-05 9.99998787e-01 -1.33644035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.780281693 meters Centerline goodness [0,1] 0.9981887918176007 Centerline is valid? [True, True] Translation: X:232.01, Y:-12.33, Z:-1.33 [[ 9.98138115e-01 6.09398091e-02 2.57755160e-03 2.32008974e+02] [-6.09394891e-02 9.98141442e-01 -2.02580619e-04 -1.23332535e+01] [-2.58510630e-03 4.51287598e-05 9.99996658e-01 -1.33389596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.810281693 meters Centerline goodness [0,1] 0.9983282251323489 Centerline is valid? [True, True] Translation: X:232.04, Y:-12.33, Z:-1.33 [[ 9.98051390e-01 6.23201694e-02 3.10146586e-03 2.32041398e+02] [-6.23197129e-02 9.98056208e-01 -2.43700615e-04 -1.23347310e+01] [-3.11062472e-03 4.99432754e-05 9.99995161e-01 -1.33243633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.840281693 meters Centerline goodness [0,1] 0.9983774898059392 Centerline is valid? [True, True] Translation: X:232.07, Y:-12.34, Z:-1.33 [[ 9.97903557e-01 6.44738829e-02 5.62218480e-03 2.32072466e+02] [-6.44724091e-02 9.97919392e-01 -4.43168010e-04 -1.23355150e+01] [-5.63906000e-03 7.97631348e-05 9.99984097e-01 -1.32813926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.870281693 meters Centerline goodness [0,1] 0.9982017468744648 Centerline is valid? [True, True] Translation: X:232.10, Y:-12.34, Z:-1.33 [[ 9.97823502e-01 6.55638639e-02 7.04551089e-03 2.32104719e+02] [-6.55615684e-02 9.97848371e-01 -5.56523381e-04 -1.23372919e+01] [-7.06683938e-03 9.33973648e-05 9.99975025e-01 -1.32592913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90028169299998 meters Centerline goodness [0,1] 0.9982470590719973 Centerline is valid? [True, True] Translation: X:232.14, Y:-12.34, Z:-1.33 [[ 9.97725571e-01 6.70046696e-02 7.35251042e-03 2.32136786e+02] [-6.70022004e-02 9.97752658e-01 -5.81925455e-04 -1.23360346e+01] [-7.37497853e-03 8.79675310e-05 9.99972801e-01 -1.32591757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93028169299998 meters Centerline goodness [0,1] 0.9985244519392917 Centerline is valid? [True, True] Translation: X:232.17, Y:-12.34, Z:-1.33 [[ 9.97538750e-01 6.99182844e-02 5.27982357e-03 2.32167602e+02] [-6.99170486e-02 9.97552721e-01 -4.18512312e-04 -1.23397104e+01] [-5.29616403e-03 4.83325677e-05 9.99985974e-01 -1.32926809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96028169299998 meters Centerline goodness [0,1] 0.9989948459120169 Centerline is valid? [True, True] Translation: X:232.20, Y:-12.34, Z:-1.33 [[ 9.97386368e-01 7.21009176e-02 4.67879183e-03 2.32200488e+02] [-7.20999680e-02 9.97397341e-01 -3.71529050e-04 -1.23372633e+01] [-4.69340211e-03 3.32172684e-05 9.99988985e-01 -1.33026500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.990281693 meters Centerline goodness [0,1] 0.9990778271033048 Centerline is valid? [True, True] Translation: X:232.23, Y:-12.34, Z:-1.33 [[ 9.97174741e-01 7.49797881e-02 4.53521022e-03 2.32231843e+02] [-7.49789224e-02 9.97185054e-01 -3.60855555e-04 -1.23367480e+01] [-4.54950072e-03 1.97908689e-05 9.99989651e-01 -1.33020465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.020281693 meters Centerline goodness [0,1] 0.9992556042366754 Centerline is valid? [True, True] Translation: X:232.26, Y:-12.33, Z:-1.33 [[ 9.96726572e-01 8.07156817e-02 4.59555602e-03 2.32262605e+02] [-8.07148503e-02 9.96737166e-01 -3.66380643e-04 -1.23312527e+01] [-4.61013415e-03 -5.74829418e-06 9.99989373e-01 -1.33040789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.050281693 meters Centerline goodness [0,1] 0.9992784686558296 Centerline is valid? [True, True] Translation: X:232.29, Y:-12.33, Z:-1.33 [[ 9.96553686e-01 8.28100794e-02 4.82102378e-03 2.32294123e+02] [-8.28091887e-02 9.96565347e-01 -3.84416360e-04 -1.23309660e+01] [-4.83629878e-03 -1.61335277e-05 9.99988305e-01 -1.33040757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.080281693 meters Centerline goodness [0,1] 0.9993172459408137 Centerline is valid? [True, True] Translation: X:232.33, Y:-12.33, Z:-1.33 [[ 9.96355358e-01 8.50597670e-02 6.39035620e-03 2.32325978e+02] [-8.50582473e-02 9.96375850e-01 -5.09716991e-04 -1.23310678e+01] [-6.41055300e-03 -3.56932429e-05 9.99979452e-01 -1.32675743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.110281693 meters Centerline goodness [0,1] 0.9993030475828423 Centerline is valid? [True, True] Translation: X:232.36, Y:-12.33, Z:-1.33 [[ 9.96256779e-01 8.61636320e-02 6.94690768e-03 2.32357083e+02] [-8.61618618e-02 9.96280998e-01 -5.54266404e-04 -1.23330800e+01] [-6.96882972e-03 -4.63668374e-05 9.99975716e-01 -1.32566108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.140281693 meters Centerline goodness [0,1] 0.9993000169692856 Centerline is valid? [True, True] Translation: X:232.39, Y:-12.33, Z:-1.32 [[ 9.96155783e-01 8.72828108e-02 7.44089212e-03 2.32387749e+02] [-8.72808100e-02 9.96183571e-01 -5.93821161e-04 -1.23307700e+01] [-7.46432486e-03 -5.79087074e-05 9.99972140e-01 -1.32464767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.170281693 meters Centerline goodness [0,1] 0.9994328922495274 Centerline is valid? [True, True] Translation: X:232.42, Y:-12.33, Z:-1.33 [[ 9.96033929e-01 8.86709803e-02 7.33959431e-03 2.32419090e+02] [-8.86690705e-02 9.96060968e-01 -5.85843306e-04 -1.23295629e+01] [-7.36263072e-03 -6.72751958e-05 9.99972893e-01 -1.32541420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.200281693 meters Centerline goodness [0,1] 0.9994672463026893 Centerline is valid? [True, True] Translation: X:232.45, Y:-12.33, Z:-1.33 [[ 9.95817348e-01 9.10851260e-02 7.16309492e-03 2.32450293e+02] [-9.10833685e-02 9.95843107e-01 -5.71878011e-04 -1.23268845e+01] [-7.18540828e-03 -8.29527704e-05 9.99974181e-01 -1.32673235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.230281693 meters Centerline goodness [0,1] 0.9993479038263321 Centerline is valid? [True, True] Translation: X:232.48, Y:-12.32, Z:-1.33 [[ 9.95745983e-01 9.18661009e-02 7.11028389e-03 2.32480374e+02] [-9.18643890e-02 9.95771365e-01 -5.67686524e-04 -1.23245713e+01] [-7.13236824e-03 -8.79103082e-05 9.99974560e-01 -1.32664560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.260281693 meters Centerline goodness [0,1] 0.9993454944683726 Centerline is valid? [True, True] Translation: X:232.51, Y:-12.33, Z:-1.33 [[ 9.95753010e-01 9.18137753e-02 6.79506104e-03 2.32510297e+02] [-9.18122108e-02 9.95776192e-01 -5.42470285e-04 -1.23267081e+01] [-6.81616624e-03 -8.37031569e-05 9.99976766e-01 -1.32793252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.290281693 meters Centerline goodness [0,1] 0.9994527007114891 Centerline is valid? [True, True] Translation: X:232.54, Y:-12.32, Z:-1.33 [[ 9.95891027e-01 9.03843880e-02 5.63250648e-03 2.32539949e+02] [-9.03832903e-02 9.95906953e-01 -4.49649509e-04 -1.23217565e+01] [-5.65009366e-03 -6.12825573e-05 9.99984036e-01 -1.33101155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.320281693 meters Centerline goodness [0,1] 0.9994073572365915 Centerline is valid? [True, True] Translation: X:232.57, Y:-12.33, Z:-1.33 [[ 9.96044848e-01 8.87008330e-02 5.17909921e-03 2.32568899e+02] [-8.86998824e-02 9.96058312e-01 -4.13394553e-04 -1.23271731e+01] [-5.19535326e-03 -4.76259770e-05 9.99986503e-01 -1.33250960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.350281693 meters Centerline goodness [0,1] 0.9994842813245375 Centerline is valid? [True, True] Translation: X:232.60, Y:-12.33, Z:-1.34 [[ 9.96439150e-01 8.42565507e-02 3.13923412e-03 2.32599392e+02] [-8.42561797e-02 9.96444094e-01 -2.50493684e-04 -1.23336851e+01] [-3.14917704e-03 -1.48981610e-05 9.99995041e-01 -1.33689454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.380281693 meters Centerline goodness [0,1] 0.9995487849423089 Centerline is valid? [True, True] Translation: X:232.63, Y:-12.34, Z:-1.34 [[ 9.96708485e-01 8.10279211e-02 2.58319267e-03 2.32629375e+02] [-8.10276589e-02 9.96711832e-01 -2.06167814e-04 -1.23401519e+01] [-2.59140405e-03 -3.82084564e-06 9.99996642e-01 -1.33833826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.410281693 meters Centerline goodness [0,1] 0.999362421099611 Centerline is valid? [True, True] Translation: X:232.66, Y:-12.35, Z:-1.34 [[ 9.96980660e-01 7.76158199e-02 2.31259342e-03 2.32659694e+02] [-7.76156009e-02 9.96983342e-01 -1.84440509e-04 -1.23475987e+01] [-2.31993262e-03 4.39029277e-06 9.99997309e-01 -1.33922427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.440281693 meters Centerline goodness [0,1] 0.9991921768707483 Centerline is valid? [True, True] Translation: X:232.69, Y:-12.36, Z:-1.34 [[ 9.97546233e-01 6.98827166e-02 4.23311726e-03 2.32690454e+02] [-6.98819114e-02 9.97555214e-01 -3.38007067e-04 -1.23639901e+01] [-4.24638905e-03 4.13593513e-05 9.99990983e-01 -1.33582528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.470281693 meters Centerline goodness [0,1] 0.9989473684210526 Centerline is valid? [True, True] Translation: X:232.72, Y:-12.37, Z:-1.34 [[ 9.97764250e-01 6.66898307e-02 4.35531412e-03 2.32721124e+02] [-6.66889447e-02 9.97773754e-01 -3.48503873e-04 -1.23740611e+01] [-4.36885978e-03 5.72734028e-05 9.99990455e-01 -1.33549307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.500281693 meters Centerline goodness [0,1] 0.9990682703709978 Centerline is valid? [True, True] Translation: X:232.75, Y:-12.39, Z:-1.34 [[ 9.98046947e-01 6.24014827e-02 2.88897534e-03 2.32751574e+02] [-6.24010743e-02 9.98051127e-01 -2.31374123e-04 -1.23874692e+01] [-2.89778318e-03 5.06470719e-05 9.99995800e-01 -1.33812347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.530281693 meters Centerline goodness [0,1] 0.9987927565392354 Centerline is valid? [True, True] Translation: X:232.78, Y:-12.39, Z:-1.34 [[ 9.98135029e-01 6.09997571e-02 2.34370671e-03 2.32783104e+02] [-6.09994836e-02 9.98137780e-01 -1.88056275e-04 -1.23912100e+01] [-2.35081360e-03 4.47406563e-05 9.99997236e-01 -1.33905041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.560281693 meters Centerline goodness [0,1] 0.9984569532224312 Centerline is valid? [True, True] Translation: X:232.81, Y:-12.40, Z:-1.34 [[ 9.98224880e-01 5.95081121e-02 2.42373635e-03 2.32813274e+02] [-5.95078151e-02 9.98227821e-01 -1.94560086e-04 -1.24024573e+01] [-2.43101896e-03 4.99834639e-05 9.99997044e-01 -1.33950518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.590281693 meters Centerline goodness [0,1] 0.9978897107411592 Centerline is valid? [True, True] Translation: X:232.84, Y:-12.42, Z:-1.34 [[ 9.98373919e-01 5.68951135e-02 3.53053182e-03 2.32843433e+02] [-5.68944637e-02 9.98380158e-01 -2.84287414e-04 -1.24178313e+01] [-3.54098748e-03 8.29574254e-05 9.99993727e-01 -1.33667806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.620281693 meters Centerline goodness [0,1] 0.9985594495807353 Centerline is valid? [True, True] Translation: X:232.88, Y:-12.42, Z:-1.34 [[ 9.98424013e-01 5.59659615e-02 4.15953840e-03 2.32875485e+02] [-5.59650485e-02 9.98432672e-01 -3.35644893e-04 -1.24188248e+01] [-4.17180373e-03 1.02327152e-04 9.99991293e-01 -1.33592763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65028169299998 meters Centerline goodness [0,1] 0.9982710410040769 Centerline is valid? [True, True] Translation: X:232.91, Y:-12.43, Z:-1.34 [[ 9.98441876e-01 5.55923760e-02 4.82783571e-03 2.32906546e+02] [-5.55911373e-02 9.98453541e-01 -3.90497835e-04 -1.24251914e+01] [-4.84207837e-03 1.21504513e-04 9.99988270e-01 -1.33526776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68028169299998 meters Centerline goodness [0,1] 0.9985836909871245 Centerline is valid? [True, True] Translation: X:232.94, Y:-12.43, Z:-1.33 [[ 9.98341743e-01 5.73009143e-02 5.51076336e-03 2.32938100e+02] [-5.72993210e-02 9.98356944e-01 -4.46696582e-04 -1.24304302e+01] [-5.52730499e-03 1.30192845e-04 9.99984716e-01 -1.33460000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71028169299998 meters Centerline goodness [0,1] 0.9986729578295488 Centerline is valid? [True, True] Translation: X:232.97, Y:-12.43, Z:-1.34 [[ 9.98035782e-01 6.24710109e-02 4.68514644e-03 2.32968263e+02] [-6.24699131e-02 9.98046775e-01 -3.80440957e-04 -1.24314757e+01] [-4.69976183e-03 8.70129964e-05 9.99988952e-01 -1.33571259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.740281693 meters Centerline goodness [0,1] 0.9994638874592554 Centerline is valid? [True, True] Translation: X:233.00, Y:-12.43, Z:-1.34 [[ 9.97832606e-01 6.56772468e-02 4.07301987e-03 2.33000966e+02] [-6.56764440e-02 9.97840917e-01 -3.30683736e-04 -1.24292829e+01] [-4.08594428e-03 6.24655534e-05 9.99991651e-01 -1.33727336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.770281693 meters Centerline goodness [0,1] 0.9993218327470013 Centerline is valid? [True, True] Translation: X:233.03, Y:-12.43, Z:-1.34 [[ 9.97562231e-01 6.96913950e-02 3.56448637e-03 2.33032374e+02] [-6.96908040e-02 9.97568598e-01 -2.89891936e-04 -1.24263678e+01] [-3.57602264e-03 4.07733253e-05 9.99993605e-01 -1.33804114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.800281693 meters Centerline goodness [0,1] 0.9995298442074669 Centerline is valid? [True, True] Translation: X:233.06, Y:-12.42, Z:-1.34 [[ 9.97285414e-01 7.35437286e-02 3.62243640e-03 2.33064634e+02] [-7.35431417e-02 9.97291993e-01 -2.95141593e-04 -1.24220025e+01] [-3.63433263e-03 2.79350522e-05 9.99993395e-01 -1.33785145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.830281693 meters Centerline goodness [0,1] 0.9995298442074669 Centerline is valid? [True, True] Translation: X:233.10, Y:-12.42, Z:-1.34 [[ 9.97271531e-01 7.37317509e-02 3.62238995e-03 2.33097018e+02] [-7.37311631e-02 9.97278110e-01 -2.95710403e-04 -1.24248434e+01] [-3.63433345e-03 2.78205423e-05 9.99993395e-01 -1.33800454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.860281693 meters Centerline goodness [0,1] 0.9995115632100915 Centerline is valid? [True, True] Translation: X:233.13, Y:-12.41, Z:-1.34 [[ 9.96645616e-01 8.17196259e-02 4.40662731e-03 2.33128947e+02] [-8.17188295e-02 9.96655358e-01 -3.60770478e-04 -1.24144252e+01] [-4.42137074e-03 -5.44110728e-07 9.99990226e-01 -1.33639833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.890281693 meters Centerline goodness [0,1] 0.9996837444655281 Centerline is valid? [True, True] Translation: X:233.16, Y:-12.40, Z:-1.33 [[ 9.96058377e-01 8.84999180e-02 5.95600154e-03 2.33159772e+02] [-8.84985785e-02 9.96076183e-01 -4.88589804e-04 -1.24037384e+01] [-5.97587144e-03 -4.04337025e-05 9.99982144e-01 -1.33335327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.920281693 meters Centerline goodness [0,1] 0.9997872476224922 Centerline is valid? [True, True] Translation: X:233.19, Y:-12.40, Z:-1.33 [[ 9.95802811e-01 9.12523125e-02 7.05528301e-03 2.33190820e+02] [-9.12505020e-02 9.95827802e-01 -5.78767369e-04 -1.23991881e+01] [-7.07866083e-03 -6.74599427e-05 9.99974944e-01 -1.33196181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.950281693 meters Centerline goodness [0,1] 0.9997644943050441 Centerline is valid? [True, True] Translation: X:233.22, Y:-12.40, Z:-1.33 [[ 9.95593534e-01 9.34948289e-02 7.22711744e-03 2.33222506e+02] [-9.34929878e-02 9.95619762e-01 -5.92921880e-04 -1.23957247e+01] [-7.25089607e-03 -8.53756117e-05 9.99973708e-01 -1.33223875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.980281693 meters Centerline goodness [0,1] 0.9997027095897393 Centerline is valid? [True, True] Translation: X:233.25, Y:-12.39, Z:-1.33 [[ 9.95429966e-01 9.52743295e-02 6.47952796e-03 2.33253677e+02] [-9.52728865e-02 9.95451051e-01 -5.31705997e-04 -1.23920568e+01] [-6.50071085e-03 -8.80472497e-05 9.99978866e-01 -1.33388289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.010281693 meters Centerline goodness [0,1] 0.9998298596341982 Centerline is valid? [True, True] Translation: X:233.28, Y:-12.39, Z:-1.34 [[ 9.95465116e-01 9.50380303e-02 4.12018381e-03 2.33284459e+02] [-9.50374447e-02 9.95473641e-01 -3.38133788e-04 -1.23908968e+01] [-4.13366995e-03 -5.49713505e-05 9.99991455e-01 -1.33903391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.040281693 meters Centerline goodness [0,1] 0.9996220154973646 Centerline is valid? [True, True] Translation: X:233.31, Y:-12.39, Z:-1.34 [[ 9.95576085e-01 9.39157545e-02 2.84423557e-03 2.33312960e+02] [-9.39154707e-02 9.95580147e-01 -2.33483031e-04 -1.23924913e+01] [-2.85359220e-03 -3.46675998e-05 9.99995928e-01 -1.34066248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.070281693 meters Centerline goodness [0,1] 0.9997676039972112 Centerline is valid? [True, True] Translation: X:233.34, Y:-12.40, Z:-1.34 [[ 9.95912888e-01 9.03094529e-02 1.31223796e-03 2.33342759e+02] [-9.03093894e-02 9.95913753e-01 -1.07647318e-04 -1.23976345e+01] [-1.31659741e-03 -1.13000584e-05 9.99999133e-01 -1.34352405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.100281693 meters Centerline goodness [0,1] 0.9997459779847587 Centerline is valid? [True, True] Translation: X:233.37, Y:-12.40, Z:-1.34 [[ 9.96087372e-01 8.83607851e-02 1.52296013e-03 2.33371867e+02] [-8.83606973e-02 9.96088536e-01 -1.25005125e-04 -1.24018241e+01] [-1.52804868e-03 -1.00537920e-05 9.99998832e-01 -1.34276426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.130281693 meters Centerline goodness [0,1] 0.9997449413365074 Centerline is valid? [True, True] Translation: X:233.40, Y:-12.41, Z:-1.34 [[ 9.96216640e-01 8.68650839e-02 2.61966599e-03 2.33401513e+02] [-8.68648191e-02 9.96220085e-01 -2.14887716e-04 -1.24054846e+01] [-2.62843011e-03 -1.34820942e-05 9.99996546e-01 -1.34063982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.160281693 meters Centerline goodness [0,1] 0.999744990118367 Centerline is valid? [True, True] Translation: X:233.43, Y:-12.41, Z:-1.34 [[ 9.96384906e-01 8.48346119e-02 4.49533014e-03 2.33430868e+02] [-8.48338124e-02 9.96395046e-01 -3.68566301e-04 -1.24076554e+01] [-4.51039186e-03 -1.41220941e-05 9.99989828e-01 -1.33683834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.190281693 meters Centerline goodness [0,1] 0.9998729674796748 Centerline is valid? [True, True] Translation: X:233.46, Y:-12.41, Z:-1.34 [[ 9.96449923e-01 8.40618893e-02 4.59881938e-03 2.33460913e+02] [-8.40610447e-02 9.96460535e-01 -3.76997283e-04 -1.24093861e+01] [-4.61423312e-03 -1.09226474e-05 9.99989354e-01 -1.33714488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.220281693 meters Centerline goodness [0,1] 0.9999148845621875 Centerline is valid? [True, True] Translation: X:233.49, Y:-12.41, Z:-1.34 [[ 9.96592654e-01 8.23418572e-02 4.78538931e-03 2.33491268e+02] [-8.23409228e-02 9.96604143e-01 -3.92292760e-04 -1.24126087e+01] [-4.80144093e-03 -3.07728870e-06 9.99988473e-01 -1.33809045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.250281693 meters Centerline goodness [0,1] 0.999978418974038 Centerline is valid? [True, True] Translation: X:233.52, Y:-12.42, Z:-1.34 [[ 9.96647906e-01 8.16578183e-02 4.99520345e-03 2.33522062e+02] [-8.16567913e-02 9.96660424e-01 -4.09553929e-04 -1.24159056e+01] [-5.01196487e-03 2.88780381e-07 9.99987440e-01 -1.33789176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.280281693 meters Centerline goodness [0,1] 0.999978784342845 Centerline is valid? [True, True] Translation: X:233.55, Y:-12.42, Z:-1.34 [[ 9.96727804e-01 8.06885940e-02 4.79962475e-03 2.33552074e+02] [-8.06876340e-02 9.96739360e-01 -3.93619261e-04 -1.24191472e+01] [-4.81573548e-03 5.06089638e-06 9.99988404e-01 -1.33778597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.310281693 meters Centerline goodness [0,1] 0.9998522365060266 Centerline is valid? [True, True] Translation: X:233.58, Y:-12.42, Z:-1.34 [[ 9.96792997e-01 7.99129436e-02 4.20042626e-03 2.33582533e+02] [-7.99122013e-02 9.96801847e-01 -3.44518496e-04 -1.24219111e+01] [-4.21452414e-03 7.74831475e-06 9.99991119e-01 -1.33835913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.340281693 meters Centerline goodness [0,1] 0.9999360572926658 Centerline is valid? [True, True] Translation: X:233.61, Y:-12.43, Z:-1.34 [[ 9.96886718e-01 7.87761580e-02 3.34499335e-03 2.33613671e+02] [-7.87756808e-02 9.96892330e-01 -2.74367538e-04 -1.24253780e+01] [-3.35621183e-03 1.00092266e-05 9.99994368e-01 -1.34041163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.370281693 meters Centerline goodness [0,1] 0.9998728678885476 Centerline is valid? [True, True] Translation: X:233.64, Y:-12.43, Z:-1.34 [[ 9.96997608e-01 7.73740292e-02 3.00495199e-03 2.33644844e+02] [-7.73736376e-02 9.97002136e-01 -2.46531199e-04 -1.24291940e+01] [-3.01501867e-03 1.32869497e-05 9.99995455e-01 -1.34148362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40028169299998 meters Centerline goodness [0,1] 0.9997663601028015 Centerline is valid? [True, True] Translation: X:233.68, Y:-12.43, Z:-1.34 [[ 9.97190859e-01 7.48030782e-02 3.85881616e-03 2.33676006e+02] [-7.48024127e-02 9.97198325e-01 -3.16695984e-04 -1.24342600e+01] [-3.87169485e-03 2.71575813e-05 9.99992505e-01 -1.34045684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43028169299998 meters Centerline goodness [0,1] 0.9998074330829964 Centerline is valid? [True, True] Translation: X:233.71, Y:-12.44, Z:-1.34 [[ 9.97252681e-01 7.39329999e-02 4.58274626e-03 2.33706877e+02] [-7.39320516e-02 9.97263210e-01 -3.76227047e-04 -1.24376628e+01] [-4.59801984e-03 3.63815977e-05 9.99989428e-01 -1.33887628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46028169299998 meters Centerline goodness [0,1] 0.9997885164428466 Centerline is valid? [True, True] Translation: X:233.74, Y:-12.44, Z:-1.34 [[ 9.97240248e-01 7.40291209e-02 5.61930831e-03 2.33738185e+02] [-7.40276957e-02 9.97256079e-01 -4.61468144e-04 -1.24393263e+01] [-5.63805145e-03 4.42101605e-05 9.99984105e-01 -1.33640696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.490281693 meters Centerline goodness [0,1] 0.9998937526561836 Centerline is valid? [True, True] Translation: X:233.77, Y:-12.43, Z:-1.33 [[ 9.97089588e-01 7.59550820e-02 6.57106636e-03 2.33769136e+02] [-7.59531741e-02 9.97111240e-01 -5.39765322e-04 -1.24349093e+01] [-6.59308204e-03 3.91010352e-05 9.99978265e-01 -1.33369235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.520281693 meters Centerline goodness [0,1] 0.9999359289238194 Centerline is valid? [True, True] Translation: X:233.80, Y:-12.43, Z:-1.33 [[ 9.96922738e-01 7.81228503e-02 6.47099657e-03 2.33799896e+02] [-7.81210454e-02 9.96943739e-01 -5.31594201e-04 -1.24313449e+01] [-6.49274918e-03 2.44373288e-05 9.99978922e-01 -1.33393644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.550281693 meters Centerline goodness [0,1] 0.9999149786383829 Centerline is valid? [True, True] Translation: X:233.83, Y:-12.42, Z:-1.34 [[ 9.96479424e-01 8.37289903e-02 4.26785803e-03 2.33829465e+02] [-8.37282565e-02 9.96488563e-01 -3.50614604e-04 -1.24182903e+01] [-4.28222832e-03 -7.96007397e-06 9.99990831e-01 -1.33918601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.580281693 meters Centerline goodness [0,1] 0.9999574295991996 Centerline is valid? [True, True] Translation: X:233.86, Y:-12.41, Z:-1.34 [[ 9.96261600e-01 8.63325582e-02 3.08454155e-03 2.33859803e+02] [-8.63321875e-02 9.96266375e-01 -2.53365161e-04 -1.24124877e+01] [-3.09489869e-03 -1.38772383e-05 9.99995211e-01 -1.34183076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.610281693 meters Centerline goodness [0,1] 0.9999151157608811 Centerline is valid? [True, True] Translation: X:233.89, Y:-12.41, Z:-1.34 [[ 9.96022622e-01 8.90582693e-02 2.74970245e-03 2.33889070e+02] [-8.90579852e-02 9.96026417e-01 -2.25855273e-04 -1.24059818e+01] [-2.75889056e-03 -1.99259993e-05 9.99996194e-01 -1.34319389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.640281693 meters Centerline goodness [0,1] 0.9998928533161898 Centerline is valid? [True, True] Translation: X:233.92, Y:-12.40, Z:-1.34 [[ 9.95826733e-01 9.12154498e-02 2.97638066e-03 2.33918828e+02] [-9.12151269e-02 9.95831181e-01 -2.44333220e-04 -1.24007772e+01] [-2.98625963e-03 -2.81773877e-05 9.99995541e-01 -1.34284743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.670281693 meters Centerline goodness [0,1] 0.9998943654532778 Centerline is valid? [True, True] Translation: X:233.95, Y:-12.39, Z:-1.34 [[ 9.95598853e-01 9.36319990e-02 3.99664639e-03 2.33948413e+02] [-9.36314372e-02 9.95606873e-01 -3.27852814e-04 -1.23931405e+01] [-4.00978613e-03 -4.78018599e-05 9.99991960e-01 -1.34050752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.700281693 meters Centerline goodness [0,1] 0.9998928004802539 Centerline is valid? [True, True] Translation: X:233.98, Y:-12.39, Z:-1.34 [[ 9.95602329e-01 9.35922209e-02 4.06190745e-03 2.33977063e+02] [-9.35916410e-02 9.95610614e-01 -3.33032513e-04 -1.23925092e+01] [-4.07524743e-03 -4.85926391e-05 9.99991695e-01 -1.34127319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.730281693 meters Centerline goodness [0,1] 0.9998508067094354 Centerline is valid? [True, True] Translation: X:234.01, Y:-12.39, Z:-1.35 [[ 9.95774863e-01 9.18001609e-02 2.27000064e-03 2.34006438e+02] [-9.17999752e-02 9.95777450e-01 -1.86081546e-04 -1.23927988e+01] [-2.27749777e-03 -2.30906766e-05 9.99997406e-01 -1.34609472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.760281693 meters Centerline goodness [0,1] 0.9999156740803204 Centerline is valid? [True, True] Translation: X:234.04, Y:-12.40, Z:-1.35 [[ 9.95874752e-01 9.07318961e-02 1.09585889e-03 2.34035127e+02] [-9.07318521e-02 9.95875355e-01 -8.99118726e-05 -1.23953182e+01] [-1.09949674e-03 -9.88834320e-06 9.99999396e-01 -1.34876262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.790281693 meters Centerline goodness [0,1] 0.9999144568006844 Centerline is valid? [True, True] Translation: X:234.06, Y:-12.40, Z:-1.35 [[ 9.95936356e-01 9.00559587e-02 8.36706855e-04 2.34063878e+02] [-9.00559328e-02 9.95936707e-01 -6.86608181e-05 -1.23981629e+01] [-8.39490385e-04 -6.96861129e-06 9.99999648e-01 -1.34968692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.820281693 meters Centerline goodness [0,1] 0.9998939577103348 Centerline is valid? [True, True] Translation: X:234.09, Y:-12.39, Z:-1.35 [[ 9.95838097e-01 9.11034170e-02 2.57907421e-03 2.34092986e+02] [-9.11031758e-02 9.95841437e-01 -2.11122021e-04 -1.23944498e+01] [-2.58758290e-03 -2.47184991e-05 9.99996652e-01 -1.34525071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.850281693 meters Centerline goodness [0,1] 0.9999150165717685 Centerline is valid? [True, True] Translation: X:234.12, Y:-12.39, Z:-1.34 [[ 9.95742317e-01 9.21077024e-02 3.66175114e-03 2.34121938e+02] [-9.21072237e-02 9.95749050e-01 -2.99513518e-04 -1.23918126e+01] [-3.67377271e-03 -3.90354458e-05 9.99993251e-01 -1.34213456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.880281693 meters Centerline goodness [0,1] 0.9997868894382406 Centerline is valid? [True, True] Translation: X:234.15, Y:-12.39, Z:-1.34 [[ 9.95575680e-01 9.39095958e-02 3.17062384e-03 2.34150810e+02] [-9.39092463e-02 9.95580728e-01 -2.59258087e-04 -1.23865002e+01] [-3.18095881e-03 -3.96398492e-05 9.99994940e-01 -1.34407086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.910281693 meters Centerline goodness [0,1] 0.9996825060853001 Centerline is valid? [True, True] Translation: X:234.18, Y:-12.39, Z:-1.35 [[ 9.95521371e-01 9.44969831e-02 2.74210751e-03 2.34179253e+02] [-9.44967243e-02 9.95525147e-01 -2.24090984e-04 -1.23863190e+01] [-2.75101291e-03 -3.60328137e-05 9.99996215e-01 -1.34576758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.940281693 meters Centerline goodness [0,1] 0.999699008879238 Centerline is valid? [True, True] Translation: X:234.21, Y:-12.39, Z:-1.34 [[ 9.95553180e-01 9.41093935e-02 4.15785017e-03 2.34208327e+02] [-9.41087965e-02 9.95561861e-01 -3.39438477e-04 -1.23871359e+01] [-4.17134140e-03 -5.33612202e-05 9.99991298e-01 -1.34389434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.970281693 meters Centerline goodness [0,1] 0.9997868894382406 Centerline is valid? [True, True] Translation: X:234.24, Y:-12.39, Z:-1.34 [[ 9.95665294e-01 9.28634384e-02 5.19653806e-03 2.34237190e+02] [-9.28624902e-02 9.95678853e-01 -4.23967682e-04 -1.23909957e+01] [-5.21345415e-03 -6.04335580e-05 9.99986408e-01 -1.34127500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.000281693 meters Centerline goodness [0,1] 0.9997454445175114 Centerline is valid? [True, True] Translation: X:234.27, Y:-12.40, Z:-1.34 [[ 9.95838056e-01 9.09410060e-02 6.02496150e-03 2.34266062e+02] [-9.09396979e-02 9.95856280e-01 -4.91271801e-04 -1.23956641e+01] [-6.04467250e-03 -5.86810237e-05 9.99981729e-01 -1.33917017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.030281693 meters Centerline goodness [0,1] 0.9998488969477184 Centerline is valid? [True, True] Translation: X:234.29, Y:-12.40, Z:-1.34 [[ 9.95999043e-01 8.91414964e-02 6.30076517e-03 2.34294662e+02] [-8.91400317e-02 9.96018971e-01 -5.13479509e-04 -1.24048678e+01] [-6.32145398e-03 -5.02253075e-05 9.99980018e-01 -1.33894159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.060281693 meters Centerline goodness [0,1] 0.9998266071351164 Centerline is valid? [True, True] Translation: X:234.32, Y:-12.41, Z:-1.34 [[ 9.96298847e-01 8.58396940e-02 4.48928448e-03 2.34323104e+02] [-8.58389176e-02 9.96308961e-01 -3.65704889e-04 -1.24096352e+01] [-4.50410636e-03 -2.10039616e-05 9.99989856e-01 -1.34214988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.090281693 meters Centerline goodness [0,1] 0.9998303395330096 Centerline is valid? [True, True] Translation: X:234.35, Y:-12.41, Z:-1.34 [[ 9.96419310e-01 8.44666556e-02 3.73403781e-03 2.34350633e+02] [-8.44661093e-02 9.96426306e-01 -3.04051375e-04 -1.24100420e+01] [-3.74637571e-03 -1.24369849e-05 9.99992982e-01 -1.34444454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.120281693 meters Centerline goodness [0,1] 0.9999370858149484 Centerline is valid? [True, True] Translation: X:234.38, Y:-12.42, Z:-1.34 [[ 9.96648350e-01 8.16456856e-02 5.10369986e-03 2.34379039e+02] [-8.16446300e-02 9.96661418e-01 -4.15178163e-04 -1.24155691e+01] [-5.12055825e-03 -2.90305552e-06 9.99986890e-01 -1.34202285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15028169299998 meters Centerline goodness [0,1] 0.9999155280552446 Centerline is valid? [True, True] Translation: X:234.41, Y:-12.42, Z:-1.34 [[ 9.96746437e-01 8.03985220e-02 5.71116110e-03 2.34407185e+02] [-8.03971812e-02 9.96762799e-01 -4.64331331e-04 -1.24197494e+01] [-5.73000448e-03 3.65934581e-06 9.99983583e-01 -1.34067273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18028169299998 meters Centerline goodness [0,1] 0.9999366232888288 Centerline is valid? [True, True] Translation: X:234.44, Y:-12.42, Z:-1.34 [[ 9.96854693e-01 7.90374994e-02 5.81336228e-03 2.34435672e+02] [-7.90360886e-02 9.96871643e-01 -4.72388656e-04 -1.24232126e+01] [-5.83251243e-03 1.14374325e-05 9.99982991e-01 -1.34100519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21028169299998 meters Centerline goodness [0,1] 0.99993658711873 Centerline is valid? [True, True] Translation: X:234.46, Y:-12.43, Z:-1.34 [[ 9.97147130e-01 7.53799837e-02 3.93176998e-03 2.34463680e+02] [-7.53793104e-02 9.97154881e-01 -3.19370477e-04 -1.24335488e+01] [-3.94465777e-03 2.20852450e-05 9.99992220e-01 -1.34494265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.240281693 meters Centerline goodness [0,1] 0.9998934061014347 Centerline is valid? [True, True] Translation: X:234.49, Y:-12.44, Z:-1.35 [[ 9.97305271e-01 7.32792935e-02 3.51316627e-03 2.34492681e+02] [-7.32787432e-02 9.97311458e-01 -2.85263167e-04 -1.24367975e+01] [-3.52462485e-03 2.70540511e-05 9.99993788e-01 -1.34541942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.270281693 meters Centerline goodness [0,1] 0.9997266208230816 Centerline is valid? [True, True] Translation: X:234.52, Y:-12.45, Z:-1.35 [[ 9.97471231e-01 7.09772299e-02 3.65739901e-03 2.34520548e+02] [-7.09766186e-02 9.97477935e-01 -2.96840168e-04 -1.24499861e+01] [-3.66924370e-03 3.64997138e-05 9.99993268e-01 -1.34596362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.300281693 meters Centerline goodness [0,1] 0.9996405843675342 Centerline is valid? [True, True] Translation: X:234.55, Y:-12.46, Z:-1.34 [[ 9.97727860e-01 6.72394268e-02 4.23995425e-03 2.34550555e+02] [-6.72385723e-02 9.97736867e-01 -3.43933815e-04 -1.24592887e+01] [-4.25348458e-03 5.80638790e-05 9.99990952e-01 -1.34369207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.330281693 meters Centerline goodness [0,1] 0.9994915146507342 Centerline is valid? [True, True] Translation: X:234.58, Y:-12.46, Z:-1.34 [[ 9.97787786e-01 6.63143959e-02 4.68351391e-03 2.34579855e+02] [-6.63133430e-02 9.97798775e-01 -3.79914395e-04 -1.24649965e+01] [-4.69839824e-03 6.84944788e-05 9.99988960e-01 -1.34309472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.360281693 meters Centerline goodness [0,1] 0.9996826740004231 Centerline is valid? [True, True] Translation: X:234.61, Y:-12.47, Z:-1.34 [[ 9.97781096e-01 6.64693985e-02 3.83441502e-03 2.34609343e+02] [-6.64686942e-02 9.97788463e-01 -3.10950805e-04 -1.24730803e+01] [-3.84660378e-03 5.53922763e-05 9.99992600e-01 -1.34363200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.390281693 meters Centerline goodness [0,1] 0.999768020582901 Centerline is valid? [True, True] Translation: X:234.64, Y:-12.48, Z:-1.34 [[ 9.97719967e-01 6.74146012e-02 3.18430304e-03 2.34638510e+02] [-6.74141203e-02 9.97725047e-01 -2.58247111e-04 -1.24775591e+01] [-3.19446853e-03 4.29913104e-05 9.99994897e-01 -1.34481381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.420281693 meters Centerline goodness [0,1] 0.9997228085886692 Centerline is valid? [True, True] Translation: X:234.67, Y:-12.48, Z:-1.34 [[ 9.97632445e-01 6.87035604e-02 3.05388784e-03 2.34668080e+02] [-6.87031242e-02 9.97637118e-01 -2.47657144e-04 -1.24806313e+01] [-3.06368679e-03 3.72591668e-05 9.99995306e-01 -1.34493746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.450281693 meters Centerline goodness [0,1] 0.9996369693345861 Centerline is valid? [True, True] Translation: X:234.70, Y:-12.48, Z:-1.34 [[ 9.97382195e-01 7.21474563e-02 4.84792929e-03 2.34697641e+02] [-7.21463984e-02 9.97393976e-01 -3.92974829e-04 -1.24846387e+01] [-4.86364760e-03 4.21854596e-05 9.99988172e-01 -1.34158038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.480281693 meters Centerline goodness [0,1] 0.9997248269584912 Centerline is valid? [True, True] Translation: X:234.73, Y:-12.49, Z:-1.34 [[ 9.97247869e-01 7.38903307e-02 6.07507096e-03 2.34726827e+02] [-7.38887023e-02 9.97266372e-01 -4.92349037e-04 -1.24869908e+01] [-6.09484381e-03 4.21149179e-05 9.99981425e-01 -1.33927125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.510281693 meters Centerline goodness [0,1] 0.9998102546803845 Centerline is valid? [True, True] Translation: X:234.76, Y:-12.49, Z:-1.34 [[ 9.97046733e-01 7.64884420e-02 6.87967755e-03 2.34756225e+02] [-7.64864167e-02 9.97070468e-01 -5.57411681e-04 -1.24894563e+01] [-6.90215887e-03 2.95636114e-05 9.99976179e-01 -1.33820680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.540281693 meters Centerline goodness [0,1] 0.9999139636926783 Centerline is valid? [True, True] Translation: X:234.79, Y:-12.49, Z:-1.34 [[ 9.96987520e-01 7.73049994e-02 6.31041290e-03 2.34787104e+02] [-7.73033120e-02 9.97007491e-01 -5.11239318e-04 -1.24918053e+01] [-6.33105028e-03 2.18834029e-05 9.99979958e-01 -1.34001158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.570281693 meters Centerline goodness [0,1] 0.9998732546103636 Centerline is valid? [True, True] Translation: X:234.82, Y:-12.49, Z:-1.34 [[ 9.96924150e-01 7.81827857e-02 5.44899552e-03 2.34816545e+02] [-7.81815406e-02 9.96939041e-01 -4.41461716e-04 -1.24947438e+01] [-5.46683108e-03 1.40929809e-05 9.99985057e-01 -1.34178473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.600281693 meters Centerline goodness [0,1] 0.9999789185200801 Centerline is valid? [True, True] Translation: X:234.85, Y:-12.50, Z:-1.34 [[ 9.96822292e-01 7.95620577e-02 3.89823175e-03 2.34845500e+02] [-7.95614309e-02 9.96829915e-01 -3.15858616e-04 -1.24980845e+01] [-3.91100438e-03 4.70601333e-06 9.99992352e-01 -1.34404615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.630281693 meters Centerline goodness [0,1] 0.9999575308432251 Centerline is valid? [True, True] Translation: X:234.88, Y:-12.50, Z:-1.34 [[ 9.96766162e-01 8.02580482e-02 3.98303919e-03 2.34875461e+02] [-8.02573991e-02 9.96774120e-01 -3.22808958e-04 -1.25003846e+01] [-3.99609840e-03 2.09667967e-06 9.99992016e-01 -1.34420381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.660281693 meters Centerline goodness [0,1] 0.9999790132006967 Centerline is valid? [True, True] Translation: X:234.90, Y:-12.50, Z:-1.34 [[ 9.96694657e-01 8.10988616e-02 4.76811638e-03 2.34904983e+02] [-8.10979416e-02 9.96706062e-01 -3.86308825e-04 -1.25028066e+01] [-4.78373971e-03 -1.65248111e-06 9.99988558e-01 -1.34300586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.690281693 meters Centerline goodness [0,1] 0.9997886639333868 Centerline is valid? [True, True] Translation: X:234.93, Y:-12.51, Z:-1.34 [[ 9.96661257e-01 8.14137845e-02 6.17529775e-03 2.34933883e+02] [-8.14122482e-02 9.96680388e-01 -5.00164144e-04 -1.25076125e+01] [-6.19551842e-03 -4.25064901e-06 9.99980808e-01 -1.34075708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.720281693 meters Centerline goodness [0,1] 0.9998315966740343 Centerline is valid? [True, True] Translation: X:234.96, Y:-12.51, Z:-1.34 [[ 9.96705853e-01 8.08912074e-02 5.83561283e-03 2.34963665e+02] [-8.08898268e-02 9.96722937e-01 -4.72602041e-04 -1.25126537e+01] [-5.85471851e-03 -9.96490471e-07 9.99982861e-01 -1.34195800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.750281693 meters Centerline goodness [0,1] 0.9998315966740343 Centerline is valid? [True, True] Translation: X:234.99, Y:-12.52, Z:-1.34 [[ 9.96705853e-01 8.08912074e-02 5.83561283e-03 2.34993567e+02] [-8.08898268e-02 9.96722937e-01 -4.72602041e-04 -1.25150753e+01] [-5.85471851e-03 -9.96490466e-07 9.99982861e-01 -1.34209923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.780281693 meters Centerline goodness [0,1] 0.9998730937625584 Centerline is valid? [True, True] Translation: X:235.02, Y:-12.52, Z:-1.35 [[ 9.96775220e-01 8.01425294e-02 4.04174419e-03 2.35023443e+02] [-8.01418610e-02 9.96783414e-01 -3.27324072e-04 -1.25217828e+01] [-4.05497616e-03 2.35562275e-06 9.99991779e-01 -1.34560308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.810281693 meters Centerline goodness [0,1] 0.9998924754306359 Centerline is valid? [True, True] Translation: X:235.05, Y:-12.52, Z:-1.35 [[ 9.96737823e-01 8.06544006e-02 2.92916624e-03 2.35053079e+02] [-8.06540516e-02 9.96742127e-01 -2.37259665e-04 -1.25249297e+01] [-2.93875942e-03 2.36557559e-07 9.99995682e-01 -1.34782811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.840281693 meters Centerline goodness [0,1] 0.9999574214425615 Centerline is valid? [True, True] Translation: X:235.08, Y:-12.53, Z:-1.35 [[ 9.96635227e-01 8.19401668e-02 2.00808592e-03 2.35081576e+02] [-8.19400054e-02 9.96637250e-01 -1.62648489e-04 -1.25270471e+01] [-2.01466068e-03 -2.44135754e-06 9.99997971e-01 -1.35002303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.870281693 meters Centerline goodness [0,1] 0.9998935649360325 Centerline is valid? [True, True] Translation: X:235.11, Y:-12.53, Z:-1.35 [[ 9.96499088e-01 8.35951014e-02 1.19431303e-03 2.35110865e+02] [-8.35950455e-02 9.96499804e-01 -9.67428276e-05 -1.25286975e+01] [-1.19821992e-03 -3.43451227e-06 9.99999282e-01 -1.35141181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90028169299998 meters Centerline goodness [0,1] 0.9999352149782971 Centerline is valid? [True, True] Translation: X:235.14, Y:-12.53, Z:-1.35 [[ 9.96189759e-01 8.71957259e-02 1.69369461e-03 2.35140858e+02] [-8.71956187e-02 9.96191199e-01 -1.37123854e-04 -1.25310625e+01] [-1.69920028e-03 -1.10813698e-05 9.99998556e-01 -1.34884392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93028169299998 meters Centerline goodness [0,1] 0.9998510669985745 Centerline is valid? [True, True] Translation: X:235.17, Y:-12.53, Z:-1.35 [[ 9.96018799e-01 8.91136075e-02 2.30607437e-03 2.35169927e+02] [-8.91134142e-02 9.96021468e-01 -1.86633390e-04 -1.25294805e+01] [-2.31353116e-03 -1.96117962e-05 9.99997324e-01 -1.34902361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96028169299998 meters Centerline goodness [0,1] 0.9996838977514594 Centerline is valid? [True, True] Translation: X:235.20, Y:-12.53, Z:-1.35 [[ 9.95556231e-01 9.41244573e-02 2.89446218e-03 2.35199033e+02] [-9.41241744e-02 9.95560438e-01 -2.34093126e-04 -1.25269006e+01] [-2.90364592e-03 -3.93859927e-05 9.99995784e-01 -1.34830332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.990281693 meters Centerline goodness [0,1] 0.999511832749655 Centerline is valid? [True, True] Translation: X:235.23, Y:-12.53, Z:-1.35 [[ 9.95321096e-01 9.65591025e-02 3.50088032e-03 2.35229075e+02] [-9.65587043e-02 9.95327251e-01 -2.82978488e-04 -1.25267095e+01] [-3.51184573e-03 -5.63860082e-05 9.99993832e-01 -1.34749278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.020281693 meters Centerline goodness [0,1] 0.9993849677638276 Centerline is valid? [True, True] Translation: X:235.26, Y:-12.53, Z:-1.35 [[ 9.95133788e-01 9.84637615e-02 3.69211645e-03 2.35259015e+02] [-9.84633320e-02 9.95140635e-01 -2.98350699e-04 -1.25274873e+01] [-3.70355184e-03 -6.66392271e-05 9.99993140e-01 -1.34695433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.050281693 meters Centerline goodness [0,1] 0.999571871989725 Centerline is valid? [True, True] Translation: X:235.29, Y:-12.53, Z:-1.35 [[ 9.94869009e-01 1.01086649e-01 4.14059384e-03 2.35288434e+02] [-1.01086132e-01 9.94877622e-01 -3.34490828e-04 -1.25343514e+01] [-4.15319671e-03 -8.57820563e-05 9.99991372e-01 -1.34582193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.080281693 meters Centerline goodness [0,1] 0.9993038562146654 Centerline is valid? [True, True] Translation: X:235.32, Y:-12.53, Z:-1.35 [[ 9.94748026e-01 1.02276533e-01 3.98436663e-03 2.35317129e+02] [-1.02276065e-01 9.94756002e-01 -3.21758561e-04 -1.25283366e+01] [-3.99638097e-03 -8.74366457e-05 9.99992011e-01 -1.34683752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.110281693 meters Centerline goodness [0,1] 0.9993249941991689 Centerline is valid? [True, True] Translation: X:235.35, Y:-12.53, Z:-1.35 [[ 9.94423756e-01 1.05407046e-01 3.27854177e-03 2.35346503e+02] [-1.05406746e-01 9.94429157e-01 -2.64802216e-04 -1.25303958e+01] [-3.28818955e-03 -8.22548049e-05 9.99994591e-01 -1.34720977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.140281693 meters Centerline goodness [0,1] 0.9992385464698168 Centerline is valid? [True, True] Translation: X:235.38, Y:-12.53, Z:-1.35 [[ 9.94219653e-01 1.07315709e-01 3.25897959e-03 2.35376268e+02] [-1.07315423e-01 9.94224990e-01 -2.63149905e-04 -1.25313615e+01] [-3.26839907e-03 -8.81099655e-05 9.99994655e-01 -1.34674015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.170281693 meters Centerline goodness [0,1] 0.9984089269803555 Centerline is valid? [True, True] Translation: X:235.41, Y:-12.53, Z:-1.34 [[ 9.93924698e-01 1.09970246e-01 4.49878817e-03 2.35405235e+02] [-1.09969728e-01 9.93934871e-01 -3.63113546e-04 -1.25257698e+01] [-4.51143412e-03 -1.33822989e-04 9.99989814e-01 -1.34447573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.200281693 meters Centerline goodness [0,1] 0.9968411742408289 Centerline is valid? [True, True] Translation: X:235.43, Y:-12.52, Z:-1.34 [[ 9.93853332e-01 1.10572904e-01 5.40255254e-03 2.35433366e+02] [-1.10572167e-01 9.93868002e-01 -4.35913442e-04 -1.25195755e+01] [-5.41762432e-03 -1.64137914e-04 9.99985311e-01 -1.34314759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.230281693 meters Centerline goodness [0,1] 0.9980177140447068 Centerline is valid? [True, True] Translation: X:235.46, Y:-12.53, Z:-1.34 [[ 9.93777830e-01 1.11221724e-01 5.94582042e-03 2.35461271e+02] [-1.11220845e-01 9.93795600e-01 -4.79360794e-04 -1.25274881e+01] [-5.96224550e-03 -1.84921039e-04 9.99982209e-01 -1.34270052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.260281693 meters Centerline goodness [0,1] 0.9979504732927654 Centerline is valid? [True, True] Translation: X:235.49, Y:-12.53, Z:-1.34 [[ 9.93654164e-01 1.12349615e-01 5.38211560e-03 2.35490570e+02] [-1.12348912e-01 9.93668724e-01 -4.33691302e-04 -1.25265127e+01] [-5.39676500e-03 -1.73735664e-04 9.99985422e-01 -1.34471219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.290281693 meters Centerline goodness [0,1] 0.9981304092093102 Centerline is valid? [True, True] Translation: X:235.52, Y:-12.53, Z:-1.35 [[ 9.93662283e-01 1.12306210e-01 4.75208595e-03 2.35519730e+02] [-1.12305662e-01 9.93673634e-01 -3.82732949e-04 -1.25273606e+01] [-4.76500580e-03 -1.53378863e-04 9.99988636e-01 -1.34567258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.320281693 meters Centerline goodness [0,1] 0.9986779256226543 Centerline is valid? [True, True] Translation: X:235.55, Y:-12.53, Z:-1.35 [[ 9.93710760e-01 1.11872332e-01 4.84828804e-03 2.35548571e+02] [-1.11871758e-01 9.93722576e-01 -3.90257458e-04 -1.25322118e+01] [-4.86151229e-03 -1.54583472e-04 9.99988171e-01 -1.34500341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.350281693 meters Centerline goodness [0,1] 0.9982248520710059 Centerline is valid? [True, True] Translation: X:235.58, Y:-12.53, Z:-1.34 [[ 9.93875615e-01 1.10313570e-01 6.49452621e-03 2.35577163e+02] [-1.10312510e-01 9.93896814e-01 -5.22390381e-04 -1.25299324e+01] [-6.51251566e-03 -1.97236424e-04 9.99978774e-01 -1.34147722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.380281693 meters Centerline goodness [0,1] 0.9980902667260806 Centerline is valid? [True, True] Translation: X:235.61, Y:-12.53, Z:-1.34 [[ 9.93962697e-01 1.09465799e-01 7.44278718e-03 2.35606149e+02] [-1.09464385e-01 9.93990538e-01 -5.98290006e-04 -1.25317830e+01] [-7.46355233e-03 -2.20042173e-04 9.99972123e-01 -1.33997991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.410281693 meters Centerline goodness [0,1] 0.9988278669309294 Centerline is valid? [True, True] Translation: X:235.63, Y:-12.54, Z:-1.34 [[ 9.93992688e-01 1.09183377e-01 7.58460089e-03 2.35634581e+02] [-1.09181903e-01 9.94021600e-01 -6.09337487e-04 -1.25375909e+01] [-7.60578663e-03 -2.22424150e-04 9.99971051e-01 -1.34042674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.440281693 meters Centerline goodness [0,1] 0.998625095185718 Centerline is valid? [True, True] Translation: X:235.66, Y:-12.53, Z:-1.34 [[ 9.93936813e-01 1.09756075e-01 6.57386497e-03 2.35662760e+02] [-1.09754982e-01 9.93958533e-01 -5.27811303e-04 -1.25342278e+01] [-6.59207968e-03 -1.96903350e-04 9.99978253e-01 -1.34234716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.470281693 meters Centerline goodness [0,1] 0.9990837026934879 Centerline is valid? [True, True] Translation: X:235.69, Y:-12.54, Z:-1.34 [[ 9.93846797e-01 1.10630874e-01 5.41783795e-03 2.35691573e+02] [-1.10630146e-01 9.93861551e-01 -4.34692936e-04 -1.25355592e+01] [-5.43267128e-03 -1.67358022e-04 9.99985229e-01 -1.34442217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.500281693 meters Centerline goodness [0,1] 0.9982401458770647 Centerline is valid? [True, True] Translation: X:235.72, Y:-12.53, Z:-1.35 [[ 9.93710080e-01 1.11904958e-01 4.19006827e-03 2.35719743e+02] [-1.11904535e-01 9.93718905e-01 -3.36038929e-04 -1.25272673e+01] [-4.20135447e-03 -1.34962371e-04 9.99991165e-01 -1.34683739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.530281693 meters Centerline goodness [0,1] 0.9983239986422268 Centerline is valid? [True, True] Translation: X:235.75, Y:-12.53, Z:-1.35 [[ 9.93692595e-01 1.12062094e-01 4.13684378e-03 2.35748187e+02] [-1.12061684e-01 9.93701197e-01 -3.31540208e-04 -1.25286177e+01] [-4.14793970e-03 -1.34132628e-04 9.99991388e-01 -1.34720573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.560281693 meters Centerline goodness [0,1] 0.9975209763539283 Centerline is valid? [True, True] Translation: X:235.78, Y:-12.52, Z:-1.35 [[ 9.93824957e-01 1.10895640e-01 3.75651609e-03 2.35776739e+02] [-1.10895294e-01 9.93832050e-01 -3.00914055e-04 -1.25197876e+01] [-3.76671614e-03 -1.17524058e-04 9.99992899e-01 -1.34735457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.590281693 meters Centerline goodness [0,1] 0.9988969028425965 Centerline is valid? [True, True] Translation: X:235.81, Y:-12.53, Z:-1.35 [[ 9.93957266e-01 1.09717901e-01 3.30700799e-03 2.35805561e+02] [-1.09717627e-01 9.93962762e-01 -2.64714225e-04 -1.25276961e+01] [-3.31608668e-03 -9.97224432e-05 9.99994497e-01 -1.34789905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.620281693 meters Centerline goodness [0,1] 0.9989017487539072 Centerline is valid? [True, True] Translation: X:235.83, Y:-12.53, Z:-1.35 [[ 9.94114625e-01 1.08288768e-01 3.10731517e-03 2.35833649e+02] [-1.08288519e-01 9.94119477e-01 -2.48667924e-04 -1.25284663e+01] [-3.11597048e-03 -8.92821380e-05 9.99995141e-01 -1.34905478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65028169299998 meters Centerline goodness [0,1] 0.9985442423730959 Centerline is valid? [True, True] Translation: X:235.86, Y:-12.53, Z:-1.35 [[ 9.94286059e-01 1.06701669e-01 3.16015951e-03 2.35862001e+02] [-1.06701404e-01 9.94291077e-01 -2.52707490e-04 -1.25251679e+01] [-3.16908271e-03 -8.59299219e-05 9.99994975e-01 -1.34960287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68028169299998 meters Centerline goodness [0,1] 0.9993552408175547 Centerline is valid? [True, True] Translation: X:235.89, Y:-12.53, Z:-1.35 [[ 9.94490225e-01 1.04758370e-01 3.85689784e-03 2.35890970e+02] [-1.04757962e-01 9.94497700e-01 -3.08125765e-04 -1.25317273e+01] [-3.86795478e-03 -9.76126980e-05 9.99992515e-01 -1.34766480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71028169299998 meters Centerline goodness [0,1] 0.9993780827793266 Centerline is valid? [True, True] Translation: X:235.92, Y:-12.53, Z:-1.35 [[ 9.94517054e-01 1.04488465e-01 4.24139874e-03 2.35919343e+02] [-1.04487970e-01 9.94526093e-01 -3.38685599e-04 -1.25326450e+01] [-4.25357045e-03 -1.06346541e-04 9.99990948e-01 -1.34689301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.740281693 meters Centerline goodness [0,1] 0.9993659650012681 Centerline is valid? [True, True] Translation: X:235.95, Y:-12.53, Z:-1.35 [[ 9.94486036e-01 1.04809933e-01 3.52160034e-03 2.35948230e+02] [-1.04809594e-01 9.94492267e-01 -2.81092236e-04 -1.25260718e+01] [-3.53166557e-03 -8.95552001e-05 9.99993760e-01 -1.34842721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.770281693 meters Centerline goodness [0,1] 0.9991920222831749 Centerline is valid? [True, True] Translation: X:235.98, Y:-12.52, Z:-1.35 [[ 9.94487559e-01 1.04817249e-01 2.79994418e-03 2.35976474e+02] [-1.04817035e-01 9.94491498e-01 -2.23377878e-04 -1.25248447e+01] [-2.80793454e-03 -7.13353261e-05 9.99996055e-01 -1.35064057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.800281693 meters Centerline goodness [0,1] 0.9994475020718673 Centerline is valid? [True, True] Translation: X:236.01, Y:-12.52, Z:-1.35 [[ 9.94707306e-01 1.02695016e-01 3.33291465e-03 2.36005248e+02] [-1.02694702e-01 9.94712887e-01 -2.65640580e-04 -1.25240685e+01] [-3.34257312e-03 -7.80380520e-05 9.99994411e-01 -1.35053507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.830281693 meters Centerline goodness [0,1] 0.9992397364419665 Centerline is valid? [True, True] Translation: X:236.03, Y:-12.53, Z:-1.35 [[ 9.94925049e-01 1.00534063e-01 4.12910750e-03 2.36033070e+02] [-1.00533563e-01 9.94933613e-01 -3.28867990e-04 -1.25263416e+01] [-4.14125028e-03 -8.79148886e-05 9.99991421e-01 -1.34937316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.860281693 meters Centerline goodness [0,1] 0.9994496422674739 Centerline is valid? [True, True] Translation: X:236.06, Y:-12.53, Z:-1.35 [[ 9.95193207e-01 9.78152785e-02 4.75934912e-03 2.36061882e+02] [-9.78145853e-02 9.95204584e-01 -3.78756223e-04 -1.25308600e+01] [-4.77357420e-03 -8.85981402e-05 9.99988603e-01 -1.34817719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.890281693 meters Centerline goodness [0,1] 0.9995707601837146 Centerline is valid? [True, True] Translation: X:236.09, Y:-12.54, Z:-1.35 [[ 9.95803573e-01 9.13455238e-02 5.58921719e-03 2.36089524e+02] [-9.13444674e-02 9.95819256e-01 -4.44520561e-04 -1.25425876e+01] [-5.60645507e-03 -6.78889045e-05 9.99984281e-01 -1.34687070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.920281693 meters Centerline goodness [0,1] 0.9997464074387151 Centerline is valid? [True, True] Translation: X:236.12, Y:-12.55, Z:-1.35 [[ 9.96123710e-01 8.77968343e-02 5.41023811e-03 2.36116908e+02] [-8.77957932e-02 9.96138401e-01 -4.30093699e-04 -1.25498983e+01] [-5.42710680e-03 -4.65696145e-05 9.99985272e-01 -1.34706369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.950281693 meters Centerline goodness [0,1] 0.9997650677032164 Centerline is valid? [True, True] Translation: X:236.15, Y:-12.56, Z:-1.35 [[ 9.96580540e-01 8.24919731e-02 4.72241838e-03 2.36145865e+02] [-8.24911214e-02 9.96591729e-01 -3.75186480e-04 -1.25596266e+01] [-4.73727297e-03 -1.56540434e-05 9.99988779e-01 -1.34729022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.980281693 meters Centerline goodness [0,1] 0.9998721472863261 Centerline is valid? [True, True] Translation: X:236.17, Y:-12.57, Z:-1.35 [[ 9.96749059e-01 8.04369498e-02 4.60555025e-03 2.36173432e+02] [-8.04361182e-02 9.96759699e-01 -3.65805535e-04 -1.25650408e+01] [-4.62005116e-03 -5.83626102e-06 9.99989327e-01 -1.34773544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.010281693 meters Centerline goodness [0,1] 0.9998726006454901 Centerline is valid? [True, True] Translation: X:236.20, Y:-12.57, Z:-1.35 [[ 9.96881179e-01 7.87806598e-02 4.63921629e-03 2.36201533e+02] [-7.87797994e-02 9.96891974e-01 -3.68190942e-04 -1.25706807e+01] [-4.65380381e-03 1.56609139e-06 9.99989171e-01 -1.34851581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.040281693 meters Centerline goodness [0,1] 0.9998090550345823 Centerline is valid? [True, True] Translation: X:236.23, Y:-12.58, Z:-1.35 [[ 9.97025219e-01 7.69313436e-02 4.72036012e-03 2.36230472e+02] [-7.69304332e-02 9.97036393e-01 -3.74420155e-04 -1.25765261e+01] [-4.73517548e-03 1.01669877e-05 9.99988789e-01 -1.34865093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.070281693 meters Centerline goodness [0,1] 0.9995107319874917 Centerline is valid? [True, True] Translation: X:236.26, Y:-12.58, Z:-1.35 [[ 9.97254920e-01 7.38632118e-02 5.18176489e-03 2.36258873e+02] [-7.38620745e-02 9.97268382e-01 -4.10769068e-04 -1.25845013e+01] [-5.19795101e-03 2.69055695e-05 9.99986490e-01 -1.34735089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.100281693 meters Centerline goodness [0,1] 0.9995144606290901 Centerline is valid? [True, True] Translation: X:236.29, Y:-12.59, Z:-1.35 [[ 9.97364609e-01 7.24159396e-02 4.44621352e-03 2.36288545e+02] [-7.24150885e-02 9.97374519e-01 -3.52329703e-04 -1.25896720e+01] [-4.46005435e-03 2.94282313e-05 9.99990053e-01 -1.34884342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.130281693 meters Centerline goodness [0,1] 0.9995252891420681 Centerline is valid? [True, True] Translation: X:236.32, Y:-12.60, Z:-1.35 [[ 9.97550158e-01 6.99216587e-02 2.15503285e-03 2.36318333e+02] [-6.99214530e-02 9.97552485e-01 -1.70719619e-04 -1.25978421e+01] [-2.16169537e-03 1.96183547e-05 9.99997663e-01 -1.35320158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.160281693 meters Centerline goodness [0,1] 0.9993650121706 Centerline is valid? [True, True] Translation: X:236.35, Y:-12.61, Z:-1.36 [[ 9.97659039e-01 6.83639731e-02 1.67576424e-03 2.36346647e+02] [-6.83638464e-02 9.97660447e-01 -1.32824502e-04 -1.26078881e+01] [-1.68092411e-03 1.79518761e-05 9.99998587e-01 -1.35521540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.190281693 meters Centerline goodness [0,1] 0.9991671115856914 Centerline is valid? [True, True] Translation: X:236.38, Y:-12.61, Z:-1.35 [[ 9.97785686e-01 6.64801496e-02 2.02855436e-03 2.36376529e+02] [-6.64799602e-02 9.97787748e-01 -1.60713471e-04 -1.26121173e+01] [-2.03475094e-03 2.54993875e-05 9.99997930e-01 -1.35375411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.220281693 meters Centerline goodness [0,1] 0.9988877005347594 Centerline is valid? [True, True] Translation: X:236.41, Y:-12.62, Z:-1.35 [[ 9.97996397e-01 6.31919259e-02 3.15790284e-03 2.36406535e+02] [-6.31914510e-02 9.98001392e-01 -2.50017309e-04 -1.26223154e+01] [-3.16739051e-03 4.99639112e-05 9.99994983e-01 -1.35119242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.250281693 meters Centerline goodness [0,1] 0.9986232605426472 Centerline is valid? [True, True] Translation: X:236.44, Y:-12.63, Z:-1.35 [[ 9.98072061e-01 6.19623229e-02 3.58204072e-03 2.36435554e+02] [-6.19617040e-02 9.98078487e-01 -2.83610103e-04 -1.26329434e+01] [-3.59273092e-03 6.11139731e-05 9.99993544e-01 -1.35088108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.280281693 meters Centerline goodness [0,1] 0.9988244095329699 Centerline is valid? [True, True] Translation: X:236.47, Y:-12.64, Z:-1.35 [[ 9.98172261e-01 6.03065276e-02 3.90650238e-03 2.36465823e+02] [-6.03057790e-02 9.98179902e-01 -3.09239777e-04 -1.26369366e+01] [-3.91804134e-03 7.30898979e-05 9.99992322e-01 -1.35084029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.310281693 meters Centerline goodness [0,1] 0.9984867215141311 Centerline is valid? [True, True] Translation: X:236.50, Y:-12.65, Z:-1.35 [[ 9.98286356e-01 5.84696737e-02 2.37677405e-03 2.36496461e+02] [-5.84693915e-02 9.98289184e-01 -1.88091932e-04 -1.26489222e+01] [-2.38370550e-03 4.88010777e-05 9.99997158e-01 -1.35436909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.340281693 meters Centerline goodness [0,1] 0.9985866632403957 Centerline is valid? [True, True] Translation: X:236.53, Y:-12.66, Z:-1.36 [[ 9.98283048e-01 5.85383071e-02 2.05467932e-03 2.36527096e+02] [-5.85380963e-02 9.98285162e-01 -1.62635399e-04 -1.26558213e+01] [-2.06067628e-03 4.20791462e-05 9.99997876e-01 -1.35526500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.370281693 meters Centerline goodness [0,1] 0.9987641957684359 Centerline is valid? [True, True] Translation: X:236.56, Y:-12.67, Z:-1.35 [[ 9.98254535e-01 5.90237671e-02 2.01948440e-03 2.36557830e+02] [-5.90235644e-02 9.98256577e-01 -1.59894706e-04 -1.26661283e+01] [-2.02540117e-03 4.04184481e-05 9.99997948e-01 -1.35460082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40028169299998 meters Centerline goodness [0,1] 0.9985353739041838 Centerline is valid? [True, True] Translation: X:236.59, Y:-12.67, Z:-1.35 [[ 9.98247878e-01 5.91364170e-02 2.01444547e-03 2.36588993e+02] [-5.91362158e-02 9.98249910e-01 -1.59361117e-04 -1.26737936e+01] [-2.02034406e-03 3.99552150e-05 9.99997958e-01 -1.35376823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43028169299998 meters Centerline goodness [0,1] 0.9984857855787072 Centerline is valid? [True, True] Translation: X:236.62, Y:-12.68, Z:-1.35 [[ 9.98229323e-01 5.94313557e-02 2.47660358e-03 2.36619563e+02] [-5.94310512e-02 9.98232394e-01 -1.96396270e-04 -1.26791621e+01] [-2.48389801e-03 4.88613613e-05 9.99996914e-01 -1.35317468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46028169299998 meters Centerline goodness [0,1] 0.9985972369819341 Centerline is valid? [True, True] Translation: X:236.65, Y:-12.69, Z:-1.35 [[ 9.98114783e-01 6.12513177e-02 3.89299664e-03 2.36650810e+02] [-6.12505788e-02 9.98122373e-01 -3.08861066e-04 -1.26875791e+01] [-3.90460519e-03 6.98304985e-05 9.99992375e-01 -1.35141324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.490281693 meters Centerline goodness [0,1] 0.9990169679873488 Centerline is valid? [True, True] Translation: X:236.68, Y:-12.69, Z:-1.35 [[ 9.98001651e-01 6.30392543e-02 4.33097437e-03 2.36681284e+02] [-6.30383560e-02 9.98011046e-01 -3.43739311e-04 -1.26929493e+01] [-4.34402933e-03 7.00348949e-05 9.99990562e-01 -1.35077571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.520281693 meters Centerline goodness [0,1] 0.9991138305728452 Centerline is valid? [True, True] Translation: X:236.71, Y:-12.69, Z:-1.35 [[ 9.97664751e-01 6.81457585e-02 4.60427666e-03 2.36712709e+02] [-6.81447941e-02 9.97675375e-01 -3.66186506e-04 -1.26925905e+01] [-4.61852750e-03 5.15738842e-05 9.99989333e-01 -1.35011234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.550281693 meters Centerline goodness [0,1] 0.9991741137605353 Centerline is valid? [True, True] Translation: X:236.74, Y:-12.69, Z:-1.35 [[ 9.97418050e-01 7.16963961e-02 4.10622830e-03 2.36743821e+02] [-7.16956590e-02 9.97426501e-01 -3.26618436e-04 -1.26919705e+01] [-4.11907829e-03 3.13763796e-05 9.99991516e-01 -1.35069917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.580281693 meters Centerline goodness [0,1] 0.9995511189962166 Centerline is valid? [True, True] Translation: X:236.78, Y:-12.68, Z:-1.35 [[ 9.96742637e-01 8.06199790e-02 2.12946479e-03 2.36775092e+02] [-8.06198006e-02 9.96744912e-01 -1.69605943e-04 -1.26829476e+01] [-2.13620682e-03 -2.62355244e-06 9.99997718e-01 -1.35439699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.610281693 meters Centerline goodness [0,1] 0.9996607941656597 Centerline is valid? [True, True] Translation: X:236.81, Y:-12.68, Z:-1.36 [[ 9.96351221e-01 8.53398798e-02 1.16129763e-03 2.36805560e+02] [-8.53398299e-02 9.96351898e-01 -9.25743429e-05 -1.26771238e+01] [-1.16496138e-03 -6.86838240e-06 9.99999321e-01 -1.35603084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.640281693 meters Centerline goodness [0,1] 0.9996607941656597 Centerline is valid? [True, True] Translation: X:236.83, Y:-12.68, Z:-1.36 [[ 9.96353151e-01 8.53173454e-02 1.16129970e-03 2.36834637e+02] [-8.53172955e-02 9.96353828e-01 -9.25482891e-05 -1.26793922e+01] [-1.16496138e-03 -6.86817044e-06 9.99999321e-01 -1.35616815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.670281693 meters Centerline goodness [0,1] 0.9995991730306738 Centerline is valid? [True, True] Translation: X:236.86, Y:-12.67, Z:-1.36 [[ 9.95973931e-01 8.96407444e-02 6.82636202e-04 2.36863386e+02] [-8.96407282e-02 9.95974165e-01 -5.43681190e-05 -1.26726995e+01] [-6.84761620e-04 -7.04277711e-06 9.99999766e-01 -1.35669225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.700281693 meters Centerline goodness [0,1] 0.9995788321014172 Centerline is valid? [True, True] Translation: X:236.89, Y:-12.66, Z:-1.36 [[ 9.95655212e-01 9.31026120e-02 1.61293917e-03 2.36892386e+02] [-9.31025262e-02 9.95656519e-01 -1.28404596e-04 -1.26635313e+01] [-1.61788820e-03 -2.23220059e-05 9.99998691e-01 -1.35606154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.730281693 meters Centerline goodness [0,1] 0.9996617264635616 Centerline is valid? [True, True] Translation: X:236.92, Y:-12.66, Z:-1.35 [[ 9.95286582e-01 9.68228018e-02 5.47393456e-03 2.36921915e+02] [-9.68218697e-02 9.95301631e-01 -4.35634860e-04 -1.26640060e+01] [-5.49039538e-03 -9.64150475e-05 9.99984923e-01 -1.34880051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.760281693 meters Centerline goodness [0,1] 0.9994907594050373 Centerline is valid? [True, True] Translation: X:236.95, Y:-12.66, Z:-1.35 [[ 9.95172384e-01 9.79116500e-02 6.72575762e-03 2.36951583e+02] [-9.79102690e-02 9.95195103e-01 -5.35076067e-04 -1.26626021e+01] [-6.74583123e-03 -1.26027813e-04 9.99977239e-01 -1.34668823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.790281693 meters Centerline goodness [0,1] 0.9992208886081281 Centerline is valid? [True, True] Translation: X:236.98, Y:-12.66, Z:-1.35 [[ 9.95154461e-01 9.81425142e-02 5.97037321e-03 2.36980906e+02] [-9.81414309e-02 9.95172364e-01 -4.74849263e-04 -1.26567703e+01] [-5.98815333e-03 -1.13392608e-04 9.99982064e-01 -1.34782707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.820281693 meters Centerline goodness [0,1] 0.9993227369891426 Centerline is valid? [True, True] Translation: X:237.01, Y:-12.66, Z:-1.35 [[ 9.95101518e-01 9.87324387e-02 4.98733874e-03 2.37009744e+02] [-9.87316908e-02 9.95114012e-01 -3.96549771e-04 -1.26573657e+01] [-5.00212299e-03 -9.78011072e-05 9.99987485e-01 -1.34977285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.850281693 meters Centerline goodness [0,1] 0.9993406219424001 Centerline is valid? [True, True] Translation: X:237.04, Y:-12.66, Z:-1.35 [[ 9.95016538e-01 9.96173003e-02 4.29913937e-03 2.37038530e+02] [-9.96167535e-02 9.95025822e-01 -3.41671206e-04 -1.26597720e+01] [-4.31179105e-03 -8.82978066e-05 9.99990700e-01 -1.35140383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.880281693 meters Centerline goodness [0,1] 0.9989469471999326 Centerline is valid? [True, True] Translation: X:237.07, Y:-12.65, Z:-1.35 [[ 9.94825655e-01 1.01510743e-01 4.18159386e-03 2.37068291e+02] [-1.01510243e-01 9.94834439e-01 -3.32133147e-04 -1.26483092e+01] [-4.19370867e-03 -9.40600336e-05 9.99991202e-01 -1.35220727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.910281693 meters Centerline goodness [0,1] 0.998991870616246 Centerline is valid? [True, True] Translation: X:237.10, Y:-12.65, Z:-1.35 [[ 9.94634369e-01 1.03326720e-01 5.10494119e-03 2.37097319e+02] [-1.03326000e-01 9.94647462e-01 -4.05251991e-04 -1.26470664e+01] [-5.11949015e-03 -1.24395596e-04 9.99986888e-01 -1.35036318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.940281693 meters Centerline goodness [0,1] 0.998833979944455 Centerline is valid? [True, True] Translation: X:237.13, Y:-12.64, Z:-1.35 [[ 9.94573463e-01 1.03918948e-01 4.94755811e-03 2.37125911e+02] [-1.03918280e-01 9.94585761e-01 -3.92528822e-04 -1.26441944e+01] [-4.96156203e-03 -1.23742980e-04 9.99987684e-01 -1.35106620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.970281693 meters Centerline goodness [0,1] 0.9986848803665366 Centerline is valid? [True, True] Translation: X:237.15, Y:-12.64, Z:-1.35 [[ 9.94559935e-01 1.04077728e-01 4.28503570e-03 2.37154601e+02] [-1.04077230e-01 9.94569160e-01 -3.39746290e-04 -1.26439605e+01] [-4.29712438e-03 -1.08076597e-04 9.99990761e-01 -1.35261584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.000281693 meters Centerline goodness [0,1] 0.998627649691749 Centerline is valid? [True, True] Translation: X:237.18, Y:-12.64, Z:-1.35 [[ 9.94639620e-01 1.03333252e-01 3.77704593e-03 2.37182837e+02] [-1.03332860e-01 9.94646787e-01 -2.99332796e-04 -1.26444384e+01] [-3.78775763e-03 -9.25646995e-05 9.99992822e-01 -1.35447087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.030281693 meters Centerline goodness [0,1] 0.9992167488727535 Centerline is valid? [True, True] Translation: X:237.21, Y:-12.65, Z:-1.36 [[ 9.94978188e-01 1.00053199e-01 2.78620258e-03 2.37211427e+02] [-1.00052973e-01 9.94982087e-01 -2.20697224e-04 -1.26468419e+01] [-2.79430312e-03 -5.91789284e-05 9.99996094e-01 -1.35665522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.060281693 meters Centerline goodness [0,1] 0.999359330286593 Centerline is valid? [True, True] Translation: X:237.24, Y:-12.65, Z:-1.36 [[ 9.95207653e-01 9.77489523e-02 2.62084050e-03 2.37240035e+02] [-9.77487448e-02 9.95211103e-01 -2.07470672e-04 -1.26495086e+01] [-2.62856960e-03 -4.97074684e-05 9.99996544e-01 -1.35681817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.090281693 meters Centerline goodness [0,1] 0.9995091448449538 Centerline is valid? [True, True] Translation: X:237.27, Y:-12.65, Z:-1.35 [[ 9.95639946e-01 9.32072276e-02 3.67555422e-03 2.37268535e+02] [-9.32067892e-02 9.95646729e-01 -2.90775499e-04 -1.26545642e+01] [-3.68665592e-03 -5.30789048e-05 9.99993203e-01 -1.35396458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.120281693 meters Centerline goodness [0,1] 0.9996194664073401 Centerline is valid? [True, True] Translation: X:237.30, Y:-12.66, Z:-1.35 [[ 9.95773253e-01 9.17305308e-02 4.59758229e-03 2.37297053e+02] [-9.17298300e-02 9.95783865e-01 -3.63523294e-04 -1.26574457e+01] [-4.61154445e-03 -5.97486687e-05 9.99989365e-01 -1.35154701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15028169299998 meters Centerline goodness [0,1] 0.9995748299319728 Centerline is valid? [True, True] Translation: X:237.33, Y:-12.66, Z:-1.35 [[ 9.95943298e-01 8.98191771e-02 5.42793843e-03 2.37325532e+02] [-8.98181734e-02 9.95958087e-01 -4.28896093e-04 -1.26604409e+01] [-5.44452227e-03 -6.03713253e-05 9.99985177e-01 -1.35000964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18028169299998 meters Centerline goodness [0,1] 0.9996396549165907 Centerline is valid? [True, True] Translation: X:237.35, Y:-12.66, Z:-1.35 [[ 9.96016589e-01 8.90367299e-02 4.83900605e-03 2.37354663e+02] [-8.90359239e-02 9.96028342e-01 -3.82167310e-04 -1.26633481e+01] [-4.85381410e-03 -5.02003939e-05 9.99988219e-01 -1.35139747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21028169299998 meters Centerline goodness [0,1] 0.999640424721858 Centerline is valid? [True, True] Translation: X:237.38, Y:-12.67, Z:-1.35 [[ 9.96085591e-01 8.83040679e-02 3.98581502e-03 2.37382720e+02] [-8.83035157e-02 9.96093565e-01 -3.14651410e-04 -1.26655897e+01] [-3.99802969e-03 -3.85417435e-05 9.99992007e-01 -1.35341316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.240281693 meters Centerline goodness [0,1] 0.9997464503042597 Centerline is valid? [True, True] Translation: X:237.41, Y:-12.67, Z:-1.35 [[ 9.96146421e-01 8.76202527e-02 3.87288094e-03 2.37411658e+02] [-8.76197270e-02 9.96153949e-01 -3.05521166e-04 -1.26698664e+01] [-3.88475548e-03 -3.49969541e-05 9.99992454e-01 -1.35403974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.270281693 meters Centerline goodness [0,1] 0.9996389124893797 Centerline is valid? [True, True] Translation: X:237.44, Y:-12.67, Z:-1.35 [[ 9.96301596e-01 8.57911112e-02 4.79736108e-03 2.37438982e+02] [-8.57902847e-02 9.96313146e-01 -3.78172898e-04 -1.26740831e+01] [-4.81211779e-03 -3.47927114e-05 9.99988421e-01 -1.35256367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.300281693 meters Centerline goodness [0,1] 0.9996210127381829 Centerline is valid? [True, True] Translation: X:237.47, Y:-12.68, Z:-1.35 [[ 9.96428604e-01 8.43103148e-02 4.66990141e-03 2.37466829e+02] [-8.43095168e-02 9.96439547e-01 -3.67836572e-04 -1.26783310e+01] [-4.68428686e-03 -2.71942489e-05 9.99989028e-01 -1.35237838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.330281693 meters Centerline goodness [0,1] 0.9995780234618955 Centerline is valid? [True, True] Translation: X:237.50, Y:-12.69, Z:-1.35 [[ 9.96760507e-01 8.03206815e-02 4.13274909e-03 2.37496009e+02] [-8.03200231e-02 9.96769075e-01 -3.25301735e-04 -1.26882869e+01] [-4.14552494e-03 -7.69458010e-06 9.99991407e-01 -1.35313743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.360281693 meters Centerline goodness [0,1] 0.9990161269623989 Centerline is valid? [True, True] Translation: X:237.53, Y:-12.70, Z:-1.35 [[ 9.96978910e-01 7.75619436e-02 4.14696666e-03 2.37525342e+02] [-7.75612572e-02 9.96987535e-01 -3.26326294e-04 -1.26962403e+01] [-4.15978457e-03 3.69648495e-06 9.99991348e-01 -1.35310376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.390281693 meters Centerline goodness [0,1] 0.9989642343789634 Centerline is valid? [True, True] Translation: X:237.55, Y:-12.71, Z:-1.35 [[ 9.97199818e-01 7.46459859e-02 4.52757123e-03 2.37554100e+02] [-7.46451382e-02 9.97210096e-01 -3.56162032e-04 -1.27053660e+01] [-4.54152581e-03 1.72035334e-05 9.99989687e-01 -1.35341582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.420281693 meters Centerline goodness [0,1] 0.998730964467005 Centerline is valid? [True, True] Translation: X:237.58, Y:-12.72, Z:-1.36 [[ 9.97629769e-01 6.87175679e-02 3.56931529e-03 2.37584434e+02] [-6.87170033e-02 9.97636153e-01 -2.80714610e-04 -1.27222078e+01] [-3.58016800e-03 3.47766011e-05 9.99993591e-01 -1.35620395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.450281693 meters Centerline goodness [0,1] 0.9989528124465721 Centerline is valid? [True, True] Translation: X:237.61, Y:-12.73, Z:-1.36 [[ 9.97766312e-01 6.67428581e-02 2.78869028e-03 2.37614593e+02] [-6.67425055e-02 9.97770209e-01 -2.19400382e-04 -1.27282597e+01] [-2.79711549e-03 3.27861332e-05 9.99996088e-01 -1.35731883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.480281693 meters Centerline goodness [0,1] 0.9985695986336465 Centerline is valid? [True, True] Translation: X:237.64, Y:-12.74, Z:-1.36 [[ 9.97887825e-01 6.49182583e-02 2.34702865e-03 2.37644388e+02] [-6.49180036e-02 9.97890585e-01 -1.84625564e-04 -1.27397090e+01] [-2.35406336e-03 3.18711880e-05 9.99997229e-01 -1.35643778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.510281693 meters Centerline goodness [0,1] 0.998532851371465 Centerline is valid? [True, True] Translation: X:237.68, Y:-12.74, Z:-1.36 [[ 9.97858770e-01 6.53615618e-02 2.39594085e-03 2.37675106e+02] [-6.53612975e-02 9.97861646e-01 -1.88528431e-04 -1.27430814e+01] [-2.40314000e-03 3.15229455e-05 9.99997112e-01 -1.35621415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.540281693 meters Centerline goodness [0,1] 0.9985242851337768 Centerline is valid? [True, True] Translation: X:237.71, Y:-12.75, Z:-1.36 [[ 9.97801500e-01 6.62365284e-02 2.21118153e-03 2.37705107e+02] [-6.62363054e-02 9.97803949e-01 -1.73990349e-04 -1.27450957e+01] [-2.21785018e-03 2.71473359e-05 9.99997540e-01 -1.35648782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.570281693 meters Centerline goodness [0,1] 0.9982689718547646 Centerline is valid? [True, True] Translation: X:237.74, Y:-12.75, Z:-1.35 [[ 9.97689156e-01 6.79355407e-02 1.05346122e-03 2.37735190e+02] [-6.79354910e-02 9.97689712e-01 -8.28932777e-05 -1.27494318e+01] [-1.05665882e-03 1.11343193e-05 9.99999442e-01 -1.35221114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.600281693 meters Centerline goodness [0,1] 0.998859965798974 Centerline is valid? [True, True] Translation: X:237.76, Y:-12.75, Z:-1.36 [[ 9.97662931e-01 6.83187776e-02 1.10530758e-03 2.37764152e+02] [-6.83187232e-02 9.97663543e-01 -8.70135675e-05 -1.27549462e+01] [-1.10866974e-03 1.12970080e-05 9.99999385e-01 -1.36048105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.630281693 meters Centerline goodness [0,1] 0.9988033420945787 Centerline is valid? [True, True] Translation: X:237.79, Y:-12.76, Z:-1.36 [[ 9.97659076e-01 6.83741220e-02 1.16113251e-03 2.37794112e+02] [-6.83740620e-02 9.97659751e-01 -9.13524017e-05 -1.27578159e+01] [-1.16466131e-03 1.17472064e-05 9.99999322e-01 -1.35961864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.660281693 meters Centerline goodness [0,1] 0.998524411368448 Centerline is valid? [True, True] Translation: X:237.82, Y:-12.77, Z:-1.36 [[ 9.97678261e-01 6.80919036e-02 1.25697688e-03 2.37823016e+02] [-6.80918330e-02 9.97679053e-01 -9.89332921e-05 -1.27664333e+01] [-1.26079606e-03 1.31137348e-05 9.99999205e-01 -1.35969428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.690281693 meters Centerline goodness [0,1] 0.9988748301630435 Centerline is valid? [True, True] Translation: X:237.85, Y:-12.77, Z:-1.36 [[ 9.97679988e-01 6.80725693e-02 8.76047725e-04 2.37851735e+02] [-6.80725350e-02 9.97680372e-01 -6.89556200e-05 -1.27735268e+01] [-8.78709606e-04 9.16085270e-06 9.99999614e-01 -1.36060057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.720281693 meters Centerline goodness [0,1] 0.9988954970263382 Centerline is valid? [True, True] Translation: X:237.88, Y:-12.78, Z:-1.36 [[ 9.97631497e-01 6.87706618e-02 1.41169535e-03 2.37881945e+02] [-6.87705735e-02 9.97632495e-01 -1.11033178e-04 -1.27791406e+01] [-1.41598898e-03 1.36870967e-05 9.99998997e-01 -1.35817956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.750281693 meters Centerline goodness [0,1] 0.998731742374601 Centerline is valid? [True, True] Translation: X:237.91, Y:-12.78, Z:-1.36 [[ 9.97541517e-01 7.00648077e-02 1.35834697e-03 2.37912593e+02] [-7.00647273e-02 9.97542441e-01 -1.06798578e-04 -1.27819085e+01] [-1.36249157e-03 1.13638055e-05 9.99999072e-01 -1.35834993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.780281693 meters Centerline goodness [0,1] 0.9990029910269193 Centerline is valid? [True, True] Translation: X:237.94, Y:-12.78, Z:-1.36 [[ 9.97396173e-01 7.21013870e-02 1.50441335e-03 2.37943041e+02] [-7.21012905e-02 9.97397308e-01 -1.18343092e-04 -1.27818022e+01] [-1.50903053e-03 9.56480272e-06 9.99998861e-01 -1.35792524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.810281693 meters Centerline goodness [0,1] 0.999133284008033 Centerline is valid? [True, True] Translation: X:237.97, Y:-12.78, Z:-1.36 [[ 9.97003577e-01 7.72926405e-02 3.11694082e-03 2.37973179e+02] [-7.72922517e-02 9.97008449e-01 -2.45190866e-04 -1.27809651e+01] [-3.12656778e-03 3.54079678e-06 9.99995112e-01 -1.35635600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.840281693 meters Centerline goodness [0,1] 0.9993469972405368 Centerline is valid? [True, True] Translation: X:238.00, Y:-12.78, Z:-1.36 [[ 9.96814821e-01 7.96816596e-02 3.32358421e-03 2.38003554e+02] [-7.96812308e-02 9.96820362e-01 -2.61431263e-04 -1.27809598e+01] [-3.33384769e-03 -4.22872293e-06 9.99994443e-01 -1.35583571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.870281693 meters Centerline goodness [0,1] 0.9995135672440412 Centerline is valid? [True, True] Translation: X:238.03, Y:-12.78, Z:-1.36 [[ 9.96541683e-01 8.30708334e-02 1.97730256e-03 2.38034019e+02] [-8.30706883e-02 9.96543645e-01 -1.55564061e-04 -1.27790996e+01] [-1.98339114e-03 -9.22981355e-06 9.99998033e-01 -1.35797534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90028169299998 meters Centerline goodness [0,1] 0.9996156720401409 Centerline is valid? [True, True] Translation: X:238.06, Y:-12.78, Z:-1.36 [[ 9.96489714e-01 8.37011393e-02 1.53941505e-03 2.38064623e+02] [-8.37010521e-02 9.96490903e-01 -1.21113309e-04 -1.27808321e+01] [-1.54415041e-03 -8.16249249e-06 9.99998808e-01 -1.35935873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93028169299998 meters Centerline goodness [0,1] 0.9994905648362378 Centerline is valid? [True, True] Translation: X:238.09, Y:-12.78, Z:-1.36 [[ 9.96447958e-01 8.41894716e-02 1.89725355e-03 2.38094381e+02] [-8.41893399e-02 9.96449764e-01 -1.49297874e-04 -1.27832976e+01] [-1.90308716e-03 -1.09609625e-05 9.99998189e-01 -1.35863158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96028169299998 meters Centerline goodness [0,1] 0.9995742053607545 Centerline is valid? [True, True] Translation: X:238.12, Y:-12.78, Z:-1.36 [[ 9.96412625e-01 8.45707690e-02 3.10893440e-03 2.38123678e+02] [-8.45704176e-02 9.96417475e-01 -2.44577634e-04 -1.27840154e+01] [-3.11848069e-03 -1.92236378e-05 9.99995137e-01 -1.35607675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.990281693 meters Centerline goodness [0,1] 0.9995927815165674 Centerline is valid? [True, True] Translation: X:238.15, Y:-12.79, Z:-1.36 [[ 9.96451962e-01 8.40832920e-02 3.67254159e-03 2.38153670e+02] [-8.40827985e-02 9.96458729e-01 -2.88854034e-04 -1.27854955e+01] [-3.68382392e-03 -2.09684058e-05 9.99993214e-01 -1.35529299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.020281693 meters Centerline goodness [0,1] 0.9995384550832879 Centerline is valid? [True, True] Translation: X:238.18, Y:-12.79, Z:-1.36 [[ 9.96616867e-01 8.21032877e-02 3.72430635e-03 2.38183606e+02] [-8.21027665e-02 9.96623826e-01 -2.92870556e-04 -1.27891447e+01] [-3.73577808e-03 -1.38961182e-05 9.99993022e-01 -1.35555012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.050281693 meters Centerline goodness [0,1] 0.999427213712928 Centerline is valid? [True, True] Translation: X:238.21, Y:-12.79, Z:-1.36 [[ 9.96695034e-01 8.11338691e-02 4.03783693e-03 2.38214130e+02] [-8.11332474e-02 9.96703213e-01 -3.17814140e-04 -1.27937693e+01] [-4.05031053e-03 -1.08390473e-05 9.99991797e-01 -1.35510417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.080281693 meters Centerline goodness [0,1] 0.9996202691869541 Centerline is valid? [True, True] Translation: X:238.24, Y:-12.80, Z:-1.36 [[ 9.96740833e-01 8.05601763e-02 4.21536571e-03 2.38244789e+02] [-8.05594936e-02 9.96749747e-01 -3.31776191e-04 -1.27976203e+01] [-4.22839265e-03 -8.89285012e-06 9.99991060e-01 -1.35516270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.110281693 meters Centerline goodness [0,1] 0.9994258495300472 Centerline is valid? [True, True] Translation: X:238.28, Y:-12.80, Z:-1.36 [[ 9.96858840e-01 7.91420933e-02 2.99707462e-03 2.38276128e+02] [-7.91417423e-02 9.96863345e-01 -2.35712870e-04 -1.28024028e+01] [-3.00632865e-03 -2.22124918e-06 9.99995481e-01 -1.35812030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.140281693 meters Centerline goodness [0,1] 0.999595753281845 Centerline is valid? [True, True] Translation: X:238.31, Y:-12.81, Z:-1.36 [[ 9.96912726e-01 7.85012158e-02 1.60499062e-03 2.38306724e+02] [-7.85011138e-02 9.96914018e-01 -1.26568632e-04 -1.28065732e+01] [-1.60997344e-03 1.84328468e-07 9.99998704e-01 -1.36103693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.170281693 meters Centerline goodness [0,1] 0.9995113037565868 Centerline is valid? [True, True] Translation: X:238.34, Y:-12.81, Z:-1.37 [[ 9.96977910e-01 7.76816168e-02 -7.82578751e-04 2.38336308e+02] [-7.76815920e-02 9.96978218e-01 6.20523274e-05 -1.28110435e+01] [ 7.85034293e-04 -1.07283645e-06 9.99999692e-01 -1.36624775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.200281693 meters Centerline goodness [0,1] 0.9994946410898907 Centerline is valid? [True, True] Translation: X:238.37, Y:-12.81, Z:-1.37 [[ 9.96970948e-01 7.77691757e-02 -9.40579255e-04 2.38365582e+02] [-7.77691403e-02 9.96971391e-01 7.41361448e-05 -1.28116089e+01] [ 9.43496116e-04 -7.63542398e-07 9.99999555e-01 -1.36640644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.230281693 meters Centerline goodness [0,1] 0.9996160409556314 Centerline is valid? [True, True] Translation: X:238.40, Y:-12.81, Z:-1.36 [[ 9.96808704e-01 7.98240737e-02 7.25078623e-04 2.38395335e+02] [-7.98240531e-02 9.96808967e-01 -5.73189995e-05 -1.28063846e+01] [-7.27340309e-04 -7.42636959e-07 9.99999735e-01 -1.36204287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.260281693 meters Centerline goodness [0,1] 0.9995751460435476 Centerline is valid? [True, True] Translation: X:238.42, Y:-12.80, Z:-1.36 [[ 9.96686563e-01 8.13185056e-02 1.78787034e-03 2.38424927e+02] [-8.13183834e-02 9.96688166e-01 -1.41035819e-04 -1.28045949e+01] [-1.79341803e-03 -4.81821974e-06 9.99998392e-01 -1.36062912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.290281693 meters Centerline goodness [0,1] 0.9995331465919701 Centerline is valid? [True, True] Translation: X:238.45, Y:-12.80, Z:-1.36 [[ 9.96556146e-01 8.28841046e-02 2.46423805e-03 2.38454257e+02] [-8.28838772e-02 9.96559193e-01 -1.94447304e-04 -1.28023636e+01] [-2.47187567e-03 -1.04679481e-05 9.99996945e-01 -1.35891489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.320281693 meters Centerline goodness [0,1] 0.9996379897785349 Centerline is valid? [True, True] Translation: X:238.49, Y:-12.79, Z:-1.36 [[ 9.96359117e-01 8.52296971e-02 2.09960589e-03 2.38485111e+02] [-8.52295370e-02 9.96361329e-01 -1.65780637e-04 -1.27941163e+01] [-2.10609555e-03 -1.37713891e-05 9.99997782e-01 -1.36028199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.350281693 meters Centerline goodness [0,1] 0.9997895224263855 Centerline is valid? [True, True] Translation: X:238.51, Y:-12.79, Z:-1.36 [[ 9.96303829e-01 8.58924918e-02 1.07746002e-03 2.38513816e+02] [-8.58924500e-02 9.96304411e-01 -8.51408232e-05 -1.27914815e+01] [-1.08079113e-03 -7.71955260e-06 9.99999416e-01 -1.36294757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.380281693 meters Centerline goodness [0,1] 0.9997234336772683 Centerline is valid? [True, True] Translation: X:238.54, Y:-12.79, Z:-1.37 [[ 9.96324349e-01 8.56593822e-02 -5.12309143e-04 2.38543245e+02] [-8.56593728e-02 9.96324480e-01 4.02353293e-05 -1.27888204e+01] [ 5.13872674e-04 3.79664154e-06 9.99999868e-01 -1.36629450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.410281693 meters Centerline goodness [0,1] 0.9997472353870458 Centerline is valid? [True, True] Translation: X:238.57, Y:-12.79, Z:-1.37 [[ 9.96409050e-01 8.46644921e-02 -9.63903525e-04 2.38571479e+02] [-8.46644584e-02 9.96409516e-01 7.56851939e-05 -1.27895472e+01] [ 9.66850494e-04 6.19495784e-06 9.99999533e-01 -1.36739933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.440281693 meters Centerline goodness [0,1] 0.9995983001754793 Centerline is valid? [True, True] Translation: X:238.60, Y:-12.79, Z:-1.37 [[ 9.96535380e-01 8.31601856e-02 -1.27254003e-03 2.38599853e+02] [-8.31601257e-02 9.96536193e-01 9.99973068e-05 -1.27912874e+01] [ 1.27644799e-03 6.17373427e-06 9.99999185e-01 -1.36830086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.470281693 meters Centerline goodness [0,1] 0.9997039668442865 Centerline is valid? [True, True] Translation: X:238.63, Y:-12.79, Z:-1.37 [[ 9.96696558e-01 8.12075388e-02 -1.14307461e-03 2.38627799e+02] [-8.12074894e-02 9.96697214e-01 8.96603308e-05 -1.27939063e+01] [ 1.14658037e-03 3.46207597e-06 9.99999343e-01 -1.36838296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.500281693 meters Centerline goodness [0,1] 0.9992264386093085 Centerline is valid? [True, True] Translation: X:238.66, Y:-12.80, Z:-1.36 [[ 9.97055692e-01 7.66803084e-02 2.78190288e-04 2.38657259e+02] [-7.66803053e-02 9.97055731e-01 -2.19940838e-05 -1.28011544e+01] [-2.79057734e-04 5.97610241e-07 9.99999961e-01 -1.36453594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.530281693 meters Centerline goodness [0,1] 0.9992382725714648 Centerline is valid? [True, True] Translation: X:238.69, Y:-12.81, Z:-1.36 [[ 9.97313623e-01 7.32496771e-02 1.49170890e-04 2.38685799e+02] [-7.32496762e-02 9.97313634e-01 -1.17874409e-05 -1.28090519e+01] [-1.49633589e-04 8.29056023e-07 9.99999989e-01 -1.36433324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.560281693 meters Centerline goodness [0,1] 0.9992382725714648 Centerline is valid? [True, True] Translation: X:238.71, Y:-12.81, Z:-1.36 [[ 9.97315209e-01 7.32280841e-02 1.49167497e-04 2.38714878e+02] [-7.32280832e-02 9.97315220e-01 -1.18306025e-05 -1.28112914e+01] [-1.49633347e-04 8.75589988e-07 9.99999989e-01 -1.36447054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.590281693 meters Centerline goodness [0,1] 0.9992261891967414 Centerline is valid? [True, True] Translation: X:238.74, Y:-12.81, Z:-1.36 [[ 9.97376226e-01 7.23885889e-02 7.45256867e-04 2.38744912e+02] [-7.23885652e-02 9.97376505e-01 -5.86836524e-05 -1.28138447e+01] [-7.47549716e-04 4.58160447e-06 9.99999721e-01 -1.36308042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.620281693 meters Centerline goodness [0,1] 0.9992749450877529 Centerline is valid? [True, True] Translation: X:238.77, Y:-12.82, Z:-1.36 [[ 9.97392096e-01 7.21643472e-02 1.14663738e-03 2.38773855e+02] [-7.21642913e-02 9.97392755e-01 -9.01685377e-05 -1.28165224e+01] [-1.15015476e-03 7.18711321e-06 9.99999339e-01 -1.36302611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65028169299998 meters Centerline goodness [0,1] 0.9991464117283029 Centerline is valid? [True, True] Translation: X:238.80, Y:-12.82, Z:-1.36 [[ 9.97406295e-01 7.19647742e-02 1.32420353e-03 2.38803314e+02] [-7.19646994e-02 9.97407174e-01 -1.04145371e-04 -1.28182511e+01] [-1.32826490e-03 8.57933935e-06 9.99999118e-01 -1.36306222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68028169299998 meters Centerline goodness [0,1] 0.9990342933173098 Centerline is valid? [True, True] Translation: X:238.83, Y:-12.82, Z:-1.36 [[ 9.97527051e-01 7.02582835e-02 1.88591450e-03 2.38833404e+02] [-7.02581289e-02 9.97528833e-01 -1.48177276e-04 -1.28216233e+01] [-1.89166477e-03 1.53100168e-05 9.99998211e-01 -1.36236271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71028169299998 meters Centerline goodness [0,1] 0.9989126263272355 Centerline is valid? [True, True] Translation: X:238.86, Y:-12.83, Z:-1.36 [[ 9.97632689e-01 6.87337438e-02 2.16588053e-03 2.38862762e+02] [-6.87335363e-02 9.97635039e-01 -1.70203981e-04 -1.28290641e+01] [-2.17245707e-03 2.09324268e-05 9.99997640e-01 -1.36256088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.740281693 meters Centerline goodness [0,1] 0.9989602783907656 Centerline is valid? [True, True] Translation: X:238.89, Y:-12.84, Z:-1.36 [[ 9.97823656e-01 6.59153837e-02 1.76451713e-03 2.38893956e+02] [-6.59152417e-02 9.97825216e-01 -1.38550527e-04 -1.28363854e+01] [-1.76981230e-03 2.19404201e-05 9.99998434e-01 -1.36239440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.770281693 meters Centerline goodness [0,1] 0.9990254856682838 Centerline is valid? [True, True] Translation: X:238.92, Y:-12.84, Z:-1.36 [[ 9.97892097e-01 6.48806211e-02 1.36681860e-03 2.38923707e+02] [-6.48805349e-02 9.97893033e-01 -1.07407265e-04 -1.28420168e+01] [-1.37090741e-03 1.85009391e-05 9.99999060e-01 -1.36314044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.800281693 meters Centerline goodness [0,1] 0.9990667882669834 Centerline is valid? [True, True] Translation: X:238.95, Y:-12.85, Z:-1.37 [[ 9.97973956e-01 6.36236614e-02 1.13110849e-04 2.38952562e+02] [-6.36236607e-02 9.97973962e-01 -8.94117945e-06 -1.28482315e+01] [-1.13450552e-04 1.72653797e-06 9.99999994e-01 -1.36565732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.830281693 meters Centerline goodness [0,1] 0.9991482475192709 Centerline is valid? [True, True] Translation: X:238.98, Y:-12.85, Z:-1.37 [[ 9.97977751e-01 6.35636423e-02 2.69014608e-04 2.38982264e+02] [-6.35636389e-02 9.97977787e-01 -2.11871432e-05 -1.28507931e+01] [-2.69817335e-04 4.04475009e-06 9.99999964e-01 -1.36570185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.860281693 meters Centerline goodness [0,1] 0.9988827295775858 Centerline is valid? [True, True] Translation: X:239.01, Y:-12.85, Z:-1.36 [[ 9.97944858e-01 6.40719181e-02 9.21513227e-04 2.39012609e+02] [-6.40718786e-02 9.97945284e-01 -7.23931690e-05 -1.28499597e+01] [-9.24258148e-04 1.32013071e-05 9.99999573e-01 -1.36352911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.890281693 meters Centerline goodness [0,1] 0.999071338117349 Centerline is valid? [True, True] Translation: X:239.04, Y:-12.85, Z:-1.36 [[ 9.97804094e-01 6.62168559e-02 1.52230490e-03 2.39041800e+02] [-6.62167504e-02 9.97805255e-01 -1.19628311e-04 -1.28508950e+01] [-1.52688524e-03 1.85635349e-05 9.99998834e-01 -1.36236571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.920281693 meters Centerline goodness [0,1] 0.9990823534433086 Centerline is valid? [True, True] Translation: X:239.07, Y:-12.85, Z:-1.36 [[ 9.97737266e-01 6.72076256e-02 1.86627852e-03 2.39072075e+02] [-6.72074689e-02 9.97739011e-01 -1.46590902e-04 -1.28516740e+01] [-1.87191091e-03 2.08313502e-05 9.99998248e-01 -1.36187853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.950281693 meters Centerline goodness [0,1] 0.999050372465022 Centerline is valid? [True, True] Translation: X:239.10, Y:-12.85, Z:-1.36 [[ 9.97666481e-01 6.81833917e-02 3.55215498e-03 2.39101623e+02] [-6.81828304e-02 9.97672804e-01 -2.79024573e-04 -1.28529939e+01] [-3.56291326e-03 3.61774833e-05 9.99993652e-01 -1.35908983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.980281693 meters Centerline goodness [0,1] 0.9992131342775722 Centerline is valid? [True, True] Translation: X:239.13, Y:-12.85, Z:-1.36 [[ 9.97649956e-01 6.84105188e-02 3.81652155e-03 2.39131732e+02] [-6.84098727e-02 9.97657256e-01 -2.99734034e-04 -1.28541132e+01] [-3.82808538e-03 3.79418925e-05 9.99992672e-01 -1.35856052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.010281693 meters Centerline goodness [0,1] 0.9990194197522969 Centerline is valid? [True, True] Translation: X:239.16, Y:-12.86, Z:-1.36 [[ 9.97641199e-01 6.85736449e-02 3.11342040e-03 2.39161726e+02] [-6.85732158e-02 9.97646057e-01 -2.44515338e-04 -1.28560496e+01] [-3.12285890e-03 3.04413259e-05 9.99995123e-01 -1.35955723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.040281693 meters Centerline goodness [0,1] 0.9993302221069916 Centerline is valid? [True, True] Translation: X:239.19, Y:-12.86, Z:-1.36 [[ 9.97684341e-01 6.80106298e-02 7.14169074e-04 2.39192656e+02] [-6.80106071e-02 9.97684597e-01 -5.60879258e-05 -1.28566984e+01] [-7.16330060e-04 7.38697297e-06 9.99999743e-01 -1.36352775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.070281693 meters Centerline goodness [0,1] 0.9992150706436421 Centerline is valid? [True, True] Translation: X:239.22, Y:-12.86, Z:-1.37 [[ 9.97704078e-01 6.77241132e-02 1.27681781e-04 2.39221848e+02] [-6.77241124e-02 9.97704087e-01 -1.00813871e-05 -1.28588883e+01] [-1.28071388e-04 1.41110572e-06 9.99999992e-01 -1.36524929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.100281693 meters Centerline goodness [0,1] 0.9990010626992561 Centerline is valid? [True, True] Translation: X:239.25, Y:-12.86, Z:-1.36 [[ 9.97729946e-01 6.73335341e-02 1.07226035e-03 2.39251320e+02] [-6.73334824e-02 9.97730522e-01 -8.42401035e-05 -1.28604661e+01] [-1.07549906e-03 1.18498504e-05 9.99999422e-01 -1.36332297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.130281693 meters Centerline goodness [0,1] 0.9990338367184054 Centerline is valid? [True, True] Translation: X:239.28, Y:-12.86, Z:-1.36 [[ 9.97755243e-01 6.69487170e-02 1.53117975e-03 2.39280686e+02] [-6.69486113e-02 9.97756418e-01 -1.20252982e-04 -1.28645658e+01] [-1.53579520e-03 1.74726853e-05 9.99998821e-01 -1.36297319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.160281693 meters Centerline goodness [0,1] 0.9987803051376971 Centerline is valid? [True, True] Translation: X:239.31, Y:-12.87, Z:-1.36 [[ 9.97780528e-01 6.65664286e-02 1.71149015e-03 2.39310750e+02] [-6.65662961e-02 9.97781995e-01 -1.34354021e-04 -1.28664023e+01] [-1.71663752e-03 2.01282659e-05 9.99998526e-01 -1.36250451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.190281693 meters Centerline goodness [0,1] 0.9988959191473099 Centerline is valid? [True, True] Translation: X:239.34, Y:-12.87, Z:-1.36 [[ 9.97802858e-01 6.62281216e-02 1.81453085e-03 2.39341344e+02] [-6.62279721e-02 9.97804508e-01 -1.42442839e-04 -1.28703195e+01] [-1.81998078e-03 2.19571733e-05 9.99998344e-01 -1.36280537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.220281693 meters Centerline goodness [0,1] 0.9987496766405105 Centerline is valid? [True, True] Translation: X:239.37, Y:-12.88, Z:-1.36 [[ 9.97883288e-01 6.50034182e-02 1.87050760e-03 2.39371846e+02] [-6.50032572e-02 9.97885041e-01 -1.46837081e-04 -1.28767275e+01] [-1.87609646e-03 2.49371823e-05 9.99998240e-01 -1.36304091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.250281693 meters Centerline goodness [0,1] 0.9986894121691303 Centerline is valid? [True, True] Translation: X:239.40, Y:-12.88, Z:-1.36 [[ 9.97988789e-01 6.33677228e-02 1.70576450e-03 2.39401816e+02] [-6.33675864e-02 9.97990246e-01 -1.33904551e-04 -1.28830992e+01] [-1.71082156e-03 2.55450609e-05 9.99998536e-01 -1.36290880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.280281693 meters Centerline goodness [0,1] 0.998840689684246 Centerline is valid? [True, True] Translation: X:239.43, Y:-12.89, Z:-1.36 [[ 9.98054064e-01 6.23361828e-02 1.51207475e-03 2.39430866e+02] [-6.23360745e-02 9.98055209e-01 -1.18661453e-04 -1.28949274e+01] [-1.51653098e-03 2.41737408e-05 9.99998850e-01 -1.36443372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.310281693 meters Centerline goodness [0,1] 0.9985682842917281 Centerline is valid? [True, True] Translation: X:239.46, Y:-12.90, Z:-1.36 [[ 9.98128825e-01 6.11342632e-02 1.20476241e-03 2.39462398e+02] [-6.11341936e-02 9.98129551e-01 -9.45114770e-05 -1.28985387e+01] [-1.20828686e-03 2.06824508e-05 9.99999270e-01 -1.36434951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.340281693 meters Centerline goodness [0,1] 0.9982640359048184 Centerline is valid? [True, True] Translation: X:239.49, Y:-12.90, Z:-1.37 [[ 9.98174964e-01 6.03844552e-02 6.76987708e-04 2.39492502e+02] [-6.03844331e-02 9.98175194e-01 -5.29714826e-05 -1.29042865e+01] [-6.78950990e-04 1.19952888e-05 9.99999769e-01 -1.36507226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.370281693 meters Centerline goodness [0,1] 0.9982798165137615 Centerline is valid? [True, True] Translation: X:239.52, Y:-12.91, Z:-1.37 [[ 9.98132119e-01 6.10917966e-02 2.55442428e-04 2.39522424e+02] [-6.10917934e-02 9.98132152e-01 -2.00738150e-05 -1.29103830e+01] [-2.56191646e-04 4.43088344e-06 9.99999967e-01 -1.36606883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40028169299998 meters Centerline goodness [0,1] 0.9985598407353283 Centerline is valid? [True, True] Translation: X:239.55, Y:-12.91, Z:-1.37 [[ 9.98047565e-01 6.24556742e-02 5.88041198e-04 2.39552594e+02] [-6.24556578e-02 9.98047739e-01 -4.61654449e-05 -1.29128838e+01] [-5.89776482e-04 9.34881003e-06 9.99999826e-01 -1.36543448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43028169299998 meters Centerline goodness [0,1] 0.9988205808639246 Centerline is valid? [True, True] Translation: X:239.58, Y:-12.91, Z:-1.36 [[ 9.97790899e-01 6.64231133e-02 1.13621870e-03 2.39582129e+02] [-6.64230548e-02 9.97791546e-01 -8.91982334e-05 -1.29118393e+01] [-1.13963423e-03 1.35300688e-05 9.99999351e-01 -1.36252665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46028169299998 meters Centerline goodness [0,1] 0.9990177866034634 Centerline is valid? [True, True] Translation: X:239.61, Y:-12.91, Z:-1.36 [[ 9.97629841e-01 6.87973545e-02 1.27411100e-03 2.39613051e+02] [-6.87972827e-02 9.97630655e-01 -1.00176572e-04 -1.29097559e+01] [-1.27798408e-03 1.22837629e-05 9.99999183e-01 -1.36110635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.490281693 meters Centerline goodness [0,1] 0.9990487665673157 Centerline is valid? [True, True] Translation: X:239.64, Y:-12.91, Z:-1.36 [[ 9.97455784e-01 7.12752941e-02 1.33840672e-03 2.39642590e+02] [-7.12752170e-02 9.97456682e-01 -1.05271143e-04 -1.29098391e+01] [-1.34250596e-03 9.60808128e-06 9.99999099e-01 -1.36081830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.520281693 meters Centerline goodness [0,1] 0.9994738060659637 Centerline is valid? [True, True] Translation: X:239.67, Y:-12.91, Z:-1.36 [[ 9.97142604e-01 7.54884681e-02 2.84912343e-03 2.39672215e+02] [-7.54881364e-02 9.97146675e-01 -2.23946271e-04 -1.29074827e+01] [-2.85789931e-03 8.23134969e-06 9.99995916e-01 -1.35820875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.550281693 meters Centerline goodness [0,1] 0.9994668372787374 Centerline is valid? [True, True] Translation: X:239.70, Y:-12.91, Z:-1.36 [[ 9.97025964e-01 7.69732789e-02 3.78689999e-03 2.39702599e+02] [-7.69727031e-02 9.97033156e-01 -2.97764580e-04 -1.29076484e+01] [-3.79858477e-03 5.39108845e-06 9.99992785e-01 -1.35699399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.580281693 meters Centerline goodness [0,1] 0.9995576246550526 Centerline is valid? [True, True] Translation: X:239.73, Y:-12.91, Z:-1.36 [[ 9.96900002e-01 7.85611390e-02 4.30509123e-03 2.39732115e+02] [-7.85604097e-02 9.96909297e-01 -3.38514653e-04 -1.29092501e+01] [-4.31837957e-03 -7.44472333e-07 9.99990676e-01 -1.35689768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.610281693 meters Centerline goodness [0,1] 0.999576208335982 Centerline is valid? [True, True] Translation: X:239.76, Y:-12.91, Z:-1.36 [[ 9.96882704e-01 7.88187376e-02 3.53288807e-03 2.39762050e+02] [-7.88182482e-02 9.96888964e-01 -2.77749625e-04 -1.29122061e+01] [-3.54378900e-03 -1.57225131e-06 9.99993721e-01 -1.35828767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.640281693 meters Centerline goodness [0,1] 0.9995286555972148 Centerline is valid? [True, True] Translation: X:239.79, Y:-12.92, Z:-1.36 [[ 9.96908752e-01 7.85225782e-02 2.67284895e-03 2.39792786e+02] [-7.85222971e-02 9.96912336e-01 -2.10134819e-04 -1.29159092e+01] [-2.68109642e-03 -3.92999180e-07 9.99996406e-01 -1.35952855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.670281693 meters Centerline goodness [0,1] 0.9995561755008876 Centerline is valid? [True, True] Translation: X:239.82, Y:-12.92, Z:-1.36 [[ 9.97102674e-01 7.60390566e-02 2.07848943e-03 2.39822629e+02] [-7.60388813e-02 9.97104840e-01 -1.63377469e-04 -1.29233932e+01] [-2.08489494e-03 4.85810036e-06 9.99997827e-01 -1.36100806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.700281693 meters Centerline goodness [0,1] 0.9994924394628317 Centerline is valid? [True, True] Translation: X:239.85, Y:-12.93, Z:-1.36 [[ 9.97208367e-01 7.46424531e-02 1.99427877e-03 2.39852464e+02] [-7.46422891e-02 9.97210361e-01 -1.56670212e-04 -1.29290559e+01] [-2.00040970e-03 7.37531411e-06 9.99997999e-01 -1.36138760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.730281693 meters Centerline goodness [0,1] 0.9993852415576707 Centerline is valid? [True, True] Translation: X:239.88, Y:-12.93, Z:-1.36 [[ 9.97308021e-01 7.32965873e-02 2.07881256e-03 2.39883461e+02] [-7.32964057e-02 9.97310188e-01 -1.63503180e-04 -1.29344496e+01] [-2.08520517e-03 1.06935439e-05 9.99997826e-01 -1.36090555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.760281693 meters Centerline goodness [0,1] 0.9989865506830227 Centerline is valid? [True, True] Translation: X:239.91, Y:-12.94, Z:-1.36 [[ 9.97457029e-01 7.12169289e-02 2.76105119e-03 2.39913017e+02] [-7.12166003e-02 9.97460851e-01 -2.17284875e-04 -1.29437042e+01] [-2.76951483e-03 2.00996477e-05 9.99996165e-01 -1.35994423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.790281693 meters Centerline goodness [0,1] 0.9988488349783624 Centerline is valid? [True, True] Translation: X:239.94, Y:-12.95, Z:-1.36 [[ 9.97478120e-01 7.09226825e-02 2.71519198e-03 2.39943707e+02] [-7.09223636e-02 9.97481816e-01 -2.13683905e-04 -1.29469697e+01] [-2.72350966e-03 2.05771871e-05 9.99996291e-01 -1.35949241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.820281693 meters Centerline goodness [0,1] 0.9991034453315117 Centerline is valid? [True, True] Translation: X:239.97, Y:-12.95, Z:-1.36 [[ 9.97526356e-01 7.02648596e-02 2.00440135e-03 2.39974062e+02] [-7.02646848e-02 9.97528370e-01 -1.57581663e-04 -1.29539574e+01] [-2.01051967e-03 1.63532326e-05 9.99997979e-01 -1.36098409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.850281693 meters Centerline goodness [0,1] 0.9991700185149716 Centerline is valid? [True, True] Translation: X:240.01, Y:-12.96, Z:-1.36 [[ 9.97566725e-01 6.97027176e-02 1.46950712e-03 2.40005038e+02] [-6.97026227e-02 9.97567808e-01 -1.15766971e-04 -1.29590693e+01] [-1.47400227e-03 1.30567775e-05 9.99998914e-01 -1.36276330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.880281693 meters Centerline goodness [0,1] 0.999150165717685 Centerline is valid? [True, True] Translation: X:240.04, Y:-12.96, Z:-1.36 [[ 9.97583771e-01 6.94680314e-02 9.01607327e-04 2.40036452e+02] [-6.94679960e-02 9.97584178e-01 -7.05360382e-05 -1.29635081e+01] [-9.04329205e-04 7.73275276e-06 9.99999591e-01 -1.36383192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.910281693 meters Centerline goodness [0,1] 0.998912278456715 Centerline is valid? [True, True] Translation: X:240.07, Y:-12.97, Z:-1.36 [[ 9.97567200e-01 6.96926354e-02 1.61818595e-03 2.40067446e+02] [-6.96925204e-02 9.97568512e-01 -1.27385871e-04 -1.29709653e+01] [-1.62312921e-03 1.43005094e-05 9.99998683e-01 -1.36417018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.940281693 meters Centerline goodness [0,1] 0.9992731781354881 Centerline is valid? [True, True] Translation: X:240.10, Y:-12.97, Z:-1.36 [[ 9.97543005e-01 7.00357025e-02 1.71844985e-03 2.40099480e+02] [-7.00355729e-02 9.97544485e-01 -1.35521508e-04 -1.29734653e+01] [-1.72372152e-03 1.48359123e-05 9.99998514e-01 -1.36282614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.970281693 meters Centerline goodness [0,1] 0.9993183222205654 Centerline is valid? [True, True] Translation: X:240.13, Y:-12.98, Z:-1.36 [[ 9.97520742e-01 7.03536388e-02 1.65369839e-03 2.40131256e+02] [-7.03535189e-02 9.97522113e-01 -1.30655783e-04 -1.29783703e+01] [-1.65879283e-03 1.39883524e-05 9.99998624e-01 -1.36246309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.000281693 meters Centerline goodness [0,1] 0.9991902316363714 Centerline is valid? [True, True] Translation: X:240.16, Y:-12.98, Z:-1.36 [[ 9.97471955e-01 7.10569593e-02 7.79608030e-04 2.40162821e+02] [-7.10569331e-02 9.97472260e-01 -6.12762969e-05 -1.29846573e+01] [-7.81991491e-04 5.72483201e-06 9.99999694e-01 -1.36437055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.030281693 meters Centerline goodness [0,1] 0.9994061757719715 Centerline is valid? [True, True] Translation: X:240.19, Y:-12.99, Z:-1.37 [[ 9.97415697e-01 7.18465416e-02 -3.18867792e-05 2.40193616e+02] [-7.18465416e-02 9.97415698e-01 3.23011646e-06 -1.29884987e+01] [ 3.20364469e-05 -9.30814051e-07 9.99999999e-01 -1.36661424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.060281693 meters Centerline goodness [0,1] 0.9994416407172769 Centerline is valid? [True, True] Translation: X:240.22, Y:-12.99, Z:-1.37 [[ 9.97295759e-01 7.34899325e-02 -6.31639357e-04 2.40224427e+02] [-7.34899152e-02 9.97295959e-01 5.05192864e-05 -1.29913718e+01] [ 6.33644037e-04 -3.96354733e-06 9.99999799e-01 -1.36814404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.090281693 meters Centerline goodness [0,1] 0.999599570064701 Centerline is valid? [True, True] Translation: X:240.25, Y:-12.99, Z:-1.37 [[ 9.97222185e-01 7.44843010e-02 -4.41831191e-05 2.40254384e+02] [-7.44843009e-02 9.97222186e-01 3.58035988e-06 -1.29945653e+01] [ 4.43270672e-05 -2.79465565e-07 9.99999999e-01 -1.36665216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.120281693 meters Centerline goodness [0,1] 0.9995749202975558 Centerline is valid? [True, True] Translation: X:240.29, Y:-13.00, Z:-1.36 [[ 9.97152014e-01 7.54091688e-02 1.14777441e-03 2.40285669e+02] [-7.54091134e-02 9.97152675e-01 -9.15341378e-05 -1.29967392e+01] [-1.15140884e-03 4.72079916e-06 9.99999337e-01 -1.36364438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15028169299998 meters Centerline goodness [0,1] 0.9997645497549177 Centerline is valid? [True, True] Translation: X:240.32, Y:-13.00, Z:-1.36 [[ 9.97003964e-01 7.73249023e-02 1.98889976e-03 2.40317379e+02] [-7.73247402e-02 9.97005948e-01 -1.58358010e-04 -1.30005894e+01] [-1.99518991e-03 4.09240586e-06 9.99998010e-01 -1.36156236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18028169299998 meters Centerline goodness [0,1] 0.9997866074858094 Centerline is valid? [True, True] Translation: X:240.35, Y:-13.00, Z:-1.36 [[ 9.96922670e-01 7.83874034e-02 7.77577887e-04 2.40348715e+02] [-7.83873790e-02 9.96922973e-01 -6.17975162e-05 -1.30038329e+01] [-7.80029406e-04 6.55052320e-07 9.99999696e-01 -1.36462247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21028169299998 meters Centerline goodness [0,1] 0.9997860504920839 Centerline is valid? [True, True] Translation: X:240.38, Y:-13.01, Z:-1.37 [[ 9.96803243e-01 7.98937650e-02 -5.30125194e-04 2.40379773e+02] [-7.98937537e-02 9.96803384e-01 4.25946422e-05 -1.30055978e+01] [ 5.31833634e-04 -1.04785825e-07 9.99999859e-01 -1.36643929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.240281693 meters Centerline goodness [0,1] 0.9998735750858636 Centerline is valid? [True, True] Translation: X:240.41, Y:-13.00, Z:-1.37 [[ 9.96399410e-01 8.47819974e-02 -4.78003229e-04 2.40410666e+02] [-8.47819888e-02 9.96399525e-01 3.83079612e-05 -1.30018113e+01] [ 4.79530016e-04 2.35603449e-06 9.99999885e-01 -1.36595776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.270281693 meters Centerline goodness [0,1] 0.9999576369913791 Centerline is valid? [True, True] Translation: X:240.44, Y:-13.00, Z:-1.36 [[ 9.96128905e-01 8.79035170e-02 4.20342517e-04 2.40441658e+02] [-8.79035106e-02 9.96128994e-01 -3.36869373e-05 -1.29998352e+01] [-4.21676569e-04 -3.39305091e-06 9.99999911e-01 -1.36382086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.300281693 meters Centerline goodness [0,1] 0.9997214723400608 Centerline is valid? [True, True] Translation: X:240.47, Y:-12.99, Z:-1.36 [[ 9.95554546e-01 9.41630126e-02 2.11514525e-03 2.40472388e+02] [-9.41628649e-02 9.95556792e-01 -1.69542219e-04 -1.29927376e+01] [-2.12171182e-03 -3.03796092e-05 9.99997749e-01 -1.36027830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.330281693 meters Centerline goodness [0,1] 0.9997455308861887 Centerline is valid? [True, True] Translation: X:240.50, Y:-12.99, Z:-1.36 [[ 9.95333618e-01 9.64669419e-02 2.26248820e-03 2.40502355e+02] [-9.64667789e-02 9.95336188e-01 -1.81321277e-04 -1.29875876e+01] [-2.26942789e-03 -3.77797861e-05 9.99997424e-01 -1.36090797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.360281693 meters Centerline goodness [0,1] 0.999787392367386 Centerline is valid? [True, True] Translation: X:240.53, Y:-12.98, Z:-1.36 [[ 9.95143311e-01 9.84196632e-02 1.83299546e-03 2.40531602e+02] [-9.84195598e-02 9.95144999e-01 -1.46761321e-04 -1.29847048e+01] [-1.83854047e-03 -3.43540592e-05 9.99998309e-01 -1.36155915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.390281693 meters Centerline goodness [0,1] 0.9996423236339919 Centerline is valid? [True, True] Translation: X:240.56, Y:-12.98, Z:-1.36 [[ 9.94945837e-01 1.00404333e-01 1.32339925e-03 2.40561220e+02] [-1.00404281e-01 9.94946717e-01 -1.06146886e-04 -1.29782902e+01] [-1.32736934e-03 -2.72645471e-05 9.99999119e-01 -1.36330206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.420281693 meters Centerline goodness [0,1] 0.9996592917527309 Centerline is valid? [True, True] Translation: X:240.59, Y:-12.98, Z:-1.36 [[ 9.94924160e-01 1.00624997e-01 7.25232843e-04 2.40590285e+02] [-1.00624981e-01 9.94924424e-01 -5.82008437e-05 -1.29819628e+01] [-7.27408328e-04 -1.50711158e-05 9.99999735e-01 -1.36364261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.450281693 meters Centerline goodness [0,1] 0.9996592917527309 Centerline is valid? [True, True] Translation: X:240.62, Y:-12.98, Z:-1.36 [[ 9.94926410e-01 1.00602751e-01 7.25234148e-04 2.40619367e+02] [-1.00602735e-01 9.94926674e-01 -5.81845656e-05 -1.29842457e+01] [-7.27408326e-04 -1.50711779e-05 9.99999735e-01 -1.36377994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.480281693 meters Centerline goodness [0,1] 0.9997045416174236 Centerline is valid? [True, True] Translation: X:240.65, Y:-12.98, Z:-1.36 [[ 9.94984671e-01 1.00021541e-01 1.09321948e-03 2.40649550e+02] [-1.00021505e-01 9.94985272e-01 -8.76293056e-05 -1.29831329e+01] [-1.09650210e-03 -2.21556412e-05 9.99999399e-01 -1.36316641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.510281693 meters Centerline goodness [0,1] 0.9996625255742339 Centerline is valid? [True, True] Translation: X:240.68, Y:-12.98, Z:-1.36 [[ 9.94969353e-01 1.00169517e-01 1.43298705e-03 2.40679604e+02] [-1.00169456e-01 9.94970385e-01 -1.14801699e-04 -1.29846426e+01] [-1.43727930e-03 -2.93173603e-05 9.99998967e-01 -1.36286566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.540281693 meters Centerline goodness [0,1] 0.9997055359246172 Centerline is valid? [True, True] Translation: X:240.71, Y:-12.98, Z:-1.36 [[ 9.94946643e-01 1.00394254e-01 1.47370703e-03 2.40708964e+02] [-1.00394189e-01 9.94947734e-01 -1.18063097e-04 -1.29805653e+01] [-1.47811433e-03 -3.04851408e-05 9.99998907e-01 -1.36342851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.570281693 meters Centerline goodness [0,1] 0.9996209728363866 Centerline is valid? [True, True] Translation: X:240.74, Y:-12.98, Z:-1.36 [[ 9.94860736e-01 1.01241913e-01 1.48015256e-03 2.40738644e+02] [-1.01241849e-01 9.94861837e-01 -1.18490427e-04 -1.29803814e+01] [-1.48454349e-03 -3.19719078e-05 9.99998898e-01 -1.36300131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.600281693 meters Centerline goodness [0,1] 0.9996624970995844 Centerline is valid? [True, True] Translation: X:240.77, Y:-12.98, Z:-1.36 [[ 9.94789798e-01 1.01933347e-01 1.68854327e-03 2.40768011e+02] [-1.01933265e-01 9.94791230e-01 -1.35152568e-04 -1.29782852e+01] [-1.69352459e-03 -3.76703330e-05 9.99998565e-01 -1.36255480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.630281693 meters Centerline goodness [0,1] 0.9993045457419233 Centerline is valid? [True, True] Translation: X:240.80, Y:-12.97, Z:-1.37 [[ 9.94692848e-01 1.02884976e-01 9.05958429e-04 2.40797855e+02] [-1.02884952e-01 9.94693260e-01 -7.25548433e-05 -1.29672217e+01] [-9.08615546e-04 -2.10397060e-05 9.99999587e-01 -1.36556722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.660281693 meters Centerline goodness [0,1] 0.9996596324029953 Centerline is valid? [True, True] Translation: X:240.83, Y:-12.98, Z:-1.37 [[ 9.94711940e-01 1.02704190e-01 7.25196450e-05 2.40826216e+02] [-1.02704190e-01 9.94711943e-01 -6.01370108e-06 -1.29761997e+01] [-7.27537893e-05 -1.46617111e-06 9.99999997e-01 -1.36531335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.690281693 meters Centerline goodness [0,1] 0.9997649221037335 Centerline is valid? [True, True] Translation: X:240.85, Y:-12.98, Z:-1.37 [[ 9.94778086e-01 1.02061346e-01 -2.03642716e-04 2.40854645e+02] [-1.02061345e-01 9.94778107e-01 1.59754897e-05 -1.29750007e+01] [ 2.04209795e-04 4.89198247e-06 9.99999979e-01 -1.36672464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.720281693 meters Centerline goodness [0,1] 0.999704048197865 Centerline is valid? [True, True] Translation: X:240.88, Y:-12.98, Z:-1.37 [[ 9.95116481e-01 9.87075173e-02 -1.23362121e-04 2.40883582e+02] [-9.87075169e-02 9.95116489e-01 9.73612488e-06 -1.29787573e+01] [ 1.23720710e-04 2.48819033e-06 9.99999992e-01 -1.36632602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.750281693 meters Centerline goodness [0,1] 0.9998087547811305 Centerline is valid? [True, True] Translation: X:240.91, Y:-12.98, Z:-1.37 [[ 9.95322679e-01 9.66055341e-02 3.68752408e-04 2.40912363e+02] [-9.66055298e-02 9.95322747e-01 -2.96138542e-05 -1.29826151e+01] [-3.69888522e-04 -6.14818104e-06 9.99999932e-01 -1.36542622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.780281693 meters Centerline goodness [0,1] 0.9998727654430943 Centerline is valid? [True, True] Translation: X:240.94, Y:-12.99, Z:-1.36 [[ 9.95503220e-01 9.47221555e-02 1.02532108e-03 2.40942009e+02] [-9.47221214e-02 9.95503748e-01 -8.18393785e-05 -1.29865918e+01] [-1.02846298e-03 -1.56492226e-05 9.99999471e-01 -1.36482498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.810281693 meters Centerline goodness [0,1] 0.9999147466911059 Centerline is valid? [True, True] Translation: X:240.97, Y:-12.99, Z:-1.36 [[ 9.95837467e-01 9.11048371e-02 2.76563638e-03 2.40970581e+02] [-9.11045760e-02 9.95841306e-01 -2.20527337e-04 -1.29918692e+01] [-2.77422605e-03 -3.23527448e-05 9.99996151e-01 -1.36184287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.840281693 meters Centerline goodness [0,1] 0.9998939914345079 Centerline is valid? [True, True] Translation: X:241.00, Y:-13.00, Z:-1.36 [[ 9.96004069e-01 8.92433820e-02 3.39304007e-03 2.40999704e+02] [-8.92429787e-02 9.96009848e-01 -2.70390104e-04 -1.29971738e+01] [-3.40363186e-03 -3.34953588e-05 9.99994207e-01 -1.36074360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.870281693 meters Centerline goodness [0,1] 0.9998527524769137 Centerline is valid? [True, True] Translation: X:241.03, Y:-13.01, Z:-1.36 [[ 9.96463434e-01 8.39693067e-02 3.12723008e-03 2.41029304e+02] [-8.39689384e-02 9.96468341e-01 -2.49111057e-04 -1.30089189e+01] [-3.13710345e-03 -1.43601298e-05 9.99995079e-01 -1.36187807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90028169299998 meters Centerline goodness [0,1] 0.9998939037070045 Centerline is valid? [True, True] Translation: X:241.06, Y:-13.02, Z:-1.36 [[ 9.96697376e-01 8.11735788e-02 2.27837136e-03 2.41059603e+02] [-8.11733760e-02 9.96699980e-01 -1.81492082e-04 -1.30167901e+01] [-2.28558505e-03 -4.05041280e-06 9.99997388e-01 -1.36404858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93028169299998 meters Centerline goodness [0,1] 0.9998302819441204 Centerline is valid? [True, True] Translation: X:241.09, Y:-13.02, Z:-1.37 [[ 9.96913970e-01 7.84880314e-02 1.47145749e-03 2.41089559e+02] [-7.84879439e-02 9.96915056e-01 -1.17214379e-04 -1.30246343e+01] [-1.47611805e-03 1.36097897e-06 9.99998911e-01 -1.36556816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96028169299998 meters Centerline goodness [0,1] 0.9997879828690158 Centerline is valid? [True, True] Translation: X:241.12, Y:-13.03, Z:-1.37 [[ 9.97065542e-01 7.65420973e-02 1.26955674e-03 2.41119970e+02] [-7.65420307e-02 9.97066351e-01 -1.01051040e-04 -1.30323682e+01] [-1.27356696e-03 3.58005917e-06 9.99999189e-01 -1.36670366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.990281693 meters Centerline goodness [0,1] 0.9997654184082573 Centerline is valid? [True, True] Translation: X:241.15, Y:-13.04, Z:-1.37 [[ 9.97134789e-01 7.56378097e-02 1.06476892e-03 2.41150010e+02] [-7.56377623e-02 9.97135358e-01 -8.48006447e-05 -1.30409425e+01] [-1.06813287e-03 4.02093468e-06 9.99999430e-01 -1.36553865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.020281693 meters Centerline goodness [0,1] 0.9998524140839131 Centerline is valid? [True, True] Translation: X:241.18, Y:-13.04, Z:-1.37 [[ 9.97086777e-01 7.62718116e-02 7.54999895e-04 2.41181561e+02] [-7.62717880e-02 9.97087063e-01 -6.00797907e-05 -1.30439173e+01] [-7.57383023e-04 2.31957294e-06 9.99999713e-01 -1.36605994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.050281693 meters Centerline goodness [0,1] 0.9999356333676622 Centerline is valid? [True, True] Translation: X:241.21, Y:-13.04, Z:-1.37 [[ 9.96790075e-01 8.00596276e-02 4.57459761e-05 2.41212432e+02] [-8.00596275e-02 9.96790076e-01 -3.59099584e-06 -1.30425484e+01] [-4.58866288e-05 -8.29367875e-08 9.99999999e-01 -1.36703124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.080281693 meters Centerline goodness [0,1] 0.9999359959037378 Centerline is valid? [True, True] Translation: X:241.24, Y:-13.04, Z:-1.37 [[ 9.96576916e-01 8.26706546e-02 1.12336459e-04 2.41241760e+02] [-8.26706541e-02 9.96576923e-01 -9.01135158e-06 -1.30414496e+01] [-1.12696897e-04 -3.06423556e-07 9.99999994e-01 -1.36768595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.110281693 meters Centerline goodness [0,1] 0.9999364164299945 Centerline is valid? [True, True] Translation: X:241.27, Y:-13.04, Z:-1.36 [[ 9.96122739e-01 8.79573542e-02 1.72986864e-03 2.41271851e+02] [-8.79572472e-02 9.96124241e-01 -1.37968905e-04 -1.30367143e+01] [-1.73529947e-03 -1.47205203e-05 9.99998494e-01 -1.36404115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.140281693 meters Centerline goodness [0,1] 0.9998727897214095 Centerline is valid? [True, True] Translation: X:241.30, Y:-13.04, Z:-1.36 [[ 9.95938511e-01 8.99981038e-02 2.61209075e-03 2.41301629e+02] [-8.99978672e-02 9.95941936e-01 -2.08214067e-04 -1.30364915e+01] [-2.62022959e-03 -2.77141881e-05 9.99996567e-01 -1.36199684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.170281693 meters Centerline goodness [0,1] 0.9999362149979801 Centerline is valid? [True, True] Translation: X:241.33, Y:-13.04, Z:-1.36 [[ 9.95859576e-01 9.08587329e-02 2.89744030e-03 2.41331448e+02] [-9.08584457e-02 9.95863791e-01 -2.30857461e-04 -1.30371762e+01] [-2.90643130e-03 -3.33553090e-05 9.99995776e-01 -1.36176849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.200281693 meters Centerline goodness [0,1] 0.9998527214963496 Centerline is valid? [True, True] Translation: X:241.36, Y:-13.04, Z:-1.36 [[ 9.95822324e-01 9.12647976e-02 2.93855380e-03 2.41360595e+02] [-9.12645042e-02 9.95826659e-01 -2.34056049e-04 -1.30382773e+01] [-2.94765130e-03 -3.51074168e-05 9.99995655e-01 -1.36222615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.230281693 meters Centerline goodness [0,1] 0.9998098176362445 Centerline is valid? [True, True] Translation: X:241.39, Y:-13.04, Z:-1.36 [[ 9.95918075e-01 9.02059311e-02 3.17461150e-03 2.41390608e+02] [-9.02055831e-02 9.95923134e-01 -2.52919793e-04 -1.30431839e+01] [-3.18448390e-03 -3.44802880e-05 9.99994929e-01 -1.36192463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.260281693 meters Centerline goodness [0,1] 0.9998091036355152 Centerline is valid? [True, True] Translation: X:241.42, Y:-13.05, Z:-1.36 [[ 9.95946826e-01 8.98582220e-02 3.92687935e-03 2.41420373e+02] [-8.98576868e-02 9.95954566e-01 -3.12861439e-04 -1.30462606e+01] [-3.93910659e-03 -4.12669385e-05 9.99992241e-01 -1.36057478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.290281693 meters Centerline goodness [0,1] 0.9998522209086304 Centerline is valid? [True, True] Translation: X:241.45, Y:-13.05, Z:-1.36 [[ 9.95863413e-01 9.07498864e-02 4.52997122e-03 2.41450377e+02] [-9.07491838e-02 9.95873715e-01 -3.60848487e-04 -1.30497798e+01] [-4.54402622e-03 -5.17353843e-05 9.99989675e-01 -1.35874091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.320281693 meters Centerline goodness [0,1] 0.9997249957691656 Centerline is valid? [True, True] Translation: X:241.48, Y:-13.05, Z:-1.36 [[ 9.95783647e-01 9.16433074e-02 4.05372581e-03 2.41480165e+02] [-9.16427521e-02 9.95791897e-01 -3.22906697e-04 -1.30491358e+01] [-4.06625955e-03 -4.99493810e-05 9.99991731e-01 -1.35932808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.350281693 meters Centerline goodness [0,1] 0.9998311131752834 Centerline is valid? [True, True] Translation: X:241.51, Y:-13.05, Z:-1.36 [[ 9.95692730e-01 9.26630445e-02 3.08985924e-03 2.41510845e+02] [-9.26627267e-02 9.95697524e-01 -2.46156347e-04 -1.30494293e+01] [-3.09937479e-03 -4.12186966e-05 9.99995196e-01 -1.36078556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.380281693 meters Centerline goodness [0,1] 0.999893141843517 Centerline is valid? [True, True] Translation: X:241.54, Y:-13.04, Z:-1.36 [[ 9.95466383e-01 9.50891677e-02 2.17504876e-03 2.41540641e+02] [-9.50890159e-02 9.95468758e-01 -1.73366105e-04 -1.30433361e+01] [-2.18167832e-03 -3.42431160e-05 9.99997620e-01 -1.36298593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.410281693 meters Centerline goodness [0,1] 0.9996817583909704 Centerline is valid? [True, True] Translation: X:241.57, Y:-13.04, Z:-1.36 [[ 9.95356683e-01 9.62238121e-02 2.45984764e-03 2.41569712e+02] [-9.62236216e-02 9.95359722e-01 -1.95944284e-04 -1.30408068e+01] [-2.46728777e-03 -4.16609962e-05 9.99996955e-01 -1.36282557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.440281693 meters Centerline goodness [0,1] 0.9997242900468707 Centerline is valid? [True, True] Translation: X:241.60, Y:-13.04, Z:-1.36 [[ 9.95304781e-01 9.67348963e-02 3.27900041e-03 2.41600054e+02] [-9.67345610e-02 9.95310181e-01 -2.61045607e-04 -1.30395660e+01] [-3.28887472e-03 -5.73727251e-05 9.99994590e-01 -1.36195042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.470281693 meters Centerline goodness [0,1] 0.999725663156562 Centerline is valid? [True, True] Translation: X:241.63, Y:-13.04, Z:-1.36 [[ 9.95475539e-01 9.48948723e-02 4.83892318e-03 2.41629520e+02] [-9.48941214e-02 9.95487296e-01 -3.85069070e-04 -1.30404760e+01] [-4.85362763e-03 -7.58585231e-05 9.99988218e-01 -1.35977752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.500281693 meters Centerline goodness [0,1] 0.999767471356699 Centerline is valid? [True, True] Translation: X:241.66, Y:-13.04, Z:-1.36 [[ 9.95683724e-01 9.26742356e-02 5.04057233e-03 2.41657620e+02] [-9.26733930e-02 9.95696481e-01 -4.00990064e-04 -1.30436173e+01] [-5.05604158e-03 -6.78676595e-05 9.99987216e-01 -1.35951931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.530281693 meters Centerline goodness [0,1] 0.9998937142614204 Centerline is valid? [True, True] Translation: X:241.69, Y:-13.05, Z:-1.36 [[ 9.96235296e-01 8.65925688e-02 4.11856634e-03 2.41688040e+02] [-8.65919548e-02 9.96243809e-01 -3.27504168e-04 -1.30535566e+01] [-4.13145564e-03 -3.03634979e-05 9.99991465e-01 -1.36229260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.560281693 meters Centerline goodness [0,1] 0.9998305156561162 Centerline is valid? [True, True] Translation: X:241.72, Y:-13.06, Z:-1.36 [[ 9.96502763e-01 8.34976194e-02 3.22340023e-03 2.41717724e+02] [-8.34972270e-02 9.96507977e-01 -2.56352219e-04 -1.30589472e+01] [-3.23354884e-03 -1.36892862e-05 9.99994772e-01 -1.36471904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.590281693 meters Centerline goodness [0,1] 0.9998727681411426 Centerline is valid? [True, True] Translation: X:241.75, Y:-13.06, Z:-1.37 [[ 9.96729474e-01 8.07800390e-02 2.22299626e-03 2.41748022e+02] [-8.07798456e-02 9.96731953e-01 -1.76791581e-04 -1.30646364e+01] [-2.23001263e-03 -3.35991498e-06 9.99997514e-01 -1.36671802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.620281693 meters Centerline goodness [0,1] 0.9997212035428596 Centerline is valid? [True, True] Translation: X:241.78, Y:-13.07, Z:-1.37 [[ 9.97030164e-01 7.69876387e-02 1.93788679e-03 2.41778014e+02] [-7.69874846e-02 9.97032047e-01 -1.54117250e-04 -1.30712743e+01] [-1.94400036e-03 4.46651747e-06 9.99998110e-01 -1.36724556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65028169299998 meters Centerline goodness [0,1] 0.9998501263220999 Centerline is valid? [True, True] Translation: X:241.81, Y:-13.08, Z:-1.37 [[ 9.97132793e-01 7.56489400e-02 1.85224033e-03 2.41808705e+02] [-7.56487969e-02 9.97134513e-01 -1.47305914e-04 -1.30758504e+01] [-1.85807629e-03 6.76380534e-06 9.99998274e-01 -1.36713627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68028169299998 meters Centerline goodness [0,1] 0.9998308739588178 Centerline is valid? [True, True] Translation: X:241.84, Y:-13.08, Z:-1.37 [[ 9.97206490e-01 7.46788278e-02 1.51288455e-03 2.41838926e+02] [-7.46787315e-02 9.97207638e-01 -1.20146307e-04 -1.30813062e+01] [-1.51763242e-03 6.83037823e-06 9.99998848e-01 -1.36766042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71028169299998 meters Centerline goodness [0,1] 0.9998941821337115 Centerline is valid? [True, True] Translation: X:241.87, Y:-13.09, Z:-1.37 [[ 9.97254263e-01 7.40450617e-02 1.12441818e-03 2.41868924e+02] [-7.40450079e-02 9.97254897e-01 -8.94838187e-05 -1.30851961e+01] [-1.12795737e-03 5.98056650e-06 9.99999364e-01 -1.36831659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.740281693 meters Centerline goodness [0,1] 0.9998294352173634 Centerline is valid? [True, True] Translation: X:241.90, Y:-13.09, Z:-1.37 [[ 9.97355740e-01 7.26723949e-02 5.01193606e-04 2.41899015e+02] [-7.26723840e-02 9.97355866e-01 -3.98373599e-05 -1.30921736e+01] [-5.02763459e-04 3.30908536e-06 9.99999874e-01 -1.37005901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.770281693 meters Centerline goodness [0,1] 0.9996563647687979 Centerline is valid? [True, True] Translation: X:241.93, Y:-13.10, Z:-1.37 [[ 9.97419850e-01 7.17805332e-02 1.09409841e-03 2.41928820e+02] [-7.17804809e-02 9.97420450e-01 -8.70836369e-05 -1.30964921e+01] [-1.09752704e-03 8.32403812e-06 9.99999398e-01 -1.36958656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.800281693 meters Centerline goodness [0,1] 0.9992984843009289 Centerline is valid? [True, True] Translation: X:241.96, Y:-13.11, Z:-1.37 [[ 9.97579547e-01 6.94689009e-02 3.01976468e-03 2.41958504e+02] [-6.94684919e-02 9.97584117e-01 -2.40269328e-04 -1.31053793e+01] [-3.02916052e-03 2.99092691e-05 9.99995412e-01 -1.36653956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.830281693 meters Centerline goodness [0,1] 0.999259368982373 Centerline is valid? [True, True] Translation: X:241.99, Y:-13.11, Z:-1.37 [[ 9.97648339e-01 6.84452887e-02 3.61032779e-03 2.41988949e+02] [-6.84446968e-02 9.97654871e-01 -2.87386390e-04 -1.31109453e+01] [-3.62153135e-03 3.96027633e-05 9.99993441e-01 -1.36506803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.860281693 meters Centerline goodness [0,1] 0.9992605581729449 Centerline is valid? [True, True] Translation: X:242.02, Y:-13.12, Z:-1.37 [[ 9.97686408e-01 6.78793413e-02 3.77169720e-03 2.42021302e+02] [-6.78786891e-02 9.97693537e-01 -3.00807447e-04 -1.31159453e+01] [-3.78341653e-03 4.40936396e-05 9.99992842e-01 -1.36537741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.890281693 meters Centerline goodness [0,1] 0.999290886821239 Centerline is valid? [True, True] Translation: X:242.05, Y:-13.12, Z:-1.37 [[ 9.97694477e-01 6.78174466e-02 2.55422837e-03 2.42053809e+02] [-6.78171470e-02 9.97697746e-01 -2.03850175e-04 -1.31187556e+01] [-2.56217249e-03 3.01597127e-05 9.99996717e-01 -1.36722201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.920281693 meters Centerline goodness [0,1] 0.9993200747917729 Centerline is valid? [True, True] Translation: X:242.09, Y:-13.12, Z:-1.37 [[ 9.97695587e-01 6.78312433e-02 1.56115707e-03 2.42085687e+02] [-6.78311315e-02 9.97696809e-01 -1.24552280e-04 -1.31220953e+01] [-1.56600996e-03 1.83702100e-05 9.99998774e-01 -1.36894153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.950281693 meters Centerline goodness [0,1] 0.9993158592380382 Centerline is valid? [True, True] Translation: X:242.12, Y:-13.12, Z:-1.37 [[ 9.97698442e-01 6.78023508e-02 8.12181002e-04 2.42116788e+02] [-6.78023203e-02 9.97698773e-01 -6.51098430e-05 -1.31242703e+01] [-8.14726590e-04 9.89223249e-06 9.99999668e-01 -1.37029491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.980281693 meters Centerline goodness [0,1] 0.999218023501564 Centerline is valid? [True, True] Translation: X:242.15, Y:-13.13, Z:-1.37 [[ 9.97636186e-01 6.87126211e-02 7.84673414e-04 2.42147350e+02] [-6.87125928e-02 9.97636495e-01 -6.29661613e-05 -1.31264108e+01] [-7.87145405e-04 8.90037621e-06 9.99999690e-01 -1.37186196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.010281693 meters Centerline goodness [0,1] 0.9993412524703033 Centerline is valid? [True, True] Translation: X:242.18, Y:-13.12, Z:-1.37 [[ 9.97546760e-01 6.99920229e-02 1.25643585e-03 2.42177830e+02] [-6.99919513e-02 9.97547551e-01 -1.00912219e-04 -1.31233494e+01] [-1.26041755e-03 1.27242604e-05 9.99999206e-01 -1.37007546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.040281693 meters Centerline goodness [0,1] 0.999467144105548 Centerline is valid? [True, True] Translation: X:242.21, Y:-13.12, Z:-1.37 [[ 9.97297406e-01 7.34177080e-02 2.77927520e-03 2.42207886e+02] [-7.34173710e-02 9.97301278e-01 -2.23243520e-04 -1.31189255e+01] [-2.78816473e-03 1.85931053e-05 9.99996113e-01 -1.36676558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.070281693 meters Centerline goodness [0,1] 0.9996815759865837 Centerline is valid? [True, True] Translation: X:242.24, Y:-13.12, Z:-1.37 [[ 9.97207700e-01 7.46135038e-02 3.10299164e-03 2.42239607e+02] [-7.46130898e-02 9.97212527e-01 -2.49148116e-04 -1.31185161e+01] [-3.11293195e-03 1.69286266e-05 9.99995155e-01 -1.36624821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.100281693 meters Centerline goodness [0,1] 0.9997045852588045 Centerline is valid? [True, True] Translation: X:242.27, Y:-13.12, Z:-1.37 [[ 9.97140679e-01 7.55096553e-02 2.95939557e-03 2.42269955e+02] [-7.55092824e-02 9.97145071e-01 -2.37700164e-04 -1.31207753e+01] [-2.96889536e-03 1.35586665e-05 9.99995593e-01 -1.36689864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.130281693 meters Centerline goodness [0,1] 0.9996202611759245 Centerline is valid? [True, True] Translation: X:242.30, Y:-13.13, Z:-1.37 [[ 9.97196553e-01 7.47734107e-02 2.82343815e-03 2.42300996e+02] [-7.47730683e-02 9.97200550e-01 -2.26789915e-04 -1.31253642e+01] [-2.83249193e-03 1.50369876e-05 9.99995988e-01 -1.36776901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.160281693 meters Centerline goodness [0,1] 0.9997661117135507 Centerline is valid? [True, True] Translation: X:242.33, Y:-13.13, Z:-1.37 [[ 9.97284659e-01 7.35989866e-02 2.54932566e-03 2.42332154e+02] [-7.35987034e-02 9.97287917e-01 -2.04815225e-04 -1.31297197e+01] [-2.55748586e-03 1.66320186e-05 9.99996729e-01 -1.36821045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.190281693 meters Centerline goodness [0,1] 0.9996411760981067 Centerline is valid? [True, True] Translation: X:242.36, Y:-13.13, Z:-1.37 [[ 9.97390362e-01 7.21416541e-02 2.83694221e-03 2.42363585e+02] [-7.21412974e-02 9.97394396e-01 -2.27998790e-04 -1.31349237e+01] [-2.84599848e-03 2.27431042e-05 9.99995950e-01 -1.36889494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.220281693 meters Centerline goodness [0,1] 0.999342983701757 Centerline is valid? [True, True] Translation: X:242.39, Y:-13.14, Z:-1.37 [[ 9.97496665e-01 7.05950485e-02 4.09185089e-03 2.42394429e+02] [-7.05942928e-02 9.97505056e-01 -3.28992112e-04 -1.31413318e+01] [-4.10486717e-03 3.93072147e-05 9.99991574e-01 -1.36595756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.250281693 meters Centerline goodness [0,1] 0.9992172459751635 Centerline is valid? [True, True] Translation: X:242.42, Y:-13.15, Z:-1.36 [[ 9.97457586e-01 7.11153850e-02 4.57894978e-03 2.42424784e+02] [-7.11144438e-02 9.97468095e-01 -3.68259577e-04 -1.31473805e+01] [-4.59354523e-03 4.16938424e-05 9.99989449e-01 -1.36385780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.280281693 meters Centerline goodness [0,1] 0.9995774082447652 Centerline is valid? [True, True] Translation: X:242.46, Y:-13.15, Z:-1.37 [[ 9.97340992e-01 7.27733930e-02 3.87026319e-03 2.42457023e+02] [-7.27727313e-02 9.97348501e-01 -3.11721725e-04 -1.31492368e+01] [-3.88268624e-03 2.92432316e-05 9.99992462e-01 -1.36553018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.310281693 meters Centerline goodness [0,1] 0.9995583874834395 Centerline is valid? [True, True] Translation: X:242.49, Y:-13.15, Z:-1.37 [[ 9.97252566e-01 7.39928946e-02 3.51734084e-03 2.42487745e+02] [-7.39923538e-02 9.97258768e-01 -2.83799380e-04 -1.31531613e+01] [-3.52869813e-03 2.27633320e-05 9.99993774e-01 -1.36738249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.340281693 meters Centerline goodness [0,1] 0.9996432917873179 Centerline is valid? [True, True] Translation: X:242.52, Y:-13.16, Z:-1.37 [[ 9.97165752e-01 7.51279223e-02 4.03214590e-03 2.42518843e+02] [-7.51272179e-02 9.97173904e-01 -3.26109520e-04 -1.31555378e+01] [-4.04525060e-03 2.22613417e-05 9.99991818e-01 -1.36733289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.370281693 meters Centerline goodness [0,1] 0.9996432917873179 Centerline is valid? [True, True] Translation: X:242.55, Y:-13.16, Z:-1.37 [[ 9.97154805e-01 7.52730844e-02 4.03214579e-03 2.42550402e+02] [-7.52723811e-02 9.97162957e-01 -3.26110941e-04 -1.31582665e+01] [-4.04525380e-03 2.16738774e-05 9.99991818e-01 -1.36748202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40028169299998 meters Centerline goodness [0,1] 0.9999152973064543 Centerline is valid? [True, True] Translation: X:242.58, Y:-13.16, Z:-1.36 [[ 9.96993846e-01 7.72655673e-02 5.77096979e-03 2.42582109e+02] [-7.72641542e-02 9.97010547e-01 -4.67751432e-04 -1.31605387e+01] [-5.78985883e-03 2.04561992e-05 9.99983238e-01 -1.36406520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43028169299998 meters Centerline goodness [0,1] 0.9998730642294998 Centerline is valid? [True, True] Translation: X:242.61, Y:-13.16, Z:-1.36 [[ 9.96911795e-01 7.83363121e-02 5.50414459e-03 2.42613237e+02] [-7.83350420e-02 9.96926989e-01 -4.46297656e-04 -1.31632335e+01] [-5.52219160e-03 1.37520005e-05 9.99984752e-01 -1.36433551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46028169299998 meters Centerline goodness [0,1] 0.999894398918645 Centerline is valid? [True, True] Translation: X:242.64, Y:-13.16, Z:-1.37 [[ 9.96824482e-01 7.94799469e-02 4.88767470e-03 2.42644177e+02] [-7.94789572e-02 9.96836465e-01 -3.96689410e-04 -1.31646494e+01] [-4.90374123e-03 6.96242715e-06 9.99987977e-01 -1.36546882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.490281693 meters Centerline goodness [0,1] 0.9998735404459806 Centerline is valid? [True, True] Translation: X:242.68, Y:-13.17, Z:-1.37 [[ 9.96720295e-01 8.08277613e-02 3.94036993e-03 2.42675854e+02] [-8.08271283e-02 9.96728084e-01 -3.19872584e-04 -1.31664031e+01] [-3.95333195e-03 3.34710687e-07 9.99992186e-01 -1.36761019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.520281693 meters Centerline goodness [0,1] 0.9998105622092656 Centerline is valid? [True, True] Translation: X:242.71, Y:-13.17, Z:-1.37 [[ 9.96573139e-01 8.26531078e-02 3.23134270e-03 2.42707265e+02] [-8.26526916e-02 9.96578378e-01 -2.62368040e-04 -1.31696043e+01] [-3.24197180e-03 -5.61023056e-06 9.99994745e-01 -1.37004398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.550281693 meters Centerline goodness [0,1] 0.9999366527302673 Centerline is valid? [True, True] Translation: X:242.74, Y:-13.17, Z:-1.37 [[ 9.96550955e-01 8.29340222e-02 2.85349132e-03 2.42738687e+02] [-8.29336986e-02 9.96555040e-01 -2.31739272e-04 -1.31728492e+01] [-2.86288023e-03 -5.71059673e-06 9.99995902e-01 -1.37002218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.580281693 meters Centerline goodness [0,1] 0.9998943966882802 Centerline is valid? [True, True] Translation: X:242.77, Y:-13.18, Z:-1.37 [[ 9.96522568e-01 8.32947955e-02 2.17908053e-03 2.42768700e+02] [-8.32946076e-02 9.96524951e-01 -1.77020148e-04 -1.31772705e+01] [-2.18625298e-03 -5.10108559e-06 9.99997610e-01 -1.37176049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.610281693 meters Centerline goodness [0,1] 0.9999157557759946 Centerline is valid? [True, True] Translation: X:242.80, Y:-13.18, Z:-1.37 [[ 9.96501171e-01 8.35507877e-02 2.16362068e-03 2.42799059e+02] [-8.35506030e-02 9.96503520e-01 -1.75787837e-04 -1.31820210e+01] [-2.17074284e-03 -5.59902750e-06 9.99997644e-01 -1.37248442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.640281693 meters Centerline goodness [0,1] 0.9999363705777552 Centerline is valid? [True, True] Translation: X:242.83, Y:-13.19, Z:-1.37 [[ 9.96474225e-01 8.38632932e-02 2.46327461e-03 2.42829932e+02] [-8.38630547e-02 9.96477269e-01 -2.00143674e-04 -1.31867985e+01] [-2.47138186e-03 -7.13972148e-06 9.99996946e-01 -1.37177223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.670281693 meters Centerline goodness [0,1] 0.9998949027850762 Centerline is valid? [True, True] Translation: X:242.86, Y:-13.19, Z:-1.37 [[ 9.96415595e-01 8.45716792e-02 1.89531554e-03 2.42860246e+02] [-8.45715398e-02 9.96417398e-01 -1.53740188e-04 -1.31923364e+01] [-1.90152744e-03 -7.10063252e-06 9.99998192e-01 -1.37367238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.700281693 meters Centerline goodness [0,1] 0.999788779993241 Centerline is valid? [True, True] Translation: X:242.89, Y:-13.20, Z:-1.37 [[ 9.96361985e-01 8.51927626e-02 2.23323473e-03 2.42890415e+02] [-8.51925694e-02 9.96364488e-01 -1.81684484e-04 -1.31951544e+01] [-2.24059398e-03 -9.23149121e-06 9.99997490e-01 -1.37345978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.730281693 meters Centerline goodness [0,1] 0.9998084087280469 Centerline is valid? [True, True] Translation: X:242.92, Y:-13.20, Z:-1.37 [[ 9.96295852e-01 8.59575965e-02 2.42197513e-03 2.42922000e+02] [-8.59573709e-02 9.96298796e-01 -1.97251850e-04 -1.31989676e+01] [-2.42996620e-03 -1.16654144e-05 9.99997048e-01 -1.37181483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.760281693 meters Centerline goodness [0,1] 0.99978735619963 Centerline is valid? [True, True] Translation: X:242.95, Y:-13.20, Z:-1.37 [[ 9.96100658e-01 8.81741711e-02 2.96556040e-03 2.42953434e+02] [-8.81738425e-02 9.96105072e-01 -2.41614224e-04 -1.32009303e+01] [-2.97531389e-03 -2.08127676e-05 9.99995574e-01 -1.37000934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.790281693 meters Centerline goodness [0,1] 0.9997663997961307 Centerline is valid? [True, True] Translation: X:242.98, Y:-13.20, Z:-1.37 [[ 9.95962300e-01 8.97209697e-02 3.04044995e-03 2.42984378e+02] [-8.97206312e-02 9.95966941e-01 -2.47811196e-04 -1.31994519e+01] [-3.05042150e-03 -2.59804799e-05 9.99995347e-01 -1.36981212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.820281693 meters Centerline goodness [0,1] 0.9997239211688753 Centerline is valid? [True, True] Translation: X:243.02, Y:-13.20, Z:-1.37 [[ 9.95810855e-01 9.13726810e-02 3.43141949e-03 2.43015937e+02] [-9.13722596e-02 9.95816766e-01 -2.79709958e-04 -1.31997814e+01] [-3.44262291e-03 -3.49983405e-05 9.99994074e-01 -1.36947707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.850281693 meters Centerline goodness [0,1] 0.9998927383889306 Centerline is valid? [True, True] Translation: X:243.05, Y:-13.20, Z:-1.37 [[ 9.95514026e-01 9.45110054e-02 4.41525103e-03 2.43046828e+02] [-9.45103379e-02 9.95523815e-01 -3.60046078e-04 -1.31964292e+01] [-4.42951587e-03 -5.88559464e-05 9.99990188e-01 -1.36883980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.880281693 meters Centerline goodness [0,1] 0.9997020706092656 Centerline is valid? [True, True] Translation: X:243.08, Y:-13.20, Z:-1.37 [[ 9.95391302e-01 9.57795461e-02 4.73658916e-03 2.43078079e+02] [-9.57787920e-02 9.95402569e-01 -3.86310220e-04 -1.31972873e+01] [-4.75181363e-03 -6.91349553e-05 9.99988708e-01 -1.36836637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.910281693 meters Centerline goodness [0,1] 0.9997210958786552 Centerline is valid? [True, True] Translation: X:243.11, Y:-13.20, Z:-1.37 [[ 9.95217478e-01 9.75329096e-02 5.43171109e-03 2.43109569e+02] [-9.75319432e-02 9.95232296e-01 -4.43147064e-04 -1.31951132e+01] [-5.44903573e-03 -8.87376341e-05 9.99985150e-01 -1.36725838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.940281693 meters Centerline goodness [0,1] 0.9997885119702224 Centerline is valid? [True, True] Translation: X:243.14, Y:-13.19, Z:-1.37 [[ 9.95149725e-01 9.82424914e-02 5.04357054e-03 2.43140152e+02] [-9.82416667e-02 9.95162502e-01 -4.11601423e-04 -1.31944241e+01] [-5.05960903e-03 -8.58837326e-05 9.99987196e-01 -1.36763380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.970281693 meters Centerline goodness [0,1] 0.999680088722061 Centerline is valid? [True, True] Translation: X:243.17, Y:-13.20, Z:-1.37 [[ 9.95103524e-01 9.87127589e-02 4.97675904e-03 2.43171598e+02] [-9.87119605e-02 9.95115965e-01 -4.06404014e-04 -1.31960000e+01] [-4.99256964e-03 -8.68515754e-05 9.99987533e-01 -1.36819119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.000281693 meters Centerline goodness [0,1] 0.9995773814554982 Centerline is valid? [True, True] Translation: X:243.20, Y:-13.20, Z:-1.37 [[ 9.95147496e-01 9.82938328e-02 4.44779779e-03 2.43202413e+02] [-9.82931905e-02 9.95157433e-01 -3.63303901e-04 -1.31970449e+01] [-4.46196956e-03 -7.56472681e-05 9.99990043e-01 -1.36959631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.030281693 meters Centerline goodness [0,1] 0.9996402649342955 Centerline is valid? [True, True] Translation: X:243.23, Y:-13.20, Z:-1.37 [[ 9.95226213e-01 9.75046789e-02 4.19792220e-03 2.43232573e+02] [-9.75040995e-02 9.95235064e-01 -3.42945181e-04 -1.32006793e+01] [-4.21135813e-03 -6.80065901e-05 9.99991130e-01 -1.37026407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.060281693 meters Centerline goodness [0,1] 0.9997451038701729 Centerline is valid? [True, True] Translation: X:243.26, Y:-13.20, Z:-1.37 [[ 9.95347469e-01 9.62674824e-02 3.99842348e-03 2.43262368e+02] [-9.62669467e-02 9.95355498e-01 -3.26647327e-04 -1.32045941e+01] [-4.01129831e-03 -5.97884302e-05 9.99991953e-01 -1.37133829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.090281693 meters Centerline goodness [0,1] 0.9998503793951052 Centerline is valid? [True, True] Translation: X:243.29, Y:-13.22, Z:-1.37 [[ 9.95678961e-01 9.27604257e-02 4.34866583e-03 2.43292746e+02] [-9.27597587e-02 9.95688456e-01 -3.55251947e-04 -1.32151820e+01] [-4.36286968e-03 -4.96643034e-05 9.99990481e-01 -1.37099016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.120281693 meters Centerline goodness [0,1] 0.9998721609068053 Centerline is valid? [True, True] Translation: X:243.32, Y:-13.22, Z:-1.37 [[ 9.95803215e-01 9.13984258e-02 4.72060052e-03 2.43323981e+02] [-9.13976239e-02 9.95814403e-01 -3.85760400e-04 -1.32207134e+01] [-4.73609989e-03 -4.73102251e-05 9.99988783e-01 -1.37056831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15028169299998 meters Centerline goodness [0,1] 0.9998935241380779 Centerline is valid? [True, True] Translation: X:243.36, Y:-13.23, Z:-1.37 [[ 9.95938628e-01 8.99384092e-02 4.16318332e-03 2.43355605e+02] [-8.99377705e-02 9.95947329e-01 -3.40754532e-04 -1.32268998e+01] [-4.17695823e-03 -3.50568254e-05 9.99991276e-01 -1.37203908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18028169299998 meters Centerline goodness [0,1] 0.9997878884293138 Centerline is valid? [True, True] Translation: X:243.39, Y:-13.23, Z:-1.37 [[ 9.95927308e-01 9.01002729e-02 3.27680064e-03 2.43387068e+02] [-9.00998768e-02 9.95932699e-01 -2.68594877e-04 -1.32296055e+01] [-3.28767338e-03 -2.77383615e-05 9.99994595e-01 -1.37408803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21028169299998 meters Centerline goodness [0,1] 0.9998088279026297 Centerline is valid? [True, True] Translation: X:243.42, Y:-13.23, Z:-1.38 [[ 9.95899092e-01 9.04253992e-02 2.87143065e-03 2.43417805e+02] [-9.04250947e-02 9.95903232e-01 -2.35949098e-04 -1.32325900e+01] [-2.88100286e-03 -2.46678962e-05 9.99995850e-01 -1.37553498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.240281693 meters Centerline goodness [0,1] 0.9997236394557824 Centerline is valid? [True, True] Translation: X:243.45, Y:-13.23, Z:-1.38 [[ 9.95815068e-01 9.13684061e-02 2.04076430e-03 2.43449505e+02] [-9.13682543e-02 9.95817159e-01 -1.67707549e-04 -1.32343559e+01] [-2.04755128e-03 -1.94553669e-05 9.99997904e-01 -1.37689792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.270281693 meters Centerline goodness [0,1] 0.9997881086578803 Centerline is valid? [True, True] Translation: X:243.48, Y:-13.23, Z:-1.38 [[ 9.95519014e-01 9.45362089e-02 2.19056035e-03 2.43479569e+02] [-9.45360413e-02 9.95521423e-01 -1.80158094e-04 -1.32316115e+01] [-2.19778122e-03 -2.77360962e-05 9.99997584e-01 -1.37642972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.300281693 meters Centerline goodness [0,1] 0.9996630940599271 Centerline is valid? [True, True] Translation: X:243.51, Y:-13.23, Z:-1.38 [[ 9.95340578e-01 9.63789299e-02 2.86961680e-03 2.43508953e+02] [-9.63786501e-02 9.95344714e-01 -2.35957475e-04 -1.32308270e+01] [-2.87899924e-03 -4.17117438e-05 9.99995855e-01 -1.37521148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.330281693 meters Centerline goodness [0,1] 0.9998298162014976 Centerline is valid? [True, True] Translation: X:243.54, Y:-13.23, Z:-1.37 [[ 9.95076196e-01 9.90434295e-02 3.71000538e-03 2.43539115e+02] [-9.90429806e-02 9.95083110e-01 -3.04992655e-04 -1.32327181e+01] [-3.72197121e-03 -6.39590607e-05 9.99993071e-01 -1.37421845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.360281693 meters Centerline goodness [0,1] 0.9996423085824899 Centerline is valid? [True, True] Translation: X:243.57, Y:-13.23, Z:-1.37 [[ 9.94982533e-01 9.99833754e-02 3.61722482e-03 2.43569702e+02] [-9.99829549e-02 9.94989106e-01 -2.97352873e-04 -1.32332943e+01] [-3.62882963e-03 -6.57999118e-05 9.99993414e-01 -1.37448633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.390281693 meters Centerline goodness [0,1] 0.9995347361742625 Centerline is valid? [True, True] Translation: X:243.60, Y:-13.24, Z:-1.37 [[ 9.94880594e-01 1.00988610e-01 3.72887731e-03 2.43599832e+02] [-1.00988170e-01 9.94887579e-01 -3.06587327e-04 -1.32364566e+01] [-3.74077555e-03 -7.15547118e-05 9.99993001e-01 -1.37489070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.420281693 meters Centerline goodness [0,1] 0.9994504913875093 Centerline is valid? [True, True] Translation: X:243.63, Y:-13.23, Z:-1.38 [[ 9.94783939e-01 1.01943733e-01 3.52001694e-03 2.43629506e+02] [-1.01943347e-01 9.94790164e-01 -2.89428739e-04 -1.32313236e+01] [-3.53118368e-03 -7.09232478e-05 9.99993763e-01 -1.37565587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.450281693 meters Centerline goodness [0,1] 0.9994319018663076 Centerline is valid? [True, True] Translation: X:243.66, Y:-13.23, Z:-1.38 [[ 9.94569524e-01 1.04008222e-01 3.70843713e-03 2.43659721e+02] [-1.04007808e-01 9.94576434e-01 -3.04873852e-04 -1.32315045e+01] [-3.72003356e-03 -8.24881737e-05 9.99993077e-01 -1.37505468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.480281693 meters Centerline goodness [0,1] 0.999196498424714 Centerline is valid? [True, True] Translation: X:243.69, Y:-13.23, Z:-1.37 [[ 9.94479096e-01 1.04856395e-01 4.05757140e-03 2.43689552e+02] [-1.04855906e-01 9.94487369e-01 -3.33526278e-04 -1.32288065e+01] [-4.07017587e-03 -9.37754145e-05 9.99991712e-01 -1.37487862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.510281693 meters Centerline goodness [0,1] 0.9992604019187288 Centerline is valid? [True, True] Translation: X:243.72, Y:-13.24, Z:-1.37 [[ 9.94320510e-01 1.06333709e-01 4.45711589e-03 2.43719136e+02] [-1.06333134e-01 9.94330494e-01 -3.66310360e-04 -1.32361937e+01] [-4.47079739e-03 -1.09709198e-04 9.99990000e-01 -1.37427186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.540281693 meters Centerline goodness [0,1] 0.9982502371666491 Centerline is valid? [True, True] Translation: X:243.75, Y:-13.23, Z:-1.37 [[ 9.94256681e-01 1.06896029e-01 5.18574529e-03 2.43748799e+02] [-1.06895259e-01 9.94270196e-01 -4.26195099e-04 -1.32294417e+01] [-5.20159054e-03 -1.30584259e-04 9.99986463e-01 -1.37300046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.570281693 meters Centerline goodness [0,1] 0.9987272225875565 Centerline is valid? [True, True] Translation: X:243.78, Y:-13.23, Z:-1.37 [[ 9.94077364e-01 1.08461887e-01 6.79806616e-03 2.43778339e+02] [-1.08460603e-01 9.94100591e-01 -5.58437727e-04 -1.32332908e+01] [-6.81853080e-03 -1.82192050e-04 9.99976737e-01 -1.37040866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.600281693 meters Centerline goodness [0,1] 0.9989108382274426 Centerline is valid? [True, True] Translation: X:243.81, Y:-13.23, Z:-1.37 [[ 9.94015679e-01 1.09016436e-01 6.94603683e-03 2.43807651e+02] [-1.09015110e-01 9.94039929e-01 -5.70400644e-04 -1.32331063e+01] [-6.96682100e-03 -1.90235786e-04 9.99975713e-01 -1.37087561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.630281693 meters Centerline goodness [0,1] 0.9986712505009174 Centerline is valid? [True, True] Translation: X:243.84, Y:-13.23, Z:-1.37 [[ 9.93964544e-01 1.09530536e-01 6.12759323e-03 2.43836400e+02] [-1.09529515e-01 9.93983417e-01 -5.02994481e-04 -1.32326184e+01] [-6.14581931e-03 -1.71193635e-04 9.99981100e-01 -1.37249779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.660281693 meters Centerline goodness [0,1] 0.9986695949655784 Centerline is valid? [True, True] Translation: X:243.87, Y:-13.23, Z:-1.38 [[ 9.94052697e-01 1.08849932e-01 3.30560888e-03 2.43865297e+02] [-1.08849631e-01 9.94058190e-01 -2.71306242e-04 -1.32336179e+01] [-3.31549924e-03 -9.01216071e-05 9.99994500e-01 -1.37775539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.690281693 meters Centerline goodness [0,1] 0.998775854791051 Centerline is valid? [True, True] Translation: X:243.89, Y:-13.23, Z:-1.38 [[ 9.94108425e-01 1.08358661e-01 2.61524534e-03 2.43894133e+02] [-1.08358471e-01 9.94111863e-01 -2.14611965e-04 -1.32348753e+01] [-2.62310149e-03 -7.00364231e-05 9.99996557e-01 -1.37937085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.720281693 meters Centerline goodness [0,1] 0.9987515341317872 Centerline is valid? [True, True] Translation: X:243.92, Y:-13.24, Z:-1.38 [[ 9.94189227e-01 1.07605100e-01 2.98709537e-03 2.43922780e+02] [-1.07604849e-01 9.94193712e-01 -2.44958661e-04 -1.32367448e+01] [-2.99611024e-03 -7.78906848e-05 9.99995509e-01 -1.37925831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.750281693 meters Centerline goodness [0,1] 0.9989250937908359 Centerline is valid? [True, True] Translation: X:243.95, Y:-13.24, Z:-1.38 [[ 9.94257267e-01 1.06942813e-01 3.96507001e-03 2.43951166e+02] [-1.06942367e-01 9.94265168e-01 -3.24895182e-04 -1.32375742e+01] [-3.97707620e-03 -1.01004577e-04 9.99992086e-01 -1.37760909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.780281693 meters Centerline goodness [0,1] 0.9987279241842814 Centerline is valid? [True, True] Translation: X:243.98, Y:-13.24, Z:-1.38 [[ 9.94306193e-01 1.06422645e-01 5.42354299e-03 2.43979743e+02] [-1.06421804e-01 9.94320975e-01 -4.44155658e-04 -1.32370596e+01] [-5.44001078e-03 -1.35556509e-04 9.99985194e-01 -1.37500535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.810281693 meters Centerline goodness [0,1] 0.9985618305535879 Centerline is valid? [True, True] Translation: X:244.01, Y:-13.24, Z:-1.38 [[ 9.94251663e-01 1.06949237e-01 5.04895138e-03 2.44008599e+02] [-1.06948516e-01 9.94264474e-01 -4.13313606e-04 -1.32370501e+01] [-5.06419656e-03 -1.29040117e-04 9.99987169e-01 -1.37534394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.840281693 meters Centerline goodness [0,1] 0.9977430445695965 Centerline is valid? [True, True] Translation: X:244.04, Y:-13.23, Z:-1.38 [[ 9.93806065e-01 1.11052450e-01 4.10592158e-03 2.44038624e+02] [-1.11052009e-01 9.93814539e-01 -3.35956192e-04 -1.32276207e+01] [-4.11783333e-03 -1.22095541e-04 9.99991514e-01 -1.37585685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.870281693 meters Centerline goodness [0,1] 0.995977984758679 Centerline is valid? [True, True] Translation: X:244.07, Y:-13.22, Z:-1.38 [[ 9.93398902e-01 1.14647067e-01 3.83034239e-03 2.44069385e+02] [-1.14646710e-01 9.93406278e-01 -3.13318181e-04 -1.32205985e+01] [-3.84100719e-03 -1.27886218e-04 9.99992615e-01 -1.37602418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90028169299998 meters Centerline goodness [0,1] 0.9929380019815756 Centerline is valid? [True, True] Translation: X:244.10, Y:-13.20, Z:-1.38 [[ 9.92608075e-01 1.21316358e-01 3.39861246e-03 2.44101227e+02] [-1.21316116e-01 9.92613884e-01 -2.77955581e-04 -1.32033850e+01] [-3.40723047e-03 -1.36405511e-04 9.99994186e-01 -1.37748676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93028169299998 meters Centerline goodness [0,1] 0.9903915343915344 Centerline is valid? [True, True] Translation: X:244.13, Y:-13.20, Z:-1.38 [[ 9.92356901e-01 1.23325536e-01 4.31199784e-03 2.44129894e+02] [-1.23325165e-01 9.92366253e-01 -3.52678996e-04 -1.31976039e+01] [-4.32257546e-03 -1.81794411e-04 9.99990641e-01 -1.37654385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96028169299998 meters Centerline goodness [0,1] 0.9892244106111088 Centerline is valid? [True, True] Translation: X:244.16, Y:-13.20, Z:-1.37 [[ 9.92293755e-01 1.23773886e-01 5.75573609e-03 2.44158673e+02] [-1.23773236e-01 9.92310418e-01 -4.70438723e-04 -1.31955959e+01] [-5.76970491e-03 -2.45592672e-04 9.99983325e-01 -1.37382359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.990281693 meters Centerline goodness [0,1] 0.9879596966688494 Centerline is valid? [True, True] Translation: X:244.19, Y:-13.20, Z:-1.37 [[ 9.92433254e-01 1.22561480e-01 7.41086475e-03 2.44186873e+02] [-1.22560371e-01 9.92460875e-01 -6.05303091e-04 -1.31961811e+01] [-7.42918016e-03 -3.07555419e-04 9.99972356e-01 -1.37094426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.020281693 meters Centerline goodness [0,1] 0.9922108159593608 Centerline is valid? [True, True] Translation: X:244.22, Y:-13.20, Z:-1.37 [[ 9.93214644e-01 1.15932698e-01 9.18048505e-03 2.44216550e+02] [-1.15930717e-01 9.93257020e-01 -7.49419173e-04 -1.32048136e+01] [-9.20546341e-03 -3.19966120e-04 9.99957578e-01 -1.36754599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.050281693 meters Centerline goodness [0,1] 0.9960897869462293 Centerline is valid? [True, True] Translation: X:244.25, Y:-13.22, Z:-1.37 [[ 9.93781107e-01 1.11019096e-01 8.59485980e-03 2.44246055e+02] [-1.11017178e-01 9.93818240e-01 -7.01503352e-04 -1.32171879e+01] [-8.61960870e-03 -2.57036299e-04 9.99962817e-01 -1.36990291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.080281693 meters Centerline goodness [0,1] 0.9989905715083439 Centerline is valid? [True, True] Translation: X:244.28, Y:-13.24, Z:-1.38 [[ 9.95023950e-01 9.94862164e-02 5.46183461e-03 2.44275213e+02] [-9.94852678e-02 9.95038935e-01 -4.45774929e-04 -1.32397981e+01] [-5.47908656e-03 -9.98153477e-05 9.99984985e-01 -1.37701674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.110281693 meters Centerline goodness [0,1] 0.9990474577706279 Centerline is valid? [True, True] Translation: X:244.30, Y:-13.25, Z:-1.38 [[ 9.95576120e-01 9.38649268e-02 4.19096081e-03 2.44303453e+02] [-9.38643185e-02 9.95584940e-01 -3.42033154e-04 -1.32486356e+01] [-4.20456238e-03 -5.28616399e-05 9.99991159e-01 -1.37952972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.140281693 meters Centerline goodness [0,1] 0.9995973211258053 Centerline is valid? [True, True] Translation: X:244.33, Y:-13.26, Z:-1.38 [[ 9.96042214e-01 8.88124468e-02 3.50116411e-03 2.44331167e+02] [-8.88119915e-02 9.96048367e-01 -2.85613488e-04 -1.32609168e+01] [-3.51269483e-03 -2.64622663e-05 9.99993830e-01 -1.37959466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.170281693 meters Centerline goodness [0,1] 0.999684714982344 Centerline is valid? [True, True] Translation: X:244.36, Y:-13.28, Z:-1.38 [[ 9.96605609e-01 8.22240224e-02 4.05826053e-03 2.44360596e+02] [-8.22233563e-02 9.96613872e-01 -3.30986839e-04 -1.32780065e+01] [-4.07173381e-03 -3.82046095e-06 9.99991710e-01 -1.37756500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.200281693 meters Centerline goodness [0,1] 0.9997028736364022 Centerline is valid? [True, True] Translation: X:244.39, Y:-13.29, Z:-1.38 [[ 9.96713160e-01 8.08675620e-02 4.82847713e-03 2.44390099e+02] [-8.08666031e-02 9.96724855e-01 -3.93804776e-04 -1.32854447e+01] [-4.84450920e-03 2.04785968e-06 9.99988265e-01 -1.37672235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.230281693 meters Centerline goodness [0,1] 0.9997437758893112 Centerline is valid? [True, True] Translation: X:244.42, Y:-13.29, Z:-1.38 [[ 9.96720733e-01 8.07258807e-02 5.57788558e-03 2.44420825e+02] [-8.07245988e-02 9.96736340e-01 -4.54946422e-04 -1.32915078e+01] [-5.59640721e-03 3.18195577e-06 9.99984340e-01 -1.37606241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.260281693 meters Centerline goodness [0,1] 0.9997437758893112 Centerline is valid? [True, True] Translation: X:244.45, Y:-13.29, Z:-1.38 [[ 9.96718855e-01 8.07490593e-02 5.57787497e-03 2.44451554e+02] [-8.07477771e-02 9.96734463e-01 -4.55076455e-04 -1.32940603e+01] [-5.59640721e-03 3.18227848e-06 9.99984340e-01 -1.37620758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.290281693 meters Centerline goodness [0,1] 0.9995992744758933 Centerline is valid? [True, True] Translation: X:244.48, Y:-13.30, Z:-1.38 [[ 9.96646416e-01 8.15686789e-02 6.51713339e-03 2.44481904e+02] [-8.15669450e-02 9.96667723e-01 -5.31856377e-04 -1.33002535e+01] [-6.53879932e-03 -1.50990894e-06 9.99978622e-01 -1.37533455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.320281693 meters Centerline goodness [0,1] 0.9995120502376104 Centerline is valid? [True, True] Translation: X:244.51, Y:-13.30, Z:-1.38 [[ 9.96594031e-01 8.22161214e-02 6.39112307e-03 2.44512472e+02] [-8.22144659e-02 9.96614524e-01 -5.21777689e-04 -1.33029676e+01] [-6.41238461e-03 -5.44223924e-06 9.99979440e-01 -1.37590995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.350281693 meters Centerline goodness [0,1] 0.9995571675593606 Centerline is valid? [True, True] Translation: X:244.54, Y:-13.31, Z:-1.38 [[ 9.96520892e-01 8.31384474e-02 5.84042746e-03 2.44543853e+02] [-8.31370775e-02 9.96538007e-01 -4.77365002e-04 -1.33074415e+01] [-5.85989532e-03 -9.85187228e-06 9.99982831e-01 -1.37687401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.380281693 meters Centerline goodness [0,1] 0.9997022606920313 Centerline is valid? [True, True] Translation: X:244.57, Y:-13.31, Z:-1.38 [[ 9.96525877e-01 8.31124862e-02 5.33772733e-03 2.44574610e+02] [-8.31113382e-02 9.96540172e-01 -4.36906763e-04 -1.33120545e+01] [-5.35557212e-03 -8.23676667e-06 9.99985659e-01 -1.37780201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.410281693 meters Centerline goodness [0,1] 0.9997470009065801 Centerline is valid? [True, True] Translation: X:244.61, Y:-13.32, Z:-1.38 [[ 9.96497277e-01 8.34717781e-02 5.06353291e-03 2.44605776e+02] [-8.34707492e-02 9.96510142e-01 -4.14568897e-04 -1.33161785e+01] [-5.08046670e-03 -9.54010851e-06 9.99987094e-01 -1.37845639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.440281693 meters Centerline goodness [0,1] 0.9996178911839004 Centerline is valid? [True, True] Translation: X:244.64, Y:-13.32, Z:-1.38 [[ 9.96457454e-01 8.38909080e-02 5.90411340e-03 2.44636227e+02] [-8.38895153e-02 9.96474945e-01 -4.83572876e-04 -1.33207564e+01] [-5.92386844e-03 -1.34334146e-05 9.99982454e-01 -1.37690153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.470281693 meters Centerline goodness [0,1] 0.9997024947936589 Centerline is valid? [True, True] Translation: X:244.67, Y:-13.32, Z:-1.38 [[ 9.96429258e-01 8.41764548e-02 6.56192905e-03 2.44667455e+02] [-8.41747387e-02 9.96450864e-01 -5.37762760e-04 -1.33241394e+01] [-6.58390684e-03 -1.65061157e-05 9.99978326e-01 -1.37592111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.500281693 meters Centerline goodness [0,1] 0.9995099710243737 Centerline is valid? [True, True] Translation: X:244.70, Y:-13.33, Z:-1.38 [[ 9.96477776e-01 8.36063629e-02 6.48220544e-03 2.44698602e+02] [-8.36046739e-02 9.96498859e-01 -5.31579847e-04 -1.33305443e+01] [-6.50395378e-03 -1.22351683e-05 9.99978849e-01 -1.37661028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.530281693 meters Centerline goodness [0,1] 0.999551674814799 Centerline is valid? [True, True] Translation: X:244.73, Y:-13.34, Z:-1.38 [[ 9.96519273e-01 8.31034260e-02 6.56953697e-03 2.44729965e+02] [-8.31016740e-02 9.96540928e-01 -5.39688199e-04 -1.33357455e+01] [-6.59166241e-03 -8.12982770e-06 9.99978275e-01 -1.37663449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.560281693 meters Centerline goodness [0,1] 0.99970482194438 Centerline is valid? [True, True] Translation: X:244.76, Y:-13.34, Z:-1.38 [[ 9.96567155e-01 8.25365432e-02 6.45169399e-03 2.44761334e+02] [-8.25348353e-02 9.96588039e-01 -5.30974723e-04 -1.33409359e+01] [-6.47350588e-03 -3.33753210e-06 9.99979047e-01 -1.37703242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.590281693 meters Centerline goodness [0,1] 0.999577175958225 Centerline is valid? [True, True] Translation: X:244.79, Y:-13.35, Z:-1.38 [[ 9.96677200e-01 8.12960177e-02 5.05136490e-03 2.44793325e+02] [-8.12949516e-02 9.96690001e-01 -4.16358110e-04 -1.33498263e+01] [-5.06849314e-03 4.32417015e-06 9.99987155e-01 -1.37986186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.620281693 meters Centerline goodness [0,1] 0.9995711651443029 Centerline is valid? [True, True] Translation: X:244.82, Y:-13.35, Z:-1.38 [[ 9.96687653e-01 8.11921129e-02 4.64355304e-03 2.44824324e+02] [-8.11912078e-02 9.96698470e-01 -3.83411035e-04 -1.33548289e+01] [-4.65935216e-03 5.12536571e-06 9.99989145e-01 -1.38093097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65028169299998 meters Centerline goodness [0,1] 0.999577738366692 Centerline is valid? [True, True] Translation: X:244.85, Y:-13.36, Z:-1.38 [[ 9.96653009e-01 8.16149613e-02 4.66659920e-03 2.44854914e+02] [-8.16140486e-02 9.96663934e-01 -3.85990536e-04 -1.33586899e+01] [-4.68253372e-03 3.83857524e-06 9.99989037e-01 -1.38089416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68028169299998 meters Centerline goodness [0,1] 0.9995509846265689 Centerline is valid? [True, True] Translation: X:244.89, Y:-13.36, Z:-1.38 [[ 9.96541093e-01 8.27692177e-02 7.42344358e-03 2.44886640e+02] [-8.27669291e-02 9.96568742e-01 -6.15507563e-04 -1.33614198e+01] [-7.44891691e-03 -1.03704902e-06 9.99972256e-01 -1.37547351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71028169299998 meters Centerline goodness [0,1] 0.9994012616272854 Centerline is valid? [True, True] Translation: X:244.92, Y:-13.36, Z:-1.37 [[ 9.96477164e-01 8.33635794e-02 9.15283658e-03 2.44918337e+02] [-8.33601109e-02 9.96519199e-01 -7.60463575e-04 -1.33639521e+01] [-9.18437234e-03 -5.19688604e-06 9.99957823e-01 -1.37248451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.740281693 meters Centerline goodness [0,1] 0.9995346869712352 Centerline is valid? [True, True] Translation: X:244.95, Y:-13.37, Z:-1.37 [[ 9.96505456e-01 8.28481093e-02 1.06332564e-02 2.44949209e+02] [-8.28433810e-02 9.96562186e-01 -8.85129784e-04 -1.33686409e+01] [-1.06700326e-02 1.14174882e-06 9.99943074e-01 -1.36914656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.770281693 meters Centerline goodness [0,1] 0.999556840483677 Centerline is valid? [True, True] Translation: X:244.98, Y:-13.37, Z:-1.37 [[ 9.96613628e-01 8.15472456e-02 1.05509545e-02 2.44981860e+02] [-8.15424995e-02 9.96669477e-01 -8.79949350e-04 -1.33749474e+01] [-1.05875718e-02 1.66183122e-05 9.99943950e-01 -1.37028093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.800281693 meters Centerline goodness [0,1] 0.9994693383710811 Centerline is valid? [True, True] Translation: X:245.01, Y:-13.38, Z:-1.37 [[ 9.96747415e-01 7.99281516e-02 1.02995811e-02 2.45013216e+02] [-7.99235249e-02 9.96800627e-01 -8.60683661e-04 -1.33824408e+01] [-1.03354218e-02 3.47053850e-05 9.99946587e-01 -1.37081879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.830281693 meters Centerline goodness [0,1] 0.9995141324094807 Centerline is valid? [True, True] Translation: X:245.04, Y:-13.40, Z:-1.38 [[ 9.97041143e-01 7.64277943e-02 8.23113868e-03 2.45043395e+02] [-7.64247110e-02 9.97075117e-01 -6.88931261e-04 -1.33962096e+01] [-8.25971706e-03 5.78304168e-05 9.99965886e-01 -1.37501175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.860281693 meters Centerline goodness [0,1] 0.9993417560250557 Centerline is valid? [True, True] Translation: X:245.07, Y:-13.40, Z:-1.38 [[ 9.97151531e-01 7.50259667e-02 7.74139296e-03 2.45074777e+02] [-7.50231889e-02 9.97181578e-01 -6.49007030e-04 -1.34022080e+01] [-7.76826682e-03 6.63743678e-05 9.99969824e-01 -1.37632087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.890281693 meters Centerline goodness [0,1] 0.9990489274014583 Centerline is valid? [True, True] Translation: X:245.11, Y:-13.41, Z:-1.37 [[ 9.97179552e-01 7.46052622e-02 8.18504904e-03 2.45106492e+02] [-7.46021321e-02 9.97213141e-01 -6.87493999e-04 -1.34069718e+01] [-8.21352913e-03 7.49328491e-05 9.99966266e-01 -1.37485831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.920281693 meters Centerline goodness [0,1] 0.9989423361678724 Centerline is valid? [True, True] Translation: X:245.14, Y:-13.41, Z:-1.37 [[ 9.97060988e-01 7.60044770e-02 9.62836196e-03 2.45138432e+02] [-7.60001950e-02 9.97107473e-01 -8.10376850e-04 -1.34080947e+01] [-9.66210394e-03 7.62377568e-05 9.99953318e-01 -1.37121432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.950281693 meters Centerline goodness [0,1] 0.9992130338608134 Centerline is valid? [True, True] Translation: X:245.17, Y:-13.41, Z:-1.37 [[ 9.96948395e-01 7.74803221e-02 9.52351552e-03 2.45170651e+02] [-7.74761863e-02 9.96993879e-01 -8.02990598e-04 -1.34088957e+01] [-9.55710265e-03 6.26945254e-05 9.99954328e-01 -1.37176590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.980281693 meters Centerline goodness [0,1] 0.9994501427514011 Centerline is valid? [True, True] Translation: X:245.20, Y:-13.41, Z:-1.37 [[ 9.96802360e-01 7.94049029e-02 8.93956004e-03 2.45202846e+02] [-7.94013248e-02 9.96842445e-01 -7.55022424e-04 -1.34094107e+01] [-8.97128537e-03 4.27952235e-05 9.99959756e-01 -1.37338535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.010281693 meters Centerline goodness [0,1] 0.9994291030574703 Centerline is valid? [True, True] Translation: X:245.24, Y:-13.41, Z:-1.38 [[ 9.96530490e-01 8.28436384e-02 7.99467886e-03 2.45235451e+02] [-8.28408785e-02 9.96562558e-01 -6.76320394e-04 -1.34082107e+01] [-8.02322646e-03 1.16876729e-05 9.99967813e-01 -1.37615816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.040281693 meters Centerline goodness [0,1] 0.999510950457155 Centerline is valid? [True, True] Translation: X:245.27, Y:-13.41, Z:-1.38 [[ 9.96437243e-01 8.39733893e-02 7.82884895e-03 2.45268294e+02] [-8.39707681e-02 9.96467997e-01 -6.63492508e-04 -1.34097373e+01] [-7.85691315e-03 3.73418583e-06 9.99969134e-01 -1.37655072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.070281693 meters Centerline goodness [0,1] 0.9995580436063641 Centerline is valid? [True, True] Translation: X:245.30, Y:-13.41, Z:-1.38 [[ 9.96223416e-01 8.64898921e-02 7.64227211e-03 2.45301490e+02] [-8.64874587e-02 9.96252728e-01 -6.48943380e-04 -1.34107460e+01] [-7.66976148e-03 -1.44681030e-05 9.99970587e-01 -1.37708311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.100281693 meters Centerline goodness [0,1] 0.9995730509777132 Centerline is valid? [True, True] Translation: X:245.33, Y:-13.41, Z:-1.38 [[ 9.96109933e-01 8.77572322e-02 7.97928648e-03 2.45333990e+02] [-8.77546086e-02 9.96141891e-01 -6.79004757e-04 -1.34136966e+01] [-8.00808911e-03 -2.38557790e-05 9.99967934e-01 -1.37770861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.130281693 meters Centerline goodness [0,1] 0.9994086339444116 Centerline is valid? [True, True] Translation: X:245.37, Y:-13.41, Z:-1.38 [[ 9.95962487e-01 8.93925106e-02 8.22824743e-03 2.45365737e+02] [-8.93897638e-02 9.95996475e-01 -7.01728417e-04 -1.34127080e+01] [-8.25803470e-03 -3.66259151e-05 9.99965901e-01 -1.37587042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.160281693 meters Centerline goodness [0,1] 0.9992819429778247 Centerline is valid? [True, True] Translation: X:245.40, Y:-13.41, Z:-1.38 [[ 9.95771255e-01 9.14939784e-02 8.27404178e-03 2.45397883e+02] [-9.14912622e-02 9.95805628e-01 -7.06990970e-04 -1.34110349e+01] [-8.30402279e-03 -5.30012403e-05 9.99965520e-01 -1.37565236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.190281693 meters Centerline goodness [0,1] 0.9992654466084621 Centerline is valid? [True, True] Translation: X:245.43, Y:-13.41, Z:-1.38 [[ 9.95338701e-01 9.61484061e-02 7.50701282e-03 2.45430283e+02] [-9.61462943e-02 9.95367006e-01 -6.42528331e-04 -1.34067236e+01] [-7.53401096e-03 -8.22381506e-05 9.99971616e-01 -1.37866804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.220281693 meters Centerline goodness [0,1] 0.9992376596150181 Centerline is valid? [True, True] Translation: X:245.46, Y:-13.40, Z:-1.38 [[ 9.95122275e-01 9.83429486e-02 7.76672683e-03 2.45462130e+02] [-9.83407453e-02 9.95152578e-01 -6.65997669e-04 -1.34045773e+01] [-7.79457441e-03 -1.01036590e-04 9.99969617e-01 -1.37851497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.250281693 meters Centerline goodness [0,1] 0.9991701951105343 Centerline is valid? [True, True] Translation: X:245.49, Y:-13.41, Z:-1.38 [[ 9.94967286e-01 9.97352928e-02 9.64217170e-03 2.45494153e+02] [-9.97319461e-02 9.95013996e-01 -8.28497713e-04 -1.34059011e+01] [-9.67672626e-03 -1.37304428e-04 9.99953170e-01 -1.37563597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.280281693 meters Centerline goodness [0,1] 0.9994309080178737 Centerline is valid? [True, True] Translation: X:245.52, Y:-13.41, Z:-1.37 [[ 9.95032809e-01 9.90153589e-02 1.02794948e-02 2.45524846e+02] [-9.90115029e-02 9.95085896e-01 -8.84595330e-04 -1.34083879e+01] [-1.03165688e-02 -1.37586852e-04 9.99946773e-01 -1.37447624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.310281693 meters Centerline goodness [0,1] 0.9992644895557516 Centerline is valid? [True, True] Translation: X:245.56, Y:-13.41, Z:-1.38 [[ 9.95165636e-01 9.77006059e-02 9.99740576e-03 2.45556046e+02] [-9.76968803e-02 9.95215845e-01 -8.61521542e-04 -1.34131559e+01] [-1.00337478e-02 -1.19358721e-04 9.99949654e-01 -1.37501890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.340281693 meters Centerline goodness [0,1] 0.9994043186895011 Centerline is valid? [True, True] Translation: X:245.59, Y:-13.42, Z:-1.38 [[ 9.95420254e-01 9.52349024e-02 8.29647742e-03 2.45588118e+02] [-9.52322415e-02 9.95454824e-01 -7.16091288e-04 -1.34194598e+01] [-8.32696536e-03 -7.72803695e-05 9.99965327e-01 -1.37827937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.370281693 meters Centerline goodness [0,1] 0.9996608804391598 Centerline is valid? [True, True] Translation: X:245.62, Y:-13.42, Z:-1.38 [[ 9.95467339e-01 9.47805058e-02 7.83792063e-03 2.45619896e+02] [-9.47781073e-02 9.95498192e-01 -6.77718653e-04 -1.34218028e+01] [-7.86687034e-03 -6.82164993e-05 9.99969053e-01 -1.37965388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40028169299998 meters Centerline goodness [0,1] 0.9996182072710305 Centerline is valid? [True, True] Translation: X:245.65, Y:-13.42, Z:-1.38 [[ 9.95426165e-01 9.51888002e-02 8.11431948e-03 2.45651557e+02] [-9.51862321e-02 9.95459234e-01 -7.02974242e-04 -1.34224880e+01] [-8.14438954e-03 -7.26125437e-05 9.99966831e-01 -1.37913645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43028169299998 meters Centerline goodness [0,1] 0.9994715146390445 Centerline is valid? [True, True] Translation: X:245.68, Y:-13.42, Z:-1.38 [[ 9.95254247e-01 9.67753426e-02 1.01742916e-02 2.45683503e+02] [-9.67713695e-02 9.95306245e-01 -8.83244447e-04 -1.34204060e+01] [-1.02120123e-02 -1.05527349e-04 9.99947850e-01 -1.37586565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46028169299998 meters Centerline goodness [0,1] 0.9993434568058115 Centerline is valid? [True, True] Translation: X:245.72, Y:-13.42, Z:-1.38 [[ 9.95193236e-01 9.74068029e-02 1.01161708e-02 2.45715683e+02] [-9.74028916e-02 9.95244645e-01 -8.79781758e-04 -1.34232010e+01] [-1.01537616e-02 -1.09791437e-04 9.99948443e-01 -1.37700702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.490281693 meters Centerline goodness [0,1] 0.9993616477998127 Centerline is valid? [True, True] Translation: X:245.75, Y:-13.42, Z:-1.38 [[ 9.95161926e-01 9.79245803e-02 7.96980045e-03 2.45747724e+02] [-9.79221601e-02 9.95193835e-01 -6.94264756e-04 -1.34247819e+01] [-7.99948186e-03 -8.95142243e-05 9.99968000e-01 -1.38060004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.520281693 meters Centerline goodness [0,1] 0.9993867495612088 Centerline is valid? [True, True] Translation: X:245.78, Y:-13.43, Z:-1.38 [[ 9.95146402e-01 9.81552753e-02 7.01285545e-03 2.45778790e+02] [-9.81533998e-02 9.95171109e-01 -6.11933237e-04 -1.34257755e+01] [-7.03905561e-03 -7.93724464e-05 9.99975222e-01 -1.38169722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.550281693 meters Centerline goodness [0,1] 0.9995334732913459 Centerline is valid? [True, True] Translation: X:245.81, Y:-13.43, Z:-1.38 [[ 9.95141978e-01 9.81955682e-02 7.07627317e-03 2.45810059e+02] [-9.81936542e-02 9.95167134e-01 -6.18241429e-04 -1.34297017e+01] [-7.10278306e-03 -7.96071217e-05 9.99974772e-01 -1.38215191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.580281693 meters Centerline goodness [0,1] 0.9991953925637334 Centerline is valid? [True, True] Translation: X:245.84, Y:-13.43, Z:-1.38 [[ 9.95147559e-01 9.80230935e-02 8.53281189e-03 2.45841561e+02] [-9.80203001e-02 9.95184136e-01 -7.45976139e-04 -1.34327958e+01] [-8.56484191e-03 -9.40324475e-05 9.99963317e-01 -1.38019171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.610281693 meters Centerline goodness [0,1] 0.9993828605477645 Centerline is valid? [True, True] Translation: X:245.87, Y:-13.44, Z:-1.38 [[ 9.95141894e-01 9.80016520e-02 9.39607417e-03 2.45872614e+02] [-9.79982528e-02 9.95186247e-01 -8.22611381e-04 -1.34354660e+01] [-9.43146106e-03 -1.02183804e-04 9.99955518e-01 -1.37816283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.640281693 meters Centerline goodness [0,1] 0.9994935533562641 Centerline is valid? [True, True] Translation: X:245.90, Y:-13.44, Z:-1.38 [[ 9.95104951e-01 9.82900931e-02 1.02564204e-02 2.45904112e+02] [-9.82860454e-02 9.95157799e-01 -8.99180285e-04 -1.34374946e+01] [-1.02951372e-02 -1.13284245e-04 9.99946997e-01 -1.37663139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.670281693 meters Centerline goodness [0,1] 0.9994281720566746 Centerline is valid? [True, True] Translation: X:245.94, Y:-13.44, Z:-1.38 [[ 9.94987906e-01 9.95563998e-02 9.35896489e-03 2.45935899e+02] [-9.95530749e-02 9.95031914e-01 -8.21622057e-04 -1.34382989e+01] [-9.39426648e-03 -1.14209723e-04 9.99955866e-01 -1.37817460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.700281693 meters Centerline goodness [0,1] 0.9992975734355045 Centerline is valid? [True, True] Translation: X:245.97, Y:-13.44, Z:-1.38 [[ 9.94909062e-01 1.00375826e-01 8.98063963e-03 2.45967100e+02] [-1.00372790e-01 9.94949587e-01 -7.89225877e-04 -1.34384758e+01] [-9.01450289e-03 -1.16203882e-04 9.99959362e-01 -1.37947762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.730281693 meters Centerline goodness [0,1] 0.9990673816740498 Centerline is valid? [True, True] Translation: X:246.00, Y:-13.44, Z:-1.38 [[ 9.94795313e-01 1.01469822e-01 9.28220841e-03 2.45997116e+02] [-1.01466624e-01 9.94838609e-01 -8.16077483e-04 -1.34384913e+01] [-9.31710654e-03 -1.30004296e-04 9.99956586e-01 -1.37974487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.760281693 meters Centerline goodness [0,1] 0.9987389659520807 Centerline is valid? [True, True] Translation: X:246.03, Y:-13.44, Z:-1.38 [[ 9.94757821e-01 1.01701428e-01 1.06629242e-02 2.46028115e+02] [-1.01697216e-01 9.94814956e-01 -9.37883319e-04 -1.34391321e+01] [-1.07030206e-02 -1.51422946e-04 9.99942710e-01 -1.37830664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.790281693 meters Centerline goodness [0,1] 0.9984345581857799 Centerline is valid? [True, True] Translation: X:246.06, Y:-13.44, Z:-1.38 [[ 9.94835804e-01 1.00881181e-01 1.11673777e-02 2.46059026e+02] [-1.00876506e-01 9.94898470e-01 -9.82510461e-04 -1.34431739e+01] [-1.12095238e-02 -1.49089461e-04 9.99937160e-01 -1.37777079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.820281693 meters Centerline goodness [0,1] 0.9986318093794729 Centerline is valid? [True, True] Translation: X:246.09, Y:-13.45, Z:-1.38 [[ 9.94999566e-01 9.91978148e-02 1.16472315e-02 2.46089620e+02] [-9.91926015e-02 9.95067724e-01 -1.02585448e-03 -1.34488126e+01] [-1.16915467e-02 -1.34594430e-04 9.99931642e-01 -1.37660575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.850281693 meters Centerline goodness [0,1] 0.9988382654246668 Centerline is valid? [True, True] Translation: X:246.12, Y:-13.46, Z:-1.38 [[ 9.95402483e-01 9.50091710e-02 1.21306758e-02 2.46121135e+02] [-9.50031820e-02 9.95476393e-01 -1.07031177e-03 -1.34606685e+01] [-1.21774909e-02 -8.70618107e-05 9.99925848e-01 -1.37620558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.880281693 meters Centerline goodness [0,1] 0.9992335859661075 Centerline is valid? [True, True] Translation: X:246.15, Y:-13.47, Z:-1.38 [[ 9.95594269e-01 9.30784886e-02 1.13334408e-02 2.46152703e+02] [-9.30731156e-02 9.95658773e-01 -1.00175297e-03 -1.34693924e+01] [-1.13774814e-02 -5.74991302e-05 9.99935273e-01 -1.37953355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.910281693 meters Centerline goodness [0,1] 0.9991383839445204 Centerline is valid? [True, True] Translation: X:246.18, Y:-13.48, Z:-1.38 [[ 9.95714493e-01 9.19404140e-02 9.98046267e-03 2.46183895e+02] [-9.19361783e-02 9.95764510e-01 -8.83344986e-04 -1.34752984e+01] [-1.00194056e-02 -3.80061916e-05 9.99949804e-01 -1.38132645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.940281693 meters Centerline goodness [0,1] 0.9990950035778928 Centerline is valid? [True, True] Translation: X:246.21, Y:-13.48, Z:-1.38 [[ 9.95779264e-01 9.13053664e-02 9.32672488e-03 2.46214795e+02] [-9.13016295e-02 9.95822941e-01 -8.26566154e-04 -1.34808990e+01] [-9.36323652e-03 -2.84677429e-05 9.99956164e-01 -1.38316638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.970281693 meters Centerline goodness [0,1] 0.9993650121706 Centerline is valid? [True, True] Translation: X:246.25, Y:-13.49, Z:-1.38 [[ 9.95696558e-01 9.22025643e-02 9.33009279e-03 2.46246104e+02] [-9.21988529e-02 9.95740270e-01 -8.28050459e-04 -1.34869052e+01] [-9.36669750e-03 -3.57368608e-05 9.99956131e-01 -1.38291856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.000281693 meters Centerline goodness [0,1] 0.9993038855841033 Centerline is valid? [True, True] Translation: X:246.28, Y:-13.49, Z:-1.38 [[ 9.95503341e-01 9.42804949e-02 9.18071208e-03 2.46278129e+02] [-9.42769783e-02 9.95545672e-01 -8.16025951e-04 -1.34901661e+01] [-9.21675351e-03 -5.31732331e-05 9.99957523e-01 -1.38332722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.030281693 meters Centerline goodness [0,1] 0.999131650288038 Centerline is valid? [True, True] Translation: X:246.31, Y:-13.49, Z:-1.38 [[ 9.95052631e-01 9.89142760e-02 9.28589585e-03 2.46309014e+02] [-9.89108695e-02 9.95095954e-01 -8.26513290e-04 -1.34900167e+01] [-9.32211135e-03 -9.60518087e-05 9.99956544e-01 -1.38361538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.060281693 meters Centerline goodness [0,1] 0.9990281827016521 Centerline is valid? [True, True] Translation: X:246.34, Y:-13.49, Z:-1.38 [[ 9.94791342e-01 1.01469827e-01 9.69845089e-03 2.46339774e+02] [-1.01466227e-01 9.94838609e-01 -8.63742105e-04 -1.34907555e+01] [-9.73603715e-03 -1.24822053e-04 9.99952596e-01 -1.38346918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.090281693 meters Centerline goodness [0,1] 0.9988581095369 Centerline is valid? [True, True] Translation: X:246.37, Y:-13.49, Z:-1.38 [[ 9.94515719e-01 1.04068220e-01 1.04062183e-02 2.46371910e+02] [-1.04064207e-01 9.94570148e-01 -9.27841756e-04 -1.34947040e+01] [-1.04462729e-02 -1.60161637e-04 9.99945423e-01 -1.38411922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.120281693 meters Centerline goodness [0,1] 0.9981467831946931 Centerline is valid? [True, True] Translation: X:246.40, Y:-13.49, Z:-1.38 [[ 9.94283279e-01 1.06248527e-01 1.05835136e-02 2.46403126e+02] [-1.06244486e-01 9.94339588e-01 -9.44957891e-04 -1.34943690e+01] [-1.06240069e-02 -1.84884129e-04 9.99943547e-01 -1.38279290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15028169299998 meters Centerline goodness [0,1] 0.9981467831946931 Centerline is valid? [True, True] Translation: X:246.44, Y:-13.50, Z:-1.38 [[ 9.94264324e-01 1.06425778e-01 1.05833834e-02 2.46435494e+02] [-1.06421731e-01 9.94320632e-01 -9.46414397e-04 -1.34974619e+01] [-1.06239994e-02 -1.85315915e-04 9.99943547e-01 -1.38294600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18028169299998 meters Centerline goodness [0,1] 0.9981853891806498 Centerline is valid? [True, True] Translation: X:246.47, Y:-13.50, Z:-1.39 [[ 9.93938594e-01 1.09572485e-01 8.94106079e-03 2.46467020e+02] [-1.09569712e-01 9.93978791e-01 -8.00909556e-04 -1.35006195e+01] [-8.97498245e-03 -1.83614538e-04 9.99959707e-01 -1.38672552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21028169299998 meters Centerline goodness [0,1] 0.9981426131511528 Centerline is valid? [True, True] Translation: X:246.50, Y:-13.50, Z:-1.39 [[ 9.93816103e-01 1.10765589e-01 7.78057855e-03 2.46499367e+02] [-1.10763517e-01 9.93846545e-01 -6.98085117e-04 -1.35024906e+01] [-7.81002493e-03 -1.68036014e-04 9.99969487e-01 -1.38913343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.240281693 meters Centerline goodness [0,1] 0.9983203997023493 Centerline is valid? [True, True] Translation: X:246.53, Y:-13.50, Z:-1.39 [[ 9.93750381e-01 1.11395031e-01 7.16437008e-03 2.46530009e+02] [-1.11393283e-01 9.93776193e-01 -6.43823434e-04 -1.35040219e+01] [-7.19149915e-03 -1.58262921e-04 9.99974128e-01 -1.39069372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.270281693 meters Centerline goodness [0,1] 0.9983379967601456 Centerline is valid? [True, True] Translation: X:246.56, Y:-13.51, Z:-1.39 [[ 9.93758487e-01 1.11299363e-01 7.51806435e-03 2.46560626e+02] [-1.11297431e-01 9.93786911e-01 -6.76273238e-04 -1.35073767e+01] [-7.54662273e-03 -1.64688976e-04 9.99971510e-01 -1.38997474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.300281693 meters Centerline goodness [0,1] 0.9981954057152562 Centerline is valid? [True, True] Translation: X:246.59, Y:-13.51, Z:-1.39 [[ 9.93787398e-01 1.10980423e-01 8.36380998e-03 2.46592038e+02] [-1.10978014e-01 9.93822576e-01 -7.53011918e-04 -1.35124812e+01] [-8.39571277e-03 -1.79865267e-04 9.99964739e-01 -1.38839086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.330281693 meters Centerline goodness [0,1] 0.9981008651614265 Centerline is valid? [True, True] Translation: X:246.62, Y:-13.51, Z:-1.39 [[ 9.93820009e-01 1.10586427e-01 9.61419370e-03 2.46623089e+02] [-1.10583210e-01 9.93866491e-01 -8.67212413e-04 -1.35142837e+01] [-9.65112688e-03 -2.01315350e-04 9.99953407e-01 -1.38571619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.360281693 meters Centerline goodness [0,1] 0.9981449470888317 Centerline is valid? [True, True] Translation: X:246.65, Y:-13.52, Z:-1.39 [[ 9.93820581e-01 1.10551356e-01 9.95245226e-03 2.46654652e+02] [-1.10547891e-01 9.93870391e-01 -8.99306816e-04 -1.35179742e+01] [-9.99086721e-03 -2.06472985e-04 9.99950069e-01 -1.38561974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.390281693 meters Centerline goodness [0,1] 0.9975794569564302 Centerline is valid? [True, True] Translation: X:246.69, Y:-13.52, Z:-1.38 [[ 9.93850440e-01 1.10196402e-01 1.08653436e-02 2.46686310e+02] [-1.10192236e-01 9.93909807e-01 -9.83179896e-04 -1.35184155e+01] [-1.09075145e-02 -2.20142739e-04 9.99940487e-01 -1.38400560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.420281693 meters Centerline goodness [0,1] 0.9977908532829195 Centerline is valid? [True, True] Translation: X:246.72, Y:-13.52, Z:-1.38 [[ 9.93872861e-01 1.09854714e-01 1.21933618e-02 2.46719393e+02] [-1.09849419e-01 9.93947626e-01 -1.10521591e-03 -1.35229283e+01] [-1.22409762e-02 -2.40989616e-04 9.99925047e-01 -1.38321596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.450281693 meters Centerline goodness [0,1] 0.9969521874404724 Centerline is valid? [True, True] Translation: X:246.75, Y:-13.52, Z:-1.38 [[ 9.93911247e-01 1.09306671e-01 1.38738577e-02 2.46751514e+02] [-1.09299726e-01 9.94008039e-01 -1.26011702e-03 -1.35206770e+01] [-1.39284653e-02 -2.63964376e-04 9.99902959e-01 -1.37865936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.480281693 meters Centerline goodness [0,1] 0.9975408802387659 Centerline is valid? [True, True] Translation: X:246.78, Y:-13.53, Z:-1.38 [[ 9.93917044e-01 1.09212304e-01 1.41979775e-02 2.46784564e+02] [-1.09204985e-01 9.94018411e-01 -1.29209402e-03 -1.35257310e+01] [-1.42541636e-02 -2.66255657e-04 9.99898369e-01 -1.37941697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.510281693 meters Centerline goodness [0,1] 0.9984271716720865 Centerline is valid? [True, True] Translation: X:246.82, Y:-13.53, Z:-1.38 [[ 9.93913279e-01 1.09265408e-01 1.40521827e-02 2.46817310e+02] [-1.09258207e-01 9.94012576e-01 -1.28141360e-03 -1.35303709e+01] [-1.41080605e-02 -2.61702288e-04 9.99900442e-01 -1.38011385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.540281693 meters Centerline goodness [0,1] 0.998172079578303 Centerline is valid? [True, True] Translation: X:246.85, Y:-13.53, Z:-1.38 [[ 9.94018180e-01 1.08238699e-01 1.45685493e-02 2.46849311e+02] [-1.08230812e-01 9.94124901e-01 -1.33101998e-03 -1.35321220e+01] [-1.46270255e-02 -2.53707861e-04 9.99892987e-01 -1.37969286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.570281693 meters Centerline goodness [0,1] 0.9982755317110558 Centerline is valid? [True, True] Translation: X:246.88, Y:-13.53, Z:-1.38 [[ 9.94067477e-01 1.07727544e-01 1.49875505e-02 2.46881156e+02] [-1.07719102e-01 9.94180423e-01 -1.37176226e-03 -1.35340625e+01] [-1.50481059e-02 -2.50821230e-04 9.99886739e-01 -1.37899359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.600281693 meters Centerline goodness [0,1] 0.9982276985399612 Centerline is valid? [True, True] Translation: X:246.91, Y:-13.53, Z:-1.38 [[ 9.94100961e-01 1.07410312e-01 1.50434235e-02 2.46912285e+02] [-1.07401736e-01 9.94214748e-01 -1.37920119e-03 -1.35349375e+01] [-1.51045339e-02 -2.44624561e-04 9.99885890e-01 -1.37835185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.630281693 meters Centerline goodness [0,1] 0.9981611430503889 Centerline is valid? [True, True] Translation: X:246.94, Y:-13.53, Z:-1.38 [[ 9.94019010e-01 1.08285430e-01 1.41588850e-02 2.46944579e+02] [-1.08277888e-01 9.94119816e-01 -1.30038159e-03 -1.35311720e+01] [-1.42164406e-02 -2.40490158e-04 9.99898912e-01 -1.37997035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.660281693 meters Centerline goodness [0,1] 0.9989352867272844 Centerline is valid? [True, True] Translation: X:246.98, Y:-13.53, Z:-1.38 [[ 9.93948425e-01 1.09000180e-01 1.36194224e-02 2.46977512e+02] [-1.08993236e-01 9.94041701e-01 -1.25329770e-03 -1.35331939e+01] [-1.36748835e-02 -2.38711645e-04 9.99906466e-01 -1.38297492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.690281693 meters Centerline goodness [0,1] 0.9977490743857287 Centerline is valid? [True, True] Translation: X:247.01, Y:-13.53, Z:-1.38 [[ 9.93876773e-01 1.09655092e-01 1.35912191e-02 2.47008930e+02] [-1.09648207e-01 9.93969668e-01 -1.25295481e-03 -1.35285217e+01] [-1.36466524e-02 -2.44970122e-04 9.99906850e-01 -1.38117584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.720281693 meters Centerline goodness [0,1] 0.9981776186137187 Centerline is valid? [True, True] Translation: X:247.04, Y:-13.53, Z:-1.38 [[ 9.93937395e-01 1.09177785e-01 1.29871285e-02 2.47039923e+02] [-1.09171447e-01 9.94022213e-01 -1.19813699e-03 -1.35285504e+01] [-1.30403042e-02 -2.26950455e-04 9.99914946e-01 -1.38340145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.750281693 meters Centerline goodness [0,1] 0.9980681866428905 Centerline is valid? [True, True] Translation: X:247.07, Y:-13.53, Z:-1.38 [[ 9.94036792e-01 1.08296202e-01 1.27588469e-02 2.47070261e+02] [-1.08290009e-01 9.94118649e-01 -1.17726945e-03 -1.35284321e+01] [-1.28113015e-02 -2.11406508e-04 9.99917910e-01 -1.38335707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.780281693 meters Centerline goodness [0,1] 0.99843624529817 Centerline is valid? [True, True] Translation: X:247.10, Y:-13.53, Z:-1.39 [[ 9.94269772e-01 1.06186427e-01 1.23314121e-02 2.47101618e+02] [-1.06180477e-01 9.94346223e-01 -1.13805102e-03 -1.35318713e+01] [-1.23825387e-02 -1.77825499e-04 9.99923318e-01 -1.38581699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.810281693 meters Centerline goodness [0,1] 0.9985909272539906 Centerline is valid? [True, True] Translation: X:247.13, Y:-13.53, Z:-1.39 [[ 9.94371332e-01 1.05232281e-01 1.23215574e-02 2.47131963e+02] [-1.05226265e-01 9.94447656e-01 -1.13733154e-03 -1.35332679e+01] [-1.23728279e-02 -1.65621585e-04 9.99923440e-01 -1.38585532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.840281693 meters Centerline goodness [0,1] 0.9986039723332699 Centerline is valid? [True, True] Translation: X:247.16, Y:-13.54, Z:-1.39 [[ 9.94435881e-01 1.04614749e-01 1.23706210e-02 2.47162949e+02] [-1.04608632e-01 9.94512810e-01 -1.14225393e-03 -1.35359661e+01] [-1.24222376e-02 -1.58175445e-04 9.99922829e-01 -1.38705909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.870281693 meters Centerline goodness [0,1] 0.999043265653237 Centerline is valid? [True, True] Translation: X:247.19, Y:-13.54, Z:-1.39 [[ 9.94465044e-01 1.04356648e-01 1.22051960e-02 2.47194318e+02] [-1.04350670e-01 9.94539927e-01 -1.12736460e-03 -1.35372372e+01] [-1.22562027e-02 -1.52495689e-04 9.99924878e-01 -1.38876195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90028169299998 meters Centerline goodness [0,1] 0.9991416124809546 Centerline is valid? [True, True] Translation: X:247.23, Y:-13.53, Z:-1.39 [[ 9.94513585e-01 1.04055551e-01 1.07318306e-02 2.47225303e+02] [-1.04050909e-01 9.94571478e-01 -9.91443836e-04 -1.35310465e+01] [-1.07767379e-02 -1.30652371e-04 9.99941921e-01 -1.39059297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93028169299998 meters Centerline goodness [0,1] 0.9990889830508475 Centerline is valid? [True, True] Translation: X:247.25, Y:-13.53, Z:-1.39 [[ 9.94513314e-01 1.04062906e-01 1.06854828e-02 2.47254951e+02] [-1.04058306e-01 9.94570709e-01 -9.87148578e-04 -1.35299559e+01] [-1.07301937e-02 -1.30180828e-04 9.99942421e-01 -1.39100826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96028169299998 meters Centerline goodness [0,1] 0.9987932932509104 Centerline is valid? [True, True] Translation: X:247.28, Y:-13.52, Z:-1.39 [[ 9.94512080e-01 1.03980217e-01 1.15687973e-02 2.47284231e+02] [-1.03974822e-01 9.94579356e-01 -1.06845861e-03 -1.35241669e+01] [-1.16171855e-02 -1.40268651e-04 9.99932508e-01 -1.38794622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.990281693 meters Centerline goodness [0,1] 0.9987688911529972 Centerline is valid? [True, True] Translation: X:247.31, Y:-13.52, Z:-1.39 [[ 9.94547354e-01 1.03617489e-01 1.17888001e-02 2.47314368e+02] [-1.03611863e-01 9.94617211e-01 -1.08861479e-03 -1.35242792e+01] [-1.18381431e-02 -1.38780588e-04 9.99929917e-01 -1.38772004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.020281693 meters Centerline goodness [0,1] 0.9988599898665765 Centerline is valid? [True, True] Translation: X:247.35, Y:-13.53, Z:-1.39 [[ 9.94627144e-01 1.02824564e-01 1.19980698e-02 2.47345100e+02] [-1.02818679e-01 9.94699498e-01 -1.10793940e-03 -1.35253079e+01] [-1.20483974e-02 -1.31639080e-04 9.99927407e-01 -1.38824735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.050281693 meters Centerline goodness [0,1] 0.999337295309761 Centerline is valid? [True, True] Translation: X:247.37, Y:-13.53, Z:-1.39 [[ 9.94973039e-01 9.94811433e-02 1.14958543e-02 2.47374270e+02] [-9.94755161e-02 9.95039444e-01 -1.06169019e-03 -1.35277439e+01] [-1.15444466e-02 -8.72029203e-05 9.99933357e-01 -1.39023655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.080281693 meters Centerline goodness [0,1] 0.9993888174671752 Centerline is valid? [True, True] Translation: X:247.40, Y:-13.53, Z:-1.39 [[ 9.95183092e-01 9.73811255e-02 1.12928799e-02 2.47404322e+02] [-9.73755591e-02 9.95247162e-01 -1.04303052e-03 -1.35317987e+01] [-1.13407781e-02 -6.16441547e-05 9.99935689e-01 -1.39136474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.110281693 meters Centerline goodness [0,1] 0.9994123696195093 Centerline is valid? [True, True] Translation: X:247.43, Y:-13.53, Z:-1.39 [[ 9.95373834e-01 9.53874006e-02 1.14967364e-02 2.47433493e+02] [-9.53814991e-02 9.95440225e-01 -1.06178361e-03 -1.35340937e+01] [-1.15455947e-02 -3.97043345e-05 9.99933347e-01 -1.39015767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.140281693 meters Centerline goodness [0,1] 0.9994094322112546 Centerline is valid? [True, True] Translation: X:247.46, Y:-13.54, Z:-1.39 [[ 9.95499154e-01 9.40138311e-02 1.19512934e-02 2.47462621e+02] [-9.40073573e-02 9.95570891e-01 -1.10355584e-03 -1.35363282e+01] [-1.20021094e-02 -2.49206046e-05 9.99927972e-01 -1.38851601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.170281693 meters Centerline goodness [0,1] 0.9996192249111525 Centerline is valid? [True, True] Translation: X:247.49, Y:-13.53, Z:-1.39 [[ 9.95556353e-01 9.31776008e-02 1.36191807e-02 2.47493122e+02] [-9.31691172e-02 9.95649504e-01 -1.25745123e-03 -1.35344171e+01] [-1.36770967e-02 -1.70234729e-05 9.99906464e-01 -1.38726874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.200281693 meters Centerline goodness [0,1] 0.9996194664073401 Centerline is valid? [True, True] Translation: X:247.52, Y:-13.53, Z:-1.39 [[ 9.95569138e-01 9.29185526e-02 1.44303026e-02 2.47524454e+02] [-9.29089978e-02 9.95673713e-01 -1.33256371e-03 -1.35346211e+01] [-1.44916929e-02 -1.40456487e-05 9.99894990e-01 -1.38607252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.230281693 meters Centerline goodness [0,1] 0.9991334488734835 Centerline is valid? [True, True] Translation: X:247.56, Y:-13.53, Z:-1.38 [[ 9.95649019e-01 9.18154334e-02 1.59046022e-02 2.47555276e+02] [-9.18036818e-02 9.95776042e-01 -1.46895291e-03 -1.35342618e+01] [-1.59722943e-02 2.46049186e-06 9.99872435e-01 -1.38412764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.260281693 meters Centerline goodness [0,1] 0.9991090936088073 Centerline is valid? [True, True] Translation: X:247.59, Y:-13.54, Z:-1.38 [[ 9.95705739e-01 9.11396737e-02 1.62370156e-02 2.47585577e+02] [-9.11273329e-02 9.95838119e-01 -1.49983797e-03 -1.35364917e+01] [-1.63061339e-02 1.37613448e-05 9.99867046e-01 -1.38311157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.290281693 meters Centerline goodness [0,1] 0.9987561926847265 Centerline is valid? [True, True] Translation: X:247.62, Y:-13.54, Z:-1.38 [[ 9.95859334e-01 8.94654732e-02 1.61280816e-02 2.47615404e+02] [-8.94530750e-02 9.95989923e-01 -1.48994929e-03 -1.35398916e+01] [-1.61967058e-02 4.10734206e-05 9.99868824e-01 -1.38281568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.320281693 meters Centerline goodness [0,1] 0.99885394116898 Centerline is valid? [True, True] Translation: X:247.65, Y:-13.54, Z:-1.39 [[ 9.95915976e-01 8.88718066e-02 1.59113654e-02 2.47646966e+02] [-8.88596588e-02 9.96043071e-01 -1.47022770e-03 -1.35423947e+01] [-1.59790671e-02 5.03447472e-05 9.99872325e-01 -1.38552290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.350281693 meters Centerline goodness [0,1] 0.9989990842685862 Centerline is valid? [True, True] Translation: X:247.68, Y:-13.54, Z:-1.39 [[ 9.95963211e-01 8.84727661e-02 1.51608910e-02 2.47677912e+02] [-8.84616858e-02 9.96078595e-01 -1.40122688e-03 -1.35441987e+01] [-1.52254094e-02 5.44124465e-05 9.99884085e-01 -1.38843459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.380281693 meters Centerline goodness [0,1] 0.9986851034950798 Centerline is valid? [True, True] Translation: X:247.71, Y:-13.55, Z:-1.39 [[ 9.95960889e-01 8.85947661e-02 1.45902611e-02 2.47708590e+02] [-8.85845142e-02 9.96067751e-01 -1.34870777e-03 -1.35459045e+01] [-1.46523770e-02 5.07889990e-05 9.99892647e-01 -1.38788702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.410281693 meters Centerline goodness [0,1] 0.9988691885894728 Centerline is valid? [True, True] Translation: X:247.74, Y:-13.54, Z:-1.39 [[ 9.95759565e-01 9.08733322e-02 1.43152124e-02 2.47738724e+02] [-9.08636993e-02 9.95862459e-01 -1.32323041e-03 -1.35408634e+01] [-1.43762290e-02 1.68861754e-05 9.99896657e-01 -1.38762457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.440281693 meters Centerline goodness [0,1] 0.9989454591470873 Centerline is valid? [True, True] Translation: X:247.77, Y:-13.54, Z:-1.39 [[ 9.95600608e-01 9.26000077e-02 1.43062444e-02 2.47767501e+02] [-9.25905702e-02 9.95703389e-01 -1.32204840e-03 -1.35374923e+01] [-1.43671977e-02 -8.39113675e-06 9.99896786e-01 -1.38804979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.470281693 meters Centerline goodness [0,1] 0.9992387235932246 Centerline is valid? [True, True] Translation: X:247.80, Y:-13.53, Z:-1.39 [[ 9.95298316e-01 9.58526986e-02 1.39112276e-02 2.47797692e+02] [-9.58440975e-02 9.95395528e-01 -1.28520217e-03 -1.35303891e+01] [-1.39703638e-02 -5.41494976e-05 9.99902408e-01 -1.39057713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.500281693 meters Centerline goodness [0,1] 0.9991085263090866 Centerline is valid? [True, True] Translation: X:247.83, Y:-13.53, Z:-1.39 [[ 9.95225809e-01 9.65825352e-02 1.40499904e-02 2.47826491e+02] [-9.65738400e-02 9.95324977e-01 -1.29761679e-03 -1.35292363e+01] [-1.41096335e-02 -6.54397978e-05 9.99900452e-01 -1.38975847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.530281693 meters Centerline goodness [0,1] 0.9990753971589477 Centerline is valid? [True, True] Translation: X:247.86, Y:-13.53, Z:-1.39 [[ 9.95200359e-01 9.68552649e-02 1.39750618e-02 2.47855770e+02] [-9.68466967e-02 9.95298474e-01 -1.29015763e-03 -1.35297419e+01] [-1.40343162e-02 -6.94732368e-05 9.99901512e-01 -1.39044719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.560281693 meters Centerline goodness [0,1] 0.9994062009585614 Centerline is valid? [True, True] Translation: X:247.88, Y:-13.53, Z:-1.39 [[ 9.95239817e-01 9.65187948e-02 1.34843783e-02 2.47884594e+02] [-9.65107948e-02 9.95331160e-01 -1.24427237e-03 -1.35300973e+01] [-1.35415175e-02 -6.30386577e-05 9.99908307e-01 -1.39432832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.590281693 meters Centerline goodness [0,1] 0.9990258777688366 Centerline is valid? [True, True] Translation: X:247.91, Y:-13.53, Z:-1.39 [[ 9.95257248e-01 9.63385812e-02 1.34866078e-02 2.47912347e+02] [-9.63305715e-02 9.95348619e-01 -1.24377129e-03 -1.35290905e+01] [-1.35436997e-02 -6.13002481e-05 9.99908278e-01 -1.39176570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.620281693 meters Centerline goodness [0,1] 0.9992185354932731 Centerline is valid? [True, True] Translation: X:247.94, Y:-13.53, Z:-1.39 [[ 9.95253988e-01 9.63416036e-02 1.37038498e-02 2.47941131e+02] [-9.63333429e-02 9.95348327e-01 -1.26316262e-03 -1.35288524e+01] [-1.37617991e-02 -6.29700304e-05 9.99905300e-01 -1.39096619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65028169299998 meters Centerline goodness [0,1] 0.9992566003270958 Centerline is valid? [True, True] Translation: X:247.97, Y:-13.53, Z:-1.39 [[ 9.95206075e-01 9.67690617e-02 1.41639037e-02 2.47969701e+02] [-9.67602893e-02 9.95306859e-01 -1.30494146e-03 -1.35294915e+01] [-1.42237085e-02 -7.18177593e-05 9.99898835e-01 -1.39263644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68028169299998 meters Centerline goodness [0,1] 0.9992336838520158 Centerline is valid? [True, True] Translation: X:248.00, Y:-13.52, Z:-1.40 [[ 9.94983709e-01 9.91125993e-02 1.35687751e-02 2.47998853e+02] [-9.91047749e-02 9.95076219e-01 -1.24949312e-03 -1.35220838e+01] [-1.36258060e-02 -1.01505106e-04 9.99907159e-01 -1.39539299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71028169299998 meters Centerline goodness [0,1] 0.998758025471003 Centerline is valid? [True, True] Translation: X:248.03, Y:-13.51, Z:-1.39 [[ 9.94799126e-01 1.01032681e-01 1.29265440e-02 2.48027137e+02] [-1.01025752e-01 9.94883100e-01 -1.18956674e-03 -1.35129914e+01] [-1.29805853e-02 -1.22533875e-04 9.99915741e-01 -1.39346804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.740281693 meters Centerline goodness [0,1] 0.9994033921418222 Centerline is valid? [True, True] Translation: X:248.06, Y:-13.51, Z:-1.40 [[ 9.94550570e-01 1.03567114e-01 1.19589671e-02 2.48056420e+02] [-1.03561374e-01 9.94622457e-01 -1.09988509e-03 -1.35068403e+01] [-1.20085691e-02 -1.44595712e-04 9.99927884e-01 -1.40157827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.770281693 meters Centerline goodness [0,1] 0.9988404697151771 Centerline is valid? [True, True] Translation: X:248.09, Y:-13.50, Z:-1.40 [[ 9.94600466e-01 1.03138523e-01 1.15047366e-02 2.48085289e+02] [-1.03133189e-01 9.94666993e-01 -1.05758447e-03 -1.35021618e+01] [-1.15524594e-02 -1.34646163e-04 9.99933259e-01 -1.40029250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.800281693 meters Centerline goodness [0,1] 0.9995337007206443 Centerline is valid? [True, True] Translation: X:248.11, Y:-13.51, Z:-1.40 [[ 9.94814938e-01 1.01094717e-01 1.10949265e-02 2.48114318e+02] [-1.01089633e-01 9.94876800e-01 -1.01949210e-03 -1.35064471e+01] [-1.11411503e-02 -1.07376088e-04 9.99937930e-01 -1.40275831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.830281693 meters Centerline goodness [0,1] 0.9994720726428044 Centerline is valid? [True, True] Translation: X:248.14, Y:-13.51, Z:-1.41 [[ 9.95402778e-01 9.53750467e-02 8.76988411e-03 2.48141398e+02] [-9.53716514e-02 9.95441409e-01 -8.05503317e-04 -1.35122048e+01] [-8.80673072e-03 -3.45980913e-05 9.99961219e-01 -1.40777960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.860281693 meters Centerline goodness [0,1] 0.9994089709762533 Centerline is valid? [True, True] Translation: X:248.17, Y:-13.52, Z:-1.41 [[ 9.95691846e-01 9.23898461e-02 7.86537594e-03 2.48168739e+02] [-9.23870250e-02 9.95722911e-01 -7.22023952e-04 -1.35168233e+01] [-7.89844272e-03 -7.74532312e-06 9.99968807e-01 -1.40919704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.890281693 meters Centerline goodness [0,1] 0.9992594786729858 Centerline is valid? [True, True] Translation: X:248.20, Y:-13.52, Z:-1.41 [[ 9.95929773e-01 8.98172480e-02 7.53321410e-03 2.48197543e+02] [-8.98145894e-02 9.95958263e-01 -6.91167548e-04 -1.35217738e+01] [-7.56484560e-03 1.17618082e-05 9.99971386e-01 -1.41158749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.920281693 meters Centerline goodness [0,1] 0.9985838987170546 Centerline is valid? [True, True] Translation: X:248.22, Y:-13.53, Z:-1.41 [[ 9.96232580e-01 8.62932482e-02 8.60937700e-03 2.48224821e+02] [-8.62896478e-02 9.96269779e-01 -7.89465709e-04 -1.35261368e+01] [-8.64538768e-03 4.35913514e-05 9.99962627e-01 -1.40883976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.950281693 meters Centerline goodness [0,1] 0.9987194558737089 Centerline is valid? [True, True] Translation: X:248.25, Y:-13.53, Z:-1.41 [[ 9.96322080e-01 8.51883808e-02 9.23318800e-03 2.48253430e+02] [-8.51841966e-02 9.96364861e-01 -8.46208665e-04 -1.35263179e+01] [-9.27171123e-03 5.65746755e-05 9.99957015e-01 -1.40919198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.980281693 meters Centerline goodness [0,1] 0.9986292414433033 Centerline is valid? [True, True] Translation: X:248.28, Y:-13.53, Z:-1.41 [[ 9.96383958e-01 8.44182296e-02 9.62138314e-03 2.48282703e+02] [-8.44136545e-02 9.96430408e-01 -8.81350722e-04 -1.35260757e+01] [-9.66144080e-03 6.59876086e-05 9.99953325e-01 -1.41035606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.010281693 meters Centerline goodness [0,1] 0.9982742457814897 Centerline is valid? [True, True] Translation: X:248.31, Y:-13.53, Z:-1.41 [[ 9.96544131e-01 8.25554750e-02 9.18629034e-03 2.48310578e+02] [-8.25512295e-02 9.96586467e-01 -8.41024203e-04 -1.35319117e+01] [-9.22436379e-03 7.97781720e-05 9.99957451e-01 -1.41027599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.040281693 meters Centerline goodness [0,1] 0.998461019521862 Centerline is valid? [True, True] Translation: X:248.34, Y:-13.54, Z:-1.41 [[ 9.96661582e-01 8.12263890e-02 8.24406588e-03 2.48339539e+02] [-8.12229275e-02 9.96695674e-01 -7.54369042e-04 -1.35363187e+01] [-8.27809947e-03 8.22434773e-05 9.99965733e-01 -1.41224129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.070281693 meters Centerline goodness [0,1] 0.998461019521862 Centerline is valid? [True, True] Translation: X:248.37, Y:-13.54, Z:-1.41 [[ 9.96664914e-01 8.11854967e-02 8.24409689e-03 2.48367757e+02] [-8.11820367e-02 9.96699006e-01 -7.54030038e-04 -1.35388056e+01] [-8.27809948e-03 8.22427064e-05 9.99965733e-01 -1.41237467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.100281693 meters Centerline goodness [0,1] 0.9979071979706162 Centerline is valid? [True, True] Translation: X:248.40, Y:-13.55, Z:-1.42 [[ 9.96998914e-01 7.71100753e-02 6.87032972e-03 2.48396252e+02] [-7.71075772e-02 9.97022581e-01 -6.28151986e-04 -1.35486757e+01] [-6.89831072e-03 9.65123688e-05 9.99976202e-01 -1.41593609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.130281693 meters Centerline goodness [0,1] 0.9981751433049229 Centerline is valid? [True, True] Translation: X:248.42, Y:-13.55, Z:-1.42 [[ 9.97173996e-01 7.47965006e-02 7.03594619e-03 2.48424854e+02] [-7.47938248e-02 9.97198812e-01 -6.43035264e-04 -1.35492269e+01] [-7.06433397e-03 1.14972718e-04 9.99975041e-01 -1.41707878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.160281693 meters Centerline goodness [0,1] 0.9974433815539979 Centerline is valid? [True, True] Translation: X:248.45, Y:-13.56, Z:-1.42 [[ 9.97327992e-01 7.26556673e-02 7.61773852e-03 2.48452947e+02] [-7.26524707e-02 9.97357075e-01 -6.95880496e-04 -1.35572009e+01] [-7.64816507e-03 1.40573573e-04 9.99970742e-01 -1.41642693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.190281693 meters Centerline goodness [0,1] 0.9953160103429274 Centerline is valid? [True, True] Translation: X:248.48, Y:-13.57, Z:-1.41 [[ 9.97538385e-01 6.96080482e-02 8.47884495e-03 2.48480793e+02] [-6.96039786e-02 9.97574401e-01 -7.74475388e-04 -1.35725036e+01] [-8.51218840e-03 1.82407585e-04 9.99963754e-01 -1.41436492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.220281693 meters Centerline goodness [0,1] 0.9946939468545717 Centerline is valid? [True, True] Translation: X:248.51, Y:-13.58, Z:-1.41 [[ 9.97551497e-01 6.93798305e-02 8.80053147e-03 2.48510374e+02] [-6.93754370e-02 9.97590298e-01 -8.03888345e-04 -1.35760176e+01] [-8.83509845e-03 1.91379305e-04 9.99960951e-01 -1.41397958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.250281693 meters Centerline goodness [0,1] 0.9966813223979031 Centerline is valid? [True, True] Translation: X:248.54, Y:-13.57, Z:-1.41 [[ 9.97490432e-01 7.01924963e-02 9.26560585e-03 2.48541094e+02] [-7.01876632e-02 9.97533446e-01 -8.46163102e-04 -1.35691782e+01] [-9.30214604e-03 1.93708376e-04 9.99956715e-01 -1.41496082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.280281693 meters Centerline goodness [0,1] 0.9971029816028759 Centerline is valid? [True, True] Translation: X:248.57, Y:-13.57, Z:-1.41 [[ 9.97248708e-01 7.34990039e-02 9.63900712e-03 2.48570204e+02] [-7.34939293e-02 9.97295276e-01 -8.80099098e-04 -1.35688109e+01] [-9.67762268e-03 1.69269181e-04 9.99953156e-01 -1.41414310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.310281693 meters Centerline goodness [0,1] 0.9966596455394566 Centerline is valid? [True, True] Translation: X:248.60, Y:-13.57, Z:-1.41 [[ 9.97080447e-01 7.58049119e-02 9.17594266e-03 2.48598885e+02] [-7.58004122e-02 9.97122658e-01 -8.37671239e-04 -1.35742444e+01] [-9.21303993e-03 1.39685377e-04 9.99957549e-01 -1.41292590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.340281693 meters Centerline goodness [0,1] 0.998037417070205 Centerline is valid? [True, True] Translation: X:248.63, Y:-13.56, Z:-1.42 [[ 9.96724309e-01 8.04100957e-02 8.65265427e-03 2.48628634e+02] [-8.04062704e-02 9.96761861e-01 -7.89620868e-04 -1.35626344e+01] [-8.68812927e-03 9.13066550e-05 9.99962253e-01 -1.41681417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.370281693 meters Centerline goodness [0,1] 0.9986269829534653 Centerline is valid? [True, True] Translation: X:248.66, Y:-13.56, Z:-1.42 [[ 9.96585146e-01 8.21498190e-02 8.33392009e-03 2.48657016e+02] [-8.21463343e-02 9.96619989e-01 -7.60164024e-04 -1.35631129e+01] [-8.36819868e-03 7.29671895e-05 9.99964983e-01 -1.41719132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40028169299998 meters Centerline goodness [0,1] 0.99891123350839 Centerline is valid? [True, True] Translation: X:248.69, Y:-13.56, Z:-1.42 [[ 9.96487314e-01 8.32891774e-02 8.71473944e-03 2.48685870e+02] [-8.32854141e-02 9.96525418e-01 -7.94495777e-04 -1.35646019e+01] [-8.75063226e-03 6.58942802e-05 9.99961710e-01 -1.41736597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43028169299998 meters Centerline goodness [0,1] 0.9986422843565701 Centerline is valid? [True, True] Translation: X:248.71, Y:-13.57, Z:-1.42 [[ 9.96436662e-01 8.38665439e-02 8.96555845e-03 2.48713873e+02] [-8.38625883e-02 9.96476994e-01 -8.16902557e-04 -1.35671016e+01] [-9.00248352e-03 6.21167199e-05 9.99959475e-01 -1.41783756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46028169299998 meters Centerline goodness [0,1] 0.9984930169376406 Centerline is valid? [True, True] Translation: X:248.74, Y:-13.57, Z:-1.42 [[ 9.96485888e-01 8.33029480e-02 8.74608522e-03 2.48742288e+02] [-8.32991658e-02 9.96524267e-01 -7.96465121e-04 -1.35707467e+01] [-8.78203405e-03 6.51246512e-05 9.99961435e-01 -1.41917182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.490281693 meters Centerline goodness [0,1] 0.9986630448622724 Centerline is valid? [True, True] Translation: X:248.77, Y:-13.57, Z:-1.42 [[ 9.96575518e-01 8.22985080e-02 8.01207435e-03 2.48770957e+02] [-8.22953043e-02 9.96607722e-01 -7.29280153e-04 -1.35749902e+01] [-8.04491383e-03 6.74266502e-05 9.99967637e-01 -1.42160243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.520281693 meters Centerline goodness [0,1] 0.9988093466289626 Centerline is valid? [True, True] Translation: X:248.80, Y:-13.58, Z:-1.43 [[ 9.96799287e-01 7.96899348e-02 6.37934266e-03 2.48799178e+02] [-7.96878520e-02 9.96819698e-01 -5.80416955e-04 -1.35815690e+01] [-6.40530781e-03 7.02030927e-05 9.99979483e-01 -1.42590840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.550281693 meters Centerline goodness [0,1] 0.9985246006799666 Centerline is valid? [True, True] Translation: X:248.83, Y:-13.59, Z:-1.43 [[ 9.96915889e-01 7.82270462e-02 6.26414260e-03 2.48827830e+02] [-7.82250109e-02 9.96935566e-01 -5.69644836e-04 -1.35865601e+01] [-6.28950818e-03 7.78753648e-05 9.99980218e-01 -1.42616954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.580281693 meters Centerline goodness [0,1] 0.9978116320175069 Centerline is valid? [True, True] Translation: X:248.85, Y:-13.59, Z:-1.42 [[ 9.97031670e-01 7.66601448e-02 7.14637315e-03 2.48854556e+02] [-7.66574586e-02 9.97057276e-01 -6.49449805e-04 -1.35948327e+01] [-7.17513026e-03 9.96992205e-05 9.99974253e-01 -1.42332305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.610281693 meters Centerline goodness [0,1] 0.9980666270077335 Centerline is valid? [True, True] Translation: X:248.88, Y:-13.60, Z:-1.42 [[ 9.97034893e-01 7.65130944e-02 8.19564724e-03 2.48883490e+02] [-7.65095609e-02 9.97068570e-01 -7.44268817e-04 -1.35963002e+01] [-8.22856858e-03 1.15016609e-04 9.99966138e-01 -1.42211223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.640281693 meters Centerline goodness [0,1] 0.9982194572562479 Centerline is valid? [True, True] Translation: X:248.91, Y:-13.60, Z:-1.42 [[ 9.97009355e-01 7.67556027e-02 8.99577046e-03 2.48912290e+02] [-7.67513593e-02 9.97049930e-01 -8.16492302e-04 -1.35982326e+01] [-9.03190266e-03 1.23612853e-04 9.99959204e-01 -1.42157682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.670281693 meters Centerline goodness [0,1] 0.9979029422355906 Centerline is valid? [True, True] Translation: X:248.94, Y:-13.60, Z:-1.42 [[ 9.96955442e-01 7.75324155e-02 8.28082991e-03 2.48939971e+02] [-7.75288501e-02 9.96989826e-01 -7.51180002e-04 -1.36019706e+01] [-8.31414397e-03 1.06889770e-04 9.99965431e-01 -1.42204028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.700281693 meters Centerline goodness [0,1] 0.9982196977725029 Centerline is valid? [True, True] Translation: X:248.97, Y:-13.60, Z:-1.42 [[ 9.96925028e-01 7.79614724e-02 7.90548430e-03 2.48967824e+02] [-7.79582399e-02 9.96956368e-01 -7.16685481e-04 -1.36021463e+01] [-7.93729677e-03 9.81840510e-05 9.99968494e-01 -1.42291535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.730281693 meters Centerline goodness [0,1] 0.9986958845537146 Centerline is valid? [True, True] Translation: X:249.00, Y:-13.60, Z:-1.43 [[ 9.96782415e-01 7.97696491e-02 7.84987335e-03 2.48997182e+02] [-7.97665212e-02 9.96813321e-01 -7.11247714e-04 -1.35968324e+01] [-7.88159431e-03 8.28021241e-05 9.99968936e-01 -1.42519444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.760281693 meters Centerline goodness [0,1] 0.99865226227404 Centerline is valid? [True, True] Translation: X:249.03, Y:-13.60, Z:-1.43 [[ 9.96737988e-01 8.02985153e-02 8.09516186e-03 2.49025731e+02] [-8.02952094e-02 9.96770857e-01 -7.33090969e-04 -1.35974510e+01] [-8.12788755e-03 8.06969011e-05 9.99966965e-01 -1.42563198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.790281693 meters Centerline goodness [0,1] 0.9988683918353404 Centerline is valid? [True, True] Translation: X:249.05, Y:-13.60, Z:-1.43 [[ 9.96715810e-01 8.05457422e-02 8.36523439e-03 2.49054626e+02] [-8.05422240e-02 9.96750910e-01 -7.57153152e-04 -1.35984240e+01] [-8.39904046e-03 8.09119344e-05 9.99964724e-01 -1.42585640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.820281693 meters Centerline goodness [0,1] 0.9986767122702922 Centerline is valid? [True, True] Translation: X:249.08, Y:-13.60, Z:-1.43 [[ 9.96729948e-01 8.03350748e-02 8.69980325e-03 2.49082757e+02] [-8.03312656e-02 9.96767911e-01 -7.86975876e-04 -1.36000492e+01] [-8.73490647e-03 8.55362192e-05 9.99961846e-01 -1.42592698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.850281693 meters Centerline goodness [0,1] 0.9983085684922708 Centerline is valid? [True, True] Translation: X:249.11, Y:-13.60, Z:-1.43 [[ 9.96883670e-01 7.84583905e-02 8.19930668e-03 2.49111843e+02] [-7.84549469e-02 9.96917385e-01 -7.41285445e-04 -1.36024379e+01] [-8.23219143e-03 9.56991845e-05 9.99966110e-01 -1.42700489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.880281693 meters Centerline goodness [0,1] 0.9984149460024938 Centerline is valid? [True, True] Translation: X:249.14, Y:-13.61, Z:-1.43 [[ 9.97018472e-01 7.67987360e-02 7.49137291e-03 2.49139757e+02] [-7.67958172e-02 9.97046611e-01 -6.76928916e-04 -1.36067614e+01] [-7.52123526e-03 9.96045287e-05 9.99971710e-01 -1.42846377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.910281693 meters Centerline goodness [0,1] 0.9979785083519523 Centerline is valid? [True, True] Translation: X:249.17, Y:-13.61, Z:-1.43 [[ 9.97234435e-01 7.39766961e-02 7.13659543e-03 2.49168190e+02] [-7.39739776e-02 9.97259964e-01 -6.44506743e-04 -1.36109380e+01] [-7.16471937e-03 1.14801967e-04 9.99974326e-01 -1.43011098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.940281693 meters Centerline goodness [0,1] 0.9976742219215156 Centerline is valid? [True, True] Translation: X:249.20, Y:-13.62, Z:-1.43 [[ 9.97278523e-01 7.34507866e-02 6.36631202e-03 2.49195250e+02] [-7.34486143e-02 9.97298837e-01 -5.74656929e-04 -1.36183284e+01] [-6.39132458e-03 1.05496216e-04 9.99979570e-01 -1.43134423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.970281693 meters Centerline goodness [0,1] 0.9986462475674761 Centerline is valid? [True, True] Translation: X:249.22, Y:-13.62, Z:-1.44 [[ 9.97274930e-01 7.36861489e-02 3.61459619e-03 2.49224848e+02] [-7.36854505e-02 9.97281479e-01 -3.26169157e-04 -1.36155012e+01] [-3.62880398e-03 5.89371742e-05 9.99993414e-01 -1.43737371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.000281693 meters Centerline goodness [0,1] 0.9984864311752543 Centerline is valid? [True, True] Translation: X:249.25, Y:-13.62, Z:-1.44 [[ 9.97278462e-01 7.36871001e-02 2.42498205e-03 2.49254256e+02] [-7.36867859e-02 9.97281409e-01 -2.18787387e-04 -1.36154945e+01] [-2.43451133e-03 3.95028162e-05 9.99997036e-01 -1.43944091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.030281693 meters Centerline goodness [0,1] 0.9983240341981883 Centerline is valid? [True, True] Translation: X:249.28, Y:-13.62, Z:-1.44 [[ 9.97311974e-01 7.32421774e-02 2.09984340e-03 2.49281371e+02] [-7.32419409e-02 9.97314184e-01 -1.89427905e-04 -1.36245990e+01] [-2.10807772e-03 3.51221115e-05 9.99997777e-01 -1.44140291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.060281693 meters Centerline goodness [0,1] 0.9984830032262889 Centerline is valid? [True, True] Translation: X:249.31, Y:-13.62, Z:-1.44 [[ 9.97357207e-01 7.26110696e-02 2.49666732e-03 2.49310884e+02] [-7.26107338e-02 9.97360331e-01 -2.24980616e-04 -1.36234846e+01] [-2.50641302e-03 4.31011928e-05 9.99996858e-01 -1.43968100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.090281693 meters Centerline goodness [0,1] 0.9987300512212675 Centerline is valid? [True, True] Translation: X:249.34, Y:-13.63, Z:-1.44 [[ 9.97451492e-01 7.12721552e-02 3.28653781e-03 2.49337858e+02] [-7.12715668e-02 9.97456904e-01 -2.95955820e-04 -1.36334095e+01] [-3.29927324e-03 6.09648753e-05 9.99994556e-01 -1.43898814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.120281693 meters Centerline goodness [0,1] 0.998491031199524 Centerline is valid? [True, True] Translation: X:249.37, Y:-13.64, Z:-1.44 [[ 9.97505308e-01 7.05438401e-02 2.59385271e-03 2.49366497e+02] [-7.05434714e-02 9.97508679e-01 -2.33464326e-04 -1.36371739e+01] [-2.60386006e-03 4.99025304e-05 9.99996609e-01 -1.44015220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15028169299998 meters Centerline goodness [0,1] 0.998613836048793 Centerline is valid? [True, True] Translation: X:249.40, Y:-13.64, Z:-1.44 [[ 9.97475311e-01 7.10101802e-02 7.46921285e-04 2.49395146e+02] [-7.10101497e-02 9.97475591e-01 -6.73511631e-05 -1.36397097e+01] [-7.49818368e-04 1.41421301e-05 9.99999719e-01 -1.44288366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18028169299998 meters Centerline goodness [0,1] 0.9989637086540902 Centerline is valid? [True, True] Translation: X:249.42, Y:-13.65, Z:-1.44 [[ 9.97353989e-01 7.26958866e-02 5.72690112e-04 2.49422705e+02] [-7.26958689e-02 9.97354154e-01 -5.17124026e-05 -1.36459448e+01] [-5.74934141e-04 9.94336576e-06 9.99999835e-01 -1.44454003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21028169299998 meters Centerline goodness [0,1] 0.9991624790619765 Centerline is valid? [True, True] Translation: X:249.45, Y:-13.64, Z:-1.44 [[ 9.97207151e-01 7.46809761e-02 8.05637572e-04 2.49452260e+02] [-7.46809419e-02 9.97207477e-01 -7.25433979e-05 -1.36426355e+01] [-8.08805423e-04 1.21750225e-05 9.99999673e-01 -1.44312441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.240281693 meters Centerline goodness [0,1] 0.9992755321642411 Centerline is valid? [True, True] Translation: X:249.48, Y:-13.64, Z:-1.44 [[ 9.96819406e-01 7.96628466e-02 2.21418726e-03 2.49480845e+02] [-7.96626013e-02 9.96821865e-01 -1.98891221e-04 -1.36390832e+01] [-2.22299451e-03 2.18707114e-05 9.99997529e-01 -1.44148941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.270281693 meters Centerline goodness [0,1] 0.9993207098581982 Centerline is valid? [True, True] Translation: X:249.51, Y:-13.64, Z:-1.44 [[ 9.96619143e-01 8.21138202e-02 2.75741662e-03 2.49508418e+02] [-8.21134497e-02 9.96622958e-01 -2.47527049e-04 -1.36401661e+01] [-2.76843010e-03 2.02692045e-05 9.99996168e-01 -1.44141319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.300281693 meters Centerline goodness [0,1] 0.9995100545330606 Centerline is valid? [True, True] Translation: X:249.54, Y:-13.64, Z:-1.44 [[ 9.96454506e-01 8.40806349e-02 2.97720507e-03 2.49537209e+02] [-8.40802123e-02 9.96458954e-01 -2.67047341e-04 -1.36390976e+01] [-2.98911616e-03 1.57764922e-05 9.99995532e-01 -1.44119648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.330281693 meters Centerline goodness [0,1] 0.9996159016708277 Centerline is valid? [True, True] Translation: X:249.57, Y:-13.64, Z:-1.44 [[ 9.96324386e-01 8.56237065e-02 2.50962647e-03 2.49566326e+02] [-8.56234113e-02 9.96327547e-01 -2.25028053e-04 -1.36417328e+01] [-2.51967772e-03 9.31815767e-06 9.99996826e-01 -1.44248968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.360281693 meters Centerline goodness [0,1] 0.999509385665529 Centerline is valid? [True, True] Translation: X:249.59, Y:-13.65, Z:-1.44 [[ 9.96330534e-01 8.55453276e-02 2.73219946e-03 2.49594196e+02] [-8.55449777e-02 9.96334280e-01 -2.44860565e-04 -1.36451886e+01] [-2.74313065e-03 1.02361155e-05 9.99996238e-01 -1.44301177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.390281693 meters Centerline goodness [0,1] 0.9993344783168742 Centerline is valid? [True, True] Translation: X:249.62, Y:-13.65, Z:-1.44 [[ 9.96459536e-01 8.39925613e-02 3.69349460e-03 2.49622492e+02] [-8.39919125e-02 9.96466381e-01 -3.30689987e-04 -1.36525563e+01] [-3.70821870e-03 1.92955159e-05 9.99993124e-01 -1.44193614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.420281693 meters Centerline goodness [0,1] 0.999534903386749 Centerline is valid? [True, True] Translation: X:249.65, Y:-13.66, Z:-1.44 [[ 9.96597526e-01 8.23533675e-02 3.36065382e-03 2.49649366e+02] [-8.23528215e-02 9.96603192e-01 -3.00766492e-04 -1.36591943e+01] [-3.37400745e-03 2.29838179e-05 9.99994308e-01 -1.44237326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.450281693 meters Centerline goodness [0,1] 0.9993593439682235 Centerline is valid? [True, True] Translation: X:249.68, Y:-13.67, Z:-1.44 [[ 9.96744686e-01 8.05678558e-02 2.97518915e-03 2.49677755e+02] [-8.05674204e-02 9.96749126e-01 -2.66105588e-04 -1.36650580e+01] [-2.98695674e-03 2.55360161e-05 9.99995539e-01 -1.44320002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.480281693 meters Centerline goodness [0,1] 0.999403442986194 Centerline is valid? [True, True] Translation: X:249.71, Y:-13.67, Z:-1.44 [[ 9.96936555e-01 7.81801574e-02 2.31688868e-03 2.49705245e+02] [-7.81798870e-02 9.96939247e-01 -2.07194093e-04 -1.36739405e+01] [-2.32599572e-03 2.54252703e-05 9.99997295e-01 -1.44370667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.510281693 meters Centerline goodness [0,1] 0.999513093549548 Centerline is valid? [True, True] Translation: X:249.73, Y:-13.68, Z:-1.44 [[ 9.96970881e-01 7.77465599e-02 2.12969091e-03 2.49733508e+02] [-7.77463307e-02 9.96973155e-01 -1.90323047e-04 -1.36785966e+01] [-2.13804163e-03 2.41708819e-05 9.99997714e-01 -1.44459444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.540281693 meters Centerline goodness [0,1] 0.9994501892617733 Centerline is valid? [True, True] Translation: X:249.76, Y:-13.69, Z:-1.45 [[ 9.96972576e-01 7.77450660e-02 1.17792593e-03 2.49762277e+02] [-7.77449958e-02 9.96973272e-01 -1.05309366e-04 -1.36850367e+01] [-1.18254795e-03 1.34127035e-05 9.99999301e-01 -1.44691656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.570281693 meters Centerline goodness [0,1] 0.9994721506693129 Centerline is valid? [True, True] Translation: X:249.79, Y:-13.69, Z:-1.45 [[ 9.97014359e-01 7.72155822e-02 3.49260114e-04 2.49789854e+02] [-7.72155759e-02 9.97014420e-01 -3.14068052e-05 -1.36900715e+01] [-3.50642465e-04 4.34471488e-06 9.99999939e-01 -1.44954285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.600281693 meters Centerline goodness [0,1] 0.9993766524084862 Centerline is valid? [True, True] Translation: X:249.82, Y:-13.70, Z:-1.45 [[ 9.97072000e-01 7.64646300e-02 -7.65916879e-04 2.49818438e+02] [-7.64646003e-02 9.97072294e-01 6.80465351e-05 -1.36951152e+01] [ 7.68877653e-04 -9.28176689e-06 9.99999704e-01 -1.45214361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.630281693 meters Centerline goodness [0,1] 0.9994655264564404 Centerline is valid? [True, True] Translation: X:249.85, Y:-13.70, Z:-1.46 [[ 9.97157341e-01 7.53125801e-02 -2.29165924e-03 2.49845252e+02] [-7.53123103e-02 9.97159974e-01 2.03918768e-04 -1.37045750e+01] [ 2.30050852e-03 -3.07489451e-05 9.99997353e-01 -1.45535153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.660281693 meters Centerline goodness [0,1] 0.9994921494773372 Centerline is valid? [True, True] Translation: X:249.87, Y:-13.71, Z:-1.45 [[ 9.97160536e-01 7.52693445e-02 -2.32178999e-03 2.49873914e+02] [-7.52690677e-02 9.97163239e-01 2.06498266e-04 -1.37086603e+01] [ 2.33074662e-03 -3.11529535e-05 9.99997283e-01 -1.45484863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.690281693 meters Centerline goodness [0,1] 0.9994916654311312 Centerline is valid? [True, True] Translation: X:249.90, Y:-13.71, Z:-1.45 [[ 9.96995789e-01 7.74204440e-02 -2.33910635e-03 2.49903204e+02] [-7.74201692e-02 9.96998533e-01 2.07938971e-04 -1.37078093e+01] [ 2.34818433e-03 -2.62202693e-05 9.99997243e-01 -1.45448211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.720281693 meters Centerline goodness [0,1] 0.9996182639492716 Centerline is valid? [True, True] Translation: X:249.93, Y:-13.71, Z:-1.46 [[ 9.96825673e-01 7.95544761e-02 -3.10869144e-03 2.49931778e+02] [-7.95540013e-02 9.96830519e-01 2.76281606e-04 -1.37069034e+01] [ 3.12081794e-03 -2.80957551e-05 9.99995130e-01 -1.45653755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.750281693 meters Centerline goodness [0,1] 0.9998292714157668 Centerline is valid? [True, True] Translation: X:249.96, Y:-13.71, Z:-1.46 [[ 9.96521496e-01 8.32442209e-02 -3.91238854e-03 2.49959447e+02] [-8.32434982e-02 9.96529176e-01 3.47495351e-04 -1.37056003e+01] [ 3.92773631e-03 -2.06056782e-05 9.99992286e-01 -1.45880021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.780281693 meters Centerline goodness [0,1] 0.9998725762949434 Centerline is valid? [True, True] Translation: X:249.99, Y:-13.71, Z:-1.46 [[ 9.96429881e-01 8.43302921e-02 -3.98679175e-03 2.49988426e+02] [-8.43295508e-02 9.96437856e-01 3.53983400e-04 -1.37075087e+01] [ 4.00244175e-03 -1.65152796e-05 9.99991990e-01 -1.45905816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.810281693 meters Centerline goodness [0,1] 0.9998936554863135 Centerline is valid? [True, True] Translation: X:250.02, Y:-13.71, Z:-1.46 [[ 9.96383744e-01 8.48854004e-02 -3.72866394e-03 2.50016031e+02] [-8.48847568e-02 9.96390721e-01 3.30792487e-04 -1.37098546e+01] [ 3.74328561e-03 -1.30895249e-05 9.99992994e-01 -1.45900391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.840281693 meters Centerline goodness [0,1] 0.9997227494721577 Centerline is valid? [True, True] Translation: X:250.04, Y:-13.71, Z:-1.45 [[ 9.96304665e-01 8.58725751e-02 -1.70725583e-03 2.50043683e+02] [-8.58724421e-02 9.96306128e-01 1.51186441e-04 -1.37123853e+01] [ 1.71393222e-03 -4.02152899e-06 9.99998531e-01 -1.45493220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.870281693 meters Centerline goodness [0,1] 0.9996580904350799 Centerline is valid? [True, True] Translation: X:250.07, Y:-13.71, Z:-1.45 [[ 9.96260852e-01 8.63943678e-02 -5.72509624e-04 2.50071999e+02] [-8.63943530e-02 9.96261017e-01 5.05575251e-05 -1.37146466e+01] [ 5.74736905e-04 -9.06884480e-07 9.99999835e-01 -1.45246815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90028169299998 meters Centerline goodness [0,1] 0.9997025327214006 Centerline is valid? [True, True] Translation: X:250.10, Y:-13.72, Z:-1.45 [[ 9.96221398e-01 8.68490246e-02 -4.16533065e-04 2.50100146e+02] [-8.68490169e-02 9.96221485e-01 3.66511505e-05 -1.37170342e+01] [ 4.18142305e-04 -3.37173169e-07 9.99999913e-01 -1.45279791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93028169299998 meters Centerline goodness [0,1] 0.9996814813241883 Centerline is valid? [True, True] Translation: X:250.13, Y:-13.72, Z:-1.46 [[ 9.96102488e-01 8.81509152e-02 -3.04141536e-03 2.50128355e+02] [-8.81505044e-02 9.96107131e-01 2.69119648e-04 -1.37175503e+01] [ 3.05329867e-03 3.15470739e-08 9.99995339e-01 -1.45847790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96028169299998 meters Centerline goodness [0,1] 0.9996814813241883 Centerline is valid? [True, True] Translation: X:250.16, Y:-13.72, Z:-1.46 [[ 9.96108163e-01 8.80867616e-02 -3.04143708e-03 2.50155750e+02] [-8.80863513e-02 9.96112806e-01 2.68874202e-04 -1.37198340e+01] [ 3.05329868e-03 8.13073418e-08 9.99995339e-01 -1.45860734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.990281693 meters Centerline goodness [0,1] 0.9998301414072784 Centerline is valid? [True, True] Translation: X:250.18, Y:-13.72, Z:-1.46 [[ 9.96016058e-01 8.90311032e-02 -5.04720501e-03 2.50184146e+02] [-8.90299858e-02 9.96028846e-01 4.46071392e-04 -1.37205432e+01] [ 5.06687602e-03 5.05832155e-06 9.99987163e-01 -1.46274492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02028169299996 meters Centerline goodness [0,1] 0.9997869166844237 Centerline is valid? [True, True] Translation: X:250.21, Y:-13.72, Z:-1.47 [[ 9.95857978e-01 9.07047925e-02 -6.28720102e-03 2.50212910e+02] [-9.07030926e-02 9.95877824e-01 5.55563990e-04 -1.37201014e+01] [ 6.31167639e-03 1.70057452e-05 9.99980081e-01 -1.46581660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.050281693 meters Centerline goodness [0,1] 0.9994233849439402 Centerline is valid? [True, True] Translation: X:250.24, Y:-13.72, Z:-1.46 [[ 9.95526083e-01 9.42530929e-02 -6.64625659e-03 2.50242124e+02] [-9.42512746e-02 9.95548267e-01 5.86974230e-04 -1.37161337e+01] [ 6.67199337e-03 4.20699992e-05 9.99977741e-01 -1.46348523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08028169299996 meters Centerline goodness [0,1] 0.9994035573543508 Centerline is valid? [True, True] Translation: X:250.27, Y:-13.71, Z:-1.46 [[ 9.95346914e-01 9.61632967e-02 -6.09431156e-03 2.50270559e+02] [-9.61618062e-02 9.95365570e-01 5.37799341e-04 -1.37118154e+01] [ 6.11778445e-03 5.07430920e-05 9.99981285e-01 -1.46483703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.110281693 meters Centerline goodness [0,1] 0.9988093972573615 Centerline is valid? [True, True] Translation: X:250.30, Y:-13.70, Z:-1.46 [[ 9.94913712e-01 1.00605460e-01 -5.02471915e-03 2.50300681e+02] [-1.00604504e-01 9.94926398e-01 4.43201472e-04 -1.37025323e+01] [ 5.04381421e-03 6.45621567e-05 9.99987278e-01 -1.46059456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14028169299996 meters Centerline goodness [0,1] 0.9987197268750667 Centerline is valid? [True, True] Translation: X:250.33, Y:-13.70, Z:-1.46 [[ 9.94651294e-01 1.03179685e-01 -4.77042154e-03 2.50330333e+02] [-1.03178854e-01 9.94662730e-01 4.20546167e-04 -1.36973742e+01] [ 4.78835234e-03 7.39098401e-05 9.99988533e-01 -1.46018218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.170281693 meters Centerline goodness [0,1] 0.9984008187807842 Centerline is valid? [True, True] Translation: X:250.36, Y:-13.69, Z:-1.46 [[ 9.94345220e-01 1.06093561e-01 -4.66251439e-03 2.50359805e+02] [-1.06092800e-01 9.94356148e-01 4.10797329e-04 -1.36939532e+01] [ 4.67978280e-03 8.61848487e-05 9.99989046e-01 -1.45868716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20028169299997 meters Centerline goodness [0,1] 0.9974729628439876 Centerline is valid? [True, True] Translation: X:250.39, Y:-13.68, Z:-1.46 [[ 9.93706957e-01 1.11935757e-01 -4.10727363e-03 2.50390732e+02] [-1.11935216e-01 9.93715440e-01 3.61969090e-04 -1.36785069e+01] [ 4.12197851e-03 1.00057359e-04 9.99991500e-01 -1.45844176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.230281693 meters Centerline goodness [0,1] 0.9971662809059249 Centerline is valid? [True, True] Translation: X:250.42, Y:-13.67, Z:-1.46 [[ 9.93531310e-01 1.13513599e-01 -3.19362080e-03 2.50419890e+02] [-1.13513281e-01 9.93536439e-01 2.81118197e-04 -1.36749203e+01] [ 3.20488937e-03 8.32186442e-05 9.99994861e-01 -1.45725889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26028169299997 meters Centerline goodness [0,1] 0.9971375472625126 Centerline is valid? [True, True] Translation: X:250.45, Y:-13.67, Z:-1.46 [[ 9.93454604e-01 1.14209491e-01 -2.03508248e-03 2.50448946e+02] [-1.14209364e-01 9.93456687e-01 1.78953580e-04 -1.36734417e+01] [ 2.04220450e-03 5.46432182e-05 9.99997913e-01 -1.45515893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29028169299994 meters Centerline goodness [0,1] 0.9970760233918129 Centerline is valid? [True, True] Translation: X:250.48, Y:-13.67, Z:-1.45 [[ 9.93668156e-01 1.12351696e-01 8.31503811e-04 2.50476826e+02] [-1.12351673e-01 9.93668504e-01 -7.35368789e-05 -1.36712237e+01] [-8.34501142e-04 -2.03495896e-05 9.99999652e-01 -1.45081012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32028169299997 meters Centerline goodness [0,1] 0.9976241488301054 Centerline is valid? [True, True] Translation: X:250.51, Y:-13.67, Z:-1.45 [[ 9.93941666e-01 1.09893000e-01 1.86888883e-03 2.50505340e+02] [-1.09892885e-01 9.93943422e-01 -1.64524540e-04 -1.36742670e+01] [-1.87564985e-03 -4.18497898e-05 9.99998240e-01 -1.44933235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35028169299994 meters Centerline goodness [0,1] 0.9985658244400388 Centerline is valid? [True, True] Translation: X:250.53, Y:-13.68, Z:-1.45 [[ 9.94692939e-01 1.02870576e-01 1.89804875e-03 2.50534295e+02] [-1.02870445e-01 9.94694749e-01 -1.66931132e-04 -1.36813455e+01] [-1.90515142e-03 -2.92079013e-05 9.99998185e-01 -1.44899754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.380281693 meters Centerline goodness [0,1] 0.998960300451951 Centerline is valid? [True, True] Translation: X:250.56, Y:-13.69, Z:-1.45 [[ 9.95065750e-01 9.92055612e-02 1.55261933e-03 2.50562606e+02] [-9.92054688e-02 9.95066961e-01 -1.36608336e-04 -1.36886910e+01] [-1.55851251e-03 -1.80940528e-05 9.99998785e-01 -1.44981619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41028169299994 meters Centerline goodness [0,1] 0.9989979319020106 Centerline is valid? [True, True] Translation: X:250.59, Y:-13.70, Z:-1.45 [[ 9.95381441e-01 9.59846564e-02 1.65315111e-03 2.50591016e+02] [-9.59845473e-02 9.95382814e-01 -1.45362041e-04 -1.36957264e+01] [-1.65947073e-03 -1.39862837e-05 9.99998623e-01 -1.44991417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.440281693 meters Centerline goodness [0,1] 0.9991501837727591 Centerline is valid? [True, True] Translation: X:250.62, Y:-13.70, Z:-1.45 [[ 9.95841155e-01 9.10913603e-02 1.66093753e-03 2.50618903e+02] [-9.10912435e-02 9.95842540e-01 -1.45967925e-04 -1.37046603e+01] [-1.66732867e-03 -5.93599861e-06 9.99998610e-01 -1.45018685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47028169299995 meters Centerline goodness [0,1] 0.9993439986456746 Centerline is valid? [True, True] Translation: X:250.65, Y:-13.71, Z:-1.45 [[ 9.96009078e-01 8.92439609e-02 1.19657930e-03 2.50646474e+02] [-8.92438989e-02 9.96009797e-01 -1.05204495e-04 -1.37078996e+01] [-1.20119357e-03 -2.00276945e-06 9.99999279e-01 -1.45108055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.500281693 meters Centerline goodness [0,1] 0.9992530465031906 Centerline is valid? [True, True] Translation: X:250.67, Y:-13.71, Z:-1.45 [[ 9.96129213e-01 8.79002429e-02 3.73153058e-04 2.50674750e+02] [-8.79002367e-02 9.96129282e-01 -3.30152784e-05 -1.37110394e+01] [-3.74610739e-04 8.72411151e-08 9.99999930e-01 -1.45288642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53028169299995 meters Centerline goodness [0,1] 0.999199308877136 Centerline is valid? [True, True] Translation: X:250.70, Y:-13.72, Z:-1.45 [[ 9.96296382e-01 8.59802630e-02 -9.55754566e-04 2.50703485e+02] [-8.59802224e-02 9.96296840e-01 8.34825659e-05 -1.37156389e+01] [ 9.59393108e-04 -9.97388206e-07 9.99999540e-01 -1.45494874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.560281693 meters Centerline goodness [0,1] 0.9994482641541466 Centerline is valid? [True, True] Translation: X:250.73, Y:-13.72, Z:-1.46 [[ 9.96391134e-01 8.48677818e-02 -1.47237100e-03 2.50732503e+02] [-8.48676842e-02 9.96392222e-01 1.28728657e-04 -1.37192707e+01] [ 1.47798393e-03 -3.30737557e-06 9.99998908e-01 -1.45567599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59028169299995 meters Centerline goodness [0,1] 0.9993669283362877 Centerline is valid? [True, True] Translation: X:250.76, Y:-13.72, Z:-1.46 [[ 9.96637215e-01 8.19290121e-02 -1.37770417e-03 2.50759569e+02] [-8.19289242e-02 9.96638168e-01 1.20253188e-04 -1.37240154e+01] [ 1.38292478e-03 -6.97498191e-06 9.99999044e-01 -1.45572933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.620281693 meters Centerline goodness [0,1] 0.9994051665533651 Centerline is valid? [True, True] Translation: X:250.79, Y:-13.73, Z:-1.46 [[ 9.96748611e-01 8.05627298e-02 -1.36144314e-03 2.50787831e+02] [-8.05626426e-02 9.96749541e-01 1.18825946e-04 -1.37281528e+01] [ 1.36659076e-03 -8.75813963e-06 9.99999066e-01 -1.45600919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65028169299995 meters Centerline goodness [0,1] 0.9992934980410627 Centerline is valid? [True, True] Translation: X:250.82, Y:-13.73, Z:-1.46 [[ 9.96887515e-01 7.88134502e-02 -1.92954632e-03 2.50816326e+02] [-7.88132719e-02 9.96889382e-01 1.68409838e-04 -1.37339843e+01] [ 1.93681720e-03 -1.58118060e-05 9.99998124e-01 -1.45703177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.680281693 meters Centerline goodness [0,1] 0.9990221088435374 Centerline is valid? [True, True] Translation: X:250.84, Y:-13.75, Z:-1.46 [[ 9.97229169e-01 7.43173507e-02 -3.30385021e-03 2.50844568e+02] [-7.43168032e-02 9.97234641e-01 2.88360695e-04 -1.37467617e+01] [ 3.31614408e-03 -4.20301106e-05 9.99994501e-01 -1.46023429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71028169299996 meters Centerline goodness [0,1] 0.9991367512369723 Centerline is valid? [True, True] Translation: X:250.87, Y:-13.76, Z:-1.46 [[ 9.97393711e-01 7.20830718e-02 -3.13320962e-03 2.50871639e+02] [-7.20825694e-02 9.97398631e-01 2.73132743e-04 -1.37550476e+01] [ 3.14474723e-03 -4.65710804e-05 9.99995054e-01 -1.46049125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.740281693 meters Centerline goodness [0,1] 0.9990047011985939 Centerline is valid? [True, True] Translation: X:250.90, Y:-13.76, Z:-1.46 [[ 9.97540791e-01 7.00418493e-02 -2.55144506e-03 2.50899590e+02] [-7.00415096e-02 9.97544053e-01 2.22353475e-04 -1.37619634e+01] [ 2.56075290e-03 -4.30995976e-05 9.99996720e-01 -1.45995230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77028169299996 meters Centerline goodness [0,1] 0.9985177342509264 Centerline is valid? [True, True] Translation: X:250.93, Y:-13.78, Z:-1.46 [[ 9.97766906e-01 6.67426435e-02 -2.57305144e-03 2.50926842e+02] [-6.67422871e-02 9.97770222e-01 2.24204682e-04 -1.37760497e+01] [ 2.58227812e-03 -5.19726739e-05 9.99996665e-01 -1.45941867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.800281693 meters Centerline goodness [0,1] 0.9985707581381458 Centerline is valid? [True, True] Translation: X:250.95, Y:-13.79, Z:-1.46 [[ 9.97849139e-01 6.55055258e-02 -2.47428102e-03 2.50954278e+02] [-6.55051931e-02 9.97852205e-01 2.15351024e-04 -1.37853739e+01] [ 2.48307345e-03 -5.28095778e-05 9.99996916e-01 -1.45964106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83028169299996 meters Centerline goodness [0,1] 0.9983284668443994 Centerline is valid? [True, True] Translation: X:250.98, Y:-13.80, Z:-1.46 [[ 9.97916916e-01 6.44687565e-02 -2.36825033e-03 2.50981017e+02] [-6.44684491e-02 9.97919725e-01 2.05982754e-04 -1.37974880e+01] [ 2.37660316e-03 -5.28762490e-05 9.99997174e-01 -1.45942293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.860281693 meters Centerline goodness [0,1] 0.9986105470169513 Centerline is valid? [True, True] Translation: X:251.01, Y:-13.80, Z:-1.46 [[ 9.97869212e-01 6.51895909e-02 -2.71159175e-03 2.51010087e+02] [-6.51891911e-02 9.97872895e-01 2.35656812e-04 -1.38011727e+01] [ 2.72118628e-03 -5.83882042e-05 9.99996296e-01 -1.46010839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89028169299996 meters Centerline goodness [0,1] 0.9987165775401069 Centerline is valid? [True, True] Translation: X:251.04, Y:-13.80, Z:-1.46 [[ 9.97782563e-01 6.64871008e-02 -3.06971279e-03 2.51038577e+02] [-6.64865947e-02 9.97787283e-01 2.66766840e-04 -1.38012953e+01] [ 3.08065694e-03 -6.20805508e-05 9.99995253e-01 -1.45955557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.920281693 meters Centerline goodness [0,1] 0.998984707151469 Centerline is valid? [True, True] Translation: X:251.07, Y:-13.81, Z:-1.46 [[ 9.97440146e-01 7.14240563e-02 -3.42909859e-03 2.51066694e+02] [-7.14234539e-02 9.97446039e-01 2.97960595e-04 -1.38065226e+01] [ 3.44162236e-03 -5.22797939e-05 9.99994076e-01 -1.46136084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95028169299997 meters Centerline goodness [0,1] 0.9989713918354227 Centerline is valid? [True, True] Translation: X:251.10, Y:-13.81, Z:-1.46 [[ 9.97180420e-01 7.49522511e-02 -3.65653802e-03 2.51096062e+02] [-7.49515903e-02 9.97187123e-01 3.17623898e-04 -1.38064550e+01] [ 3.67005925e-03 -4.26649927e-05 9.99993264e-01 -1.45584705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.980281693 meters Centerline goodness [0,1] 0.9996379358081485 Centerline is valid? [True, True] Translation: X:251.13, Y:-13.80, Z:-1.46 [[ 9.96604614e-01 8.22698188e-02 -3.30456360e-03 2.51126337e+02] [-8.22693197e-02 9.96610093e-01 2.86913171e-04 -1.37972710e+01] [ 3.31696573e-03 -1.40747911e-05 9.99994499e-01 -1.46003057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01028169299997 meters Centerline goodness [0,1] 0.9996796719841118 Centerline is valid? [True, True] Translation: X:251.15, Y:-13.80, Z:-1.46 [[ 9.96346300e-01 8.53337631e-02 -3.49279845e-03 2.51153977e+02] [-8.53332254e-02 9.96352422e-01 3.02957699e-04 -1.37956769e+01] [ 3.50591072e-03 -3.79902475e-06 9.99993854e-01 -1.46100699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04028169299994 meters Centerline goodness [0,1] 0.9995909227920596 Centerline is valid? [True, True] Translation: X:251.18, Y:-13.80, Z:-1.46 [[ 9.96174341e-01 8.73137266e-02 -3.60488608e-03 2.51181964e+02] [-8.73131678e-02 9.96180864e-01 3.12387177e-04 -1.37960549e+01] [ 3.61839422e-03 3.56193332e-06 9.99993454e-01 -1.46164328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07028169299997 meters Centerline goodness [0,1] 0.9996181667762669 Centerline is valid? [True, True] Translation: X:251.21, Y:-13.80, Z:-1.46 [[ 9.96131551e-01 8.77827948e-02 -4.01421326e-03 2.51209463e+02] [-8.77821064e-02 9.96139639e-01 3.47720442e-04 -1.37997239e+01] [ 4.02924082e-03 6.00079248e-06 9.99991883e-01 -1.46277652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10028169299994 meters Centerline goodness [0,1] 0.9997008738756062 Centerline is valid? [True, True] Translation: X:251.24, Y:-13.81, Z:-1.46 [[ 9.96379181e-01 8.48699762e-02 -5.06106583e-03 2.51237737e+02] [-8.48688448e-02 9.96392035e-01 4.38286754e-04 -1.38108751e+01] [ 5.08000307e-03 -7.17298648e-06 9.99987097e-01 -1.46405144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.130281693 meters Centerline goodness [0,1] 0.9995950208883962 Centerline is valid? [True, True] Translation: X:251.26, Y:-13.83, Z:-1.46 [[ 9.96769028e-01 8.01713565e-02 -4.90498769e-03 2.51264304e+02] [-8.01702386e-02 9.96781096e-01 4.24427106e-04 -1.38251942e+01] [ 4.92322590e-03 -2.98217601e-05 9.99987880e-01 -1.46451357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16028169299994 meters Centerline goodness [0,1] 0.9993816499285699 Centerline is valid? [True, True] Translation: X:251.29, Y:-13.83, Z:-1.46 [[ 9.96972535e-01 7.76008658e-02 -4.88568917e-03 2.51292318e+02] [-7.75997266e-02 9.96984505e-01 4.22597469e-04 -1.38341104e+01] [ 4.90375033e-03 -4.21899258e-05 9.99987976e-01 -1.46457838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.190281693 meters Centerline goodness [0,1] 0.9993625159371016 Centerline is valid? [True, True] Translation: X:251.32, Y:-13.84, Z:-1.46 [[ 9.97150490e-01 7.52730267e-02 -4.98719703e-03 2.51320234e+02] [-7.52718116e-02 9.97162960e-01 4.31160947e-04 -1.38426103e+01] [ 5.00550294e-03 -5.45369940e-05 9.99987471e-01 -1.46479421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22028169299995 meters Centerline goodness [0,1] 0.9993196411106859 Centerline is valid? [True, True] Translation: X:251.35, Y:-13.85, Z:-1.47 [[ 9.97296301e-01 7.33201692e-02 -4.92358878e-03 2.51348377e+02] [-7.33189622e-02 9.97308452e-01 4.25441235e-04 -1.38501124e+01] [ 4.94153013e-03 -6.32985493e-05 9.99987789e-01 -1.46532561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.250281693 meters Centerline goodness [0,1] 0.9990169889945507 Centerline is valid? [True, True] Translation: X:251.38, Y:-13.86, Z:-1.46 [[ 9.97499794e-01 7.05171073e-02 -4.63664398e-03 2.51376249e+02] [-7.05160077e-02 9.97510568e-01 4.00410316e-04 -1.38589046e+01] [ 4.65333714e-03 -7.24515853e-05 9.99989171e-01 -1.46390267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28028169299995 meters Centerline goodness [0,1] 0.9989572471324296 Centerline is valid? [True, True] Translation: X:251.40, Y:-13.87, Z:-1.46 [[ 9.97622390e-01 6.87557351e-02 -4.71343076e-03 2.51403002e+02] [-6.87545806e-02 9.97633521e-01 4.06721710e-04 -1.38714025e+01] [ 4.73024097e-03 -8.16847290e-05 9.99988809e-01 -1.46417687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.310281693 meters Centerline goodness [0,1] 0.9991541015501089 Centerline is valid? [True, True] Translation: X:251.43, Y:-13.88, Z:-1.46 [[ 9.97666189e-01 6.80859633e-02 -5.14550206e-03 2.51431645e+02] [-6.80845794e-02 9.97679454e-01 4.43846919e-04 -1.38776350e+01] [ 5.16378143e-03 -9.24817202e-05 9.99986663e-01 -1.46423845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34028169299995 meters Centerline goodness [0,1] 0.9989761092150171 Centerline is valid? [True, True] Translation: X:251.46, Y:-13.88, Z:-1.47 [[ 9.97691252e-01 6.76760986e-02 -5.66661288e-03 2.51459138e+02] [-6.76744159e-02 9.97707339e-01 4.88380357e-04 -1.38832913e+01] [ 5.68667294e-03 -1.03768093e-04 9.99983825e-01 -1.46553050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.370281693 meters Centerline goodness [0,1] 0.99886543648585 Centerline is valid? [True, True] Translation: X:251.49, Y:-13.89, Z:-1.47 [[ 9.97693134e-01 6.76541314e-02 -5.59722918e-03 2.51486376e+02] [-6.76524910e-02 9.97708829e-01 4.82114540e-04 -1.38894362e+01] [ 5.61702201e-03 -1.02335870e-04 9.99984219e-01 -1.46700401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40028169299995 meters Centerline goodness [0,1] 0.998641938632602 Centerline is valid? [True, True] Translation: X:251.51, Y:-13.90, Z:-1.46 [[ 9.97766284e-01 6.66924850e-02 -3.81511754e-03 2.51514597e+02] [-6.66917166e-02 9.97773575e-01 3.28426054e-04 -1.38981689e+01] [ 3.82852701e-03 -7.32557062e-05 9.99992668e-01 -1.46380075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.430281693 meters Centerline goodness [0,1] 0.9985263468137513 Centerline is valid? [True, True] Translation: X:251.54, Y:-13.90, Z:-1.46 [[ 9.97854349e-01 6.54055933e-02 -2.96774800e-03 2.51543262e+02] [-6.54051232e-02 9.97858760e-01 2.55298890e-04 -1.39037668e+01] [ 2.97809131e-03 -6.06451839e-05 9.99995564e-01 -1.46131671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46028169299996 meters Centerline goodness [0,1] 0.9979328383395207 Centerline is valid? [True, True] Translation: X:251.57, Y:-13.91, Z:-1.46 [[ 9.98015423e-01 6.29317395e-02 -2.19374773e-03 2.51571776e+02] [-6.29314768e-02 9.98017832e-01 1.88638001e-04 -1.39145073e+01] [ 2.20127067e-03 -5.02078501e-05 9.99997576e-01 -1.45961418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.490281693 meters Centerline goodness [0,1] 0.9980093325912924 Centerline is valid? [True, True] Translation: X:251.60, Y:-13.92, Z:-1.46 [[ 9.98048211e-01 6.23893439e-02 -2.70901756e-03 2.51600608e+02] [-6.23889412e-02 9.98051885e-01 2.32975099e-04 -1.39220453e+01] [ 2.71827525e-03 -6.35076434e-05 9.99996303e-01 -1.46088274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52028169299996 meters Centerline goodness [0,1] 0.9984849131492467 Centerline is valid? [True, True] Translation: X:251.63, Y:-13.93, Z:-1.46 [[ 9.98062503e-01 6.21140489e-02 -3.61740556e-03 2.51629756e+02] [-6.21133293e-02 9.98069055e-01 3.11042780e-04 -1.39275130e+01] [ 3.62974068e-03 -8.57510330e-05 9.99993409e-01 -1.46213470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.550281693 meters Centerline goodness [0,1] 0.9985949076045304 Centerline is valid? [True, True] Translation: X:251.66, Y:-13.94, Z:-1.47 [[ 9.98129313e-01 6.08704643e-02 -5.71494767e-03 2.51658722e+02] [-6.08686476e-02 9.98145664e-01 4.91451478e-04 -1.39418570e+01] [ 5.73426512e-03 -1.42670991e-04 9.99983549e-01 -1.46576036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58028169299996 meters Centerline goodness [0,1] 0.9980403016231415 Centerline is valid? [True, True] Translation: X:251.69, Y:-13.95, Z:-1.47 [[ 9.98166843e-01 6.01951354e-02 -6.28480250e-03 2.51686598e+02] [-6.01929269e-02 9.98186616e-01 5.40133994e-04 -1.39532179e+01] [ 6.30591918e-03 -1.60843186e-04 9.99980105e-01 -1.46731443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.610281693 meters Centerline goodness [0,1] 0.9975809731766317 Centerline is valid? [True, True] Translation: X:251.72, Y:-13.96, Z:-1.47 [[ 9.98217180e-01 5.93351657e-02 -6.46525271e-03 2.51715938e+02] [-5.93328111e-02 9.98238102e-01 5.55552769e-04 -1.39617270e+01] [ 6.48682542e-03 -1.70960701e-04 9.99978946e-01 -1.46579042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64028169299996 meters Centerline goodness [0,1] 0.9978852091528148 Centerline is valid? [True, True] Translation: X:251.74, Y:-13.97, Z:-1.47 [[ 9.98201083e-01 5.96085761e-02 -6.43543636e-03 2.51744736e+02] [-5.96062499e-02 9.98221814e-01 5.52841411e-04 -1.39698522e+01] [ 6.45694705e-03 -1.68254667e-04 9.99979140e-01 -1.46619683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.670281693 meters Centerline goodness [0,1] 0.9981700180870305 Centerline is valid? [True, True] Translation: X:251.77, Y:-13.98, Z:-1.46 [[ 9.98148477e-01 6.05463200e-02 -5.81044880e-03 2.51773904e+02] [-6.05444404e-02 9.98165378e-01 4.99005420e-04 -1.39768062e+01] [ 5.83000176e-03 -1.46291129e-04 9.99982995e-01 -1.46488207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70028169299997 meters Centerline goodness [0,1] 0.9986063894930214 Centerline is valid? [True, True] Translation: X:251.80, Y:-13.99, Z:-1.46 [[ 9.97881693e-01 6.48966966e-02 -4.53277571e-03 2.51802422e+02] [-6.48955981e-02 9.97891983e-01 3.89150106e-04 -1.39875505e+01] [ 4.54847510e-03 -9.41685754e-05 9.99989651e-01 -1.46473774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.730281693 meters Centerline goodness [0,1] 0.9991713235450354 Centerline is valid? [True, True] Translation: X:251.83, Y:-13.98, Z:-1.46 [[ 9.97700398e-01 6.75975522e-02 -4.94849693e-03 2.51832903e+02] [-6.75962756e-02 9.97712666e-01 4.24958941e-04 -1.39846613e+01] [ 4.96590425e-03 -8.94817415e-05 9.99987666e-01 -1.46342993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76028169299997 meters Centerline goodness [0,1] 0.9991441653472549 Centerline is valid? [True, True] Translation: X:251.86, Y:-13.99, Z:-1.47 [[ 9.97274892e-01 7.35623857e-02 -5.60047339e-03 2.51862512e+02] [-7.35608422e-02 9.97290615e-01 4.81363523e-04 -1.39859804e+01] [ 5.62070981e-03 -6.80762151e-05 9.99984201e-01 -1.46567871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79028169299994 meters Centerline goodness [0,1] 0.9993605184064118 Centerline is valid? [True, True] Translation: X:251.89, Y:-13.99, Z:-1.47 [[ 9.97034929e-01 7.67807282e-02 -5.10593798e-03 2.51891037e+02] [-7.67794891e-02 9.97048002e-01 4.38537180e-04 -1.39873712e+01] [ 5.12453647e-03 -4.52055762e-05 9.99986868e-01 -1.46509839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82028169299997 meters Centerline goodness [0,1] 0.9997019120214623 Centerline is valid? [True, True] Translation: X:251.92, Y:-13.99, Z:-1.46 [[ 9.96791581e-01 7.99252828e-02 -4.30046161e-03 2.51920822e+02] [-7.99244337e-02 9.96800857e-01 3.69213479e-04 -1.39885813e+01] [ 4.31621331e-03 -2.43169285e-05 9.99990685e-01 -1.46330426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85028169299994 meters Centerline goodness [0,1] 0.9998097854802916 Centerline is valid? [True, True] Translation: X:251.95, Y:-13.99, Z:-1.46 [[ 9.96224143e-01 8.67066580e-02 -4.40584385e-03 2.51949913e+02] [-8.67058335e-02 9.96233886e-01 3.78164833e-04 -1.39850339e+01] [ 4.42204035e-03 5.27542597e-06 9.99990223e-01 -1.46337831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.880281693 meters Centerline goodness [0,1] 0.9998097854802916 Centerline is valid? [True, True] Translation: X:251.98, Y:-13.99, Z:-1.46 [[ 9.96226088e-01 8.66843120e-02 -4.40585237e-03 2.51978977e+02] [-8.66834877e-02 9.96235831e-01 3.78065559e-04 -1.39874816e+01] [ 4.42204035e-03 5.27587644e-06 9.99990223e-01 -1.46351562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91028169299994 meters Centerline goodness [0,1] 0.9996818663838812 Centerline is valid? [True, True] Translation: X:252.01, Y:-13.99, Z:-1.46 [[ 9.95903847e-01 9.03054069e-02 -4.52342004e-03 2.52008717e+02] [-9.03045758e-02 9.95914119e-01 3.88054821e-04 -1.39857783e+01] [ 4.53998133e-03 2.20202390e-05 9.99989694e-01 -1.46421943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.940281693 meters Centerline goodness [0,1] 0.9995985208663497 Centerline is valid? [True, True] Translation: X:252.04, Y:-13.98, Z:-1.46 [[ 9.95619894e-01 9.33866504e-02 -4.46758535e-03 2.52037983e+02] [-9.33858721e-02 9.95629917e-01 3.82958520e-04 -1.39845979e+01] [ 4.48382484e-03 3.59282330e-05 9.99989947e-01 -1.46496668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97028169299995 meters Centerline goodness [0,1] 0.9991772576699072 Centerline is valid? [True, True] Translation: X:252.07, Y:-13.99, Z:-1.46 [[ 9.95208934e-01 9.76833462e-02 -4.14017193e-03 2.52067950e+02] [-9.76827150e-02 9.95217545e-01 3.54873956e-04 -1.39851531e+01] [ 4.15503701e-03 5.12495030e-05 9.99991366e-01 -1.46169294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.000281693 meters Centerline goodness [0,1] 0.99933598937583 Centerline is valid? [True, True] Translation: X:252.10, Y:-13.98, Z:-1.46 [[ 9.95069414e-01 9.91054154e-02 -3.87002065e-03 2.52096435e+02] [-9.91048754e-02 9.95076939e-01 3.31515744e-04 -1.39836154e+01] [ 3.88382330e-03 5.36567372e-05 9.99992456e-01 -1.46186254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03028169299995 meters Centerline goodness [0,1] 0.9992571052575722 Centerline is valid? [True, True] Translation: X:252.12, Y:-13.98, Z:-1.46 [[ 9.94989010e-01 9.99065010e-02 -3.94479295e-03 2.52124528e+02] [-9.99059476e-02 9.94996828e-01 3.37604004e-04 -1.39825706e+01] [ 3.95878531e-03 5.81960038e-05 9.99992162e-01 -1.46342268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.060281693 meters Centerline goodness [0,1] 0.9995293714970265 Centerline is valid? [True, True] Translation: X:252.15, Y:-13.99, Z:-1.47 [[ 9.94989895e-01 9.97991078e-02 -5.93696410e-03 2.52153773e+02] [-9.97978513e-02 9.95007603e-01 5.08246300e-04 -1.39890823e+01] [ 5.95804695e-03 8.67963279e-05 9.99982247e-01 -1.46508705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09028169299995 meters Centerline goodness [0,1] 0.9992517370390166 Centerline is valid? [True, True] Translation: X:252.18, Y:-13.99, Z:-1.47 [[ 9.95090502e-01 9.87170360e-02 -7.05978342e-03 2.52181681e+02] [-9.87152361e-02 9.95115540e-01 6.03807223e-04 -1.39892926e+01] [ 7.08490625e-03 9.60653549e-05 9.99974897e-01 -1.47026327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.120281693 meters Centerline goodness [0,1] 0.9997221272229823 Centerline is valid? [True, True] Translation: X:252.21, Y:-14.00, Z:-1.47 [[ 9.95361504e-01 9.59151239e-02 -7.46762720e-03 2.52210355e+02] [-9.59130330e-02 9.95389513e-01 6.38438748e-04 -1.39957176e+01] [ 7.49443373e-03 8.07654214e-05 9.99971913e-01 -1.47055510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15028169299995 meters Centerline goodness [0,1] 0.9997025643204657 Centerline is valid? [True, True] Translation: X:252.24, Y:-14.00, Z:-1.47 [[ 9.95497478e-01 9.45335031e-02 -6.94170976e-03 2.52238700e+02] [-9.45316651e-02 9.95521679e-01 5.93149492e-04 -1.39990277e+01] [ 6.96669505e-03 6.57325584e-05 9.99975730e-01 -1.46945331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.180281693 meters Centerline goodness [0,1] 0.9998054264403848 Centerline is valid? [True, True] Translation: X:252.27, Y:-14.01, Z:-1.46 [[ 9.95886508e-01 9.05067531e-02 -4.31168928e-03 2.52267525e+02] [-9.05060066e-02 9.95895841e-01 3.68341611e-04 -1.40089540e+01] [ 4.32733082e-03 2.34073374e-05 9.99990637e-01 -1.46411669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21028169299996 meters Centerline goodness [0,1] 0.9995961056077548 Centerline is valid? [True, True] Translation: X:252.30, Y:-14.02, Z:-1.46 [[ 9.96132499e-01 8.78121474e-02 -3.01182908e-03 2.52296594e+02] [-8.78117708e-02 9.96137052e-01 2.57283295e-04 -1.40158833e+01] [ 3.02278714e-03 8.18579356e-06 9.99995431e-01 -1.46183970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.240281693 meters Centerline goodness [0,1] 0.9997449684398444 Centerline is valid? [True, True] Translation: X:252.33, Y:-14.02, Z:-1.46 [[ 9.96356443e-01 8.52609794e-02 -2.09873161e-03 2.52326878e+02] [-8.52607907e-02 9.96358653e-01 1.79397636e-04 -1.40227834e+01] [ 2.10638502e-03 1.95525536e-07 9.99997782e-01 -1.46037608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27028169299996 meters Centerline goodness [0,1] 0.9994873547505126 Centerline is valid? [True, True] Translation: X:252.36, Y:-14.03, Z:-1.46 [[ 9.96772596e-01 8.02125422e-02 -3.21569068e-03 2.52357963e+02] [-8.02120725e-02 9.96777783e-01 2.74975451e-04 -1.40314845e+01] [ 3.22738551e-03 -1.61507797e-05 9.99994792e-01 -1.46303291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.300281693 meters Centerline goodness [0,1] 0.9994426580921758 Centerline is valid? [True, True] Translation: X:252.39, Y:-14.04, Z:-1.46 [[ 9.96980974e-01 7.75652640e-02 -3.54510581e-03 2.52387375e+02] [-7.75646752e-02 9.96987276e-01 3.03495971e-04 -1.40374301e+01] [ 3.55796613e-03 -2.76047282e-05 9.99993670e-01 -1.46399185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33028169299996 meters Centerline goodness [0,1] 0.998899028180644 Centerline is valid? [True, True] Translation: X:252.42, Y:-14.05, Z:-1.46 [[ 9.97378321e-01 7.23000105e-02 -3.03207816e-03 2.52417651e+02] [-7.22995555e-02 9.97382929e-01 2.59522941e-04 -1.40484249e+01] [ 3.04290651e-03 -3.96246520e-05 9.99995370e-01 -1.46246528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.360281693 meters Centerline goodness [0,1] 0.9987641167696569 Centerline is valid? [True, True] Translation: X:252.45, Y:-14.06, Z:-1.46 [[ 9.97536265e-01 7.00875070e-02 -3.02332722e-03 2.52448389e+02] [-7.00870414e-02 9.97540846e-01 2.59805115e-04 -1.40580946e+01] [ 3.03410149e-03 -4.72689645e-05 9.99995396e-01 -1.46383737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39028169299996 meters Centerline goodness [0,1] 0.9984707206728829 Centerline is valid? [True, True] Translation: X:252.48, Y:-14.06, Z:-1.47 [[ 9.97684831e-01 6.78685480e-02 -4.34020612e-03 2.52479749e+02] [-6.78675660e-02 9.97694269e-01 3.73309114e-04 -1.40630507e+01] [ 4.35553472e-03 -7.78856152e-05 9.99990512e-01 -1.46513303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.420281693 meters Centerline goodness [0,1] 0.9982811306340718 Centerline is valid? [True, True] Translation: X:252.51, Y:-14.07, Z:-1.47 [[ 9.97895367e-01 6.44766751e-02 -6.89884247e-03 2.52508695e+02] [-6.44741205e-02 9.97919204e-01 5.92281127e-04 -1.40730229e+01] [ 6.92267571e-03 -1.46237792e-04 9.99976027e-01 -1.47050142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45028169299997 meters Centerline goodness [0,1] 0.9982507039849816 Centerline is valid? [True, True] Translation: X:252.54, Y:-14.08, Z:-1.47 [[ 9.97885410e-01 6.46306654e-02 -6.89829618e-03 2.52538709e+02] [-6.46281149e-02 9.97909242e-01 5.92234226e-04 -1.40753647e+01] [ 6.92215000e-03 -1.45158015e-04 9.99976031e-01 -1.46994433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.480281693 meters Centerline goodness [0,1] 0.9984409038486182 Centerline is valid? [True, True] Translation: X:252.57, Y:-14.07, Z:-1.46 [[ 9.97629282e-01 6.86630229e-02 -4.60494237e-03 2.52569171e+02] [-6.86619293e-02 9.97639907e-01 3.95344649e-04 -1.40707838e+01] [ 4.62121983e-03 -7.82231711e-05 9.99989319e-01 -1.46454466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51028169299997 meters Centerline goodness [0,1] 0.9986056534415009 Centerline is valid? [True, True] Translation: X:252.60, Y:-14.07, Z:-1.46 [[ 9.97404235e-01 7.19008902e-02 -3.88005840e-03 2.52600280e+02] [-7.19001383e-02 9.97411780e-01 3.33111732e-04 -1.40665925e+01] [ 3.89396698e-03 -5.32703161e-05 9.99992417e-01 -1.46325278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54028169299994 meters Centerline goodness [0,1] 0.9988975576662144 Centerline is valid? [True, True] Translation: X:252.63, Y:-14.06, Z:-1.46 [[ 9.97105072e-01 7.59125240e-02 -4.33179184e-03 2.52631394e+02] [-7.59116247e-02 9.97114480e-01 3.71894062e-04 -1.40582458e+01] [ 4.34752378e-03 -4.19840996e-05 9.99990549e-01 -1.46237320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57028169299997 meters Centerline goodness [0,1] 0.9992371588404815 Centerline is valid? [True, True] Translation: X:252.66, Y:-14.05, Z:-1.47 [[ 9.96692979e-01 8.11007078e-02 -5.07751178e-03 2.52661031e+02] [-8.10995412e-02 9.96705912e-01 4.35580601e-04 -1.40502606e+01] [ 5.09611190e-03 -2.23562513e-05 9.99987014e-01 -1.46533097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60028169299994 meters Centerline goodness [0,1] 0.999704535381888 Centerline is valid? [True, True] Translation: X:252.69, Y:-14.03, Z:-1.46 [[ 9.95753753e-01 9.19498277e-02 -4.43756899e-03 2.52690849e+02] [-9.19490458e-02 9.95763641e-01 3.80320698e-04 -1.40275006e+01] [ 4.45374027e-03 2.93244713e-05 9.99990082e-01 -1.46404956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.630281693 meters Centerline goodness [0,1] 0.9996400592843532 Centerline is valid? [True, True] Translation: X:252.72, Y:-14.02, Z:-1.46 [[ 9.95380322e-01 9.59467882e-02 -3.49704911e-03 2.52719827e+02] [-9.59463282e-02 9.95386464e-01 2.99450152e-04 -1.40212463e+01] [ 3.50964663e-03 3.74622337e-05 9.99993840e-01 -1.46068467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66028169299994 meters Centerline goodness [0,1] 0.9993225792793937 Centerline is valid? [True, True] Translation: X:252.75, Y:-14.01, Z:-1.46 [[ 9.94973283e-01 1.00119212e-01 -2.07612659e-03 2.52749704e+02] [-1.00119059e-01 9.94975448e-01 1.77705903e-04 -1.40084456e+01] [ 2.08348676e-03 3.10472155e-05 9.99997829e-01 -1.45899069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.690281693 meters Centerline goodness [0,1] 0.999298618490967 Centerline is valid? [True, True] Translation: X:252.78, Y:-14.01, Z:-1.46 [[ 9.94955402e-01 1.00295071e-01 -2.15569302e-03 2.52777696e+02] [-1.00294907e-01 9.94957737e-01 1.84252051e-04 -1.40060488e+01] [ 2.16330302e-03 3.28824575e-05 9.99997660e-01 -1.45988117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72028169299995 meters Centerline goodness [0,1] 0.9995516078062946 Centerline is valid? [True, True] Translation: X:252.81, Y:-14.01, Z:-1.46 [[ 9.95005400e-01 9.97886203e-02 -2.54657863e-03 2.52806416e+02] [-9.97883899e-02 9.95008658e-01 2.17685433e-04 -1.40063066e+01] [ 2.55559031e-03 3.75207997e-05 9.99996734e-01 -1.46131309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.750281693 meters Centerline goodness [0,1] 0.9995561473590768 Centerline is valid? [True, True] Translation: X:252.84, Y:-14.01, Z:-1.46 [[ 9.95129807e-01 9.85258224e-02 -3.05447921e-03 2.52835504e+02] [-9.85254853e-02 9.95134494e-01 2.61003823e-04 -1.40071987e+01] [ 3.06533324e-03 4.12113632e-05 9.99995301e-01 -1.46092770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78028169299995 meters Centerline goodness [0,1] 0.9995521051060018 Centerline is valid? [True, True] Translation: X:252.86, Y:-14.01, Z:-1.46 [[ 9.95205229e-01 9.77560988e-02 -3.20907147e-03 2.52864497e+02] [-9.77557232e-02 9.95210402e-01 2.74060446e-04 -1.40096115e+01] [ 3.22049239e-03 4.09587142e-05 9.99994813e-01 -1.45974970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.810281693 meters Centerline goodness [0,1] 0.999678504833144 Centerline is valid? [True, True] Translation: X:252.89, Y:-14.01, Z:-1.46 [[ 9.95275026e-01 9.70250519e-02 -3.70965839e-03 2.52893324e+02] [-9.70245454e-02 9.95281939e-01 3.16670318e-04 -1.40103822e+01] [ 3.72288094e-03 4.47538598e-05 9.99993069e-01 -1.46151654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84028169299995 meters Centerline goodness [0,1] 0.9996351148315089 Centerline is valid? [True, True] Translation: X:252.92, Y:-14.01, Z:-1.46 [[ 9.95417005e-01 9.55388224e-02 -4.16178267e-03 2.52920594e+02] [-9.55381732e-02 9.95425704e-01 3.54990801e-04 -1.40126618e+01] [ 4.17666085e-03 4.42452336e-05 9.99991277e-01 -1.46313171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.870281693 meters Centerline goodness [0,1] 0.999549114331723 Centerline is valid? [True, True] Translation: X:252.95, Y:-14.02, Z:-1.46 [[ 9.95489435e-01 9.48195994e-02 -3.16674460e-03 2.52948395e+02] [-9.48192207e-02 9.95494471e-01 2.69864093e-04 -1.40152176e+01] [ 3.17806514e-03 3.16214015e-05 9.99994949e-01 -1.46080834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90028169299995 meters Centerline goodness [0,1] 0.9994611488306929 Centerline is valid? [True, True] Translation: X:252.98, Y:-14.02, Z:-1.46 [[ 9.95519417e-01 9.45402772e-02 -1.79642375e-03 2.52977018e+02] [-9.45401552e-02 9.95521037e-01 1.52938576e-04 -1.40166058e+01] [ 1.80283649e-03 1.75808584e-05 9.99998375e-01 -1.45751200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.930281693 meters Centerline goodness [0,1] 0.999316531396839 Centerline is valid? [True, True] Translation: X:253.01, Y:-14.01, Z:-1.45 [[ 9.95410763e-01 9.56940756e-02 2.39014364e-04 2.53005502e+02] [-9.56940734e-02 9.95410792e-01 -2.06396601e-05 -1.40119412e+01] [-2.39892571e-04 -2.32731829e-06 9.99999971e-01 -1.45345390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96028169299996 meters Centerline goodness [0,1] 0.9995041607381537 Centerline is valid? [True, True] Translation: X:253.03, Y:-14.01, Z:-1.45 [[ 9.95331352e-01 9.65162530e-02 3.35014978e-04 2.53034359e+02] [-9.65162488e-02 9.95331409e-01 -2.87558012e-05 -1.40125567e+01] [-3.36226332e-04 -3.71283840e-06 9.99999943e-01 -1.45345505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.990281693 meters Centerline goodness [0,1] 0.9995069879104862 Centerline is valid? [True, True] Translation: X:253.06, Y:-14.01, Z:-1.46 [[ 9.95220255e-01 9.76525285e-02 -7.92770423e-04 2.53062786e+02] [-9.76525060e-02 9.95220570e-01 6.71721220e-05 -1.40098781e+01] [ 7.95540960e-04 1.05649622e-05 9.99999684e-01 -1.45562180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02028169299996 meters Centerline goodness [0,1] 0.9995123192400661 Centerline is valid? [True, True] Translation: X:253.09, Y:-14.01, Z:-1.46 [[ 9.95245882e-01 9.73862041e-02 -1.24942387e-03 2.53091763e+02] [-9.73861477e-02 9.95246666e-01 1.06031375e-04 -1.40112027e+01] [ 1.25381093e-03 1.61492877e-05 9.99999214e-01 -1.45727903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.050281693 meters Centerline goodness [0,1] 0.9995137934679209 Centerline is valid? [True, True] Translation: X:253.12, Y:-14.01, Z:-1.46 [[ 9.95344700e-01 9.63634535e-02 -1.73574280e-03 2.53119883e+02] [-9.63633433e-02 9.95346213e-01 1.47190594e-04 -1.40124492e+01] [ 1.74184882e-03 2.07566020e-05 9.99998483e-01 -1.45892519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08028169299996 meters Centerline goodness [0,1] 0.9993626513702996 Centerline is valid? [True, True] Translation: X:253.15, Y:-14.02, Z:-1.46 [[ 9.95761464e-01 9.19538518e-02 -1.89619287e-03 2.53148003e+02] [-9.19537123e-02 9.95763270e-01 1.60818755e-04 -1.40215571e+01] [ 1.90294712e-03 1.42248545e-05 9.99998189e-01 -1.45887659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.110281693 meters Centerline goodness [0,1] 0.9993866587707796 Centerline is valid? [True, True] Translation: X:253.18, Y:-14.03, Z:-1.46 [[ 9.95970841e-01 8.96539445e-02 -2.06244703e-03 2.53175757e+02] [-8.96537748e-02 9.95972977e-01 1.74761990e-04 -1.40258588e+01] [ 2.06980961e-03 1.08483154e-05 9.99997858e-01 -1.45944804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14028169299996 meters Centerline goodness [0,1] 0.9991221872524461 Centerline is valid? [True, True] Translation: X:253.20, Y:-14.03, Z:-1.46 [[ 9.96336421e-01 8.54984205e-02 -1.93830110e-03 2.53204364e+02] [-8.54982629e-02 9.96338306e-01 1.64189072e-04 -1.40309671e+01] [ 1.94524154e-03 2.13382415e-06 9.99998108e-01 -1.45863447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.170281693 meters Centerline goodness [0,1] 0.9989148243504905 Centerline is valid? [True, True] Translation: X:253.23, Y:-14.03, Z:-1.46 [[ 9.96505322e-01 8.35120082e-02 -1.69917271e-03 2.53231856e+02] [-8.35118845e-02 9.96506771e-01 1.43751123e-04 -1.40337838e+01] [ 1.70524206e-03 -1.34764335e-06 9.99998546e-01 -1.45841256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20028169299997 meters Centerline goodness [0,1] 0.9990215264187867 Centerline is valid? [True, True] Translation: X:253.26, Y:-14.04, Z:-1.46 [[ 9.96640941e-01 8.18872890e-02 -1.14290399e-03 2.53260192e+02] [-8.18872321e-02 9.96641597e-01 9.66047067e-05 -1.40367073e+01] [ 1.14697635e-03 -2.69096153e-06 9.99999342e-01 -1.45746252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.230281693 meters Centerline goodness [0,1] 0.9988861995844668 Centerline is valid? [True, True] Translation: X:253.29, Y:-14.04, Z:-1.46 [[ 9.96748811e-01 8.05686820e-02 -7.04182285e-04 2.53289229e+02] [-8.05686602e-02 9.96749059e-01 5.94044272e-05 -1.40392701e+01] [ 7.06679167e-04 -2.47626889e-06 9.99999750e-01 -1.45660469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26028169299997 meters Centerline goodness [0,1] 0.998792583009918 Centerline is valid? [True, True] Translation: X:253.32, Y:-14.04, Z:-1.46 [[ 9.96992155e-01 7.74673890e-02 -2.33375477e-03 2.53317933e+02] [-7.74671392e-02 9.96994886e-01 1.97355378e-04 -1.40445572e+01] [ 2.34203018e-03 -1.59724575e-05 9.99997257e-01 -1.46004663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29028169299994 meters Centerline goodness [0,1] 0.9987104139359858 Centerline is valid? [True, True] Translation: X:253.35, Y:-14.05, Z:-1.46 [[ 9.97248144e-01 7.40004540e-02 -4.48021001e-03 2.53345719e+02] [-7.39994986e-02 9.97258207e-01 3.78869205e-04 -1.40520884e+01] [ 4.49596269e-03 -4.62933166e-05 9.99989892e-01 -1.46459902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32028169299997 meters Centerline goodness [0,1] 0.9985735272200813 Centerline is valid? [True, True] Translation: X:253.37, Y:-14.06, Z:-1.46 [[ 9.97355577e-01 7.25225340e-02 -4.72603909e-03 2.53374472e+02] [-7.25214556e-02 9.97366773e-01 3.99385521e-04 -1.40555230e+01] [ 4.74255880e-03 -5.55901431e-05 9.99988752e-01 -1.46445601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35028169299994 meters Centerline goodness [0,1] 0.9986053588031443 Centerline is valid? [True, True] Translation: X:253.40, Y:-14.06, Z:-1.46 [[ 9.97447515e-01 7.12516152e-02 -4.65421084e-03 2.53401586e+02] [-7.12505570e-02 9.97458372e-01 3.92987975e-04 -1.40602491e+01] [ 4.67038260e-03 -6.03697646e-05 9.99989092e-01 -1.46491751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.380281693 meters Centerline goodness [0,1] 0.9984882037305169 Centerline is valid? [True, True] Translation: X:253.43, Y:-14.07, Z:-1.46 [[ 9.97596732e-01 6.92104254e-02 -3.26746685e-03 2.53430005e+02] [-6.92098931e-02 9.97602082e-01 2.75814791e-04 -1.40671247e+01] [ 3.27872100e-03 -4.90109026e-05 9.99994624e-01 -1.46310364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41028169299994 meters Centerline goodness [0,1] 0.9984464449126391 Centerline is valid? [True, True] Translation: X:253.46, Y:-14.07, Z:-1.46 [[ 9.97604184e-01 6.91178056e-02 -2.93605067e-03 2.53459018e+02] [-6.91173756e-02 9.97608504e-01 2.47811662e-04 -1.40703289e+01] [ 2.94615731e-03 -4.42858345e-05 9.99995659e-01 -1.46280652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.440281693 meters Centerline goodness [0,1] 0.9983961336127625 Centerline is valid? [True, True] Translation: X:253.49, Y:-14.07, Z:-1.46 [[ 9.97564017e-01 6.96820974e-02 -3.23080977e-03 2.53488743e+02] [-6.96815798e-02 9.97569247e-01 2.72626835e-04 -1.40722025e+01] [ 3.24195368e-03 -4.68347913e-05 9.99994744e-01 -1.46281459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47028169299995 meters Centerline goodness [0,1] 0.9986107845861206 Centerline is valid? [True, True] Translation: X:253.52, Y:-14.07, Z:-1.46 [[ 9.97412851e-01 7.18428244e-02 -2.49259887e-03 2.53518153e+02] [-7.18425235e-02 9.97415965e-01 2.10162147e-04 -1.40724987e+01] [ 2.50125655e-03 -3.05438335e-05 9.99996871e-01 -1.46069513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.500281693 meters Centerline goodness [0,1] 0.9987159458129133 Centerline is valid? [True, True] Translation: X:253.55, Y:-14.08, Z:-1.46 [[ 9.97328834e-01 7.30301709e-02 -1.33841724e-03 2.53546269e+02] [-7.30300854e-02 9.97329732e-01 1.12724180e-04 -1.40757806e+01] [ 1.34307558e-03 -1.46783493e-05 9.99999098e-01 -1.45936614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53028169299995 meters Centerline goodness [0,1] 0.9987920401805582 Centerline is valid? [True, True] Translation: X:253.58, Y:-14.08, Z:-1.46 [[ 9.97267862e-01 7.38617529e-02 -1.11954371e-03 2.53575053e+02] [-7.38616936e-02 9.97268490e-01 9.42321615e-05 -1.40797454e+01] [ 1.12344582e-03 -1.12833115e-05 9.99999369e-01 -1.45929861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.560281693 meters Centerline goodness [0,1] 0.9987900658034388 Centerline is valid? [True, True] Translation: X:253.60, Y:-14.08, Z:-1.46 [[ 9.97270858e-01 7.37919078e-02 -2.36426855e-03 2.53604989e+02] [-7.37916430e-02 9.97273660e-01 1.99175284e-04 -1.40830650e+01] [ 2.37252028e-03 -2.41684458e-05 9.99997185e-01 -1.46104610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59028169299995 meters Centerline goodness [0,1] 0.9987305275841294 Centerline is valid? [True, True] Translation: X:253.63, Y:-14.08, Z:-1.46 [[ 9.97258069e-01 7.39453987e-02 -2.90195578e-03 2.53634144e+02] [-7.39450004e-02 9.97262291e-01 2.44423392e-04 -1.40849094e+01] [ 2.91208505e-03 -2.91680785e-05 9.99995759e-01 -1.46165896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.620281693 meters Centerline goodness [0,1] 0.99889896373057 Centerline is valid? [True, True] Translation: X:253.66, Y:-14.08, Z:-1.46 [[ 9.97039666e-01 7.68722564e-02 -1.60003472e-03 2.53663452e+02] [-7.68721395e-02 9.97040950e-01 1.34530380e-04 -1.40843023e+01] [ 1.60564179e-03 -1.11340332e-05 9.99998711e-01 -1.45974271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65028169299995 meters Centerline goodness [0,1] 0.9989037630441657 Centerline is valid? [True, True] Translation: X:253.69, Y:-14.08, Z:-1.46 [[ 9.96848680e-01 7.93258216e-02 -3.52336624e-04 2.53692659e+02] [-7.93258161e-02 9.96848742e-01 2.95542270e-05 -1.40844746e+01] [ 3.53570734e-04 -1.51170190e-06 9.99999937e-01 -1.45707087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.680281693 meters Centerline goodness [0,1] 0.9992389006342495 Centerline is valid? [True, True] Translation: X:253.72, Y:-14.08, Z:-1.46 [[ 9.96453026e-01 8.41503646e-02 2.88871443e-04 2.53720799e+02] [-8.41503610e-02 9.96453068e-01 -2.45709649e-05 -1.40787354e+01] [-2.89914492e-04 1.75176113e-07 9.99999958e-01 -1.45587572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71028169299996 meters Centerline goodness [0,1] 0.9993439569974393 Centerline is valid? [True, True] Translation: X:253.75, Y:-14.08, Z:-1.46 [[ 9.96224326e-01 8.68160833e-02 -2.44405574e-04 2.53749118e+02] [-8.68160810e-02 9.96224356e-01 2.02859088e-05 -1.40753343e+01] [ 2.45243929e-04 1.00901826e-06 9.99999970e-01 -1.45742047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.740281693 meters Centerline goodness [0,1] 0.9994268976057056 Centerline is valid? [True, True] Translation: X:253.78, Y:-14.07, Z:-1.46 [[ 9.95974226e-01 8.96380461e-02 -6.01853826e-04 2.53778419e+02] [-8.96380321e-02 9.95974408e-01 5.03618306e-05 -1.40723836e+01] [ 6.03945344e-04 3.78990735e-06 9.99999818e-01 -1.45738116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77028169299996 meters Centerline goodness [0,1] 0.9994268976057056 Centerline is valid? [True, True] Translation: X:253.81, Y:-14.07, Z:-1.46 [[ 9.95978326e-01 8.95924813e-02 -6.01856197e-04 2.53806656e+02] [-8.95924673e-02 9.95978507e-01 5.03335493e-05 -1.40746632e+01] [ 6.03945345e-04 3.79065751e-06 9.99999818e-01 -1.45751453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.800281693 meters Centerline goodness [0,1] 0.9994084340403955 Centerline is valid? [True, True] Translation: X:253.83, Y:-14.07, Z:-1.46 [[ 9.95785588e-01 9.17101337e-02 -5.60883399e-04 2.53834940e+02] [-9.17101219e-02 9.95785746e-01 4.68074092e-05 -1.40718523e+01] [ 5.62812407e-04 4.82854138e-06 9.99999842e-01 -1.45778007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83028169299996 meters Centerline goodness [0,1] 0.9995734425320452 Centerline is valid? [True, True] Translation: X:253.86, Y:-14.07, Z:-1.46 [[ 9.95631284e-01 9.33619780e-02 -1.37361919e-03 2.53862655e+02] [-9.33619083e-02 9.95632232e-01 1.14877678e-04 -1.40676942e+01] [ 1.37834474e-03 1.38678980e-05 9.99999050e-01 -1.45927548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.860281693 meters Centerline goodness [0,1] 0.999511490590884 Centerline is valid? [True, True] Translation: X:253.89, Y:-14.07, Z:-1.46 [[ 9.95640446e-01 9.32679621e-02 -1.09085326e-03 2.53891689e+02] [-9.32679181e-02 9.95641043e-01 9.12233909e-05 -1.40684570e+01] [ 1.09460650e-03 1.09159153e-05 9.99999401e-01 -1.45932353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89028169299996 meters Centerline goodness [0,1] 0.9994272623138603 Centerline is valid? [True, True] Translation: X:253.92, Y:-14.07, Z:-1.46 [[ 9.95734792e-01 9.22617200e-02 1.20619406e-06 2.53920907e+02] [-9.22617200e-02 9.95734792e-01 -3.11474264e-07 -1.40685208e+01] [-1.22978655e-06 1.98860223e-07 1.00000000e+00 -1.45923426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.920281693 meters Centerline goodness [0,1] 0.999552648957246 Centerline is valid? [True, True] Translation: X:253.95, Y:-14.07, Z:-1.46 [[ 9.95832812e-01 9.11968212e-02 -3.88415514e-04 2.53949929e+02] [-9.11968156e-02 9.95832887e-01 3.23119795e-05 -1.40698632e+01] [ 3.89743692e-04 3.24492859e-06 9.99999924e-01 -1.46063245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95028169299997 meters Centerline goodness [0,1] 0.9994497470952995 Centerline is valid? [True, True] Translation: X:253.98, Y:-14.07, Z:-1.46 [[ 9.95961310e-01 8.97781663e-02 -9.74823104e-04 2.53978904e+02] [-8.97781297e-02 9.95961787e-01 8.13616174e-05 -1.40725052e+01] [ 9.78191057e-04 6.48477205e-06 9.99999522e-01 -1.46182161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.980281693 meters Centerline goodness [0,1] 0.999467903967308 Centerline is valid? [True, True] Translation: X:254.01, Y:-14.08, Z:-1.46 [[ 9.96441358e-01 8.42587727e-02 -2.25352474e-03 2.54007226e+02] [-8.42585625e-02 9.96443907e-01 1.88255055e-04 -1.40813565e+01] [ 2.26137313e-03 2.29363191e-06 9.99997443e-01 -1.46315937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01028169299997 meters Centerline goodness [0,1] 0.9993626649104544 Centerline is valid? [True, True] Translation: X:254.03, Y:-14.09, Z:-1.47 [[ 9.96789726e-01 8.00184265e-02 -2.70069113e-03 2.54034278e+02] [-8.00181094e-02 9.96793384e-01 2.25443973e-04 -1.40902214e+01] [ 2.71007073e-03 -8.61603792e-06 9.99996328e-01 -1.46562962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04028169299994 meters Centerline goodness [0,1] 0.9990462868769074 Centerline is valid? [True, True] Translation: X:254.06, Y:-14.10, Z:-1.47 [[ 9.97143360e-01 7.54660275e-02 -3.16200883e-03 2.54063551e+02] [-7.54655695e-02 9.97148373e-01 2.64092538e-04 -1.40991453e+01] [ 3.17292197e-03 -2.47153240e-05 9.99994966e-01 -1.46518883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07028169299997 meters Centerline goodness [0,1] 0.9986383558146462 Centerline is valid? [True, True] Translation: X:254.09, Y:-14.12, Z:-1.47 [[ 9.97733790e-01 6.71623984e-02 -4.06152736e-03 2.54092144e+02] [-6.71615736e-02 9.97742055e-01 3.39258998e-04 -1.41154494e+01] [ 4.07514210e-03 -6.57115965e-05 9.99991694e-01 -1.46749464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10028169299994 meters Centerline goodness [0,1] 0.9982589631158112 Centerline is valid? [True, True] Translation: X:254.12, Y:-14.12, Z:-1.47 [[ 9.97959675e-01 6.37200744e-02 -4.02969153e-03 2.54121494e+02] [-6.37192351e-02 9.97967808e-01 3.36451882e-04 -1.41237476e+01] [ 4.04294116e-03 -7.89965489e-05 9.99991824e-01 -1.46731306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.130281693 meters Centerline goodness [0,1] 0.9975165214463105 Centerline is valid? [True, True] Translation: X:254.15, Y:-14.14, Z:-1.47 [[ 9.98211377e-01 5.96988246e-02 -3.17759309e-03 2.54149977e+02] [-5.96982822e-02 9.98216432e-01 2.65372853e-04 -1.41408913e+01] [ 3.18776808e-03 -7.52013518e-05 9.99994916e-01 -1.46677538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16028169299994 meters Centerline goodness [0,1] 0.9976853340191603 Centerline is valid? [True, True] Translation: X:254.18, Y:-14.14, Z:-1.46 [[ 9.98293910e-01 5.83138018e-02 -2.96131368e-03 2.54179520e+02] [-5.83133251e-02 9.98298300e-01 2.47147555e-04 -1.41419429e+01] [ 2.97068653e-03 -7.40418515e-05 9.99995585e-01 -1.46418066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.190281693 meters Centerline goodness [0,1] 0.9970211687159336 Centerline is valid? [True, True] Translation: X:254.21, Y:-14.15, Z:-1.47 [[ 9.98344151e-01 5.74376827e-02 -3.14143887e-03 2.54208255e+02] [-5.74371413e-02 9.98349090e-01 2.62343633e-04 -1.41531014e+01] [ 3.15132105e-03 -8.14739626e-05 9.99995031e-01 -1.46629105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22028169299995 meters Centerline goodness [0,1] 0.9973112543211984 Centerline is valid? [True, True] Translation: X:254.24, Y:-14.15, Z:-1.47 [[ 9.98277591e-01 5.85582981e-02 -3.57436235e-03 2.54238218e+02] [-5.85576052e-02 9.98283987e-01 2.98277377e-04 -1.41530871e+01] [ 3.58569531e-03 -8.84575219e-05 9.99993567e-01 -1.46555278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.250281693 meters Centerline goodness [0,1] 0.9971484508001361 Centerline is valid? [True, True] Translation: X:254.27, Y:-14.16, Z:-1.47 [[ 9.98187333e-01 6.00526531e-02 -3.96571227e-03 2.54267664e+02] [-6.00518123e-02 9.98195207e-01 3.30857644e-04 -1.41553176e+01] [ 3.97842386e-03 -9.21096998e-05 9.99992082e-01 -1.46676023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28028169299995 meters Centerline goodness [0,1] 0.9976224135715204 Centerline is valid? [True, True] Translation: X:254.30, Y:-14.16, Z:-1.47 [[ 9.98074182e-01 6.19165180e-02 -3.77795708e-03 2.54297779e+02] [-6.19157683e-02 9.98081328e-01 3.15198682e-04 -1.41571245e+01] [ 3.79022443e-03 -8.06765515e-05 9.99992814e-01 -1.46688420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.310281693 meters Centerline goodness [0,1] 0.9979785815663842 Centerline is valid? [True, True] Translation: X:254.33, Y:-14.16, Z:-1.46 [[ 9.97842071e-01 6.56428038e-02 -1.49140325e-03 2.54327190e+02] [-6.56426913e-02 9.97843185e-01 1.24312099e-04 -1.41579194e+01] [ 1.49634677e-03 -2.61441193e-05 9.99998880e-01 -1.46209846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34028169299995 meters Centerline goodness [0,1] 0.9981444750143963 Centerline is valid? [True, True] Translation: X:254.36, Y:-14.16, Z:-1.46 [[ 9.97715750e-01 6.75501459e-02 -5.10229069e-04 2.54357388e+02] [-6.75501330e-02 9.97715880e-01 4.25069703e-05 -1.41597776e+01] [ 5.11934997e-04 -7.94383230e-06 9.99999869e-01 -1.45976574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.370281693 meters Centerline goodness [0,1] 0.9985369577201985 Centerline is valid? [True, True] Translation: X:254.39, Y:-14.16, Z:-1.46 [[ 9.97487346e-01 7.08372673e-02 1.03722359e-03 2.54386699e+02] [-7.08372157e-02 9.97487885e-01 -8.64266076e-05 -1.41622769e+01] [-1.04074019e-03 1.27354161e-05 9.99999458e-01 -1.45692782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40028169299995 meters Centerline goodness [0,1] 0.9984673350788684 Centerline is valid? [True, True] Translation: X:254.42, Y:-14.17, Z:-1.46 [[ 9.97403712e-01 7.19853960e-02 1.98438203e-03 2.54416682e+02] [-7.19852090e-02 9.97405686e-01 -1.65599043e-04 -1.41654256e+01] [-1.99115463e-03 2.23229457e-05 9.99998017e-01 -1.45575691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.430281693 meters Centerline goodness [0,1] 0.9986271691799481 Centerline is valid? [True, True] Translation: X:254.45, Y:-14.17, Z:-1.45 [[ 9.97319489e-01 7.31082424e-02 3.00356357e-03 2.54446793e+02] [-7.31078193e-02 9.97324012e-01 -2.50572458e-04 -1.41670346e+01] [-3.01384498e-03 3.03168135e-05 9.99995458e-01 -1.45327966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46028169299996 meters Centerline goodness [0,1] 0.998697026657553 Centerline is valid? [True, True] Translation: X:254.48, Y:-14.17, Z:-1.45 [[ 9.97104561e-01 7.59954542e-02 2.68038276e-03 2.54476813e+02] [-7.59951278e-02 9.97108164e-01 -2.23587475e-04 -1.41721954e+01] [-2.68962317e-03 1.92440608e-05 9.99996383e-01 -1.45434447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.490281693 meters Centerline goodness [0,1] 0.9988795035338734 Centerline is valid? [True, True] Translation: X:254.51, Y:-14.17, Z:-1.46 [[ 9.96964988e-01 7.78267155e-02 1.95339746e-03 2.54507234e+02] [-7.78265455e-02 9.96966901e-01 -1.62985222e-04 -1.41739755e+01] [-1.96015722e-03 1.04643831e-05 9.99998079e-01 -1.45630445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52028169299996 meters Centerline goodness [0,1] 0.9993201325741481 Centerline is valid? [True, True] Translation: X:254.54, Y:-14.17, Z:-1.46 [[ 9.96681778e-01 8.13829176e-02 1.50151808e-03 2.54537936e+02] [-8.13828212e-02 9.96682909e-01 -1.25281855e-04 -1.41748921e+01] [-1.50673321e-03 2.66836441e-06 9.99998865e-01 -1.45723171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.550281693 meters Centerline goodness [0,1] 0.9994697997964032 Centerline is valid? [True, True] Translation: X:254.57, Y:-14.18, Z:-1.46 [[ 9.96546513e-01 8.30064104e-02 2.23239562e-03 2.54567437e+02] [-8.30062013e-02 9.96549013e-01 -1.86291338e-04 -1.41763259e+01] [-2.24015503e-03 3.45302465e-07 9.99997491e-01 -1.45634535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58028169299996 meters Centerline goodness [0,1] 0.9993731356188664 Centerline is valid? [True, True] Translation: X:254.60, Y:-14.18, Z:-1.45 [[ 9.96436952e-01 8.43032047e-02 2.52391923e-03 2.54598031e+02] [-8.43029418e-02 9.96440149e-01 -2.10559602e-04 -1.41780700e+01] [-2.53268530e-03 -2.96444772e-06 9.99996793e-01 -1.45487362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.610281693 meters Centerline goodness [0,1] 0.9994032013982138 Centerline is valid? [True, True] Translation: X:254.63, Y:-14.18, Z:-1.46 [[ 9.96330569e-01 8.55550219e-02 2.39488579e-03 2.54627662e+02] [-8.55547889e-02 9.96333447e-01 -1.99765869e-04 -1.41795944e+01] [-2.40319579e-03 -5.86110592e-06 9.99997112e-01 -1.45550581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64028169299996 meters Centerline goodness [0,1] 0.9994917946003177 Centerline is valid? [True, True] Translation: X:254.66, Y:-14.18, Z:-1.46 [[ 9.96309026e-01 8.58054434e-02 2.39817652e-03 2.54656917e+02] [-8.58052103e-02 9.96311912e-01 -2.00125339e-04 -1.41818749e+01] [-2.40650368e-03 -6.38935934e-06 9.99997104e-01 -1.45568386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.670281693 meters Centerline goodness [0,1] 0.9992781622861026 Centerline is valid? [True, True] Translation: X:254.69, Y:-14.19, Z:-1.46 [[ 9.96317986e-01 8.56941095e-02 2.64407943e-03 2.54687487e+02] [-8.56938259e-02 9.96321494e-01 -2.20587974e-04 -1.41858026e+01] [-2.65325625e-03 -6.80551591e-06 9.99996480e-01 -1.45533254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70028169299997 meters Centerline goodness [0,1] 0.999122149662777 Centerline is valid? [True, True] Translation: X:254.72, Y:-14.19, Z:-1.46 [[ 9.96476799e-01 8.38434898e-02 2.06361090e-03 2.54717409e+02] [-8.38433134e-02 9.96478936e-01 -1.72017858e-04 -1.41929358e+01] [-2.07076737e-03 -1.60817071e-06 9.99997856e-01 -1.45755488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.730281693 meters Centerline goodness [0,1] 0.9994087088735905 Centerline is valid? [True, True] Translation: X:254.75, Y:-14.20, Z:-1.46 [[ 9.96571543e-01 8.27270582e-02 1.18050828e-03 2.54747588e+02] [-8.27269995e-02 9.96572242e-01 -9.85507950e-05 -1.41984376e+01] [-1.18461460e-03 5.53010321e-07 9.99999298e-01 -1.46011240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76028169299997 meters Centerline goodness [0,1] 0.9990876106006917 Centerline is valid? [True, True] Translation: X:254.78, Y:-14.21, Z:-1.46 [[ 9.96853790e-01 7.92617782e-02 3.02774616e-04 2.54777322e+02] [-7.92617743e-02 9.96853836e-01 -2.50618119e-05 -1.42092555e+01] [-3.03808481e-04 9.84508887e-07 9.99999954e-01 -1.46283869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79028169299994 meters Centerline goodness [0,1] 0.9988845627696517 Centerline is valid? [True, True] Translation: X:254.81, Y:-14.22, Z:-1.46 [[ 9.97052813e-01 7.67182315e-02 3.76572674e-05 2.54807773e+02] [-7.67182315e-02 9.97052814e-01 -3.04824827e-06 -1.42175944e+01] [-3.77801406e-05 1.50265557e-07 9.99999999e-01 -1.46357369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82028169299997 meters Centerline goodness [0,1] 0.9987229695215393 Centerline is valid? [True, True] Translation: X:254.84, Y:-14.22, Z:-1.46 [[ 9.97237472e-01 7.42793418e-02 -6.82686092e-05 2.54838791e+02] [-7.42793416e-02 9.97237474e-01 5.81022972e-06 -1.42235422e+01] [ 6.85115955e-05 -7.23231453e-07 9.99999998e-01 -1.46307385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85028169299994 meters Centerline goodness [0,1] 0.9982196100302452 Centerline is valid? [True, True] Translation: X:254.87, Y:-14.23, Z:-1.46 [[ 9.97472476e-01 7.10481569e-02 -9.05157489e-04 2.54869171e+02] [-7.10481174e-02 9.97472886e-01 7.57111731e-05 -1.42308043e+01] [ 9.08249193e-04 -1.12100757e-05 9.99999587e-01 -1.46399376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.880281693 meters Centerline goodness [0,1] 0.9983157086815624 Centerline is valid? [True, True] Translation: X:254.90, Y:-14.23, Z:-1.46 [[ 9.97510108e-01 7.05121782e-02 -1.27130437e-03 2.54899675e+02] [-7.05121001e-02 9.97510918e-01 1.06262143e-04 -1.42336528e+01] [ 1.27563277e-03 -1.63552208e-05 9.99999186e-01 -1.46369924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91028169299994 meters Centerline goodness [0,1] 0.9983055573429424 Centerline is valid? [True, True] Translation: X:254.93, Y:-14.24, Z:-1.46 [[ 9.97530107e-01 7.02271948e-02 -1.35187364e-03 2.54929644e+02] [-7.02271062e-02 9.97531022e-01 1.12996536e-04 -1.42370924e+01] [ 1.35647133e-03 -1.77792730e-05 9.99999080e-01 -1.46379218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.940281693 meters Centerline goodness [0,1] 0.9982081529042856 Centerline is valid? [True, True] Translation: X:254.96, Y:-14.24, Z:-1.46 [[ 9.97518284e-01 7.04076442e-02 -1.90246355e-04 2.54959240e+02] [-7.04076423e-02 9.97518302e-01 1.62011030e-05 -1.42415862e+01] [ 1.90914903e-04 -2.76609917e-06 9.99999982e-01 -1.46194284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97028169299995 meters Centerline goodness [0,1] 0.9978330146590185 Centerline is valid? [True, True] Translation: X:254.99, Y:-14.25, Z:-1.46 [[ 9.97531485e-01 7.02184976e-02 5.47154827e-04 2.54989111e+02] [-7.02184831e-02 9.97531635e-01 -4.57210531e-05 -1.42481190e+01] [-5.49014712e-04 7.18780801e-06 9.99999849e-01 -1.46196547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.000281693 meters Centerline goodness [0,1] 0.9982111683441454 Centerline is valid? [True, True] Translation: X:255.02, Y:-14.25, Z:-1.46 [[ 9.97589492e-01 6.93684651e-02 1.79470809e-03 2.55020913e+02] [-6.93683081e-02 9.97591106e-01 -1.49675262e-04 -1.42514139e+01] [-1.80076757e-03 2.48186047e-05 9.99998378e-01 -1.45930523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03028169299995 meters Centerline goodness [0,1] 0.9981613762204657 Centerline is valid? [True, True] Translation: X:255.05, Y:-14.26, Z:-1.46 [[ 9.97633416e-01 6.87369546e-02 1.67310797e-03 2.55051580e+02] [-6.87368168e-02 9.97634818e-01 -1.39789766e-04 -1.42610369e+01] [-1.67875949e-03 2.44548260e-05 9.99998591e-01 -1.46045894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.060281693 meters Centerline goodness [0,1] 0.9980580474934037 Centerline is valid? [True, True] Translation: X:255.08, Y:-14.26, Z:-1.46 [[ 9.97651169e-01 6.84773493e-02 1.73133952e-03 2.55083675e+02] [-6.84772009e-02 9.97652671e-01 -1.44930580e-04 -1.42633587e+01] [-1.73719996e-03 2.60328786e-05 9.99998491e-01 -1.45973124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09028169299995 meters Centerline goodness [0,1] 0.9979236408322386 Centerline is valid? [True, True] Translation: X:255.12, Y:-14.26, Z:-1.46 [[ 9.97589581e-01 6.93782714e-02 1.29779118e-03 2.55116648e+02] [-6.93781883e-02 9.97590425e-01 -1.08974116e-04 -1.42612628e+01] [-1.30222449e-03 1.86730414e-05 9.99999152e-01 -1.46009238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.120281693 meters Centerline goodness [0,1] 0.9981813183327342 Centerline is valid? [True, True] Translation: X:255.15, Y:-14.27, Z:-1.46 [[ 9.97560401e-01 6.98078501e-02 3.33269509e-04 2.55147283e+02] [-6.98078448e-02 9.97560456e-01 -2.74154287e-05 -1.42655439e+01] [-3.34370295e-04 4.08371989e-06 9.99999944e-01 -1.46259674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15028169299995 meters Centerline goodness [0,1] 0.9984559414526841 Centerline is valid? [True, True] Translation: X:255.18, Y:-14.27, Z:-1.47 [[ 9.97509632e-01 7.05039007e-02 -1.93224605e-03 2.55178510e+02] [-7.05037170e-02 9.97511503e-01 1.63074627e-04 -1.42677184e+01] [ 1.93893505e-03 -2.64379831e-05 9.99998120e-01 -1.46704573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.180281693 meters Centerline goodness [0,1] 0.9984278065777173 Centerline is valid? [True, True] Translation: X:255.21, Y:-14.27, Z:-1.46 [[ 9.97424184e-01 7.17073930e-02 -1.74544145e-03 2.55209601e+02] [-7.17072452e-02 9.97425711e-01 1.47214261e-04 -1.42654530e+01] [ 1.75150453e-03 -2.16742658e-05 9.99998466e-01 -1.46488091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21028169299996 meters Centerline goodness [0,1] 0.9985129163834127 Centerline is valid? [True, True] Translation: X:255.24, Y:-14.26, Z:-1.46 [[ 9.97276754e-01 7.37477838e-02 -5.84179001e-04 2.55240409e+02] [-7.37477676e-02 9.97276925e-01 4.92709050e-05 -1.42641343e+01] [ 5.86221858e-04 -6.05483093e-06 9.99999828e-01 -1.46281229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.240281693 meters Centerline goodness [0,1] 0.9989949963648804 Centerline is valid? [True, True] Translation: X:255.27, Y:-14.26, Z:-1.46 [[ 9.96754872e-01 8.04823225e-02 1.52348154e-03 2.55271338e+02] [-8.04822200e-02 9.96756036e-01 -1.28530950e-04 -1.42556924e+01] [-1.52888389e-03 5.50067426e-06 9.99998831e-01 -1.45875255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27028169299996 meters Centerline goodness [0,1] 0.9994435884266393 Centerline is valid? [True, True] Translation: X:255.30, Y:-14.25, Z:-1.46 [[ 9.96429312e-01 8.44251719e-02 1.00828271e-03 2.55301147e+02] [-8.44251290e-02 9.96429822e-01 -8.50720710e-05 -1.42512370e+01] [-1.01186518e-03 -3.56092510e-07 9.99999488e-01 -1.46062523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.300281693 meters Centerline goodness [0,1] 0.9996407818277866 Centerline is valid? [True, True] Translation: X:255.33, Y:-14.24, Z:-1.46 [[ 9.95819619e-01 9.13397022e-02 -5.87716929e-04 2.55332160e+02] [-9.13396890e-02 9.95819792e-01 4.94392401e-05 -1.42394271e+01] [ 5.89775916e-04 4.44931631e-06 9.99999826e-01 -1.46366688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33028169299996 meters Centerline goodness [0,1] 0.9996175826977416 Centerline is valid? [True, True] Translation: X:255.36, Y:-14.24, Z:-1.46 [[ 9.95539526e-01 9.43453889e-02 2.29752642e-05 2.55362030e+02] [-9.43453889e-02 9.95539526e-01 -2.03948639e-06 -1.42356367e+01] [-2.30651998e-05 -1.37220924e-07 1.00000000e+00 -1.46216571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.360281693 meters Centerline goodness [0,1] 0.9994672803596923 Centerline is valid? [True, True] Translation: X:255.39, Y:-14.23, Z:-1.46 [[ 9.95234530e-01 9.74991650e-02 1.46373453e-03 2.55391105e+02] [-9.74990889e-02 9.95235606e-01 -1.23449986e-04 -1.42303612e+01] [-1.46879700e-03 -1.98510943e-05 9.99998921e-01 -1.45950323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39028169299996 meters Centerline goodness [0,1] 0.9994857840721616 Centerline is valid? [True, True] Translation: X:255.42, Y:-14.23, Z:-1.46 [[ 9.94933403e-01 1.00501677e-01 2.63370705e-03 2.55420876e+02] [-1.00501441e-01 9.94936888e-01 -2.21924743e-04 -1.42276146e+01] [-2.64267610e-03 -4.38910136e-05 9.99996507e-01 -1.45688869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.420281693 meters Centerline goodness [0,1] 0.998400168403326 Centerline is valid? [True, True] Translation: X:255.45, Y:-14.21, Z:-1.46 [[ 9.94208451e-01 1.07432663e-01 2.78910899e-03 2.55452136e+02] [-1.07432427e-01 9.94212361e-01 -2.34927423e-04 -1.42128244e+01] [-2.79820551e-03 -6.60739183e-05 9.99996083e-01 -1.45666093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45028169299997 meters Centerline goodness [0,1] 0.9965577323530662 Centerline is valid? [True, True] Translation: X:255.48, Y:-14.20, Z:-1.46 [[ 9.93881522e-01 1.10434676e-01 1.92416100e-03 2.55481729e+02] [-1.10434569e-01 9.93883383e-01 -1.62129770e-04 -1.42028690e+01] [-1.93029639e-03 -5.13561079e-05 9.99998136e-01 -1.45895439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.480281693 meters Centerline goodness [0,1] 0.99463755828741 Centerline is valid? [True, True] Translation: X:255.51, Y:-14.19, Z:-1.46 [[ 9.93398712e-01 1.14712177e-01 3.39119867e-04 2.55512409e+02] [-1.14712174e-01 9.93398770e-01 -2.85925447e-05 -1.41925807e+01] [-3.40161172e-04 -1.04973800e-05 9.99999942e-01 -1.46221852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51028169299997 meters Centerline goodness [0,1] 0.9961636010997676 Centerline is valid? [True, True] Translation: X:255.54, Y:-14.19, Z:-1.46 [[ 9.93280687e-01 1.15730097e-01 1.44526444e-04 2.55540957e+02] [-1.15730096e-01 9.93280698e-01 -1.23702051e-05 -1.41949838e+01] [-1.44986932e-04 -4.43897342e-06 9.99999989e-01 -1.46132530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54028169299994 meters Centerline goodness [0,1] 0.9941622264207018 Centerline is valid? [True, True] Translation: X:255.57, Y:-14.19, Z:-1.46 [[ 9.93228959e-01 1.16173162e-01 1.77804240e-04 2.55569654e+02] [-1.16173161e-01 9.93228975e-01 -1.52119613e-05 -1.41855552e+01] [-1.78367545e-04 -5.54712010e-06 9.99999984e-01 -1.46250243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57028169299997 meters Centerline goodness [0,1] 0.9960220383330851 Centerline is valid? [True, True] Translation: X:255.60, Y:-14.19, Z:-1.46 [[ 9.93299441e-01 1.15567259e-01 -6.54605637e-04 2.55597992e+02] [-1.15567248e-01 9.93299657e-01 5.47911690e-05 -1.41869910e+01] [ 6.56551620e-04 2.12269344e-05 9.99999784e-01 -1.46414763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60028169299994 meters Centerline goodness [0,1] 0.9968487171297775 Centerline is valid? [True, True] Translation: X:255.63, Y:-14.19, Z:-1.46 [[ 9.93388015e-01 1.14804502e-01 -4.21576894e-04 2.55626798e+02] [-1.14804497e-01 9.93388105e-01 3.51818744e-05 -1.41922906e+01] [ 4.22828509e-04 1.34496710e-05 9.99999911e-01 -1.46375728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.630281693 meters Centerline goodness [0,1] 0.9964257180101762 Centerline is valid? [True, True] Translation: X:255.66, Y:-14.19, Z:-1.46 [[ 9.93635560e-01 1.12628909e-01 1.76153076e-03 2.55655866e+02] [-1.12628823e-01 9.93637120e-01 -1.48057211e-04 -1.41859709e+01] [-1.76699788e-03 -5.12842276e-05 9.99998438e-01 -1.45953718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66028169299994 meters Centerline goodness [0,1] 0.997467546286444 Centerline is valid? [True, True] Translation: X:255.68, Y:-14.19, Z:-1.46 [[ 9.93778059e-01 1.11352944e-01 2.38578812e-03 2.55684061e+02] [-1.11352784e-01 9.93780920e-01 -2.00337690e-04 -1.41899302e+01] [-2.39325891e-03 -6.65729477e-05 9.99997134e-01 -1.45732627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.690281693 meters Centerline goodness [0,1] 0.997467546286444 Centerline is valid? [True, True] Translation: X:255.71, Y:-14.19, Z:-1.46 [[ 9.93783118e-01 1.11307783e-01 2.38579725e-03 2.55712307e+02] [-1.11307623e-01 9.93785979e-01 -2.00228944e-04 -1.41922075e+01] [-2.39325889e-03 -6.65732757e-05 9.99997134e-01 -1.45745969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72028169299995 meters Centerline goodness [0,1] 0.9974086110580089 Centerline is valid? [True, True] Translation: X:255.74, Y:-14.19, Z:-1.46 [[ 9.94202741e-01 1.07516926e-01 1.01061178e-03 2.55741620e+02] [-1.07516896e-01 9.94203254e-01 -8.48088189e-05 -1.41876998e+01] [-1.01387190e-03 -2.43406812e-05 9.99999486e-01 -1.46152617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.750281693 meters Centerline goodness [0,1] 0.9989654949460117 Centerline is valid? [True, True] Translation: X:255.77, Y:-14.20, Z:-1.46 [[ 9.94421991e-01 1.05474430e-01 2.21216319e-04 2.55769436e+02] [-1.05474428e-01 9.94422015e-01 -1.87449410e-05 -1.41989680e+01] [-2.21959490e-04 -4.69228333e-06 9.99999975e-01 -1.46231131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78028169299995 meters Centerline goodness [0,1] 0.9988853161843515 Centerline is valid? [True, True] Translation: X:255.80, Y:-14.20, Z:-1.46 [[ 9.94547387e-01 1.04285626e-01 -6.35787635e-05 2.55797564e+02] [-1.04285626e-01 9.94547389e-01 5.05520544e-06 -1.42005485e+01] [ 6.37592784e-05 1.60270978e-06 9.99999998e-01 -1.46240073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.810281693 meters Centerline goodness [0,1] 0.9991465756347344 Centerline is valid? [True, True] Translation: X:255.83, Y:-14.20, Z:-1.46 [[ 9.94564246e-01 1.04123758e-01 4.50648169e-04 2.55825394e+02] [-1.04123752e-01 9.94564348e-01 -3.79640825e-05 -1.41968424e+01] [-4.52151565e-04 -9.16545894e-06 9.99999898e-01 -1.46120533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84028169299995 meters Centerline goodness [0,1] 0.9991189237976533 Centerline is valid? [True, True] Translation: X:255.85, Y:-14.20, Z:-1.46 [[ 9.94547514e-01 1.04283855e-01 3.46778069e-04 2.55853380e+02] [-1.04283851e-01 9.94547574e-01 -2.92521962e-05 -1.41962526e+01] [-3.47937820e-04 -7.07065352e-06 9.99999939e-01 -1.46200702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.870281693 meters Centerline goodness [0,1] 0.9988630269226644 Centerline is valid? [True, True] Translation: X:255.88, Y:-14.20, Z:-1.46 [[ 9.94672657e-01 1.03083652e-01 2.57921327e-04 2.55882019e+02] [-1.03083650e-01 9.94672690e-01 -2.17605832e-05 -1.41978646e+01] [-2.58790460e-04 -4.94281473e-06 9.99999967e-01 -1.46287869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90028169299995 meters Centerline goodness [0,1] 0.9992598701600796 Centerline is valid? [True, True] Translation: X:255.91, Y:-14.20, Z:-1.46 [[ 9.94774505e-01 1.02096289e-01 1.80613294e-04 2.55909600e+02] [-1.02096287e-01 9.94774521e-01 -1.53427540e-05 -1.41988693e+01] [-1.81235942e-04 -3.17736630e-06 9.99999984e-01 -1.46318411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.930281693 meters Centerline goodness [0,1] 0.9992758407701646 Centerline is valid? [True, True] Translation: X:255.94, Y:-14.20, Z:-1.46 [[ 9.94864796e-01 1.01212377e-01 3.02359452e-04 2.55938560e+02] [-1.01212374e-01 9.94864842e-01 -2.54454079e-05 -1.42013948e+01] [-3.03382179e-04 -5.28777738e-06 9.99999954e-01 -1.46224457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96028169299996 meters Centerline goodness [0,1] 0.9996993062565777 Centerline is valid? [True, True] Translation: X:255.97, Y:-14.20, Z:-1.46 [[ 9.95004089e-01 9.98320165e-02 6.56113483e-04 2.55966893e+02] [-9.98320020e-02 9.95004306e-01 -5.49359718e-05 -1.42036577e+01] [-6.58320110e-04 -1.08396059e-05 9.99999783e-01 -1.46201130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.990281693 meters Centerline goodness [0,1] 0.9995561661206805 Centerline is valid? [True, True] Translation: X:255.99, Y:-14.21, Z:-1.46 [[ 9.95327774e-01 9.65400293e-02 1.62639654e-03 2.55994403e+02] [-9.65399363e-02 9.95329102e-01 -1.35810686e-04 -1.42103797e+01] [-1.63191097e-03 -2.18360705e-05 9.99998668e-01 -1.46010958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02028169299996 meters Centerline goodness [0,1] 0.9996371940158354 Centerline is valid? [True, True] Translation: X:256.02, Y:-14.21, Z:-1.46 [[ 9.95456821e-01 9.52010896e-02 1.57171229e-03 2.56022653e+02] [-9.52010012e-02 9.95458061e-01 -1.31148078e-04 -1.42128225e+01] [-1.57705911e-03 -1.90763349e-05 9.99998756e-01 -1.45969481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.050281693 meters Centerline goodness [0,1] 0.9995716427500535 Centerline is valid? [True, True] Translation: X:256.05, Y:-14.22, Z:-1.46 [[ 9.95492701e-01 9.48273101e-02 1.43670795e-03 2.56051470e+02] [-9.48272359e-02 9.95493737e-01 -1.19842833e-04 -1.42151366e+01] [-1.44159814e-03 -1.69363783e-05 9.99998961e-01 -1.45934547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08028169299996 meters Centerline goodness [0,1] 0.9995120502376104 Centerline is valid? [True, True] Translation: X:256.08, Y:-14.21, Z:-1.46 [[ 9.95458961e-01 9.51806175e-02 1.45159300e-03 2.56079517e+02] [-9.51805422e-02 9.95460019e-01 -1.21051326e-04 -1.42134079e+01] [-1.45652453e-03 -1.76617816e-05 9.99998939e-01 -1.45992681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.110281693 meters Centerline goodness [0,1] 0.9995072308516336 Centerline is valid? [True, True] Translation: X:256.11, Y:-14.22, Z:-1.46 [[ 9.95443838e-01 9.53372383e-02 1.54158920e-03 2.56108142e+02] [-9.53371537e-02 9.95445031e-01 -1.28419028e-04 -1.42186932e+01] [-1.54681042e-03 -1.91367960e-05 9.99998804e-01 -1.45951830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14028169299996 meters Centerline goodness [0,1] 0.9996585428315335 Centerline is valid? [True, True] Translation: X:256.14, Y:-14.22, Z:-1.46 [[ 9.95447012e-01 9.53106893e-02 1.05800141e-03 2.56136073e+02] [-9.53106494e-02 9.95447574e-01 -8.82328569e-05 -1.42172168e+01] [-1.06159447e-03 -1.30076674e-05 9.99999436e-01 -1.46152988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.170281693 meters Centerline goodness [0,1] 0.9996154667806024 Centerline is valid? [True, True] Translation: X:256.16, Y:-14.22, Z:-1.46 [[ 9.95522236e-01 9.45272672e-02 2.69968963e-04 2.56164503e+02] [-9.45272645e-02 9.95522273e-01 -2.26207487e-05 -1.42217184e+01] [-2.70898393e-04 -2.99996926e-06 9.99999963e-01 -1.46359014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20028169299997 meters Centerline goodness [0,1] 0.999659820555343 Centerline is valid? [True, True] Translation: X:256.19, Y:-14.23, Z:-1.47 [[ 9.95489914e-01 9.48495977e-02 -1.83981492e-03 2.56193276e+02] [-9.48494779e-02 9.95491614e-01 1.52484809e-04 -1.42276468e+01] [ 1.84598344e-03 2.27083952e-05 9.99998296e-01 -1.46675465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.230281693 meters Centerline goodness [0,1] 0.9994710561949899 Centerline is valid? [True, True] Translation: X:256.22, Y:-14.23, Z:-1.47 [[ 9.95397261e-01 9.58121963e-02 -2.07755869e-03 2.56221825e+02] [-9.58120460e-02 9.95399429e-01 1.71973887e-04 -1.42253894e+01] [ 2.08447792e-03 2.78728123e-05 9.99997827e-01 -1.46882408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26028169299997 meters Centerline goodness [0,1] 0.9996789246114988 Centerline is valid? [True, True] Translation: X:256.25, Y:-14.23, Z:-1.47 [[ 9.95238092e-01 9.74665089e-02 -1.19124883e-03 2.56250549e+02] [-9.74664608e-02 9.95238805e-01 9.85132153e-05 -1.42274049e+01] [ 1.19517880e-03 1.80627029e-05 9.99999286e-01 -1.46504860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29028169299994 meters Centerline goodness [0,1] 0.9997010973995474 Centerline is valid? [True, True] Translation: X:256.28, Y:-14.23, Z:-1.47 [[ 9.95233959e-01 9.75079646e-02 -1.25060502e-03 2.56278373e+02] [-9.75079118e-02 9.95234744e-01 1.03305208e-04 -1.42277096e+01] [ 1.25471865e-03 1.91310334e-05 9.99999213e-01 -1.46589943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32028169299997 meters Centerline goodness [0,1] 0.9997861054072553 Centerline is valid? [True, True] Translation: X:256.31, Y:-14.23, Z:-1.47 [[ 9.95276867e-01 9.70583305e-02 -1.90754668e-03 2.56305167e+02] [-9.70582072e-02 9.95278694e-01 1.57333212e-04 -1.42297983e+01] [ 1.91381107e-03 2.85529546e-05 9.99998168e-01 -1.46673424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35028169299994 meters Centerline goodness [0,1] 0.9995924495924496 Centerline is valid? [True, True] Translation: X:256.33, Y:-14.24, Z:-1.47 [[ 9.95419769e-01 9.55644842e-02 -2.62906577e-03 2.56333233e+02] [-9.55642439e-02 9.95423241e-01 2.17143106e-04 -1.42355532e+01] [ 2.63778434e-03 3.50961420e-05 9.99996520e-01 -1.46712590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.380281693 meters Centerline goodness [0,1] 0.9995349918623576 Centerline is valid? [True, True] Translation: X:256.36, Y:-14.24, Z:-1.47 [[ 9.95523817e-01 9.44781023e-02 -2.49377417e-03 2.56360728e+02] [-9.44778834e-02 9.95526939e-01 2.05700464e-04 -1.42366342e+01] [ 2.50205356e-03 3.08267949e-05 9.99996869e-01 -1.46827990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41028169299994 meters Centerline goodness [0,1] 0.9995552731893266 Centerline is valid? [True, True] Translation: X:256.39, Y:-14.24, Z:-1.47 [[ 9.95631418e-01 9.33428456e-02 -2.27861223e-03 2.56389660e+02] [-9.33426599e-02 9.95634025e-01 1.87919392e-04 -1.42412606e+01] [ 2.28620480e-03 2.55932754e-05 9.99997386e-01 -1.46779687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.440281693 meters Centerline goodness [0,1] 0.9996376579917727 Centerline is valid? [True, True] Translation: X:256.42, Y:-14.25, Z:-1.46 [[ 9.95862948e-01 9.08627287e-02 -9.76291429e-04 2.56417880e+02] [-9.08626936e-02 9.95863427e-01 8.03416447e-05 -1.42478031e+01] [ 9.79552989e-04 8.69920186e-06 9.99999520e-01 -1.46457740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47028169299995 meters Centerline goodness [0,1] 0.9995766568592173 Centerline is valid? [True, True] Translation: X:256.45, Y:-14.25, Z:-1.46 [[ 9.96018708e-01 8.91444475e-02 -5.12514956e-06 2.56445980e+02] [-8.91444475e-02 9.96018708e-01 1.49540972e-07 -1.42503847e+01] [ 5.11807559e-06 3.07933021e-07 1.00000000e+00 -1.46396096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.500281693 meters Centerline goodness [0,1] 0.9994432667394703 Centerline is valid? [True, True] Translation: X:256.47, Y:-14.26, Z:-1.46 [[ 9.96356362e-01 8.52873481e-02 -2.59738457e-04 2.56473958e+02] [-8.52873454e-02 9.96356396e-01 2.11885459e-05 -1.42575370e+01] [ 2.60599188e-04 1.04106096e-06 9.99999966e-01 -1.46326232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53028169299995 meters Centerline goodness [0,1] 0.9995155855096883 Centerline is valid? [True, True] Translation: X:256.50, Y:-14.26, Z:-1.47 [[ 9.96445813e-01 8.42257457e-02 -1.32874790e-03 2.56501819e+02] [-8.42256750e-02 9.96446699e-01 1.09162001e-04 -1.42608849e+01] [ 1.33322071e-03 3.14067027e-06 9.99999111e-01 -1.46697591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.560281693 meters Centerline goodness [0,1] 0.999507842423983 Centerline is valid? [True, True] Translation: X:256.53, Y:-14.27, Z:-1.47 [[ 9.96540530e-01 8.30639065e-02 -2.71282906e-03 2.56529859e+02] [-8.30636073e-02 9.96544223e-01 2.22987836e-04 -1.42655377e+01] [ 2.72197637e-03 3.12095211e-06 9.99996295e-01 -1.46770388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59028169299995 meters Centerline goodness [0,1] 0.9995146450578205 Centerline is valid? [True, True] Translation: X:256.56, Y:-14.27, Z:-1.47 [[ 9.96614129e-01 8.21694550e-02 -2.90846674e-03 2.56557316e+02] [-8.21691077e-02 9.96618373e-01 2.38921408e-04 -1.42695718e+01] [ 2.91826343e-03 8.73665701e-07 9.99995742e-01 -1.46870355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.620281693 meters Centerline goodness [0,1] 0.9992747440273038 Centerline is valid? [True, True] Translation: X:256.59, Y:-14.27, Z:-1.46 [[ 9.96712609e-01 8.10176274e-02 -3.44703372e-04 2.56585169e+02] [-8.10176225e-02 9.96712669e-01 2.80636627e-05 -1.42731225e+01] [ 3.45843869e-04 -4.43588469e-08 9.99999940e-01 -1.46336471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65028169299995 meters Centerline goodness [0,1] 0.9992572471457069 Centerline is valid? [True, True] Translation: X:256.61, Y:-14.28, Z:-1.46 [[ 9.96741977e-01 8.06422626e-02 1.50224181e-03 2.56613421e+02] [-8.06421679e-02 9.96743109e-01 -1.23603774e-04 -1.42760576e+01] [-1.50731686e-03 2.05703386e-06 9.99998864e-01 -1.46137654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.680281693 meters Centerline goodness [0,1] 0.999317929917299 Centerline is valid? [True, True] Translation: X:256.64, Y:-14.28, Z:-1.46 [[ 9.96798662e-01 7.99318136e-02 1.82571503e-03 2.56640781e+02] [-7.99316727e-02 9.96800334e-01 -1.50126969e-04 -1.42828093e+01] [-1.83187327e-03 3.71390621e-06 9.99998322e-01 -1.46158459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71028169299996 meters Centerline goodness [0,1] 0.9991643633091213 Centerline is valid? [True, True] Translation: X:256.67, Y:-14.29, Z:-1.46 [[ 9.96839601e-01 7.94361272e-02 8.43702065e-04 2.56669180e+02] [-7.94360969e-02 9.96839958e-01 -6.94365165e-05 -1.42871829e+01] [-8.46551699e-04 2.19667039e-06 9.99999642e-01 -1.46261839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.740281693 meters Centerline goodness [0,1] 0.9993839486765518 Centerline is valid? [True, True] Translation: X:256.70, Y:-14.29, Z:-1.46 [[ 9.96872678e-01 7.90244078e-02 7.67770870e-05 2.56696733e+02] [-7.90244075e-02 9.96872681e-01 -6.57325396e-06 -1.42913104e+01] [-7.70564281e-05 4.85433474e-07 9.99999997e-01 -1.46421300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77028169299996 meters Centerline goodness [0,1] 0.9992160684774779 Centerline is valid? [True, True] Translation: X:256.72, Y:-14.29, Z:-1.47 [[ 9.96876225e-01 7.89785800e-02 -4.19808810e-04 2.56724625e+02] [-7.89785726e-02 9.96876313e-01 3.41122374e-05 -1.42943548e+01] [ 4.21191595e-04 -8.49777876e-07 9.99999911e-01 -1.46610981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.800281693 meters Centerline goodness [0,1] 0.9993192068760105 Centerline is valid? [True, True] Translation: X:256.75, Y:-14.29, Z:-1.46 [[ 9.96750326e-01 8.05526710e-02 -2.33495687e-04 2.56753074e+02] [-8.05526687e-02 9.96750354e-01 1.89067248e-05 -1.42945696e+01] [ 2.34259895e-04 -3.65833799e-08 9.99999973e-01 -1.46460419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83028169299996 meters Centerline goodness [0,1] 0.9991255571906925 Centerline is valid? [True, True] Translation: X:256.78, Y:-14.29, Z:-1.46 [[ 9.96590910e-01 8.25018566e-02 -4.21009207e-05 2.56782106e+02] [-8.25018566e-02 9.96590911e-01 3.21606110e-06 -1.42939760e+01] [ 4.22227259e-05 2.68306864e-07 9.99999999e-01 -1.46289865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.860281693 meters Centerline goodness [0,1] 0.9995085155031306 Centerline is valid? [True, True] Translation: X:256.81, Y:-14.28, Z:-1.47 [[ 9.96021402e-01 8.90898016e-02 -2.09124164e-03 2.56810987e+02] [-8.90896397e-02 9.96023598e-01 1.70630056e-04 -1.42846906e+01] [ 2.09812742e-03 1.63567766e-05 9.99997799e-01 -1.46694933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89028169299996 meters Centerline goodness [0,1] 0.9995561661206805 Centerline is valid? [True, True] Translation: X:256.84, Y:-14.28, Z:-1.47 [[ 9.95704998e-01 9.25331334e-02 -3.02932047e-03 2.56839217e+02] [-9.25328096e-02 9.95709605e-01 2.47188692e-04 -1.42768301e+01] [ 3.03919664e-03 3.41845186e-05 9.99995381e-01 -1.47164697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.920281693 meters Centerline goodness [0,1] 0.9996389585014654 Centerline is valid? [True, True] Translation: X:256.87, Y:-14.27, Z:-1.47 [[ 9.95250260e-01 9.72862337e-02 -3.50851824e-03 2.56869075e+02] [-9.72858286e-02 9.95256442e-01 2.86331173e-04 -1.42689165e+01] [ 3.51973146e-03 5.63579299e-05 9.99993804e-01 -1.47224604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95028169299997 meters Centerline goodness [0,1] 0.9996593280245284 Centerline is valid? [True, True] Translation: X:256.90, Y:-14.27, Z:-1.47 [[ 9.95153060e-01 9.82860232e-02 -3.20085200e-03 2.56896879e+02] [-9.82856922e-02 9.95158206e-01 2.60917381e-04 -1.42664568e+01] [ 3.21099867e-03 5.49452250e-05 9.99994843e-01 -1.47184780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.980281693 meters Centerline goodness [0,1] 0.999618950844659 Centerline is valid? [True, True] Translation: X:256.93, Y:-14.27, Z:-1.47 [[ 9.95132201e-01 9.85213313e-02 -2.33430625e-03 2.56925142e+02] [-9.85211566e-02 9.95134938e-01 1.89978524e-04 -1.42670095e+01] [ 2.34166664e-03 4.09248044e-05 9.99997257e-01 -1.47015804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01028169299997 meters Centerline goodness [0,1] 0.9994428133639072 Centerline is valid? [True, True] Translation: X:256.95, Y:-14.27, Z:-1.47 [[ 9.95301017e-01 9.68073960e-02 -2.05292771e-03 2.56954237e+02] [-9.68072573e-02 9.95303133e-01 1.67051192e-04 -1.42664186e+01] [ 2.05945717e-03 3.24720804e-05 9.99997879e-01 -1.46913541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04028169299994 meters Centerline goodness [0,1] 0.9996412745304917 Centerline is valid? [True, True] Translation: X:256.98, Y:-14.27, Z:-1.47 [[ 9.95423624e-01 9.55274634e-02 -2.51252851e-03 2.56982207e+02] [-9.55272519e-02 9.95426794e-01 2.04296423e-04 -1.42660118e+01] [ 2.52055411e-03 3.66534576e-05 9.99996823e-01 -1.47098393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07028169299997 meters Centerline goodness [0,1] 0.9997656782549421 Centerline is valid? [True, True] Translation: X:257.01, Y:-14.27, Z:-1.47 [[ 9.95775296e-01 9.17754354e-02 -2.97156803e-03 2.57011021e+02] [-9.17751231e-02 9.95779729e-01 2.41587680e-04 -1.42706057e+01] [ 2.98119902e-03 3.21489779e-05 9.99995556e-01 -1.47079440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10028169299994 meters Centerline goodness [0,1] 0.9995363247412903 Centerline is valid? [True, True] Translation: X:257.04, Y:-14.27, Z:-1.47 [[ 9.95945021e-01 8.99422030e-02 -1.97864747e-03 2.57038505e+02] [-8.99420613e-02 9.95946986e-01 1.60619739e-04 -1.42733661e+01] [ 1.98507448e-03 1.79952029e-05 9.99998030e-01 -1.46902424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.130281693 meters Centerline goodness [0,1] 0.9994748009495599 Centerline is valid? [True, True] Translation: X:257.07, Y:-14.28, Z:-1.47 [[ 9.96126105e-01 8.79345016e-02 -5.53315026e-04 2.57066202e+02] [-8.79344904e-02 9.96126259e-01 4.46896870e-05 -1.42765919e+01] [ 5.55101393e-04 4.13891102e-06 9.99999846e-01 -1.46727172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16028169299994 meters Centerline goodness [0,1] 0.9992371103435123 Centerline is valid? [True, True] Translation: X:257.09, Y:-14.28, Z:-1.47 [[ 9.96433535e-01 8.43811541e-02 1.75487579e-04 2.57094687e+02] [-8.43811529e-02 9.96433551e-01 -1.44677870e-05 -1.42835771e+01] [-1.76082520e-04 -3.91656063e-07 9.99999984e-01 -1.46530617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.190281693 meters Centerline goodness [0,1] 0.9990954708935456 Centerline is valid? [True, True] Translation: X:257.12, Y:-14.29, Z:-1.47 [[ 9.96552103e-01 8.29611946e-02 -1.16052486e-03 2.57123135e+02] [-8.29611415e-02 9.96552778e-01 9.39689354e-05 -1.42873555e+01] [ 1.16432005e-03 2.63352692e-06 9.99999322e-01 -1.46697486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22028169299995 meters Centerline goodness [0,1] 0.9990701213069022 Centerline is valid? [True, True] Translation: X:257.15, Y:-14.29, Z:-1.47 [[ 9.96820358e-01 7.96202361e-02 -3.12910963e-03 2.57150328e+02] [-7.96198326e-02 9.96825270e-01 2.53509241e-04 -1.42938828e+01] [ 3.13936002e-03 -3.56398765e-06 9.99995072e-01 -1.47188462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.250281693 meters Centerline goodness [0,1] 0.9988043130137717 Centerline is valid? [True, True] Translation: X:257.18, Y:-14.30, Z:-1.47 [[ 9.96946677e-01 7.80374418e-02 -2.73511645e-03 2.57178534e+02] [-7.80371283e-02 9.96950429e-01 2.21319201e-04 -1.42980938e+01] [ 2.74404671e-03 -7.20280833e-06 9.99996235e-01 -1.47070769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28028169299995 meters Centerline goodness [0,1] 0.9985729803412068 Centerline is valid? [True, True] Translation: X:257.21, Y:-14.31, Z:-1.47 [[ 9.97189742e-01 7.49114966e-02 -9.41541302e-04 2.57205406e+02] [-7.49114583e-02 9.97190186e-01 7.59768598e-05 -1.43059591e+01] [ 9.44587286e-04 -5.23111328e-06 9.99999554e-01 -1.46719370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.310281693 meters Centerline goodness [0,1] 0.9985265225933202 Centerline is valid? [True, True] Translation: X:257.23, Y:-14.31, Z:-1.47 [[ 9.97333252e-01 7.29751476e-02 -1.00654011e-03 2.57233671e+02] [-7.29751027e-02 9.97333759e-01 8.12494996e-05 -1.43120165e+01] [ 1.00978562e-03 -7.58045994e-06 9.99999490e-01 -1.46673133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34028169299995 meters Centerline goodness [0,1] 0.9983681600474718 Centerline is valid? [True, True] Translation: X:257.26, Y:-14.32, Z:-1.47 [[ 9.97564537e-01 6.97140030e-02 -2.22539123e-03 2.57261699e+02] [-6.97137754e-02 9.97567019e-01 1.79786270e-04 -1.43224932e+01] [ 2.23251052e-03 -2.42079825e-05 9.99997508e-01 -1.46964336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.370281693 meters Centerline goodness [0,1] 0.9981531799269763 Centerline is valid? [True, True] Translation: X:257.29, Y:-14.33, Z:-1.47 [[ 9.97661106e-01 6.83036856e-02 -2.63126906e-03 2.57290080e+02] [-6.83033627e-02 9.97664576e-01 2.12491986e-04 -1.43285426e+01] [ 2.63963791e-03 -3.22704653e-05 9.99996516e-01 -1.47023249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40028169299995 meters Centerline goodness [0,1] 0.9982490230830006 Centerline is valid? [True, True] Translation: X:257.32, Y:-14.33, Z:-1.47 [[ 9.97725147e-01 6.73902203e-02 -1.75736611e-03 2.57318114e+02] [-6.73900751e-02 9.97726695e-01 1.41764070e-04 -1.43341379e+01] [ 1.76292459e-03 -2.30125432e-05 9.99998446e-01 -1.46883117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.430281693 meters Centerline goodness [0,1] 0.9976900417487867 Centerline is valid? [True, True] Translation: X:257.35, Y:-14.34, Z:-1.46 [[ 9.97717140e-01 6.75278787e-02 7.02364288e-04 2.57345372e+02] [-6.75278553e-02 9.97717388e-01 -5.69792969e-05 -1.43388585e+01] [-7.04608753e-04 9.42006720e-06 9.99999752e-01 -1.46349457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46028169299996 meters Centerline goodness [0,1] 0.9977219016798313 Centerline is valid? [True, True] Translation: X:257.37, Y:-14.34, Z:-1.46 [[ 9.97664912e-01 6.82928265e-02 9.01322739e-04 2.57374125e+02] [-6.82927885e-02 9.97665319e-01 -7.29456996e-05 -1.43387141e+01] [-9.04200106e-04 1.12215218e-05 9.99999591e-01 -1.46238328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.490281693 meters Centerline goodness [0,1] 0.998396489155203 Centerline is valid? [True, True] Translation: X:257.40, Y:-14.34, Z:-1.47 [[ 9.97533035e-01 7.01786080e-02 -1.67530842e-03 2.57402308e+02] [-7.01784804e-02 9.97534442e-01 1.34880510e-04 -1.43412800e+01] [ 1.68064358e-03 -1.69771654e-05 9.99998588e-01 -1.46902113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52028169299996 meters Centerline goodness [0,1] 0.9982938429055855 Centerline is valid? [True, True] Translation: X:257.43, Y:-14.34, Z:-1.47 [[ 9.97495260e-01 7.06773778e-02 -2.81345242e-03 2.57430965e+02] [-7.06770199e-02 9.97499227e-01 2.26535679e-04 -1.43426444e+01] [ 2.82242756e-03 -2.71218333e-05 9.99996017e-01 -1.47098286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.550281693 meters Centerline goodness [0,1] 0.9983671715544097 Centerline is valid? [True, True] Translation: X:257.46, Y:-14.34, Z:-1.47 [[ 9.97462640e-01 7.11030241e-02 -3.55561495e-03 2.57460004e+02] [-7.11024557e-02 9.97468976e-01 2.86185907e-04 -1.43445170e+01] [ 3.56696429e-03 -3.26467958e-05 9.99993638e-01 -1.47245273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58028169299996 meters Centerline goodness [0,1] 0.9983671715544097 Centerline is valid? [True, True] Translation: X:257.49, Y:-14.35, Z:-1.47 [[ 9.97465909e-01 7.10571475e-02 -3.55562818e-03 2.57488249e+02] [-7.10565794e-02 9.97472246e-01 2.86021605e-04 -1.43467015e+01] [ 3.56696430e-03 -3.26460239e-05 9.99993638e-01 -1.47258611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.610281693 meters Centerline goodness [0,1] 0.9983444411427601 Centerline is valid? [True, True] Translation: X:257.52, Y:-14.35, Z:-1.47 [[ 9.97481752e-01 7.07950213e-02 -4.26841671e-03 2.57516884e+02] [-7.07942008e-02 9.97490884e-01 3.43201116e-04 -1.43503471e+01] [ 4.28200369e-03 -4.01577012e-05 9.99990831e-01 -1.47313511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64028169299996 meters Centerline goodness [0,1] 0.9982475636861002 Centerline is valid? [True, True] Translation: X:257.55, Y:-14.35, Z:-1.47 [[ 9.97541401e-01 6.99342271e-02 -4.51189415e-03 2.57545061e+02] [-6.99333024e-02 9.97551604e-01 3.62572285e-04 -1.43540209e+01] [ 4.52620346e-03 -4.61492072e-05 9.99989756e-01 -1.47296909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.670281693 meters Centerline goodness [0,1] 0.9980421782894597 Centerline is valid? [True, True] Translation: X:257.57, Y:-14.36, Z:-1.47 [[ 9.97585346e-01 6.93471452e-02 -3.80134452e-03 2.57572284e+02] [-6.93464858e-02 9.97592588e-01 3.05158710e-04 -1.43596242e+01] [ 3.81335500e-03 -4.08119739e-05 9.99992728e-01 -1.47211412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70028169299997 meters Centerline goodness [0,1] 0.9978988475497167 Centerline is valid? [True, True] Translation: X:257.60, Y:-14.36, Z:-1.47 [[ 9.97603594e-01 6.91285014e-02 -2.88428804e-03 2.57600011e+02] [-6.91281215e-02 9.97607763e-01 2.31319092e-04 -1.43639591e+01] [ 2.89337888e-03 -3.13793437e-05 9.99995814e-01 -1.47033653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.730281693 meters Centerline goodness [0,1] 0.9980984485068499 Centerline is valid? [True, True] Translation: X:257.63, Y:-14.37, Z:-1.47 [[ 9.97630501e-01 6.87638822e-02 -2.21636297e-03 2.57629027e+02] [-6.87636572e-02 9.97632963e-01 1.77633645e-04 -1.43674118e+01] [ 2.22333153e-03 -2.48075186e-05 9.99997528e-01 -1.46841724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76028169299997 meters Centerline goodness [0,1] 0.9980969080100928 Centerline is valid? [True, True] Translation: X:257.66, Y:-14.37, Z:-1.47 [[ 9.97629344e-01 6.87867781e-02 -2.01786006e-03 2.57657529e+02] [-6.87865919e-02 9.97631384e-01 1.61608516e-04 -1.43716401e+01] [ 2.02419705e-03 -2.24236811e-05 9.99997951e-01 -1.46799786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79028169299994 meters Centerline goodness [0,1] 0.9983213989758409 Centerline is valid? [True, True] Translation: X:257.68, Y:-14.38, Z:-1.47 [[ 9.97604659e-01 6.91265810e-02 -2.54161071e-03 2.57684746e+02] [-6.91262871e-02 9.97607896e-01 2.03409226e-04 -1.43785721e+01] [ 2.54959189e-03 -2.72298800e-05 9.99996749e-01 -1.47009268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82028169299997 meters Centerline goodness [0,1] 0.9978369666638391 Centerline is valid? [True, True] Translation: X:257.71, Y:-14.39, Z:-1.47 [[ 9.97653237e-01 6.84071425e-02 -2.91241567e-03 2.57713248e+02] [-6.84067537e-02 9.97657487e-01 2.33046846e-04 -1.43867010e+01] [ 2.92153537e-03 -3.32710389e-05 9.99995732e-01 -1.47042218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85028169299994 meters Centerline goodness [0,1] 0.9979991911623848 Centerline is valid? [True, True] Translation: X:257.74, Y:-14.39, Z:-1.47 [[ 9.97647950e-01 6.84857891e-02 -2.87478799e-03 2.57740951e+02] [-6.84854111e-02 9.97652091e-01 2.29813640e-04 -1.43916392e+01] [ 2.88377722e-03 -3.23920692e-05 9.99995841e-01 -1.47046030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.880281693 meters Centerline goodness [0,1] 0.9980434690145038 Centerline is valid? [True, True] Translation: X:257.77, Y:-14.40, Z:-1.47 [[ 9.97628309e-01 6.87593482e-02 -3.14776417e-03 2.57768603e+02] [-6.87588970e-02 9.97633275e-01 2.51483649e-04 -1.43957360e+01] [ 3.15760613e-03 -3.44504152e-05 9.99995014e-01 -1.47130089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91028169299994 meters Centerline goodness [0,1] 0.9982185650966005 Centerline is valid? [True, True] Translation: X:257.80, Y:-14.40, Z:-1.47 [[ 9.97634388e-01 6.86034507e-02 -4.38125724e-03 2.57797363e+02] [-6.86025743e-02 9.97644007e-01 3.50172742e-04 -1.44022804e+01] [ 4.39495808e-03 -4.87788443e-05 9.99990341e-01 -1.47377942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.940281693 meters Centerline goodness [0,1] 0.9981989999152471 Centerline is valid? [True, True] Translation: X:257.82, Y:-14.41, Z:-1.47 [[ 9.97636461e-01 6.85923197e-02 -4.07247123e-03 2.57824470e+02] [-6.85915642e-02 9.97644772e-01 3.25056124e-04 -1.44080187e+01] [ 4.08517599e-03 -4.49506686e-05 9.99991655e-01 -1.47470489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97028169299995 meters Centerline goodness [0,1] 0.9982464394166203 Centerline is valid? [True, True] Translation: X:257.85, Y:-14.41, Z:-1.47 [[ 9.97621965e-01 6.88329665e-02 -3.52659767e-03 2.57853044e+02] [-6.88324020e-02 9.97628198e-01 2.81347450e-04 -1.44101660e+01] [ 3.53759926e-03 -3.79342073e-05 9.99993742e-01 -1.47163704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.000281693 meters Centerline goodness [0,1] 0.9982494991036592 Centerline is valid? [True, True] Translation: X:257.88, Y:-14.42, Z:-1.47 [[ 9.97549571e-01 6.99285950e-02 -2.20116806e-03 2.57881585e+02] [-6.99283780e-02 9.97551999e-01 1.75499636e-04 -1.44164271e+01] [ 2.20805204e-03 -2.11454744e-05 9.99997562e-01 -1.47143212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03028169299995 meters Centerline goodness [0,1] 0.9981007660954738 Centerline is valid? [True, True] Translation: X:257.91, Y:-14.42, Z:-1.47 [[ 9.97514885e-01 7.04329482e-02 -1.80369709e-03 2.57911122e+02] [-7.04328034e-02 9.97516516e-01 1.43800603e-04 -1.44202277e+01] [ 1.80934594e-03 -1.64037994e-05 9.99998363e-01 -1.47036022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.060281693 meters Centerline goodness [0,1] 0.9983050488357804 Centerline is valid? [True, True] Translation: X:257.94, Y:-14.42, Z:-1.47 [[ 9.97387729e-01 7.22134381e-02 -1.71386691e-03 2.57940272e+02] [-7.22133100e-02 9.97389201e-01 1.36589178e-04 -1.44235992e+01] [ 1.71925592e-03 -1.24683681e-05 9.99998522e-01 -1.47034136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09028169299995 meters Centerline goodness [0,1] 0.9984994505030012 Centerline is valid? [True, True] Translation: X:257.97, Y:-14.43, Z:-1.47 [[ 9.97317967e-01 7.31703165e-02 -1.72550621e-03 2.57969473e+02] [-7.31701881e-02 9.97319460e-01 1.37477019e-04 -1.44265067e+01] [ 1.73094016e-03 -1.08526873e-05 9.99998502e-01 -1.47079607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.120281693 meters Centerline goodness [0,1] 0.9985393734123624 Centerline is valid? [True, True] Translation: X:258.00, Y:-14.43, Z:-1.47 [[ 9.97227853e-01 7.43946341e-02 -1.43072150e-03 2.57998419e+02] [-7.43945473e-02 9.97228880e-01 1.13867626e-04 -1.44292724e+01] [ 1.43522794e-03 -7.11409012e-06 9.99998970e-01 -1.47002666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15028169299995 meters Centerline goodness [0,1] 0.9989728006163197 Centerline is valid? [True, True] Translation: X:258.03, Y:-14.43, Z:-1.47 [[ 9.96908693e-01 7.85621878e-02 1.02051930e-03 2.58027806e+02] [-7.85621456e-02 9.96909215e-01 -8.14665801e-05 -1.44291703e+01] [-1.02376529e-03 1.04055610e-06 9.99999476e-01 -1.46561974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.180281693 meters Centerline goodness [0,1] 0.9992126822002341 Centerline is valid? [True, True] Translation: X:258.06, Y:-14.43, Z:-1.46 [[ 9.96685441e-01 8.13313866e-02 1.82675441e-03 2.58057696e+02] [-8.13312563e-02 9.96687115e-01 -1.45599285e-04 -1.44294933e+01] [-1.83254438e-03 -3.45554395e-06 9.99998321e-01 -1.46396945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21028169299996 meters Centerline goodness [0,1] 0.9995109816511811 Centerline is valid? [True, True] Translation: X:258.09, Y:-14.43, Z:-1.47 [[ 9.96184259e-01 8.72679629e-02 1.10675688e-03 2.58087110e+02] [-8.72679187e-02 9.96184874e-01 -8.82724952e-05 -1.44268037e+01] [-1.11023783e-03 -8.64869935e-06 9.99999384e-01 -1.46590931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.240281693 meters Centerline goodness [0,1] 0.99970100803007 Centerline is valid? [True, True] Translation: X:258.11, Y:-14.43, Z:-1.47 [[ 9.96011164e-01 8.92268464e-02 5.75145477e-04 2.58114791e+02] [-8.92268347e-02 9.96011330e-01 -4.60269412e-05 -1.44274284e+01] [-5.76958250e-04 -5.47506309e-06 9.99999834e-01 -1.46723130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27028169299996 meters Centerline goodness [0,1] 0.9997437649470448 Centerline is valid? [True, True] Translation: X:258.14, Y:-14.43, Z:-1.47 [[ 9.95920938e-01 9.02295656e-02 3.32561444e-04 2.58143755e+02] [-9.02295617e-02 9.95920994e-01 -2.66620021e-05 -1.44302785e+01] [-3.33610624e-04 -3.45362716e-06 9.99999944e-01 -1.46768721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.300281693 meters Centerline goodness [0,1] 0.9997882567175557 Centerline is valid? [True, True] Translation: X:258.17, Y:-14.43, Z:-1.47 [[ 9.95803922e-01 9.15105647e-02 6.03801273e-04 2.58171333e+02] [-9.15105522e-02 9.95804105e-01 -4.82444761e-05 -1.44308206e+01] [-6.05682665e-04 -7.21214935e-06 9.99999817e-01 -1.46856312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33028169299996 meters Centerline goodness [0,1] 0.9997896950578339 Centerline is valid? [True, True] Translation: X:258.20, Y:-14.43, Z:-1.47 [[ 9.95568206e-01 9.40412764e-02 -4.31589685e-04 2.58200695e+02] [-9.40412704e-02 9.95568299e-01 3.41716258e-05 -1.44326816e+01] [ 4.32890552e-04 6.56705817e-06 9.99999906e-01 -1.47047385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.360281693 meters Centerline goodness [0,1] 0.9995494722389084 Centerline is valid? [True, True] Translation: X:258.23, Y:-14.44, Z:-1.47 [[ 9.95423117e-01 9.55589002e-02 -1.14629279e-03 2.58229397e+02] [-9.55588590e-02 9.95423777e-01 9.07609492e-05 -1.44362052e+01] [ 1.14972012e-03 1.91928843e-05 9.99999339e-01 -1.47114732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39028169299996 meters Centerline goodness [0,1] 0.9998725248576528 Centerline is valid? [True, True] Translation: X:258.26, Y:-14.43, Z:-1.47 [[ 9.95343370e-01 9.63762939e-02 -1.78461798e-03 2.58257738e+02] [-9.63761955e-02 9.95344970e-01 1.41265621e-04 -1.44347459e+01] [ 1.78992518e-03 3.13868917e-05 9.99998398e-01 -1.47412238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.420281693 meters Centerline goodness [0,1] 0.9998078811424668 Centerline is valid? [True, True] Translation: X:258.29, Y:-14.44, Z:-1.47 [[ 9.95360075e-01 9.62105169e-02 -1.36293070e-03 2.58286776e+02] [-9.62104594e-02 9.95361008e-01 1.07819375e-04 -1.44389539e+01] [ 1.36698143e-03 2.38090868e-05 9.99999065e-01 -1.47432042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45028169299997 meters Centerline goodness [0,1] 0.9996614114908475 Centerline is valid? [True, True] Translation: X:258.31, Y:-14.45, Z:-1.47 [[ 9.95602761e-01 9.36719520e-02 -8.41829513e-04 2.58313935e+02] [-9.36719294e-02 9.95603116e-01 6.64188578e-05 -1.44461725e+01] [ 8.44349670e-04 1.27289965e-05 9.99999643e-01 -1.47297342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.480281693 meters Centerline goodness [0,1] 0.9997664146776523 Centerline is valid? [True, True] Translation: X:258.34, Y:-14.45, Z:-1.47 [[ 9.95728582e-01 9.23277113e-02 -4.30650162e-04 2.58342609e+02] [-9.23277053e-02 9.95728675e-01 3.38773318e-05 -1.44528144e+01] [ 4.31938531e-04 6.02831368e-06 9.99999907e-01 -1.47203391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51028169299997 meters Centerline goodness [0,1] 0.999595408956368 Centerline is valid? [True, True] Translation: X:258.37, Y:-14.46, Z:-1.47 [[ 9.95786059e-01 9.17066931e-02 8.36165976e-05 2.58370350e+02] [-9.17066929e-02 9.95786063e-01 -6.88199331e-06 -1.44555428e+01] [-8.38953674e-05 -8.15208636e-07 9.99999996e-01 -1.47046784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54028169299994 meters Centerline goodness [0,1] 0.9995919331629475 Centerline is valid? [True, True] Translation: X:258.40, Y:-14.46, Z:-1.47 [[ 9.95732098e-01 9.22837782e-02 1.13688905e-03 2.58398622e+02] [-9.22837354e-02 9.95732747e-01 -9.01058075e-05 -1.44583829e+01] [-1.14035296e-03 -1.51951238e-05 9.99999350e-01 -1.46853162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57028169299997 meters Centerline goodness [0,1] 0.9997432550974561 Centerline is valid? [True, True] Translation: X:258.43, Y:-14.46, Z:-1.47 [[ 9.95659963e-01 9.30422881e-02 2.09075490e-03 2.58427092e+02] [-9.30421458e-02 9.95662157e-01 -1.65450617e-04 -1.44562127e+01] [-2.09707944e-03 -2.97957667e-05 9.99997801e-01 -1.46809633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60028169299994 meters Centerline goodness [0,1] 0.9994519161853367 Centerline is valid? [True, True] Translation: X:258.46, Y:-14.46, Z:-1.47 [[ 9.95586890e-01 9.37845393e-02 3.34741025e-03 2.58456511e+02] [-9.37841799e-02 9.95592516e-01 -2.64513889e-04 -1.44558949e+01] [-3.35746390e-03 -5.05875643e-05 9.99994362e-01 -1.46600239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.630281693 meters Centerline goodness [0,1] 0.9997239446190436 Centerline is valid? [True, True] Translation: X:258.48, Y:-14.46, Z:-1.47 [[ 9.95575374e-01 9.39067837e-02 3.34534636e-03 2.58484691e+02] [-9.39064259e-02 9.95580993e-01 -2.64207952e-04 -1.44597717e+01] [-3.35537417e-03 -5.11105900e-05 9.99994369e-01 -1.46579356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66028169299994 meters Centerline goodness [0,1] 0.9995989191927721 Centerline is valid? [True, True] Translation: X:258.51, Y:-14.46, Z:-1.47 [[ 9.95504726e-01 9.46917397e-02 1.95304045e-03 2.58512541e+02] [-9.46916192e-02 9.95506642e-01 -1.54277627e-04 -1.44554982e+01] [-1.95887356e-03 -3.13524560e-05 9.99998081e-01 -1.46934618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.690281693 meters Centerline goodness [0,1] 0.9996620122943028 Centerline is valid? [True, True] Translation: X:258.54, Y:-14.46, Z:-1.47 [[ 9.95502694e-01 9.47192947e-02 1.62537246e-03 2.58541128e+02] [-9.47192115e-02 9.95504020e-01 -1.28303389e-04 -1.44583280e+01] [-1.63021762e-03 -2.62276284e-05 9.99998671e-01 -1.47088454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72028169299995 meters Centerline goodness [0,1] 0.9996799453773444 Centerline is valid? [True, True] Translation: X:258.57, Y:-14.46, Z:-1.47 [[ 9.95567696e-01 9.40265171e-02 1.99415735e-03 2.58569630e+02] [-9.40263907e-02 9.95569693e-01 -1.57278523e-04 -1.44609854e+01] [-2.00011097e-03 -3.09220014e-05 9.99997999e-01 -1.47059698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.750281693 meters Centerline goodness [0,1] 0.9995741418959203 Centerline is valid? [True, True] Translation: X:258.60, Y:-14.47, Z:-1.47 [[ 9.95783971e-01 9.16930637e-02 2.58177004e-03 2.58598864e+02] [-9.16928445e-02 9.95787317e-01 -2.03403022e-04 -1.44678281e+01] [-2.58954451e-03 -3.41843703e-05 9.99996647e-01 -1.46861990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78028169299995 meters Centerline goodness [0,1] 0.9997671366272916 Centerline is valid? [True, True] Translation: X:258.63, Y:-14.47, Z:-1.47 [[ 9.95904867e-01 9.03720048e-02 2.52904605e-03 2.58627514e+02] [-9.03717902e-02 9.95908078e-01 -1.99217217e-04 -1.44694324e+01] [-2.53670105e-03 -3.01530226e-05 9.99996782e-01 -1.46885707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.810281693 meters Centerline goodness [0,1] 0.9996363480790622 Centerline is valid? [True, True] Translation: X:258.66, Y:-14.48, Z:-1.47 [[ 9.96148858e-01 8.76433839e-02 2.46761990e-03 2.58656794e+02] [-8.76431716e-02 9.96151914e-01 -1.94269612e-04 -1.44757917e+01] [-2.47515074e-03 -2.27485823e-05 9.99996937e-01 -1.47005728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84028169299995 meters Centerline goodness [0,1] 0.9995952883038319 Centerline is valid? [True, True] Translation: X:258.69, Y:-14.48, Z:-1.47 [[ 9.96284289e-01 8.60907097e-02 2.45054168e-03 2.58686513e+02] [-8.60904957e-02 9.96287303e-01 -1.92870449e-04 -1.44817497e+01] [-2.45804791e-03 -1.88145492e-05 9.99996979e-01 -1.47016885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.870281693 meters Centerline goodness [0,1] 0.9994738171409329 Centerline is valid? [True, True] Translation: X:258.71, Y:-14.49, Z:-1.47 [[ 9.96570081e-01 8.27041086e-02 2.84693516e-03 2.58714912e+02] [-8.27038063e-02 9.96574147e-01 -2.23960401e-04 -1.44912426e+01] [-2.85570442e-03 -1.22601393e-05 9.99995922e-01 -1.47051765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90028169299995 meters Centerline goodness [0,1] 0.9993190620079159 Centerline is valid? [True, True] Translation: X:258.74, Y:-14.50, Z:-1.47 [[ 9.96675759e-01 8.14153999e-02 2.99388300e-03 2.58744848e+02] [-8.14150599e-02 9.96680256e-01 -2.35461837e-04 -1.44990968e+01] [-3.00311429e-03 -9.06805892e-06 9.99995491e-01 -1.46953656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.930281693 meters Centerline goodness [0,1] 0.9993412804657784 Centerline is valid? [True, True] Translation: X:258.77, Y:-14.50, Z:-1.47 [[ 9.96773984e-01 8.02190180e-02 2.55603612e-03 2.58774441e+02] [-8.02187663e-02 9.96777262e-01 -2.01000667e-04 -1.45048166e+01] [-2.56392276e-03 -4.68982886e-06 9.99996713e-01 -1.47014967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96028169299996 meters Centerline goodness [0,1] 0.999321660236571 Centerline is valid? [True, True] Translation: X:258.80, Y:-14.51, Z:-1.47 [[ 9.96821575e-01 7.96621820e-02 8.26932280e-04 2.58804901e+02] [-7.96621555e-02 9.96821918e-01 -6.50461576e-05 -1.45123433e+01] [-8.29485940e-04 -1.03579453e-06 9.99999656e-01 -1.47354284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.990281693 meters Centerline goodness [0,1] 0.9995095635115253 Centerline is valid? [True, True] Translation: X:258.83, Y:-14.52, Z:-1.47 [[ 9.96728304e-01 8.08195004e-02 9.47219214e-04 2.58833834e+02] [-8.08194661e-02 9.96728754e-01 -7.45513455e-05 -1.45152741e+01] [-9.50145829e-04 -2.24631495e-06 9.99999549e-01 -1.47391998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02028169299996 meters Centerline goodness [0,1] 0.9996824926444129 Centerline is valid? [True, True] Translation: X:258.86, Y:-14.51, Z:-1.47 [[ 9.96310759e-01 8.58015308e-02 1.72308446e-03 2.58862794e+02] [-8.58014246e-02 9.96312249e-01 -1.35619051e-04 -1.45127259e+01] [-1.72836647e-03 -1.27243816e-05 9.99998506e-01 -1.47204755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.050281693 meters Centerline goodness [0,1] 0.9996172899878808 Centerline is valid? [True, True] Translation: X:258.89, Y:-14.51, Z:-1.47 [[ 9.96052475e-01 8.87503789e-02 1.68441954e-03 2.58893066e+02] [-8.87502818e-02 9.96053899e-01 -1.32489270e-04 -1.45115532e+01] [-1.68953113e-03 -1.75264433e-05 9.99998573e-01 -1.47232498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08028169299996 meters Centerline goodness [0,1] 0.99970011781086 Centerline is valid? [True, True] Translation: X:258.92, Y:-14.51, Z:-1.47 [[ 9.95787988e-01 9.16734035e-02 1.50661955e-03 2.58923193e+02] [-9.16733291e-02 9.95789128e-01 -1.18480688e-04 -1.45093705e+01] [-1.51113689e-03 -2.01351839e-05 9.99998858e-01 -1.47365752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.110281693 meters Centerline goodness [0,1] 0.9997436007008248 Centerline is valid? [True, True] Translation: X:258.95, Y:-14.51, Z:-1.48 [[ 9.95410450e-01 9.56923395e-02 1.00631060e-03 2.58953449e+02] [-9.56923084e-02 9.95410958e-01 -7.91492907e-05 -1.45058955e+01] [-1.00926658e-03 -1.75101534e-05 9.99999491e-01 -1.47534744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14028169299996 meters Centerline goodness [0,1] 0.9997046538120754 Centerline is valid? [True, True] Translation: X:258.98, Y:-14.50, Z:-1.48 [[ 9.95354481e-01 9.62741887e-02 8.58429387e-04 2.58981640e+02] [-9.62741661e-02 9.95354851e-01 -6.76484702e-05 -1.45039661e+01] [-8.60954657e-04 -1.53103655e-05 9.99999629e-01 -1.47542605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.170281693 meters Centerline goodness [0,1] 0.9997221984785024 Centerline is valid? [True, True] Translation: X:259.01, Y:-14.51, Z:-1.47 [[ 9.95398554e-01 9.58016023e-02 1.94229568e-03 2.59010623e+02] [-9.58014869e-02 9.95400448e-01 -1.52569527e-04 -1.45062069e+01] [-1.94797840e-03 -3.42073281e-05 9.99998102e-01 -1.47343035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20028169299997 meters Centerline goodness [0,1] 0.999786233433091 Centerline is valid? [True, True] Translation: X:259.04, Y:-14.51, Z:-1.47 [[ 9.95488794e-01 9.48530096e-02 2.22898115e-03 2.59039678e+02] [-9.48528557e-02 9.95491288e-01 -1.74921700e-04 -1.45074996e+01] [-2.23552317e-03 -3.72926354e-05 9.99997501e-01 -1.47411067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.230281693 meters Centerline goodness [0,1] 0.999746466375103 Centerline is valid? [True, True] Translation: X:259.07, Y:-14.51, Z:-1.47 [[ 9.95594714e-01 9.37468972e-02 1.63871531e-03 2.59067849e+02] [-9.37468126e-02 9.95596062e-01 -1.28544535e-04 -1.45107222e+01] [-1.64354916e-03 -2.56460767e-05 9.99998649e-01 -1.47495913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26028169299997 meters Centerline goodness [0,1] 0.999768474669024 Centerline is valid? [True, True] Translation: X:259.10, Y:-14.52, Z:-1.48 [[ 9.95790936e-01 9.16379014e-02 1.70514684e-03 2.59095934e+02] [-9.16378067e-02 9.95792395e-01 -1.33751569e-04 -1.45150902e+01] [-1.71022897e-03 -2.30673164e-05 9.99998537e-01 -1.47534589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29028169299994 meters Centerline goodness [0,1] 0.9997232275920801 Centerline is valid? [True, True] Translation: X:259.13, Y:-14.52, Z:-1.47 [[ 9.95891131e-01 9.05137211e-02 2.84978039e-03 2.59125668e+02] [-9.05134526e-02 9.95895208e-01 -2.23309971e-04 -1.45177562e+01] [-2.85829525e-03 -3.55510431e-05 9.99995914e-01 -1.47331183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32028169299997 meters Centerline goodness [0,1] 0.9997440054612168 Centerline is valid? [True, True] Translation: X:259.15, Y:-14.52, Z:-1.47 [[ 9.96110059e-01 8.79423228e-02 5.55865204e-03 2.59154890e+02] [-8.79412625e-02 9.96125567e-01 -4.35352059e-04 -1.45214347e+01] [-5.57540129e-03 -5.51763136e-05 9.99984456e-01 -1.46869787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35028169299994 meters Centerline goodness [0,1] 0.999704516673702 Centerline is valid? [True, True] Translation: X:259.18, Y:-14.53, Z:-1.47 [[ 9.96226876e-01 8.65642371e-02 6.21643243e-03 2.59184773e+02] [-8.65628850e-02 9.96246270e-01 -4.86749858e-04 -1.45265886e+01] [-6.23523275e-03 -5.31990351e-05 9.99980559e-01 -1.46825175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.380281693 meters Centerline goodness [0,1] 0.999680279648734 Centerline is valid? [True, True] Translation: X:259.22, Y:-14.53, Z:-1.47 [[ 9.96363396e-01 8.49705143e-02 6.32409705e-03 2.59215415e+02] [-8.49690827e-02 9.96383465e-01 -4.95199080e-04 -1.45323143e+01] [-6.34330306e-03 -4.39544887e-05 9.99979880e-01 -1.46846313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41028169299994 meters Centerline goodness [0,1] 0.9997456818904312 Centerline is valid? [True, True] Translation: X:259.25, Y:-14.54, Z:-1.47 [[ 9.96551818e-01 8.28003267e-02 5.34606281e-03 2.59245657e+02] [-8.27992720e-02 9.96566157e-01 -4.18702126e-04 -1.45396972e+01] [-5.36237394e-03 -2.53917434e-05 9.99985622e-01 -1.46915653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.440281693 meters Centerline goodness [0,1] 0.999615622797839 Centerline is valid? [True, True] Translation: X:259.28, Y:-14.54, Z:-1.47 [[ 9.96554965e-01 8.27871309e-02 4.94896163e-03 2.59276091e+02] [-8.27862256e-02 9.96567253e-01 -3.87872381e-04 -1.45417409e+01] [-4.96408394e-03 -2.31697063e-05 9.99987679e-01 -1.46978556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47028169299995 meters Centerline goodness [0,1] 0.9997029429862717 Centerline is valid? [True, True] Translation: X:259.31, Y:-14.54, Z:-1.47 [[ 9.96564834e-01 8.27351901e-02 3.66338180e-03 2.59305981e+02] [-8.27346935e-02 9.96571567e-01 -2.87167765e-04 -1.45420303e+01] [-3.67458102e-03 -1.69074744e-05 9.99993249e-01 -1.47341521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.500281693 meters Centerline goodness [0,1] 0.9997029429862717 Centerline is valid? [True, True] Translation: X:259.34, Y:-14.54, Z:-1.47 [[ 9.96564834e-01 8.27351898e-02 3.66338600e-03 2.59335890e+02] [-8.27346934e-02 9.96571567e-01 -2.87114225e-04 -1.45443744e+01] [-3.67458078e-03 -1.69611776e-05 9.99993249e-01 -1.47355645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53028169299995 meters Centerline goodness [0,1] 0.9995565129244804 Centerline is valid? [True, True] Translation: X:259.37, Y:-14.55, Z:-1.48 [[ 9.96639148e-01 8.18716624e-02 2.72748056e-03 2.59365284e+02] [-8.18713839e-02 9.96642880e-01 -2.13785907e-04 -1.45471629e+01] [-2.73582709e-03 -1.02352039e-05 9.99996258e-01 -1.47579261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.560281693 meters Centerline goodness [0,1] 0.9994221632495827 Centerline is valid? [True, True] Translation: X:259.40, Y:-14.55, Z:-1.48 [[ 9.96786869e-01 8.00624943e-02 2.43614585e-03 2.59395339e+02] [-8.00622669e-02 9.96789846e-01 -1.90902821e-04 -1.45532287e+01] [-2.44360960e-03 -4.75393406e-06 9.99997014e-01 -1.47669708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59028169299995 meters Centerline goodness [0,1] 0.9991639512948036 Centerline is valid? [True, True] Translation: X:259.42, Y:-14.56, Z:-1.48 [[ 9.97179637e-01 7.50285834e-02 1.86613017e-03 2.59424740e+02] [-7.50284412e-02 9.97181384e-01 -1.46201519e-04 -1.45637704e+01] [-1.87183955e-03 5.77634037e-06 9.99998248e-01 -1.47854513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.620281693 meters Centerline goodness [0,1] 0.9988281915800239 Centerline is valid? [True, True] Translation: X:259.45, Y:-14.57, Z:-1.48 [[ 9.97328224e-01 7.30095126e-02 2.45462119e-03 2.59454901e+02] [-7.30092603e-02 9.97331244e-01 -1.92353882e-04 -1.45696870e+01] [-2.46211406e-03 1.26298781e-05 9.99996969e-01 -1.47718457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65028169299995 meters Centerline goodness [0,1] 0.9988520896220399 Centerline is valid? [True, True] Translation: X:259.49, Y:-14.57, Z:-1.48 [[ 9.97448882e-01 7.13121671e-02 3.20979797e-03 2.59486144e+02] [-7.13117267e-02 9.97454046e-01 -2.51569347e-04 -1.45746063e+01] [-3.21956593e-03 2.20313283e-05 9.99994817e-01 -1.47579629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.680281693 meters Centerline goodness [0,1] 0.9986665806396111 Centerline is valid? [True, True] Translation: X:259.52, Y:-14.58, Z:-1.48 [[ 9.97671458e-01 6.81566379e-02 2.51683918e-03 2.59517232e+02] [-6.81563570e-02 9.97674632e-01 -1.97292467e-04 -1.45836960e+01] [-2.52443340e-03 2.52944737e-05 9.99996813e-01 -1.47759972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71028169299996 meters Centerline goodness [0,1] 0.9983079168341124 Centerline is valid? [True, True] Translation: X:259.55, Y:-14.59, Z:-1.48 [[ 9.97774058e-01 6.66665155e-02 1.58276966e-03 2.59548342e+02] [-6.66664032e-02 9.97775313e-01 -1.23682753e-04 -1.45900994e+01] [-1.58749399e-03 1.78898818e-05 9.99998740e-01 -1.47951882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.740281693 meters Centerline goodness [0,1] 0.9982965675836811 Centerline is valid? [True, True] Translation: X:259.58, Y:-14.60, Z:-1.48 [[ 9.97855063e-01 6.54052700e-02 2.72464818e-03 2.59579305e+02] [-6.54049293e-02 9.97858782e-01 -2.14052529e-04 -1.45958239e+01] [-2.73281427e-03 3.53879787e-05 9.99996265e-01 -1.47684938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77028169299996 meters Centerline goodness [0,1] 0.9980671608504492 Centerline is valid? [True, True] Translation: X:259.61, Y:-14.60, Z:-1.47 [[ 9.97831095e-01 6.57169950e-02 3.79241223e-03 2.59611720e+02] [-6.57163372e-02 9.97838301e-01 -2.97941637e-04 -1.45984743e+01] [-3.80379401e-03 4.80719885e-05 9.99992764e-01 -1.47468398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.800281693 meters Centerline goodness [0,1] 0.9978979999150707 Centerline is valid? [True, True] Translation: X:259.64, Y:-14.60, Z:-1.47 [[ 9.97827995e-01 6.57051157e-02 4.70435922e-03 2.59643816e+02] [-6.57040990e-02 9.97839082e-01 -3.70510045e-04 -1.46025614e+01] [-4.71853789e-03 6.06096109e-05 9.99988866e-01 -1.47265768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83028169299996 meters Centerline goodness [0,1] 0.9976805971408088 Centerline is valid? [True, True] Translation: X:259.67, Y:-14.61, Z:-1.47 [[ 9.97879932e-01 6.48807942e-02 5.11112237e-03 2.59674658e+02] [-6.48795800e-02 9.97893019e-01 -4.03181722e-04 -1.46098983e+01] [-5.12651208e-03 7.07194770e-05 9.99986857e-01 -1.47262960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.860281693 meters Centerline goodness [0,1] 0.9973541586651303 Centerline is valid? [True, True] Translation: X:259.71, Y:-14.61, Z:-1.47 [[ 9.97952921e-01 6.37391435e-02 5.22385498e-03 2.59706835e+02] [-6.37378554e-02 9.97966590e-01 -4.12844822e-04 -1.46145115e+01] [-5.23954712e-03 7.90423826e-05 9.99986270e-01 -1.47339307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89028169299996 meters Centerline goodness [0,1] 0.9974228999829613 Centerline is valid? [True, True] Translation: X:259.74, Y:-14.62, Z:-1.47 [[ 9.98113065e-01 6.11267984e-02 5.81587043e-03 2.59738680e+02] [-6.11251517e-02 9.98130003e-01 -4.60640461e-04 -1.46215913e+01] [-5.83315225e-03 1.04275300e-04 9.99982982e-01 -1.47250504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.920281693 meters Centerline goodness [0,1] 0.9970664512563241 Centerline is valid? [True, True] Translation: X:259.77, Y:-14.63, Z:-1.47 [[ 9.98132086e-01 6.07519674e-02 6.44502050e-03 2.59769526e+02] [-6.07499306e-02 9.98152886e-01 -5.11496420e-04 -1.46258699e+01] [-6.46419023e-03 1.19006440e-04 9.99979100e-01 -1.47114114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95028169299997 meters Centerline goodness [0,1] 0.9971179710516204 Centerline is valid? [True, True] Translation: X:259.80, Y:-14.63, Z:-1.47 [[ 9.98083074e-01 6.15606728e-02 6.36092911e-03 2.59802013e+02] [-6.15587008e-02 9.98103337e-01 -5.05521690e-04 -1.46271707e+01] [-6.37998482e-03 1.12982110e-04 9.99979641e-01 -1.47084324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.980281693 meters Centerline goodness [0,1] 0.9982187694486769 Centerline is valid? [True, True] Translation: X:259.83, Y:-14.63, Z:-1.47 [[ 9.97854389e-01 6.53032434e-02 4.70149798e-03 2.59834029e+02] [-6.53022049e-02 9.97865463e-01 -3.74220165e-04 -1.46260636e+01] [-4.71590025e-03 6.63990498e-05 9.99988878e-01 -1.47436392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01028169299997 meters Centerline goodness [0,1] 0.9983593283900111 Centerline is valid? [True, True] Translation: X:259.87, Y:-14.63, Z:-1.48 [[ 9.97719637e-01 6.74013548e-02 3.54722168e-03 2.59865606e+02] [-6.74007771e-02 9.97725942e-01 -2.82294323e-04 -1.46270537e+01] [-3.55818211e-03 4.25650919e-05 9.99993669e-01 -1.47615263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04028169299994 meters Centerline goodness [0,1] 0.9990716516161702 Centerline is valid? [True, True] Translation: X:259.90, Y:-14.62, Z:-1.48 [[ 9.97410000e-01 7.18963531e-02 2.05083409e-03 2.59897084e+02] [-7.18961694e-02 9.97412108e-01 -1.63230223e-04 -1.46220266e+01] [-2.05726242e-03 1.53603410e-05 9.99997884e-01 -1.47888073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07028169299997 meters Centerline goodness [0,1] 0.9991226005264396 Centerline is valid? [True, True] Translation: X:259.93, Y:-14.62, Z:-1.48 [[ 9.97253708e-01 7.40322591e-02 2.06538636e-03 2.59928373e+02] [-7.40320760e-02 9.97255847e-01 -1.65038046e-04 -1.46202323e+01] [-2.07193677e-03 1.16799629e-05 9.99997853e-01 -1.47934522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10028169299994 meters Centerline goodness [0,1] 0.9992961801778745 Centerline is valid? [True, True] Translation: X:259.96, Y:-14.62, Z:-1.48 [[ 9.97128672e-01 7.57050805e-02 1.77521588e-03 2.59958245e+02] [-7.57049478e-02 9.97130253e-01 -1.41913548e-04 -1.46211195e+01] [-1.78086503e-03 7.11344287e-06 9.99998414e-01 -1.48055860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.130281693 meters Centerline goodness [0,1] 0.9993675556024033 Centerline is valid? [True, True] Translation: X:259.99, Y:-14.62, Z:-1.48 [[ 9.96960822e-01 7.78842255e-02 1.77932130e-03 2.59988987e+02] [-7.78840956e-02 9.96962410e-01 -1.42264511e-04 -1.46190339e+01] [-1.78499662e-03 3.25131384e-06 9.99998407e-01 -1.48091607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16028169299994 meters Centerline goodness [0,1] 0.9995509558226061 Centerline is valid? [True, True] Translation: X:260.02, Y:-14.62, Z:-1.48 [[ 9.96902449e-01 7.86176726e-02 2.18370414e-03 2.60020370e+02] [-7.86174787e-02 9.96904841e-01 -1.74603126e-04 -1.46184209e+01] [-2.19067212e-03 2.38497075e-06 9.99997600e-01 -1.47966852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.190281693 meters Centerline goodness [0,1] 0.9994272744628047 Centerline is valid? [True, True] Translation: X:260.05, Y:-14.62, Z:-1.48 [[ 9.96817196e-01 7.96847578e-02 2.41181709e-03 2.60050799e+02] [-7.96845242e-02 9.96820114e-01 -1.92938660e-04 -1.46173492e+01] [-2.41952205e-03 1.40077385e-07 9.99997073e-01 -1.47897789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22028169299995 meters Centerline goodness [0,1] 0.9994036843786605 Centerline is valid? [True, True] Translation: X:260.08, Y:-14.61, Z:-1.48 [[ 9.96565084e-01 8.27412015e-02 3.45342018e-03 2.60081472e+02] [-8.27407406e-02 9.96571068e-01 -2.76373101e-04 -1.46111166e+01] [-3.46444608e-03 -1.03147605e-05 9.99993999e-01 -1.47741925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.250281693 meters Centerline goodness [0,1] 0.9995366079703429 Centerline is valid? [True, True] Translation: X:260.11, Y:-14.61, Z:-1.48 [[ 9.96466829e-01 8.39036739e-02 3.74603918e-03 2.60111389e+02] [-8.39031402e-02 9.96473870e-01 -2.99682126e-04 -1.46086906e+01] [-3.75797459e-03 -1.56811526e-05 9.99992939e-01 -1.47716024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28028169299995 meters Centerline goodness [0,1] 0.9997412622091895 Centerline is valid? [True, True] Translation: X:260.14, Y:-14.61, Z:-1.48 [[ 9.96458671e-01 8.39644045e-02 4.48290366e-03 2.60141998e+02] [-8.39636410e-02 9.96468754e-01 -3.58565312e-04 -1.46085295e+01] [-4.49718015e-03 -1.91053997e-05 9.99989887e-01 -1.47624424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.310281693 meters Centerline goodness [0,1] 0.9996410245581434 Centerline is valid? [True, True] Translation: X:260.17, Y:-14.61, Z:-1.48 [[ 9.96567406e-01 8.26799029e-02 4.17598363e-03 2.60171431e+02] [-8.26792291e-02 9.96576155e-01 -3.34022395e-04 -1.46126459e+01] [-4.18930265e-03 -1.23912756e-05 9.99991225e-01 -1.47721106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34028169299995 meters Centerline goodness [0,1] 0.999702146671489 Centerline is valid? [True, True] Translation: X:260.20, Y:-14.62, Z:-1.48 [[ 9.96675829e-01 8.13707876e-02 4.01087788e-03 2.60202066e+02] [-8.13701557e-02 9.96683899e-01 -3.20762960e-04 -1.46182670e+01] [-4.02367814e-03 -6.66906845e-06 9.99991905e-01 -1.47776947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.370281693 meters Centerline goodness [0,1] 0.999574938366063 Centerline is valid? [True, True] Translation: X:260.23, Y:-14.62, Z:-1.48 [[ 9.96772097e-01 8.02098695e-02 3.42982053e-03 2.60231704e+02] [-8.02094006e-02 9.96777998e-01 -2.74279232e-04 -1.46225117e+01] [-3.44076955e-03 -1.70996417e-06 9.99994081e-01 -1.47893040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40028169299995 meters Centerline goodness [0,1] 0.9997453851050286 Centerline is valid? [True, True] Translation: X:260.26, Y:-14.63, Z:-1.48 [[ 9.96831178e-01 7.94695626e-02 3.49154423e-03 2.60261239e+02] [-7.94690718e-02 9.96837293e-01 -2.79284479e-04 -1.46251232e+01] [-3.50269611e-03 9.29697575e-07 9.99993866e-01 -1.47903834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.430281693 meters Centerline goodness [0,1] 0.9996201089021147 Centerline is valid? [True, True] Translation: X:260.29, Y:-14.63, Z:-1.48 [[ 9.96809502e-01 7.97416607e-02 3.47619422e-03 2.60290518e+02] [-7.97411761e-02 9.96815563e-01 -2.78017009e-04 -1.46264610e+01] [-3.48729403e-03 -6.58185752e-08 9.99993919e-01 -1.47958014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46028169299996 meters Centerline goodness [0,1] 0.9994239631336406 Centerline is valid? [True, True] Translation: X:260.32, Y:-14.63, Z:-1.48 [[ 9.96794517e-01 7.99366759e-02 3.28924774e-03 2.60320566e+02] [-7.99362432e-02 9.96799944e-01 -2.63015207e-04 -1.46275277e+01] [-3.29974652e-03 -7.57991045e-07 9.99994556e-01 -1.47977809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.490281693 meters Centerline goodness [0,1] 0.9996155817529472 Centerline is valid? [True, True] Translation: X:260.35, Y:-14.63, Z:-1.48 [[ 9.96773595e-01 8.02116809e-02 2.91303731e-03 2.60350174e+02] [-8.02113428e-02 9.96777852e-01 -2.32909291e-04 -1.46280435e+01] [-2.92233312e-03 -1.50080327e-06 9.99995730e-01 -1.48149717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52028169299996 meters Centerline goodness [0,1] 0.9995109920483055 Centerline is valid? [True, True] Translation: X:260.38, Y:-14.63, Z:-1.48 [[ 9.96766490e-01 8.02956060e-02 3.02987277e-03 2.60380379e+02] [-8.02952404e-02 9.96771095e-01 -2.42314762e-04 -1.46305266e+01] [-3.03954640e-03 -1.75312761e-06 9.99995381e-01 -1.48127148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.550281693 meters Centerline goodness [0,1] 0.9996556696149956 Centerline is valid? [True, True] Translation: X:260.41, Y:-14.64, Z:-1.48 [[ 9.96828427e-01 7.95244594e-02 2.99114281e-03 2.60410549e+02] [-7.95240996e-02 9.96832915e-01 -2.39217325e-04 -1.46353787e+01] [-3.00069324e-03 5.90690928e-07 9.99995498e-01 -1.48225779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58028169299996 meters Centerline goodness [0,1] 0.9996579588695541 Centerline is valid? [True, True] Translation: X:260.44, Y:-14.64, Z:-1.48 [[ 9.96927525e-01 7.82788920e-02 2.81528998e-03 2.60440744e+02] [-7.82785684e-02 9.96931500e-01 -2.25131017e-04 -1.46405834e+01] [-2.82427427e-03 4.06243807e-06 9.99996012e-01 -1.48321800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.610281693 meters Centerline goodness [0,1] 0.9994641058069494 Centerline is valid? [True, True] Translation: X:260.47, Y:-14.65, Z:-1.48 [[ 9.97075909e-01 7.63751878e-02 2.54216147e-03 2.60470826e+02] [-7.63749176e-02 9.97079150e-01 -2.03314881e-04 -1.46463325e+01] [-2.55026441e-03 8.56299691e-06 9.99996748e-01 -1.48383888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64028169299996 meters Centerline goodness [0,1] 0.9993462673977225 Centerline is valid? [True, True] Translation: X:260.50, Y:-14.66, Z:-1.48 [[ 9.97359006e-01 7.25702843e-02 2.92682131e-03 2.60500647e+02] [-7.25699099e-02 9.97363301e-01 -2.34053914e-04 -1.46559967e+01] [-2.93608952e-03 2.10366206e-05 9.99995689e-01 -1.48337374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.670281693 meters Centerline goodness [0,1] 0.9989970979856606 Centerline is valid? [True, True] Translation: X:260.53, Y:-14.66, Z:-1.48 [[ 9.97438825e-01 7.14290335e-02 3.69912227e-03 2.60531939e+02] [-7.14284266e-02 9.97445684e-01 -2.96088585e-04 -1.46602575e+01] [-3.71082286e-03 3.11077674e-05 9.99993114e-01 -1.48166550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70028169299997 meters Centerline goodness [0,1] 0.9992162677398856 Centerline is valid? [True, True] Translation: X:260.56, Y:-14.67, Z:-1.48 [[ 9.97494708e-01 7.06158110e-02 4.20889399e-03 2.60562888e+02] [-7.06150178e-02 9.97503587e-01 -3.36944914e-04 -1.46667370e+01] [-4.22218049e-03 3.88896451e-05 9.99991086e-01 -1.48112936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.730281693 meters Centerline goodness [0,1] 0.9993665808031755 Centerline is valid? [True, True] Translation: X:260.59, Y:-14.68, Z:-1.49 [[ 9.97592019e-01 6.93295681e-02 1.89073444e-03 2.60593245e+02] [-6.93294059e-02 9.97593810e-01 -1.51270741e-04 -1.46764278e+01] [-1.89667251e-03 1.98229884e-05 9.99998201e-01 -1.48551715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76028169299997 meters Centerline goodness [0,1] 0.999337054382926 Centerline is valid? [True, True] Translation: X:260.62, Y:-14.68, Z:-1.49 [[ 9.97614784e-01 6.90268383e-02 1.93302971e-04 2.60624616e+02] [-6.90268366e-02 9.97614803e-01 -1.54299841e-05 -1.46792611e+01] [-1.93906988e-04 2.05008764e-06 9.99999981e-01 -1.48884595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79028169299994 meters Centerline goodness [0,1] 0.9993842495275708 Centerline is valid? [True, True] Translation: X:260.65, Y:-14.69, Z:-1.49 [[ 9.97656088e-01 6.84094025e-02 -1.57624099e-03 2.60653972e+02] [-6.84092871e-02 9.97657333e-01 1.27056422e-04 -1.46881648e+01] [ 1.58124023e-03 -1.89290908e-05 9.99998750e-01 -1.49269765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82028169299997 meters Centerline goodness [0,1] 0.9993806991692826 Centerline is valid? [True, True] Translation: X:260.68, Y:-14.69, Z:-1.49 [[ 9.97670986e-01 6.81914074e-02 -1.59227883e-03 2.60684305e+02] [-6.81912897e-02 9.97672257e-01 1.28103285e-04 -1.46912026e+01] [ 1.59730796e-03 -1.92253834e-05 9.99998724e-01 -1.49204430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85028169299994 meters Centerline goodness [0,1] 0.9991270094751411 Centerline is valid? [True, True] Translation: X:260.71, Y:-14.69, Z:-1.49 [[ 9.97654279e-01 6.84452706e-02 -1.08842898e-03 2.60714924e+02] [-6.84452158e-02 9.97654873e-01 8.75755038e-05 -1.46938687e+01] [ 1.09187061e-03 -1.28723195e-05 9.99999404e-01 -1.49086660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.880281693 meters Centerline goodness [0,1] 0.9992944647553076 Centerline is valid? [True, True] Translation: X:260.75, Y:-14.70, Z:-1.49 [[ 9.97634594e-01 6.87393618e-02 -3.43424797e-04 2.60745338e+02] [-6.87393562e-02 9.97634653e-01 2.79418800e-05 -1.46989886e+01] [ 3.44533185e-04 -4.26898665e-06 9.99999941e-01 -1.48999241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91028169299994 meters Centerline goodness [0,1] 0.9994036462770489 Centerline is valid? [True, True] Translation: X:260.78, Y:-14.70, Z:-1.49 [[ 9.97581397e-01 6.95073901e-02 -2.82075670e-04 2.60775666e+02] [-6.95073864e-02 9.97581437e-01 2.27671998e-05 -1.47049616e+01] [ 2.82975940e-04 -3.10579242e-06 9.99999960e-01 -1.48942863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.940281693 meters Centerline goodness [0,1] 0.9994700695268781 Centerline is valid? [True, True] Translation: X:260.81, Y:-14.71, Z:-1.49 [[ 9.97545647e-01 7.00134542e-02 -8.93598116e-04 2.60805238e+02] [-7.00134178e-02 9.97546047e-01 7.20209620e-05 -1.47101845e+01] [ 8.96447704e-04 -9.28033899e-06 9.99999598e-01 -1.49077742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97028169299995 meters Centerline goodness [0,1] 0.9996616763934704 Centerline is valid? [True, True] Translation: X:260.84, Y:-14.72, Z:-1.49 [[ 9.97509597e-01 7.05176180e-02 -1.36697305e-03 2.60836091e+02] [-7.05175332e-02 9.97510534e-01 1.10228609e-04 -1.47194997e+01] [ 1.37134308e-03 -1.35585281e-05 9.99999060e-01 -1.49228268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.000281693 meters Centerline goodness [0,1] 0.9995491530518045 Centerline is valid? [True, True] Translation: X:260.87, Y:-14.72, Z:-1.49 [[ 9.97535071e-01 7.01636951e-02 -9.15544750e-04 2.60867609e+02] [-7.01636568e-02 9.97535491e-01 7.38895977e-05 -1.47247545e+01] [ 9.18472749e-04 -9.46949746e-06 9.99999578e-01 -1.49019226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03028169299995 meters Centerline goodness [0,1] 0.9993423843869326 Centerline is valid? [True, True] Translation: X:260.90, Y:-14.73, Z:-1.49 [[ 9.97541537e-01 7.00761187e-02 4.68549283e-04 2.60898595e+02] [-7.00761090e-02 9.97541647e-01 -3.71132832e-05 -1.47309175e+01] [-4.69998179e-04 4.18793089e-06 9.99999890e-01 -1.48780092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.060281693 meters Centerline goodness [0,1] 0.9993600819095155 Centerline is valid? [True, True] Translation: X:260.93, Y:-14.73, Z:-1.48 [[ 9.97355921e-01 7.25363857e-02 4.43159086e-03 2.60930867e+02] [-7.25355121e-02 9.97365766e-01 -3.57750117e-04 -1.47337440e+01] [-4.44586691e-03 3.53564856e-05 9.99990116e-01 -1.47969819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09028169299995 meters Centerline goodness [0,1] 0.9996386284888293 Centerline is valid? [True, True] Translation: X:260.96, Y:-14.74, Z:-1.48 [[ 9.97138923e-01 7.53640160e-02 5.85091804e-03 2.60962516e+02] [-7.53625348e-02 9.97156088e-01 -4.73532358e-04 -1.47350609e+01] [-5.86996584e-03 3.12375312e-05 9.99982771e-01 -1.47633366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.120281693 meters Centerline goodness [0,1] 0.9996808578540882 Centerline is valid? [True, True] Translation: X:261.00, Y:-14.73, Z:-1.47 [[ 9.96581933e-01 8.23503502e-02 6.54760812e-03 2.60995436e+02] [-8.23486384e-02 9.96603442e-01 -5.31073073e-04 -1.47296644e+01] [-6.56910284e-03 -9.92878371e-06 9.99978423e-01 -1.47474152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15028169299995 meters Centerline goodness [0,1] 0.9996620479891856 Centerline is valid? [True, True] Translation: X:261.03, Y:-14.73, Z:-1.48 [[ 9.96266355e-01 8.60906621e-02 6.46120503e-03 2.61027359e+02] [-8.60890672e-02 9.96287306e-01 -5.25080880e-04 -1.47268759e+01] [-6.48242112e-03 -3.31186991e-05 9.99978988e-01 -1.47533051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.180281693 meters Centerline goodness [0,1] 0.999700111387199 Centerline is valid? [True, True] Translation: X:261.06, Y:-14.72, Z:-1.48 [[ 9.95735450e-01 9.21068584e-02 5.21919651e-03 2.61059944e+02] [-9.21058969e-02 9.95749127e-01 -4.24805878e-04 -1.47223018e+01] [-5.23613790e-03 -5.77245030e-05 9.99986290e-01 -1.47837450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21028169299996 meters Centerline goodness [0,1] 0.9996381669965733 Centerline is valid? [True, True] Translation: X:261.09, Y:-14.72, Z:-1.48 [[ 9.95527273e-01 9.43852833e-02 4.10697220e-03 2.61091054e+02] [-9.43847051e-02 9.95535743e-01 -3.34826644e-04 -1.47203429e+01] [-4.12024033e-03 -5.43063037e-05 9.99991510e-01 -1.48040932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.240281693 meters Centerline goodness [0,1] 0.999661174876117 Centerline is valid? [True, True] Translation: X:261.12, Y:-14.72, Z:-1.48 [[ 9.95389014e-01 9.58846605e-02 2.61577728e-03 2.61121858e+02] [-9.58844302e-02 9.95392450e-01 -2.13627760e-04 -1.47185462e+01] [-2.62420858e-03 -3.81695880e-05 9.99996556e-01 -1.48276988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27028169299996 meters Centerline goodness [0,1] 0.9994925789673982 Centerline is valid? [True, True] Translation: X:261.15, Y:-14.72, Z:-1.49 [[ 9.95297762e-01 9.68552791e-02 1.19168566e-03 2.61152261e+02] [-9.68552318e-02 9.95298475e-01 -9.74318066e-05 -1.47188189e+01] [-1.19551970e-03 -1.84473318e-05 9.99999285e-01 -1.48581961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.300281693 meters Centerline goodness [0,1] 0.9995338588015934 Centerline is valid? [True, True] Translation: X:261.18, Y:-14.72, Z:-1.49 [[ 9.95245678e-01 9.73958646e-02 2.92842744e-04 2.61182331e+02] [-9.73958617e-02 9.95245721e-01 -2.39940324e-05 -1.47195671e+01] [-2.93787407e-04 -4.64171437e-06 9.99999957e-01 -1.48772013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33028169299996 meters Centerline goodness [0,1] 0.9995120088262751 Centerline is valid? [True, True] Translation: X:261.21, Y:-14.72, Z:-1.49 [[ 9.95313247e-01 9.66983778e-02 9.81454360e-04 2.61211770e+02] [-9.66983457e-02 9.95313731e-01 -8.01727430e-05 -1.47213790e+01] [-9.84607576e-04 -1.51080199e-05 9.99999515e-01 -1.48741890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.360281693 meters Centerline goodness [0,1] 0.9994902835297865 Centerline is valid? [True, True] Translation: X:261.24, Y:-14.73, Z:-1.49 [[ 9.95715330e-01 9.24516514e-02 1.91659846e-03 2.61242280e+02] [-9.24515212e-02 9.95717175e-01 -1.56643324e-04 -1.47335365e+01] [-1.92287194e-03 -2.12202843e-05 9.99998151e-01 -1.48600395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39028169299996 meters Centerline goodness [0,1] 0.9994902835297865 Centerline is valid? [True, True] Translation: X:261.27, Y:-14.74, Z:-1.49 [[ 9.95713171e-01 9.24749033e-02 1.91659479e-03 2.61273010e+02] [-9.24747729e-02 9.95715015e-01 -1.56688195e-04 -1.47360953e+01] [-1.92287194e-03 -2.12201693e-05 9.99998151e-01 -1.48614913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.420281693 meters Centerline goodness [0,1] 0.9995556119857796 Centerline is valid? [True, True] Translation: X:261.30, Y:-14.74, Z:-1.49 [[ 9.96015284e-01 8.91696982e-02 1.52293928e-03 2.61303713e+02] [-8.91696127e-02 9.96016448e-01 -1.24111200e-04 -1.47447350e+01] [-1.52793953e-03 -1.21832535e-05 9.99998833e-01 -1.48744680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45028169299997 meters Centerline goodness [0,1] 0.9997245529282143 Centerline is valid? [True, True] Translation: X:261.33, Y:-14.76, Z:-1.49 [[ 9.96359364e-01 8.52516063e-02 4.26344812e-04 2.61334960e+02] [-8.52515994e-02 9.96359455e-01 -3.42415568e-05 -1.47557714e+01] [-4.27711832e-04 -2.22968136e-06 9.99999909e-01 -1.48953034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.480281693 meters Centerline goodness [0,1] 0.9997034149648335 Centerline is valid? [True, True] Translation: X:261.37, Y:-14.77, Z:-1.49 [[ 9.97041169e-01 7.68684799e-02 -3.78847136e-04 2.61365302e+02] [-7.68684733e-02 9.97041241e-01 3.19596496e-05 -1.47748478e+01] [ 3.80182908e-04 -2.74368553e-06 9.99999928e-01 -1.49126791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51028169299997 meters Centerline goodness [0,1] 0.9997677315821702 Centerline is valid? [True, True] Translation: X:261.40, Y:-14.79, Z:-1.49 [[ 9.97311058e-01 7.32832291e-02 -4.71947681e-04 2.61395070e+02] [-7.32832185e-02 9.97311169e-01 3.96928452e-05 -1.47881816e+01] [ 4.73587513e-04 -5.00026840e-06 9.99999888e-01 -1.49253209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54028169299994 meters Centerline goodness [0,1] 0.99946445020458 Centerline is valid? [True, True] Translation: X:261.43, Y:-14.80, Z:-1.49 [[ 9.97639754e-01 6.86652814e-02 1.81188295e-05 2.61425770e+02] [-6.86652814e-02 9.97639754e-01 -1.27732203e-06 -1.48044974e+01] [-1.81637722e-05 3.01727079e-08 1.00000000e+00 -1.49001300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57028169299997 meters Centerline goodness [0,1] 0.9995742053607545 Centerline is valid? [True, True] Translation: X:261.46, Y:-14.81, Z:-1.49 [[ 9.97671109e-01 6.82050650e-02 6.53300408e-04 2.61458764e+02] [-6.82050449e-02 9.97671323e-01 -5.31335110e-05 -1.48094926e+01] [-6.55403057e-04 8.45138522e-06 9.99999785e-01 -1.48831993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60028169299994 meters Centerline goodness [0,1] 0.9993793339611334 Centerline is valid? [True, True] Translation: X:261.49, Y:-14.81, Z:-1.49 [[ 9.97664349e-01 6.83004890e-02 9.43585339e-04 2.61491119e+02] [-6.83004464e-02 9.97664795e-01 -7.73124370e-05 -1.48145230e+01] [-9.46662351e-04 1.26845622e-05 9.99999552e-01 -1.48809996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.630281693 meters Centerline goodness [0,1] 0.9997232099133434 Centerline is valid? [True, True] Translation: X:261.52, Y:-14.83, Z:-1.49 [[ 9.97590988e-01 6.93643667e-02 8.97571871e-04 2.61521108e+02] [-6.93643283e-02 9.97591392e-01 -7.38129447e-05 -1.48252499e+01] [-9.00529960e-04 1.13756584e-05 9.99999594e-01 -1.48900404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66028169299994 meters Centerline goodness [0,1] 0.9997046226554424 Centerline is valid? [True, True] Translation: X:261.55, Y:-14.83, Z:-1.49 [[ 9.97558806e-01 6.98222848e-02 1.12965550e-03 2.61552918e+02] [-6.98222240e-02 9.97559446e-01 -9.31838389e-05 -1.48333808e+01] [-1.13340482e-03 1.40812996e-05 9.99999358e-01 -1.48890665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.690281693 meters Centerline goodness [0,1] 0.9995994096563356 Centerline is valid? [True, True] Translation: X:261.58, Y:-14.84, Z:-1.49 [[ 9.97490961e-01 7.07690104e-02 1.87890942e-03 2.61583245e+02] [-7.07688422e-02 9.97492730e-01 -1.55945061e-04 -1.48420892e+01] [-1.88523456e-03 2.25855446e-05 9.99998223e-01 -1.48770897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72028169299995 meters Centerline goodness [0,1] 0.9995116669143719 Centerline is valid? [True, True] Translation: X:261.62, Y:-14.85, Z:-1.49 [[ 9.97433212e-01 7.15634330e-02 2.37952246e-03 2.61615085e+02] [-7.15631642e-02 9.97436050e-01 -1.97995010e-04 -1.48461870e+01] [-2.38759069e-03 2.72006419e-05 9.99997149e-01 -1.48746925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.750281693 meters Centerline goodness [0,1] 0.9995961828654014 Centerline is valid? [True, True] Translation: X:261.65, Y:-14.85, Z:-1.49 [[ 9.97385007e-01 7.22269789e-02 2.53207541e-03 2.61646452e+02] [-7.22266756e-02 9.97388221e-01 -2.11147062e-04 -1.48521577e+01] [-2.54071270e-03 2.77115247e-05 9.99996772e-01 -1.48720627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78028169299995 meters Centerline goodness [0,1] 0.9997056349873844 Centerline is valid? [True, True] Translation: X:261.68, Y:-14.86, Z:-1.49 [[ 9.97329924e-01 7.29734704e-02 2.80971095e-03 2.61677576e+02] [-7.29730983e-02 9.97333882e-01 -2.34865011e-04 -1.48578877e+01] [-2.81935884e-03 2.92045908e-05 9.99996025e-01 -1.48708650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.810281693 meters Centerline goodness [0,1] 0.999641357777262 Centerline is valid? [True, True] Translation: X:261.71, Y:-14.86, Z:-1.49 [[ 9.97023941e-01 7.70421104e-02 2.78823317e-03 2.61710212e+02] [-7.70417582e-02 9.97027840e-01 -2.33663765e-04 -1.48588695e+01] [-2.79794804e-03 1.81579818e-05 9.99996086e-01 -1.48555590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84028169299995 meters Centerline goodness [0,1] 0.9997878704312594 Centerline is valid? [True, True] Translation: X:261.74, Y:-14.86, Z:-1.49 [[ 9.96768428e-01 8.02761404e-02 2.90541849e-03 2.61742838e+02] [-8.02757717e-02 9.96772663e-01 -2.43477471e-04 -1.48580054e+01] [-2.91558716e-03 9.45594487e-06 9.99995750e-01 -1.48552765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.870281693 meters Centerline goodness [0,1] 0.9997875143427819 Centerline is valid? [True, True] Translation: X:261.78, Y:-14.85, Z:-1.49 [[ 9.96171475e-01 8.74157971e-02 9.32883774e-04 2.61775981e+02] [-8.74157627e-02 9.96171912e-01 -7.77195378e-05 -1.48528901e+01] [-9.36106529e-04 -4.12676001e-06 9.99999562e-01 -1.48946184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90028169299995 meters Centerline goodness [0,1] 0.9997262120382461 Centerline is valid? [True, True] Translation: X:261.81, Y:-14.85, Z:-1.49 [[ 9.95915273e-01 9.02917774e-02 4.04827022e-04 2.61807460e+02] [-9.02917713e-02 9.95915355e-01 -3.34652277e-05 -1.48526063e+01] [-4.06195083e-04 -3.22401751e-06 9.99999917e-01 -1.49077212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.930281693 meters Centerline goodness [0,1] 0.99972385079446 Centerline is valid? [True, True] Translation: X:261.84, Y:-14.85, Z:-1.49 [[ 9.95701029e-01 9.26205945e-02 9.41419898e-04 2.61839670e+02] [-9.26205614e-02 9.95701474e-01 -7.88433833e-05 -1.48531922e+01] [-9.44675701e-04 -8.69040154e-06 9.99999554e-01 -1.49001778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96028169299996 meters Centerline goodness [0,1] 0.9997230625026629 Centerline is valid? [True, True] Translation: X:261.87, Y:-14.85, Z:-1.49 [[ 9.95512315e-01 9.46119734e-02 1.95088724e-03 2.61872317e+02] [-9.46118327e-02 9.95514226e-01 -1.64523869e-04 -1.48528606e+01] [-1.95770193e-03 -2.07914798e-05 9.99998083e-01 -1.48788671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.990281693 meters Centerline goodness [0,1] 0.9995105341562035 Centerline is valid? [True, True] Translation: X:261.90, Y:-14.85, Z:-1.48 [[ 9.95235084e-01 9.74215667e-02 4.02059063e-03 2.61903415e+02] [-9.74209855e-02 9.95243204e-01 -3.40604300e-04 -1.48493292e+01] [-4.03464770e-03 -5.27085517e-05 9.99991859e-01 -1.48388719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02028169299996 meters Centerline goodness [0,1] 0.9996797540511112 Centerline is valid? [True, True] Translation: X:261.94, Y:-14.85, Z:-1.48 [[ 9.95169246e-01 9.80434652e-02 5.06474644e-03 2.61935876e+02] [-9.80425500e-02 9.95182131e-01 -4.29265818e-04 -1.48515496e+01] [-5.08243186e-03 -6.93685156e-05 9.99987082e-01 -1.48273462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.050281693 meters Centerline goodness [0,1] 0.9997001948733323 Centerline is valid? [True, True] Translation: X:261.97, Y:-14.85, Z:-1.48 [[ 9.95303462e-01 9.66925972e-02 4.64325828e-03 2.61966876e+02] [-9.66918096e-02 9.95314291e-01 -3.94342553e-04 -1.48519303e+01] [-4.65963133e-03 -5.64745366e-05 9.99989142e-01 -1.48385713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08028169299996 meters Centerline goodness [0,1] 0.9998085147124529 Centerline is valid? [True, True] Translation: X:262.00, Y:-14.86, Z:-1.49 [[ 9.95471740e-01 9.49899580e-02 3.59493910e-03 2.61998643e+02] [-9.49894734e-02 9.95478230e-01 -3.05679252e-04 -1.48589371e+01] [-3.60772007e-03 -3.71863159e-05 9.99993491e-01 -1.48585794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.110281693 meters Centerline goodness [0,1] 0.9997226015705019 Centerline is valid? [True, True] Translation: X:262.03, Y:-14.87, Z:-1.49 [[ 9.95798053e-01 9.15542871e-02 2.01244439e-03 2.62030739e+02] [-9.15541278e-02 9.95800087e-01 -1.71302198e-04 -1.48673254e+01] [-2.01967575e-03 -1.36651953e-05 9.99997960e-01 -1.48743966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14028169299996 meters Centerline goodness [0,1] 0.9998526812021213 Centerline is valid? [True, True] Translation: X:262.06, Y:-14.87, Z:-1.49 [[ 9.95893126e-01 9.04917215e-02 2.85130367e-03 2.62061942e+02] [-9.04913965e-02 9.95897208e-01 -2.43053176e-04 -1.48706638e+01] [-2.86159967e-03 -1.59634637e-05 9.99995905e-01 -1.48620606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.170281693 meters Centerline goodness [0,1] 0.9998301017265913 Centerline is valid? [True, True] Translation: X:262.09, Y:-14.87, Z:-1.48 [[ 9.95983172e-01 8.94514593e-02 3.99466205e-03 2.62092873e+02] [-8.94508093e-02 9.95991183e-01 -3.41436312e-04 -1.48745296e+01] [-4.00919016e-03 -1.72609325e-05 9.99991963e-01 -1.48405188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20028169299997 meters Centerline goodness [0,1] 0.9998517074824167 Centerline is valid? [True, True] Translation: X:262.12, Y:-14.88, Z:-1.48 [[ 9.96113199e-01 8.79601601e-02 4.63741638e-03 2.62124102e+02] [-8.79592643e-02 9.96123993e-01 -3.97160573e-04 -1.48814885e+01] [-4.65437603e-03 -1.22868444e-05 9.99989168e-01 -1.48433307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.230281693 meters Centerline goodness [0,1] 0.9997667762111735 Centerline is valid? [True, True] Translation: X:262.16, Y:-14.89, Z:-1.49 [[ 9.96165516e-01 8.74187296e-02 3.49720236e-03 2.62155358e+02] [-8.74182155e-02 9.96171655e-01 -2.99880784e-04 -1.48870462e+01] [-3.51002906e-03 -6.98829316e-06 9.99993840e-01 -1.48723644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26028169299997 meters Centerline goodness [0,1] 0.999871539597919 Centerline is valid? [True, True] Translation: X:262.19, Y:-14.89, Z:-1.49 [[ 9.96198251e-01 8.70922451e-02 1.99649679e-03 2.62187977e+02] [-8.70920770e-02 9.96200251e-01 -1.71163246e-04 -1.48922926e+01] [-2.00381760e-03 -3.36652626e-06 9.99997992e-01 -1.49007814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29028169299994 meters Centerline goodness [0,1] 0.9998513611075721 Centerline is valid? [True, True] Translation: X:262.22, Y:-14.90, Z:-1.49 [[ 9.96085030e-01 8.83803123e-02 1.87951606e-03 2.62221168e+02] [-8.83801650e-02 9.96086804e-01 -1.61435487e-04 -1.48950422e+01] [-1.88642887e-03 -5.30846785e-06 9.99998221e-01 -1.49024923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32028169299997 meters Centerline goodness [0,1] 0.9998732171156893 Centerline is valid? [True, True] Translation: X:262.25, Y:-14.90, Z:-1.49 [[ 9.95927521e-01 9.01275452e-02 2.32331925e-03 2.62252712e+02] [-9.01273234e-02 9.95930231e-01 -2.00226757e-04 -1.48963827e+01] [-2.33190982e-03 -9.98320710e-06 9.99997281e-01 -1.48888568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35028169299994 meters Centerline goodness [0,1] 0.9998099140389043 Centerline is valid? [True, True] Translation: X:262.28, Y:-14.90, Z:-1.49 [[ 9.95553585e-01 9.41781338e-02 1.88124175e-03 2.62283910e+02] [-9.41779951e-02 9.95555362e-01 -1.62372524e-04 -1.48957900e+01] [-1.88817225e-03 -1.55210279e-05 9.99998217e-01 -1.48971889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.380281693 meters Centerline goodness [0,1] 0.9997018993271442 Centerline is valid? [True, True] Translation: X:262.32, Y:-14.90, Z:-1.49 [[ 9.95390153e-01 9.58971668e-02 1.47535341e-03 2.62315922e+02] [-9.58970833e-02 9.95391246e-01 -1.27374113e-04 -1.48973143e+01] [-1.48076869e-03 -1.46951514e-05 9.99998904e-01 -1.49129829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41028169299994 meters Centerline goodness [0,1] 0.9997872476224922 Centerline is valid? [True, True] Translation: X:262.35, Y:-14.90, Z:-1.49 [[ 9.95233026e-01 9.75207312e-02 9.65160559e-04 2.62348449e+02] [-9.75206963e-02 9.95233494e-01 -8.32125511e-05 -1.48987557e+01] [-9.68675063e-04 -1.13072507e-05 9.99999531e-01 -1.49224086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.440281693 meters Centerline goodness [0,1] 0.9998299211259222 Centerline is valid? [True, True] Translation: X:262.38, Y:-14.90, Z:-1.49 [[ 9.95009657e-01 9.97419164e-02 2.70785488e-03 2.62379873e+02] [-9.97416450e-02 9.95013341e-01 -2.35430325e-04 -1.48995352e+01] [-2.71783400e-03 -3.58304532e-05 9.99996306e-01 -1.48987355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47028169299995 meters Centerline goodness [0,1] 0.9997865254888566 Centerline is valid? [True, True] Translation: X:262.41, Y:-14.90, Z:-1.49 [[ 9.95005813e-01 9.97567618e-02 3.46700302e-03 2.62411320e+02] [-9.97563158e-02 9.95011852e-01 -3.01750158e-04 -1.49025492e+01] [-3.47981072e-03 -4.56122871e-05 9.99993944e-01 -1.48808496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.500281693 meters Centerline goodness [0,1] 0.9997889761120959 Centerline is valid? [True, True] Translation: X:262.44, Y:-14.91, Z:-1.49 [[ 9.95099169e-01 9.88289916e-02 3.23632628e-03 2.62443336e+02] [-9.88285964e-02 9.95104431e-01 -2.82184555e-04 -1.49079251e+01] [-3.24837063e-03 -3.90399670e-05 9.99994723e-01 -1.48852757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53028169299995 meters Centerline goodness [0,1] 0.9998096084280003 Centerline is valid? [True, True] Translation: X:262.48, Y:-14.91, Z:-1.49 [[ 9.95065130e-01 9.91677956e-02 3.33701296e-03 2.62475042e+02] [-9.91673756e-02 9.95070724e-01 -2.91510432e-04 -1.49097139e+01] [-3.34947235e-03 -4.08509516e-05 9.99994390e-01 -1.48846285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.560281693 meters Centerline goodness [0,1] 0.999828979434777 Centerline is valid? [True, True] Translation: X:262.51, Y:-14.91, Z:-1.49 [[ 9.94984733e-01 9.99498419e-02 3.92546745e-03 2.62507695e+02] [-9.99492635e-02 9.94992476e-01 -3.43726613e-04 -1.49105984e+01] [-3.94016600e-03 -5.03448486e-05 9.99992236e-01 -1.48751258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59028169299995 meters Centerline goodness [0,1] 0.9997458542474109 Centerline is valid? [True, True] Translation: X:262.54, Y:-14.91, Z:-1.49 [[ 9.94774381e-01 1.02004089e-01 4.36988406e-03 2.62540180e+02] [-1.02003388e-01 9.94783977e-01 -3.83549670e-04 -1.49064168e+01] [-4.38621428e-03 -6.41975939e-05 9.99990378e-01 -1.48703536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.620281693 meters Centerline goodness [0,1] 0.9997871706465756 Centerline is valid? [True, True] Translation: X:262.57, Y:-14.91, Z:-1.49 [[ 9.94744197e-01 1.02344912e-01 3.08230759e-03 2.62572698e+02] [-1.02344564e-01 9.94748972e-01 -2.70794761e-04 -1.49058220e+01] [-3.09383677e-03 -4.60859102e-05 9.99995213e-01 -1.49032263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65028169299995 meters Centerline goodness [0,1] 0.9997225305216426 Centerline is valid? [True, True] Translation: X:262.61, Y:-14.91, Z:-1.50 [[ 9.94979928e-01 1.00074483e-01 2.00704076e-04 2.62605121e+02] [-1.00074481e-01 9.94979948e-01 -1.74281750e-05 -1.49098368e+01] [-2.01440647e-04 -2.74467200e-06 9.99999980e-01 -1.49573309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.680281693 meters Centerline goodness [0,1] 0.9997657979901209 Centerline is valid? [True, True] Translation: X:262.64, Y:-14.91, Z:-1.50 [[ 9.95177731e-01 9.80846458e-02 -8.27835290e-04 2.62636064e+02] [-9.80846183e-02 9.95178076e-01 7.38127590e-05 -1.49141138e+01] [ 8.31083429e-04 7.74109438e-06 9.99999655e-01 -1.49717094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71028169299996 meters Centerline goodness [0,1] 0.9997648064998931 Centerline is valid? [True, True] Translation: X:262.67, Y:-14.92, Z:-1.50 [[ 9.95329837e-01 9.65293038e-02 -7.80139080e-04 2.62668203e+02] [-9.65292788e-02 9.95330143e-01 6.97641320e-05 -1.49180274e+01] [ 7.83230225e-04 5.86794049e-06 9.99999693e-01 -1.49684673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.740281693 meters Centerline goodness [0,1] 0.999873168875642 Centerline is valid? [True, True] Translation: X:262.70, Y:-14.92, Z:-1.49 [[ 9.95618507e-01 9.35061330e-02 6.26457255e-04 2.62700100e+02] [-9.35061170e-02 9.95618704e-01 -5.47882127e-05 -1.49227165e+01] [-6.28835594e-04 -4.02942697e-06 9.99999802e-01 -1.49412641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77028169299996 meters Centerline goodness [0,1] 0.9998501968840952 Centerline is valid? [True, True] Translation: X:262.73, Y:-14.93, Z:-1.49 [[ 9.95750928e-01 9.20611951e-02 2.19697290e-03 2.62732033e+02] [-9.20609904e-02 9.95753351e-01 -1.94340385e-04 -1.49280546e+01] [-2.20553433e-03 -8.74088226e-06 9.99997568e-01 -1.49123794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.800281693 meters Centerline goodness [0,1] 0.9998938856936692 Centerline is valid? [True, True] Translation: X:262.76, Y:-14.93, Z:-1.49 [[ 9.95871446e-01 9.07071105e-02 3.50472755e-03 2.62763648e+02] [-9.07065777e-02 9.95877613e-01 -3.11016317e-04 -1.49336386e+01] [-3.51849110e-03 -8.16957241e-06 9.99993810e-01 -1.48865745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.79, Y:-14.94, Z:-1.49 [[ 9.96042077e-01 8.87741566e-02 4.39647522e-03 2.62794968e+02] [-8.87732953e-02 9.96051780e-01 -3.91046195e-04 -1.49391741e+01] [-4.41383177e-03 -7.91129314e-07 9.99990259e-01 -1.48710111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.860281693 meters Centerline goodness [0,1] 0.9999573515300139 Centerline is valid? [True, True] Translation: X:262.83, Y:-14.94, Z:-1.49 [[ 9.96047728e-01 8.87161241e-02 4.28627001e-03 2.62828221e+02] [-8.87153019e-02 9.96056951e-01 -3.81954235e-04 -1.49429191e+01] [-4.30325454e-03 1.86909826e-07 9.99990741e-01 -1.48820312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89028169299996 meters Centerline goodness [0,1] 0.9999154780771262 Centerline is valid? [True, True] Translation: X:262.86, Y:-14.95, Z:-1.49 [[ 9.96001434e-01 8.92847493e-02 3.06225235e-03 2.62859554e+02] [-8.92843313e-02 9.96006141e-01 -2.73216743e-04 -1.49473590e+01] [-3.07441624e-03 -1.28688538e-06 9.99995274e-01 -1.49160100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.920281693 meters Centerline goodness [0,1] 0.9998315115519892 Centerline is valid? [True, True] Translation: X:262.89, Y:-14.95, Z:-1.49 [[ 9.95968836e-01 8.96695770e-02 2.33335426e-03 2.62891839e+02] [-8.96693348e-02 9.95971569e-01 -2.08407672e-04 -1.49511316e+01] [-2.34264234e-03 -1.66277871e-06 9.99997256e-01 -1.49285198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.92, Y:-14.95, Z:-1.49 [[ 9.95902761e-01 9.04126001e-02 1.80335795e-03 2.62924230e+02] [-9.04124565e-02 9.95904394e-01 -1.61142371e-04 -1.49542686e+01] [-1.81054140e-03 -2.56388940e-06 9.99998361e-01 -1.49363225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.980281693 meters Centerline goodness [0,1] 0.9998527152986724 Centerline is valid? [True, True] Translation: X:262.96, Y:-14.95, Z:-1.50 [[ 9.95524239e-01 9.45061515e-02 2.77855492e-04 2.62956035e+02] [-9.45061484e-02 9.95524278e-01 -2.43178015e-05 -1.49523356e+01] [-2.78910070e-04 -2.05009150e-06 9.99999961e-01 -1.49535840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01028169299997 meters Centerline goodness [0,1] 0.9998729028978139 Centerline is valid? [True, True] Translation: X:262.99, Y:-14.95, Z:-1.50 [[ 9.95214195e-01 9.77173460e-02 1.63224278e-04 2.62988813e+02] [-9.77173450e-02 9.95214208e-01 -1.39827260e-05 -1.49507845e+01] [-1.63809475e-04 -2.03403567e-06 9.99999987e-01 -1.49597436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04028169299994 meters Centerline goodness [0,1] 0.9999154762910997 Centerline is valid? [True, True] Translation: X:263.02, Y:-14.94, Z:-1.49 [[ 9.94530473e-01 1.04438062e-01 1.35247049e-03 2.63021162e+02] [-1.04437993e-01 9.94531393e-01 -1.21634861e-04 -1.49446660e+01] [-1.35777767e-03 -2.02797280e-05 9.99999078e-01 -1.49492991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07028169299997 meters Centerline goodness [0,1] 0.9998078360200705 Centerline is valid? [True, True] Translation: X:263.05, Y:-14.94, Z:-1.49 [[ 9.94248485e-01 1.07079435e-01 1.98618465e-03 2.63053336e+02] [-1.07079291e-01 9.94250468e-01 -1.78715974e-04 -1.49447541e+01] [-1.99390182e-03 -3.49911580e-05 9.99998012e-01 -1.49448948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10028169299994 meters Centerline goodness [0,1] 0.9997670971839933 Centerline is valid? [True, True] Translation: X:263.09, Y:-14.94, Z:-1.50 [[ 9.94009782e-01 1.09270903e-01 2.10328036e-03 2.63085253e+02] [-1.09270746e-01 9.94012006e-01 -1.89673251e-04 -1.49398978e+01] [-2.11141170e-03 -4.12899469e-05 9.99997770e-01 -1.49539355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.130281693 meters Centerline goodness [0,1] 0.999788068242026 Centerline is valid? [True, True] Translation: X:263.12, Y:-14.95, Z:-1.50 [[ 9.93803670e-01 1.11137980e-01 1.61707306e-03 2.63116609e+02] [-1.11137889e-01 9.93804985e-01 -1.45903662e-04 -1.49457445e+01] [-1.62327071e-03 -3.47184930e-05 9.99998682e-01 -1.49521388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16028169299994 meters Centerline goodness [0,1] 0.999532322867286 Centerline is valid? [True, True] Translation: X:263.15, Y:-14.94, Z:-1.50 [[ 9.93392318e-01 1.14767526e-01 -3.43055028e-04 2.63147294e+02] [-1.14767522e-01 9.93392377e-01 3.11036295e-05 -1.49406353e+01] [ 3.44357937e-04 8.47346883e-06 9.99999941e-01 -1.49848375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.190281693 meters Centerline goodness [0,1] 0.9997429581235943 Centerline is valid? [True, True] Translation: X:263.18, Y:-14.94, Z:-1.50 [[ 9.93325996e-01 1.15327482e-01 -1.74279488e-03 2.63179227e+02] [-1.15327381e-01 9.93327524e-01 1.58161689e-04 -1.49402309e+01] [ 1.74940651e-03 4.38858522e-05 9.99998469e-01 -1.50155688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22028169299995 meters Centerline goodness [0,1] 0.9996768843030395 Centerline is valid? [True, True] Translation: X:263.21, Y:-14.94, Z:-1.50 [[ 9.93440935e-01 1.14342556e-01 -9.42488855e-04 2.63209963e+02] [-1.14342526e-01 9.93441382e-01 8.56041025e-05 -1.49439411e+01] [ 9.46095623e-04 2.27239368e-05 9.99999552e-01 -1.50023519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.250281693 meters Centerline goodness [0,1] 0.9996796240922683 Centerline is valid? [True, True] Translation: X:263.24, Y:-14.95, Z:-1.50 [[ 9.93653843e-01 1.12481266e-01 -7.21639872e-05 2.63240536e+02] [-1.12481265e-01 9.93653846e-01 6.65607967e-06 -1.49481390e+01] [ 7.24547077e-05 1.50325745e-06 9.99999997e-01 -1.49885052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28028169299995 meters Centerline goodness [0,1] 0.9998101305879623 Centerline is valid? [True, True] Translation: X:263.27, Y:-14.95, Z:-1.50 [[ 9.94055461e-01 1.08867588e-01 1.26060492e-03 2.63270568e+02] [-1.08867531e-01 9.94056260e-01 -1.14342791e-04 -1.49526984e+01] [-1.26556044e-03 -2.35758685e-05 9.99999199e-01 -1.49616088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.310281693 meters Centerline goodness [0,1] 0.9998101305879623 Centerline is valid? [True, True] Translation: X:263.30, Y:-14.96, Z:-1.50 [[ 9.94038426e-01 1.09023018e-01 1.26064877e-03 2.63302101e+02] [-1.09022961e-01 9.94039225e-01 -1.13860083e-04 -1.49557133e+01] [-1.26554769e-03 -2.42583640e-05 9.99999199e-01 -1.49631001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34028169299995 meters Centerline goodness [0,1] 0.9998731259647713 Centerline is valid? [True, True] Translation: X:263.33, Y:-14.96, Z:-1.50 [[ 9.94189621e-01 1.07631563e-01 1.56307520e-03 2.63333804e+02] [-1.07631474e-01 9.94190850e-01 -1.41599755e-04 -1.49595363e+01] [-1.56923566e-03 -2.74590797e-05 9.99998768e-01 -1.49579851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.370281693 meters Centerline goodness [0,1] 0.9998518393091479 Centerline is valid? [True, True] Translation: X:263.37, Y:-14.97, Z:-1.49 [[ 9.94306711e-01 1.06536343e-01 2.04271406e-03 2.63365835e+02] [-1.06536186e-01 9.94308808e-01 -1.85581697e-04 -1.49656175e+01] [-2.05085977e-03 -3.30978375e-05 9.99997896e-01 -1.49490223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40028169299995 meters Centerline goodness [0,1] 0.9998943565255974 Centerline is valid? [True, True] Translation: X:263.40, Y:-14.97, Z:-1.50 [[ 9.94558534e-01 1.04157284e-01 2.14051071e-03 2.63396667e+02] [-1.04157106e-01 9.94560837e-01 -1.94884669e-04 -1.49714918e+01] [-2.14916678e-03 -2.91251902e-05 9.99997690e-01 -1.49536527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.430281693 meters Centerline goodness [0,1] 0.9999573142100995 Centerline is valid? [True, True] Translation: X:263.43, Y:-14.98, Z:-1.50 [[ 9.94657152e-01 1.03227466e-01 1.11383577e-03 2.63428075e+02] [-1.03227418e-01 9.94657775e-01 -1.01216581e-04 -1.49760106e+01] [-1.11833374e-03 -1.43025939e-05 9.99999375e-01 -1.49755542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46028169299996 meters Centerline goodness [0,1] 0.9998936894029596 Centerline is valid? [True, True] Translation: X:263.46, Y:-14.98, Z:-1.50 [[ 9.94759484e-01 1.02239483e-01 -8.10821022e-04 2.63460864e+02] [-1.02239456e-01 9.94759814e-01 7.52445014e-05 -1.49813952e+01] [ 8.14265128e-04 8.04771890e-06 9.99999668e-01 -1.50020945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.490281693 meters Centerline goodness [0,1] 0.9999365817566853 Centerline is valid? [True, True] Translation: X:263.49, Y:-14.98, Z:-1.50 [[ 9.94792223e-01 1.01923462e-01 -2.02795638e-04 2.63493008e+02] [-1.01923460e-01 9.94792244e-01 1.93963151e-05 -1.49848530e+01] [ 2.03716468e-04 1.37432967e-06 9.99999979e-01 -1.49869403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52028169299996 meters Centerline goodness [0,1] 0.9999573488015013 Centerline is valid? [True, True] Translation: X:263.52, Y:-14.99, Z:-1.50 [[ 9.94848970e-01 1.01357389e-01 1.48552779e-03 2.63524968e+02] [-1.01357299e-01 9.94850079e-01 -1.35973076e-04 -1.49894010e+01] [-1.49165931e-03 -1.52964084e-05 9.99998887e-01 -1.49547903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.550281693 meters Centerline goodness [0,1] 0.9999578370401602 Centerline is valid? [True, True] Translation: X:263.56, Y:-14.99, Z:-1.49 [[ 9.94737782e-01 1.02404554e-01 3.17050659e-03 2.63556526e+02] [-1.02404144e-01 9.94742834e-01 -2.91571074e-04 -1.49906842e+01] [-3.18369692e-03 -3.46362510e-05 9.99994931e-01 -1.49216085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58028169299996 meters Centerline goodness [0,1] 0.9998944435061645 Centerline is valid? [True, True] Translation: X:263.59, Y:-14.99, Z:-1.49 [[ 9.94610690e-01 1.03638687e-01 2.93235316e-03 2.63587676e+02] [-1.03638340e-01 9.94615012e-01 -2.70268447e-04 -1.49905601e+01] [-2.94457274e-03 -3.50923280e-05 9.99995664e-01 -1.49402340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.610281693 meters Centerline goodness [0,1] 0.99991566341268 Centerline is valid? [True, True] Translation: X:263.62, Y:-14.99, Z:-1.50 [[ 9.94394536e-01 1.05713646e-01 2.03282923e-03 2.63619708e+02] [-1.05713484e-01 9.94396613e-01 -1.87221273e-04 -1.49896454e+01] [-2.04123035e-03 -2.87256504e-05 9.99997916e-01 -1.49621157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64028169299996 meters Centerline goodness [0,1] 0.9998729674796748 Centerline is valid? [True, True] Translation: X:263.65, Y:-14.99, Z:-1.50 [[ 9.94349829e-01 1.06136240e-01 1.87485569e-03 2.63651862e+02] [-1.06136103e-01 9.94351597e-01 -1.73042887e-04 -1.49908771e+01] [-1.88263187e-03 -2.69247106e-05 9.99998227e-01 -1.49615028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.670281693 meters Centerline goodness [0,1] 0.9998937887671 Centerline is valid? [True, True] Translation: X:263.68, Y:-14.99, Z:-1.50 [[ 9.94339469e-01 1.06235048e-01 1.77047283e-03 2.63684193e+02] [-1.06234925e-01 9.94341045e-01 -1.63450101e-04 -1.49939970e+01] [-1.77781793e-03 -2.55611622e-05 9.99998419e-01 -1.49604563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70028169299997 meters Centerline goodness [0,1] 0.9999785453765286 Centerline is valid? [True, True] Translation: X:263.72, Y:-15.00, Z:-1.50 [[ 9.94307648e-01 1.06532897e-01 1.74433610e-03 2.63716929e+02] [-1.06532778e-01 9.94309178e-01 -1.61205477e-04 -1.49952003e+01] [-1.75158308e-03 -2.55411315e-05 9.99998466e-01 -1.49589979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.730281693 meters Centerline goodness [0,1] 0.9999786571050497 Centerline is valid? [True, True] Translation: X:263.75, Y:-14.99, Z:-1.50 [[ 9.94226768e-01 1.07280906e-01 1.98531382e-03 2.63749329e+02] [-1.07280753e-01 9.94228749e-01 -1.84011785e-04 -1.49943619e+01] [-1.99359702e-03 -3.00365177e-05 9.99998012e-01 -1.49609545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.78, Y:-14.99, Z:-1.49 [[ 9.94059397e-01 1.08792911e-01 3.16505203e-03 2.63781436e+02] [-1.08792525e-01 9.94064434e-01 -2.94459657e-04 -1.49904391e+01] [-3.17830078e-03 -5.16236127e-05 9.99994948e-01 -1.49427120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79028169299994 meters Centerline goodness [0,1] 0.9998923318762247 Centerline is valid? [True, True] Translation: X:263.81, Y:-14.99, Z:-1.49 [[ 9.94027700e-01 1.09076762e-01 3.34546925e-03 2.63813562e+02] [-1.09076330e-01 9.94033328e-01 -3.11777650e-04 -1.49919327e+01] [-3.35951563e-03 -5.49958883e-05 9.99994355e-01 -1.49472241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82028169299997 meters Centerline goodness [0,1] 0.9999574893191915 Centerline is valid? [True, True] Translation: X:263.85, Y:-14.99, Z:-1.50 [[ 9.94042923e-01 1.08960676e-01 2.49746101e-03 2.63845096e+02] [-1.08960435e-01 9.94046060e-01 -2.32991940e-04 -1.49919763e+01] [-2.50797824e-03 -4.05204486e-05 9.99996854e-01 -1.49625890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85028169299994 meters Centerline goodness [0,1] 0.9999359849778081 Centerline is valid? [True, True] Translation: X:263.88, Y:-14.99, Z:-1.50 [[ 9.94216908e-01 1.07384180e-01 1.17394424e-03 2.63875586e+02] [-1.07384125e-01 9.94217601e-01 -1.09816391e-04 -1.49921275e+01] [-1.17894857e-03 -1.68816621e-05 9.99999305e-01 -1.49911785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.880281693 meters Centerline goodness [0,1] 0.9998926047640526 Centerline is valid? [True, True] Translation: X:263.91, Y:-15.00, Z:-1.50 [[ 9.94363728e-01 1.06020931e-01 5.81506982e-04 2.63906636e+02] [-1.06020917e-01 9.94363898e-01 -5.43245492e-05 -1.49975063e+01] [-5.83989089e-04 -7.63354230e-06 9.99999829e-01 -1.49922929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91028169299994 meters Centerline goodness [0,1] 0.9999574857045682 Centerline is valid? [True, True] Translation: X:263.94, Y:-15.00, Z:-1.50 [[ 9.94511561e-01 1.04626547e-01 2.00733553e-04 2.63937059e+02] [-1.04626545e-01 9.94511581e-01 -1.87375725e-05 -1.49977051e+01] [-2.01592291e-04 -2.36732570e-06 9.99999980e-01 -1.50111884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.940281693 meters Centerline goodness [0,1] 0.9999786684869558 Centerline is valid? [True, True] Translation: X:263.97, Y:-15.01, Z:-1.50 [[ 9.94976729e-01 1.00102990e-01 -8.37005166e-04 2.63967366e+02] [-1.00102959e-01 9.94977081e-01 7.84924225e-05 -1.50070091e+01] [ 8.40658283e-04 5.68855997e-06 9.99999647e-01 -1.50289458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97028169299995 meters Centerline goodness [0,1] 0.99995789562325 Centerline is valid? [True, True] Translation: X:264.00, Y:-15.01, Z:-1.51 [[ 9.95266081e-01 9.71733764e-02 -1.66224482e-03 2.63997794e+02] [-9.71732503e-02 9.95267469e-01 1.56610866e-04 -1.50138263e+01] [ 1.66959660e-03 5.65624987e-06 9.99998606e-01 -1.50522803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.000281693 meters Centerline goodness [0,1] 0.9999574459031043 Centerline is valid? [True, True] Translation: X:264.03, Y:-15.02, Z:-1.51 [[ 9.95706513e-01 9.25419747e-02 -2.12652603e-03 2.64029439e+02] [-9.25417574e-02 9.95708784e-01 2.00547136e-04 -1.50239739e+01] [ 2.13595968e-03 -2.89363369e-06 9.99997719e-01 -1.50582141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03028169299995 meters Centerline goodness [0,1] 0.9999146666666666 Centerline is valid? [True, True] Translation: X:264.06, Y:-15.03, Z:-1.50 [[ 9.95793511e-01 9.16082660e-02 -1.79150618e-03 2.64060208e+02] [-9.16081111e-02 9.95795122e-01 1.68472343e-04 -1.50286115e+01] [ 1.79940658e-03 -3.64716845e-06 9.99998381e-01 -1.50494597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.060281693 meters Centerline goodness [0,1] 0.9999787338111137 Centerline is valid? [True, True] Translation: X:264.09, Y:-15.03, Z:-1.50 [[ 9.95785434e-01 9.17046767e-02 -1.27345269e-03 2.64091072e+02] [-9.17045975e-02 9.95786248e-01 1.20560315e-04 -1.50331369e+01] [ 1.27914262e-03 -3.27073951e-06 9.99999182e-01 -1.50349574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.12, Y:-15.04, Z:-1.50 [[ 9.95757112e-01 9.20168456e-02 -8.21267145e-04 2.64123391e+02] [-9.20168124e-02 9.95757450e-01 7.81685783e-05 -1.50372018e+01] [ 8.24975705e-04 -2.26653293e-06 9.99999660e-01 -1.50300719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.120281693 meters Centerline goodness [0,1] 0.9999576037647857 Centerline is valid? [True, True] Translation: X:264.15, Y:-15.04, Z:-1.50 [[ 9.95699241e-01 9.26445602e-02 8.15879094e-05 2.64154420e+02] [-9.26445599e-02 9.95699244e-01 -7.02457010e-06 -1.50405412e+01] [-8.18878080e-05 -5.64316847e-07 9.99999997e-01 -1.50143805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.19, Y:-15.04, Z:-1.50 [[ 9.95497165e-01 9.47781308e-02 1.58130508e-03 2.64186311e+02] [-9.47780134e-02 9.95498421e-01 -1.49187333e-04 -1.50416892e+01] [-1.58832641e-03 -1.35738707e-06 9.99998739e-01 -1.49796551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.180281693 meters Centerline goodness [0,1] 0.9999569011959918 Centerline is valid? [True, True] Translation: X:264.22, Y:-15.04, Z:-1.50 [[ 9.95348392e-01 9.63198665e-02 2.01519753e-03 2.64218054e+02] [-9.63196794e-02 9.95350432e-01 -1.89927077e-04 -1.50438120e+01] [-2.02412148e-03 -5.05956900e-06 9.99997951e-01 -1.49688737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21028169299996 meters Centerline goodness [0,1] 0.9999786884896532 Centerline is valid? [True, True] Translation: X:264.25, Y:-15.05, Z:-1.50 [[ 9.95206870e-01 9.77746564e-02 1.84437860e-03 2.64250032e+02] [-9.77745018e-02 9.95208579e-01 -1.74042649e-04 -1.50460580e+01] [-1.85255837e-03 -7.12475862e-06 9.99998284e-01 -1.49769600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.240281693 meters Centerline goodness [0,1] 0.9999789087381098 Centerline is valid? [True, True] Translation: X:264.28, Y:-15.05, Z:-1.50 [[ 9.95056427e-01 9.92934251e-02 1.87673363e-03 2.64281603e+02] [-9.92932669e-02 9.95058197e-01 -1.77478146e-04 -1.50497577e+01] [-1.88508159e-03 -9.74624318e-06 9.99998223e-01 -1.49743732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27028169299996 meters Centerline goodness [0,1] 0.999978910517325 Centerline is valid? [True, True] Translation: X:264.31, Y:-15.05, Z:-1.50 [[ 9.95038666e-01 9.94706713e-02 1.90755312e-03 2.64313434e+02] [-9.94705076e-02 9.95040494e-01 -1.80737526e-04 -1.50532436e+01] [-1.91607068e-03 -9.90445009e-06 9.99998164e-01 -1.49821753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.300281693 meters Centerline goodness [0,1] 0.9999786634804131 Centerline is valid? [True, True] Translation: X:264.35, Y:-15.06, Z:-1.50 [[ 9.95100110e-01 9.88505495e-02 2.08331288e-03 2.64345927e+02] [-9.88503520e-02 9.95102291e-01 -1.97791426e-04 -1.50592138e+01] [-2.09266121e-03 -9.11394160e-06 9.99997810e-01 -1.49809543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33028169299996 meters Centerline goodness [0,1] 0.9999787351677796 Centerline is valid? [True, True] Translation: X:264.38, Y:-15.06, Z:-1.50 [[ 9.95084118e-01 9.90159109e-02 1.85682110e-03 2.64378488e+02] [-9.90157540e-02 9.95085850e-01 -1.76510113e-04 -1.50631355e+01] [-1.86517371e-03 -8.21213077e-06 9.99998261e-01 -1.49822849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.360281693 meters Centerline goodness [0,1] 0.9999789033986625 Centerline is valid? [True, True] Translation: X:264.41, Y:-15.07, Z:-1.50 [[ 9.95079221e-01 9.90646229e-02 1.88257402e-03 2.64410235e+02] [-9.90644606e-02 9.95081002e-01 -1.79522718e-04 -1.50657450e+01] [-1.89109799e-03 -7.85685349e-06 9.99998212e-01 -1.49901444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39028169299996 meters Centerline goodness [0,1] 0.9999367715556305 Centerline is valid? [True, True] Translation: X:264.44, Y:-15.07, Z:-1.50 [[ 9.95056860e-01 9.92607420e-02 3.02481118e-03 2.64442987e+02] [-9.92603220e-02 9.95061458e-01 -2.89025554e-04 -1.50710657e+01] [-3.03856191e-03 -1.26468711e-05 9.99995383e-01 -1.49583809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.420281693 meters Centerline goodness [0,1] 0.9999785958904109 Centerline is valid? [True, True] Translation: X:264.48, Y:-15.07, Z:-1.49 [[ 9.95038136e-01 9.94197800e-02 3.84916886e-03 2.64475730e+02] [-9.94190974e-02 9.95045580e-01 -3.68734359e-04 -1.50745653e+01] [-3.86675795e-03 -1.57761454e-05 9.99992524e-01 -1.49445677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45028169299997 meters Centerline goodness [0,1] 0.9999577006048813 Centerline is valid? [True, True] Translation: X:264.51, Y:-15.08, Z:-1.49 [[ 9.95051917e-01 9.92489626e-02 4.61807734e-03 2.64508928e+02] [-9.92479735e-02 9.95062633e-01 -4.43430271e-04 -1.50786789e+01] [-4.63928619e-03 -1.70986764e-05 9.99989238e-01 -1.49328353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.480281693 meters Centerline goodness [0,1] 0.9999788247750132 Centerline is valid? [True, True] Translation: X:264.54, Y:-15.09, Z:-1.49 [[ 9.95250559e-01 9.72042559e-02 5.25894100e-03 2.64540276e+02] [-9.72029389e-02 9.95264454e-01 -5.06065458e-04 -1.50875942e+01] [-5.28322876e-03 -7.52259040e-06 9.99986044e-01 -1.49266354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51028169299997 meters Centerline goodness [0,1] 0.9999365052488994 Centerline is valid? [True, True] Translation: X:264.57, Y:-15.09, Z:-1.49 [[ 9.95370841e-01 9.59935369e-02 4.70423231e-03 2.64572338e+02] [-9.59924660e-02 9.95381957e-01 -4.53420455e-04 -1.50944766e+01] [-4.72603340e-03 -2.49361269e-07 9.99988832e-01 -1.49400824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54028169299994 meters Centerline goodness [0,1] 0.9998936170212765 Centerline is valid? [True, True] Translation: X:264.61, Y:-15.10, Z:-1.50 [[ 9.95388105e-01 9.58489685e-02 3.93647029e-03 2.64605133e+02] [-9.58482152e-02 9.95395889e-01 -3.80003451e-04 -1.50993479e+01] [-3.95476928e-03 9.47263400e-07 9.99992180e-01 -1.49523793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57028169299997 meters Centerline goodness [0,1] 0.9998509909104455 Centerline is valid? [True, True] Translation: X:264.64, Y:-15.10, Z:-1.50 [[ 9.95257447e-01 9.71921941e-02 4.03617206e-03 2.64638076e+02] [-9.71914100e-02 9.95265632e-01 -3.90408035e-04 -1.51004346e+01] [-4.05500795e-03 -3.72474915e-06 9.99991778e-01 -1.49516258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60028169299994 meters Centerline goodness [0,1] 0.9999152021369061 Centerline is valid? [True, True] Translation: X:264.67, Y:-15.10, Z:-1.50 [[ 9.95065663e-01 9.91474653e-02 3.75579723e-03 2.64669963e+02] [-9.91467979e-02 9.95072751e-01 -3.63942814e-04 -1.50998529e+01] [-3.77337549e-03 -1.02282716e-05 9.99992881e-01 -1.49525580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.630281693 meters Centerline goodness [0,1] 0.9999789225191805 Centerline is valid? [True, True] Translation: X:264.70, Y:-15.10, Z:-1.50 [[ 9.94856115e-01 1.01250193e-01 3.11592802e-03 2.64703277e+02] [-1.01249743e-01 9.94860994e-01 -3.02332075e-04 -1.50989836e+01] [-3.13052643e-03 -1.47099976e-05 9.99995100e-01 -1.49575563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66028169299994 meters Centerline goodness [0,1] 0.9999787879430668 Centerline is valid? [True, True] Translation: X:264.74, Y:-15.09, Z:-1.50 [[ 9.94405325e-01 1.05621291e-01 1.48064068e-03 2.64735843e+02] [-1.05621195e-01 9.94406427e-01 -1.43581959e-04 -1.50922706e+01] [-1.48752392e-03 -1.36083733e-05 9.99998894e-01 -1.49798601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.690281693 meters Centerline goodness [0,1] 0.9999573488015013 Centerline is valid? [True, True] Translation: X:264.77, Y:-15.09, Z:-1.50 [[ 9.94165875e-01 1.07856766e-01 1.06315253e-03 2.64767694e+02] [-1.07856716e-01 9.94166444e-01 -1.03517679e-04 -1.50905105e+01] [-1.06811565e-03 -1.17543970e-05 9.99999429e-01 -1.49885232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72028169299995 meters Centerline goodness [0,1] 0.999978592224696 Centerline is valid? [True, True] Translation: X:264.80, Y:-15.09, Z:-1.50 [[ 9.93776178e-01 1.11393837e-01 5.65793382e-04 2.64799643e+02] [-1.11393824e-01 9.93776340e-01 -5.50524027e-05 -1.50853875e+01] [-5.68404574e-04 -8.31612196e-06 9.99999838e-01 -1.49988440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.750281693 meters Centerline goodness [0,1] 0.9999155815376823 Centerline is valid? [True, True] Translation: X:264.83, Y:-15.08, Z:-1.50 [[ 9.93747170e-01 1.11649450e-01 9.81486335e-04 2.64829392e+02] [-1.11649410e-01 9.93747654e-01 -9.57345895e-05 -1.50834784e+01] [-9.86038458e-04 -1.44463927e-05 9.99999514e-01 -1.49952655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78028169299995 meters Centerline goodness [0,1] 0.9999788976112096 Centerline is valid? [True, True] Translation: X:264.86, Y:-15.09, Z:-1.50 [[ 9.93797238e-01 1.11187263e-01 2.10787740e-03 2.64859533e+02] [-1.11187077e-01 9.93799473e-01 -2.05485308e-04 -1.50853872e+01] [-2.11765479e-03 -3.01579951e-05 9.99997757e-01 -1.49750414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.810281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.89, Y:-15.09, Z:-1.50 [[ 9.94012861e-01 1.09224143e-01 2.91878914e-03 2.64891005e+02] [-1.09223778e-01 9.94017145e-01 -2.84495628e-04 -1.50867073e+01] [-2.93240024e-03 -3.60088632e-05 9.99995700e-01 -1.49637078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84028169299995 meters Centerline goodness [0,1] 0.9999785908497292 Centerline is valid? [True, True] Translation: X:264.92, Y:-15.09, Z:-1.50 [[ 9.94156067e-01 1.07929377e-01 2.22793411e-03 2.64922590e+02] [-1.07929162e-01 9.94158563e-01 -2.17154805e-04 -1.50905770e+01] [-2.23835716e-03 -2.45732937e-05 9.99997495e-01 -1.49769869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.870281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.95, Y:-15.10, Z:-1.50 [[ 9.94324421e-01 1.06379465e-01 1.53441978e-03 2.64953296e+02] [-1.06379360e-01 9.94325605e-01 -1.49597418e-04 -1.50952157e+01] [-1.54162697e-03 -1.44822286e-05 9.99998812e-01 -1.49958410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90028169299995 meters Centerline goodness [0,1] 0.9999363840705713 Centerline is valid? [True, True] Translation: X:264.98, Y:-15.10, Z:-1.50 [[ 9.94721350e-01 1.02606287e-01 1.17731199e-03 2.64983972e+02] [-1.02606223e-01 9.94722047e-01 -1.14333413e-04 -1.51019613e+01] [-1.18282952e-03 -7.06965018e-06 9.99999300e-01 -1.50145439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.930281693 meters Centerline goodness [0,1] 0.9998938947011013 Centerline is valid? [True, True] Translation: X:265.01, Y:-15.11, Z:-1.50 [[ 9.94883763e-01 1.01008046e-01 1.91664110e-03 2.65014948e+02] [-1.01007872e-01 9.94885609e-01 -1.87225322e-04 -1.51079083e+01] [-1.92574991e-03 -7.32840662e-06 9.99998146e-01 -1.49990968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96028169299996 meters Centerline goodness [0,1] 0.9998304258431016 Centerline is valid? [True, True] Translation: X:265.05, Y:-15.12, Z:-1.50 [[ 9.95117093e-01 9.86567881e-02 2.96822692e-03 2.65045967e+02] [-9.86563624e-02 9.95121519e-01 -2.89858954e-04 -1.51155922e+01] [-2.98234304e-03 -4.39087139e-06 9.99995553e-01 -1.49827910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.990281693 meters Centerline goodness [0,1] 0.9997859359948624 Centerline is valid? [True, True] Translation: X:265.08, Y:-15.12, Z:-1.50 [[ 9.95187664e-01 9.79577025e-02 2.40869261e-03 2.65077313e+02] [-9.79574197e-02 9.95190579e-01 -2.35398988e-04 -1.51200163e+01] [-2.42016734e-03 -1.68314379e-06 9.99997071e-01 -1.49910939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02028169299996 meters Centerline goodness [0,1] 0.999701791381771 Centerline is valid? [True, True] Translation: X:265.11, Y:-15.12, Z:-1.50 [[ 9.95203551e-01 9.78032230e-02 2.10290270e-03 2.65109257e+02] [-9.78030065e-02 9.95205772e-01 -2.05800003e-04 -1.51237605e+01] [-2.11294881e-03 -8.57312376e-07 9.99997768e-01 -1.50054710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.050281693 meters Centerline goodness [0,1] 0.9998071235694999 Centerline is valid? [True, True] Translation: X:265.14, Y:-15.13, Z:-1.50 [[ 9.95167316e-01 9.81731416e-02 2.01189857e-03 2.65141004e+02] [-9.81729436e-02 9.95169350e-01 -1.97187467e-04 -1.51284716e+01] [-2.02153830e-03 -1.27948254e-06 9.99997957e-01 -1.50106155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08028169299996 meters Centerline goodness [0,1] 0.999765773055384 Centerline is valid? [True, True] Translation: X:265.17, Y:-15.13, Z:-1.50 [[ 9.95112193e-01 9.87206035e-02 2.44244876e-03 2.65173408e+02] [-9.87203119e-02 9.95115191e-01 -2.39943625e-04 -1.51323250e+01] [-2.45420525e-03 -2.34847674e-06 9.99996988e-01 -1.49992810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.110281693 meters Centerline goodness [0,1] 0.9997213589111563 Centerline is valid? [True, True] Translation: X:265.21, Y:-15.14, Z:-1.50 [[ 9.95043244e-01 9.93979523e-02 2.99831779e-03 2.65205821e+02] [-9.93975140e-02 9.95047761e-01 -2.95202606e-04 -1.51353509e+01] [-3.01281194e-03 -4.28597599e-06 9.99995461e-01 -1.49863641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14028169299996 meters Centerline goodness [0,1] 0.9998508098891731 Centerline is valid? [True, True] Translation: X:265.24, Y:-15.14, Z:-1.50 [[ 9.94816172e-01 1.01646984e-01 2.94511709e-03 2.65238481e+02] [-1.01646569e-01 9.94820532e-01 -2.90446807e-04 -1.51357330e+01] [-2.95938599e-03 -1.04198678e-05 9.99995621e-01 -1.49851932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.170281693 meters Centerline goodness [0,1] 0.9998726898512593 Centerline is valid? [True, True] Translation: X:265.27, Y:-15.14, Z:-1.50 [[ 9.94673241e-01 1.03054512e-01 2.21593258e-03 2.65269902e+02] [-1.03054280e-01 9.94675710e-01 -2.18903261e-04 -1.51373134e+01] [-2.22669328e-03 -1.06241210e-05 9.99997521e-01 -1.50020524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20028169299997 meters Centerline goodness [0,1] 0.9998726898512593 Centerline is valid? [True, True] Translation: X:265.30, Y:-15.14, Z:-1.50 [[ 9.94656183e-01 1.03219024e-01 2.21593024e-03 2.65301406e+02] [-1.03218793e-01 9.94658651e-01 -2.18927209e-04 -1.51405796e+01] [-2.22669164e-03 -1.09683424e-05 9.99997521e-01 -1.50035438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.230281693 meters Centerline goodness [0,1] 0.9999363503277958 Centerline is valid? [True, True] Translation: X:265.33, Y:-15.14, Z:-1.50 [[ 9.94435997e-01 1.05339472e-01 8.01892048e-04 2.65332689e+02] [-1.05339442e-01 9.94436321e-01 -7.89084907e-05 -1.51416123e+01] [-8.05742757e-04 -6.00141736e-06 9.99999675e-01 -1.50400510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26028169299997 meters Centerline goodness [0,1] 0.9998929152745653 Centerline is valid? [True, True] Translation: X:265.36, Y:-15.15, Z:-1.50 [[ 9.94396890e-01 1.05706549e-01 9.75307299e-04 2.65363272e+02] [-1.05706505e-01 9.94397368e-01 -9.67646397e-05 -1.51460143e+01] [-9.80071668e-04 -6.87386959e-06 9.99999520e-01 -1.50234138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29028169299994 meters Centerline goodness [0,1] 0.9999572412023774 Centerline is valid? [True, True] Translation: X:265.39, Y:-15.15, Z:-1.50 [[ 9.94377940e-01 1.05875864e-01 1.67725534e-03 2.65393956e+02] [-1.05875733e-01 9.94379355e-01 -1.66526605e-04 -1.51500018e+01] [-1.68545923e-03 -1.19902569e-05 9.99998580e-01 -1.50058861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32028169299997 meters Centerline goodness [0,1] 0.999914851948826 Centerline is valid? [True, True] Translation: X:265.42, Y:-15.15, Z:-1.50 [[ 9.94329874e-01 1.06312402e-01 2.40291330e-03 2.65424603e+02] [-1.06312136e-01 9.94332778e-01 -2.38381886e-04 -1.51540119e+01] [-2.41463840e-03 -1.84286154e-05 9.99997085e-01 -1.49925478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.46, Y:-15.16, Z:-1.50 [[ 9.94223921e-01 1.07293294e-01 2.63518762e-03 2.65455654e+02] [-1.07292976e-01 9.94227413e-01 -2.61904681e-04 -1.51576669e+01] [-2.64807638e-03 -2.23452231e-05 9.99996494e-01 -1.49913275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.380281693 meters Centerline goodness [0,1] 0.9999789091829417 Centerline is valid? [True, True] Translation: X:265.49, Y:-15.16, Z:-1.50 [[ 9.94004965e-01 1.09315233e-01 2.07616339e-03 2.65486990e+02] [-1.09315039e-01 9.94007132e-01 -2.06849000e-04 -1.51593993e+01] [-2.08633297e-03 -2.13469497e-05 9.99997823e-01 -1.50014105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.52, Y:-15.16, Z:-1.50 [[ 9.93833663e-01 1.10861804e-01 2.07635963e-03 2.65518241e+02] [-1.10861614e-01 9.93835831e-01 -2.06912120e-04 -1.51624267e+01] [-2.08649925e-03 -2.45523488e-05 9.99997823e-01 -1.49965285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.440281693 meters Centerline goodness [0,1] 0.9999786748555222 Centerline is valid? [True, True] Translation: X:265.55, Y:-15.16, Z:-1.50 [[ 9.93596441e-01 1.12966085e-01 2.18535410e-03 2.65548710e+02] [-1.12965879e-01 9.93598844e-01 -2.17862505e-04 -1.51615548e+01] [-2.19597638e-03 -3.04030370e-05 9.99997588e-01 -1.49953642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47028169299995 meters Centerline goodness [0,1] 0.9999786980231765 Centerline is valid? [True, True] Translation: X:265.58, Y:-15.16, Z:-1.50 [[ 9.93260761e-01 1.15880876e-01 2.16390688e-03 2.65579348e+02] [-1.15880681e-01 9.93263118e-01 -2.15780342e-04 -1.51601470e+01] [-2.17433371e-03 -3.64288561e-05 9.99997635e-01 -1.49865993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.500281693 meters Centerline goodness [0,1] 0.9998315895838158 Centerline is valid? [True, True] Translation: X:265.61, Y:-15.15, Z:-1.50 [[ 9.92422435e-01 1.22825015e-01 3.42436690e-03 2.65610369e+02] [-1.22824568e-01 9.92428339e-01 -3.41485588e-04 -1.51474273e+01] [-3.44038172e-03 -8.16984249e-05 9.99994079e-01 -1.49619224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53028169299995 meters Centerline goodness [0,1] 0.9995543009953944 Centerline is valid? [True, True] Translation: X:265.64, Y:-15.14, Z:-1.50 [[ 9.92044847e-01 1.25809164e-01 4.36758838e-03 2.65640212e+02] [-1.25808465e-01 9.92054454e-01 -4.35487165e-04 -1.51440345e+01] [-4.38767379e-03 -1.17456791e-04 9.99990367e-01 -1.49548235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.560281693 meters Centerline goodness [0,1] 0.9995472479141064 Centerline is valid? [True, True] Translation: X:265.67, Y:-15.14, Z:-1.50 [[ 9.91819794e-01 1.27579406e-01 4.12205554e-03 2.65669881e+02] [-1.27578799e-01 9.91828353e-01 -4.10859726e-04 -1.51435607e+01] [-4.14078880e-03 -1.18388089e-04 9.99991420e-01 -1.49792359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59028169299995 meters Centerline goodness [0,1] 0.9995925981516821 Centerline is valid? [True, True] Translation: X:265.70, Y:-15.15, Z:-1.50 [[ 9.92011843e-01 1.26113025e-01 2.82993798e-03 2.65698462e+02] [-1.26112733e-01 9.92015876e-01 -2.82058817e-04 -1.51454840e+01] [-2.84291470e-03 -7.70855275e-05 9.99995956e-01 -1.49971912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.620281693 meters Centerline goodness [0,1] 0.9997446862832706 Centerline is valid? [True, True] Translation: X:265.73, Y:-15.15, Z:-1.50 [[ 9.92558401e-01 1.21743557e-01 2.51541181e-03 2.65727756e+02] [-1.21743312e-01 9.92561587e-01 -2.50585275e-04 -1.51497248e+01] [-2.52720828e-03 -5.75140460e-05 9.99996805e-01 -1.49918240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65028169299995 meters Centerline goodness [0,1] 0.9997469582270206 Centerline is valid? [True, True] Translation: X:265.76, Y:-15.15, Z:-1.50 [[ 9.92776875e-01 1.19932537e-01 3.20365560e-03 2.65757123e+02] [-1.19932132e-01 9.92782041e-01 -3.19112671e-04 -1.51497690e+01] [-3.21880374e-03 -6.74135656e-05 9.99994817e-01 -1.49887588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.680281693 meters Centerline goodness [0,1] 0.9997881086578803 Centerline is valid? [True, True] Translation: X:265.79, Y:-15.15, Z:-1.50 [[ 9.92943814e-01 1.18521331e-01 3.90852138e-03 2.65785458e+02] [-1.18520716e-01 9.92951503e-01 -3.89215310e-04 -1.51525791e+01] [-3.92710250e-03 -7.67718201e-05 9.99992286e-01 -1.49835372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71028169299996 meters Centerline goodness [0,1] 0.9999364756701817 Centerline is valid? [True, True] Translation: X:265.82, Y:-15.16, Z:-1.50 [[ 9.93247342e-01 1.15966697e-01 3.38275487e-03 2.65815281e+02] [-1.15966223e-01 9.93253101e-01 -3.36719961e-04 -1.51600216e+01] [-3.39898007e-03 -5.78390990e-05 9.99994222e-01 -1.49946203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.740281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.85, Y:-15.16, Z:-1.50 [[ 9.93423720e-01 1.14472918e-01 2.29403891e-03 2.65846094e+02] [-1.14472696e-01 9.93426369e-01 -2.28320516e-04 -1.51632204e+01] [-2.30509526e-03 -3.57858032e-05 9.99997343e-01 -1.50103470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77028169299996 meters Centerline goodness [0,1] 0.9999575794854392 Centerline is valid? [True, True] Translation: X:265.88, Y:-15.16, Z:-1.50 [[ 9.93604470e-01 1.12908886e-01 1.31915219e-03 2.65875906e+02] [-1.12908811e-01 9.93605346e-01 -1.31364269e-04 -1.51640612e+01] [-1.32554887e-03 -1.84197808e-05 9.99999121e-01 -1.50356957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.800281693 meters Centerline goodness [0,1] 0.9999786297388554 Centerline is valid? [True, True] Translation: X:265.90, Y:-15.17, Z:-1.50 [[ 9.93844623e-01 1.10778516e-01 9.93229866e-04 2.65904678e+02] [-1.10778472e-01 9.93845119e-01 -9.89534126e-05 -1.51702200e+01] [-9.98078567e-04 -1.16841700e-05 9.99999502e-01 -1.50384576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83028169299996 meters Centerline goodness [0,1] 0.9999155423238529 Centerline is valid? [True, True] Translation: X:265.93, Y:-15.17, Z:-1.50 [[ 9.93934903e-01 1.09957759e-01 1.64315155e-03 2.65934158e+02] [-1.09957639e-01 9.93936261e-01 -1.63592961e-04 -1.51749380e+01] [-1.65117622e-03 -1.80763099e-05 9.99998637e-01 -1.50309976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.860281693 meters Centerline goodness [0,1] 0.9999579248537889 Centerline is valid? [True, True] Translation: X:265.96, Y:-15.18, Z:-1.50 [[ 9.94029500e-01 1.09085636e-01 2.38258960e-03 2.65962852e+02] [-1.09085381e-01 9.94032355e-01 -2.37131916e-04 -1.51770220e+01] [-2.39423883e-03 -2.41895742e-05 9.99997134e-01 -1.50196761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89028169299996 meters Centerline goodness [0,1] 0.9999153833135894 Centerline is valid? [True, True] Translation: X:265.99, Y:-15.18, Z:-1.50 [[ 9.94272652e-01 1.06834594e-01 2.87443865e-03 2.65993020e+02] [-1.06834214e-01 9.94276807e-01 -2.85884958e-04 -1.51824644e+01] [-2.88853009e-03 -2.28407982e-05 9.99995828e-01 -1.50014984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.920281693 meters Centerline goodness [0,1] 0.9999576836002793 Centerline is valid? [True, True] Translation: X:266.02, Y:-15.19, Z:-1.50 [[ 9.94380672e-01 1.05832426e-01 2.56438078e-03 2.66023463e+02] [-1.05832120e-01 9.94383979e-01 -2.55047326e-04 -1.51864289e+01] [-2.57697144e-03 -1.77797229e-05 9.99996679e-01 -1.50064006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95028169299997 meters Centerline goodness [0,1] 0.9999353824283284 Centerline is valid? [True, True] Translation: X:266.05, Y:-15.19, Z:-1.50 [[ 9.94475249e-01 1.04951007e-01 2.06545326e-03 2.66054713e+02] [-1.04950806e-01 9.94477393e-01 -2.05361559e-04 -1.51912924e+01] [-2.07559948e-03 -1.25439980e-05 9.99997846e-01 -1.50162863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.980281693 meters Centerline goodness [0,1] 0.9999573906003665 Centerline is valid? [True, True] Translation: X:266.08, Y:-15.20, Z:-1.50 [[ 9.94591964e-01 1.03851473e-01 1.30253997e-03 2.66084405e+02] [-1.03851392e-01 9.94592817e-01 -1.29538155e-04 -1.51955003e+01] [-1.30894962e-03 -6.43298123e-06 9.99999143e-01 -1.50314944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01028169299997 meters Centerline goodness [0,1] 0.9998932467920661 Centerline is valid? [True, True] Translation: X:266.12, Y:-15.20, Z:-1.50 [[ 9.94683863e-01 1.02964379e-01 1.53276920e-03 2.66115046e+02] [-1.02964266e-01 9.94685044e-01 -1.52501474e-04 -1.51973364e+01] [-1.54032481e-03 -6.12970024e-06 9.99998814e-01 -1.50250516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04028169299994 meters Centerline goodness [0,1] 0.9998938068133548 Centerline is valid? [True, True] Translation: X:266.14, Y:-15.20, Z:-1.50 [[ 9.94621884e-01 1.03544467e-01 2.41893386e-03 2.66144157e+02] [-1.03544188e-01 9.94624825e-01 -2.40696607e-04 -1.51982209e+01] [-2.43085447e-03 -1.10644284e-05 9.99997045e-01 -1.50073114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07028169299997 meters Centerline goodness [0,1] 0.9999142422228415 Centerline is valid? [True, True] Translation: X:266.17, Y:-15.20, Z:-1.50 [[ 9.94595881e-01 1.03789730e-01 2.59348525e-03 2.66174571e+02] [-1.03789410e-01 9.94599262e-01 -2.58005557e-04 -1.51999831e+01] [-2.60625684e-03 -1.25650403e-05 9.99996604e-01 -1.49920978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10028169299994 meters Centerline goodness [0,1] 0.9999366888255777 Centerline is valid? [True, True] Translation: X:266.21, Y:-15.20, Z:-1.50 [[ 9.94603630e-01 1.03730426e-01 1.90188865e-03 2.66205162e+02] [-1.03730254e-01 9.94605449e-01 -1.89170729e-04 -1.52027079e+01] [-1.91125157e-03 -9.13349879e-06 9.99998174e-01 -1.50066830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.130281693 meters Centerline goodness [0,1] 0.9998925886143931 Centerline is valid? [True, True] Translation: X:266.24, Y:-15.20, Z:-1.50 [[ 9.94605381e-01 1.03713420e-01 1.91403405e-03 2.66235086e+02] [-1.03713245e-01 9.94607222e-01 -1.90501312e-04 -1.52046102e+01] [-1.92346964e-03 -9.03705329e-06 9.99998150e-01 -1.50076854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16028169299994 meters Centerline goodness [0,1] 0.9999576531368439 Centerline is valid? [True, True] Translation: X:266.26, Y:-15.20, Z:-1.50 [[ 9.94309407e-01 1.06504524e-01 2.36442950e-03 2.66264319e+02] [-1.06504265e-01 9.94312218e-01 -2.35272780e-04 -1.51988213e+01] [-2.37603876e-03 -1.78878887e-05 9.99997177e-01 -1.50036240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.190281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.29, Y:-15.20, Z:-1.50 [[ 9.94061984e-01 1.08789934e-01 2.35007536e-03 2.66293863e+02] [-1.08789685e-01 9.94064761e-01 -2.33734621e-04 -1.51972656e+01] [-2.36155508e-03 -2.33172574e-05 9.99997211e-01 -1.49950706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22028169299995 meters Centerline goodness [0,1] 0.9999786975693926 Centerline is valid? [True, True] Translation: X:266.32, Y:-15.19, Z:-1.50 [[ 9.93445675e-01 1.14297093e-01 1.36545060e-03 2.66324565e+02] [-1.14297014e-01 9.93446614e-01 -1.35819637e-04 -1.51856994e+01] [-1.37202606e-03 -2.11374948e-05 9.99999059e-01 -1.50106242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.250281693 meters Centerline goodness [0,1] 0.9999788811218349 Centerline is valid? [True, True] Translation: X:266.35, Y:-15.18, Z:-1.50 [[ 9.93177715e-01 1.16608712e-01 6.59919579e-04 2.66354107e+02] [-1.16608694e-01 9.93177934e-01 -6.57297964e-05 -1.51787914e+01] [-6.63082230e-04 -1.16709910e-05 9.99999780e-01 -1.50337480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28028169299995 meters Centerline goodness [0,1] 0.9998717428015648 Centerline is valid? [True, True] Translation: X:266.38, Y:-15.18, Z:-1.50 [[ 9.93025702e-01 1.17896462e-01 6.15551399e-04 2.66383215e+02] [-1.17896447e-01 9.93025893e-01 -6.13466369e-05 -1.51784471e+01] [-6.18491029e-04 -1.16525356e-05 9.99999809e-01 -1.50393182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.310281693 meters Centerline goodness [0,1] 0.9999787238569392 Centerline is valid? [True, True] Translation: X:266.41, Y:-15.18, Z:-1.50 [[ 9.93052283e-01 1.17667439e-01 1.24000829e-03 2.66411915e+02] [-1.17667376e-01 9.93053057e-01 -1.23301122e-04 -1.51770891e+01] [-1.24590255e-03 -2.34640616e-05 9.99999224e-01 -1.50358137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34028169299995 meters Centerline goodness [0,1] 0.9998735137869972 Centerline is valid? [True, True] Translation: X:266.44, Y:-15.18, Z:-1.50 [[ 9.93123981e-01 1.17055620e-01 1.65560660e-03 2.66440220e+02] [-1.17055508e-01 9.93125360e-01 -1.64509647e-04 -1.51767850e+01] [-1.66348168e-03 -3.04193958e-05 9.99998616e-01 -1.50344603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.370281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.47, Y:-15.18, Z:-1.50 [[ 9.93321809e-01 1.15343551e-01 2.76582484e-03 2.66468228e+02] [-1.15343233e-01 9.93325658e-01 -2.74478466e-04 -1.51754139e+01] [-2.77902410e-03 -4.63737340e-05 9.99996137e-01 -1.50139623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.50, Y:-15.18, Z:-1.50 [[ 9.93498142e-01 1.13797421e-01 3.40419253e-03 2.66496975e+02] [-1.13796932e-01 9.93503973e-01 -3.37559417e-04 -1.51788778e+01] [-3.42049219e-03 -5.20220129e-05 9.99994149e-01 -1.50011484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.430281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.53, Y:-15.19, Z:-1.50 [[ 9.93759819e-01 1.11467252e-01 4.05883175e-03 2.66525330e+02] [-1.11466539e-01 9.93768106e-01 -4.02249623e-04 -1.51856664e+01] [-4.07837520e-03 -5.26844128e-05 9.99991682e-01 -1.49941842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46028169299996 meters Centerline goodness [0,1] 0.9999787084548726 Centerline is valid? [True, True] Translation: X:266.55, Y:-15.19, Z:-1.50 [[ 9.94076498e-01 1.08595875e-01 4.34199849e-03 2.66554066e+02] [-1.08595032e-01 9.94085979e-01 -4.30101593e-04 -1.51929187e+01] [-4.36302708e-03 -4.39655792e-05 9.99990481e-01 -1.49911959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.490281693 meters Centerline goodness [0,1] 0.9999151175621764 Centerline is valid? [True, True] Translation: X:266.58, Y:-15.20, Z:-1.50 [[ 9.94667626e-01 1.03096503e-01 2.72470340e-03 2.66582322e+02] [-1.03096151e-01 9.94671358e-01 -2.69740549e-04 -1.52045916e+01] [-2.73799374e-03 -1.26042419e-05 9.99996252e-01 -1.50149725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52028169299996 meters Centerline goodness [0,1] 0.9998300078621364 Centerline is valid? [True, True] Translation: X:266.61, Y:-15.21, Z:-1.50 [[ 9.94912329e-01 1.00738703e-01 1.08257663e-03 2.66611145e+02] [-1.00738646e-01 9.94912918e-01 -1.07214343e-04 -1.52114769e+01] [-1.08787011e-03 -2.38843175e-06 9.99999408e-01 -1.50487379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.550281693 meters Centerline goodness [0,1] 0.9997868212922894 Centerline is valid? [True, True] Translation: X:266.64, Y:-15.22, Z:-1.51 [[ 9.95299050e-01 9.68487934e-02 -3.33658918e-04 2.66639172e+02] [-9.68487878e-02 9.95299106e-01 3.28330899e-05 -1.52238255e+01] [ 3.35270268e-04 -3.64281530e-07 9.99999944e-01 -1.50825488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58028169299996 meters Centerline goodness [0,1] 0.9997662409418365 Centerline is valid? [True, True] Translation: X:266.67, Y:-15.23, Z:-1.51 [[ 9.95419677e-01 9.56014729e-02 1.56464111e-04 2.66668304e+02] [-9.56014716e-02 9.95419690e-01 -1.55778593e-05 -1.52312451e+01] [-1.57236723e-04 5.48308376e-07 9.99999988e-01 -1.50706288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.610281693 meters Centerline goodness [0,1] 0.9997451146983857 Centerline is valid? [True, True] Translation: X:266.70, Y:-15.24, Z:-1.50 [[ 9.95465879e-01 9.50881337e-02 2.43529239e-03 2.66697752e+02] [-9.50878290e-02 9.95468858e-01 -2.40843170e-04 -1.52371220e+01] [-2.44715907e-03 8.18449089e-06 9.99997006e-01 -1.50273782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64028169299996 meters Centerline goodness [0,1] 0.9996842304696546 Centerline is valid? [True, True] Translation: X:266.73, Y:-15.24, Z:-1.50 [[ 9.95328784e-01 9.65009882e-02 2.85847118e-03 2.66726553e+02] [-9.65005745e-02 9.95332889e-01 -2.82610674e-04 -1.52378033e+01] [-2.87240259e-03 5.44642719e-06 9.99995875e-01 -1.50145694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.670281693 meters Centerline goodness [0,1] 0.9999148356327713 Centerline is valid? [True, True] Translation: X:266.76, Y:-15.24, Z:-1.50 [[ 9.95162644e-01 9.82167883e-02 2.18516995e-03 2.66756461e+02] [-9.82165508e-02 9.95165043e-01 -2.16014916e-04 -1.52372445e+01] [-2.19582103e-03 3.50120401e-07 9.99997589e-01 -1.50321480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70028169299997 meters Centerline goodness [0,1] 0.999831883327029 Centerline is valid? [True, True] Translation: X:266.78, Y:-15.24, Z:-1.51 [[ 9.95001326e-01 9.98588658e-02 7.53328728e-04 2.66784907e+02] [-9.98588379e-02 9.95001612e-01 -7.45678762e-05 -1.52361416e+01] [-7.57009562e-04 -1.03139564e-06 9.99999713e-01 -1.50683626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.730281693 meters Centerline goodness [0,1] 0.9999789517996212 Centerline is valid? [True, True] Translation: X:266.81, Y:-15.23, Z:-1.51 [[ 9.94624834e-01 1.03542814e-01 -5.70775145e-04 2.66814638e+02] [-1.03542799e-01 9.94624997e-01 5.61369320e-05 -1.52297070e+01] [ 5.73519803e-04 3.26446963e-06 9.99999836e-01 -1.50793689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.84, Y:-15.23, Z:-1.51 [[ 9.94387626e-01 1.05798035e-01 -1.60841101e-04 2.66843521e+02] [-1.05798034e-01 9.94387639e-01 1.56584590e-05 -1.52273908e+01] [ 1.61595036e-04 1.44609438e-06 9.99999987e-01 -1.50680912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.87, Y:-15.23, Z:-1.51 [[ 9.94165355e-01 1.07865756e-01 4.74558713e-04 2.66872690e+02] [-1.07865745e-01 9.94165468e-01 -4.70291546e-05 -1.52255370e+01] [-4.76862720e-04 -4.43387310e-06 9.99999886e-01 -1.50501647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.90, Y:-15.23, Z:-1.50 [[ 9.94281186e-01 1.06791925e-01 6.39035861e-04 2.66901788e+02] [-1.06791906e-01 9.94281391e-01 -6.32215828e-05 -1.52279628e+01] [-6.42133019e-04 -5.38382742e-06 9.99999794e-01 -1.50456375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.93, Y:-15.23, Z:-1.51 [[ 9.94511857e-01 1.04619696e-01 9.40661822e-04 2.66929991e+02] [-1.04619655e-01 9.94512302e-01 -9.29119315e-05 -1.52308446e+01] [-9.45220172e-04 -6.00969786e-06 9.99999553e-01 -1.50535801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.880281693 meters Centerline goodness [0,1] 0.9996807219939976 Centerline is valid? [True, True] Translation: X:266.96, Y:-15.24, Z:-1.50 [[ 9.95019281e-01 9.96641105e-02 1.92231766e-03 2.66959106e+02] [-9.96639304e-02 9.95021138e-01 -1.89487683e-04 -1.52387080e+01] [-1.93163183e-03 -3.04183565e-06 9.99998134e-01 -1.50328300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91028169299994 meters Centerline goodness [0,1] 0.999594683960151 Centerline is valid? [True, True] Translation: X:266.99, Y:-15.24, Z:-1.50 [[ 9.95222542e-01 9.75863755e-02 2.99857597e-03 2.66988443e+02] [-9.75859283e-02 9.95227059e-01 -2.95445575e-04 -1.52432424e+01] [-3.01309541e-03 1.41527704e-06 9.99995461e-01 -1.50115034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.940281693 meters Centerline goodness [0,1] 0.999511012841228 Centerline is valid? [True, True] Translation: X:267.02, Y:-15.25, Z:-1.50 [[ 9.95412167e-01 9.55989085e-02 3.93277598e-03 2.67016570e+02] [-9.55981242e-02 9.95419936e-01 -3.87373888e-04 -1.52480309e+01] [-3.95179614e-03 9.63067434e-06 9.99992192e-01 -1.49947480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97028169299995 meters Centerline goodness [0,1] 0.9992463555909649 Centerline is valid? [True, True] Translation: X:267.05, Y:-15.26, Z:-1.50 [[ 9.95701062e-01 9.25603259e-02 3.46137921e-03 2.67045735e+02] [-9.25597004e-02 9.95707078e-01 -3.40827903e-04 -1.52559524e+01] [-3.47806692e-03 1.89784821e-05 9.99993951e-01 -1.49981169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.000281693 meters Centerline goodness [0,1] 0.9992500857044909 Centerline is valid? [True, True] Translation: X:267.08, Y:-15.26, Z:-1.50 [[ 9.95775099e-01 9.17822306e-02 2.82403338e-03 2.67075338e+02] [-9.17818112e-02 9.95779103e-01 -2.78025197e-04 -1.52608538e+01] [-2.83763120e-03 1.76556692e-05 9.99995974e-01 -1.50091825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03028169299995 meters Centerline goodness [0,1] 0.999359220812508 Centerline is valid? [True, True] Translation: X:267.10, Y:-15.26, Z:-1.50 [[ 9.95698111e-01 9.26324971e-02 2.11927640e-03 2.67104825e+02] [-9.26322629e-02 9.95700367e-01 -2.08620098e-04 -1.52609405e+01] [-2.12948929e-03 1.14092684e-05 9.99997733e-01 -1.50112666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.060281693 meters Centerline goodness [0,1] 0.9992005385845325 Centerline is valid? [True, True] Translation: X:267.13, Y:-15.26, Z:-1.50 [[ 9.95612758e-01 9.35537507e-02 1.71230636e-03 2.67133936e+02] [-9.35535992e-02 9.95614230e-01 -1.68543839e-04 -1.52611954e+01] [-1.72056449e-03 7.61197320e-06 9.99998520e-01 -1.50190645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09028169299995 meters Centerline goodness [0,1] 0.9993052631578947 Centerline is valid? [True, True] Translation: X:267.16, Y:-15.26, Z:-1.50 [[ 9.95528882e-01 9.44403908e-02 1.80503404e-03 2.67163522e+02] [-9.44402240e-02 9.95530518e-01 -1.77611279e-04 -1.52612208e+01] [-1.81374015e-03 6.34933881e-06 9.99998355e-01 -1.50204246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.120281693 meters Centerline goodness [0,1] 0.9993052631578947 Centerline is valid? [True, True] Translation: X:267.19, Y:-15.26, Z:-1.50 [[ 9.95531013e-01 9.44179272e-02 1.80503807e-03 2.67192551e+02] [-9.44177604e-02 9.95532649e-01 -1.77570275e-04 -1.52640291e+01] [-1.81374015e-03 6.34906341e-06 9.99998355e-01 -1.50217977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15028169299995 meters Centerline goodness [0,1] 0.999256647693484 Centerline is valid? [True, True] Translation: X:267.22, Y:-15.27, Z:-1.50 [[ 9.95498685e-01 9.47533945e-02 2.04009190e-03 2.67221347e+02] [-9.47531822e-02 9.95500776e-01 -2.00697175e-04 -1.52660192e+01] [-2.04992981e-03 6.48857388e-06 9.99997899e-01 -1.50163558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.180281693 meters Centerline goodness [0,1] 0.9991471760868175 Centerline is valid? [True, True] Translation: X:267.25, Y:-15.27, Z:-1.50 [[ 9.95608889e-01 9.35469343e-02 3.45129389e-03 2.67251178e+02] [-9.35463206e-02 9.95614871e-01 -3.39183664e-04 -1.52697152e+01] [-3.46788911e-03 1.48384259e-05 9.99993987e-01 -1.49893146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21028169299996 meters Centerline goodness [0,1] 0.9990025466893039 Centerline is valid? [True, True] Translation: X:267.28, Y:-15.27, Z:-1.50 [[ 9.95618199e-01 9.34184095e-02 4.17158675e-03 2.67279524e+02] [-9.34175122e-02 9.95626938e-01 -4.09855418e-04 -1.52710602e+01] [-4.19163218e-03 1.83602578e-05 9.99991215e-01 -1.49797583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.240281693 meters Centerline goodness [0,1] 0.9990724930963975 Centerline is valid? [True, True] Translation: X:267.31, Y:-15.27, Z:-1.50 [[ 9.95606770e-01 9.35285925e-02 4.42283625e-03 2.67308286e+02] [-9.35275857e-02 9.95616594e-01 -4.34373358e-04 -1.52735312e+01] [-4.44407549e-03 1.88078603e-05 9.99990125e-01 -1.49864881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27028169299996 meters Centerline goodness [0,1] 0.9991544770440517 Centerline is valid? [True, True] Translation: X:267.34, Y:-15.28, Z:-1.50 [[ 9.95582983e-01 9.38266563e-02 3.32915428e-03 2.67338288e+02] [-9.38260879e-02 9.95588549e-01 -3.26869845e-04 -1.52761473e+01] [-3.34513698e-03 1.30645339e-05 9.99994405e-01 -1.50021450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.300281693 meters Centerline goodness [0,1] 0.9992956694341878 Centerline is valid? [True, True] Translation: X:267.37, Y:-15.28, Z:-1.50 [[ 9.95526929e-01 9.44762248e-02 6.13930945e-04 2.67367648e+02] [-9.44762056e-02 9.95527118e-01 -6.03548599e-05 -1.52756894e+01] [-6.16887004e-04 2.08302212e-06 9.99999810e-01 -1.50383713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33028169299996 meters Centerline goodness [0,1] 0.9992319672306018 Centerline is valid? [True, True] Translation: X:267.40, Y:-15.28, Z:-1.50 [[ 9.95497138e-01 9.47914535e-02 1.70312412e-04 2.67396280e+02] [-9.47914520e-02 9.95497152e-01 -1.69278283e-05 -1.52750051e+01] [-1.71150135e-04 7.07443829e-07 9.99999985e-01 -1.50473071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.360281693 meters Centerline goodness [0,1] 0.9992975584835778 Centerline is valid? [True, True] Translation: X:267.42, Y:-15.28, Z:-1.51 [[ 9.95449267e-01 9.52920235e-02 4.31863867e-04 2.67424483e+02] [-9.52920140e-02 9.95449361e-01 -4.26404525e-05 -1.52757129e+01] [-4.33961906e-04 1.29322957e-06 9.99999906e-01 -1.50519561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39028169299996 meters Centerline goodness [0,1] 0.9992576567404768 Centerline is valid? [True, True] Translation: X:267.45, Y:-15.28, Z:-1.51 [[ 9.95598024e-01 9.37233036e-02 7.19184779e-04 2.67452143e+02] [-9.37232770e-02 9.95598284e-01 -7.05912334e-05 -1.52831369e+01] [-7.22635175e-04 2.87613827e-06 9.99999739e-01 -1.50620190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.420281693 meters Centerline goodness [0,1] 0.9992565371625209 Centerline is valid? [True, True] Translation: X:267.48, Y:-15.29, Z:-1.51 [[ 9.95860850e-01 9.08865239e-02 8.98036730e-04 2.67480697e+02] [-9.08864814e-02 9.95861255e-01 -8.80848010e-05 -1.52915579e+01] [-9.02325706e-04 6.10080624e-06 9.99999593e-01 -1.50613955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45028169299997 meters Centerline goodness [0,1] 0.9989167604766254 Centerline is valid? [True, True] Translation: X:267.51, Y:-15.30, Z:-1.51 [[ 9.96214859e-01 8.69185921e-02 1.05489231e-03 2.67510068e+02] [-8.69185314e-02 9.96215418e-01 -1.03341567e-04 -1.53019598e+01] [-1.05988229e-03 1.12607137e-05 9.99999438e-01 -1.50609343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.480281693 meters Centerline goodness [0,1] 0.9983975386193192 Centerline is valid? [True, True] Translation: X:267.54, Y:-15.31, Z:-1.51 [[ 9.96563917e-01 8.28165872e-02 1.33140487e-03 2.67539407e+02] [-8.28164869e-02 9.96564806e-01 -1.30429868e-04 -1.53125270e+01] [-1.33763299e-03 1.97194262e-05 9.99999105e-01 -1.50603131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51028169299997 meters Centerline goodness [0,1] 0.9979498235157356 Centerline is valid? [True, True] Translation: X:267.57, Y:-15.33, Z:-1.51 [[ 9.97112699e-01 7.59340478e-02 5.35519443e-04 2.67567267e+02] [-7.59340307e-02 9.97112842e-01 -5.22537427e-05 -1.53315253e+01] [-5.37941152e-04 1.14387205e-05 9.99999855e-01 -1.50745314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54028169299994 meters Centerline goodness [0,1] 0.9981743302339404 Centerline is valid? [True, True] Translation: X:267.60, Y:-15.34, Z:-1.51 [[ 9.97275916e-01 7.37551482e-02 -9.61718169e-04 2.67597800e+02] [-7.37550915e-02 9.97276380e-01 9.43287100e-05 -1.53377734e+01] [ 9.66056042e-04 -2.31401392e-05 9.99999533e-01 -1.50983308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57028169299997 meters Centerline goodness [0,1] 0.9975029345854232 Centerline is valid? [True, True] Translation: X:267.63, Y:-15.35, Z:-1.51 [[ 9.97385391e-01 7.22605738e-02 -8.89477512e-04 2.67627906e+02] [-7.22605246e-02 9.97385787e-01 8.73230520e-05 -1.53484003e+01] [ 8.93462242e-04 -2.28206248e-05 9.99999601e-01 -1.51027431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60028169299994 meters Centerline goodness [0,1] 0.9971188271931869 Centerline is valid? [True, True] Translation: X:267.66, Y:-15.36, Z:-1.51 [[ 9.97350597e-01 7.27388600e-02 9.19080124e-04 2.67657484e+02] [-7.27388079e-02 9.97351020e-01 -9.00712310e-05 -1.53571752e+01] [-9.23197178e-04 2.29798035e-05 9.99999574e-01 -1.50738988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.630281693 meters Centerline goodness [0,1] 0.9965442400488863 Centerline is valid? [True, True] Translation: X:267.69, Y:-15.37, Z:-1.50 [[ 9.97275737e-01 7.37191810e-02 2.56631527e-03 2.67687636e+02] [-7.37187775e-02 9.97279037e-01 -2.51608512e-04 -1.53664662e+01] [-2.57788080e-03 6.17374398e-05 9.99996675e-01 -1.50439178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66028169299994 meters Centerline goodness [0,1] 0.9976709718399323 Centerline is valid? [True, True] Translation: X:267.72, Y:-15.37, Z:-1.50 [[ 9.97114027e-01 7.58749800e-02 2.57004447e-03 2.67719917e+02] [-7.58745830e-02 9.97117337e-01 -2.51746949e-04 -1.53694956e+01] [-2.58173719e-03 5.60193615e-05 9.99996666e-01 -1.50363356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.690281693 meters Centerline goodness [0,1] 0.9982207168581718 Centerline is valid? [True, True] Translation: X:267.75, Y:-15.37, Z:-1.51 [[ 9.97023869e-01 7.70859354e-02 1.07868382e-03 2.67752560e+02] [-7.70858661e-02 9.97024452e-01 -1.05758392e-04 -1.53711676e+01] [-1.08362663e-03 2.22923643e-05 9.99999413e-01 -1.50595287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72028169299995 meters Centerline goodness [0,1] 0.9988441038594088 Centerline is valid? [True, True] Translation: X:267.78, Y:-15.37, Z:-1.51 [[ 9.96700443e-01 8.11639122e-02 -8.03763509e-04 2.67783646e+02] [-8.11638747e-02 9.96700767e-01 7.91433567e-05 -1.53719852e+01] [ 8.07535290e-04 -1.36456579e-05 9.99999674e-01 -1.50884044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.750281693 meters Centerline goodness [0,1] 0.9988601169993118 Centerline is valid? [True, True] Translation: X:267.81, Y:-15.37, Z:-1.51 [[ 9.96478805e-01 8.38417346e-02 -7.44958473e-04 2.67814349e+02] [-8.38417032e-02 9.96479083e-01 7.32474019e-05 -1.53729165e+01] [ 7.48476726e-04 -1.05308963e-05 9.99999720e-01 -1.50898569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78028169299995 meters Centerline goodness [0,1] 0.9989588424027368 Centerline is valid? [True, True] Translation: X:267.84, Y:-15.38, Z:-1.51 [[ 9.96249632e-01 8.65252703e-02 -2.18937575e-04 2.67844884e+02] [-8.65252677e-02 9.96249656e-01 2.15866287e-05 -1.53750394e+01] [ 2.19984273e-04 -2.56203867e-06 9.99999976e-01 -1.50851209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.810281693 meters Centerline goodness [0,1] 0.9993155958593549 Centerline is valid? [True, True] Translation: X:267.87, Y:-15.37, Z:-1.50 [[ 9.95645808e-01 9.31793249e-02 2.65295824e-03 2.67874942e+02] [-9.31789604e-02 9.95649343e-01 -2.60930917e-04 -1.53703029e+01] [-2.66572950e-03 1.25948830e-05 9.99996447e-01 -1.50264399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84028169299995 meters Centerline goodness [0,1] 0.9994228426070413 Centerline is valid? [True, True] Translation: X:267.91, Y:-15.37, Z:-1.50 [[ 9.95252811e-01 9.72642470e-02 3.39232274e-03 2.67905050e+02] [-9.72636752e-02 9.95258593e-01 -3.33522647e-04 -1.53684640e+01] [-3.40867818e-03 1.98957471e-06 9.99994190e-01 -1.50146403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.870281693 meters Centerline goodness [0,1] 0.9994471143622676 Centerline is valid? [True, True] Translation: X:267.94, Y:-15.36, Z:-1.50 [[ 9.94813502e-01 1.01668514e-01 3.10004877e-03 2.67935444e+02] [-1.01668058e-01 9.94818332e-01 -3.04772578e-04 -1.53646844e+01] [-3.11497112e-03 -1.19840633e-05 9.99995148e-01 -1.50182469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90028169299995 meters Centerline goodness [0,1] 0.9994687181230874 Centerline is valid? [True, True] Translation: X:267.97, Y:-15.35, Z:-1.50 [[ 9.94004466e-01 1.09301194e-01 2.89305378e-03 2.67965682e+02] [-1.09300830e-01 9.94008676e-01 -2.84386377e-04 -1.53544913e+01] [-2.90680433e-03 -3.35318492e-05 9.99995775e-01 -1.50326711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.930281693 meters Centerline goodness [0,1] 0.9994068801897983 Centerline is valid? [True, True] Translation: X:268.00, Y:-15.35, Z:-1.50 [[ 9.93708643e-01 1.11929683e-01 3.85736174e-03 2.67995367e+02] [-1.11929055e-01 9.93716128e-01 -3.78981848e-04 -1.53497268e+01] [-3.87554189e-03 -5.51533170e-05 9.99992489e-01 -1.50189134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96028169299996 meters Centerline goodness [0,1] 0.9992950676094248 Centerline is valid? [True, True] Translation: X:268.03, Y:-15.35, Z:-1.50 [[ 9.93326831e-01 1.15215880e-01 5.20653633e-03 2.68025502e+02] [-1.15214782e-01 9.93340472e-01 -5.11298257e-04 -1.53471278e+01] [-5.23077293e-03 -9.19836721e-05 9.99986315e-01 -1.49889123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.990281693 meters Centerline goodness [0,1] 0.9991712002720163 Centerline is valid? [True, True] Translation: X:268.05, Y:-15.34, Z:-1.50 [[ 9.93198080e-01 1.16331493e-01 4.95559873e-03 2.68054114e+02] [-1.16330513e-01 9.93210438e-01 -4.86550668e-04 -1.53446295e+01] [-4.97855355e-03 -9.32461529e-05 9.99987603e-01 -1.49918906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02028169299996 meters Centerline goodness [0,1] 0.9992358310337508 Centerline is valid? [True, True] Translation: X:268.08, Y:-15.35, Z:-1.50 [[ 9.93138022e-01 1.16853119e-01 4.71349422e-03 2.68082929e+02] [-1.16852238e-01 9.93149203e-01 -4.62794637e-04 -1.53452440e+01] [-4.73528202e-03 -9.11633962e-05 9.99988784e-01 -1.50037181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.050281693 meters Centerline goodness [0,1] 0.9992809254911913 Centerline is valid? [True, True] Translation: X:268.11, Y:-15.35, Z:-1.50 [[ 9.93272087e-01 1.15710387e-01 4.65482245e-03 2.68111531e+02] [-1.15709516e-01 9.93282990e-01 -4.56825054e-04 -1.53482549e+01] [-4.67641536e-03 -8.48556774e-05 9.99989062e-01 -1.50136035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08028169299996 meters Centerline goodness [0,1] 0.9995304462894585 Centerline is valid? [True, True] Translation: X:268.14, Y:-15.36, Z:-1.50 [[ 9.93489065e-01 1.13825343e-01 4.82385094e-03 2.68140669e+02] [-1.13824387e-01 9.93500773e-01 -4.73188617e-04 -1.53565780e+01] [-4.84636049e-03 -7.89641608e-05 9.99988253e-01 -1.50122466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.110281693 meters Centerline goodness [0,1] 0.9995336611836527 Centerline is valid? [True, True] Translation: X:268.17, Y:-15.36, Z:-1.50 [[ 9.93739454e-01 1.11614375e-01 4.91219908e-03 2.68168614e+02] [-1.11613358e-01 9.93751592e-01 -4.81733044e-04 -1.53618235e+01] [-4.93527399e-03 -6.95499000e-05 9.99987819e-01 -1.50106548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14028169299996 meters Centerline goodness [0,1] 0.999510950457155 Centerline is valid? [True, True] Translation: X:268.20, Y:-15.37, Z:-1.50 [[ 9.94082979e-01 1.08542420e-01 4.19202783e-03 2.68196607e+02] [-1.08541652e-01 9.94091817e-01 -4.10981586e-04 -1.53665592e+01] [-4.21186950e-03 -4.64598253e-05 9.99991129e-01 -1.50240523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.170281693 meters Centerline goodness [0,1] 0.9995745767038203 Centerline is valid? [True, True] Translation: X:268.23, Y:-15.37, Z:-1.51 [[ 9.94212412e-01 1.07386252e-01 3.14215264e-03 2.68226418e+02] [-1.07385815e-01 9.94217377e-01 -3.07948660e-04 -1.53716712e+01] [-3.15705220e-03 -3.12562425e-05 9.99995016e-01 -1.50511384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20028169299997 meters Centerline goodness [0,1] 0.9995342140921409 Centerline is valid? [True, True] Translation: X:268.25, Y:-15.38, Z:-1.51 [[ 9.94380800e-01 1.05849566e-01 1.64134744e-03 2.68254356e+02] [-1.05849445e-01 9.94382154e-01 -1.60939765e-04 -1.53768723e+01] [-1.64916201e-03 -1.37003025e-05 9.99998640e-01 -1.50873955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.230281693 meters Centerline goodness [0,1] 0.9996214192571404 Centerline is valid? [True, True] Translation: X:268.28, Y:-15.39, Z:-1.51 [[ 9.94730626e-01 1.02518804e-01 9.35972922e-04 2.68283478e+02] [-1.02518763e-01 9.94731067e-01 -9.17670801e-05 -1.53879697e+01] [-9.40449194e-04 -4.67126147e-06 9.99999558e-01 -1.51011252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26028169299997 meters Centerline goodness [0,1] 0.9996361379251301 Centerline is valid? [True, True] Translation: X:268.31, Y:-15.39, Z:-1.51 [[ 9.94795583e-01 1.01886635e-01 9.28450654e-04 2.68312921e+02] [-1.01886594e-01 9.94796016e-01 -9.10120341e-05 -1.53916092e+01] [-9.32891921e-04 -4.05830574e-06 9.99999565e-01 -1.50877063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29028169299994 meters Centerline goodness [0,1] 0.9995321537938074 Centerline is valid? [True, True] Translation: X:268.34, Y:-15.39, Z:-1.51 [[ 9.94643410e-01 1.03362705e-01 7.99080941e-04 2.68342317e+02] [-1.03362675e-01 9.94643731e-01 -7.83719757e-05 -1.53902370e+01] [-8.02901588e-04 -4.64297482e-06 9.99999678e-01 -1.50896592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32028169299997 meters Centerline goodness [0,1] 0.9996363325204296 Centerline is valid? [True, True] Translation: X:268.37, Y:-15.39, Z:-1.51 [[ 9.94511533e-01 1.04610708e-01 1.84669023e-03 2.68371401e+02] [-1.04610552e-01 9.94513248e-01 -1.80866619e-04 -1.53916434e+01] [-1.85547848e-03 -1.33093457e-05 9.99998279e-01 -1.50794438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35028169299994 meters Centerline goodness [0,1] 0.9996814610320662 Centerline is valid? [True, True] Translation: X:268.40, Y:-15.39, Z:-1.51 [[ 9.94380842e-01 1.05825987e-01 2.75695213e-03 2.68400204e+02] [-1.05825645e-01 9.94384664e-01 -2.69786658e-04 -1.53922048e+01] [-2.77002136e-03 -2.34855540e-05 9.99996163e-01 -1.50622854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.380281693 meters Centerline goodness [0,1] 0.9996809935986049 Centerline is valid? [True, True] Translation: X:268.43, Y:-15.39, Z:-1.51 [[ 9.94249197e-01 1.07052966e-01 2.86301935e-03 2.68428974e+02] [-1.07052603e-01 9.94253319e-01 -2.80027563e-04 -1.53917309e+01] [-2.87654427e-03 -2.80764951e-05 9.99995862e-01 -1.50647439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41028169299994 meters Centerline goodness [0,1] 0.9996591901505953 Centerline is valid? [True, True] Translation: X:268.46, Y:-15.39, Z:-1.51 [[ 9.94034451e-01 1.09064034e-01 7.39854053e-04 2.68459556e+02] [-1.09064011e-01 9.94034726e-01 -7.23990222e-05 -1.53866055e+01] [-7.43336750e-04 -8.72432809e-06 9.99999724e-01 -1.51187757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.440281693 meters Centerline goodness [0,1] 0.9996187329224121 Centerline is valid? [True, True] Translation: X:268.49, Y:-15.39, Z:-1.51 [[ 9.93979305e-01 1.09566664e-01 -5.36563995e-04 2.68488265e+02] [-1.09566652e-01 9.93979449e-01 5.21820139e-05 -1.53885629e+01] [ 5.39050994e-04 6.92167874e-06 9.99999855e-01 -1.51439847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47028169299995 meters Centerline goodness [0,1] 0.9997015307210165 Centerline is valid? [True, True] Translation: X:268.52, Y:-15.39, Z:-1.51 [[ 9.94166715e-01 1.07854116e-01 -1.78327018e-04 2.68515661e+02] [-1.07854115e-01 9.94166731e-01 1.71306508e-05 -1.53929301e+01] [ 1.79134400e-04 2.20257979e-06 9.99999984e-01 -1.51365495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.500281693 meters Centerline goodness [0,1] 0.9996807627641688 Centerline is valid? [True, True] Translation: X:268.54, Y:-15.40, Z:-1.51 [[ 9.94384197e-01 1.05827660e-01 7.57828947e-04 2.68543416e+02] [-1.05827634e-01 9.94384486e-01 -7.41920099e-05 -1.53975936e+01] [-7.61424915e-04 -6.42388213e-06 9.99999710e-01 -1.51235133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53028169299995 meters Centerline goodness [0,1] 0.9997891407485503 Centerline is valid? [True, True] Translation: X:268.57, Y:-15.40, Z:-1.51 [[ 9.94560136e-01 1.04159904e-01 9.21791956e-04 2.68571696e+02] [-1.04159865e-01 9.94560563e-01 -9.00905035e-05 -1.54023733e+01] [-9.26161746e-04 -6.41330225e-06 9.99999571e-01 -1.51188542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.560281693 meters Centerline goodness [0,1] 0.9997223171565277 Centerline is valid? [True, True] Translation: X:268.60, Y:-15.41, Z:-1.51 [[ 9.94707385e-01 1.02747833e-01 3.17299743e-04 2.68599650e+02] [-1.02747829e-01 9.94707436e-01 -3.12025757e-05 -1.54060218e+01] [-3.18826411e-04 -1.56442711e-06 9.99999949e-01 -1.51286541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59028169299995 meters Centerline goodness [0,1] 0.9997688492897369 Centerline is valid? [True, True] Translation: X:268.63, Y:-15.41, Z:-1.51 [[ 9.94707625e-01 1.02745187e-01 4.08000879e-04 2.68627697e+02] [-1.02745180e-01 9.94707709e-01 -3.99971998e-05 -1.54075470e+01] [-4.09951140e-04 -2.13460399e-06 9.99999916e-01 -1.51394973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.620281693 meters Centerline goodness [0,1] 0.9998504720810014 Centerline is valid? [True, True] Translation: X:268.66, Y:-15.41, Z:-1.51 [[ 9.94794536e-01 1.01895305e-01 1.08494395e-03 2.68656310e+02] [-1.01895250e-01 9.94795128e-01 -1.05822437e-04 -1.54114041e+01] [-1.09007977e-03 -5.27905330e-06 9.99999406e-01 -1.51277018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65028169299995 meters Centerline goodness [0,1] 0.9995734061386856 Centerline is valid? [True, True] Translation: X:268.69, Y:-15.42, Z:-1.51 [[ 9.95054771e-01 9.92918024e-02 2.67234031e-03 2.68685780e+02] [-9.92914617e-02 9.95058359e-01 -2.60168761e-04 -1.54179864e+01] [-2.68496719e-03 -6.45840857e-06 9.99996395e-01 -1.50915976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.680281693 meters Centerline goodness [0,1] 0.9997238683914271 Centerline is valid? [True, True] Translation: X:268.71, Y:-15.42, Z:-1.51 [[ 9.95143551e-01 9.83804200e-02 3.25675849e-03 2.68714464e+02] [-9.83799094e-02 9.95148880e-01 -3.16983575e-04 -1.54226483e+01] [-3.27214454e-03 -4.95544529e-06 9.99994647e-01 -1.50770993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71028169299996 meters Centerline goodness [0,1] 0.9997859543226525 Centerline is valid? [True, True] Translation: X:268.74, Y:-15.42, Z:-1.51 [[ 9.95006408e-01 9.97767597e-02 2.61663392e-03 2.68744616e+02] [-9.97764352e-02 9.95009848e-01 -2.54574821e-04 -1.54234624e+01] [-2.62897717e-03 -7.77482694e-06 9.99996544e-01 -1.50808591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.740281693 meters Centerline goodness [0,1] 0.9999362055033386 Centerline is valid? [True, True] Translation: X:268.77, Y:-15.42, Z:-1.51 [[ 9.94774865e-01 1.02081600e-01 1.52114544e-03 2.68773596e+02] [-1.02081493e-01 9.94776028e-01 -1.48073120e-04 -1.54206648e+01] [-1.52831456e-03 -7.98138016e-06 9.99998832e-01 -1.51042877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77028169299996 meters Centerline goodness [0,1] 0.9999786530045897 Centerline is valid? [True, True] Translation: X:268.80, Y:-15.42, Z:-1.51 [[ 9.94466643e-01 1.05040547e-01 1.60606567e-03 2.68802955e+02] [-1.05040432e-01 9.94467940e-01 -1.56304141e-04 -1.54165951e+01] [-1.61359909e-03 -1.32625765e-05 9.99998698e-01 -1.51078799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.800281693 meters Centerline goodness [0,1] 0.9999360081909515 Centerline is valid? [True, True] Translation: X:268.83, Y:-15.41, Z:-1.51 [[ 9.93657123e-01 1.12391626e-01 3.69392349e-03 2.68833811e+02] [-1.12391068e-01 9.93663987e-01 -3.59034650e-04 -1.54056757e+01] [-3.71087123e-03 -5.84066680e-05 9.99993113e-01 -1.50641165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83028169299996 meters Centerline goodness [0,1] 0.9996830427892235 Centerline is valid? [True, True] Translation: X:268.86, Y:-15.40, Z:-1.50 [[ 9.93311034e-01 1.15363086e-01 4.95467164e-03 2.68862442e+02] [-1.15362120e-01 9.93323386e-01 -4.81411590e-04 -1.53983623e+01] [-4.97712834e-03 -9.33899798e-05 9.99987610e-01 -1.50433268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.860281693 meters Centerline goodness [0,1] 0.9995533530425166 Centerline is valid? [True, True] Translation: X:268.89, Y:-15.39, Z:-1.51 [[ 9.92879069e-01 1.19077272e-01 3.42905946e-03 2.68892065e+02] [-1.19076831e-01 9.92884987e-01 -3.33031774e-04 -1.53874389e+01] [-3.44431817e-03 -7.76612561e-05 9.99994065e-01 -1.50711031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89028169299996 meters Centerline goodness [0,1] 0.9995543482874242 Centerline is valid? [True, True] Translation: X:268.92, Y:-15.39, Z:-1.51 [[ 9.92736830e-01 1.20300345e-01 1.18889537e-03 2.68921048e+02] [-1.20300293e-01 9.92737541e-01 -1.15565494e-04 -1.53852776e+01] [-1.19416363e-03 -2.82983386e-05 9.99999287e-01 -1.51208514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.920281693 meters Centerline goodness [0,1] 0.999679706183806 Centerline is valid? [True, True] Translation: X:268.95, Y:-15.39, Z:-1.51 [[ 9.92583036e-01 1.21568553e-01 -5.47663079e-05 2.68949788e+02] [-1.21568553e-01 9.92583038e-01 5.09648943e-06 -1.53867344e+01] [ 5.49796811e-05 1.59917187e-06 9.99999998e-01 -1.51453953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95028169299997 meters Centerline goodness [0,1] 0.9994389175424588 Centerline is valid? [True, True] Translation: X:268.98, Y:-15.38, Z:-1.51 [[ 9.92506886e-01 1.22188685e-01 8.55549794e-05 2.68978015e+02] [-1.22188684e-01 9.92506889e-01 -8.55989162e-06 -1.53840895e+01] [-8.59598283e-05 -1.95809899e-06 9.99999996e-01 -1.51413796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.980281693 meters Centerline goodness [0,1] 0.9991772499050673 Centerline is valid? [True, True] Translation: X:269.01, Y:-15.37, Z:-1.51 [[ 9.92414863e-01 1.22928738e-01 1.12490116e-03 2.69006782e+02] [-1.22928693e-01 9.92415500e-01 -1.09236733e-04 -1.53726618e+01] [-1.12979768e-03 -2.98744725e-05 9.99999361e-01 -1.51190730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01028169299997 meters Centerline goodness [0,1] 0.9991772499050673 Centerline is valid? [True, True] Translation: X:269.03, Y:-15.38, Z:-1.51 [[ 9.92422703e-01 1.22865429e-01 1.12490460e-03 2.69034168e+02] [-1.22865384e-01 9.92423340e-01 -1.09201334e-04 -1.53751708e+01] [-1.12979865e-03 -2.98379526e-05 9.99999361e-01 -1.51203678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04028169299994 meters Centerline goodness [0,1] 0.9991639692169179 Centerline is valid? [True, True] Translation: X:269.06, Y:-15.38, Z:-1.51 [[ 9.92389751e-01 1.23133592e-01 8.36885900e-04 2.69062931e+02] [-1.23133567e-01 9.92390104e-01 -8.11905794e-05 -1.53764883e+01] [-8.40514573e-04 -2.24760473e-05 9.99999647e-01 -1.51258184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07028169299997 meters Centerline goodness [0,1] 0.99919279462996 Centerline is valid? [True, True] Translation: X:269.09, Y:-15.37, Z:-1.52 [[ 9.92254985e-01 1.24217727e-01 3.91868114e-05 2.69092492e+02] [-1.24217727e-01 9.92254986e-01 -4.00085655e-06 -1.53694285e+01] [-3.93802863e-05 -8.97826770e-07 9.99999999e-01 -1.51503752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10028169299994 meters Centerline goodness [0,1] 0.9987162205533089 Centerline is valid? [True, True] Translation: X:269.12, Y:-15.36, Z:-1.51 [[ 9.92306013e-01 1.23805752e-01 9.55341765e-04 2.69121046e+02] [-1.23805720e-01 9.92306472e-01 -9.26070407e-05 -1.53625444e+01] [-9.59457101e-04 -2.63822517e-05 9.99999539e-01 -1.51432394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.130281693 meters Centerline goodness [0,1] 0.9995497523638001 Centerline is valid? [True, True] Translation: X:269.15, Y:-15.36, Z:-1.51 [[ 9.92488877e-01 1.22325093e-01 1.54967320e-03 2.69150309e+02] [-1.22325008e-01 9.92490086e-01 -1.49936419e-04 -1.53620475e+01] [-1.55637628e-03 -4.07535583e-05 9.99998788e-01 -1.51173160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16028169299994 meters Centerline goodness [0,1] 0.9993640969116306 Centerline is valid? [True, True] Translation: X:269.18, Y:-15.36, Z:-1.51 [[ 9.92635973e-01 1.21132983e-01 7.91171000e-04 2.69178210e+02] [-1.21132960e-01 9.92636288e-01 -7.67544436e-05 -1.53603129e+01] [-7.94642539e-04 -1.96476634e-05 9.99999684e-01 -1.51357591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.190281693 meters Centerline goodness [0,1] 0.9997031067755275 Centerline is valid? [True, True] Translation: X:269.21, Y:-15.36, Z:-1.52 [[ 9.92833635e-01 1.19504673e-01 7.86370944e-05 2.69207306e+02] [-1.19504673e-01 9.92833638e-01 -7.79434754e-06 -1.53622497e+01] [-7.90050135e-05 -1.65900984e-06 9.99999997e-01 -1.51538341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22028169299995 meters Centerline goodness [0,1] 0.9997655633937895 Centerline is valid? [True, True] Translation: X:269.24, Y:-15.37, Z:-1.51 [[ 9.93312828e-01 1.15452773e-01 5.32653939e-04 2.69236918e+02] [-1.15452762e-01 9.93312970e-01 -5.14898185e-05 -1.53655611e+01] [-5.35036708e-04 -1.03508715e-05 9.99999857e-01 -1.51426385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.250281693 meters Centerline goodness [0,1] 0.9997884359066579 Centerline is valid? [True, True] Translation: X:269.27, Y:-15.37, Z:-1.51 [[ 9.93587592e-01 1.13042225e-01 2.26989370e-03 2.69265211e+02] [-1.13042019e-01 9.93590184e-01 -2.19083280e-04 -1.53673027e+01] [-2.28010976e-03 -3.89149394e-05 9.99997400e-01 -1.51135225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28028169299995 meters Centerline goodness [0,1] 0.9998519771621908 Centerline is valid? [True, True] Translation: X:269.29, Y:-15.38, Z:-1.50 [[ 9.94256880e-01 1.06867463e-01 5.70985559e-03 2.69293958e+02] [-1.06866063e-01 9.94273273e-01 -5.50549758e-04 -1.53762892e+01] [-5.73599266e-03 -6.28019035e-05 9.99983547e-01 -1.50430577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.310281693 meters Centerline goodness [0,1] 0.9998934628824683 Centerline is valid? [True, True] Translation: X:269.32, Y:-15.39, Z:-1.50 [[ 9.94617916e-01 1.03429395e-01 6.12880786e-03 2.69322599e+02] [-1.03427718e-01 9.94636797e-01 -5.90782713e-04 -1.53851037e+01] [-6.15704211e-03 -4.62855381e-05 9.99981044e-01 -1.50395328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34028169299995 meters Centerline goodness [0,1] 0.9999149894799482 Centerline is valid? [True, True] Translation: X:269.35, Y:-15.39, Z:-1.51 [[ 9.94977371e-01 9.99396381e-02 5.66565740e-03 2.69349556e+02] [-9.99381497e-02 9.94993502e-01 -5.45927129e-04 -1.53910274e+01] [-5.69185205e-03 -2.30301773e-05 9.99983801e-01 -1.50500695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.370281693 meters Centerline goodness [0,1] 0.9998097653772987 Centerline is valid? [True, True] Translation: X:269.38, Y:-15.40, Z:-1.51 [[ 9.95276162e-01 9.69516199e-02 5.07394016e-03 2.69377368e+02] [-9.69503887e-02 9.95289095e-01 -4.88641375e-04 -1.53967598e+01] [-5.09741189e-03 -5.58735839e-06 9.99987008e-01 -1.50621186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40028169299995 meters Centerline goodness [0,1] 0.9995099083741743 Centerline is valid? [True, True] Translation: X:269.41, Y:-15.40, Z:-1.51 [[ 9.95685320e-01 9.27122967e-02 3.89536811e-03 2.69406028e+02] [-9.27115393e-02 9.95692940e-01 -3.74952925e-04 -1.54039373e+01] [-3.91335328e-03 1.21895490e-05 9.99992343e-01 -1.50794084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.430281693 meters Centerline goodness [0,1] 0.9994894377433148 Centerline is valid? [True, True] Translation: X:269.43, Y:-15.41, Z:-1.51 [[ 9.95802998e-01 9.14508585e-02 3.62335554e-03 2.69434606e+02] [-9.14501954e-02 9.95809590e-01 -3.48627733e-04 -1.54090522e+01] [-3.64005451e-03 1.58079696e-05 9.99993375e-01 -1.50871495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46028169299996 meters Centerline goodness [0,1] 0.9994661541746743 Centerline is valid? [True, True] Translation: X:269.46, Y:-15.42, Z:-1.51 [[ 9.95997539e-01 8.92369470e-02 5.06644076e-03 2.69462881e+02] [-8.92356233e-02 9.96010425e-01 -4.87177809e-04 -1.54150385e+01] [-5.08970208e-03 3.31208998e-05 9.99987047e-01 -1.50552535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.490281693 meters Centerline goodness [0,1] 0.9994035954673256 Centerline is valid? [True, True] Translation: X:269.49, Y:-15.42, Z:-1.50 [[ 9.96132371e-01 8.76438368e-02 6.23355593e-03 2.69491788e+02] [-8.76418039e-02 9.96151874e-01 -5.99071580e-04 -1.54194965e+01] [-6.26207335e-03 5.04345071e-05 9.99980392e-01 -1.50392289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52028169299996 meters Centerline goodness [0,1] 0.9986282578875172 Centerline is valid? [True, True] Translation: X:269.52, Y:-15.43, Z:-1.50 [[ 9.96292210e-01 8.57523411e-02 6.95471596e-03 2.69518782e+02] [-8.57497671e-02 9.96316481e-01 -6.68006199e-04 -1.54286933e+01] [-6.98638123e-03 6.91640988e-05 9.99975593e-01 -1.50276034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.550281693 meters Centerline goodness [0,1] 0.9988191343181038 Centerline is valid? [True, True] Translation: X:269.55, Y:-15.44, Z:-1.51 [[ 9.96641930e-01 8.16770629e-02 5.80697834e-03 2.69547194e+02] [-8.16752006e-02 9.96658844e-01 -5.57514765e-04 -1.54400200e+01] [-5.83311248e-03 8.13564706e-05 9.99982984e-01 -1.50629299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58028169299996 meters Centerline goodness [0,1] 0.9988474590741254 Centerline is valid? [True, True] Translation: X:269.58, Y:-15.45, Z:-1.51 [[ 9.96790980e-01 7.99288343e-02 4.37296709e-03 2.69576060e+02] [-7.99277618e-02 9.96800570e-01 -4.19765239e-04 -1.54491896e+01] [-4.39252743e-03 6.88967329e-05 9.99990350e-01 -1.50918023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.610281693 meters Centerline goodness [0,1] 0.9984267035186564 Centerline is valid? [True, True] Translation: X:269.61, Y:-15.46, Z:-1.51 [[ 9.96908469e-01 7.85213576e-02 2.81096193e-03 2.69605118e+02] [-7.85209089e-02 9.96912430e-01 -2.69801087e-04 -1.54590210e+01] [-2.82346804e-03 4.82477032e-05 9.99996013e-01 -1.51100890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64028169299996 meters Centerline goodness [0,1] 0.9985399297473444 Centerline is valid? [True, True] Translation: X:269.63, Y:-15.46, Z:-1.51 [[ 9.96858969e-01 7.91453868e-02 2.86430976e-03 2.69632617e+02] [-7.91449235e-02 9.96863083e-01 -2.74915860e-04 -1.54620494e+01] [-2.87708298e-03 4.73567637e-05 9.99995860e-01 -1.51014923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.670281693 meters Centerline goodness [0,1] 0.9989243910155015 Centerline is valid? [True, True] Translation: X:269.66, Y:-15.46, Z:-1.51 [[ 9.96740148e-01 8.06398383e-02 2.50893067e-03 2.69661041e+02] [-8.06394879e-02 9.96743304e-01 -2.40672660e-04 -1.54645181e+01] [-2.52016765e-03 3.75692181e-05 9.99996824e-01 -1.51066979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70028169299997 meters Centerline goodness [0,1] 0.999190352409767 Centerline is valid? [True, True] Translation: X:269.69, Y:-15.47, Z:-1.51 [[ 9.96613644e-01 8.22123046e-02 1.54320288e-03 2.69689257e+02] [-8.22121739e-02 9.96614839e-01 -1.48045233e-04 -1.54677415e+01] [-1.55015003e-03 2.06738355e-05 9.99998798e-01 -1.51249436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.730281693 meters Centerline goodness [0,1] 0.9994855084891099 Centerline is valid? [True, True] Translation: X:269.72, Y:-15.47, Z:-1.51 [[ 9.96331558e-01 8.55700127e-02 1.09475198e-03 2.69718387e+02] [-8.55699490e-02 9.96332160e-01 -1.04995545e-04 -1.54714651e+01] [-1.09972107e-03 1.09325038e-05 9.99999395e-01 -1.51467617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76028169299997 meters Centerline goodness [0,1] 0.9994062513253319 Centerline is valid? [True, True] Translation: X:269.75, Y:-15.48, Z:-1.51 [[ 9.96200355e-01 8.70662109e-02 2.08028450e-03 2.69745720e+02] [-8.70659844e-02 9.96202527e-01 -1.99362631e-04 -1.54773645e+01] [-2.08974243e-03 1.74831057e-05 9.99997816e-01 -1.51420210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79028169299994 meters Centerline goodness [0,1] 0.9994654578887725 Centerline is valid? [True, True] Translation: X:269.77, Y:-15.48, Z:-1.52 [[ 9.96202512e-01 8.70511871e-02 1.62687133e-03 2.69774490e+02] [-8.70510486e-02 9.96203840e-01 -1.55841772e-04 -1.54834411e+01] [-1.63426168e-03 1.36291090e-05 9.99998665e-01 -1.51564890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82028169299997 meters Centerline goodness [0,1] 0.9994903917613335 Centerline is valid? [True, True] Translation: X:269.80, Y:-15.49, Z:-1.52 [[ 9.96221760e-01 8.68443747e-02 5.09909964e-04 2.69803003e+02] [-8.68443610e-02 9.96221890e-01 -4.89741857e-05 -1.54889453e+01] [-5.12236601e-04 4.50634442e-06 9.99999869e-01 -1.51654514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85028169299994 meters Centerline goodness [0,1] 0.999398819108964 Centerline is valid? [True, True] Translation: X:269.83, Y:-15.49, Z:-1.52 [[ 9.96257681e-01 8.64325795e-02 -2.04442458e-04 2.69831620e+02] [-8.64325773e-02 9.96257702e-01 1.93093982e-05 -1.54941667e+01] [ 2.05346334e-04 -1.56664769e-06 9.99999979e-01 -1.51728500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.880281693 meters Centerline goodness [0,1] 0.9994285956150004 Centerline is valid? [True, True] Translation: X:269.86, Y:-15.50, Z:-1.52 [[ 9.96306888e-01 8.58634868e-02 2.15228065e-04 2.69858274e+02] [-8.58634843e-02 9.96306911e-01 -2.08415954e-05 -1.55045191e+01] [-2.16222740e-04 2.28439348e-06 9.99999977e-01 -1.51639190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91028169299994 meters Centerline goodness [0,1] 0.9992560630858504 Centerline is valid? [True, True] Translation: X:269.89, Y:-15.51, Z:-1.52 [[ 9.96299427e-01 8.59434079e-02 1.08693026e-03 2.69885324e+02] [-8.59433455e-02 9.96300020e-01 -1.04021628e-04 -1.55108909e+01] [-1.09184861e-03 1.02222651e-05 9.99999404e-01 -1.51505692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.940281693 meters Centerline goodness [0,1] 0.9996171516079633 Centerline is valid? [True, True] Translation: X:269.91, Y:-15.52, Z:-1.51 [[ 9.96028488e-01 8.89855632e-02 2.96990319e-03 2.69912662e+02] [-8.89851133e-02 9.96032916e-01 -2.83572706e-04 -1.55152296e+01] [-2.98335521e-03 1.81693215e-05 9.99995550e-01 -1.51203566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97028169299995 meters Centerline goodness [0,1] 0.9998086368565414 Centerline is valid? [True, True] Translation: X:269.94, Y:-15.51, Z:-1.51 [[ 9.95762148e-01 9.18820506e-02 3.92859014e-03 2.69941669e+02] [-9.18812870e-02 9.95769897e-01 -3.74798586e-04 -1.55144054e+01] [-3.94640906e-03 1.22463272e-05 9.99992213e-01 -1.51042868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.000281693 meters Centerline goodness [0,1] 0.9998303539241258 Centerline is valid? [True, True] Translation: X:269.97, Y:-15.51, Z:-1.51 [[ 9.95483410e-01 9.48239326e-02 4.60468311e-03 2.69969710e+02] [-9.48229161e-02 9.95494059e-01 -4.39058817e-04 -1.55131135e+01] [-4.62556797e-03 4.46287487e-07 9.99989302e-01 -1.50947272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03028169299995 meters Centerline goodness [0,1] 0.9997876812671181 Centerline is valid? [True, True] Translation: X:270.00, Y:-15.51, Z:-1.51 [[ 9.95238260e-01 9.73735402e-02 4.38164725e-03 2.69998576e+02] [-9.73726455e-02 9.95247906e-01 -4.17558530e-04 -1.55130881e+01] [-4.40148441e-03 -1.10823597e-05 9.99990313e-01 -1.50986762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.060281693 meters Centerline goodness [0,1] 0.999851297956409 Centerline is valid? [True, True] Translation: X:270.03, Y:-15.51, Z:-1.51 [[ 9.94892667e-01 1.00916197e-01 2.12175689e-03 2.70027029e+02] [-1.00915996e-01 9.94894930e-01 -2.02211449e-04 -1.55139905e+01] [-2.13133159e-03 -1.29405218e-05 9.99997729e-01 -1.51368406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09028169299995 meters Centerline goodness [0,1] 0.9998940565737896 Centerline is valid? [True, True] Translation: X:270.06, Y:-15.52, Z:-1.52 [[ 9.94784812e-01 1.01987888e-01 1.28418159e-03 2.70055808e+02] [-1.01987815e-01 9.94785640e-01 -1.22413754e-04 -1.55163149e+01] [-1.28997012e-03 -9.19553108e-06 9.99999168e-01 -1.51532411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.120281693 meters Centerline goodness [0,1] 0.9999574594801548 Centerline is valid? [True, True] Translation: X:270.08, Y:-15.52, Z:-1.52 [[ 9.94647553e-01 1.03323294e-01 7.36705280e-04 2.70084794e+02] [-1.03323271e-01 9.94647826e-01 -7.02863442e-05 -1.55170382e+01] [-7.40024521e-04 -6.20865877e-06 9.99999726e-01 -1.51640562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15028169299995 meters Centerline goodness [0,1] 0.9998104425114261 Centerline is valid? [True, True] Translation: X:270.11, Y:-15.52, Z:-1.52 [[ 9.94552330e-01 1.04230836e-01 1.26354141e-03 2.70113127e+02] [-1.04230767e-01 9.94553132e-01 -1.20371075e-04 -1.55170988e+01] [-1.26920545e-03 -1.19845577e-05 9.99999194e-01 -1.51668926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.180281693 meters Centerline goodness [0,1] 0.9998101466090075 Centerline is valid? [True, True] Translation: X:270.14, Y:-15.52, Z:-1.51 [[ 9.94397888e-01 1.05678175e-01 2.22804511e-03 2.70142091e+02] [-1.05677965e-01 9.94400384e-01 -2.11880565e-04 -1.55187070e+01] [-2.23796007e-03 -2.47616871e-05 9.99997495e-01 -1.51412652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21028169299996 meters Centerline goodness [0,1] 0.999851108180542 Centerline is valid? [True, True] Translation: X:270.17, Y:-15.52, Z:-1.51 [[ 9.94319046e-01 1.06413860e-01 2.39277746e-03 2.70170003e+02] [-1.06413620e-01 9.94321925e-01 -2.27463746e-04 -1.55184016e+01] [-2.40339639e-03 -2.84525776e-05 9.99997111e-01 -1.51374179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.240281693 meters Centerline goodness [0,1] 0.9998292859886475 Centerline is valid? [True, True] Translation: X:270.20, Y:-15.52, Z:-1.51 [[ 9.94224079e-01 1.07301846e-01 2.18972415e-03 2.70197884e+02] [-1.07301648e-01 9.94226490e-01 -2.08028472e-04 -1.55170900e+01] [-2.19940359e-03 -2.81340930e-05 9.99997581e-01 -1.51408607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27028169299996 meters Centerline goodness [0,1] 0.9996411685241472 Centerline is valid? [True, True] Translation: X:270.23, Y:-15.51, Z:-1.52 [[ 9.93870315e-01 1.10545370e-01 1.23214456e-03 2.70226803e+02] [-1.10545310e-01 9.93871079e-01 -1.17094510e-04 -1.55130564e+01] [-1.23753710e-03 -1.98310440e-05 9.99999234e-01 -1.51661221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.300281693 meters Centerline goodness [0,1] 0.9996197236658638 Centerline is valid? [True, True] Translation: X:270.26, Y:-15.51, Z:-1.52 [[ 9.93697665e-01 1.12088998e-01 1.00336527e-03 2.70256060e+02] [-1.12088959e-01 9.93698172e-01 -9.53043163e-05 -1.55125112e+01] [-1.00772480e-03 -1.77624927e-05 9.99999492e-01 -1.51722428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33028169299996 meters Centerline goodness [0,1] 0.9995510710162897 Centerline is valid? [True, True] Translation: X:270.28, Y:-15.51, Z:-1.51 [[ 9.93462894e-01 1.14119360e-01 2.87241195e-03 2.70284819e+02] [-1.14119049e-01 9.93467044e-01 -2.72324569e-04 -1.55075676e+01] [-2.88472411e-03 -5.72525650e-05 9.99995838e-01 -1.51400669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.360281693 meters Centerline goodness [0,1] 0.9992907953837227 Centerline is valid? [True, True] Translation: X:270.31, Y:-15.51, Z:-1.51 [[ 9.93399518e-01 1.14630560e-01 4.15129862e-03 2.70313242e+02] [-1.14629917e-01 9.93408188e-01 -3.93216551e-04 -1.55071986e+01] [-4.16900868e-03 -8.52418843e-05 9.99991306e-01 -1.51168891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39028169299996 meters Centerline goodness [0,1] 0.9995981132474565 Centerline is valid? [True, True] Translation: X:270.34, Y:-15.51, Z:-1.51 [[ 9.93370400e-01 1.14837704e-01 5.24873783e-03 2.70341946e+02] [-1.14836682e-01 9.93384261e-01 -4.96807936e-04 -1.55084087e+01] [-5.27106583e-03 -1.09233336e-04 9.99986102e-01 -1.51033830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.420281693 meters Centerline goodness [0,1] 0.9994434931506849 Centerline is valid? [True, True] Translation: X:270.37, Y:-15.51, Z:-1.51 [[ 9.93539596e-01 1.13373399e-01 5.05402789e-03 2.70371016e+02] [-1.13372433e-01 9.93552446e-01 -4.78159328e-04 -1.55112279e+01] [-5.07565232e-03 -9.79172112e-05 9.99987114e-01 -1.51034235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45028169299997 meters Centerline goodness [0,1] 0.9995333545444904 Centerline is valid? [True, True] Translation: X:270.40, Y:-15.51, Z:-1.51 [[ 9.93648423e-01 1.12452401e-01 4.15566208e-03 2.70399149e+02] [-1.12451741e-01 9.93657110e-01 -3.93022435e-04 -1.55124070e+01] [-4.17349949e-03 -7.67853120e-05 9.99991288e-01 -1.51256833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.480281693 meters Centerline goodness [0,1] 0.9997873381111371 Centerline is valid? [True, True] Translation: X:270.43, Y:-15.51, Z:-1.52 [[ 9.93734789e-01 1.11726781e-01 2.88005611e-03 2.70427836e+02] [-1.11726461e-01 9.93738962e-01 -2.72280446e-04 -1.55113786e+01] [-2.89244499e-03 -5.12039258e-05 9.99995816e-01 -1.51516466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51028169299997 meters Centerline goodness [0,1] 0.9996626678754401 Centerline is valid? [True, True] Translation: X:270.46, Y:-15.51, Z:-1.52 [[ 9.93726933e-01 1.11808729e-01 2.36433078e-03 2.70455954e+02] [-1.11808514e-01 9.93729745e-01 -2.23481218e-04 -1.55121769e+01] [-2.37449298e-03 -4.22730052e-05 9.99997180e-01 -1.51552917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54028169299994 meters Centerline goodness [0,1] 0.9997882746501239 Centerline is valid? [True, True] Translation: X:270.48, Y:-15.51, Z:-1.52 [[ 9.93729992e-01 1.11788236e-01 2.02296059e-03 2.70483727e+02] [-1.11788079e-01 9.93732051e-01 -1.91169120e-04 -1.55137345e+01] [-2.03165123e-03 -3.61723889e-05 9.99997936e-01 -1.51611052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57028169299997 meters Centerline goodness [0,1] 0.9998079262436775 Centerline is valid? [True, True] Translation: X:270.51, Y:-15.51, Z:-1.52 [[ 9.93685257e-01 1.12185766e-01 1.99078321e-03 2.70511671e+02] [-1.12185615e-01 9.93687251e-01 -1.87970333e-04 -1.55118860e+01] [-1.99930349e-03 -3.65538892e-05 9.99998001e-01 -1.51655823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60028169299994 meters Centerline goodness [0,1] 0.9997253617830358 Centerline is valid? [True, True] Translation: X:270.54, Y:-15.51, Z:-1.51 [[ 9.93647709e-01 1.12501425e-01 2.76769228e-03 2.70540674e+02] [-1.12501134e-01 9.93651562e-01 -2.61056432e-04 -1.55136622e+01] [-2.77949098e-03 -5.19703951e-05 9.99996136e-01 -1.51498789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.630281693 meters Centerline goodness [0,1] 0.9996377043241055 Centerline is valid? [True, True] Translation: X:270.57, Y:-15.51, Z:-1.51 [[ 9.93625346e-01 1.12671009e-01 3.73044415e-03 2.70569894e+02] [-1.12670483e-01 9.93632346e-01 -3.51623431e-04 -1.55141235e+01] [-3.74630774e-03 -7.09289911e-05 9.99992980e-01 -1.51316590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66028169299994 meters Centerline goodness [0,1] 0.9994457353599523 Centerline is valid? [True, True] Translation: X:270.60, Y:-15.51, Z:-1.51 [[ 9.93504391e-01 1.13704399e-01 4.50929671e-03 2.70599070e+02] [-1.13703642e-01 9.93514621e-01 -4.24787597e-04 -1.55130335e+01] [-4.52835243e-03 -9.06951157e-05 9.99989743e-01 -1.51249883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.690281693 meters Centerline goodness [0,1] 0.9992912827781715 Centerline is valid? [True, True] Translation: X:270.63, Y:-15.51, Z:-1.52 [[ 9.93492597e-01 1.13835138e-01 3.74446192e-03 2.70626903e+02] [-1.13834617e-01 9.93499650e-01 -3.52609574e-04 -1.55101846e+01] [-3.76026097e-03 -7.59343883e-05 9.99992927e-01 -1.51536299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72028169299995 meters Centerline goodness [0,1] 0.9995563630218016 Centerline is valid? [True, True] Translation: X:270.66, Y:-15.51, Z:-1.52 [[ 9.93575011e-01 1.13163813e-01 1.62730856e-03 2.70656194e+02] [-1.13163714e-01 9.93576344e-01 -1.53224363e-04 -1.55118786e+01] [-1.63419474e-03 -3.19123820e-05 9.99998664e-01 -1.52018920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.750281693 meters Centerline goodness [0,1] 0.999744702578504 Centerline is valid? [True, True] Translation: X:270.68, Y:-15.52, Z:-1.52 [[ 9.93659070e-01 1.12427728e-01 1.28802512e-03 2.70684892e+02] [-1.12427665e-01 9.93659904e-01 -1.21313004e-04 -1.55168462e+01] [-1.29349787e-03 -2.42658909e-05 9.99999163e-01 -1.52004637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78028169299995 meters Centerline goodness [0,1] 0.9996594512908924 Centerline is valid? [True, True] Translation: X:270.71, Y:-15.52, Z:-1.52 [[ 9.93813783e-01 1.11047947e-01 1.58705610e-03 2.70712982e+02] [-1.11047850e-01 9.93815050e-01 -1.49387566e-04 -1.55172151e+01] [-1.59382942e-03 -2.77757464e-05 9.99998729e-01 -1.51933691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.810281693 meters Centerline goodness [0,1] 0.9998078934448974 Centerline is valid? [True, True] Translation: X:270.74, Y:-15.53, Z:-1.52 [[ 9.94209600e-01 1.07392393e-01 3.76108754e-03 2.70741434e+02] [-1.07391825e-01 9.94216712e-01 -3.53404737e-04 -1.55258881e+01] [-3.77728907e-03 -5.25516722e-05 9.99992865e-01 -1.51535931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84028169299995 meters Centerline goodness [0,1] 0.9997872883519101 Centerline is valid? [True, True] Translation: X:270.77, Y:-15.53, Z:-1.52 [[ 9.94443121e-01 1.05184680e-01 4.36604706e-03 2.70769124e+02] [-1.05183893e-01 9.94452704e-01 -4.10084246e-04 -1.55349879e+01] [-4.38496189e-03 -5.14323713e-05 9.99990385e-01 -1.51509036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.870281693 meters Centerline goodness [0,1] 0.9999360954308233 Centerline is valid? [True, True] Translation: X:270.80, Y:-15.54, Z:-1.52 [[ 9.94687573e-01 1.02853958e-01 4.20648707e-03 2.70796331e+02] [-1.02853207e-01 9.94696467e-01 -3.94910950e-04 -1.55385974e+01] [-4.22479598e-03 -3.98376717e-05 9.99991075e-01 -1.51628056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90028169299995 meters Centerline goodness [0,1] 0.9999142201539748 Centerline is valid? [True, True] Translation: X:270.82, Y:-15.55, Z:-1.52 [[ 9.95203418e-01 9.77578087e-02 3.68348083e-03 2.70824262e+02] [-9.77571991e-02 9.95210234e-01 -3.45615852e-04 -1.55508830e+01] [-3.69962447e-03 -1.61286913e-05 9.99993156e-01 -1.51635266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.930281693 meters Centerline goodness [0,1] 0.9999142201539748 Centerline is valid? [True, True] Translation: X:270.85, Y:-15.55, Z:-1.52 [[ 9.95208007e-01 9.77110791e-02 3.68349711e-03 2.70852473e+02] [-9.77104698e-02 9.95214823e-01 -3.45442180e-04 -1.55534376e+01] [-3.69962446e-03 -1.61294107e-05 9.99993156e-01 -1.51648603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96028169299996 meters Centerline goodness [0,1] 0.9998715588474547 Centerline is valid? [True, True] Translation: X:270.88, Y:-15.56, Z:-1.52 [[ 9.95415286e-01 9.55740053e-02 3.74411947e-03 2.70880478e+02] [-9.55733613e-02 9.95422327e-01 -3.50946246e-04 -1.55599147e+01] [-3.76052146e-03 -8.50082500e-06 9.99992929e-01 -1.51590939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.990281693 meters Centerline goodness [0,1] 0.9996828953766146 Centerline is valid? [True, True] Translation: X:270.91, Y:-15.57, Z:-1.52 [[ 9.95833414e-01 9.10886101e-02 4.32163671e-03 2.70906926e+02] [-9.10877109e-02 9.95842791e-01 -4.04846878e-04 -1.55725387e+01] [-4.34054770e-03 9.51205332e-06 9.99990580e-01 -1.51531133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02028169299996 meters Centerline goodness [0,1] 0.9996824859235426 Centerline is valid? [True, True] Translation: X:270.94, Y:-15.58, Z:-1.52 [[ 9.96020490e-01 8.90343640e-02 4.00823175e-03 2.70935259e+02] [-8.90335749e-02 9.96028555e-01 -3.75235105e-04 -1.55797464e+01] [-4.02572209e-03 1.68746517e-05 9.99991897e-01 -1.51568862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.050281693 meters Centerline goodness [0,1] 0.9995927640603567 Centerline is valid? [True, True] Translation: X:270.96, Y:-15.59, Z:-1.52 [[ 9.96159740e-01 8.74614783e-02 4.03270552e-03 2.70963878e+02] [-8.74606673e-02 9.96167902e-01 -3.77346939e-04 -1.55857314e+01] [-4.05025512e-03 2.31947122e-05 9.99991797e-01 -1.51682670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08028169299996 meters Centerline goodness [0,1] 0.9994536896957472 Centerline is valid? [True, True] Translation: X:270.99, Y:-15.60, Z:-1.51 [[ 9.96278593e-01 8.60712604e-02 4.55018695e-03 2.70992002e+02] [-8.60702146e-02 9.96288983e-01 -4.25527708e-04 -1.55971749e+01] [-4.56992684e-03 3.23085782e-05 9.99989557e-01 -1.51448417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.110281693 meters Centerline goodness [0,1] 0.9995544617473586 Centerline is valid? [True, True] Translation: X:271.02, Y:-15.60, Z:-1.51 [[ 9.96224474e-01 8.66410062e-02 5.48942318e-03 2.71020735e+02] [-8.66394939e-02 9.96239597e-01 -5.13130892e-04 -1.55976443e+01] [-5.51323891e-03 3.55927067e-05 9.99984801e-01 -1.51233946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14028169299996 meters Centerline goodness [0,1] 0.9995757498621187 Centerline is valid? [True, True] Translation: X:271.05, Y:-15.60, Z:-1.51 [[ 9.96121737e-01 8.77483114e-02 6.45903950e-03 2.71049606e+02] [-8.77462431e-02 9.96142677e-01 -6.03449878e-04 -1.55995248e+01] [-6.48707660e-03 3.43530902e-05 9.99978958e-01 -1.51074272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.170281693 meters Centerline goodness [0,1] 0.9998307737868596 Centerline is valid? [True, True] Translation: X:271.08, Y:-15.60, Z:-1.51 [[ 9.95863949e-01 9.05806828e-02 7.08061980e-03 2.71078710e+02] [-9.05782709e-02 9.95889120e-01 -6.61234421e-04 -1.55993652e+01] [-7.11140729e-03 1.71492232e-05 9.99974713e-01 -1.51091073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.11, Y:-15.60, Z:-1.51 [[ 9.95712696e-01 9.22636146e-02 6.60700585e-03 2.71107090e+02] [-9.22615536e-02 9.95734616e-01 -6.16715453e-04 -1.55999758e+01] [-6.63572482e-03 4.49878303e-06 9.99977983e-01 -1.51185793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23028169299994 meters Centerline goodness [0,1] 0.9999153492899922 Centerline is valid? [True, True] Translation: X:271.13, Y:-15.60, Z:-1.51 [[ 9.95517896e-01 9.43962650e-02 5.78487493e-03 2.71134928e+02] [-9.43947224e-02 9.95534703e-01 -5.39724430e-04 -1.55991239e+01] [-5.80999172e-03 -8.75633476e-06 9.99983122e-01 -1.51258790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26028169299997 meters Centerline goodness [0,1] 0.9999157291534994 Centerline is valid? [True, True] Translation: X:271.16, Y:-15.59, Z:-1.51 [[ 9.95059626e-01 9.90946884e-02 6.04844788e-03 2.71164388e+02] [-9.90930909e-02 9.95078008e-01 -5.63975139e-04 -1.55909892e+01] [-6.07456441e-03 -3.81705048e-05 9.99981549e-01 -1.51085214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29028169299994 meters Centerline goodness [0,1] 0.9997442073625648 Centerline is valid? [True, True] Translation: X:271.19, Y:-15.59, Z:-1.51 [[ 9.94751379e-01 1.02141086e-01 6.07397506e-03 2.71194208e+02] [-1.02139533e-01 9.94769921e-01 -5.66077855e-04 -1.55860781e+01] [-6.10002750e-03 -5.72862499e-05 9.99981393e-01 -1.51120443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32028169299997 meters Centerline goodness [0,1] 0.9997877263367934 Centerline is valid? [True, True] Translation: X:271.22, Y:-15.57, Z:-1.52 [[ 9.94058375e-01 1.08779198e-01 3.87718902e-03 2.71224418e+02] [-1.08778616e-01 9.94065935e-01 -3.61235981e-04 -1.55741679e+01] [-3.89347649e-03 -6.26656037e-05 9.99992418e-01 -1.51726475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35028169299994 meters Centerline goodness [0,1] 0.999424135136288 Centerline is valid? [True, True] Translation: X:271.25, Y:-15.57, Z:-1.52 [[ 9.93790855e-01 1.11230531e-01 2.73965845e-03 2.71252653e+02] [-1.11230250e-01 9.93794630e-01 -2.55291072e-04 -1.55670072e+01] [-2.75105401e-03 -5.10269614e-05 9.99996215e-01 -1.51982028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.380281693 meters Centerline goodness [0,1] 0.9994848127079532 Centerline is valid? [True, True] Translation: X:271.28, Y:-15.56, Z:-1.52 [[ 9.93608031e-01 1.12856473e-01 2.54909579e-03 2.71282138e+02] [-1.12856236e-01 9.93611299e-01 -2.37287112e-04 -1.55645143e+01] [-2.55958977e-03 -5.19109752e-05 9.99996723e-01 -1.51933571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41028169299994 meters Centerline goodness [0,1] 0.9996382901763867 Centerline is valid? [True, True] Translation: X:271.31, Y:-15.56, Z:-1.52 [[ 9.93577548e-01 1.13085415e-01 3.91717757e-03 2.71310758e+02] [-1.13084857e-01 9.93585267e-01 -3.64346209e-04 -1.55574920e+01] [-3.93325217e-03 -8.09672541e-05 9.99992261e-01 -1.51621984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.440281693 meters Centerline goodness [0,1] 0.9995759837177748 Centerline is valid? [True, True] Translation: X:271.34, Y:-15.56, Z:-1.52 [[ 9.93707208e-01 1.11926832e-01 4.28585824e-03 2.71339424e+02] [-1.11926155e-01 9.93716447e-01 -3.98358333e-04 -1.55583781e+01] [-4.30351481e-03 -8.38480858e-05 9.99990736e-01 -1.51519379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47028169299995 meters Centerline goodness [0,1] 0.9997244186293006 Centerline is valid? [True, True] Translation: X:271.37, Y:-15.56, Z:-1.52 [[ 9.94144992e-01 1.07988799e-01 3.76219273e-03 2.71367381e+02] [-1.07988249e-01 9.94152109e-01 -3.49537999e-04 -1.55611580e+01] [-3.77793803e-03 -5.87811551e-05 9.99992862e-01 -1.51702673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.500281693 meters Centerline goodness [0,1] 0.9997262754511191 Centerline is valid? [True, True] Translation: X:271.40, Y:-15.56, Z:-1.52 [[ 9.94381688e-01 1.05799119e-01 3.40667561e-03 2.71395592e+02] [-1.05798656e-01 9.94387522e-01 -3.16371251e-04 -1.55629099e+01] [-3.42102752e-03 -4.58279218e-05 9.99994147e-01 -1.51826378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53028169299995 meters Centerline goodness [0,1] 0.9999784872214095 Centerline is valid? [True, True] Translation: X:271.42, Y:-15.56, Z:-1.52 [[ 9.94654630e-01 1.03180059e-01 4.00521982e-03 2.71424443e+02] [-1.03179398e-01 9.94662693e-01 -3.71736645e-04 -1.55648692e+01] [-4.02219854e-03 -4.35065953e-05 9.99991910e-01 -1.51665262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.560281693 meters Centerline goodness [0,1] 0.9999576262208945 Centerline is valid? [True, True] Translation: X:271.45, Y:-15.57, Z:-1.52 [[ 9.94787598e-01 1.01884497e-01 4.14548306e-03 2.71453651e+02] [-1.01883779e-01 9.94796234e-01 -3.84582860e-04 -1.55673379e+01] [-4.16309397e-03 -3.97792206e-05 9.99991333e-01 -1.51666655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.48, Y:-15.57, Z:-1.52 [[ 9.94941846e-01 1.00356428e-01 4.39426554e-03 2.71482725e+02] [-1.00355608e-01 9.94951550e-01 -4.07247668e-04 -1.55713502e+01] [-4.41295123e-03 -3.58014419e-05 9.99990262e-01 -1.51736561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.620281693 meters Centerline goodness [0,1] 0.9999363638292005 Centerline is valid? [True, True] Translation: X:271.51, Y:-15.58, Z:-1.52 [[ 9.95331184e-01 9.64234384e-02 4.28418414e-03 2.71510062e+02] [-9.64226232e-02 9.95340404e-01 -3.96914456e-04 -1.55779419e+01] [-4.30249343e-03 -1.80309373e-05 9.99990744e-01 -1.51720704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65028169299995 meters Centerline goodness [0,1] 0.9999575290395192 Centerline is valid? [True, True] Translation: X:271.54, Y:-15.58, Z:-1.52 [[ 9.95538896e-01 9.42582838e-02 4.20494259e-03 2.71538513e+02] [-9.42574801e-02 9.95547777e-01 -3.89338961e-04 -1.55826173e+01] [-4.22291967e-03 -8.74521246e-06 9.99991083e-01 -1.51737923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.680281693 meters Centerline goodness [0,1] 0.9998940655522363 Centerline is valid? [True, True] Translation: X:271.57, Y:-15.59, Z:-1.52 [[ 9.95945249e-01 8.98049051e-02 5.30471922e-03 2.71566152e+02] [-8.98035644e-02 9.95959376e-01 -4.90873424e-04 -1.55899097e+01] [-5.32736769e-03 1.25003605e-05 9.99985809e-01 -1.51550568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71028169299996 meters Centerline goodness [0,1] 0.9998297908555137 Centerline is valid? [True, True] Translation: X:271.59, Y:-15.59, Z:-1.52 [[ 9.96076219e-01 8.83256800e-02 5.54436318e-03 2.71594996e+02] [-8.83241943e-02 9.96091649e-01 -5.12742753e-04 -1.55935434e+01] [-5.56798221e-03 2.10294524e-05 9.99984498e-01 -1.51508618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.740281693 meters Centerline goodness [0,1] 0.9999147048788809 Centerline is valid? [True, True] Translation: X:271.62, Y:-15.60, Z:-1.52 [[ 9.96105046e-01 8.80138621e-02 5.31949911e-03 2.71623918e+02] [-8.80124912e-02 9.96119250e-01 -4.91724535e-04 -1.55950270e+01] [-5.34213404e-03 2.16269219e-05 9.99985730e-01 -1.51569218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77028169299996 meters Centerline goodness [0,1] 0.9999572622176636 Centerline is valid? [True, True] Translation: X:271.65, Y:-15.59, Z:-1.52 [[ 9.96014566e-01 8.90120815e-02 5.64219560e-03 2.71652416e+02] [-8.90105567e-02 9.96030546e-01 -5.21287008e-04 -1.55904437e+01] [-5.66620001e-03 1.69944816e-05 9.99983947e-01 -1.51591258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.800281693 meters Centerline goodness [0,1] 0.9997675745346208 Centerline is valid? [True, True] Translation: X:271.68, Y:-15.59, Z:-1.51 [[ 9.95968908e-01 8.94862878e-02 6.17568865e-03 2.71680487e+02] [-8.94844723e-02 9.95988054e-01 -5.70220357e-04 -1.55884650e+01] [-6.20193902e-03 1.52935069e-05 9.99980768e-01 -1.51447630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83028169299996 meters Centerline goodness [0,1] 0.9996194744519376 Centerline is valid? [True, True] Translation: X:271.71, Y:-15.59, Z:-1.51 [[ 9.96137565e-01 8.75415849e-02 6.81340132e-03 2.71708941e+02] [-8.75393322e-02 9.96160866e-01 -6.28735000e-04 -1.55889128e+01] [-6.84228421e-03 2.98659508e-05 9.99976591e-01 -1.51395512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.860281693 meters Centerline goodness [0,1] 0.9994839375564444 Centerline is valid? [True, True] Translation: X:271.74, Y:-15.59, Z:-1.51 [[ 9.96360482e-01 8.49411139e-02 7.12719268e-03 2.71737001e+02] [-8.49385845e-02 9.96385972e-01 -6.57378699e-04 -1.55948625e+01] [-7.15727329e-03 4.96124990e-05 9.99974385e-01 -1.51396382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89028169299996 meters Centerline goodness [0,1] 0.9992627543497493 Centerline is valid? [True, True] Translation: X:271.76, Y:-15.60, Z:-1.51 [[ 9.96628053e-01 8.17476972e-02 7.05955473e-03 2.71764916e+02] [-8.17451376e-02 9.96653053e-01 -6.50842625e-04 -1.56029602e+01] [-7.08913166e-03 7.15637455e-05 9.99974869e-01 -1.51421285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.920281693 meters Centerline goodness [0,1] 0.9982749073561358 Centerline is valid? [True, True] Translation: X:271.79, Y:-15.62, Z:-1.52 [[ 9.97257471e-01 7.37205970e-02 6.54295744e-03 2.71793830e+02] [-7.37182268e-02 9.97278928e-01 -6.03012829e-04 -1.56204915e+01] [-6.56960805e-03 1.19023828e-04 9.99978413e-01 -1.51570838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95028169299997 meters Centerline goodness [0,1] 0.9976472583140804 Centerline is valid? [True, True] Translation: X:271.82, Y:-15.63, Z:-1.52 [[ 9.97570199e-01 6.94224972e-02 5.84930383e-03 2.71823090e+02] [-6.94205295e-02 9.97587339e-01 -5.39014906e-04 -1.56290636e+01] [-5.87261120e-03 1.31643438e-04 9.99982747e-01 -1.51781980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98028169299994 meters Centerline goodness [0,1] 0.9957216079976279 Centerline is valid? [True, True] Translation: X:271.85, Y:-15.65, Z:-1.52 [[ 9.98054343e-01 6.22421517e-02 3.66648632e-03 2.71850997e+02] [-6.22413303e-02 9.98061072e-01 -3.37813409e-04 -1.56494239e+01] [-3.68040349e-03 1.08949154e-04 9.99993221e-01 -1.52227719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01028169299997 meters Centerline goodness [0,1] 0.9967553397223774 Centerline is valid? [True, True] Translation: X:271.88, Y:-15.65, Z:-1.52 [[ 9.98191322e-01 6.00500742e-02 2.84121688e-03 2.71880698e+02] [-6.00495722e-02 9.98195362e-01 -2.61762453e-04 -1.56526817e+01] [-2.85180837e-03 9.06751512e-05 9.99995929e-01 -1.52348469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04028169299994 meters Centerline goodness [0,1] 0.9945906651557589 Centerline is valid? [True, True] Translation: X:271.91, Y:-15.67, Z:-1.52 [[ 9.98247851e-01 5.91247610e-02 2.34332741e-03 2.71908604e+02] [-5.91244169e-02 9.98250598e-01 -2.15900831e-04 -1.56663811e+01] [-2.35199308e-03 7.69746736e-05 9.99997231e-01 -1.52450724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07028169299997 meters Centerline goodness [0,1] 0.9964693043459654 Centerline is valid? [True, True] Translation: X:271.94, Y:-15.67, Z:-1.53 [[ 9.98202950e-01 5.99162337e-02 9.56670557e-04 2.71937736e+02] [-5.99161766e-02 9.98203408e-01 -8.81827881e-05 -1.56700984e+01] [-9.60235391e-04 3.07042772e-05 9.99999539e-01 -1.52700497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10028169299994 meters Centerline goodness [0,1] 0.9933731368563685 Centerline is valid? [True, True] Translation: X:271.96, Y:-15.69, Z:-1.53 [[ 9.98168003e-01 6.05009376e-02 5.24284181e-04 2.71964958e+02] [-6.05009205e-02 9.98168140e-01 -4.84088560e-05 -1.56864795e+01] [-5.26252547e-04 1.66004956e-05 9.99999861e-01 -1.52920237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.130281693 meters Centerline goodness [0,1] 0.9936454497632825 Centerline is valid? [True, True] Translation: X:271.99, Y:-15.69, Z:-1.53 [[ 9.98122655e-01 6.12364031e-02 1.12640903e-03 2.71994270e+02] [-6.12363250e-02 9.98123290e-01 -1.03739930e-04 -1.56921552e+01] [-1.13064775e-03 3.45680249e-05 9.99999360e-01 -1.52781402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16028169299994 meters Centerline goodness [0,1] 0.9954067962403776 Centerline is valid? [True, True] Translation: X:272.02, Y:-15.69, Z:-1.52 [[ 9.97974075e-01 6.35630065e-02 2.73687743e-03 2.72024179e+02] [-6.35625546e-02 9.97977825e-01 -2.51871751e-04 -1.56941294e+01] [-2.74735271e-03 7.73985566e-05 9.99996223e-01 -1.52328962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.190281693 meters Centerline goodness [0,1] 0.9962731322823852 Centerline is valid? [True, True] Translation: X:272.05, Y:-15.70, Z:-1.52 [[ 9.97906911e-01 6.45810036e-02 3.33026317e-03 2.72053452e+02] [-6.45803405e-02 9.97912464e-01 -3.06375918e-04 -1.56952974e+01] [-3.34309719e-03 9.06651167e-05 9.99994408e-01 -1.52266878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22028169299995 meters Centerline goodness [0,1] 0.9960191591271953 Centerline is valid? [True, True] Translation: X:272.08, Y:-15.71, Z:-1.52 [[ 9.97854643e-01 6.53502954e-02 3.93071738e-03 2.72082289e+02] [-6.53493781e-02 9.97862379e-01 -3.61493164e-04 -1.57090986e+01] [-3.94593868e-03 1.03847696e-04 9.99992209e-01 -1.52319736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.250281693 meters Centerline goodness [0,1] 0.9946071692925875 Centerline is valid? [True, True] Translation: X:272.11, Y:-15.72, Z:-1.52 [[ 9.97850006e-01 6.54303030e-02 3.77379266e-03 2.72111665e+02] [-6.54294581e-02 9.97857137e-01 -3.47051802e-04 -1.57214977e+01] [-3.78841364e-03 9.93884341e-05 9.99992819e-01 -1.52380023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28028169299995 meters Centerline goodness [0,1] 0.9975195654963007 Centerline is valid? [True, True] Translation: X:272.14, Y:-15.71, Z:-1.52 [[ 9.97869464e-01 6.51469850e-02 3.52177090e-03 2.72142849e+02] [-6.51462472e-02 9.97875674e-01 -3.23920857e-04 -1.57149606e+01] [-3.53539198e-03 9.38005741e-05 9.99993746e-01 -1.52342582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.310281693 meters Centerline goodness [0,1] 0.9956063823078055 Centerline is valid? [True, True] Translation: X:272.17, Y:-15.73, Z:-1.52 [[ 9.97814020e-01 6.60017329e-02 3.30957438e-03 2.72171559e+02] [-6.60010860e-02 9.97819505e-01 -3.04419625e-04 -1.57279010e+01] [-3.32245009e-03 8.53186667e-05 9.99994477e-01 -1.52370142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34028169299995 meters Centerline goodness [0,1] 0.9955890422523321 Centerline is valid? [True, True] Translation: X:272.20, Y:-15.73, Z:-1.52 [[ 9.97787157e-01 6.64187907e-02 3.05504507e-03 2.72201118e+02] [-6.64182416e-02 9.97791831e-01 -2.80940697e-04 -1.57345331e+01] [-3.06695875e-03 7.74082974e-05 9.99995294e-01 -1.52460352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.370281693 meters Centerline goodness [0,1] 0.9966151077595441 Centerline is valid? [True, True] Translation: X:272.23, Y:-15.74, Z:-1.52 [[ 9.97790548e-01 6.63571019e-02 3.27973233e-03 2.72231882e+02] [-6.63564686e-02 9.97795935e-01 -3.01655272e-04 -1.57380499e+01] [-3.29252056e-03 8.33573231e-05 9.99994576e-01 -1.52427498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40028169299995 meters Centerline goodness [0,1] 0.9963862848882937 Centerline is valid? [True, True] Translation: X:272.26, Y:-15.74, Z:-1.52 [[ 9.97856340e-01 6.53647379e-02 3.19009041e-03 2.72262424e+02] [-6.53641337e-02 9.97861435e-01 -2.93378143e-04 -1.57446839e+01] [-3.20244479e-03 8.42317438e-05 9.99994869e-01 -1.52459727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.430281693 meters Centerline goodness [0,1] 0.9953822797621558 Centerline is valid? [True, True] Translation: X:272.29, Y:-15.75, Z:-1.53 [[ 9.97957755e-01 6.38051892e-02 3.03602755e-03 2.72293457e+02] [-6.38046346e-02 9.97962369e-01 -2.79270233e-04 -1.57526519e+01] [-3.04766014e-03 8.49872659e-05 9.99995352e-01 -1.52552781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46028169299996 meters Centerline goodness [0,1] 0.9933531683230993 Centerline is valid? [True, True] Translation: X:272.32, Y:-15.77, Z:-1.52 [[ 9.98173162e-01 6.03263547e-02 3.32721684e-03 2.72322626e+02] [-6.03256690e-02 9.98178701e-01 -3.06151373e-04 -1.57667131e+01] [-3.33962598e-03 1.04875502e-04 9.99994418e-01 -1.52497076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.490281693 meters Centerline goodness [0,1] 0.9928859630494797 Centerline is valid? [True, True] Translation: X:272.35, Y:-15.78, Z:-1.52 [[ 9.98257943e-01 5.88943068e-02 3.54127073e-03 2.72353656e+02] [-5.88935214e-02 9.98264217e-01 -3.25742052e-04 -1.57751669e+01] [-3.55430821e-03 1.16616687e-04 9.99993677e-01 -1.52414188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52028169299996 meters Centerline goodness [0,1] 0.9916963982330955 Centerline is valid? [True, True] Translation: X:272.38, Y:-15.78, Z:-1.52 [[ 9.98338530e-01 5.75021331e-02 3.69933620e-03 2.72384843e+02] [-5.75012641e-02 9.98345375e-01 -3.40917623e-04 -1.57837995e+01] [-3.71281868e-03 1.27634690e-04 9.99993099e-01 -1.52423279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.550281693 meters Centerline goodness [0,1] 0.9881644343357763 Centerline is valid? [True, True] Translation: X:272.41, Y:-15.80, Z:-1.53 [[ 9.98540746e-01 5.39691563e-02 1.92571205e-03 2.72413265e+02] [-5.39689143e-02 9.98542600e-01 -1.77470062e-04 -1.57993248e+01] [-1.93248343e-03 7.32824994e-05 9.99998130e-01 -1.52847920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58028169299996 meters Centerline goodness [0,1] 0.9843684077293056 Centerline is valid? [True, True] Translation: X:272.44, Y:-15.81, Z:-1.53 [[ 9.98644818e-01 5.20255521e-02 1.36747838e-03 2.72443660e+02] [-5.20254281e-02 9.98645752e-01 -1.26075523e-04 -1.58086673e+01] [-1.37218563e-03 5.47610195e-05 9.99999057e-01 -1.52993011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.610281693 meters Centerline goodness [0,1] 0.9771946200517629 Centerline is valid? [True, True] Translation: X:272.47, Y:-15.82, Z:-1.53 [[ 9.98763893e-01 4.96527844e-02 2.29917339e-03 2.72472365e+02] [-4.96524276e-02 9.98766535e-01 -2.12028316e-04 -1.58226846e+01] [-2.30686524e-03 9.76066859e-05 9.99997334e-01 -1.52709409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64028169299996 meters Centerline goodness [0,1] 0.9882515402591885 Centerline is valid? [True, True] Translation: X:272.50, Y:-15.82, Z:-1.52 [[ 9.98778712e-01 4.92580608e-02 3.83772048e-03 2.72504475e+02] [-4.92570630e-02 9.98786071e-01 -3.54149467e-04 -1.58198070e+01] [-3.85050648e-03 1.64682109e-04 9.99992573e-01 -1.52361537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.670281693 meters Centerline goodness [0,1] 0.9786599111187445 Centerline is valid? [True, True] Translation: X:272.53, Y:-15.84, Z:-1.52 [[ 9.98758260e-01 4.95786655e-02 4.88816984e-03 2.72534370e+02] [-4.95770461e-02 9.98770200e-01 -4.51981108e-04 -1.58374650e+01] [-4.90456699e-03 2.09078844e-04 9.99987951e-01 -1.52205130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70028169299997 meters Centerline goodness [0,1] 0.9814018218623481 Centerline is valid? [True, True] Translation: X:272.57, Y:-15.85, Z:-1.52 [[ 9.98663815e-01 5.15165424e-02 4.07795531e-03 2.72565149e+02] [-5.15154292e-02 9.98672127e-01 -3.77616698e-04 -1.58457450e+01] [-4.09199381e-03 1.67034514e-04 9.99991614e-01 -1.52420104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73028169299994 meters Centerline goodness [0,1] 0.9846015462703189 Centerline is valid? [True, True] Translation: X:272.60, Y:-15.85, Z:-1.53 [[ 9.98574483e-01 5.32762242e-02 3.26279687e-03 2.72596920e+02] [-5.32755208e-02 9.98579805e-01 -3.02166844e-04 -1.58488741e+01] [-3.27426137e-03 1.27908897e-04 9.99994631e-01 -1.52564196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76028169299997 meters Centerline goodness [0,1] 0.9942075451533611 Centerline is valid? [True, True] Translation: X:272.63, Y:-15.83, Z:-1.52 [[ 9.98236163e-01 5.92648784e-02 3.49820106e-03 2.72629000e+02] [-5.92641061e-02 9.98242286e-01 -3.24124143e-04 -1.58311464e+01] [-3.51126140e-03 1.16234682e-04 9.99993829e-01 -1.52415250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79028169299994 meters Centerline goodness [0,1] 0.9926763186859707 Centerline is valid? [True, True] Translation: X:272.66, Y:-15.84, Z:-1.52 [[ 9.97980861e-01 6.33811639e-02 4.12666002e-03 2.72657888e+02] [-6.33801243e-02 9.97989386e-01 -3.82358822e-04 -1.58391931e+01] [-4.14259724e-03 1.20038562e-04 9.99991412e-01 -1.52314139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82028169299997 meters Centerline goodness [0,1] 0.9926763186859707 Centerline is valid? [True, True] Translation: X:272.69, Y:-15.84, Z:-1.52 [[ 9.97970411e-01 6.35454960e-02 4.12667347e-03 2.72690250e+02] [-6.35444583e-02 9.97978936e-01 -3.82213642e-04 -1.58424072e+01] [-4.14262116e-03 1.19210675e-04 9.99991412e-01 -1.52329449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85028169299994 meters Centerline goodness [0,1] 0.9962199679658302 Centerline is valid? [True, True] Translation: X:272.72, Y:-15.83, Z:-1.52 [[ 9.97709838e-01 6.74789306e-02 4.65547383e-03 2.72722182e+02] [-6.74776487e-02 9.97720693e-01 -4.32069206e-04 -1.58301608e+01] [-4.67401814e-03 1.16939270e-04 9.99989070e-01 -1.52198657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.880281693 meters Centerline goodness [0,1] 0.9966298051606108 Centerline is valid? [True, True] Translation: X:272.75, Y:-15.83, Z:-1.52 [[ 9.97342062e-01 7.27329441e-02 4.32774631e-03 2.72751852e+02] [-7.27318855e-02 9.97351448e-01 -4.01704878e-04 -1.58327282e+01] [-4.34550123e-03 8.58720223e-05 9.99990555e-01 -1.52248499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91028169299994 meters Centerline goodness [0,1] 0.9982709302822013 Centerline is valid? [True, True] Translation: X:272.78, Y:-15.83, Z:-1.52 [[ 9.97222168e-01 7.43794447e-02 3.95541002e-03 2.72784787e+02] [-7.43785738e-02 9.97230010e-01 -3.67028324e-04 -1.58266202e+01] [-3.97175294e-03 7.18110250e-05 9.99992110e-01 -1.52343396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.940281693 meters Centerline goodness [0,1] 0.9978324459689808 Centerline is valid? [True, True] Translation: X:272.82, Y:-15.84, Z:-1.53 [[ 9.97102353e-01 7.59756273e-02 3.82133874e-03 2.72815525e+02] [-7.59748238e-02 9.97109673e-01 -3.55226946e-04 -1.58357688e+01] [-3.83728242e-03 6.38720860e-05 9.99992636e-01 -1.52507689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97028169299995 meters Centerline goodness [0,1] 0.9987049657134365 Centerline is valid? [True, True] Translation: X:272.85, Y:-15.83, Z:-1.53 [[ 9.97124480e-01 7.57169527e-02 3.11695764e-03 2.72847830e+02] [-7.57164165e-02 9.97129350e-01 -2.89848772e-04 -1.58348746e+01] [-3.12995641e-03 5.30104438e-05 9.99995100e-01 -1.52609722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.000281693 meters Centerline goodness [0,1] 0.9985711543793052 Centerline is valid? [True, True] Translation: X:272.88, Y:-15.84, Z:-1.53 [[ 9.97223009e-01 7.44533028e-02 1.72517765e-03 2.72879040e+02] [-7.44531367e-02 9.97224501e-01 -1.60400927e-04 -1.58409128e+01] [-1.73233180e-03 3.15106078e-05 9.99998499e-01 -1.52864603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03028169299995 meters Centerline goodness [0,1] 0.9982376796823577 Centerline is valid? [True, True] Translation: X:272.91, Y:-15.85, Z:-1.53 [[ 9.97487727e-01 7.08394911e-02 -2.42532945e-05 2.72908188e+02] [-7.08394911e-02 9.97487727e-01 2.52428013e-06 -1.58515481e+01] [ 2.43711824e-05 -7.99847410e-07 1.00000000e+00 -1.53212727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.060281693 meters Centerline goodness [0,1] 0.9974361690857082 Centerline is valid? [True, True] Translation: X:272.94, Y:-15.86, Z:-1.53 [[ 9.97612259e-01 6.90600083e-02 7.03698053e-04 2.72939425e+02] [-6.90599795e-02 9.97612507e-01 -6.51766077e-05 -1.58591184e+01] [-7.06519076e-04 1.64236098e-05 9.99999750e-01 -1.53159730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09028169299995 meters Centerline goodness [0,1] 0.9950692850463317 Centerline is valid? [True, True] Translation: X:272.97, Y:-15.87, Z:-1.53 [[ 9.97830851e-01 6.57643835e-02 2.93911918e-03 2.72969648e+02] [-6.57638586e-02 9.97835176e-01 -2.74969229e-04 -1.58708263e+01] [-2.95083969e-03 8.10849611e-05 9.99995643e-01 -1.52717676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.120281693 meters Centerline goodness [0,1] 0.9938760426565305 Centerline is valid? [True, True] Translation: X:273.00, Y:-15.88, Z:-1.53 [[ 9.97930415e-01 6.42053746e-02 3.54353033e-03 2.72999762e+02] [-6.42046015e-02 9.97936701e-01 -3.31613411e-04 -1.58795720e+01] [-3.55751034e-03 1.03416155e-04 9.99993667e-01 -1.52593761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15028169299995 meters Centerline goodness [0,1] 0.9936078489668501 Centerline is valid? [True, True] Translation: X:273.03, Y:-15.89, Z:-1.53 [[ 9.98003022e-01 6.30593200e-02 3.67282301e-03 2.73031480e+02] [-6.30584819e-02 9.98009774e-01 -3.43664244e-04 -1.58858850e+01] [-3.68718450e-03 1.11375312e-04 9.99993196e-01 -1.52617683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.180281693 meters Centerline goodness [0,1] 0.9921599624019996 Centerline is valid? [True, True] Translation: X:273.06, Y:-15.90, Z:-1.53 [[ 9.98150057e-01 6.07535671e-02 2.33848502e-03 2.73060971e+02] [-6.07532201e-02 9.98152793e-01 -2.19194270e-04 -1.58989232e+01] [-2.34748219e-03 7.67182783e-05 9.99997242e-01 -1.52990074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21028169299996 meters Centerline goodness [0,1] 0.9929177865949913 Centerline is valid? [True, True] Translation: X:273.09, Y:-15.91, Z:-1.53 [[ 9.98155148e-01 6.07052583e-02 1.08281123e-03 2.73091286e+02] [-6.07051842e-02 9.98155735e-01 -1.01265962e-04 -1.59059752e+01] [-1.08696161e-03 3.53468863e-05 9.99999409e-01 -1.53206836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.240281693 meters Centerline goodness [0,1] 0.9951446965970098 Centerline is valid? [True, True] Translation: X:273.12, Y:-15.90, Z:-1.53 [[ 9.98108265e-01 6.14808199e-02 3.90447093e-06 2.73123866e+02] [-6.14808199e-02 9.98108265e-01 3.96843336e-07 -1.59038649e+01] [-3.87268646e-06 -6.36142687e-07 1.00000000e+00 -1.53290979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27028169299996 meters Centerline goodness [0,1] 0.9962631109601257 Centerline is valid? [True, True] Translation: X:273.15, Y:-15.91, Z:-1.53 [[ 9.97862735e-01 6.53427086e-02 -5.40127092e-04 2.73152912e+02] [-6.53426907e-02 9.97862881e-01 5.07333504e-05 -1.59085337e+01] [ 5.42287831e-04 -1.53315623e-05 9.99999853e-01 -1.53361971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.300281693 meters Centerline goodness [0,1] 0.9969826663813396 Centerline is valid? [True, True] Translation: X:273.18, Y:-15.91, Z:-1.53 [[ 9.97682461e-01 6.80417824e-02 1.50731219e-04 2.73184954e+02] [-6.80417810e-02 9.97682472e-01 -1.40177963e-05 -1.59093654e+01] [-1.51335691e-04 3.72928899e-06 9.99999989e-01 -1.53224448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33028169299996 meters Centerline goodness [0,1] 0.9983796691113764 Centerline is valid? [True, True] Translation: X:273.21, Y:-15.91, Z:-1.53 [[ 9.97334907e-01 7.29594093e-02 -8.73384862e-05 2.73214876e+02] [-7.29594089e-02 9.97334911e-01 8.21536412e-06 -1.59097897e+01] [ 8.77051094e-05 -1.82130508e-06 9.99999996e-01 -1.53222510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.360281693 meters Centerline goodness [0,1] 0.9990206306287126 Centerline is valid? [True, True] Translation: X:273.25, Y:-15.91, Z:-1.53 [[ 9.97159448e-01 7.53123285e-02 -1.04315644e-03 2.73247034e+02] [-7.53122660e-02 9.97159994e-01 9.90494029e-05 -1.59115234e+01] [ 1.04765351e-03 -2.02055726e-05 9.99999451e-01 -1.53448815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39028169299996 meters Centerline goodness [0,1] 0.9993214156965031 Centerline is valid? [True, True] Translation: X:273.28, Y:-15.91, Z:-1.54 [[ 9.97008297e-01 7.72723441e-02 -1.85509333e-03 2.73279126e+02] [-7.72721506e-02 9.97010022e-01 1.75874370e-04 -1.59132493e+01] [ 1.86313686e-03 -3.20011549e-05 9.99998264e-01 -1.53608524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.420281693 meters Centerline goodness [0,1] 0.9994932432432433 Centerline is valid? [True, True] Translation: X:273.31, Y:-15.92, Z:-1.54 [[ 9.96694292e-01 8.12412470e-02 -5.89789238e-04 2.73309022e+02] [-8.12412280e-02 9.96694467e-01 5.60395541e-05 -1.59178748e+01] [ 5.92392394e-04 -7.93910175e-06 9.99999825e-01 -1.53604922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45028169299997 meters Centerline goodness [0,1] 0.99942262044779 Centerline is valid? [True, True] Translation: X:273.34, Y:-15.92, Z:-1.53 [[ 9.96546728e-01 8.30219109e-02 1.40772934e-03 2.73341279e+02] [-8.30218061e-02 9.96547722e-01 -1.32857224e-04 -1.59152544e+01] [-1.41389953e-03 1.55261990e-05 9.99999000e-01 -1.53056339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48028169299994 meters Centerline goodness [0,1] 0.9995730327483882 Centerline is valid? [True, True] Translation: X:273.37, Y:-15.92, Z:-1.53 [[ 9.96376781e-01 8.50011167e-02 2.84946928e-03 2.73373593e+02] [-8.50006951e-02 9.96380856e-01 -2.68959043e-04 -1.59177891e+01] [-2.86201846e-03 2.57776758e-05 9.99995904e-01 -1.52704207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51028169299997 meters Centerline goodness [0,1] 0.9997643883736372 Centerline is valid? [True, True] Translation: X:273.41, Y:-15.92, Z:-1.53 [[ 9.96117298e-01 8.80097210e-02 2.14867891e-03 2.73405621e+02] [-8.80094879e-02 9.96119616e-01 -2.02973236e-04 -1.59180511e+01] [-2.15820483e-03 1.30810207e-05 9.99997671e-01 -1.52706120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54028169299994 meters Centerline goodness [0,1] 0.999829231327513 Centerline is valid? [True, True] Translation: X:273.44, Y:-15.92, Z:-1.53 [[ 9.95977403e-01 8.95973531e-02 1.15196532e-03 2.73437809e+02] [-8.95972874e-02 9.95978069e-01 -1.08651043e-04 -1.59186352e+01] [-1.15706704e-03 5.00101643e-06 9.99999331e-01 -1.52955364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57028169299997 meters Centerline goodness [0,1] 0.9999787703804348 Centerline is valid? [True, True] Translation: X:273.47, Y:-15.92, Z:-1.53 [[ 9.95686786e-01 9.27741469e-02 8.84110366e-04 2.73468964e+02] [-9.27741089e-02 9.95687179e-01 -8.38931446e-05 -1.59175394e+01] [-8.88080471e-04 1.50874413e-06 9.99999606e-01 -1.53133643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60028169299994 meters Centerline goodness [0,1] 0.9999789712747613 Centerline is valid? [True, True] Translation: X:273.50, Y:-15.92, Z:-1.53 [[ 9.95508206e-01 9.46651154e-02 1.38841598e-03 2.73500568e+02] [-9.46650242e-02 9.95509174e-01 -1.31413601e-04 -1.59191287e+01] [-1.39462113e-03 -6.11114188e-07 9.99999028e-01 -1.53087905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.630281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.53, Y:-15.92, Z:-1.53 [[ 9.95286659e-01 9.69494630e-02 2.29502742e-03 2.73532873e+02] [-9.69492181e-02 9.95289305e-01 -2.18020834e-04 -1.59192124e+01] [-2.30535325e-03 -5.50788635e-06 9.99997343e-01 -1.52811615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66028169299994 meters Centerline goodness [0,1] 0.9999787256674821 Centerline is valid? [True, True] Translation: X:273.56, Y:-15.91, Z:-1.52 [[ 9.94820769e-01 1.01564336e-01 4.04028295e-03 2.73563604e+02] [-1.01563609e-01 9.94828973e-01 -3.85191305e-04 -1.59110050e+01] [-4.05851223e-03 -2.71494095e-05 9.99991764e-01 -1.52420897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.690281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.60, Y:-15.91, Z:-1.52 [[ 9.94556235e-01 1.04124362e-01 4.00166556e-03 2.73595622e+02] [-1.04123670e-01 9.94564284e-01 -3.81493532e-04 -1.59080330e+01] [-4.01963641e-03 -3.72513321e-05 9.99991921e-01 -1.52444702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72028169299995 meters Centerline goodness [0,1] 0.999851452581542 Centerline is valid? [True, True] Translation: X:273.63, Y:-15.90, Z:-1.53 [[ 9.94151575e-01 1.07957009e-01 2.81619662e-03 2.73625426e+02] [-1.07956682e-01 9.94155563e-01 -2.68599594e-04 -1.59000026e+01] [-2.82873475e-03 -3.69985331e-05 9.99995998e-01 -1.52595046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.750281693 meters Centerline goodness [0,1] 0.9998732010397515 Centerline is valid? [True, True] Translation: X:273.66, Y:-15.90, Z:-1.53 [[ 9.94038249e-01 1.09012939e-01 2.03418261e-03 2.73655708e+02] [-1.09012770e-01 9.94040330e-01 -1.93964713e-04 -1.58983184e+01] [-2.04320422e-03 -2.89435389e-05 9.99997912e-01 -1.52823082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78028169299995 meters Centerline goodness [0,1] 0.9999157806084851 Centerline is valid? [True, True] Translation: X:273.68, Y:-15.90, Z:-1.53 [[ 9.94006712e-01 1.09312177e-01 1.22659190e-03 2.73684525e+02] [-1.09312116e-01 9.94007469e-01 -1.17044499e-04 -1.58969915e+01] [-1.23203590e-03 -1.77383380e-05 9.99999241e-01 -1.53016772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.810281693 meters Centerline goodness [0,1] 0.9998937549138353 Centerline is valid? [True, True] Translation: X:273.71, Y:-15.90, Z:-1.53 [[ 9.93947510e-01 1.09840949e-01 1.82041671e-03 2.73713194e+02] [-1.09840815e-01 9.93949176e-01 -1.73603124e-04 -1.58952140e+01] [-1.82847042e-03 -2.74036614e-05 9.99998328e-01 -1.52904779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84028169299995 meters Centerline goodness [0,1] 0.9997643378966086 Centerline is valid? [True, True] Translation: X:273.74, Y:-15.90, Z:-1.53 [[ 9.93849491e-01 1.10710213e-01 2.53726959e-03 2.73743188e+02] [-1.10709956e-01 9.93852729e-01 -2.41716498e-04 -1.58965561e+01] [-2.54843279e-03 -4.06711877e-05 9.99996752e-01 -1.52735145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.870281693 meters Centerline goodness [0,1] 0.9996832904015878 Centerline is valid? [True, True] Translation: X:273.77, Y:-15.89, Z:-1.53 [[ 9.93789819e-01 1.11229922e-01 3.11445461e-03 2.73771790e+02] [-1.11229539e-01 9.93794698e-01 -2.96622664e-04 -1.58944619e+01] [-3.12812179e-03 -5.16387652e-05 9.99995106e-01 -1.52655384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90028169299995 meters Centerline goodness [0,1] 0.9996157950907151 Centerline is valid? [True, True] Translation: X:273.80, Y:-15.89, Z:-1.53 [[ 9.93791982e-01 1.11201054e-01 3.43821876e-03 2.73799706e+02] [-1.11200587e-01 9.93797928e-01 -3.27347131e-04 -1.58898794e+01] [-3.45329603e-03 -5.70169902e-05 9.99994036e-01 -1.52634652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.930281693 meters Centerline goodness [0,1] 0.9997658179340884 Centerline is valid? [True, True] Translation: X:273.83, Y:-15.89, Z:-1.53 [[ 9.93905824e-01 1.10203172e-01 2.54419624e-03 2.73828441e+02] [-1.10202914e-01 9.93909080e-01 -2.42130549e-04 -1.58920291e+01] [-2.55538330e-03 -3.97228756e-05 9.99996734e-01 -1.52936906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96028169299996 meters Centerline goodness [0,1] 0.9999147866470676 Centerline is valid? [True, True] Translation: X:273.86, Y:-15.90, Z:-1.53 [[ 9.94203382e-01 1.07515050e-01 3.87506889e-04 2.73858009e+02] [-1.07515043e-01 9.94203457e-01 -3.69433434e-05 -1.58973372e+01] [-3.89232654e-04 -4.93362298e-06 9.99999924e-01 -1.53370579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.990281693 meters Centerline goodness [0,1] 0.9998499303247936 Centerline is valid? [True, True] Translation: X:273.89, Y:-15.90, Z:-1.53 [[ 9.94314419e-01 1.06483971e-01 1.96498222e-05 2.73885251e+02] [-1.06483971e-01 9.94314419e-01 -2.12991026e-06 -1.59006671e+01] [-1.97649029e-05 2.54093756e-08 1.00000000e+00 -1.53339625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02028169299996 meters Centerline goodness [0,1] 0.9998720436757587 Centerline is valid? [True, True] Translation: X:273.91, Y:-15.90, Z:-1.53 [[ 9.94380673e-01 1.05863467e-01 5.51070314e-05 2.73913676e+02] [-1.05863467e-01 9.94380675e-01 -5.44238887e-06 -1.59026525e+01] [-5.53735172e-05 -4.22015093e-07 9.99999998e-01 -1.53295305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.050281693 meters Centerline goodness [0,1] 0.9999788565629228 Centerline is valid? [True, True] Translation: X:273.94, Y:-15.90, Z:-1.53 [[ 9.94512222e-01 1.04619733e-01 3.90545491e-04 2.73943351e+02] [-1.04619727e-01 9.94512298e-01 -3.71828999e-05 -1.59038540e+01] [-3.92292359e-04 -3.87991423e-06 9.99999923e-01 -1.53316961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.97, Y:-15.91, Z:-1.53 [[ 9.94624943e-01 1.03539449e-01 8.97087745e-04 2.73971585e+02] [-1.03539415e-01 9.94625348e-01 -8.53377445e-05 -1.59067814e+01] [-9.01102033e-04 -8.00489072e-06 9.99999594e-01 -1.53295754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.110281693 meters Centerline goodness [0,1] 0.9999575109940303 Centerline is valid? [True, True] Translation: X:274.00, Y:-15.91, Z:-1.53 [[ 9.94883682e-01 1.01007992e-01 1.96098632e-03 2.73999531e+02] [-1.01007821e-01 9.94885614e-01 -1.86145323e-04 -1.59132347e+01] [-1.96975925e-03 -1.28820114e-05 9.99998060e-01 -1.53182683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14028169299996 meters Centerline goodness [0,1] 0.9999573160320984 Centerline is valid? [True, True] Translation: X:274.03, Y:-15.92, Z:-1.53 [[ 9.95016276e-01 9.96942944e-02 1.91248476e-03 2.74029180e+02] [-9.96941297e-02 9.95018114e-01 -1.81517897e-04 -1.59193837e+01] [-1.92105328e-03 -1.00502419e-05 9.99998155e-01 -1.53131235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.170281693 meters Centerline goodness [0,1] 0.9999158071984845 Centerline is valid? [True, True] Translation: X:274.06, Y:-15.92, Z:-1.53 [[ 9.95109769e-01 9.87546368e-02 2.01750064e-03 2.74057726e+02] [-9.87544516e-02 9.95111814e-01 -1.91462474e-04 -1.59224951e+01] [-2.02654653e-03 -8.71099117e-06 9.99997947e-01 -1.53210927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20028169299997 meters Centerline goodness [0,1] 0.9999787915420669 Centerline is valid? [True, True] Translation: X:274.09, Y:-15.93, Z:-1.53 [[ 9.95184786e-01 9.79936745e-02 2.11693366e-03 2.74087402e+02] [-9.79934691e-02 9.95187038e-01 -2.00783098e-04 -1.59260826e+01] [-2.12642041e-03 -7.62938893e-06 9.99997739e-01 -1.53185701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23028169299994 meters Centerline goodness [0,1] 0.9999355102216299 Centerline is valid? [True, True] Translation: X:274.12, Y:-15.93, Z:-1.53 [[ 9.95323928e-01 9.65919727e-02 5.18817248e-04 2.74116468e+02] [-9.65919601e-02 9.95324063e-01 -4.92812650e-05 -1.59303673e+01] [-5.21151466e-04 -1.06275270e-06 9.99999864e-01 -1.53475737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26028169299997 meters Centerline goodness [0,1] 0.9999789060687241 Centerline is valid? [True, True] Translation: X:274.14, Y:-15.93, Z:-1.54 [[ 9.95473792e-01 9.49999838e-02 -2.63305531e-03 2.74144821e+02] [-9.49996567e-02 9.95477274e-01 2.49287040e-04 -1.59348058e+01] [ 2.64482899e-03 1.98063562e-06 9.99996502e-01 -1.54274410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29028169299994 meters Centerline goodness [0,1] 0.9999360272950208 Centerline is valid? [True, True] Translation: X:274.17, Y:-15.94, Z:-1.54 [[ 9.95553238e-01 9.41472383e-02 -3.16997141e-03 2.74174129e+02] [-9.41467598e-02 9.95558284e-01 3.00140757e-04 -1.59386106e+01] [ 3.18414872e-03 -3.63565861e-07 9.99994931e-01 -1.54226819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32028169299997 meters Centerline goodness [0,1] 0.9998932262748783 Centerline is valid? [True, True] Translation: X:274.20, Y:-15.94, Z:-1.54 [[ 9.95563926e-01 9.40554288e-02 -2.45868810e-03 2.74203450e+02] [-9.40551409e-02 9.95566962e-01 2.32712446e-04 -1.59413039e+01] [ 2.46967652e-03 -4.27860223e-07 9.99996950e-01 -1.54011475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.23, Y:-15.94, Z:-1.53 [[ 9.95489401e-01 9.48690775e-02 8.43393612e-04 2.74232456e+02] [-9.48690438e-02 9.95489758e-01 -7.99963924e-05 -1.59423098e+01] [-8.47178887e-04 -3.76384823e-07 9.99999641e-01 -1.53373641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.380281693 meters Centerline goodness [0,1] 0.9999156135946499 Centerline is valid? [True, True] Translation: X:274.26, Y:-15.94, Z:-1.53 [[ 9.95470789e-01 9.50507761e-02 1.80481016e-03 2.74260572e+02] [-9.50506224e-02 9.95472426e-01 -1.70938109e-04 -1.59445095e+01] [-1.81288654e-03 -1.38443382e-06 9.99998357e-01 -1.53244551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41028169299994 meters Centerline goodness [0,1] 0.9999570925941818 Centerline is valid? [True, True] Translation: X:274.29, Y:-15.95, Z:-1.53 [[ 9.95488477e-01 9.48638702e-02 1.88107236e-03 2.74290053e+02] [-9.48637031e-02 9.95490254e-01 -1.78061595e-04 -1.59475277e+01] [-1.88948081e-03 -1.18722352e-06 9.99998215e-01 -1.53143280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.440281693 meters Centerline goodness [0,1] 0.9999147757537019 Centerline is valid? [True, True] Translation: X:274.32, Y:-15.95, Z:-1.53 [[ 9.95533674e-01 9.44036672e-02 8.06945223e-04 2.74318393e+02] [-9.44036362e-02 9.95534001e-01 -7.64732263e-05 -1.59487565e+01] [-8.10560759e-04 -4.68912995e-08 9.99999671e-01 -1.53380318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47028169299995 meters Centerline goodness [0,1] 0.9999364083432254 Centerline is valid? [True, True] Translation: X:274.35, Y:-15.95, Z:-1.53 [[ 9.95493056e-01 9.48298138e-02 9.39051581e-04 2.74347097e+02] [-9.48297721e-02 9.95493499e-01 -8.89289403e-05 -1.59494840e+01] [-9.43252859e-04 -5.21904889e-07 9.99999555e-01 -1.53418320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.500281693 meters Centerline goodness [0,1] 0.9999362502390616 Centerline is valid? [True, True] Translation: X:274.38, Y:-15.95, Z:-1.54 [[ 9.95511545e-01 9.46381407e-02 6.21488841e-04 2.74376374e+02] [-9.46381224e-02 9.95511739e-01 -5.88429991e-05 -1.59530508e+01] [-6.24268229e-04 -2.37652046e-07 9.99999805e-01 -1.53508007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.41, Y:-15.96, Z:-1.53 [[ 9.95652204e-01 9.31484645e-02 2.27294262e-04 2.74405573e+02] [-9.31484620e-02 9.95652230e-01 -2.15896046e-05 -1.59593219e+01] [-2.28317078e-04 3.23626438e-07 9.99999974e-01 -1.53464336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.560281693 meters Centerline goodness [0,1] 0.9999576271186441 Centerline is valid? [True, True] Translation: X:274.43, Y:-15.97, Z:-1.53 [[ 9.95860559e-01 9.08939341e-02 1.97929822e-04 2.74434891e+02] [-9.08939321e-02 9.95860579e-01 -1.87554340e-05 -1.59670543e+01] [-1.98815263e-04 6.87177202e-07 9.99999980e-01 -1.53465390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59028169299995 meters Centerline goodness [0,1] 0.9998733375554149 Centerline is valid? [True, True] Translation: X:274.46, Y:-15.98, Z:-1.54 [[ 9.96096559e-01 8.82699150e-02 2.59173870e-04 2.74464236e+02] [-8.82699116e-02 9.96096593e-01 -2.44328570e-05 -1.59771171e+01] [-2.60318895e-04 1.46023024e-06 9.99999966e-01 -1.53599357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.620281693 meters Centerline goodness [0,1] 0.9996782910822288 Centerline is valid? [True, True] Translation: X:274.49, Y:-15.99, Z:-1.54 [[ 9.96553930e-01 8.29461275e-02 4.52362851e-04 2.74494247e+02] [-8.29461167e-02 9.96554033e-01 -4.26414262e-05 -1.59907860e+01] [-4.54340964e-04 4.97273913e-06 9.99999897e-01 -1.53577980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65028169299995 meters Centerline goodness [0,1] 0.9995071991772368 Centerline is valid? [True, True] Translation: X:274.52, Y:-16.00, Z:-1.54 [[ 9.96743386e-01 8.06383232e-02 2.87745781e-04 2.74524272e+02] [-8.06383188e-02 9.96743428e-01 -2.71428459e-05 -1.60000659e+01] [-2.88997470e-04 3.85111614e-06 9.99999958e-01 -1.53676294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.680281693 meters Centerline goodness [0,1] 0.9994225216554379 Centerline is valid? [True, True] Translation: X:274.55, Y:-16.01, Z:-1.54 [[ 9.96888050e-01 7.88245380e-02 -9.52842488e-04 2.74554646e+02] [-7.88244878e-02 9.96888505e-01 9.01962159e-05 -1.60124446e+01] [ 9.56987399e-04 -1.48082087e-05 9.99999542e-01 -1.53891338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71028169299996 meters Centerline goodness [0,1] 0.99944700852883 Centerline is valid? [True, True] Translation: X:274.58, Y:-16.02, Z:-1.54 [[ 9.96811734e-01 7.97757138e-02 -1.48376202e-03 2.74584729e+02] [-7.97755933e-02 9.96812839e-01 1.40353732e-04 -1.60174913e+01] [ 1.49022985e-03 -2.15382516e-05 9.99998889e-01 -1.53910039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.740281693 meters Centerline goodness [0,1] 0.99944700852883 Centerline is valid? [True, True] Translation: X:274.62, Y:-16.02, Z:-1.54 [[ 9.96809882e-01 7.97988607e-02 -1.48375360e-03 2.74615425e+02] [-7.97987401e-02 9.96810986e-01 1.40442789e-04 -1.60204395e+01] [ 1.49022906e-03 -2.15930923e-05 9.99998889e-01 -1.53924557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77028169299996 meters Centerline goodness [0,1] 0.9995760556215024 Centerline is valid? [True, True] Translation: X:274.64, Y:-16.03, Z:-1.54 [[ 9.96655191e-01 8.17048445e-02 -1.65807028e-03 2.74644998e+02] [-8.17046965e-02 9.96656570e-01 1.56893770e-04 -1.60263269e+01] [ 1.66534561e-03 -2.08968617e-05 9.99998613e-01 -1.54085998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.800281693 meters Centerline goodness [0,1] 0.9998519020014387 Centerline is valid? [True, True] Translation: X:274.68, Y:-16.02, Z:-1.54 [[ 9.96187184e-01 8.72306070e-02 -1.38432397e-03 2.74675931e+02] [-8.72305092e-02 9.96188145e-01 1.30945096e-04 -1.60238783e+01] [ 1.39046954e-03 -9.69054228e-06 9.99999033e-01 -1.53895625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83028169299996 meters Centerline goodness [0,1] 0.9998939509629252 Centerline is valid? [True, True] Translation: X:274.71, Y:-16.02, Z:-1.54 [[ 9.95908826e-01 9.03589852e-02 -9.29977967e-04 2.74706771e+02] [-9.03589425e-02 9.95909260e-01 8.79678873e-05 -1.60240087e+01] [ 9.34122358e-04 -3.57616963e-06 9.99999564e-01 -1.53784074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.860281693 meters Centerline goodness [0,1] 0.9999573360638252 Centerline is valid? [True, True] Translation: X:274.74, Y:-16.02, Z:-1.54 [[ 9.95606104e-01 9.36396440e-02 -3.19278256e-04 2.74737345e+02] [-9.36396391e-02 9.95606156e-01 3.02009667e-05 -1.60237149e+01] [ 3.20703405e-04 -1.71166141e-07 9.99999949e-01 -1.53671147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89028169299996 meters Centerline goodness [0,1] 0.9999787991858887 Centerline is valid? [True, True] Translation: X:274.77, Y:-16.02, Z:-1.54 [[ 9.95018747e-01 9.96873883e-02 3.44404770e-04 2.74767550e+02] [-9.96873830e-02 9.95018806e-01 -3.26280211e-05 -1.60194584e+01] [-3.45941825e-04 -1.86731760e-06 9.99999940e-01 -1.53708615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.920281693 meters Centerline goodness [0,1] 0.9999363043801355 Centerline is valid? [True, True] Translation: X:274.80, Y:-16.02, Z:-1.54 [[ 9.94799737e-01 1.01848602e-01 5.88715319e-04 2.74797760e+02] [-1.01848587e-01 9.94799911e-01 -5.56805670e-05 -1.60221911e+01] [-5.91324934e-04 -4.56880974e-06 9.99999825e-01 -1.53615006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95028169299997 meters Centerline goodness [0,1] 0.9999149768311865 Centerline is valid? [True, True] Translation: X:274.83, Y:-16.02, Z:-1.54 [[ 9.94573898e-01 1.04031512e-01 4.53101418e-04 2.74827399e+02] [-1.04031503e-01 9.94574002e-01 -4.29022505e-05 -1.60235097e+01] [-4.55106076e-04 -4.46736298e-06 9.99999896e-01 -1.53764748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98028169299994 meters Centerline goodness [0,1] 0.9999572091829093 Centerline is valid? [True, True] Translation: X:274.86, Y:-16.03, Z:-1.54 [[ 9.94535914e-01 1.04392835e-01 6.71406652e-04 2.74856523e+02] [-1.04392816e-01 9.94536141e-01 -6.35848790e-05 -1.60276355e+01] [-6.74375986e-04 -6.85258552e-06 9.99999773e-01 -1.53717443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01028169299997 meters Centerline goodness [0,1] 0.9999574766653201 Centerline is valid? [True, True] Translation: X:274.89, Y:-16.03, Z:-1.54 [[ 9.94556004e-01 1.04198206e-01 1.04315950e-03 2.74885416e+02] [-1.04198160e-01 9.94556551e-01 -9.86672757e-05 -1.60318592e+01] [-1.04776207e-03 -1.05651687e-05 9.99999451e-01 -1.53600260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.91, Y:-16.04, Z:-1.54 [[ 9.94534859e-01 1.04403532e-01 5.63482919e-04 2.74914806e+02] [-1.04403519e-01 9.94535018e-01 -5.33145887e-05 -1.60366072e+01] [-5.65969726e-04 -5.80638256e-06 9.99999840e-01 -1.53643017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07028169299997 meters Centerline goodness [0,1] 0.9998510511532896 Centerline is valid? [True, True] Translation: X:274.95, Y:-16.04, Z:-1.54 [[ 9.94411486e-01 1.05573642e-01 -5.01775263e-05 2.74945054e+02] [-1.05573642e-01 9.94411487e-01 4.74294972e-06 -1.60379488e+01] [ 5.03978391e-05 5.80980526e-07 9.99999999e-01 -1.53767817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10028169299994 meters Centerline goodness [0,1] 0.9999154673598343 Centerline is valid? [True, True] Translation: X:274.98, Y:-16.04, Z:-1.54 [[ 9.94219435e-01 1.07366941e-01 -2.34271897e-04 2.74975728e+02] [-1.07366939e-01 9.94219463e-01 2.21441731e-05 -1.60386867e+01] [ 2.35295232e-04 3.13688920e-06 9.99999972e-01 -1.53871319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.130281693 meters Centerline goodness [0,1] 0.9996545843138102 Centerline is valid? [True, True] Translation: X:275.01, Y:-16.04, Z:-1.54 [[ 9.94003920e-01 1.09337548e-01 1.22754889e-03 2.75005946e+02] [-1.09337488e-01 9.94004678e-01 -1.16032079e-04 -1.60419551e+01] [-1.23287600e-03 -1.88807711e-05 9.99999240e-01 -1.53522606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16028169299994 meters Centerline goodness [0,1] 0.9994878361075544 Centerline is valid? [True, True] Translation: X:275.03, Y:-16.04, Z:-1.53 [[ 9.93907114e-01 1.10210520e-01 1.51300686e-03 2.75034629e+02] [-1.10210430e-01 9.93908266e-01 -1.43098374e-04 -1.60423809e+01] [-1.51956097e-03 -2.45226442e-05 9.99998845e-01 -1.53491450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.190281693 meters Centerline goodness [0,1] 0.9995520191138512 Centerline is valid? [True, True] Translation: X:275.06, Y:-16.04, Z:-1.54 [[ 9.93748407e-01 1.11639793e-01 8.12429076e-04 2.75063917e+02] [-1.11639768e-01 9.93748739e-01 -7.68143816e-05 -1.60417492e+01] [-8.15925912e-04 -1.43652240e-05 9.99999667e-01 -1.53627138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22028169299995 meters Centerline goodness [0,1] 0.9994678699899959 Centerline is valid? [True, True] Translation: X:275.09, Y:-16.04, Z:-1.54 [[ 9.93659789e-01 1.12426591e-01 6.97073183e-04 2.75093788e+02] [-1.12426573e-01 9.93660033e-01 -6.59495217e-05 -1.60422554e+01] [-7.00068242e-04 -1.28381612e-05 9.99999755e-01 -1.53714102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.250281693 meters Centerline goodness [0,1] 0.9995327003547229 Centerline is valid? [True, True] Translation: X:275.12, Y:-16.05, Z:-1.54 [[ 9.93604255e-01 1.12911219e-01 1.28097094e-03 2.75123133e+02] [-1.12911156e-01 9.93605081e-01 -1.21081227e-04 -1.60452356e+01] [-1.28645066e-03 -2.43290873e-05 9.99999172e-01 -1.53549697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28028169299995 meters Centerline goodness [0,1] 0.9989776140066882 Centerline is valid? [True, True] Translation: X:275.15, Y:-16.05, Z:-1.53 [[ 9.93565645e-01 1.13217234e-01 3.02787214e-03 2.75152228e+02] [-1.13216888e-01 9.93570256e-01 -2.85996221e-04 -1.60457465e+01] [-3.04078340e-03 -5.86502409e-05 9.99995375e-01 -1.53213598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.310281693 meters Centerline goodness [0,1] 0.9988994243142567 Centerline is valid? [True, True] Translation: X:275.18, Y:-16.05, Z:-1.53 [[ 9.93564433e-01 1.13241543e-01 2.46389519e-03 2.75181334e+02] [-1.13241314e-01 9.93567487e-01 -2.32689940e-04 -1.60480991e+01] [-2.47439632e-03 -4.78222811e-05 9.99996938e-01 -1.53368743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34028169299995 meters Centerline goodness [0,1] 0.99974386339381 Centerline is valid? [True, True] Translation: X:275.21, Y:-16.06, Z:-1.54 [[ 9.93577600e-01 1.13145753e-01 1.26122338e-03 2.75210998e+02] [-1.13145693e-01 9.93578400e-01 -1.19058797e-04 -1.60562603e+01] [-1.26659530e-03 -2.44078392e-05 9.99999198e-01 -1.53610077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.370281693 meters Centerline goodness [0,1] 0.9996797403761983 Centerline is valid? [True, True] Translation: X:275.24, Y:-16.05, Z:-1.54 [[ 9.93629853e-01 1.12690601e-01 -7.36947561e-04 2.75240501e+02] [-1.12690581e-01 9.93630126e-01 6.93745771e-05 -1.60513808e+01] [ 7.40071161e-04 1.41143979e-05 9.99999726e-01 -1.54076028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40028169299995 meters Centerline goodness [0,1] 0.9996383286528806 Centerline is valid? [True, True] Translation: X:275.27, Y:-16.05, Z:-1.54 [[ 9.93679124e-01 1.12255608e-01 -6.90074709e-04 2.75268304e+02] [-1.12255590e-01 9.93679364e-01 6.48244057e-05 -1.60510405e+01] [ 6.92989901e-04 1.30500849e-05 9.99999760e-01 -1.54111332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.430281693 meters Centerline goodness [0,1] 0.9997432001540799 Centerline is valid? [True, True] Translation: X:275.30, Y:-16.06, Z:-1.54 [[ 9.93891771e-01 1.10354153e-01 -1.05241134e-03 2.75297336e+02] [-1.10354109e-01 9.93892329e-01 9.91221495e-05 -1.60603178e+01] [ 1.05692210e-03 1.76212278e-05 9.99999441e-01 -1.53999257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46028169299996 meters Centerline goodness [0,1] 0.999806426635695 Centerline is valid? [True, True] Translation: X:275.33, Y:-16.07, Z:-1.54 [[ 9.94050247e-01 1.08915340e-01 -1.24698890e-03 2.75326711e+02] [-1.08915279e-01 9.94051029e-01 1.17433993e-04 -1.60666128e+01] [ 1.25236097e-03 1.90808538e-05 9.99999216e-01 -1.54081962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.490281693 meters Centerline goodness [0,1] 0.9998509782215316 Centerline is valid? [True, True] Translation: X:275.36, Y:-16.07, Z:-1.54 [[ 9.94244305e-01 1.07124079e-01 -1.64099953e-03 2.75355959e+02] [-1.07123969e-01 9.94245659e-01 1.54800628e-04 -1.60678952e+01] [ 1.64813953e-03 2.18807405e-05 9.99998642e-01 -1.54406125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52028169299996 meters Centerline goodness [0,1] 0.9999576432716337 Centerline is valid? [True, True] Translation: X:275.39, Y:-16.08, Z:-1.54 [[ 9.94755345e-01 1.02264701e-01 -1.93256692e-03 2.75385749e+02] [-1.02264540e-01 9.94757222e-01 1.82280433e-04 -1.60816885e+01] [ 1.94107575e-03 1.63086321e-05 9.99998116e-01 -1.54379045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.550281693 meters Centerline goodness [0,1] 0.9999784913858 Centerline is valid? [True, True] Translation: X:275.42, Y:-16.09, Z:-1.54 [[ 9.95032347e-01 9.95361863e-02 -1.78228936e-03 2.75416236e+02] [-9.95360447e-02 9.95033943e-01 1.68211101e-04 -1.60912596e+01] [ 1.79018150e-03 1.00265466e-05 9.99998398e-01 -1.54245101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.45, Y:-16.10, Z:-1.54 [[ 9.95481902e-01 9.49512046e-02 -2.28339202e-04 2.75446053e+02] [-9.49512019e-02 9.95481928e-01 2.22953950e-05 -1.61033127e+01] [ 2.29424524e-04 -5.13580533e-07 9.99999974e-01 -1.54182842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.610281693 meters Centerline goodness [0,1] 0.9999578237030788 Centerline is valid? [True, True] Translation: X:275.48, Y:-16.11, Z:-1.54 [[ 9.95628597e-01 9.34005694e-02 1.73330222e-04 2.75477557e+02] [-9.34005681e-02 9.95628612e-01 -1.56410187e-05 -1.61101184e+01] [-1.74033409e-04 -6.16495711e-07 9.99999985e-01 -1.53962664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64028169299996 meters Centerline goodness [0,1] 0.999914562775001 Centerline is valid? [True, True] Translation: X:275.51, Y:-16.12, Z:-1.54 [[ 9.95765177e-01 9.19325184e-02 -3.53119613e-04 2.75509645e+02] [-9.19325120e-02 9.95765239e-01 3.42493480e-05 -1.61176139e+01] [ 3.54772865e-04 -1.64113495e-06 9.99999937e-01 -1.54077320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.670281693 meters Centerline goodness [0,1] 0.9999144622885615 Centerline is valid? [True, True] Translation: X:275.54, Y:-16.13, Z:-1.54 [[ 9.95942474e-01 8.99804524e-02 -1.45125858e-03 2.75540277e+02] [-8.99803461e-02 9.95943532e-01 1.38513759e-04 -1.61274224e+01] [ 1.45783513e-03 -7.36698711e-06 9.99998937e-01 -1.54276216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70028169299997 meters Centerline goodness [0,1] 0.9998725383978077 Centerline is valid? [True, True] Translation: X:275.57, Y:-16.14, Z:-1.55 [[ 9.96218930e-01 8.68183188e-02 -3.22844480e-03 2.75571302e+02] [-8.68177771e-02 9.96224161e-01 3.07817796e-04 -1.61430107e+01] [ 3.24297894e-03 -2.63675138e-05 9.99994741e-01 -1.54531121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73028169299994 meters Centerline goodness [0,1] 0.9998939734509521 Centerline is valid? [True, True] Translation: X:275.60, Y:-16.15, Z:-1.55 [[ 9.96318222e-01 8.56784547e-02 -3.03376178e-03 2.75602141e+02] [-8.56779698e-02 9.96322840e-01 2.89694292e-04 -1.61515966e+01] [ 3.04742671e-03 -2.87011514e-05 9.99995356e-01 -1.54563954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76028169299997 meters Centerline goodness [0,1] 0.9994737839146267 Centerline is valid? [True, True] Translation: X:275.63, Y:-16.17, Z:-1.55 [[ 9.96628386e-01 8.20102902e-02 -2.48432842e-03 2.75631520e+02] [-8.20099535e-02 9.96631482e-01 2.37256896e-04 -1.61683586e+01] [ 2.49541742e-03 -3.27172993e-05 9.99996886e-01 -1.54593996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79028169299994 meters Centerline goodness [0,1] 0.9996371398078976 Centerline is valid? [True, True] Translation: X:275.66, Y:-16.18, Z:-1.55 [[ 9.96739258e-01 8.06601078e-02 -2.19047869e-03 2.75662534e+02] [-8.06598411e-02 9.96741665e-01 2.09939613e-04 -1.61782044e+01] [ 2.20027512e-03 -3.25713916e-05 9.99997579e-01 -1.54550802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82028169299997 meters Centerline goodness [0,1] 0.9996129698116453 Centerline is valid? [True, True] Translation: X:275.70, Y:-16.19, Z:-1.54 [[ 9.96762877e-01 8.03781160e-02 -1.76807327e-03 2.75695261e+02] [-8.03779408e-02 9.96764444e-01 1.70052776e-04 -1.61853215e+01] [ 1.77602109e-03 -2.73882056e-05 9.99998422e-01 -1.54400587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85028169299994 meters Centerline goodness [0,1] 0.9997872883519101 Centerline is valid? [True, True] Translation: X:275.73, Y:-16.19, Z:-1.54 [[ 9.96682602e-01 8.13853445e-02 -4.65483546e-04 2.75725459e+02] [-8.13853323e-02 9.96682711e-01 4.50180231e-05 -1.61945047e+01] [ 4.67603210e-04 -6.98514730e-06 9.99999891e-01 -1.54106150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.880281693 meters Centerline goodness [0,1] 0.9997257557538552 Centerline is valid? [True, True] Translation: X:275.76, Y:-16.20, Z:-1.54 [[ 9.96586872e-01 8.25506218e-02 -2.26906714e-05 2.75756842e+02] [-8.25506217e-02 9.96586873e-01 2.90546328e-06 -1.61999056e+01] [ 2.28530730e-05 -1.02241754e-06 1.00000000e+00 -1.54014881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91028169299994 meters Centerline goodness [0,1] 0.9999145134748135 Centerline is valid? [True, True] Translation: X:275.79, Y:-16.20, Z:-1.54 [[ 9.96464156e-01 8.40171748e-02 5.47697813e-04 2.75789348e+02] [-8.40171588e-02 9.96464307e-01 -5.21785569e-05 -1.62030210e+01] [-5.50145217e-04 5.97804752e-06 9.99999849e-01 -1.53861277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.940281693 meters Centerline goodness [0,1] 0.9998947080253543 Centerline is valid? [True, True] Translation: X:275.82, Y:-16.20, Z:-1.54 [[ 9.96017821e-01 8.91440129e-02 1.35863799e-03 2.75820605e+02] [-8.91439186e-02 9.96018747e-01 -1.29964413e-04 -1.62031258e+01] [-1.36481446e-03 8.33255706e-06 9.99999069e-01 -1.53737482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.85, Y:-16.20, Z:-1.54 [[ 9.95721385e-01 9.23954379e-02 1.41635503e-03 2.75853221e+02] [-9.23953383e-02 9.95722393e-01 -1.35705398e-04 -1.62020178e+01] [-1.42283497e-03 4.26016515e-06 9.99998988e-01 -1.53669860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.000281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.89, Y:-16.20, Z:-1.54 [[ 9.95050976e-01 9.93641018e-02 5.75266581e-04 2.75887268e+02] [-9.93640868e-02 9.95051142e-01 -5.46725804e-05 -1.61973168e+01] [-5.77852161e-04 -2.75883413e-06 9.99999833e-01 -1.53752767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.92, Y:-16.20, Z:-1.54 [[ 9.94630885e-01 1.03486185e-01 1.09777863e-04 2.75919810e+02] [-1.03486185e-01 9.94630891e-01 -9.85350063e-06 -1.61958134e+01] [-1.10208155e-04 -1.55989622e-06 9.99999994e-01 -1.53776003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.060281693 meters Centerline goodness [0,1] 0.9999574594801548 Centerline is valid? [True, True] Translation: X:275.95, Y:-16.19, Z:-1.54 [[ 9.94207890e-01 1.07474040e-01 -3.48179917e-05 2.75951249e+02] [-1.07474040e-01 9.94207891e-01 4.07179154e-06 -1.61911609e+01] [ 3.50539339e-05 -3.06177039e-07 9.99999999e-01 -1.53897156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09028169299995 meters Centerline goodness [0,1] 0.9998499657064472 Centerline is valid? [True, True] Translation: X:275.98, Y:-16.18, Z:-1.54 [[ 9.93463885e-01 1.14142982e-01 -9.43190846e-04 2.75983124e+02] [-1.14142946e-01 9.93464332e-01 9.13870491e-05 -1.61832242e+01] [ 9.47457654e-04 1.68688495e-05 9.99999551e-01 -1.54029366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.120281693 meters Centerline goodness [0,1] 0.9997218061202654 Centerline is valid? [True, True] Translation: X:276.01, Y:-16.18, Z:-1.54 [[ 9.93048172e-01 1.17703813e-01 -1.06800303e-03 2.76014602e+02] [-1.17703769e-01 9.93048746e-01 1.04272393e-04 -1.61792477e+01] [ 1.07285233e-03 2.21604730e-05 9.99999424e-01 -1.53993062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15028169299995 meters Centerline goodness [0,1] 0.9994015303723336 Centerline is valid? [True, True] Translation: X:276.05, Y:-16.17, Z:-1.54 [[ 9.92616329e-01 1.21294525e-01 -6.79237742e-04 2.76045912e+02] [-1.21294509e-01 9.92616561e-01 6.59356924e-05 -1.61748795e+01] [ 6.82220271e-04 1.69389632e-05 9.99999767e-01 -1.53785565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.180281693 meters Centerline goodness [0,1] 0.9985413985413986 Centerline is valid? [True, True] Translation: X:276.08, Y:-16.16, Z:-1.54 [[ 9.91785155e-01 1.27913893e-01 4.93119987e-04 2.76076958e+02] [-1.27913885e-01 9.91785277e-01 -4.78154516e-05 -1.61582100e+01] [-4.95185403e-04 -1.56542380e-05 9.99999877e-01 -1.53696486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21028169299996 meters Centerline goodness [0,1] 0.9968993242665298 Centerline is valid? [True, True] Translation: X:276.11, Y:-16.15, Z:-1.54 [[ 9.91487848e-01 1.30199093e-01 -2.09913662e-04 2.76106513e+02] [-1.30199092e-01 9.91487870e-01 2.02506402e-05 -1.61528958e+01] [ 2.10763464e-04 7.25230439e-06 9.99999978e-01 -1.53874240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.240281693 meters Centerline goodness [0,1] 0.9938344036012203 Centerline is valid? [True, True] Translation: X:276.14, Y:-16.15, Z:-1.54 [[ 9.91245662e-01 1.32028381e-01 -7.37460609e-04 2.76135154e+02] [-1.32028364e-01 9.91245936e-01 7.13984890e-05 -1.61483055e+01] [ 7.40431458e-04 2.65922753e-05 9.99999726e-01 -1.54056808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27028169299996 meters Centerline goodness [0,1] 0.9908945516579593 Centerline is valid? [True, True] Translation: X:276.16, Y:-16.14, Z:-1.54 [[ 9.91041429e-01 1.33552208e-01 -8.33320208e-04 2.76164466e+02] [-1.33552188e-01 9.91041778e-01 8.05477847e-05 -1.61387246e+01] [ 8.36612476e-04 3.14655454e-05 9.99999650e-01 -1.53983945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.300281693 meters Centerline goodness [0,1] 0.9967980873908682 Centerline is valid? [True, True] Translation: X:276.19, Y:-16.14, Z:-1.54 [[ 9.91021486e-01 1.33702544e-01 -2.08148182e-04 2.76192945e+02] [-1.33702542e-01 9.91021508e-01 1.99443438e-05 -1.61397649e+01] [ 2.08945935e-04 8.06466793e-06 9.99999978e-01 -1.53692933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33028169299996 meters Centerline goodness [0,1] 0.9969351450983754 Centerline is valid? [True, True] Translation: X:276.22, Y:-16.13, Z:-1.54 [[ 9.90918860e-01 1.34460124e-01 5.36150388e-04 2.76222885e+02] [-1.34460115e-01 9.90919005e-01 -5.21306349e-05 -1.61312832e+01] [-5.38291101e-04 -2.04336136e-05 9.99999855e-01 -1.53559654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.360281693 meters Centerline goodness [0,1] 0.9891836209116662 Centerline is valid? [True, True] Translation: X:276.25, Y:-16.12, Z:-1.54 [[ 9.90949896e-01 1.34230680e-01 6.53561212e-04 2.76251792e+02] [-1.34230667e-01 9.90950112e-01 -6.35130584e-05 -1.61194302e+01] [-6.56171957e-04 -2.47896991e-05 9.99999784e-01 -1.53677452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39028169299996 meters Centerline goodness [0,1] 0.9967939752555137 Centerline is valid? [True, True] Translation: X:276.28, Y:-16.12, Z:-1.54 [[ 9.91033253e-01 1.33614735e-01 4.40568614e-04 2.76280224e+02] [-1.33614729e-01 9.91033351e-01 -4.28247892e-05 -1.61229785e+01] [-4.42340213e-04 -1.64256660e-05 9.99999902e-01 -1.53665547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.420281693 meters Centerline goodness [0,1] 0.992286278926454 Centerline is valid? [True, True] Translation: X:276.31, Y:-16.11, Z:-1.54 [[ 9.91159673e-01 1.32673709e-01 4.35330151e-04 2.76309124e+02] [-1.32673703e-01 9.91159769e-01 -4.23461174e-05 -1.61146816e+01] [-4.37099949e-04 -1.57850992e-05 9.99999904e-01 -1.53766957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45028169299997 meters Centerline goodness [0,1] 0.9962982661418998 Centerline is valid? [True, True] Translation: X:276.34, Y:-16.11, Z:-1.53 [[ 9.91613187e-01 1.29224584e-01 2.07202136e-03 2.76339951e+02] [-1.29224447e-01 9.91615350e-01 -2.00321396e-04 -1.61107560e+01] [-2.08053464e-03 -6.91144772e-05 9.99997833e-01 -1.53474747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48028169299994 meters Centerline goodness [0,1] 0.998168693170929 Centerline is valid? [True, True] Translation: X:276.37, Y:-16.11, Z:-1.53 [[ 9.92228527e-01 1.24407994e-01 2.28073148e-03 2.76369640e+02] [-1.24407816e-01 9.92231146e-01 -2.20419087e-04 -1.61099131e+01] [-2.29043471e-03 -6.50347168e-05 9.99997375e-01 -1.53459830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51028169299997 meters Centerline goodness [0,1] 0.9989828784539753 Centerline is valid? [True, True] Translation: X:276.40, Y:-16.12, Z:-1.54 [[ 9.92519458e-01 1.22079816e-01 1.28228219e-03 2.76398162e+02] [-1.22079758e-01 9.92520286e-01 -1.24046406e-04 -1.61174631e+01] [-1.28783465e-03 -3.34222286e-05 9.99999170e-01 -1.53667976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54028169299994 meters Centerline goodness [0,1] 0.999258584531955 Centerline is valid? [True, True] Translation: X:276.43, Y:-16.11, Z:-1.54 [[ 9.92805011e-01 1.19742237e-01 -8.45872069e-05 2.76426524e+02] [-1.19742237e-01 9.92805014e-01 7.90837960e-06 -1.61131866e+01] [ 8.49255702e-05 2.27718248e-06 9.99999996e-01 -1.54078255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57028169299997 meters Centerline goodness [0,1] 0.9997869257649366 Centerline is valid? [True, True] Translation: X:276.46, Y:-16.12, Z:-1.54 [[ 9.93095395e-01 1.17301286e-01 -1.39448849e-03 2.76455362e+02] [-1.17301213e-01 9.93096374e-01 1.34313938e-04 -1.61168785e+01] [ 1.40061666e-03 3.01886379e-05 9.99999019e-01 -1.54262561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60028169299994 meters Centerline goodness [0,1] 0.9998730293090679 Centerline is valid? [True, True] Translation: X:276.48, Y:-16.11, Z:-1.55 [[ 9.93501765e-01 1.13788972e-01 -2.51240651e-03 2.76483391e+02] [-1.13788724e-01 9.93504941e-01 2.41965696e-04 -1.61140667e+01] [ 2.52362131e-03 4.54901855e-05 9.99996815e-01 -1.54562959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.630281693 meters Centerline goodness [0,1] 0.9998730293090679 Centerline is valid? [True, True] Translation: X:276.51, Y:-16.12, Z:-1.55 [[ 9.93506591e-01 1.13746832e-01 -2.51241084e-03 2.76511603e+02] [-1.13746583e-01 9.93509767e-01 2.41920776e-04 -1.61166898e+01] [ 2.52362243e-03 4.54282638e-05 9.99996815e-01 -1.54576298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66028169299994 meters Centerline goodness [0,1] 0.9999364971847086 Centerline is valid? [True, True] Translation: X:276.54, Y:-16.12, Z:-1.55 [[ 9.93719456e-01 1.11880597e-01 -2.09168916e-03 2.76540173e+02] [-1.11880421e-01 9.93721657e-01 2.01286315e-04 -1.61206667e+01] [ 2.10107685e-03 3.39969367e-05 9.99997792e-01 -1.54569755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.690281693 meters Centerline goodness [0,1] 0.9999574857045682 Centerline is valid? [True, True] Translation: X:276.57, Y:-16.13, Z:-1.54 [[ 9.94242729e-01 1.07150106e-01 -5.01272789e-04 2.76568205e+02] [-1.07150096e-01 9.94242855e-01 4.80554505e-05 -1.61321338e+01] [ 5.03536036e-04 5.93264500e-06 9.99999873e-01 -1.54215736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72028169299995 meters Centerline goodness [0,1] 0.9999784608094427 Centerline is valid? [True, True] Translation: X:276.60, Y:-16.14, Z:-1.54 [[ 9.94490352e-01 1.04825990e-01 -6.72564498e-04 2.76596933e+02] [-1.04825971e-01 9.94490579e-01 6.44987134e-05 -1.61388165e+01] [ 6.75620198e-04 6.35887816e-06 9.99999772e-01 -1.54119064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.750281693 meters Centerline goodness [0,1] 0.9999788009836343 Centerline is valid? [True, True] Translation: X:276.62, Y:-16.14, Z:-1.54 [[ 9.94642122e-01 1.03363583e-01 -1.73720493e-03 2.76624799e+02] [-1.03363450e-01 9.94643639e-01 1.66796228e-04 -1.61413654e+01] [ 1.74514049e-03 1.36609402e-05 9.99998477e-01 -1.54308795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.65, Y:-16.14, Z:-1.54 [[ 9.94768244e-01 1.02131148e-01 -2.31702855e-03 2.76653142e+02] [-1.02130907e-01 9.94770943e-01 2.22508642e-04 -1.61438513e+01] [ 2.32763774e-03 1.52956962e-05 9.99997291e-01 -1.54489063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.810281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.68, Y:-16.15, Z:-1.54 [[ 9.94766266e-01 1.02167737e-01 -1.35241125e-03 2.76681228e+02] [-1.02167655e-01 9.94767186e-01 1.29648107e-04 -1.61456322e+01] [ 1.35858018e-03 9.20312291e-06 9.99999077e-01 -1.54369671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.71, Y:-16.15, Z:-1.54 [[ 9.94740261e-01 1.02429268e-01 -2.40542891e-04 2.76710007e+02] [-1.02429266e-01 9.94740290e-01 2.28823099e-05 -1.61468479e+01] [ 2.41621523e-04 1.87667669e-06 9.99999971e-01 -1.54170085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.870281693 meters Centerline goodness [0,1] 0.9999787270251872 Centerline is valid? [True, True] Translation: X:276.74, Y:-16.14, Z:-1.54 [[ 9.94658454e-01 1.03219998e-01 4.37819725e-04 2.76739164e+02] [-1.03219989e-01 9.94658550e-01 -4.22363205e-05 -1.61435346e+01] [-4.39840766e-04 -3.18103401e-06 9.99999903e-01 -1.53974090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.77, Y:-16.14, Z:-1.54 [[ 9.94592794e-01 1.03851676e-01 -5.76414078e-05 2.76767674e+02] [-1.03851676e-01 9.94592796e-01 5.26003657e-06 -1.61423744e+01] [ 5.78759926e-05 7.54562312e-07 9.99999998e-01 -1.54085767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.930281693 meters Centerline goodness [0,1] 0.9999787595581988 Centerline is valid? [True, True] Translation: X:276.80, Y:-16.14, Z:-1.54 [[ 9.94507002e-01 1.04653465e-01 -1.86426032e-03 2.76796770e+02] [-1.04653314e-01 9.94508749e-01 1.78507727e-04 -1.61415610e+01] [ 1.87270465e-03 1.75738360e-05 9.99998246e-01 -1.54285458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96028169299996 meters Centerline goodness [0,1] 0.9999570925941818 Centerline is valid? [True, True] Translation: X:276.82, Y:-16.14, Z:-1.54 [[ 9.94499128e-01 1.04728203e-01 -1.86768648e-03 2.76824766e+02] [-1.04728052e-01 9.94500881e-01 1.78671119e-04 -1.61419202e+01] [ 1.87612775e-03 1.79108938e-05 9.99998240e-01 -1.54286524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.990281693 meters Centerline goodness [0,1] 0.9999785600960508 Centerline is valid? [True, True] Translation: X:276.85, Y:-16.14, Z:-1.54 [[ 9.94555507e-01 1.04204089e-01 -9.22218985e-04 2.76853751e+02] [-1.04204053e-01 9.94555935e-01 8.80935646e-05 -1.61428030e+01] [ 9.26378075e-04 8.48501579e-06 9.99999571e-01 -1.54147948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02028169299996 meters Centerline goodness [0,1] 0.9999578414839798 Centerline is valid? [True, True] Translation: X:276.88, Y:-16.14, Z:-1.54 [[ 9.94831508e-01 1.01531139e-01 1.30306183e-03 2.76881583e+02] [-1.01531062e-01 9.94832362e-01 -1.24987644e-04 -1.61425359e+01] [-1.30901822e-03 -7.95960600e-06 9.99999143e-01 -1.53837196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.050281693 meters Centerline goodness [0,1] 0.9999788426954406 Centerline is valid? [True, True] Translation: X:276.91, Y:-16.15, Z:-1.54 [[ 9.95014965e-01 9.97189939e-02 1.15806479e-03 2.76909747e+02] [-9.97189322e-02 9.95015639e-01 -1.10997142e-04 -1.61467076e+01] [-1.16336110e-03 -5.03716761e-06 9.99999323e-01 -1.53921891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.94, Y:-16.15, Z:-1.54 [[ 9.95380263e-01 9.60100104e-02 -4.58476728e-04 2.76937125e+02] [-9.60100006e-02 9.95380368e-01 4.35625645e-05 -1.61520732e+01] [ 4.60541177e-04 6.57034008e-07 9.99999894e-01 -1.54301512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.110281693 meters Centerline goodness [0,1] 0.9999147884623578 Centerline is valid? [True, True] Translation: X:276.97, Y:-16.15, Z:-1.54 [[ 9.95486723e-01 9.48925027e-02 -1.26360324e-03 2.76965641e+02] [-9.48924262e-02 9.95487525e-01 1.20536837e-04 -1.61537384e+01] [ 1.26933930e-03 -8.64433548e-08 9.99999194e-01 -1.54468927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14028169299996 meters Centerline goodness [0,1] 0.9998732010397515 Centerline is valid? [True, True] Translation: X:276.99, Y:-16.15, Z:-1.54 [[ 9.95546251e-01 9.42621707e-02 -1.51819857e-03 2.76994274e+02] [-9.42620595e-02 9.95547409e-01 1.44794003e-04 -1.61529531e+01] [ 1.52508725e-03 -1.04060330e-06 9.99998837e-01 -1.54482223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.170281693 meters Centerline goodness [0,1] 0.9997881221264063 Centerline is valid? [True, True] Translation: X:277.02, Y:-16.15, Z:-1.54 [[ 9.95580878e-01 9.38985447e-02 -1.33402300e-03 2.77023439e+02] [-9.38984586e-02 9.95581771e-01 1.27142058e-04 -1.61549995e+01] [ 1.34006744e-03 -1.31749780e-06 9.99999102e-01 -1.54413568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20028169299997 meters Centerline goodness [0,1] 0.999829689396036 Centerline is valid? [True, True] Translation: X:277.05, Y:-16.16, Z:-1.54 [[ 9.95671534e-01 9.29386822e-02 -7.73677123e-04 2.77052498e+02] [-9.29386531e-02 9.95671834e-01 7.36048065e-05 -1.61577010e+01] [ 7.77169254e-04 -1.38170076e-06 9.99999698e-01 -1.54254877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23028169299994 meters Centerline goodness [0,1] 0.9998074124796713 Centerline is valid? [True, True] Translation: X:277.08, Y:-16.16, Z:-1.54 [[ 9.95820942e-01 9.13271578e-02 -4.89643577e-05 2.77080429e+02] [-9.13271577e-02 9.95820943e-01 4.39666534e-06 -1.61618722e+01] [ 4.91612678e-05 9.34842032e-08 9.99999999e-01 -1.54173100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26028169299997 meters Centerline goodness [0,1] 0.999576432716337 Centerline is valid? [True, True] Translation: X:277.11, Y:-16.17, Z:-1.54 [[ 9.96172010e-01 8.73914190e-02 2.01629846e-03 2.77108983e+02] [-8.73912086e-02 9.96174051e-01 -1.92401686e-04 -1.61688452e+01] [-2.02539846e-03 1.54584152e-05 9.99997949e-01 -1.53859077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29028169299994 meters Centerline goodness [0,1] 0.9995079266596778 Centerline is valid? [True, True] Translation: X:277.14, Y:-16.18, Z:-1.54 [[ 9.96359823e-01 8.52156124e-02 2.32422476e-03 2.77136152e+02] [-8.52153272e-02 9.96362534e-01 -2.21670092e-04 -1.61761978e+01] [-2.33466022e-03 2.28036009e-05 9.99997274e-01 -1.53862817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32028169299997 meters Centerline goodness [0,1] 0.999552648957246 Centerline is valid? [True, True] Translation: X:277.16, Y:-16.19, Z:-1.54 [[ 9.96749995e-01 8.05452291e-02 1.38318738e-03 2.77164411e+02] [-8.05451238e-02 9.96750955e-01 -1.31752233e-04 -1.61899574e+01] [-1.38930536e-03 1.99150385e-05 9.99999035e-01 -1.54017337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35028169299994 meters Centerline goodness [0,1] 0.9995342535354391 Centerline is valid? [True, True] Translation: X:277.19, Y:-16.20, Z:-1.54 [[ 9.96880804e-01 7.89203610e-02 4.88786234e-04 2.77193036e+02] [-7.89203476e-02 9.96880924e-01 -4.66883836e-05 -1.61972817e+01] [-4.90946337e-04 7.96757392e-06 9.99999879e-01 -1.54217913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.380281693 meters Centerline goodness [0,1] 0.9994711792702274 Centerline is valid? [True, True] Translation: X:277.22, Y:-16.20, Z:-1.55 [[ 9.96937170e-01 7.82056682e-02 -3.91380894e-04 2.77221953e+02] [-7.82056597e-02 9.96937246e-01 3.71574452e-05 -1.62032592e+01] [ 3.93088114e-04 -6.43543724e-06 9.99999923e-01 -1.54536362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41028169299994 meters Centerline goodness [0,1] 0.9993838177800441 Centerline is valid? [True, True] Translation: X:277.25, Y:-16.21, Z:-1.55 [[ 9.96915140e-01 7.84505934e-02 -2.38911608e-03 2.77250520e+02] [-7.84502741e-02 9.96918002e-01 2.27225399e-04 -1.62104245e+01] [ 2.39957879e-03 -3.90976293e-05 9.99997120e-01 -1.54889525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.440281693 meters Centerline goodness [0,1] 0.99946718953134 Centerline is valid? [True, True] Translation: X:277.28, Y:-16.22, Z:-1.55 [[ 9.96887925e-01 7.87861021e-02 -2.68625547e-03 2.77279025e+02] [-7.87857001e-02 9.96891543e-01 2.55329795e-04 -1.62151552e+01] [ 2.69802180e-03 -4.28966716e-05 9.99996359e-01 -1.54867651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47028169299995 meters Centerline goodness [0,1] 0.9994097683340711 Centerline is valid? [True, True] Translation: X:277.31, Y:-16.22, Z:-1.55 [[ 9.96871876e-01 7.90014204e-02 -2.28873537e-03 2.77306983e+02] [-7.90011292e-02 9.96874503e-01 2.17491133e-04 -1.62218102e+01] [ 2.29876404e-03 -3.59981150e-05 9.99997357e-01 -1.54816475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.500281693 meters Centerline goodness [0,1] 0.9995135260898074 Centerline is valid? [True, True] Translation: X:277.34, Y:-16.23, Z:-1.54 [[ 9.96785770e-01 8.01129882e-02 -1.95175872e-04 2.77335996e+02] [-8.01129861e-02 9.96785789e-01 1.84510413e-05 -1.62290913e+01] [ 1.96026704e-04 -2.75561349e-06 9.99999981e-01 -1.54431007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53028169299995 meters Centerline goodness [0,1] 0.9996349816417237 Centerline is valid? [True, True] Translation: X:277.37, Y:-16.23, Z:-1.54 [[ 9.96687155e-01 8.13297144e-02 4.38275924e-04 2.77365532e+02] [-8.13297039e-02 9.96687252e-01 -4.17681087e-05 -1.62306478e+01] [-4.40221015e-04 5.98488625e-06 9.99999903e-01 -1.54261068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.560281693 meters Centerline goodness [0,1] 0.9995565129244804 Centerline is valid? [True, True] Translation: X:277.39, Y:-16.23, Z:-1.54 [[ 9.96376029e-01 8.50576718e-02 2.29988540e-05 2.77393670e+02] [-8.50576718e-02 9.96376030e-01 -2.34959879e-06 -1.62344752e+01] [-2.31153583e-05 3.84854932e-07 1.00000000e+00 -1.54484213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59028169299995 meters Centerline goodness [0,1] 0.9996197879261544 Centerline is valid? [True, True] Translation: X:277.42, Y:-16.24, Z:-1.55 [[ 9.96163261e-01 8.75137039e-02 -3.29637763e-04 2.77421953e+02] [-8.75136983e-02 9.96163316e-01 3.11520882e-05 -1.62359847e+01] [ 3.31099281e-04 -2.18474602e-06 9.99999945e-01 -1.54572009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.620281693 meters Centerline goodness [0,1] 0.9996416299513038 Centerline is valid? [True, True] Translation: X:277.45, Y:-16.24, Z:-1.55 [[ 9.95963643e-01 8.97565482e-02 -4.29843243e-04 2.77451359e+02] [-8.97565390e-02 9.95963735e-01 4.05959894e-05 -1.62356844e+01] [ 4.31752038e-04 -1.85088761e-06 9.99999907e-01 -1.54571978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65028169299995 meters Centerline goodness [0,1] 0.9996995256798231 Centerline is valid? [True, True] Translation: X:277.48, Y:-16.24, Z:-1.54 [[ 9.95765127e-01 9.19322559e-02 -5.22392644e-04 2.77480483e+02] [-9.19322426e-02 9.95765264e-01 4.93458064e-05 -1.62356849e+01] [ 5.24716920e-04 -1.11210585e-06 9.99999862e-01 -1.54474448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.680281693 meters Centerline goodness [0,1] 0.999679610406254 Centerline is valid? [True, True] Translation: X:277.51, Y:-16.24, Z:-1.54 [[ 9.95761890e-01 9.19676715e-02 -4.52702004e-04 2.77509274e+02] [-9.19676616e-02 9.95761993e-01 4.27119981e-05 -1.62396612e+01] [ 4.54711573e-04 -8.97035308e-07 9.99999897e-01 -1.54489044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71028169299996 meters Centerline goodness [0,1] 0.9997021973580651 Centerline is valid? [True, True] Translation: X:277.54, Y:-16.25, Z:-1.55 [[ 9.95779854e-01 9.17736219e-02 -2.92521439e-04 2.77537804e+02] [-9.17736178e-02 9.95779897e-01 2.75660615e-05 -1.62453638e+01] [ 2.93816805e-04 -6.03977983e-07 9.99999957e-01 -1.54660208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.740281693 meters Centerline goodness [0,1] 0.9998102106661606 Centerline is valid? [True, True] Translation: X:277.57, Y:-16.25, Z:-1.55 [[ 9.95890806e-01 9.05621305e-02 4.69728015e-05 2.77565808e+02] [-9.05621304e-02 9.95890808e-01 -4.60468057e-06 -1.62548421e+01] [-4.71967909e-05 3.31802069e-07 9.99999999e-01 -1.54727670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77028169299996 meters Centerline goodness [0,1] 0.9997678100263853 Centerline is valid? [True, True] Translation: X:277.59, Y:-16.26, Z:-1.55 [[ 9.95913666e-01 9.03103269e-02 1.25224809e-04 2.77594140e+02] [-9.03103261e-02 9.95913673e-01 -1.19728643e-05 -1.62593940e+01] [-1.25794373e-04 6.14845824e-07 9.99999992e-01 -1.54779179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.800281693 meters Centerline goodness [0,1] 0.9996796446190974 Centerline is valid? [True, True] Translation: X:277.62, Y:-16.26, Z:-1.55 [[ 9.95875259e-01 9.07320924e-02 3.94731595e-04 2.77623828e+02] [-9.07320846e-02 9.95875337e-01 -3.75015331e-05 -1.62617695e+01] [-3.96506053e-04 1.53202849e-06 9.99999921e-01 -1.54517646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83028169299996 meters Centerline goodness [0,1] 0.999704079475798 Centerline is valid? [True, True] Translation: X:277.65, Y:-16.27, Z:-1.55 [[ 9.95845469e-01 9.10593232e-02 3.84297640e-05 2.77652116e+02] [-9.10593231e-02 9.95845470e-01 -3.80341074e-06 -1.62652564e+01] [-3.86164424e-05 2.88221054e-07 9.99999999e-01 -1.54653031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.860281693 meters Centerline goodness [0,1] 0.9997434088139072 Centerline is valid? [True, True] Translation: X:277.68, Y:-16.27, Z:-1.55 [[ 9.95795619e-01 9.16003767e-02 -6.75607200e-04 2.77680306e+02] [-9.16003545e-02 9.95795848e-01 6.38438249e-05 -1.62680062e+01] [ 6.78614963e-04 -1.68954207e-06 9.99999770e-01 -1.54876560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89028169299996 meters Centerline goodness [0,1] 0.9996834441278886 Centerline is valid? [True, True] Translation: X:277.71, Y:-16.27, Z:-1.55 [[ 9.95767560e-01 9.18980456e-02 -1.30954324e-03 2.77710085e+02] [-9.18979622e-02 9.95768421e-01 1.23843094e-04 -1.62704635e+01] [ 1.31538275e-03 -2.97457969e-06 9.99999135e-01 -1.55047813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.920281693 meters Centerline goodness [0,1] 0.9999572393739844 Centerline is valid? [True, True] Translation: X:277.74, Y:-16.27, Z:-1.55 [[ 9.95702637e-01 9.26069957e-02 -4.50662601e-04 2.77739436e+02] [-9.26069859e-02 9.95702739e-01 4.25319819e-05 -1.62725597e+01] [ 4.52664745e-04 -6.14701368e-07 9.99999898e-01 -1.54771775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95028169299997 meters Centerline goodness [0,1] 0.9999152685985426 Centerline is valid? [True, True] Translation: X:277.77, Y:-16.27, Z:-1.55 [[ 9.95606999e-01 9.36267514e-02 8.57014107e-04 2.77768506e+02] [-9.36267162e-02 9.95607368e-01 -8.11861011e-05 -1.62745525e+01] [-8.60850751e-04 5.90033893e-07 9.99999629e-01 -1.54700447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98028169299994 meters Centerline goodness [0,1] 0.999872451691078 Centerline is valid? [True, True] Translation: X:277.80, Y:-16.27, Z:-1.54 [[ 9.95321618e-01 9.65785585e-02 2.73107505e-03 2.77798738e+02] [-9.65782131e-02 9.95325365e-01 -2.58398703e-04 -1.62735652e+01] [-2.74326404e-03 -6.57253262e-06 9.99996237e-01 -1.54205745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01028169299997 meters Centerline goodness [0,1] 0.9998090712376426 Centerline is valid? [True, True] Translation: X:277.83, Y:-16.27, Z:-1.54 [[ 9.95151878e-01 9.83087822e-02 2.85020529e-03 2.77827448e+02] [-9.83084132e-02 9.95155959e-01 -2.69619885e-04 -1.62732713e+01] [-2.86290478e-03 -1.18864248e-05 9.99995902e-01 -1.54237832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04028169299994 meters Centerline goodness [0,1] 0.999915636731767 Centerline is valid? [True, True] Translation: X:277.86, Y:-16.27, Z:-1.54 [[ 9.94938135e-01 1.00466456e-01 2.14436015e-03 2.77856204e+02] [-1.00466252e-01 9.94940446e-01 -2.02814170e-04 -1.62703759e+01] [-2.15388667e-03 -1.36482759e-05 9.99997680e-01 -1.54425029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07028169299997 meters Centerline goodness [0,1] 0.9998723431416353 Centerline is valid? [True, True] Translation: X:277.89, Y:-16.26, Z:-1.54 [[ 9.94311947e-01 1.06490119e-01 1.89927423e-03 2.77886823e+02] [-1.06489970e-01 9.94313760e-01 -1.79553784e-04 -1.62645661e+01] [-1.90759520e-03 -2.37211834e-05 9.99998180e-01 -1.54417671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10028169299994 meters Centerline goodness [0,1] 0.9996399754336178 Centerline is valid? [True, True] Translation: X:277.92, Y:-16.26, Z:-1.54 [[ 9.93986200e-01 1.09484294e-01 2.15039114e-03 2.77917176e+02] [-1.09484111e-01 9.93988525e-01 -2.03230405e-04 -1.62618610e+01] [-2.15971466e-03 -3.34254436e-05 9.99997667e-01 -1.54322450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.130281693 meters Centerline goodness [0,1] 0.999406779661017 Centerline is valid? [True, True] Translation: X:277.95, Y:-16.25, Z:-1.54 [[ 9.93554323e-01 1.13345966e-01 1.58119425e-03 2.77945959e+02] [-1.13345871e-01 9.93555580e-01 -1.49445353e-04 -1.62549479e+01] [-1.58794340e-03 -3.07397638e-05 9.99998739e-01 -1.54364162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16028169299994 meters Centerline goodness [0,1] 0.9993170565135735 Centerline is valid? [True, True] Translation: X:277.97, Y:-16.26, Z:-1.54 [[ 9.93475008e-01 1.14044593e-01 1.11305245e-03 2.77974765e+02] [-1.14044547e-01 9.93475631e-01 -1.05269214e-04 -1.62551010e+01] [-1.11779587e-03 -2.23552287e-05 9.99999375e-01 -1.54435540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.190281693 meters Centerline goodness [0,1] 0.9993828999446738 Centerline is valid? [True, True] Translation: X:278.00, Y:-16.26, Z:-1.54 [[ 9.93501993e-01 1.13809493e-01 1.09038215e-03 2.78002359e+02] [-1.13809449e-01 9.93502591e-01 -1.03120457e-04 -1.62550701e+01] [-1.09503358e-03 -2.16454125e-05 9.99999400e-01 -1.54484673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22028169299995 meters Centerline goodness [0,1] 0.9989876144318793 Centerline is valid? [True, True] Translation: X:278.03, Y:-16.25, Z:-1.54 [[ 9.93585599e-01 1.13036949e-01 3.21034693e-03 2.78030969e+02] [-1.13036560e-01 9.93590783e-01 -3.02888609e-04 -1.62544373e+01] [-3.22400872e-03 -6.19408130e-05 9.99994801e-01 -1.54079814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.250281693 meters Centerline goodness [0,1] 0.9990703506723743 Centerline is valid? [True, True] Translation: X:278.06, Y:-16.26, Z:-1.54 [[ 9.93568021e-01 1.13156854e-01 4.25609875e-03 2.78059087e+02] [-1.13156173e-01 9.93577133e-01 -4.01294811e-04 -1.62587584e+01] [-4.27417166e-03 -8.28901535e-05 9.99990862e-01 -1.53840182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28028169299995 meters Centerline goodness [0,1] 0.9989984017048482 Centerline is valid? [True, True] Translation: X:278.09, Y:-16.25, Z:-1.54 [[ 9.93517055e-01 1.13608229e-01 4.12698812e-03 2.78087953e+02] [-1.13607593e-01 9.93525623e-01 -3.88933590e-04 -1.62530813e+01] [-4.14445449e-03 -8.24450333e-05 9.99991408e-01 -1.53918997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.310281693 meters Centerline goodness [0,1] 0.9982523740340682 Centerline is valid? [True, True] Translation: X:278.12, Y:-16.25, Z:-1.54 [[ 9.93496029e-01 1.13811817e-01 3.53694763e-03 2.78116735e+02] [-1.13811352e-01 9.93502323e-01 -3.33152139e-04 -1.62485205e+01] [-3.55188233e-03 -7.15594656e-05 9.99993689e-01 -1.54114969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34028169299995 meters Centerline goodness [0,1] 0.998383907117188 Centerline is valid? [True, True] Translation: X:278.15, Y:-16.24, Z:-1.55 [[ 9.93389335e-01 1.14781197e-01 1.70491324e-03 2.78145316e+02] [-1.14781091e-01 9.93390797e-01 -1.60620602e-04 -1.62413838e+01] [-1.71208135e-03 -3.61330092e-05 9.99998534e-01 -1.54640873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.370281693 meters Centerline goodness [0,1] 0.998757551090356 Centerline is valid? [True, True] Translation: X:278.17, Y:-16.24, Z:-1.55 [[ 9.93326432e-01 1.15336889e-01 3.27248080e-05 2.78174111e+02] [-1.15336889e-01 9.93326433e-01 -3.28204852e-06 -1.62386293e+01] [-3.28849580e-05 -5.14232009e-07 9.99999999e-01 -1.54995186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40028169299995 meters Centerline goodness [0,1] 0.9988115197690953 Centerline is valid? [True, True] Translation: X:278.20, Y:-16.24, Z:-1.55 [[ 9.93285687e-01 1.15677981e-01 -1.46567992e-03 2.78202108e+02] [-1.15677904e-01 9.93286768e-01 1.37460033e-04 -1.62359168e+01] [ 1.47174157e-03 3.30096972e-05 9.99998916e-01 -1.55268615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.430281693 meters Centerline goodness [0,1] 0.9993650256106337 Centerline is valid? [True, True] Translation: X:278.23, Y:-16.24, Z:-1.55 [[ 9.93346686e-01 1.15146541e-01 -1.90676072e-03 2.78231066e+02] [-1.15146410e-01 9.93348515e-01 1.78872239e-04 -1.62359000e+01] [ 1.91467445e-03 4.18745048e-05 9.99998166e-01 -1.55346801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46028169299996 meters Centerline goodness [0,1] 0.9996354591070893 Centerline is valid? [True, True] Translation: X:278.26, Y:-16.25, Z:-1.55 [[ 9.93802114e-01 1.11163468e-01 -2.04796593e-04 2.78260104e+02] [-1.11163466e-01 9.93802135e-01 1.91185906e-05 -1.62461839e+01] [ 2.05652580e-04 3.76580334e-06 9.99999979e-01 -1.54912635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.490281693 meters Centerline goodness [0,1] 0.9995307767777162 Centerline is valid? [True, True] Translation: X:278.29, Y:-16.25, Z:-1.55 [[ 9.94137058e-01 1.08119244e-01 1.31894093e-03 2.78287692e+02] [-1.08119175e-01 9.94137932e-01 -1.24022931e-04 -1.62479012e+01] [-1.32461847e-03 -1.93070133e-05 9.99999123e-01 -1.54849178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52028169299996 meters Centerline goodness [0,1] 0.9998068918165043 Centerline is valid? [True, True] Translation: X:278.32, Y:-16.26, Z:-1.55 [[ 9.94485568e-01 1.04845033e-01 2.44405363e-03 2.78315809e+02] [-1.04844786e-01 9.94488571e-01 -2.29451508e-04 -1.62576874e+01] [-2.45464025e-03 -2.80600666e-05 9.99996987e-01 -1.54617899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.550281693 meters Centerline goodness [0,1] 0.9998068918165043 Centerline is valid? [True, True] Translation: X:278.34, Y:-16.26, Z:-1.55 [[ 9.94490430e-01 1.04798904e-01 2.44406432e-03 2.78344022e+02] [-1.04798657e-01 9.94493433e-01 -2.29337561e-04 -1.62602416e+01] [-2.45464024e-03 -2.80606484e-05 9.99996987e-01 -1.54631236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58028169299996 meters Centerline goodness [0,1] 0.9999575353518196 Centerline is valid? [True, True] Translation: X:278.37, Y:-16.27, Z:-1.55 [[ 9.95060688e-01 9.92300310e-02 2.76184464e-03 2.78371584e+02] [-9.92296943e-02 9.95064521e-01 -2.58998092e-04 -1.62685531e+01] [-2.77391400e-03 -1.63381791e-05 9.99996153e-01 -1.54716353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.610281693 meters Centerline goodness [0,1] 0.9999576342992713 Centerline is valid? [True, True] Translation: X:278.40, Y:-16.27, Z:-1.55 [[ 9.95256963e-01 9.72643683e-02 1.79463309e-03 2.78399352e+02] [-9.72642229e-02 9.95258581e-01 -1.68320947e-04 -1.62741037e+01] [-1.80249561e-03 -7.03099880e-06 9.99998375e-01 -1.54915994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64028169299996 meters Centerline goodness [0,1] 0.9999574766653201 Centerline is valid? [True, True] Translation: X:278.43, Y:-16.28, Z:-1.56 [[ 9.95475397e-01 9.50031524e-02 -1.77065725e-03 2.78427011e+02] [-9.50030084e-02 9.95476972e-01 1.65435749e-04 -1.62804291e+01] [ 1.77836544e-03 3.53054785e-06 9.99998419e-01 -1.55585275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.670281693 meters Centerline goodness [0,1] 0.9999358631747729 Centerline is valid? [True, True] Translation: X:278.46, Y:-16.28, Z:-1.56 [[ 9.95407592e-01 9.56903984e-02 -2.65969779e-03 2.78455117e+02] [-9.56900761e-02 9.95411145e-01 2.48456566e-04 -1.62806453e+01] [ 2.67126773e-03 7.19113186e-06 9.99996432e-01 -1.55930817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.48, Y:-16.28, Z:-1.56 [[ 9.95244025e-01 9.73745337e-02 -2.74421232e-03 2.78483749e+02] [-9.73741971e-02 9.95247808e-01 2.56306905e-04 -1.62808973e+01] [ 2.75612906e-03 1.21275552e-05 9.99996202e-01 -1.55734626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73028169299994 meters Centerline goodness [0,1] 0.9999144238586282 Centerline is valid? [True, True] Translation: X:278.51, Y:-16.28, Z:-1.55 [[ 9.94816524e-01 1.01686097e-01 1.47155941e-04 2.78512610e+02] [-1.01686096e-01 9.94816535e-01 -1.39731827e-05 -1.62789856e+01] [-1.47814042e-04 -1.06296000e-06 9.99999989e-01 -1.55122848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76028169299997 meters Centerline goodness [0,1] 0.9999148845621875 Centerline is valid? [True, True] Translation: X:278.54, Y:-16.28, Z:-1.55 [[ 9.94634143e-01 1.03438935e-01 1.81910735e-03 2.78540156e+02] [-1.03438797e-01 9.94635806e-01 -1.70128420e-04 -1.62790488e+01] [-1.82694721e-03 -1.89507407e-05 9.99998331e-01 -1.54794106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79028169299994 meters Centerline goodness [0,1] 0.9997655883731833 Centerline is valid? [True, True] Translation: X:278.57, Y:-16.28, Z:-1.55 [[ 9.94554807e-01 1.04169251e-01 3.08261174e-03 2.78569003e+02] [-1.04168859e-01 9.94559584e-01 -2.87898071e-04 -1.62801325e+01] [-3.09583118e-03 -3.47817358e-05 9.99995207e-01 -1.54599834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82028169299997 meters Centerline goodness [0,1] 0.9999362448198916 Centerline is valid? [True, True] Translation: X:278.60, Y:-16.28, Z:-1.55 [[ 9.94505637e-01 1.04655624e-01 2.39567027e-03 2.78597569e+02] [-1.04655389e-01 9.94508522e-01 -2.23677453e-04 -1.62809685e+01] [-2.40592361e-03 -2.82713161e-05 9.99997105e-01 -1.54773288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85028169299994 meters Centerline goodness [0,1] 0.9998720955020252 Centerline is valid? [True, True] Translation: X:278.63, Y:-16.28, Z:-1.55 [[ 9.94491379e-01 1.04808820e-01 1.41684006e-03 2.78626609e+02] [-1.04808738e-01 9.94492389e-01 -1.32312472e-04 -1.62845006e+01] [-1.42290417e-03 -1.69136054e-05 9.99998988e-01 -1.55059279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.880281693 meters Centerline goodness [0,1] 0.999936100875418 Centerline is valid? [True, True] Translation: X:278.65, Y:-16.29, Z:-1.56 [[ 9.94559766e-01 1.04164405e-01 -8.04955957e-04 2.78654024e+02] [-1.04164379e-01 9.94560092e-01 7.46963618e-05 -1.62877019e+01] [ 8.08357773e-04 9.55774112e-06 9.99999673e-01 -1.55637039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91028169299994 meters Centerline goodness [0,1] 0.99997873833266 Centerline is valid? [True, True] Translation: X:278.68, Y:-16.29, Z:-1.55 [[ 9.94602050e-01 1.03761645e-01 -5.31743478e-04 2.78682102e+02] [-1.03761634e-01 9.94602192e-01 4.92888854e-05 -1.62924903e+01] [ 5.33987525e-04 6.15174563e-06 9.99999857e-01 -1.55493347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.940281693 meters Centerline goodness [0,1] 0.9998510257938197 Centerline is valid? [True, True] Translation: X:278.71, Y:-16.29, Z:-1.55 [[ 9.94590563e-01 1.03871309e-01 6.02946419e-04 2.78711134e+02] [-1.03871294e-01 9.94590746e-01 -5.63393970e-05 -1.62937805e+01] [-6.05536976e-04 -6.59419203e-06 9.99999817e-01 -1.55208294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97028169299995 meters Centerline goodness [0,1] 0.9996405539697643 Centerline is valid? [True, True] Translation: X:278.74, Y:-16.29, Z:-1.55 [[ 9.94476499e-01 1.04889941e-01 3.82013716e-03 2.78738977e+02] [-1.04889349e-01 9.94483835e-01 -3.55578909e-04 -1.62909097e+01] [-3.83636130e-03 -4.70768318e-05 9.99992640e-01 -1.54659375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.000281693 meters Centerline goodness [0,1] 0.9996168663927971 Centerline is valid? [True, True] Translation: X:278.77, Y:-16.29, Z:-1.55 [[ 9.94440981e-01 1.05225758e-01 3.83080964e-03 2.78767725e+02] [-1.05225166e-01 9.94448358e-01 -3.56331850e-04 -1.62926832e+01] [-3.84703764e-03 -4.87465857e-05 9.99992599e-01 -1.54663519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03028169299995 meters Centerline goodness [0,1] 0.9998097130896252 Centerline is valid? [True, True] Translation: X:278.80, Y:-16.29, Z:-1.55 [[ 9.94460850e-01 1.05070400e-01 2.79801414e-03 2.78796960e+02] [-1.05070084e-01 9.94464786e-01 -2.60192889e-04 -1.62941159e+01] [-2.80986510e-03 -3.52359393e-05 9.99996052e-01 -1.54941767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.060281693 meters Centerline goodness [0,1] 0.9998943676849622 Centerline is valid? [True, True] Translation: X:278.82, Y:-16.30, Z:-1.55 [[ 9.94681515e-01 1.02994043e-01 9.54468109e-04 2.78824875e+02] [-1.02994005e-01 9.94681973e-01 -8.89007994e-05 -1.62967459e+01] [-9.58548474e-04 -9.87651126e-06 9.99999541e-01 -1.55437858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09028169299995 meters Centerline goodness [0,1] 0.9999575200186912 Centerline is valid? [True, True] Translation: X:278.85, Y:-16.30, Z:-1.55 [[ 9.94854816e-01 1.01310515e-01 2.74664467e-04 2.78853044e+02] [-1.01310511e-01 9.94854854e-01 -2.57125177e-05 -1.63006033e+01] [-2.75856227e-04 -2.24617563e-06 9.99999962e-01 -1.55494117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.120281693 meters Centerline goodness [0,1] 0.9999573842449554 Centerline is valid? [True, True] Translation: X:278.88, Y:-16.30, Z:-1.55 [[ 9.95014737e-01 9.97270957e-02 4.23993530e-04 2.78880471e+02] [-9.97270879e-02 9.95014827e-01 -3.96002482e-05 -1.63041942e+01] [-4.25829067e-04 -2.88080947e-06 9.99999909e-01 -1.55466014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.91, Y:-16.31, Z:-1.55 [[ 9.95399181e-01 9.57901019e-02 2.17417603e-03 2.78908723e+02] [-9.57898897e-02 9.95401555e-01 -2.01767331e-04 -1.63117289e+01] [-2.18350551e-03 -7.42504549e-06 9.99997616e-01 -1.55110126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.180281693 meters Centerline goodness [0,1] 0.9999574893191915 Centerline is valid? [True, True] Translation: X:278.94, Y:-16.32, Z:-1.55 [[ 9.95566000e-01 9.40335231e-02 2.45691704e-03 2.78937476e+02] [-9.40332471e-02 9.95569032e-01 -2.27862884e-04 -1.63172021e+01] [-2.46745727e-03 -4.17934731e-06 9.99996956e-01 -1.55105912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21028169299996 meters Centerline goodness [0,1] 0.9999568500539374 Centerline is valid? [True, True] Translation: X:278.97, Y:-16.32, Z:-1.56 [[ 9.95681849e-01 9.28309215e-02 2.75070750e-04 2.78966206e+02] [-9.28309179e-02 9.95681887e-01 -2.56983718e-05 -1.63209337e+01] [-2.76268567e-04 5.23321757e-08 9.99999962e-01 -1.55530855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.240281693 meters Centerline goodness [0,1] 0.999957720277355 Centerline is valid? [True, True] Translation: X:278.99, Y:-16.32, Z:-1.56 [[ 9.95630655e-01 9.33735328e-02 -9.90947523e-04 2.78993824e+02] [-9.33734881e-02 9.95631148e-01 9.14029919e-05 -1.63211883e+01] [ 9.95152841e-04 1.52460600e-06 9.99999505e-01 -1.55777681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.02, Y:-16.32, Z:-1.56 [[ 9.95472096e-01 9.50498014e-02 -9.17399840e-04 2.79022504e+02] [-9.50497638e-02 9.95472519e-01 8.46363827e-05 -1.63200478e+01] [ 9.21291000e-04 2.94548084e-06 9.99999576e-01 -1.55645598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.300281693 meters Centerline goodness [0,1] 0.9999788032303877 Centerline is valid? [True, True] Translation: X:279.05, Y:-16.31, Z:-1.55 [[ 9.94993618e-01 9.99333229e-02 1.01567366e-03 2.79052415e+02] [-9.99332789e-02 9.94994136e-01 -9.41154256e-05 -1.63123231e+01] [-1.01999460e-03 -7.85535092e-06 9.99999480e-01 -1.55188574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33028169299996 meters Centerline goodness [0,1] 0.9999145846679479 Centerline is valid? [True, True] Translation: X:279.08, Y:-16.31, Z:-1.55 [[ 9.94776947e-01 1.02049335e-01 2.18138853e-03 2.79081979e+02] [-1.02049138e-01 9.94779339e-01 -2.01785761e-04 -1.63103078e+01] [-2.19059235e-03 -2.18769961e-05 9.99997600e-01 -1.55030469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.360281693 meters Centerline goodness [0,1] 0.9997020262216925 Centerline is valid? [True, True] Translation: X:279.11, Y:-16.30, Z:-1.55 [[ 9.94454175e-01 1.05076664e-01 4.44853809e-03 2.79110420e+02] [-1.05075876e-01 9.94464123e-01 -4.11057681e-04 -1.63015376e+01] [-4.46710410e-03 -5.86560108e-05 9.99990021e-01 -1.54735981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39028169299996 meters Centerline goodness [0,1] 0.999535786630655 Centerline is valid? [True, True] Translation: X:279.14, Y:-16.30, Z:-1.55 [[ 9.94353770e-01 1.06022546e-01 4.44959089e-03 2.79138498e+02] [-1.06021769e-01 9.94363724e-01 -4.10887972e-04 -1.62965349e+01] [-4.46807516e-03 -6.31854922e-05 9.99990016e-01 -1.54728066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.420281693 meters Centerline goodness [0,1] 0.9995748570456816 Centerline is valid? [True, True] Translation: X:279.17, Y:-16.30, Z:-1.55 [[ 9.94289270e-01 1.06636779e-01 4.17666520e-03 2.79167463e+02] [-1.06636100e-01 9.94298041e-01 -3.85448959e-04 -1.62966116e+01] [-4.19395306e-03 -6.21355243e-05 9.99991203e-01 -1.54795244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45028169299997 meters Centerline goodness [0,1] 0.9997451309389801 Centerline is valid? [True, True] Translation: X:279.20, Y:-16.30, Z:-1.55 [[ 9.94490554e-01 1.04777874e-01 3.18353424e-03 2.79196795e+02] [-1.04777471e-01 9.94495649e-01 -2.93699905e-04 -1.62963216e+01] [-3.19678420e-03 -4.14808850e-05 9.99994889e-01 -1.54989946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48028169299994 meters Centerline goodness [0,1] 0.9998284954765682 Centerline is valid? [True, True] Translation: X:279.23, Y:-16.30, Z:-1.55 [[ 9.94689978e-01 1.02866282e-01 3.22100160e-03 2.79225133e+02] [-1.02865860e-01 9.94695193e-01 -2.97002217e-04 -1.62995220e+01] [-3.23446632e-03 -3.59059698e-05 9.99994768e-01 -1.55055626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51028169299997 meters Centerline goodness [0,1] 0.9998929863236522 Centerline is valid? [True, True] Translation: X:279.25, Y:-16.30, Z:-1.55 [[ 9.95047431e-01 9.93799226e-02 2.05922404e-03 2.79253502e+02] [-9.93797425e-02 9.95049562e-01 -1.89860997e-04 -1.63048382e+01] [-2.06789835e-03 -1.57244572e-05 9.99997862e-01 -1.55382316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.28, Y:-16.31, Z:-1.56 [[ 9.95128958e-01 9.85724134e-02 1.35527117e-03 2.79281743e+02] [-9.85723346e-02 9.95129881e-01 -1.25005914e-04 -1.63063632e+01] [-1.36099297e-03 -9.19523807e-06 9.99999074e-01 -1.55544661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57028169299997 meters Centerline goodness [0,1] 0.999936263782957 Centerline is valid? [True, True] Translation: X:279.31, Y:-16.30, Z:-1.55 [[ 9.95042703e-01 9.94355506e-02 1.60973742e-03 2.79310159e+02] [-9.94354407e-02 9.95044005e-01 -1.48324667e-04 -1.63039055e+01] [-1.61650831e-03 -1.24755719e-05 9.99998693e-01 -1.55475997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60028169299994 meters Centerline goodness [0,1] 0.9998307666271788 Centerline is valid? [True, True] Translation: X:279.34, Y:-16.30, Z:-1.55 [[ 9.94962792e-01 1.00214268e-01 2.47851725e-03 2.79338990e+02] [-1.00214011e-01 9.94965879e-01 -2.28066395e-04 -1.63042118e+01] [-2.48889560e-03 -2.14645775e-05 9.99996902e-01 -1.55329368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.630281693 meters Centerline goodness [0,1] 0.9997239270317909 Centerline is valid? [True, True] Translation: X:279.37, Y:-16.31, Z:-1.55 [[ 9.94947353e-01 1.00336600e-01 3.51171802e-03 2.79365714e+02] [-1.00336085e-01 9.94953550e-01 -3.22929291e-04 -1.63057414e+01] [-3.52639794e-03 -3.10543958e-05 9.99993782e-01 -1.55238708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66028169299994 meters Centerline goodness [0,1] 0.9997457680981335 Centerline is valid? [True, True] Translation: X:279.39, Y:-16.31, Z:-1.56 [[ 9.95052308e-01 9.93284331e-02 2.18313261e-03 2.79393723e+02] [-9.93282320e-02 9.95054703e-01 -2.00641521e-04 -1.63109228e+01] [-2.19226578e-03 -1.71978937e-05 9.99997597e-01 -1.55503090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.690281693 meters Centerline goodness [0,1] 0.999828840393667 Centerline is valid? [True, True] Translation: X:279.42, Y:-16.32, Z:-1.56 [[ 9.95140479e-01 9.84601477e-02 1.01315552e-03 2.79421714e+02] [-9.84601038e-02 9.95140995e-01 -9.32723832e-05 -1.63153060e+01] [-1.01741620e-03 -6.93627346e-06 9.99999482e-01 -1.55752000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72028169299995 meters Centerline goodness [0,1] 0.9997868712702472 Centerline is valid? [True, True] Translation: X:279.45, Y:-16.32, Z:-1.56 [[ 9.95175167e-01 9.81138361e-02 -2.50134589e-04 2.79450497e+02] [-9.81138335e-02 9.95175198e-01 2.27156860e-05 -1.63195470e+01] [ 2.51156462e-04 1.93557683e-06 9.99999968e-01 -1.55985005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.750281693 meters Centerline goodness [0,1] 0.9998088075967115 Centerline is valid? [True, True] Translation: X:279.48, Y:-16.33, Z:-1.56 [[ 9.95298395e-01 9.68540198e-02 -6.35694176e-04 2.79477487e+02] [-9.68540025e-02 9.95298598e-01 5.79754973e-05 -1.63282960e+01] [ 6.38320682e-04 3.86660590e-06 9.99999796e-01 -1.56065590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78028169299995 meters Centerline goodness [0,1] 0.9997871208089409 Centerline is valid? [True, True] Translation: X:279.50, Y:-16.33, Z:-1.56 [[ 9.95366806e-01 9.61481320e-02 6.77176345e-04 2.79504788e+02] [-9.61481119e-02 9.95367036e-01 -6.22796472e-05 -1.63335886e+01] [-6.80027083e-04 -3.11813344e-06 9.99999769e-01 -1.55775261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.810281693 meters Centerline goodness [0,1] 0.9997032955388365 Centerline is valid? [True, True] Translation: X:279.53, Y:-16.34, Z:-1.55 [[ 9.95561718e-01 9.40130525e-02 4.29092731e-03 2.79532636e+02] [-9.40122321e-02 9.95570965e-01 -3.92948288e-04 -1.63416388e+01] [-4.30886491e-03 -1.21953810e-05 9.99990717e-01 -1.55173316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84028169299995 meters Centerline goodness [0,1] 0.9998091157818829 Centerline is valid? [True, True] Translation: X:279.56, Y:-16.35, Z:-1.55 [[ 9.95653843e-01 9.30324319e-02 4.28848257e-03 2.79560060e+02] [-9.30316041e-02 9.95663079e-01 -3.92534640e-04 -1.63476713e+01] [-4.30640221e-03 -8.13579023e-06 9.99990727e-01 -1.55237509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.870281693 meters Centerline goodness [0,1] 0.9997217346632989 Centerline is valid? [True, True] Translation: X:279.59, Y:-16.35, Z:-1.55 [[ 9.95683872e-01 9.27463237e-02 3.42728649e-03 2.79588362e+02] [-9.27457939e-02 9.95689771e-01 -3.13545532e-04 -1.63538938e+01] [-3.44159429e-03 -5.67417613e-06 9.99994078e-01 -1.55444434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90028169299995 meters Centerline goodness [0,1] 0.999852267690944 Centerline is valid? [True, True] Translation: X:279.62, Y:-16.36, Z:-1.56 [[ 9.95590543e-01 9.38011013e-02 9.08199086e-04 2.79615752e+02] [-9.38010643e-02 9.95590957e-01 -8.32680509e-05 -1.63579995e+01] [-9.12005432e-04 -2.28915689e-06 9.99999584e-01 -1.55797931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.930281693 meters Centerline goodness [0,1] 0.9997665138393615 Centerline is valid? [True, True] Translation: X:279.64, Y:-16.36, Z:-1.56 [[ 9.95432004e-01 9.54674098e-02 1.04845786e-03 2.79644654e+02] [-9.54673616e-02 9.95432556e-01 -9.59499234e-05 -1.63582469e+01] [-1.05282918e-03 -4.58188104e-06 9.99999446e-01 -1.55790866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96028169299996 meters Centerline goodness [0,1] 0.9997444470472986 Centerline is valid? [True, True] Translation: X:279.67, Y:-16.36, Z:-1.56 [[ 9.95221089e-01 9.76369685e-02 1.41633161e-03 2.79673807e+02] [-9.76368831e-02 9.95222097e-01 -1.29479631e-04 -1.63583633e+01] [-1.42220651e-03 -9.42534391e-06 9.99998989e-01 -1.55619335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.990281693 meters Centerline goodness [0,1] 0.9996168582375479 Centerline is valid? [True, True] Translation: X:279.70, Y:-16.36, Z:-1.56 [[ 9.94784800e-01 1.01987493e-01 1.32363475e-03 2.79702187e+02] [-1.01987422e-01 9.94785681e-01 -1.21041376e-04 -1.63550649e+01] [-1.32907760e-03 -1.45839747e-05 9.99999117e-01 -1.55671357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02028169299996 meters Centerline goodness [0,1] 0.9995974064499724 Centerline is valid? [True, True] Translation: X:279.73, Y:-16.35, Z:-1.56 [[ 9.94579923e-01 1.03970941e-01 9.05238643e-04 2.79730117e+02] [-1.03970909e-01 9.94580335e-01 -8.27682532e-05 -1.63522383e+01] [-9.08938047e-04 -1.17988416e-05 9.99999587e-01 -1.55810755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.050281693 meters Centerline goodness [0,1] 0.9993800504510667 Centerline is valid? [True, True] Translation: X:279.76, Y:-16.35, Z:-1.55 [[ 9.94033605e-01 1.09031662e-01 3.04766697e-03 2.79759768e+02] [-1.09031322e-01 9.94038276e-01 -2.77809983e-04 -1.63477336e+01] [-3.05978770e-03 -5.61386999e-05 9.99995317e-01 -1.55364612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08028169299996 meters Centerline goodness [0,1] 0.9987883425801926 Centerline is valid? [True, True] Translation: X:279.79, Y:-16.34, Z:-1.55 [[ 9.93668446e-01 1.12231210e-01 5.21302416e-03 2.79789449e+02] [-1.12230263e-01 9.93682113e-01 -4.74870939e-04 -1.63412223e+01] [-5.23338420e-03 -1.13194804e-04 9.99986299e-01 -1.54994865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.110281693 meters Centerline goodness [0,1] 0.9976287624703595 Centerline is valid? [True, True] Translation: X:279.82, Y:-16.34, Z:-1.55 [[ 9.93197693e-01 1.16253326e-01 6.59603407e-03 2.79819333e+02] [-1.16251900e-01 9.93219580e-01 -6.00493171e-04 -1.63359606e+01] [-6.62111952e-03 -1.70393064e-04 9.99978066e-01 -1.54624600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14028169299996 meters Centerline goodness [0,1] 0.9948905731073832 Centerline is valid? [True, True] Translation: X:279.85, Y:-16.33, Z:-1.55 [[ 9.92723488e-01 1.20229198e-01 6.70943988e-03 2.79849430e+02] [-1.20227814e-01 9.92746141e-01 -6.10598434e-04 -1.63280320e+01] [-6.73418231e-03 -2.00505885e-04 9.99977305e-01 -1.54578470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.170281693 meters Centerline goodness [0,1] 0.9942134819464907 Centerline is valid? [True, True] Translation: X:279.88, Y:-16.32, Z:-1.55 [[ 9.91879735e-01 1.27122235e-01 3.81176415e-03 2.79881114e+02] [-1.27121839e-01 9.91887049e-01 -3.46829225e-04 -1.63156798e+01] [-3.82492920e-03 -1.40545589e-04 9.99992675e-01 -1.55230224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20028169299997 meters Centerline goodness [0,1] 0.9909848758034067 Centerline is valid? [True, True] Translation: X:279.91, Y:-16.30, Z:-1.56 [[ 9.91551740e-01 1.29681542e-01 2.80065145e-03 2.79911270e+02] [-1.29681339e-01 9.91555690e-01 -2.54927290e-04 -1.63015168e+01] [-2.81006124e-03 -1.10418632e-04 9.99996046e-01 -1.55588481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23028169299994 meters Centerline goodness [0,1] 0.9909806910569106 Centerline is valid? [True, True] Translation: X:279.94, Y:-16.30, Z:-1.55 [[ 9.91598279e-01 1.29305349e-01 3.60274046e-03 2.79940742e+02] [-1.29305010e-01 9.91604814e-01 -3.27720135e-04 -1.63011148e+01] [-3.61487075e-03 -1.40885670e-04 9.99993456e-01 -1.55405562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26028169299997 meters Centerline goodness [0,1] 0.9919693335617612 Centerline is valid? [True, True] Translation: X:279.97, Y:-16.30, Z:-1.55 [[ 9.91759663e-01 1.28045375e-01 4.14167288e-03 2.79969449e+02] [-1.28044919e-01 9.91768298e-01 -3.76302005e-04 -1.63016434e+01] [-4.15576359e-03 -1.57119018e-04 9.99991352e-01 -1.55275158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29028169299994 meters Centerline goodness [0,1] 0.9951990782230188 Centerline is valid? [True, True] Translation: X:280.00, Y:-16.31, Z:-1.55 [[ 9.91983806e-01 1.26307857e-01 3.80193065e-03 2.79997969e+02] [-1.26307460e-01 9.91991082e-01 -3.45379619e-04 -1.63103668e+01] [-3.81510546e-03 -1.37601213e-04 9.99992713e-01 -1.55327489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32028169299997 meters Centerline goodness [0,1] 0.9969826663813396 Centerline is valid? [True, True] Translation: X:280.03, Y:-16.32, Z:-1.56 [[ 9.92558856e-01 1.21756287e-01 1.52415831e-03 2.80027974e+02] [-1.21756218e-01 9.92560025e-01 -1.38202131e-04 -1.63156619e+01] [-1.52964558e-03 -4.84020026e-05 9.99998829e-01 -1.55837025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35028169299994 meters Centerline goodness [0,1] 0.9974898957668581 Centerline is valid? [True, True] Translation: X:280.06, Y:-16.32, Z:-1.56 [[ 9.92854596e-01 1.19328644e-01 6.52664813e-04 2.80056243e+02] [-1.19328631e-01 9.92854810e-01 -5.93519589e-05 -1.63164669e+01] [-6.55083788e-04 -1.89537334e-05 9.99999785e-01 -1.56099191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.380281693 meters Centerline goodness [0,1] 0.9977117194183063 Centerline is valid? [True, True] Translation: X:280.08, Y:-16.31, Z:-1.56 [[ 9.93165275e-01 1.16709082e-01 1.31393578e-03 2.80084804e+02] [-1.16709026e-01 9.93166144e-01 -1.19305978e-04 -1.63108259e+01] [-1.31888062e-03 -3.48576108e-05 9.99999130e-01 -1.56056908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41028169299994 meters Centerline goodness [0,1] 0.9976445623342175 Centerline is valid? [True, True] Translation: X:280.11, Y:-16.31, Z:-1.56 [[ 9.93201776e-01 1.16399959e-01 1.13210911e-03 2.80112543e+02] [-1.16399918e-01 9.93202421e-01 -1.02657253e-04 -1.63101618e+01] [-1.13636281e-03 -2.98180415e-05 9.99999354e-01 -1.56057411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.440281693 meters Centerline goodness [0,1] 0.9976445623342175 Centerline is valid? [True, True] Translation: X:280.14, Y:-16.31, Z:-1.56 [[ 9.93209333e-01 1.16335460e-01 1.13211118e-03 2.80139937e+02] [-1.16335418e-01 9.93209978e-01 -1.02634408e-04 -1.63124941e+01] [-1.13636414e-03 -2.97671759e-05 9.99999354e-01 -1.56070358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47028169299995 meters Centerline goodness [0,1] 0.9987007925165649 Centerline is valid? [True, True] Translation: X:280.17, Y:-16.32, Z:-1.56 [[ 9.93196461e-01 1.16446181e-01 1.03767309e-03 2.80167783e+02] [-1.16446147e-01 9.93197003e-01 -9.39704453e-05 -1.63212789e+01] [-1.04155630e-03 -2.75019186e-05 9.99999457e-01 -1.56046123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.500281693 meters Centerline goodness [0,1] 0.9980984531236646 Centerline is valid? [True, True] Translation: X:280.20, Y:-16.31, Z:-1.56 [[ 9.93185140e-01 1.16547139e-01 2.03629590e-04 2.80196122e+02] [-1.16547138e-01 9.93185161e-01 -1.88048527e-05 -1.63125955e+01] [-2.04433539e-04 -5.05574566e-06 9.99999979e-01 -1.56321070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53028169299995 meters Centerline goodness [0,1] 0.9989804993384092 Centerline is valid? [True, True] Translation: X:280.22, Y:-16.32, Z:-1.56 [[ 9.93164878e-01 1.16719181e-01 3.96557013e-04 2.80224900e+02] [-1.16719176e-01 9.93164957e-01 -3.59968162e-05 -1.63175476e+01] [-3.98048048e-04 -1.05350342e-05 9.99999921e-01 -1.56244669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.560281693 meters Centerline goodness [0,1] 0.9981297160178 Centerline is valid? [True, True] Translation: X:280.25, Y:-16.31, Z:-1.56 [[ 9.93100952e-01 1.17256192e-01 1.21876501e-03 2.80253838e+02] [-1.17256145e-01 9.93101699e-01 -1.10243482e-04 -1.63106991e+01] [-1.22328433e-03 -3.34247788e-05 9.99999251e-01 -1.56135127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59028169299995 meters Centerline goodness [0,1] 0.9966837439680278 Centerline is valid? [True, True] Translation: X:280.28, Y:-16.30, Z:-1.56 [[ 9.93180908e-01 1.16568300e-01 1.87495153e-03 2.80282100e+02] [-1.16568188e-01 9.93182677e-01 -1.69110376e-04 -1.63046149e+01] [-1.88188229e-03 -5.06025053e-05 9.99998228e-01 -1.56095843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.620281693 meters Centerline goodness [0,1] 0.9985948776904898 Centerline is valid? [True, True] Translation: X:280.31, Y:-16.32, Z:-1.56 [[ 9.93445656e-01 1.14280137e-01 2.40385118e-03 2.80310340e+02] [-1.14279947e-01 9.93448563e-01 -2.16645288e-04 -1.63165021e+01] [-2.41286075e-03 -5.94866660e-05 9.99997087e-01 -1.55891003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65028169299995 meters Centerline goodness [0,1] 0.9994418924140299 Centerline is valid? [True, True] Translation: X:280.34, Y:-16.33, Z:-1.56 [[ 9.94269624e-01 1.06879218e-01 2.17884580e-03 2.80338365e+02] [-1.06879044e-01 9.94272011e-01 -1.96101991e-04 -1.63260346e+01] [-2.18732462e-03 -3.78947047e-05 9.99997607e-01 -1.55961657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.680281693 meters Centerline goodness [0,1] 0.9996165970861378 Centerline is valid? [True, True] Translation: X:280.37, Y:-16.34, Z:-1.56 [[ 9.95192409e-01 9.79123126e-02 2.29071588e-03 2.80365581e+02] [-9.79120976e-02 9.95195046e-01 -2.06074031e-04 -1.63409184e+01] [-2.29988628e-03 -1.92054861e-05 9.99997355e-01 -1.56005199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71028169299996 meters Centerline goodness [0,1] 0.9995700219288817 Centerline is valid? [True, True] Translation: X:280.39, Y:-16.35, Z:-1.56 [[ 9.95590545e-01 9.37497541e-02 3.23276791e-03 2.80394039e+02] [-9.37493043e-02 9.95595793e-01 -2.90753324e-04 -1.63491070e+01] [-3.24578819e-03 -1.35984821e-05 9.99994732e-01 -1.55902098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.740281693 meters Centerline goodness [0,1] 0.9994922998815366 Centerline is valid? [True, True] Translation: X:280.42, Y:-16.36, Z:-1.56 [[ 9.95891106e-01 9.04848893e-02 3.65922491e-03 2.80421034e+02] [-9.04842915e-02 9.95897828e-01 -3.28944766e-04 -1.63551992e+01] [-3.67397867e-03 -3.50920595e-06 9.99993251e-01 -1.55819367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77028169299996 meters Centerline goodness [0,1] 0.9995335722009032 Centerline is valid? [True, True] Translation: X:280.45, Y:-16.36, Z:-1.56 [[ 9.96243839e-01 8.64922172e-02 4.16058678e-03 2.80449592e+02] [-8.64914112e-02 9.96252526e-01 -3.73607238e-04 -1.63626401e+01] [-4.17730921e-03 1.23488871e-05 9.99991275e-01 -1.55688640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.800281693 meters Centerline goodness [0,1] 0.9996605638882406 Centerline is valid? [True, True] Translation: X:280.48, Y:-16.37, Z:-1.56 [[ 9.96307971e-01 8.57583456e-02 3.99165624e-03 2.80476902e+02] [-8.57575985e-02 9.96315967e-01 -3.58273208e-04 -1.63658787e+01] [-4.00767577e-03 1.46355991e-05 9.99991969e-01 -1.55749178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83028169299996 meters Centerline goodness [0,1] 0.9995527632839953 Centerline is valid? [True, True] Translation: X:280.50, Y:-16.37, Z:-1.56 [[ 9.96253311e-01 8.64293670e-02 3.05024214e-03 2.80504828e+02] [-8.64289341e-02 9.96257981e-01 -2.73686226e-04 -1.63652700e+01] [-3.06248261e-03 9.03163147e-06 9.99995311e-01 -1.55874236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.860281693 meters Centerline goodness [0,1] 0.999535747446611 Centerline is valid? [True, True] Translation: X:280.53, Y:-16.37, Z:-1.56 [[ 9.96193761e-01 8.71063244e-02 3.23714051e-03 2.80531455e+02] [-8.71058412e-02 9.96199020e-01 -2.90230143e-04 -1.63656203e+01] [-3.25011709e-03 7.15161051e-06 9.99994718e-01 -1.55823511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89028169299996 meters Centerline goodness [0,1] 0.9996399296803846 Centerline is valid? [True, True] Translation: X:280.56, Y:-16.37, Z:-1.56 [[ 9.96128350e-01 8.78436010e-02 3.43696118e-03 2.80559993e+02] [-8.78430618e-02 9.96134279e-01 -3.07832801e-04 -1.63657974e+01] [-3.45071599e-03 4.72778715e-06 9.99994046e-01 -1.55801076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.920281693 meters Centerline goodness [0,1] 0.999575875816439 Centerline is valid? [True, True] Translation: X:280.59, Y:-16.36, Z:-1.56 [[ 9.96010006e-01 8.91952555e-02 2.87654746e-03 2.80587916e+02] [-8.91948838e-02 9.96014160e-01 -2.57502288e-04 -1.63642630e+01] [-2.88804998e-03 -9.84606717e-08 9.99995830e-01 -1.55908532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95028169299997 meters Centerline goodness [0,1] 0.9994059615996606 Centerline is valid? [True, True] Translation: X:280.62, Y:-16.37, Z:-1.56 [[ 9.95981228e-01 8.95224879e-02 2.66800022e-03 2.80615948e+02] [-8.95221697e-02 9.95984801e-01 -2.38675996e-04 -1.63655871e+01] [-2.67865453e-03 -1.12835685e-06 9.99996412e-01 -1.56006221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98028169299994 meters Centerline goodness [0,1] 0.9995965515776957 Centerline is valid? [True, True] Translation: X:280.64, Y:-16.37, Z:-1.56 [[ 9.96177859e-01 8.73213155e-02 2.15908740e-03 2.80642998e+02] [-8.73211022e-02 9.96180198e-01 -1.93031527e-04 -1.63700088e+01] [-2.16769588e-03 3.75984150e-06 9.99997651e-01 -1.56138691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01028169299997 meters Centerline goodness [0,1] 0.9995528204254595 Centerline is valid? [True, True] Translation: X:280.67, Y:-16.37, Z:-1.56 [[ 9.96314040e-01 8.57581057e-02 1.96993768e-03 2.80670227e+02] [-8.57579253e-02 9.96315988e-01 -1.76028223e-04 -1.63744852e+01] [-1.97777625e-03 6.44162168e-06 9.99998044e-01 -1.56222090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04028169299994 meters Centerline goodness [0,1] 0.9997228499552296 Centerline is valid? [True, True] Translation: X:280.70, Y:-16.38, Z:-1.56 [[ 9.96459177e-01 8.40536695e-02 2.02235454e-03 2.80699025e+02] [-8.40534761e-02 9.96461229e-01 -1.80562224e-04 -1.63793797e+01] [-2.03037480e-03 9.93695679e-06 9.99997939e-01 -1.56234934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07028169299997 meters Centerline goodness [0,1] 0.9996365579903794 Centerline is valid? [True, True] Translation: X:280.73, Y:-16.39, Z:-1.56 [[ 9.96633562e-01 8.19557054e-02 2.19212625e-03 2.80727136e+02] [-8.19554734e-02 9.96635973e-01 -1.95599993e-04 -1.63859427e+01] [-2.20078241e-03 1.52847737e-05 9.99997578e-01 -1.56268303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10028169299994 meters Centerline goodness [0,1] 0.9997243309724755 Centerline is valid? [True, True] Translation: X:280.75, Y:-16.40, Z:-1.56 [[ 9.96848214e-01 7.92703464e-02 3.13865718e-03 2.80754261e+02] [-7.92698581e-02 9.96853154e-01 -2.79853659e-04 -1.63956865e+01] [-3.15096441e-03 3.01707101e-05 9.99995035e-01 -1.56161693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.130281693 meters Centerline goodness [0,1] 0.9996600735091037 Centerline is valid? [True, True] Translation: X:280.78, Y:-16.40, Z:-1.56 [[ 9.96820936e-01 7.96005399e-02 3.43145782e-03 2.80782707e+02] [-7.95999593e-02 9.96826842e-01 -3.05668239e-04 -1.63962533e+01] [-3.44490062e-03 3.15525971e-05 9.99994066e-01 -1.56042963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16028169299994 meters Centerline goodness [0,1] 0.999550830962719 Centerline is valid? [True, True] Translation: X:280.81, Y:-16.39, Z:-1.56 [[ 9.96617029e-01 8.21607265e-02 2.02781761e-03 2.80811839e+02] [-8.21605291e-02 9.96619092e-01 -1.80636684e-04 -1.63929911e+01] [-2.03580299e-03 1.34190273e-05 9.99997928e-01 -1.56243758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.190281693 meters Centerline goodness [0,1] 0.9995120916419177 Centerline is valid? [True, True] Translation: X:280.84, Y:-16.39, Z:-1.56 [[ 9.96509708e-01 8.34678754e-02 1.23094536e-03 2.80839342e+02] [-8.34678036e-02 9.96510468e-01 -1.09722760e-04 -1.63941633e+01] [-1.23580827e-03 6.59548982e-06 9.99999236e-01 -1.56454070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22028169299995 meters Centerline goodness [0,1] 0.9994916654311312 Centerline is valid? [True, True] Translation: X:280.87, Y:-16.40, Z:-1.56 [[ 9.96576952e-01 8.26415581e-02 2.18003112e-03 2.80866197e+02] [-8.26413314e-02 9.96579336e-01 -1.94025705e-04 -1.63995838e+01] [-2.18860856e-03 1.32008710e-05 9.99997605e-01 -1.56392882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.250281693 meters Centerline goodness [0,1] 0.9996814407373585 Centerline is valid? [True, True] Translation: X:280.89, Y:-16.41, Z:-1.56 [[ 9.96751224e-01 8.04972033e-02 2.68287662e-03 2.80894754e+02] [-8.04968532e-02 9.96754834e-01 -2.38400206e-04 -1.64064644e+01] [-2.69336079e-03 2.16625717e-05 9.99996373e-01 -1.56275156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28028169299995 meters Centerline goodness [0,1] 0.9997421517436988 Centerline is valid? [True, True] Translation: X:280.92, Y:-16.41, Z:-1.56 [[ 9.96956720e-01 7.79070886e-02 2.79010998e-03 2.80922856e+02] [-7.79067002e-02 9.96960623e-01 -2.47798232e-04 -1.64134083e+01] [-2.80093502e-03 2.96758510e-05 9.99996077e-01 -1.56218665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.310281693 meters Centerline goodness [0,1] 0.9998724544024489 Centerline is valid? [True, True] Translation: X:280.95, Y:-16.43, Z:-1.56 [[ 9.97388864e-01 7.21907988e-02 1.98581226e-03 2.80951185e+02] [-7.21905909e-02 9.97390840e-01 -1.76271194e-04 -1.64300313e+01] [-1.99335612e-03 3.24539648e-05 9.99998013e-01 -1.56479561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34028169299995 meters Centerline goodness [0,1] 0.9999159363638274 Centerline is valid? [True, True] Translation: X:280.98, Y:-16.44, Z:-1.57 [[ 9.97627525e-01 6.88201988e-02 1.76092341e-03 2.80978443e+02] [-6.88200300e-02 9.97629079e-01 -1.56312289e-04 -1.64428816e+01] [-1.76750584e-03 3.47546408e-05 9.99998437e-01 -1.56532251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.370281693 meters Centerline goodness [0,1] 0.9998297582567246 Centerline is valid? [True, True] Translation: X:281.01, Y:-16.45, Z:-1.56 [[ 9.97828737e-01 6.57911582e-02 3.05519352e-03 2.81006052e+02] [-6.57906368e-02 9.97833412e-01 -2.70971452e-04 -1.64535543e+01] [-3.06640170e-03 6.93799750e-05 9.99995296e-01 -1.56109092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40028169299995 meters Centerline goodness [0,1] 0.9997856423227798 Centerline is valid? [True, True] Translation: X:281.04, Y:-16.45, Z:-1.56 [[ 9.97760622e-01 6.68043650e-02 3.30416035e-03 2.81035110e+02] [-6.68037610e-02 9.97766091e-01 -2.92946283e-04 -1.64525903e+01] [-3.31634925e-03 7.15599273e-05 9.99994498e-01 -1.56006081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.430281693 meters Centerline goodness [0,1] 0.9999574965465944 Centerline is valid? [True, True] Translation: X:281.06, Y:-16.45, Z:-1.56 [[ 9.97591422e-01 6.92633575e-02 3.73390766e-03 2.81062745e+02] [-6.92626041e-02 9.97598407e-01 -3.30855138e-04 -1.64538329e+01] [-3.74785647e-03 7.14380793e-05 9.99992974e-01 -1.55937983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46028169299996 meters Centerline goodness [0,1] 0.9997677953221312 Centerline is valid? [True, True] Translation: X:281.09, Y:-16.45, Z:-1.56 [[ 9.97038685e-01 7.67303292e-02 5.13011973e-03 2.81092500e+02] [-7.67290078e-02 9.97051881e-01 -4.54191377e-04 -1.64515834e+01] [-5.14984578e-03 5.92173769e-05 9.99986738e-01 -1.55687150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.490281693 meters Centerline goodness [0,1] 0.9995523247138076 Centerline is valid? [True, True] Translation: X:281.12, Y:-16.45, Z:-1.56 [[ 9.96743810e-01 8.04768395e-02 5.02552463e-03 2.81121558e+02] [-8.04756193e-02 9.96756478e-01 -4.44862495e-04 -1.64496156e+01] [-5.04502536e-03 3.89817307e-05 9.99987273e-01 -1.55735850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52028169299996 meters Centerline goodness [0,1] 0.9992588043455243 Centerline is valid? [True, True] Translation: X:281.15, Y:-16.44, Z:-1.56 [[ 9.96072666e-01 8.85018906e-02 2.58056608e-03 2.81149767e+02] [-8.85015958e-02 9.96076009e-01 -2.28443545e-04 -1.64415362e+01] [-2.59065764e-03 -8.37844908e-07 9.99996644e-01 -1.56145436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.550281693 meters Centerline goodness [0,1] 0.9991907662166191 Centerline is valid? [True, True] Translation: X:281.18, Y:-16.44, Z:-1.56 [[ 9.95731047e-01 9.22946962e-02 1.17106572e-03 2.81179314e+02] [-9.22946381e-02 9.95731735e-01 -1.03706226e-04 -1.64382090e+01] [-1.17563884e-03 -4.81957804e-06 9.99999309e-01 -1.56473243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58028169299996 meters Centerline goodness [0,1] 0.9991220180735791 Centerline is valid? [True, True] Translation: X:281.21, Y:-16.44, Z:-1.57 [[ 9.95491894e-01 9.48460761e-02 3.32867560e-04 2.81206939e+02] [-9.48460715e-02 9.95491950e-01 -2.96663416e-05 -1.64357166e+01] [-3.34180712e-04 -2.03857777e-06 9.99999944e-01 -1.56724287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.610281693 meters Centerline goodness [0,1] 0.9992658648759527 Centerline is valid? [True, True] Translation: X:281.24, Y:-16.43, Z:-1.57 [[ 9.95338897e-01 9.64275975e-02 1.48269567e-03 2.81235589e+02] [-9.64275092e-02 9.95340001e-01 -1.31098104e-04 -1.64341461e+01] [-1.48842778e-03 -1.24856081e-05 9.99998892e-01 -1.56513761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64028169299996 meters Centerline goodness [0,1] 0.9990648842794296 Centerline is valid? [True, True] Translation: X:281.26, Y:-16.44, Z:-1.56 [[ 9.95374665e-01 9.60445190e-02 2.17390530e-03 2.81263549e+02] [-9.60443287e-02 9.95377039e-01 -1.92035952e-04 -1.64361187e+01] [-2.18229942e-03 -1.76435532e-05 9.99997619e-01 -1.56458981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.670281693 meters Centerline goodness [0,1] 0.9991858596679164 Centerline is valid? [True, True] Translation: X:281.29, Y:-16.44, Z:-1.57 [[ 9.95629666e-01 9.33809245e-02 1.25376145e-03 2.81291392e+02] [-9.33808591e-02 9.95630455e-01 -1.10750516e-04 -1.64434236e+01] [-1.25862506e-03 -6.81082196e-06 9.99999208e-01 -1.56704951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70028169299997 meters Centerline goodness [0,1] 0.999163000321923 Centerline is valid? [True, True] Translation: X:281.32, Y:-16.45, Z:-1.57 [[ 9.95754506e-01 9.20480226e-02 3.53855977e-04 2.81320041e+02] [-9.20480173e-02 9.95754569e-01 -3.13937512e-05 -1.64480600e+01] [-3.55243438e-04 -1.31127185e-06 9.99999937e-01 -1.56934501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73028169299994 meters Centerline goodness [0,1] 0.9993212429738042 Centerline is valid? [True, True] Translation: X:281.35, Y:-16.45, Z:-1.57 [[ 9.95892572e-01 9.05414681e-02 -4.76826961e-04 2.81347894e+02] [-9.05414586e-02 9.95892686e-01 4.16675926e-05 -1.64521657e+01] [ 4.78641128e-04 1.67616256e-06 9.99999885e-01 -1.57130294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76028169299997 meters Centerline goodness [0,1] 0.9993198291070632 Centerline is valid? [True, True] Translation: X:281.38, Y:-16.46, Z:-1.57 [[ 9.96136605e-01 8.78171669e-02 -1.01572567e-04 2.81375564e+02] [-8.78171665e-02 9.96136610e-01 8.56460661e-06 -1.64578352e+01] [ 1.01932272e-04 3.88296909e-07 9.99999995e-01 -1.57019511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79028169299994 meters Centerline goodness [0,1] 0.9993447335602106 Centerline is valid? [True, True] Translation: X:281.40, Y:-16.46, Z:-1.57 [[ 9.96227996e-01 8.67672822e-02 1.10422246e-03 2.81404034e+02] [-8.67672277e-02 9.96228608e-01 -9.73015128e-05 -1.64619198e+01] [-1.10850059e-03 1.12416940e-06 9.99999386e-01 -1.56805718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82028169299997 meters Centerline goodness [0,1] 0.9995733151281121 Centerline is valid? [True, True] Translation: X:281.43, Y:-16.47, Z:-1.56 [[ 9.96435245e-01 8.42844278e-02 3.59701994e-03 2.81431392e+02] [-8.42838350e-02 9.96441737e-01 -3.16340208e-04 -1.64677407e+01] [-3.61088335e-03 1.20418975e-05 9.99993481e-01 -1.56267375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85028169299994 meters Centerline goodness [0,1] 0.999493136219641 Centerline is valid? [True, True] Translation: X:281.46, Y:-16.47, Z:-1.56 [[ 9.96549189e-01 8.29014299e-02 4.13124253e-03 2.81458877e+02] [-8.29006372e-02 9.96557752e-01 -3.63053056e-04 -1.64721201e+01] [-4.14711938e-03 1.93175903e-05 9.99991400e-01 -1.56202944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.880281693 meters Centerline goodness [0,1] 0.9995525345720313 Centerline is valid? [True, True] Translation: X:281.49, Y:-16.48, Z:-1.56 [[ 9.96678569e-01 8.13235684e-02 4.27876604e-03 2.81487563e+02] [-8.13227046e-02 9.96687753e-01 -3.75769043e-04 -1.64772547e+01] [-4.29515259e-03 2.65601249e-05 9.99990775e-01 -1.56269471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91028169299994 meters Centerline goodness [0,1] 0.9997658727624885 Centerline is valid? [True, True] Translation: X:281.51, Y:-16.49, Z:-1.56 [[ 9.96953872e-01 7.79137140e-02 3.52570486e-03 2.81513999e+02] [-7.79131066e-02 9.96960106e-01 -3.09512591e-04 -1.64886070e+01] [-3.53910237e-03 3.38711572e-05 9.99993737e-01 -1.56380082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.940281693 meters Centerline goodness [0,1] 0.9999148410721509 Centerline is valid? [True, True] Translation: X:281.54, Y:-16.50, Z:-1.56 [[ 9.97190043e-01 7.48453623e-02 3.19217859e-03 2.81541688e+02] [-7.48448490e-02 9.97195151e-01 -2.80130526e-04 -1.64971135e+01] [-3.20419149e-03 4.04252466e-05 9.99994866e-01 -1.56453323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97028169299995 meters Centerline goodness [0,1] 0.9998720791403718 Centerline is valid? [True, True] Translation: X:281.57, Y:-16.50, Z:-1.57 [[ 9.97288624e-01 7.35358267e-02 2.80765865e-03 2.81568544e+02] [-7.35354249e-02 9.97292575e-01 -2.46201866e-04 -1.65031409e+01] [-2.81816178e-03 3.90719481e-05 9.99996028e-01 -1.56553807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.000281693 meters Centerline goodness [0,1] 0.9998943386657086 Centerline is valid? [True, True] Translation: X:281.60, Y:-16.51, Z:-1.57 [[ 9.97355189e-01 7.26372020e-02 2.54224657e-03 2.81597185e+02] [-7.26368698e-02 9.97358429e-01 -2.22852025e-04 -1.65075960e+01] [-2.55171840e-03 3.76017900e-05 9.99996744e-01 -1.56525406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03028169299995 meters Centerline goodness [0,1] 0.9999787960391001 Centerline is valid? [True, True] Translation: X:281.62, Y:-16.51, Z:-1.56 [[ 9.97337403e-01 7.28650675e-02 2.96405649e-03 2.81624857e+02] [-7.28646175e-02 9.97341807e-01 -2.59678197e-04 -1.65117835e+01] [-2.97509892e-03 4.30119360e-05 9.99995573e-01 -1.56332853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.060281693 meters Centerline goodness [0,1] 0.9998918778652366 Centerline is valid? [True, True] Translation: X:281.65, Y:-16.51, Z:-1.56 [[ 9.97280502e-01 7.36119899e-02 3.58813247e-03 2.81654258e+02] [-7.36113362e-02 9.97286956e-01 -3.14090496e-04 -1.65099882e+01] [-3.60151853e-03 4.91091025e-05 9.99993513e-01 -1.56211896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09028169299995 meters Centerline goodness [0,1] 0.9999785789259473 Centerline is valid? [True, True] Translation: X:281.68, Y:-16.51, Z:-1.56 [[ 9.97144643e-01 7.54520044e-02 3.09127129e-03 2.81681846e+02] [-7.54515283e-02 9.97149434e-01 -2.70500330e-04 -1.65148062e+01] [-3.10286920e-03 3.64868122e-05 9.99995185e-01 -1.56317448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.120281693 meters Centerline goodness [0,1] 0.999871611067126 Centerline is valid? [True, True] Translation: X:281.71, Y:-16.52, Z:-1.56 [[ 9.97076496e-01 7.63725220e-02 2.38718380e-03 2.81709713e+02] [-7.63722409e-02 9.97079354e-01 -2.08803388e-04 -1.65173167e+01] [-2.39615853e-03 2.58783743e-05 9.99997129e-01 -1.56474392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15028169299995 meters Centerline goodness [0,1] 0.9997650225364749 Centerline is valid? [True, True] Translation: X:281.74, Y:-16.52, Z:-1.57 [[ 9.96989801e-01 7.75031970e-02 2.14275846e-03 2.81738255e+02] [-7.75029734e-02 9.96992103e-01 -1.87294748e-04 -1.65170937e+01] [-2.15082920e-03 2.06608017e-05 9.99997687e-01 -1.56536388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.180281693 meters Centerline goodness [0,1] 0.9996181748759069 Centerline is valid? [True, True] Translation: X:281.77, Y:-16.51, Z:-1.57 [[ 9.96725865e-01 8.08276408e-02 2.10756903e-03 2.81766165e+02] [-8.08274321e-02 9.96728093e-01 -1.84152305e-04 -1.65147695e+01] [-2.11555786e-03 1.31999726e-05 9.99997762e-01 -1.56515080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21028169299996 meters Centerline goodness [0,1] 0.99963707783613 Centerline is valid? [True, True] Translation: X:281.80, Y:-16.51, Z:-1.56 [[ 9.96538863e-01 8.30850817e-02 2.67666199e-03 2.81795129e+02] [-8.30847539e-02 9.96542457e-01 -2.33617062e-04 -1.65135467e+01] [-2.68681741e-03 1.04186782e-05 9.99996390e-01 -1.56359942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.240281693 meters Centerline goodness [0,1] 0.9994820665544477 Centerline is valid? [True, True] Translation: X:281.82, Y:-16.51, Z:-1.56 [[ 9.96279376e-01 8.61384140e-02 2.75309039e-03 2.81824148e+02] [-8.61380793e-02 9.96283179e-01 -2.40158119e-04 -1.65118389e+01] [-2.76354449e-03 2.11866221e-06 9.99996181e-01 -1.56348030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27028169299996 meters Centerline goodness [0,1] 0.9995483288166215 Centerline is valid? [True, True] Translation: X:281.85, Y:-16.51, Z:-1.57 [[ 9.96223238e-01 8.68092794e-02 1.84662896e-03 2.81853033e+02] [-8.68091300e-02 9.96224949e-01 -1.61076724e-04 -1.65136946e+01] [-1.85364080e-03 1.64121684e-07 9.99998282e-01 -1.56588351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.300281693 meters Centerline goodness [0,1] 0.9993386666666667 Centerline is valid? [True, True] Translation: X:281.88, Y:-16.52, Z:-1.57 [[ 9.96195652e-01 8.71442007e-02 3.34539690e-04 2.81881468e+02] [-8.71441958e-02 9.96195708e-01 -2.93452400e-05 -1.65164457e+01] [-3.35824271e-04 8.04082049e-08 9.99999944e-01 -1.56892486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33028169299996 meters Centerline goodness [0,1] 0.9994094820313818 Centerline is valid? [True, True] Translation: X:281.91, Y:-16.53, Z:-1.57 [[ 9.96323472e-01 8.56688032e-02 -6.28615631e-04 2.81908741e+02] [-8.56687859e-02 9.96323670e-01 5.43678175e-05 -1.65262003e+01] [ 6.30962259e-04 -3.15194773e-07 9.99999801e-01 -1.57210722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.360281693 meters Centerline goodness [0,1] 0.9994094820313818 Centerline is valid? [True, True] Translation: X:281.94, Y:-16.53, Z:-1.57 [[ 9.96329335e-01 8.56005906e-02 -6.28619829e-04 2.81936137e+02] [-8.56005733e-02 9.96329533e-01 5.43194214e-05 -1.65284475e+01] [ 6.30962275e-04 -3.09815284e-07 9.99999801e-01 -1.57223666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39028169299996 meters Centerline goodness [0,1] 0.9994692482432117 Centerline is valid? [True, True] Translation: X:281.96, Y:-16.54, Z:-1.57 [[ 9.96476809e-01 8.38666493e-02 5.95566587e-04 2.81964076e+02] [-8.38666333e-02 9.96476987e-01 -5.19585122e-05 -1.65356652e+01] [-5.97825984e-04 1.82728797e-06 9.99999821e-01 -1.56995044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.420281693 meters Centerline goodness [0,1] 0.9997683722889029 Centerline is valid? [True, True] Translation: X:281.99, Y:-16.55, Z:-1.56 [[ 9.96668455e-01 8.14792264e-02 3.62306530e-03 2.81991617e+02] [-8.14786203e-02 9.96675040e-01 -3.14830184e-04 -1.65456605e+01] [-3.63667087e-03 1.85789518e-05 9.99993387e-01 -1.56224500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45028169299997 meters Centerline goodness [0,1] 0.999721687004924 Centerline is valid? [True, True] Translation: X:282.02, Y:-16.55, Z:-1.56 [[ 9.96722824e-01 8.07763078e-02 4.33586830e-03 2.82019544e+02] [-8.07754344e-02 9.96732255e-01 -3.76467688e-04 -1.65515184e+01] [-4.35210945e-03 2.50022921e-05 9.99990529e-01 -1.56069635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48028169299994 meters Centerline goodness [0,1] 0.9995769613131121 Centerline is valid? [True, True] Translation: X:282.05, Y:-16.56, Z:-1.56 [[ 9.96753707e-01 8.04060160e-02 4.11347274e-03 2.82046837e+02] [-8.04052276e-02 9.96762194e-01 -3.56937956e-04 -1.65575136e+01] [-4.12885407e-03 2.50345193e-05 9.99991476e-01 -1.56151021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51028169299997 meters Centerline goodness [0,1] 0.9996597626844724 Centerline is valid? [True, True] Translation: X:282.07, Y:-16.57, Z:-1.57 [[ 9.96796266e-01 7.99421364e-02 2.54146073e-03 2.82074895e+02] [-7.99418341e-02 9.96799506e-01 -2.20464087e-04 -1.65656350e+01] [-2.55095117e-03 1.65887471e-05 9.99996746e-01 -1.56594344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54028169299994 meters Centerline goodness [0,1] 0.9996182072710305 Centerline is valid? [True, True] Translation: X:282.10, Y:-16.57, Z:-1.57 [[ 9.96737299e-01 8.06923429e-02 1.87125943e-03 2.82102635e+02] [-8.06921804e-02 9.96739056e-01 -1.62328841e-04 -1.65698964e+01] [-1.87825606e-03 1.08032072e-05 9.99998236e-01 -1.56775901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57028169299997 meters Centerline goodness [0,1] 0.999530004913585 Centerline is valid? [True, True] Translation: X:282.13, Y:-16.57, Z:-1.57 [[ 9.96621149e-01 8.21085655e-02 2.11382105e-03 2.82131100e+02] [-8.21083616e-02 9.96623391e-01 -1.83184149e-04 -1.65713717e+01] [-2.12172449e-03 9.00281424e-06 9.99997749e-01 -1.56688936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60028169299994 meters Centerline goodness [0,1] 0.9993777224642191 Centerline is valid? [True, True] Translation: X:282.16, Y:-16.57, Z:-1.57 [[ 9.96385626e-01 8.49020857e-02 2.70567820e-03 2.82159862e+02] [-8.49017625e-02 9.96389299e-01 -2.34295379e-04 -1.65732917e+01] [-2.71580098e-03 3.73169958e-06 9.99996312e-01 -1.56509371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.630281693 meters Centerline goodness [0,1] 0.9994684244099511 Centerline is valid? [True, True] Translation: X:282.19, Y:-16.57, Z:-1.57 [[ 9.96186142e-01 8.72388136e-02 1.59990994e-03 2.82187224e+02] [-8.72387036e-02 9.96187427e-01 -1.38590436e-04 -1.65744463e+01] [-1.60590063e-03 -1.51219696e-06 9.99998711e-01 -1.56690078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66028169299994 meters Centerline goodness [0,1] 0.999366031994252 Centerline is valid? [True, True] Translation: X:282.21, Y:-16.58, Z:-1.57 [[ 9.96069351e-01 8.85736165e-02 7.50428275e-04 2.82214796e+02] [-8.85735926e-02 9.96069633e-01 -6.50573000e-05 -1.65750025e+01] [-7.53241177e-04 -1.66654573e-06 9.99999716e-01 -1.56970674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.690281693 meters Centerline goodness [0,1] 0.9993467633175994 Centerline is valid? [True, True] Translation: X:282.24, Y:-16.58, Z:-1.57 [[ 9.95967583e-01 8.97137050e-02 -1.57255358e-04 2.82243558e+02] [-8.97137040e-02 9.95967595e-01 1.33746739e-05 -1.65753519e+01] [ 1.57821132e-04 7.87219041e-07 9.99999988e-01 -1.57149017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72028169299995 meters Centerline goodness [0,1] 0.9994887961148504 Centerline is valid? [True, True] Translation: X:282.27, Y:-16.57, Z:-1.57 [[ 9.95779186e-01 9.17795406e-02 5.74130766e-04 2.82272332e+02] [-9.17795272e-02 9.95779351e-01 -4.97731334e-05 -1.65748709e+01] [-5.76275717e-04 -3.13040007e-06 9.99999834e-01 -1.56974146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.750281693 meters Centerline goodness [0,1] 0.9994425266407941 Centerline is valid? [True, True] Translation: X:282.30, Y:-16.58, Z:-1.57 [[ 9.95666740e-01 9.29806603e-02 1.52975543e-03 2.82301230e+02] [-9.29805669e-02 9.95667915e-01 -1.32202887e-04 -1.65767769e+01] [-1.53542071e-03 -1.06075097e-05 9.99998821e-01 -1.56810092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78028169299995 meters Centerline goodness [0,1] 0.9991324587388912 Centerline is valid? [True, True] Translation: X:282.33, Y:-16.58, Z:-1.57 [[ 9.95507078e-01 9.46389984e-02 3.01943810e-03 2.82329022e+02] [-9.46386432e-02 9.95511657e-01 -2.60618148e-04 -1.65763152e+01] [-3.03055047e-03 -2.63083138e-05 9.99995408e-01 -1.56625723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.810281693 meters Centerline goodness [0,1] 0.9991715523833801 Centerline is valid? [True, True] Translation: X:282.36, Y:-16.58, Z:-1.57 [[ 9.95443207e-01 9.52878057e-02 3.61334659e-03 2.82357677e+02] [-9.52873023e-02 9.95449764e-01 -3.11615396e-04 -1.65781397e+01] [-3.62659815e-03 -3.41106194e-05 9.99993423e-01 -1.56508691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84028169299995 meters Centerline goodness [0,1] 0.9993220482616894 Centerline is valid? [True, True] Translation: X:282.39, Y:-16.58, Z:-1.57 [[ 9.95342005e-01 9.63425308e-02 3.52273407e-03 2.82385832e+02] [-9.63420595e-02 9.95348238e-01 -3.03655087e-04 -1.65754402e+01] [-3.53560205e-03 -3.71467921e-05 9.99993749e-01 -1.56536497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.870281693 meters Centerline goodness [0,1] 0.9991539226262242 Centerline is valid? [True, True] Translation: X:282.41, Y:-16.57, Z:-1.57 [[ 9.95181773e-01 9.80086084e-02 2.74807171e-03 2.82414552e+02] [-9.80083282e-02 9.95185566e-01 -2.36756978e-04 -1.65738374e+01] [-2.75804552e-03 -3.37176850e-05 9.99996196e-01 -1.56669439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90028169299995 meters Centerline goodness [0,1] 0.9990738012040584 Centerline is valid? [True, True] Translation: X:282.44, Y:-16.57, Z:-1.57 [[ 9.95102502e-01 9.88269784e-02 2.05869042e-03 2.82442941e+02] [-9.88268229e-02 9.95104631e-01 -1.77353238e-04 -1.65729708e+01] [-2.06613965e-03 -2.69691823e-05 9.99997865e-01 -1.56855243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.930281693 meters Centerline goodness [0,1] 0.9992353765770358 Centerline is valid? [True, True] Translation: X:282.47, Y:-16.57, Z:-1.57 [[ 9.95003460e-01 9.98302365e-02 1.42743537e-03 2.82471935e+02] [-9.98301629e-02 9.95004484e-01 -1.22934314e-04 -1.65734718e+01] [-1.43257716e-03 -2.01810373e-05 9.99998974e-01 -1.56908152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96028169299996 meters Centerline goodness [0,1] 0.9990897544453853 Centerline is valid? [True, True] Translation: X:282.50, Y:-16.57, Z:-1.57 [[ 9.95022962e-01 9.96410420e-02 9.83897963e-04 2.82498599e+02] [-9.96410067e-02 9.95023448e-01 -8.48830228e-05 -1.65739703e+01] [-9.87459377e-04 -1.35760268e-05 9.99999512e-01 -1.57103699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.990281693 meters Centerline goodness [0,1] 0.999194010223344 Centerline is valid? [True, True] Translation: X:282.53, Y:-16.58, Z:-1.57 [[ 9.95077154e-01 9.91018995e-02 5.19818866e-04 2.82527227e+02] [-9.91018896e-02 9.95077290e-01 -4.48317944e-05 -1.65782023e+01] [-5.21702865e-04 -6.90393750e-06 9.99999864e-01 -1.57273815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02028169299996 meters Centerline goodness [0,1] 0.9992732247445598 Centerline is valid? [True, True] Translation: X:282.56, Y:-16.59, Z:-1.57 [[ 9.95293864e-01 9.68919704e-02 1.43919463e-03 2.82555732e+02] [-9.68918927e-02 9.95294904e-01 -1.23803986e-04 -1.65890700e+01] [-1.44441869e-03 -1.62249442e-05 9.99998957e-01 -1.57069305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.050281693 meters Centerline goodness [0,1] 0.9992788359563908 Centerline is valid? [True, True] Translation: X:282.58, Y:-16.59, Z:-1.57 [[ 9.95424119e-01 9.55375224e-02 1.84553764e-03 2.82583630e+02] [-9.55373928e-02 9.95425829e-01 -1.58423419e-04 -1.65949193e+01] [-1.85223122e-03 -1.86193621e-05 9.99998284e-01 -1.56988093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08028169299996 meters Centerline goodness [0,1] 0.9992312784266831 Centerline is valid? [True, True] Translation: X:282.61, Y:-16.60, Z:-1.57 [[ 9.95552191e-01 9.41821386e-02 2.35778211e-03 2.82612527e+02] [-9.41819236e-02 9.95554983e-01 -2.02284176e-04 -1.66013457e+01] [-2.36635328e-03 -2.06759995e-05 9.99997200e-01 -1.56838543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.110281693 meters Centerline goodness [0,1] 0.999340748144525 Centerline is valid? [True, True] Translation: X:282.64, Y:-16.61, Z:-1.57 [[ 9.95737771e-01 9.21519723e-02 3.78229453e-03 2.82639974e+02] [-9.21514063e-02 9.95744954e-01 -3.24030276e-04 -1.66112839e+01] [-3.79606072e-03 -2.58945760e-05 9.99992795e-01 -1.56518692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14028169299996 meters Centerline goodness [0,1] 0.999532322867286 Centerline is valid? [True, True] Translation: X:282.67, Y:-16.62, Z:-1.56 [[ 9.95905898e-01 9.02975721e-02 4.21791605e-03 2.82668079e+02] [-9.02968527e-02 9.95914830e-01 -3.61079244e-04 -1.66222071e+01] [-4.23328973e-03 -2.12635955e-05 9.99991039e-01 -1.56454399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.170281693 meters Centerline goodness [0,1] 0.9993833198656062 Centerline is valid? [True, True] Translation: X:282.70, Y:-16.63, Z:-1.57 [[ 9.95980609e-01 8.94964187e-02 3.60799293e-03 2.82696500e+02] [-8.94958875e-02 9.95987144e-01 -3.08731479e-04 -1.66279882e+01] [-3.62114493e-03 -1.54099624e-05 9.99993444e-01 -1.56574609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20028169299997 meters Centerline goodness [0,1] 0.9994907702100573 Centerline is valid? [True, True] Translation: X:282.72, Y:-16.63, Z:-1.57 [[ 9.96046226e-01 8.87832127e-02 3.07512523e-03 2.82724435e+02] [-8.87828237e-02 9.96050973e-01 -2.63040924e-04 -1.66329102e+01] [-3.08633509e-03 -1.10173811e-05 9.99995237e-01 -1.56701152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23028169299994 meters Centerline goodness [0,1] 0.999530966847884 Centerline is valid? [True, True] Translation: X:282.75, Y:-16.64, Z:-1.57 [[ 9.96170330e-01 8.74070461e-02 2.16382692e-03 2.82751620e+02] [-8.74068504e-02 9.96172680e-01 -1.85042639e-04 -1.66420634e+01] [-2.17171929e-03 -4.79930853e-06 9.99997642e-01 -1.56860762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26028169299997 meters Centerline goodness [0,1] 0.9996137256164296 Centerline is valid? [True, True] Translation: X:282.78, Y:-16.65, Z:-1.57 [[ 9.96206131e-01 8.69963866e-02 2.23018936e-03 2.82780199e+02] [-8.69961780e-02 9.96208627e-01 -1.90557515e-04 -1.66480407e+01] [-2.23831170e-03 -4.18338630e-06 9.99997495e-01 -1.56798166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29028169299994 meters Centerline goodness [0,1] 0.9994678246801626 Centerline is valid? [True, True] Translation: X:282.81, Y:-16.65, Z:-1.57 [[ 9.96253951e-01 8.64462912e-02 2.25931881e-03 2.82808105e+02] [-8.64460759e-02 9.96256513e-01 -1.92934131e-04 -1.66541804e+01] [-2.26753951e-03 -3.09785471e-06 9.99997429e-01 -1.56786472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32028169299997 meters Centerline goodness [0,1] 0.9995320642348187 Centerline is valid? [True, True] Translation: X:282.84, Y:-16.66, Z:-1.57 [[ 9.96274393e-01 8.62017465e-02 2.56777564e-03 2.82837180e+02] [-8.62014681e-02 9.96277702e-01 -2.19120371e-04 -1.66569425e+01] [-2.57710617e-03 -3.04201530e-06 9.99996679e-01 -1.56695589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35028169299994 meters Centerline goodness [0,1] 0.999409020874227 Centerline is valid? [True, True] Translation: X:282.86, Y:-16.66, Z:-1.57 [[ 9.96286257e-01 8.60367991e-02 3.37081082e-03 2.82864706e+02] [-8.60363191e-02 9.96291960e-01 -2.87433101e-04 -1.66600922e+01] [-3.38304155e-03 -3.64650716e-06 9.99994277e-01 -1.56585809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.380281693 meters Centerline goodness [0,1] 0.9994686729575788 Centerline is valid? [True, True] Translation: X:282.89, Y:-16.67, Z:-1.56 [[ 9.96330792e-01 8.55016229e-02 3.79803030e-03 2.82893473e+02] [-8.55010106e-02 9.96338031e-01 -3.23592589e-04 -1.66662239e+01] [-3.81178973e-03 -2.33016876e-06 9.99992735e-01 -1.56493494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41028169299994 meters Centerline goodness [0,1] 0.999680925740784 Centerline is valid? [True, True] Translation: X:282.92, Y:-16.67, Z:-1.57 [[ 9.96314431e-01 8.57187464e-02 3.13877736e-03 2.82921765e+02] [-8.57183296e-02 9.96319375e-01 -2.67315691e-04 -1.66697861e+01] [-3.15013867e-03 -2.72027235e-06 9.99995038e-01 -1.56669256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.440281693 meters Centerline goodness [0,1] 0.9997051203740759 Centerline is valid? [True, True] Translation: X:282.95, Y:-16.67, Z:-1.57 [[ 9.96095142e-01 8.82597474e-02 2.16463640e-03 2.82949512e+02] [-8.82595552e-02 9.96097494e-01 -1.84348178e-04 -1.66699061e+01] [-2.17245941e-03 -7.42152113e-06 9.99997640e-01 -1.56879320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47028169299995 meters Centerline goodness [0,1] 0.9995761813943632 Centerline is valid? [True, True] Translation: X:282.98, Y:-16.67, Z:-1.57 [[ 9.95920296e-01 9.01951185e-02 2.75770807e-03 2.82978822e+02] [-9.01948146e-02 9.95924114e-01 -2.34596213e-04 -1.66710893e+01] [-2.76762739e-03 -1.50918384e-05 9.99996170e-01 -1.56741071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.500281693 meters Centerline goodness [0,1] 0.9995943724514849 Centerline is valid? [True, True] Translation: X:283.01, Y:-16.67, Z:-1.57 [[ 9.95743126e-01 9.21113188e-02 3.33651378e-03 2.83007355e+02] [-9.21108855e-02 9.95748715e-01 -2.83630656e-04 -1.66717336e+01] [-3.34845490e-03 -2.49059624e-05 9.99994394e-01 -1.56589763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53028169299995 meters Centerline goodness [0,1] 0.9995128150815505 Centerline is valid? [True, True] Translation: X:283.04, Y:-16.67, Z:-1.57 [[ 9.95417124e-01 9.55816977e-02 2.98132754e-03 2.83035118e+02] [-9.55813675e-02 9.95421588e-01 -2.53357906e-04 -1.66680960e+01] [-2.99189418e-03 -3.27625654e-05 9.99995524e-01 -1.56633293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.560281693 meters Centerline goodness [0,1] 0.9994046100195628 Centerline is valid? [True, True] Translation: X:283.06, Y:-16.66, Z:-1.57 [[ 9.95214144e-01 9.76949460e-02 2.12263014e-03 2.83063352e+02] [-9.76947836e-02 9.95216407e-01 -1.80295581e-04 -1.66645152e+01] [-2.13009031e-03 -2.79371799e-05 9.99997731e-01 -1.56903068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59028169299995 meters Centerline goodness [0,1] 0.9993650524889942 Centerline is valid? [True, True] Translation: X:283.09, Y:-16.66, Z:-1.57 [[ 9.94718582e-01 1.02639336e-01 3.31350347e-04 2.83093379e+02] [-1.02639332e-01 9.94718637e-01 -2.82550455e-05 -1.66582232e+01] [-3.32500444e-04 -5.90375938e-06 9.99999945e-01 -1.57253000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.620281693 meters Centerline goodness [0,1] 0.9991506529355558 Centerline is valid? [True, True] Translation: X:283.12, Y:-16.66, Z:-1.57 [[ 9.94488718e-01 1.04843640e-01 -3.38168651e-06 2.83122307e+02] [-1.04843640e-01 9.94488718e-01 6.58851876e-08 -1.66567541e+01] [ 3.36995672e-06 2.89026248e-07 1.00000000e+00 -1.57264483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65028169299995 meters Centerline goodness [0,1] 0.9991433955799212 Centerline is valid? [True, True] Translation: X:283.15, Y:-16.66, Z:-1.57 [[ 9.94347938e-01 1.06170517e-01 -2.91152739e-07 2.83151137e+02] [-1.06170517e-01 9.94347938e-01 -2.00192551e-07 -1.66570042e+01] [ 2.68252571e-07 2.29972887e-07 1.00000000e+00 -1.57246677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.680281693 meters Centerline goodness [0,1] 0.9991694175274198 Centerline is valid? [True, True] Translation: X:283.18, Y:-16.66, Z:-1.57 [[ 9.94398785e-01 1.05693118e-01 -1.42431662e-04 2.83179128e+02] [-1.05693118e-01 9.94398796e-01 1.17724658e-05 -1.66564310e+01] [ 1.42878142e-04 3.34752074e-06 9.99999990e-01 -1.57253854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71028169299996 meters Centerline goodness [0,1] 0.9991439089119082 Centerline is valid? [True, True] Translation: X:283.21, Y:-16.66, Z:-1.57 [[ 9.94560208e-01 1.04160733e-01 7.30587895e-04 2.83207751e+02] [-1.04160716e-01 9.94560477e-01 -6.20118121e-05 -1.66607240e+01] [-7.33073041e-04 -1.44240772e-05 9.99999731e-01 -1.57110639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.740281693 meters Centerline goodness [0,1] 0.9993412524703033 Centerline is valid? [True, True] Translation: X:283.23, Y:-16.67, Z:-1.57 [[ 9.94980514e-01 1.00044389e-01 2.21299883e-03 2.83234996e+02] [-1.00044220e-01 9.94982974e-01 -1.87303737e-04 -1.66678527e+01] [-2.22063484e-03 -3.50341726e-05 9.99997534e-01 -1.56887712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77028169299996 meters Centerline goodness [0,1] 0.9992796762780449 Centerline is valid? [True, True] Translation: X:283.26, Y:-16.67, Z:-1.57 [[ 9.95217738e-01 9.76498213e-02 2.48340451e-03 2.83263270e+02] [-9.76496013e-02 9.95220835e-01 -2.09982994e-04 -1.66743266e+01] [-2.49204071e-03 -3.35246592e-05 9.99996894e-01 -1.56879596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.800281693 meters Centerline goodness [0,1] 0.9994279297412971 Centerline is valid? [True, True] Translation: X:283.29, Y:-16.68, Z:-1.57 [[ 9.95609644e-01 9.35558376e-02 2.95673833e-03 2.83290958e+02] [-9.35555082e-02 9.95614034e-01 -2.49824966e-04 -1.66843326e+01] [-2.96714276e-03 -2.78910122e-05 9.99995598e-01 -1.56764181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83028169299996 meters Centerline goodness [0,1] 0.9995060667883604 Centerline is valid? [True, True] Translation: X:283.32, Y:-16.69, Z:-1.57 [[ 9.95809653e-01 9.13974769e-02 3.10419233e-03 2.83319704e+02] [-9.13971039e-02 9.95814491e-01 -2.62127238e-04 -1.66910159e+01] [-3.11515747e-03 -2.26853546e-05 9.99995148e-01 -1.56703882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.860281693 meters Centerline goodness [0,1] 0.9996186117467581 Centerline is valid? [True, True] Translation: X:283.35, Y:-16.70, Z:-1.57 [[ 9.96015743e-01 8.91295902e-02 2.92489070e-03 2.83348095e+02] [-8.91292496e-02 9.96020038e-01 -2.46867465e-04 -1.66977929e+01] [-2.93525294e-03 -1.48094310e-05 9.99995692e-01 -1.56824550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89028169299996 meters Centerline goodness [0,1] 0.9995766568592173 Centerline is valid? [True, True] Translation: X:283.38, Y:-16.71, Z:-1.57 [[ 9.96304092e-01 8.58791769e-02 1.70971377e-03 2.83375439e+02] [-8.58790556e-02 9.96305559e-01 -1.44349442e-04 -1.67092244e+01] [-1.71579395e-03 -3.01266477e-06 9.99998528e-01 -1.57123637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.920281693 meters Centerline goodness [0,1] 0.9997394759123771 Centerline is valid? [True, True] Translation: X:283.40, Y:-16.72, Z:-1.57 [[ 9.96393778e-01 8.48378272e-02 1.40801642e-03 2.83403761e+02] [-8.48377440e-02 9.96394773e-01 -1.18811341e-04 -1.67166490e+01] [-1.41301990e-03 -1.07005595e-06 9.99999002e-01 -1.57165627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95028169299997 meters Centerline goodness [0,1] 0.9996159016708277 Centerline is valid? [True, True] Translation: X:283.43, Y:-16.72, Z:-1.57 [[ 9.96405160e-01 8.47123829e-02 7.54036788e-04 2.83431183e+02] [-8.47123590e-02 9.96405446e-01 -6.37422656e-05 -1.67249110e+01] [-7.56726121e-04 -3.63112627e-07 9.99999714e-01 -1.57231404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98028169299994 meters Centerline goodness [0,1] 0.9997451255256786 Centerline is valid? [True, True] Translation: X:283.46, Y:-16.73, Z:-1.57 [[ 9.96373788e-01 8.50795578e-02 8.62703864e-04 2.83460226e+02] [-8.50795266e-02 9.96374161e-01 -7.27858178e-05 -1.67291764e+01] [-8.65768424e-04 -8.76555405e-07 9.99999625e-01 -1.57195379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01028169299997 meters Centerline goodness [0,1] 0.9998095197781963 Centerline is valid? [True, True] Translation: X:283.49, Y:-16.73, Z:-1.57 [[ 9.96314187e-01 8.57745658e-02 8.74094443e-04 2.83488389e+02] [-8.57745341e-02 9.96314571e-01 -7.37040369e-05 -1.67330487e+01] [-8.77194962e-04 -1.54266602e-06 9.99999615e-01 -1.57271449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04028169299994 meters Centerline goodness [0,1] 0.9996999314128944 Centerline is valid? [True, True] Translation: X:283.52, Y:-16.74, Z:-1.57 [[ 9.96202860e-01 8.70612177e-02 4.53277116e-04 2.83516409e+02] [-8.70612092e-02 9.96202963e-01 -3.83704367e-05 -1.67360120e+01] [-4.54896583e-04 -1.23811503e-06 9.99999897e-01 -1.57322864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07028169299997 meters Centerline goodness [0,1] 0.9998719125589736 Centerline is valid? [True, True] Translation: X:283.55, Y:-16.74, Z:-1.57 [[ 9.95837956e-01 9.11412398e-02 2.00420187e-04 2.83545485e+02] [-9.11412382e-02 9.95837976e-01 -1.70479995e-05 -1.67365072e+01] [-2.01139809e-04 -1.28949905e-06 9.99999980e-01 -1.57259735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10028169299994 meters Centerline goodness [0,1] 0.9997258309431416 Centerline is valid? [True, True] Translation: X:283.58, Y:-16.73, Z:-1.57 [[ 9.95278013e-01 9.70598286e-02 1.03266262e-03 2.83575006e+02] [-9.70597907e-02 9.95278549e-01 -8.68366239e-05 -1.67304652e+01] [-1.03621530e-03 -1.38034353e-05 9.99999463e-01 -1.57104942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.130281693 meters Centerline goodness [0,1] 0.9995287868403016 Centerline is valid? [True, True] Translation: X:283.60, Y:-16.73, Z:-1.57 [[ 9.94966530e-01 1.00189871e-01 1.89575942e-03 2.83603602e+02] [-1.00189750e-01 9.94968336e-01 -1.59222654e-04 -1.67305963e+01] [-1.90217309e-03 -3.15144505e-05 9.99998190e-01 -1.56913937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16028169299994 meters Centerline goodness [0,1] 0.9993814125125318 Centerline is valid? [True, True] Translation: X:283.63, Y:-16.73, Z:-1.57 [[ 9.94610919e-01 1.03654945e-01 2.18448355e-03 2.83632483e+02] [-1.03654793e-01 9.94613317e-01 -1.83304390e-04 -1.67277299e+01] [-2.19171683e-03 -4.41156413e-05 9.99997597e-01 -1.56890938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.190281693 meters Centerline goodness [0,1] 0.9988484176405357 Centerline is valid? [True, True] Translation: X:283.66, Y:-16.73, Z:-1.57 [[ 9.94302598e-01 1.06559063e-01 2.74044707e-03 2.83662472e+02] [-1.06558834e-01 9.94306372e-01 -2.29794136e-04 -1.67260574e+01] [-2.74933064e-03 -6.35339396e-05 9.99996219e-01 -1.56805613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22028169299995 meters Centerline goodness [0,1] 0.9982374925677397 Centerline is valid? [True, True] Translation: X:283.69, Y:-16.72, Z:-1.57 [[ 9.93950948e-01 1.09780946e-01 3.10746199e-03 2.83692039e+02] [-1.09780668e-01 9.93955802e-01 -2.60500205e-04 -1.67235813e+01] [-3.11727784e-03 -8.22148274e-05 9.99995138e-01 -1.56703460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.250281693 meters Centerline goodness [0,1] 0.9982374925677397 Centerline is valid? [True, True] Translation: X:283.72, Y:-16.73, Z:-1.57 [[ 9.93956065e-01 1.09734608e-01 3.10746959e-03 2.83720285e+02] [-1.09734330e-01 9.93960919e-01 -2.60409523e-04 -1.67258574e+01] [-3.11727927e-03 -8.21604694e-05 9.99995138e-01 -1.56716801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28028169299995 meters Centerline goodness [0,1] 0.9983669961323592 Centerline is valid? [True, True] Translation: X:283.75, Y:-16.73, Z:-1.57 [[ 9.93958565e-01 1.09720237e-01 2.80007081e-03 2.83749334e+02] [-1.09720011e-01 9.93962506e-01 -2.34540605e-04 -1.67285322e+01] [-2.80889925e-03 -7.41001585e-05 9.99996052e-01 -1.56775438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.310281693 meters Centerline goodness [0,1] 0.9987717370224319 Centerline is valid? [True, True] Translation: X:283.78, Y:-16.74, Z:-1.57 [[ 9.94209078e-01 1.07446694e-01 1.87550386e-03 2.83778049e+02] [-1.07446589e-01 9.94210846e-01 -1.57134135e-04 -1.67371664e+01] [-1.88152982e-03 -4.52923081e-05 9.99998229e-01 -1.56950438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34028169299995 meters Centerline goodness [0,1] 0.9989549119140042 Centerline is valid? [True, True] Translation: X:283.81, Y:-16.74, Z:-1.57 [[ 9.94347988e-01 1.06160251e-01 1.44188030e-03 2.83805670e+02] [-1.06160187e-01 9.94349033e-01 -1.20765385e-04 -1.67398901e+01] [-1.44655277e-03 -3.29874657e-05 9.99998953e-01 -1.57150561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.370281693 meters Centerline goodness [0,1] 0.9989380004672798 Centerline is valid? [True, True] Translation: X:283.83, Y:-16.75, Z:-1.57 [[ 9.94584261e-01 1.03932840e-01 3.36427798e-04 2.83833116e+02] [-1.03932836e-01 9.94584318e-01 -2.83693679e-05 -1.67470214e+01] [-3.37554321e-04 -6.75016835e-06 9.99999943e-01 -1.57425665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40028169299995 meters Centerline goodness [0,1] 0.9992135356884752 Centerline is valid? [True, True] Translation: X:283.86, Y:-16.75, Z:-1.57 [[ 9.94636708e-01 1.03429858e-01 2.89891385e-04 2.83861985e+02] [-1.03429855e-01 9.94636750e-01 -2.44148891e-05 -1.67529500e+01] [-2.90861854e-04 -5.69947901e-06 9.99999958e-01 -1.57371216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.430281693 meters Centerline goodness [0,1] 0.9991953755267114 Centerline is valid? [True, True] Translation: X:283.89, Y:-16.76, Z:-1.57 [[ 9.94607601e-01 1.03709785e-01 -3.27775095e-06 2.83889317e+02] [-1.03709785e-01 9.94607601e-01 -5.43764813e-09 -1.67552362e+01] [ 3.25951206e-06 3.45343171e-07 1.00000000e+00 -1.57365772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46028169299996 meters Centerline goodness [0,1] 0.99928265502036 Centerline is valid? [True, True] Translation: X:283.92, Y:-16.76, Z:-1.57 [[ 9.94612498e-01 1.03662624e-01 -1.97500612e-04 2.83917768e+02] [-1.03662623e-01 9.94612518e-01 1.62416224e-05 -1.67579452e+01] [ 1.98120230e-04 4.31931085e-06 9.99999980e-01 -1.57434114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.490281693 meters Centerline goodness [0,1] 0.999193531271886 Centerline is valid? [True, True] Translation: X:283.95, Y:-16.76, Z:-1.57 [[ 9.94651207e-01 1.03290724e-01 -5.83726750e-05 2.83946295e+02] [-1.03290724e-01 9.94651208e-01 4.64122767e-06 -1.67625634e+01] [ 5.85398475e-05 1.41295317e-06 9.99999998e-01 -1.57486724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52028169299996 meters Centerline goodness [0,1] 0.9992946909463966 Centerline is valid? [True, True] Translation: X:283.97, Y:-16.77, Z:-1.57 [[ 9.94705826e-01 1.02739695e-01 2.20799884e-03 2.83974850e+02] [-1.02739540e-01 9.94708275e-01 -1.84031945e-04 -1.67706455e+01] [-2.21522210e-03 -4.37911356e-05 9.99997545e-01 -1.57099945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.550281693 meters Centerline goodness [0,1] 0.9988238753307851 Centerline is valid? [True, True] Translation: X:284.00, Y:-16.77, Z:-1.57 [[ 9.94669381e-01 1.03042910e-01 3.87064984e-03 2.84003058e+02] [-1.03042435e-01 9.94676909e-01 -3.22267071e-04 -1.67707809e+01] [-3.88325335e-03 -7.82919978e-05 9.99992457e-01 -1.56853688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58028169299996 meters Centerline goodness [0,1] 0.9986485345046034 Centerline is valid? [True, True] Translation: X:284.03, Y:-16.78, Z:-1.57 [[ 9.94585572e-01 1.03818881e-01 4.60210429e-03 2.84031377e+02] [-1.03818221e-01 9.94596215e-01 -3.82842569e-04 -1.67761607e+01] [-4.61698179e-03 -9.70125838e-05 9.99989337e-01 -1.56706227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.610281693 meters Centerline goodness [0,1] 0.9985021413050358 Centerline is valid? [True, True] Translation: X:284.06, Y:-16.78, Z:-1.57 [[ 9.94593347e-01 1.03772655e-01 3.91282530e-03 2.84059601e+02] [-1.03772178e-01 9.94601040e-01 -3.25355398e-04 -1.67798291e+01] [-3.92546311e-03 -8.24460902e-05 9.99992292e-01 -1.56810476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64028169299996 meters Centerline goodness [0,1] 0.9992085053586326 Centerline is valid? [True, True] Translation: X:284.09, Y:-16.78, Z:-1.57 [[ 9.94683177e-01 1.02928775e-01 3.32346906e-03 2.84088590e+02] [-1.02928427e-01 9.94688727e-01 -2.76215091e-04 -1.67847971e+01] [-3.33424769e-03 -6.73329368e-05 9.99994439e-01 -1.56933007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.670281693 meters Centerline goodness [0,1] 0.9995721925133689 Centerline is valid? [True, True] Translation: X:284.12, Y:-16.79, Z:-1.57 [[ 9.94982528e-01 1.00024581e-01 2.20290309e-03 2.84117615e+02] [-1.00024421e-01 9.94984966e-01 -1.83034234e-04 -1.67920162e+01] [-2.21016338e-03 -3.82282418e-05 9.99997557e-01 -1.57214754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70028169299997 meters Centerline goodness [0,1] 0.9997044792502217 Centerline is valid? [True, True] Translation: X:284.15, Y:-16.80, Z:-1.57 [[ 9.95137604e-01 9.84777452e-02 1.81207246e-03 2.84145958e+02] [-9.84776342e-02 9.95139253e-01 -1.50571620e-04 -1.67972294e+01] [-1.81809239e-03 -2.86091279e-05 9.99998347e-01 -1.57332143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73028169299994 meters Centerline goodness [0,1] 0.9997673484063366 Centerline is valid? [True, True] Translation: X:284.17, Y:-16.81, Z:-1.57 [[ 9.95474412e-01 9.50200043e-02 1.37628285e-03 2.84173398e+02] [-9.50199370e-02 9.95475363e-01 -1.14349716e-04 -1.68093336e+01] [-1.38092119e-03 -1.69420938e-05 9.99999046e-01 -1.57455428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76028169299997 meters Centerline goodness [0,1] 0.9997044043748152 Centerline is valid? [True, True] Translation: X:284.20, Y:-16.82, Z:-1.57 [[ 9.95658650e-01 9.30705564e-02 1.31282737e-03 2.84201586e+02] [-9.30704935e-02 9.95659516e-01 -1.09038672e-04 -1.68153535e+01] [-1.31727735e-03 -1.36201943e-05 9.99999132e-01 -1.57440279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79028169299994 meters Centerline goodness [0,1] 0.999723692320772 Centerline is valid? [True, True] Translation: X:284.23, Y:-16.82, Z:-1.57 [[ 9.95832492e-01 9.11750214e-02 2.18266327e-03 2.84229844e+02] [-9.11748435e-02 9.95834883e-01 -1.81101763e-04 -1.68198527e+01] [-2.19008418e-03 -1.86569624e-05 9.99997602e-01 -1.57278110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82028169299997 meters Centerline goodness [0,1] 0.9998072351089121 Centerline is valid? [True, True] Translation: X:284.26, Y:-16.83, Z:-1.57 [[ 9.95859404e-01 9.08772050e-02 2.31980357e-03 2.84260312e+02] [-9.08770036e-02 9.95862106e-01 -1.92311168e-04 -1.68256088e+01] [-2.32768117e-03 -1.93019126e-05 9.99997291e-01 -1.57266462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85028169299994 meters Centerline goodness [0,1] 0.999683691113829 Centerline is valid? [True, True] Translation: X:284.29, Y:-16.83, Z:-1.58 [[ 9.95863367e-01 9.08461434e-02 1.76986119e-03 2.84289650e+02] [-9.08460260e-02 9.95864940e-01 -1.46756981e-04 -1.68271870e+01] [-1.77587502e-03 -1.46349547e-05 9.99998423e-01 -1.57504362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.880281693 meters Centerline goodness [0,1] 0.9998073135223088 Centerline is valid? [True, True] Translation: X:284.32, Y:-16.83, Z:-1.58 [[ 9.95877774e-01 9.07042200e-02 4.52445261e-04 2.84318062e+02] [-9.07042123e-02 9.95877876e-01 -3.76441542e-05 -1.68298703e+01] [-4.53994709e-04 -3.54971454e-06 9.99999897e-01 -1.57800774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91028169299994 meters Centerline goodness [0,1] 0.9997676089069168 Centerline is valid? [True, True] Translation: X:284.35, Y:-16.83, Z:-1.58 [[ 9.95843375e-01 9.10810333e-02 4.67483103e-04 2.84347961e+02] [-9.10810251e-02 9.95843484e-01 -3.88323414e-05 -1.68321565e+01] [-4.69076892e-04 -3.90791031e-06 9.99999890e-01 -1.57729623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.940281693 meters Centerline goodness [0,1] 0.9998281676224843 Centerline is valid? [True, True] Translation: X:284.38, Y:-16.83, Z:-1.58 [[ 9.95674524e-01 9.29060562e-02 8.40274681e-04 2.84377333e+02] [-9.29060304e-02 9.95674879e-01 -6.97810123e-05 -1.68300438e+01] [-8.43123470e-04 -8.58740878e-06 9.99999645e-01 -1.57625983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97028169299995 meters Centerline goodness [0,1] 0.9996825799898426 Centerline is valid? [True, True] Translation: X:284.41, Y:-16.83, Z:-1.58 [[ 9.95595085e-01 9.37516274e-02 1.02924268e-03 2.84406362e+02] [-9.37515893e-02 9.95595617e-01 -8.53323006e-05 -1.68307056e+01] [-1.03270955e-03 -1.15367185e-05 9.99999467e-01 -1.57630646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.000281693 meters Centerline goodness [0,1] 0.999682008013398 Centerline is valid? [True, True] Translation: X:284.44, Y:-16.83, Z:-1.58 [[ 9.95576382e-01 9.39546647e-02 4.33431418e-04 2.84436158e+02] [-9.39546579e-02 9.95576477e-01 -3.59638128e-05 -1.68326738e+01] [-4.34893092e-04 -4.91817800e-06 9.99999905e-01 -1.57726801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03028169299995 meters Centerline goodness [0,1] 0.9997652532064278 Centerline is valid? [True, True] Translation: X:284.47, Y:-16.84, Z:-1.58 [[ 9.95648155e-01 9.31779746e-02 -1.61779490e-03 2.84465499e+02] [-9.31778804e-02 9.95649469e-01 1.33682257e-04 -1.68376863e+01] [ 1.62321287e-03 1.76422072e-05 9.99998682e-01 -1.58042853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.060281693 meters Centerline goodness [0,1] 0.9997858580667266 Centerline is valid? [True, True] Translation: X:284.49, Y:-16.84, Z:-1.58 [[ 9.95744691e-01 9.21351518e-02 -1.90393684e-03 2.84493236e+02] [-9.21350199e-02 9.95746511e-01 1.57066908e-04 -1.68414049e+01] [ 1.91030984e-03 1.90207184e-05 9.99998175e-01 -1.58180751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09028169299995 meters Centerline goodness [0,1] 0.9998101506138464 Centerline is valid? [True, True] Translation: X:284.52, Y:-16.85, Z:-1.58 [[ 9.95920959e-01 9.02279838e-02 5.94792595e-04 2.84521163e+02] [-9.02279704e-02 9.95921137e-01 -4.92997185e-05 -1.68472940e+01] [-5.96814732e-04 -4.56830576e-06 9.99999822e-01 -1.57688614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.120281693 meters Centerline goodness [0,1] 0.9999574196295508 Centerline is valid? [True, True] Translation: X:284.55, Y:-16.85, Z:-1.57 [[ 9.95929612e-01 9.01126604e-02 1.97922317e-03 2.84550489e+02] [-9.01125133e-02 9.95931578e-01 -1.63561578e-04 -1.68498784e+01] [-1.98590982e-03 -1.54569557e-05 9.99998028e-01 -1.57418749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15028169299995 meters Centerline goodness [0,1] 0.9997461606802894 Centerline is valid? [True, True] Translation: X:284.58, Y:-16.85, Z:-1.57 [[ 9.95839843e-01 9.10948431e-02 2.17619063e-03 2.84579119e+02] [-9.10946677e-02 9.95842221e-01 -1.79805722e-04 -1.68496885e+01] [-2.18352188e-03 -1.91816594e-05 9.99997616e-01 -1.57358361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.180281693 meters Centerline goodness [0,1] 0.9997653333333333 Centerline is valid? [True, True] Translation: X:284.61, Y:-16.85, Z:-1.58 [[ 9.95660839e-01 9.30553424e-02 4.43905906e-04 2.84609150e+02] [-9.30553352e-02 9.95660938e-01 -3.67435679e-05 -1.68507505e+01] [-4.45398956e-04 -4.72368125e-06 9.99999901e-01 -1.57723598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21028169299996 meters Centerline goodness [0,1] 0.9997467446130469 Centerline is valid? [True, True] Translation: X:284.64, Y:-16.85, Z:-1.58 [[ 9.95606526e-01 9.36357039e-02 -6.62436001e-06 2.84637516e+02] [-9.36357039e-02 9.95606526e-01 4.17111642e-07 -1.68514624e+01] [ 6.63431260e-06 2.04997539e-07 1.00000000e+00 -1.57944850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.240281693 meters Centerline goodness [0,1] 0.9998730346826925 Centerline is valid? [True, True] Translation: X:284.67, Y:-16.85, Z:-1.58 [[ 9.95654696e-01 9.31198641e-02 6.46012600e-04 2.84666620e+02] [-9.31198490e-02 9.95654906e-01 -5.33865535e-05 -1.68545259e+01] [-6.48176963e-04 -7.00202308e-06 9.99999790e-01 -1.57770298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27028169299996 meters Centerline goodness [0,1] 0.999872106407469 Centerline is valid? [True, True] Translation: X:284.70, Y:-16.86, Z:-1.58 [[ 9.95799467e-01 9.15553656e-02 1.01824997e-03 2.84696480e+02] [-9.15553275e-02 9.95799987e-01 -8.40209166e-05 -1.68595735e+01] [-1.02166587e-03 -9.55822550e-06 9.99999478e-01 -1.57737048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.300281693 meters Centerline goodness [0,1] 0.9999361172036371 Centerline is valid? [True, True] Translation: X:284.73, Y:-16.87, Z:-1.58 [[ 9.96303825e-01 8.58929486e-02 1.04388996e-03 2.84725290e+02] [-8.58929055e-02 9.96304372e-01 -8.61233250e-05 -1.68712419e+01] [-1.04742951e-03 -3.85774322e-06 9.99999451e-01 -1.57811292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33028169299996 meters Centerline goodness [0,1] 0.9998503378089455 Centerline is valid? [True, True] Translation: X:284.75, Y:-16.88, Z:-1.58 [[ 9.96593419e-01 8.24669685e-02 8.69888647e-04 2.84754817e+02] [-8.24669373e-02 9.96593798e-01 -7.17233771e-05 -1.68797202e+01] [-8.72840441e-04 -2.58006899e-07 9.99999619e-01 -1.57773769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.360281693 meters Centerline goodness [0,1] 0.9997447785954315 Centerline is valid? [True, True] Translation: X:284.78, Y:-16.89, Z:-1.58 [[ 9.96880596e-01 7.89178784e-02 1.02225093e-03 2.84784644e+02] [-7.89178334e-02 9.96881121e-01 -8.42858328e-05 -1.68883292e+01] [-1.02571431e-03 3.34908253e-06 9.99999474e-01 -1.57772745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39028169299996 meters Centerline goodness [0,1] 0.9995694758368313 Centerline is valid? [True, True] Translation: X:284.81, Y:-16.90, Z:-1.58 [[ 9.97372654e-01 7.24083520e-02 2.19522583e-03 2.84814274e+02] [-7.24081295e-02 9.97375070e-01 -1.80793572e-04 -1.69027333e+01] [-2.20255448e-03 2.13663686e-05 9.99997574e-01 -1.57515041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.420281693 meters Centerline goodness [0,1] 0.9993674622585814 Centerline is valid? [True, True] Translation: X:284.84, Y:-16.91, Z:-1.58 [[ 9.97568875e-01 6.96421653e-02 2.51181274e-03 2.84844617e+02] [-6.96418645e-02 9.97572036e-01 -2.07116906e-04 -1.69118045e+01] [-2.52013822e-03 3.16860563e-05 9.99996824e-01 -1.57529121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45028169299997 meters Centerline goodness [0,1] 0.9987752085313061 Centerline is valid? [True, True] Translation: X:284.87, Y:-16.92, Z:-1.58 [[ 9.97919048e-01 6.44375256e-02 2.31915079e-03 2.84874437e+02] [-6.44372543e-02 9.97921742e-01 -1.91584986e-04 -1.69239299e+01] [-2.32667626e-03 4.17465978e-05 9.99997292e-01 -1.57662976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48028169299994 meters Centerline goodness [0,1] 0.9987580299785868 Centerline is valid? [True, True] Translation: X:284.91, Y:-16.93, Z:-1.58 [[ 9.98042042e-01 6.25029258e-02 2.33792772e-03 2.84906334e+02] [-6.25026456e-02 9.98044780e-01 -1.92795694e-04 -1.69284369e+01] [-2.34540685e-03 4.62915402e-05 9.99997248e-01 -1.57597554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51028169299997 meters Centerline goodness [0,1] 0.9984535864085073 Centerline is valid? [True, True] Translation: X:284.94, Y:-16.94, Z:-1.58 [[ 9.98108788e-01 6.14105098e-02 2.75614768e-03 2.84936819e+02] [-6.14101145e-02 9.98112592e-01 -2.27911290e-04 -1.69388682e+01] [-2.76494185e-03 5.82249169e-05 9.99996176e-01 -1.57512908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54028169299994 meters Centerline goodness [0,1] 0.9987089555450359 Centerline is valid? [True, True] Translation: X:284.97, Y:-16.94, Z:-1.57 [[ 9.98121654e-01 6.12206358e-02 2.27979258e-03 2.84969422e+02] [-6.12203644e-02 9.98124256e-01 -1.88718480e-04 -1.69401928e+01] [-2.28706974e-03 4.87942691e-05 9.99997383e-01 -1.57498037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57028169299997 meters Centerline goodness [0,1] 0.9986884540958934 Centerline is valid? [True, True] Translation: X:285.00, Y:-16.94, Z:-1.58 [[ 9.98037730e-01 6.25944232e-02 1.62105922e-03 2.85001755e+02] [-6.25942877e-02 9.98039046e-01 -1.34233458e-04 -1.69417179e+01] [-1.62628266e-03 3.25010087e-05 9.99998677e-01 -1.57651354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60028169299994 meters Centerline goodness [0,1] 0.9989562476036297 Centerline is valid? [True, True] Translation: X:285.03, Y:-16.94, Z:-1.58 [[ 9.97759181e-01 6.68917196e-02 1.45444855e-03 2.85033104e+02] [-6.68916142e-02 9.97760240e-01 -1.21057649e-04 -1.69417337e+01] [-1.45928869e-03 2.34959689e-05 9.99998935e-01 -1.57666218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.630281693 meters Centerline goodness [0,1] 0.9992357336956522 Centerline is valid? [True, True] Translation: X:285.06, Y:-16.94, Z:-1.58 [[ 9.97581272e-01 6.94832364e-02 1.91994675e-03 2.85064496e+02] [-6.94830578e-02 9.97583119e-01 -1.59687610e-04 -1.69429464e+01] [-1.92640208e-03 2.58975982e-05 9.99998144e-01 -1.57604635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66028169299994 meters Centerline goodness [0,1] 0.9993834509737223 Centerline is valid? [True, True] Translation: X:285.10, Y:-16.95, Z:-1.58 [[ 9.97410806e-01 7.18871543e-02 1.98010720e-03 2.85095624e+02] [-7.18869686e-02 9.97412771e-01 -1.64894244e-04 -1.69460852e+01] [-1.98683799e-03 2.21233969e-05 9.99998026e-01 -1.57641301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.690281693 meters Centerline goodness [0,1] 0.9995476380242552 Centerline is valid? [True, True] Translation: X:285.13, Y:-16.94, Z:-1.58 [[ 9.97187880e-01 7.49289830e-02 1.40683851e-03 2.85127790e+02] [-7.49288926e-02 9.97188872e-01 -1.16920710e-04 -1.69440900e+01] [-1.41164446e-03 1.11790629e-05 9.99999004e-01 -1.57786750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72028169299995 meters Centerline goodness [0,1] 0.9995308468214872 Centerline is valid? [True, True] Translation: X:285.16, Y:-16.95, Z:-1.58 [[ 9.97084775e-01 7.62922115e-02 1.20411618e-03 2.85158448e+02] [-7.62921461e-02 9.97085502e-01 -1.00204430e-04 -1.69479939e+01] [-1.20825160e-03 8.04770470e-06 9.99999270e-01 -1.58018222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.750281693 meters Centerline goodness [0,1] 0.9996396778295888 Centerline is valid? [True, True] Translation: X:285.19, Y:-16.95, Z:-1.58 [[ 9.96906715e-01 7.85938278e-02 -1.11481415e-04 2.85188754e+02] [-7.85938273e-02 9.96906721e-01 9.39602358e-06 -1.69506368e+01] [ 1.11875041e-04 -6.05207944e-07 9.99999994e-01 -1.58371829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78028169299995 meters Centerline goodness [0,1] 0.9997240149456522 Centerline is valid? [True, True] Translation: X:285.22, Y:-16.95, Z:-1.58 [[ 9.96761291e-01 8.04119445e-02 -9.20797256e-04 2.85220120e+02] [-8.04119074e-02 9.96761716e-01 7.73180003e-05 -1.69515383e+01] [ 9.24032744e-04 -3.02452615e-06 9.99999573e-01 -1.58402052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.810281693 meters Centerline goodness [0,1] 0.9998091562586144 Centerline is valid? [True, True] Translation: X:285.25, Y:-16.95, Z:-1.59 [[ 9.96571617e-01 8.27196882e-02 -1.57040195e-03 2.85250372e+02] [-8.27195833e-02 9.96572854e-01 1.31751650e-04 -1.69521178e+01] [ 1.57591841e-03 -1.39695917e-06 9.99998758e-01 -1.58621360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84028169299995 meters Centerline goodness [0,1] 0.9999358878464728 Centerline is valid? [True, True] Translation: X:285.28, Y:-16.95, Z:-1.58 [[ 9.96192777e-01 8.71716103e-02 -1.03050446e-03 2.85281031e+02] [-8.71715676e-02 9.96193310e-01 8.64204484e-05 -1.69504106e+01] [ 1.03411506e-03 3.73926249e-06 9.99999465e-01 -1.58466515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.870281693 meters Centerline goodness [0,1] 0.9999572759121593 Centerline is valid? [True, True] Translation: X:285.31, Y:-16.95, Z:-1.58 [[ 9.95933353e-01 9.00926276e-02 -2.71906796e-04 2.85311020e+02] [-9.00926247e-02 9.95933391e-01 2.28027226e-05 -1.69545594e+01] [ 2.72855415e-04 1.78680498e-06 9.99999963e-01 -1.58298788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90028169299995 meters Centerline goodness [0,1] 0.9999788005342265 Centerline is valid? [True, True] Translation: X:285.34, Y:-16.95, Z:-1.58 [[ 9.95835304e-01 9.11702323e-02 -1.87262599e-04 2.85341714e+02] [-9.11702309e-02 9.95835322e-01 1.57626610e-05 -1.69545198e+01] [ 1.87919796e-04 1.37576000e-06 9.99999982e-01 -1.58488441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.930281693 meters Centerline goodness [0,1] 0.9999787955894827 Centerline is valid? [True, True] Translation: X:285.37, Y:-16.96, Z:-1.58 [[ 9.95713160e-01 9.24939147e-02 4.23554139e-04 2.85373234e+02] [-9.24939080e-02 9.95713250e-01 -3.54228866e-05 -1.69587075e+01] [-4.25014869e-04 -3.90514320e-06 9.99999910e-01 -1.58242922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96028169299996 meters Centerline goodness [0,1] 0.9997670527943077 Centerline is valid? [True, True] Translation: X:285.40, Y:-16.95, Z:-1.58 [[ 9.95350842e-01 9.63000412e-02 1.73302099e-03 2.85402902e+02] [-9.62999341e-02 9.95352350e-01 -1.45294355e-04 -1.69513353e+01] [-1.73895837e-03 -2.22709489e-05 9.99998488e-01 -1.58208365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.990281693 meters Centerline goodness [0,1] 0.9997646001412399 Centerline is valid? [True, True] Translation: X:285.43, Y:-16.96, Z:-1.58 [[ 9.95150031e-01 9.83624090e-02 1.11924925e-03 2.85434287e+02] [-9.83623656e-02 9.95150660e-01 -9.38586036e-05 -1.69567617e+01] [-1.12305379e-03 -1.66886114e-05 9.99999369e-01 -1.58196527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02028169299996 meters Centerline goodness [0,1] 0.9995780857751619 Centerline is valid? [True, True] Translation: X:285.46, Y:-16.95, Z:-1.58 [[ 9.94847166e-01 1.01385975e-01 -2.92622957e-05 2.85464272e+02] [-1.01385975e-01 9.94847166e-01 2.40182592e-06 -1.69537851e+01] [ 2.93550234e-05 5.77336658e-07 1.00000000e+00 -1.58438326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.050281693 meters Centerline goodness [0,1] 0.9997030060035215 Centerline is valid? [True, True] Translation: X:285.49, Y:-16.96, Z:-1.58 [[ 9.94759678e-01 1.02240506e-01 2.47732374e-04 2.85494061e+02] [-1.02240504e-01 9.94759709e-01 -2.08994722e-05 -1.69556253e+01] [-2.48570957e-04 -4.53833050e-06 9.99999969e-01 -1.58332691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08028169299996 meters Centerline goodness [0,1] 0.9995368616058271 Centerline is valid? [True, True] Translation: X:285.52, Y:-16.95, Z:-1.58 [[ 9.94659003e-01 1.03203494e-01 1.58301824e-03 2.85522928e+02] [-1.03203413e-01 9.94660263e-01 -1.32957131e-04 -1.69548227e+01] [-1.58828698e-03 -3.11258781e-05 9.99998738e-01 -1.58218179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.110281693 meters Centerline goodness [0,1] 0.9992538745230126 Centerline is valid? [True, True] Translation: X:285.55, Y:-16.96, Z:-1.58 [[ 9.94634248e-01 1.03385970e-01 3.74887951e-03 2.85553574e+02] [-1.03385519e-01 9.94641310e-01 -3.14481337e-04 -1.69596559e+01] [-3.76130339e-03 -7.47859459e-05 9.99992923e-01 -1.57938554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14028169299996 meters Centerline goodness [0,1] 0.9990857677424841 Centerline is valid? [True, True] Translation: X:285.58, Y:-16.96, Z:-1.58 [[ 9.94746528e-01 1.02295950e-01 3.85803078e-03 2.85583315e+02] [-1.02295464e-01 9.94754006e-01 -3.23628062e-04 -1.69645888e+01] [-3.87089742e-03 -7.27311602e-05 9.99992505e-01 -1.57925250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.170281693 meters Centerline goodness [0,1] 0.9990857677424841 Centerline is valid? [True, True] Translation: X:285.61, Y:-16.97, Z:-1.58 [[ 9.94744180e-01 1.02318772e-01 3.85802787e-03 2.85614043e+02] [-1.02318286e-01 9.94751659e-01 -3.23662737e-04 -1.69672122e+01] [-3.87089640e-03 -7.27851772e-05 9.99992505e-01 -1.57939769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20028169299997 meters Centerline goodness [0,1] 0.9996143132633384 Centerline is valid? [True, True] Translation: X:285.64, Y:-16.98, Z:-1.58 [[ 9.95174359e-01 9.80923430e-02 2.42627318e-03 2.85644605e+02] [-9.80921381e-02 9.95177316e-01 -2.03561850e-04 -1.69778644e+01] [-2.43453989e-03 -3.54187906e-05 9.99997036e-01 -1.58186196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23028169299994 meters Centerline goodness [0,1] 0.9997666129169142 Centerline is valid? [True, True] Translation: X:285.68, Y:-16.98, Z:-1.58 [[ 9.95347696e-01 9.63397889e-02 1.26831229e-03 2.85675852e+02] [-9.63397321e-02 9.95348504e-01 -1.05938872e-04 -1.69829177e+01] [-1.27261887e-03 -1.67428540e-05 9.99999190e-01 -1.58469567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26028169299997 meters Centerline goodness [0,1] 0.9998283114430423 Centerline is valid? [True, True] Translation: X:285.71, Y:-16.99, Z:-1.59 [[ 9.95464912e-01 9.51275103e-02 6.05456112e-04 2.85707244e+02] [-9.51274973e-02 9.95465096e-01 -5.02273694e-05 -1.69909855e+01] [-6.07488431e-04 -7.59594080e-06 9.99999815e-01 -1.58597141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29028169299994 meters Centerline goodness [0,1] 0.9998515848616559 Centerline is valid? [True, True] Translation: X:285.74, Y:-17.00, Z:-1.59 [[ 9.95561725e-01 9.41106881e-02 1.74401005e-04 2.85737630e+02] [-9.41106871e-02 9.95561740e-01 -1.42652300e-05 -1.69990024e+01] [-1.74969479e-04 -2.21108138e-06 9.99999985e-01 -1.58631150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32028169299997 meters Centerline goodness [0,1] 0.999873668252832 Centerline is valid? [True, True] Translation: X:285.77, Y:-17.00, Z:-1.59 [[ 9.95537605e-01 9.43656519e-02 2.23885759e-06 2.85768841e+02] [-9.43656519e-02 9.95537605e-01 5.27464567e-07 -1.70005916e+01] [-2.17909239e-06 -7.36382067e-07 1.00000000e+00 -1.58662375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35028169299994 meters Centerline goodness [0,1] 0.9998940812608567 Centerline is valid? [True, True] Translation: X:285.80, Y:-17.00, Z:-1.59 [[ 9.95351558e-01 9.63079682e-02 2.27075167e-04 2.85800274e+02] [-9.63079664e-02 9.95351584e-01 -1.90909254e-05 -1.69998708e+01] [-2.27858235e-04 -2.86696515e-06 9.99999974e-01 -1.58594537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.380281693 meters Centerline goodness [0,1] 0.9997436335669116 Centerline is valid? [True, True] Translation: X:285.83, Y:-17.00, Z:-1.59 [[ 9.95211737e-01 9.77404225e-02 6.38580492e-04 2.85830530e+02] [-9.77404080e-02 9.95211942e-01 -5.39403488e-05 -1.69998788e+01] [-6.40795084e-04 -8.73304959e-06 9.99999795e-01 -1.58612029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41028169299994 meters Centerline goodness [0,1] 0.9996169642287149 Centerline is valid? [True, True] Translation: X:285.86, Y:-17.00, Z:-1.58 [[ 9.95044383e-01 9.94147015e-02 1.84207568e-03 2.85862005e+02] [-9.94145836e-02 9.95046088e-01 -1.55683920e-04 -1.70040009e+01] [-1.84842747e-03 -2.82167758e-05 9.99998291e-01 -1.58423876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.440281693 meters Centerline goodness [0,1] 0.9995725947771081 Centerline is valid? [True, True] Translation: X:285.89, Y:-17.01, Z:-1.58 [[ 9.95037463e-01 9.94733831e-02 2.34398105e-03 2.85892387e+02] [-9.94731921e-02 9.95040223e-01 -1.98215379e-04 -1.70058503e+01] [-2.35207258e-03 -3.59315495e-05 9.99997233e-01 -1.58272799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47028169299995 meters Centerline goodness [0,1] 0.9997474215954536 Centerline is valid? [True, True] Translation: X:285.92, Y:-17.01, Z:-1.58 [[ 9.95059101e-01 9.92311987e-02 3.24868049e-03 2.85923087e+02] [-9.92308310e-02 9.95064403e-01 -2.74581496e-04 -1.70084479e+01] [-3.25989337e-03 -4.91444484e-05 9.99994685e-01 -1.58159264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.500281693 meters Centerline goodness [0,1] 0.9998279902814509 Centerline is valid? [True, True] Translation: X:285.95, Y:-17.02, Z:-1.58 [[ 9.95112630e-01 9.86600339e-02 4.12929518e-03 2.85954564e+02] [-9.86594314e-02 9.95121196e-01 -3.49864359e-04 -1.70170043e+01] [-4.14366679e-03 -5.92394724e-05 9.99991413e-01 -1.57964826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53028169299995 meters Centerline goodness [0,1] 0.9994489657511021 Centerline is valid? [True, True] Translation: X:285.99, Y:-17.02, Z:-1.58 [[ 9.95066515e-01 9.91407561e-02 3.70689596e-03 2.85986015e+02] [-9.91402735e-02 9.95073418e-01 -3.14175791e-04 -1.70181898e+01] [-3.71978126e-03 -5.48768695e-05 9.99993080e-01 -1.58073791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.560281693 meters Centerline goodness [0,1] 0.9996352400978414 Centerline is valid? [True, True] Translation: X:286.02, Y:-17.02, Z:-1.59 [[ 9.94854607e-01 1.01309324e-01 8.55801949e-04 2.86018531e+02] [-1.01309300e-01 9.94854975e-01 -7.20665588e-05 -1.70198360e+01] [-8.58699840e-04 -1.50049481e-05 9.99999631e-01 -1.58567722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59028169299995 meters Centerline goodness [0,1] 0.999700425823294 Centerline is valid? [True, True] Translation: X:286.05, Y:-17.02, Z:-1.59 [[ 9.94709509e-01 1.02723517e-01 -9.33421718e-04 2.86049724e+02] [-1.02723487e-01 9.94709947e-01 7.95870221e-05 -1.70214848e+01] [ 9.36659327e-04 1.67183663e-05 9.99999561e-01 -1.58872274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.620281693 meters Centerline goodness [0,1] 0.999765047631253 Centerline is valid? [True, True] Translation: X:286.08, Y:-17.02, Z:-1.59 [[ 9.94562566e-01 1.04123004e-01 -1.92413116e-03 2.86080173e+02] [-1.04122882e-01 9.94564427e-01 1.63826916e-04 -1.70229867e+01] [ 1.93073056e-03 3.74099642e-05 9.99998135e-01 -1.59090604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65028169299995 meters Centerline goodness [0,1] 0.9996157704869042 Centerline is valid? [True, True] Translation: X:286.11, Y:-17.02, Z:-1.59 [[ 9.94469905e-01 1.05020247e-01 -5.96440477e-04 2.86109436e+02] [-1.05020235e-01 9.94470084e-01 5.07203554e-05 -1.70246382e+01] [ 5.98468875e-04 1.21984521e-05 9.99999821e-01 -1.58925977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.680281693 meters Centerline goodness [0,1] 0.9995101171458999 Centerline is valid? [True, True] Translation: X:286.14, Y:-17.02, Z:-1.59 [[ 9.94477783e-01 1.04942808e-01 9.72466601e-04 2.86139158e+02] [-1.04942778e-01 9.94478258e-01 -8.28305660e-05 -1.70244429e+01] [-9.75789364e-04 -1.96801887e-05 9.99999524e-01 -1.58673731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71028169299996 meters Centerline goodness [0,1] 0.9994228302693459 Centerline is valid? [True, True] Translation: X:286.17, Y:-17.03, Z:-1.58 [[ 9.94418775e-01 1.05476301e-01 2.45961157e-03 2.86170365e+02] [-1.05476106e-01 9.94421816e-01 -2.09309766e-04 -1.70303768e+01] [-2.46796862e-03 -5.12886883e-05 9.99996953e-01 -1.58403900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.740281693 meters Centerline goodness [0,1] 0.999359426045737 Centerline is valid? [True, True] Translation: X:286.20, Y:-17.03, Z:-1.59 [[ 9.94394292e-01 1.05717333e-01 1.95893688e-03 2.86200730e+02] [-1.05717209e-01 9.94396221e-01 -1.66758588e-04 -1.70324608e+01] [-1.96558870e-03 -4.12695517e-05 9.99998067e-01 -1.58516044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77028169299996 meters Centerline goodness [0,1] 0.999066808059385 Centerline is valid? [True, True] Translation: X:286.23, Y:-17.03, Z:-1.59 [[ 9.94380687e-01 1.05854198e-01 1.39183521e-03 2.86231142e+02] [-1.05854135e-01 9.94381661e-01 -1.18483481e-04 -1.70298586e+01] [-1.39655738e-03 -2.95138272e-05 9.99999024e-01 -1.58677328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.800281693 meters Centerline goodness [0,1] 0.9989599694358365 Centerline is valid? [True, True] Translation: X:286.26, Y:-17.03, Z:-1.59 [[ 9.94196971e-01 1.07562869e-01 1.61623829e-03 2.86261659e+02] [-1.07562787e-01 9.94198284e-01 -1.37682817e-04 -1.70256255e+01] [-1.62167089e-03 -3.69632551e-05 9.99998684e-01 -1.58663187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83028169299996 meters Centerline goodness [0,1] 0.9991425325301722 Centerline is valid? [True, True] Translation: X:286.29, Y:-17.03, Z:-1.59 [[ 9.94035337e-01 1.09045118e-01 1.70597475e-03 2.86292010e+02] [-1.09045030e-01 9.94036800e-01 -1.45273223e-04 -1.70307198e+01] [-1.71164302e-03 -4.16213498e-05 9.99998534e-01 -1.58572223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.860281693 meters Centerline goodness [0,1] 0.9985818041170657 Centerline is valid? [True, True] Translation: X:286.32, Y:-17.02, Z:-1.59 [[ 9.93779123e-01 1.11357742e-01 1.58385759e-03 2.86322219e+02] [-1.11357668e-01 9.93780384e-01 -1.34911247e-04 -1.70230302e+01] [-1.58903001e-03 -4.23027066e-05 9.99998737e-01 -1.58568572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89028169299996 meters Centerline goodness [0,1] 0.9982738295722465 Centerline is valid? [True, True] Translation: X:286.35, Y:-17.02, Z:-1.59 [[ 9.93757427e-01 1.11553041e-01 1.44785088e-03 2.86351181e+02] [-1.11552979e-01 9.93758481e-01 -1.23384776e-04 -1.70213350e+01] [-1.45257804e-03 -3.88975416e-05 9.99998944e-01 -1.58642369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.920281693 meters Centerline goodness [0,1] 0.9989475492933545 Centerline is valid? [True, True] Translation: X:286.38, Y:-17.02, Z:-1.59 [[ 9.93948190e-01 1.09839367e-01 1.51963761e-03 2.86381180e+02] [-1.09839298e-01 9.93949351e-01 -1.29371779e-04 -1.70227692e+01] [-1.52465293e-03 -3.83270814e-05 9.99998837e-01 -1.58733181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95028169299997 meters Centerline goodness [0,1] 0.9986893840104849 Centerline is valid? [True, True] Translation: X:286.41, Y:-17.02, Z:-1.59 [[ 9.94100403e-01 1.08454875e-01 1.38913664e-03 2.86411231e+02] [-1.08454816e-01 9.94101373e-01 -1.18213687e-04 -1.70248767e+01] [-1.39376349e-03 -3.31422849e-05 9.99999028e-01 -1.58782604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98028169299994 meters Centerline goodness [0,1] 0.9992810319306408 Centerline is valid? [True, True] Translation: X:286.44, Y:-17.03, Z:-1.59 [[ 9.94230113e-01 1.07262971e-01 1.06656187e-03 2.86440639e+02] [-1.07262935e-01 9.94230685e-01 -9.08439546e-05 -1.70270660e+01] [-1.07015274e-03 -2.40827621e-05 9.99999427e-01 -1.58825119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01028169299997 meters Centerline goodness [0,1] 0.9993526390747054 Centerline is valid? [True, True] Translation: X:286.47, Y:-17.03, Z:-1.59 [[ 9.94364840e-01 1.06010394e-01 6.01612742e-04 2.86470662e+02] [-1.06010382e-01 9.94365022e-01 -5.12287865e-05 -1.70291158e+01] [-6.03653451e-04 -1.28370925e-05 9.99999818e-01 -1.58901224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04028169299994 meters Centerline goodness [0,1] 0.9996158934744569 Centerline is valid? [True, True] Translation: X:286.50, Y:-17.03, Z:-1.59 [[ 9.94423772e-01 1.05457833e-01 -7.96322168e-05 2.86500432e+02] [-1.05457833e-01 9.94423776e-01 6.66265886e-06 -1.70311029e+01] [ 7.98907992e-05 1.77233463e-06 9.99999997e-01 -1.58949014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07028169299997 meters Centerline goodness [0,1] 0.999762516461927 Centerline is valid? [True, True] Translation: X:286.53, Y:-17.03, Z:-1.59 [[ 9.94349940e-01 1.06150750e-01 -4.63248817e-04 2.86530236e+02] [-1.06150743e-01 9.94350048e-01 3.92704390e-05 -1.70303004e+01] [ 4.64800070e-04 1.01256476e-05 9.99999892e-01 -1.58962705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10028169299994 meters Centerline goodness [0,1] 0.9995919331629475 Centerline is valid? [True, True] Translation: X:286.56, Y:-17.03, Z:-1.59 [[ 9.94301050e-01 1.06607285e-01 -5.54824191e-04 2.86559592e+02] [-1.06607276e-01 9.94301205e-01 4.69792298e-05 -1.70273302e+01] [ 5.56670690e-04 1.24367980e-05 9.99999845e-01 -1.59021383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.130281693 meters Centerline goodness [0,1] 0.9991918504497991 Centerline is valid? [True, True] Translation: X:286.59, Y:-17.02, Z:-1.59 [[ 9.94243797e-01 1.07140151e-01 -5.10998296e-04 2.86587901e+02] [-1.07140143e-01 9.94243928e-01 4.31211943e-05 -1.70244246e+01] [ 5.12676964e-04 1.18754505e-05 9.99999869e-01 -1.59082761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16028169299994 meters Centerline goodness [0,1] 0.9992415144428292 Centerline is valid? [True, True] Translation: X:286.62, Y:-17.02, Z:-1.59 [[ 9.94102915e-01 1.08440381e-01 2.80771747e-04 2.86618174e+02] [-1.08440379e-01 9.94102954e-01 -2.39449581e-05 -1.70217415e+01] [-2.81712624e-04 -6.64324202e-06 9.99999960e-01 -1.58917518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.190281693 meters Centerline goodness [0,1] 0.9990522325189554 Centerline is valid? [True, True] Translation: X:286.65, Y:-17.02, Z:-1.59 [[ 9.94027240e-01 1.09128833e-01 8.61980912e-04 2.86646776e+02] [-1.09128810e-01 9.94027614e-01 -7.33128915e-05 -1.70209694e+01] [-8.64833380e-04 -2.11919402e-05 9.99999626e-01 -1.58824761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22028169299995 meters Centerline goodness [0,1] 0.9990205889241383 Centerline is valid? [True, True] Translation: X:286.68, Y:-17.02, Z:-1.59 [[ 9.93958990e-01 1.09718670e-01 2.70924296e-03 2.86676288e+02] [-1.09718450e-01 9.93962680e-01 -2.30012829e-04 -1.70190204e+01] [-2.71812310e-03 -6.86306198e-05 9.99996304e-01 -1.58509151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.250281693 meters Centerline goodness [0,1] 0.9987141110502129 Centerline is valid? [True, True] Translation: X:286.70, Y:-17.02, Z:-1.58 [[ 9.93925053e-01 1.09993961e-01 3.78380738e-03 2.86704665e+02] [-1.09993535e-01 9.93932251e-01 -3.20998742e-04 -1.70160178e+01] [-3.79615611e-03 -9.71456590e-05 9.99992790e-01 -1.58297260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28028169299995 meters Centerline goodness [0,1] 0.9984028244788165 Centerline is valid? [True, True] Translation: X:286.73, Y:-17.02, Z:-1.58 [[ 9.93897070e-01 1.10221729e-01 4.44806246e-03 2.86732908e+02] [-1.10221144e-01 9.93907016e-01 -3.77016176e-04 -1.70154369e+01] [-4.46251586e-03 -1.15555262e-04 9.99990036e-01 -1.58179204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.310281693 meters Centerline goodness [0,1] 0.9982300512020902 Centerline is valid? [True, True] Translation: X:286.76, Y:-17.02, Z:-1.58 [[ 9.93967374e-01 1.09578879e-01 4.61826423e-03 2.86762103e+02] [-1.09578244e-01 9.93978096e-01 -3.91174784e-04 -1.70169006e+01] [-4.63331798e-03 -1.17246310e-04 9.99989259e-01 -1.58077448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34028169299995 meters Centerline goodness [0,1] 0.9982604637349116 Centerline is valid? [True, True] Translation: X:286.79, Y:-17.02, Z:-1.58 [[ 9.94007520e-01 1.09208810e-01 4.74202056e-03 2.86790520e+02] [-1.09208137e-01 9.94018824e-01 -4.01436648e-04 -1.70159562e+01] [-4.75749812e-03 -1.18836184e-04 9.99988676e-01 -1.58041582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.370281693 meters Centerline goodness [0,1] 0.9985739826323855 Centerline is valid? [True, True] Translation: X:286.82, Y:-17.01, Z:-1.58 [[ 9.94064857e-01 1.08693226e-01 4.56546105e-03 2.86819541e+02] [-1.08692598e-01 9.94075334e-01 -3.86241844e-04 -1.70133935e+01] [-4.58039409e-03 -1.12282380e-04 9.99989504e-01 -1.58074532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40028169299995 meters Centerline goodness [0,1] 0.9983546386533351 Centerline is valid? [True, True] Translation: X:286.85, Y:-17.01, Z:-1.58 [[ 9.94080543e-01 1.08564129e-01 4.20756300e-03 2.86847601e+02] [-1.08563595e-01 9.94089442e-01 -3.55791590e-04 -1.70093045e+01] [-4.22132016e-03 -1.03102667e-04 9.99991085e-01 -1.58118822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.430281693 meters Centerline goodness [0,1] 0.9988489822018544 Centerline is valid? [True, True] Translation: X:286.88, Y:-17.01, Z:-1.58 [[ 9.94077223e-01 1.08624822e-01 3.33515669e-03 2.86876631e+02] [-1.08624487e-01 9.94082814e-01 -2.81870298e-04 -1.70092871e+01] [-3.34604006e-03 -8.20788424e-05 9.99994399e-01 -1.58303341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46028169299996 meters Centerline goodness [0,1] 0.99900197481579 Centerline is valid? [True, True] Translation: X:286.91, Y:-17.00, Z:-1.59 [[ 9.94003074e-01 1.09327775e-01 2.30778591e-03 2.86905902e+02] [-1.09327617e-01 9.94005752e-01 -1.95002463e-04 -1.69999706e+01] [-2.31527165e-03 -5.84716863e-05 9.99997318e-01 -1.58619392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.490281693 meters Centerline goodness [0,1] 0.9985629754860524 Centerline is valid? [True, True] Translation: X:286.93, Y:-16.99, Z:-1.59 [[ 9.94023483e-01 1.09130063e-01 2.81877773e-03 2.86934844e+02] [-1.09129827e-01 9.94027477e-01 -2.37999495e-04 -1.69938627e+01] [-2.82791542e-03 -7.10356390e-05 9.99995999e-01 -1.58549214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52028169299996 meters Centerline goodness [0,1] 0.9988482948365218 Centerline is valid? [True, True] Translation: X:286.96, Y:-16.99, Z:-1.58 [[ 9.94318392e-01 1.06350547e-01 4.52724826e-03 2.86964492e+02] [-1.06349910e-01 9.94328694e-01 -3.81905671e-04 -1.69905746e+01] [-4.54218872e-03 -1.01736613e-04 9.99989679e-01 -1.58289512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.550281693 meters Centerline goodness [0,1] 0.9994283294516197 Centerline is valid? [True, True] Translation: X:286.99, Y:-16.99, Z:-1.58 [[ 9.94664263e-01 1.03074299e-01 4.32356473e-03 2.86992246e+02] [-1.03073687e-01 9.94673656e-01 -3.64641240e-04 -1.69910622e+01] [-4.33812108e-03 -8.29501477e-05 9.99990587e-01 -1.58310791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58028169299996 meters Centerline goodness [0,1] 0.9998941462898274 Centerline is valid? [True, True] Translation: X:287.02, Y:-17.00, Z:-1.59 [[ 9.95603355e-01 9.36308661e-02 2.68704109e-03 2.87020875e+02] [-9.36305958e-02 9.95606981e-01 -2.26497204e-04 -1.69994735e+01] [-2.69644400e-03 -2.60878817e-05 9.99996364e-01 -1.58720934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.610281693 meters Centerline goodness [0,1] 0.9998939532121572 Centerline is valid? [True, True] Translation: X:287.05, Y:-17.01, Z:-1.59 [[ 9.96170630e-01 8.74172039e-02 1.51955243e-03 2.87048991e+02] [-8.74171101e-02 9.96171789e-01 -1.28170579e-04 -1.70082933e+01] [-1.52493957e-03 -5.15511588e-06 9.99998837e-01 -1.59058999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64028169299996 meters Centerline goodness [0,1] 0.99978621515307 Centerline is valid? [True, True] Translation: X:287.08, Y:-17.02, Z:-1.59 [[ 9.96739287e-01 8.06748247e-02 1.53820623e-03 2.87077446e+02] [-8.06747207e-02 9.96740474e-01 -1.29671571e-04 -1.70178804e+01] [-1.54365364e-03 5.15439115e-06 9.99998809e-01 -1.59158900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.670281693 meters Centerline goodness [0,1] 0.9991452260876998 Centerline is valid? [True, True] Translation: X:287.11, Y:-17.04, Z:-1.59 [[ 9.97798486e-01 6.61675985e-02 4.47560823e-03 2.87105542e+02] [-6.61665743e-02 9.97808520e-01 -3.76674986e-04 -1.70418681e+01] [-4.49072370e-03 7.97100664e-05 9.99989913e-01 -1.58733282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70028169299997 meters Centerline goodness [0,1] 0.9978803679681207 Centerline is valid? [True, True] Translation: X:287.14, Y:-17.06, Z:-1.59 [[ 9.98281953e-01 5.83341033e-02 5.50222664e-03 2.87135087e+02] [-5.83324366e-02 9.98297106e-01 -4.63040590e-04 -1.70587677e+01] [-5.51986799e-03 1.41286778e-04 9.99984755e-01 -1.58561130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73028169299994 meters Centerline goodness [0,1] 0.994305093422063 Centerline is valid? [True, True] Translation: X:287.16, Y:-17.09, Z:-1.59 [[ 9.99062109e-01 4.30004810e-02 5.08534783e-03 2.87163270e+02] [-4.29988587e-02 9.99075030e-01 -4.27976563e-04 -1.70885401e+01] [-5.09904723e-03 2.08911015e-04 9.99986978e-01 -1.58659883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76028169299997 meters Centerline goodness [0,1] 0.9773831175778325 Centerline is valid? [True, True] Translation: X:287.19, Y:-17.11, Z:-1.59 [[ 9.99295690e-01 3.72951332e-02 4.14686805e-03 2.87191450e+02] [-3.72940053e-02 9.99304276e-01 -3.49010019e-04 -1.71133894e+01] [-4.15699934e-03 1.94110889e-04 9.99991341e-01 -1.58921453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79028169299994 meters Centerline goodness [0,1] 0.9468058137569715 Centerline is valid? [True, False] Translation: X:287.19, Y:-17.12, Z:-1.59 [[ 9.99435710e-01 3.33879027e-02 3.67561035e-03 2.87192758e+02] [-3.33738769e-02 9.99435662e-01 -3.81332785e-03 -1.71173123e+01] [-3.80085508e-03 3.68850666e-03 9.99985974e-01 -1.58977197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82028169299997 meters Centerline goodness [0,1] 0.9734804739295949 Centerline is valid? [False, True] Translation: X:287.17, Y:-17.13, Z:-1.58 [[ 9.99588028e-01 2.87008458e-02 -1.89349272e-04 2.87168611e+02] [-2.87001213e-02 9.99583256e-01 3.10128638e-03 -1.71318461e+01] [ 2.78279904e-04 -3.09457439e-03 9.99995173e-01 -1.58440112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85028169299994 meters Centerline goodness [0,1] 0.9726010074398803 Centerline is valid? [True, True] Translation: X:287.20, Y:-17.14, Z:-1.58 [[ 9.99558614e-01 2.97079798e-02 1.12947658e-04 2.87199444e+02] [-2.97079790e-02 9.99558621e-01 -9.08912466e-06 -1.71418020e+01] [-1.13167825e-04 5.72966620e-06 9.99999994e-01 -1.58285808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.880281693 meters Centerline goodness [0,1] 0.9750075343350411 Centerline is valid? [True, True] Translation: X:287.23, Y:-17.16, Z:-1.58 [[ 9.99343380e-01 3.62103032e-02 1.27414739e-03 2.87227893e+02] [-3.62101970e-02 9.99344190e-01 -1.06335954e-04 -1.71603261e+01] [-1.27716225e-03 6.01290040e-05 9.99999183e-01 -1.58123834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91028169299994 meters Centerline goodness [0,1] 0.9857782515991471 Centerline is valid? [True, True] Translation: X:287.26, Y:-17.16, Z:-1.58 [[ 9.99174368e-01 4.06239265e-02 5.28670198e-04 2.87258611e+02] [-4.06239088e-02 9.99174507e-01 -4.40982181e-05 -1.71639053e+01] [-5.30025228e-04 2.25851592e-05 9.99999859e-01 -1.58266411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.940281693 meters Centerline goodness [0,1] 0.9889228821605655 Centerline is valid? [True, True] Translation: X:287.29, Y:-17.17, Z:-1.58 [[ 9.98999170e-01 4.47275513e-02 -3.21935127e-04 2.87287755e+02] [-4.47275450e-02 9.98999222e-01 2.68446879e-05 -1.71697372e+01] [ 3.22813638e-04 -1.24184531e-05 9.99999948e-01 -1.58469592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97028169299995 meters Centerline goodness [0,1] 0.9965724813093121 Centerline is valid? [True, True] Translation: X:287.32, Y:-17.17, Z:-1.58 [[ 9.98693239e-01 5.11059170e-02 -2.09357290e-05 2.87318745e+02] [-5.11059169e-02 9.98693239e-01 1.71432500e-06 -1.71695990e+01] [ 2.09959832e-05 -6.42145154e-07 1.00000000e+00 -1.58418455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.000281693 meters Centerline goodness [0,1] 0.998164053432376 Centerline is valid? [True, True] Translation: X:287.35, Y:-17.18, Z:-1.58 [[ 9.98377030e-01 5.69487574e-02 3.79967242e-04 2.87347150e+02] [-5.69487494e-02 9.98377103e-01 -3.17173532e-05 -1.71814520e+01] [-3.81156858e-04 1.00272176e-05 9.99999927e-01 -1.58280326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03028169299995 meters Centerline goodness [0,1] 0.9991440005135996 Centerline is valid? [True, True] Translation: X:287.38, Y:-17.18, Z:-1.58 [[ 9.98200953e-01 5.99522385e-02 7.65879810e-04 2.87378582e+02] [-5.99522072e-02 9.98201247e-01 -6.38590188e-05 -1.71799840e+01] [-7.68330672e-04 1.78279484e-05 9.99999705e-01 -1.58203129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.060281693 meters Centerline goodness [0,1] 0.9991440005135996 Centerline is valid? [True, True] Translation: X:287.41, Y:-17.18, Z:-1.58 [[ 9.98189758e-01 6.01383448e-02 7.65896460e-04 2.87410960e+02] [-6.01383136e-02 9.98190052e-01 -6.36597663e-05 -1.71828799e+01] [-7.68338620e-04 1.74848052e-05 9.99999705e-01 -1.58209972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09028169299995 meters Centerline goodness [0,1] 0.9995120605893459 Centerline is valid? [True, True] Translation: X:287.44, Y:-17.19, Z:-1.58 [[ 9.98021118e-01 6.28731377e-02 9.03438231e-04 2.87441238e+02] [-6.28730951e-02 9.98021527e-01 -7.55285005e-05 -1.71893565e+01] [-9.06399517e-04 1.85770807e-05 9.99999589e-01 -1.58220750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.120281693 meters Centerline goodness [0,1] 0.9997013524467767 Centerline is valid? [True, True] Translation: X:287.47, Y:-17.19, Z:-1.58 [[ 9.97626187e-01 6.88431029e-02 1.61795752e-03 2.87471540e+02] [-6.88429739e-02 9.97627499e-01 -1.35345764e-04 -1.71915601e+01] [-1.62343653e-03 2.36394719e-05 9.99998682e-01 -1.58071038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15028169299995 meters Centerline goodness [0,1] 0.9998733776511555 Centerline is valid? [True, True] Translation: X:287.50, Y:-17.19, Z:-1.58 [[ 9.97381627e-01 7.22981767e-02 1.69254509e-03 2.87502590e+02] [-7.22980405e-02 9.97383062e-01 -1.41550627e-04 -1.71931641e+01] [-1.69834965e-03 1.88123013e-05 9.99998558e-01 -1.57967199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.180281693 meters Centerline goodness [0,1] 0.9998930847196681 Centerline is valid? [True, True] Translation: X:287.53, Y:-17.19, Z:-1.58 [[ 9.97095949e-01 7.61336378e-02 1.82680671e-03 2.87534991e+02] [-7.61334852e-02 9.97097623e-01 -1.53066713e-04 -1.71919578e+01] [-1.83315815e-03 1.35410385e-05 9.99998320e-01 -1.57969163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21028169299996 meters Centerline goodness [0,1] 0.9999148501362398 Centerline is valid? [True, True] Translation: X:287.57, Y:-17.18, Z:-1.58 [[ 9.96461527e-01 8.40242702e-02 2.08498445e-03 2.87567124e+02] [-8.40240878e-02 9.96463708e-01 -1.75082373e-04 -1.71827819e+01] [-2.09232250e-03 -7.26067924e-07 9.99997811e-01 -1.57904366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.240281693 meters Centerline goodness [0,1] 0.9999574739527961 Centerline is valid? [True, True] Translation: X:287.60, Y:-17.18, Z:-1.58 [[ 9.96143753e-01 8.76923037e-02 2.77171470e-03 2.87600254e+02] [-8.76919941e-02 9.96147609e-01 -2.33286083e-04 -1.71796418e+01] [-2.78149436e-03 -1.06707144e-05 9.99996132e-01 -1.57819038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27028169299996 meters Centerline goodness [0,1] 0.9999146721276505 Centerline is valid? [True, True] Translation: X:287.63, Y:-17.18, Z:-1.58 [[ 9.95693106e-01 9.26182757e-02 4.13441947e-03 2.87632609e+02] [-9.26176254e-02 9.95701689e-01 -3.48889095e-04 -1.71755480e+01] [-4.14896196e-03 -3.55336473e-05 9.99991392e-01 -1.57684242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.300281693 meters Centerline goodness [0,1] 0.9997242608068553 Centerline is valid? [True, True] Translation: X:287.66, Y:-17.18, Z:-1.58 [[ 9.95573018e-01 9.38869080e-02 4.42890338e-03 2.87664039e+02] [-9.38861711e-02 9.95582868e-01 -3.74467491e-04 -1.71760930e+01] [-4.44449792e-03 -4.30030499e-05 9.99990122e-01 -1.57583172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33028169299996 meters Centerline goodness [0,1] 0.9998298921941781 Centerline is valid? [True, True] Translation: X:287.70, Y:-17.18, Z:-1.58 [[ 9.95561063e-01 9.39999519e-02 4.70934543e-03 2.87696384e+02] [-9.39991169e-02 9.95572201e-01 -3.98824582e-04 -1.71773862e+01] [-4.72598289e-03 -4.56200866e-05 9.99988831e-01 -1.57567682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.360281693 meters Centerline goodness [0,1] 0.9998301666489757 Centerline is valid? [True, True] Translation: X:287.73, Y:-17.18, Z:-1.58 [[ 9.95616197e-01 9.34635468e-02 3.59905049e-03 2.87728246e+02] [-9.34630540e-02 9.95622702e-01 -3.05230807e-04 -1.71767021e+01] [-3.61182433e-03 -3.24855151e-05 9.99993477e-01 -1.57748669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39028169299996 meters Centerline goodness [0,1] 0.9998286020353508 Centerline is valid? [True, True] Translation: X:287.76, Y:-17.18, Z:-1.58 [[ 9.95549078e-01 9.42323388e-02 1.51628833e-03 2.87760551e+02] [-9.42322522e-02 9.95550233e-01 -1.28638058e-04 -1.71754045e+01] [-1.52166306e-03 -1.48177635e-05 9.99998842e-01 -1.58084170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.420281693 meters Centerline goodness [0,1] 0.999828642419569 Centerline is valid? [True, True] Translation: X:287.79, Y:-17.17, Z:-1.58 [[ 9.95440119e-01 9.53880794e-02 2.88651382e-04 2.87792012e+02] [-9.53880763e-02 9.95440161e-01 -2.42859184e-05 -1.71745990e+01] [-2.89651765e-04 -3.35872250e-06 9.99999958e-01 -1.58327969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45028169299997 meters Centerline goodness [0,1] 0.9997660420698896 Centerline is valid? [True, True] Translation: X:287.82, Y:-17.17, Z:-1.58 [[ 9.95300487e-01 9.68316210e-02 -7.60499865e-04 2.87823060e+02] [-9.68315996e-02 9.95300777e-01 6.49632754e-05 -1.71722135e+01] [ 7.63216606e-04 8.98243883e-06 9.99999709e-01 -1.58471333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48028169299994 meters Centerline goodness [0,1] 0.9998068130594372 Centerline is valid? [True, True] Translation: X:287.85, Y:-17.17, Z:-1.59 [[ 9.95069388e-01 9.91710665e-02 -1.41858843e-03 2.87854523e+02] [-9.91709948e-02 9.95070399e-01 1.20979374e-04 -1.71662117e+01] [ 1.42359300e-03 2.02999540e-05 9.99998986e-01 -1.58679428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51028169299997 meters Centerline goodness [0,1] 0.9998276010688734 Centerline is valid? [True, True] Translation: X:287.89, Y:-17.17, Z:-1.59 [[ 9.95061217e-01 9.92353835e-02 -2.34809393e-03 2.87885227e+02] [-9.92351872e-02 9.95063987e-01 2.00249014e-04 -1.71693975e+01] [ 2.35637550e-03 3.37535134e-05 9.99997223e-01 -1.58784033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54028169299994 meters Centerline goodness [0,1] 0.9997888647256297 Centerline is valid? [True, True] Translation: X:287.91, Y:-17.17, Z:-1.59 [[ 9.95229884e-01 9.74464358e-02 -4.65506108e-03 2.87914592e+02] [-9.74456451e-02 9.95240769e-01 3.96910380e-04 -1.71703985e+01] [ 4.67158407e-03 5.85983584e-05 9.99989086e-01 -1.59370311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57028169299997 meters Centerline goodness [0,1] 0.9998293515358362 Centerline is valid? [True, True] Translation: X:287.94, Y:-17.17, Z:-1.59 [[ 9.95334442e-01 9.63203985e-02 -5.63280626e-03 2.87943529e+02] [-9.63192235e-02 9.95350379e-01 4.80124872e-04 -1.71747005e+01] [ 5.65286166e-03 6.46627033e-05 9.99984020e-01 -1.59419296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60028169299994 meters Centerline goodness [0,1] 0.9998510004257131 Centerline is valid? [True, True] Translation: X:287.97, Y:-17.18, Z:-1.59 [[ 9.95460768e-01 9.49764163e-02 -6.11059808e-03 2.87972645e+02] [-9.49750091e-02 9.95479521e-01 5.20710182e-04 -1.71773336e+01] [ 6.13243043e-03 6.20075505e-05 9.99981195e-01 -1.59446744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.630281693 meters Centerline goodness [0,1] 0.9998725762949434 Centerline is valid? [True, True] Translation: X:288.00, Y:-17.18, Z:-1.59 [[ 9.95783158e-01 9.16936432e-02 -2.85970185e-03 2.88001753e+02] [-9.16933210e-02 9.95787264e-01 2.43832024e-04 -1.71827950e+01] [ 2.87001252e-03 1.94117366e-05 9.99995881e-01 -1.58709220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66028169299994 meters Centerline goodness [0,1] 0.9998279532893181 Centerline is valid? [True, True] Translation: X:288.03, Y:-17.19, Z:-1.58 [[ 9.95990599e-01 8.94564895e-02 5.12766691e-04 2.88032357e+02] [-8.94564789e-02 9.95990731e-01 -4.36931048e-05 -1.71888754e+01] [-5.14619503e-04 -2.35238105e-06 9.99999868e-01 -1.58135728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.690281693 meters Centerline goodness [0,1] 0.9999576109533297 Centerline is valid? [True, True] Translation: X:288.06, Y:-17.20, Z:-1.57 [[ 9.96244725e-01 8.64780827e-02 4.24124716e-03 2.88063304e+02] [-8.64773255e-02 9.96253753e-01 -3.61930148e-04 -1.71967523e+01] [-4.25665742e-03 -6.20071046e-06 9.99990940e-01 -1.57439344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72028169299995 meters Centerline goodness [0,1] 0.9999786525488856 Centerline is valid? [True, True] Translation: X:288.10, Y:-17.20, Z:-1.58 [[ 9.96287754e-01 8.59919379e-02 4.01209212e-03 2.88096015e+02] [-8.59912537e-02 9.96295833e-01 -3.43042208e-04 -1.72005823e+01] [-4.02672952e-03 -3.23607962e-06 9.99991893e-01 -1.57545478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.750281693 meters Centerline goodness [0,1] 0.9999576827049215 Centerline is valid? [True, True] Translation: X:288.13, Y:-17.20, Z:-1.58 [[ 9.96256635e-01 8.63930539e-02 2.99303605e-03 2.88127810e+02] [-8.63926736e-02 9.96261131e-01 -2.56367801e-04 -1.72026016e+01] [-3.00399388e-03 -3.16826408e-06 9.99995488e-01 -1.57766165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78028169299995 meters Centerline goodness [0,1] 0.9998725844128264 Centerline is valid? [True, True] Translation: X:288.16, Y:-17.20, Z:-1.58 [[ 9.96028466e-01 8.90312323e-02 8.57454072e-04 2.88159802e+02] [-8.90312022e-02 9.96028835e-01 -7.33604792e-05 -1.72000766e+01] [-8.60580354e-04 -3.27104121e-06 9.99999630e-01 -1.58010330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.810281693 meters Centerline goodness [0,1] 0.9998289245771229 Centerline is valid? [True, True] Translation: X:288.19, Y:-17.20, Z:-1.58 [[ 9.95876295e-01 9.07102299e-02 -1.43490423e-03 2.88191335e+02] [-9.07101463e-02 9.95877329e-01 1.23390173e-04 -1.71959201e+01] [ 1.44018134e-03 7.27902404e-06 9.99998963e-01 -1.58333592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84028169299995 meters Centerline goodness [0,1] 0.9998924846790668 Centerline is valid? [True, True] Translation: X:288.22, Y:-17.20, Z:-1.58 [[ 9.95821414e-01 9.13099765e-02 -1.48334621e-03 2.88222176e+02] [-9.13098879e-02 9.95822518e-01 1.27504429e-04 -1.71956629e+01] [ 1.48879199e-03 8.47253548e-06 9.99998892e-01 -1.58374545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.870281693 meters Centerline goodness [0,1] 0.9999156420693001 Centerline is valid? [True, True] Translation: X:288.25, Y:-17.20, Z:-1.58 [[ 9.95831531e-01 9.12095840e-02 -6.11696294e-04 2.88251337e+02] [-9.12095689e-02 9.95831719e-01 5.25476226e-05 -1.71958423e+01] [ 6.13939419e-04 3.46397588e-06 9.99999812e-01 -1.58372359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.28, Y:-17.20, Z:-1.58 [[ 9.96050630e-01 8.87853721e-02 5.47869488e-04 2.88282080e+02] [-8.87853596e-02 9.96050781e-01 -4.70518219e-05 -1.71997727e+01] [-5.49883345e-04 -1.77679263e-06 9.99999849e-01 -1.58171676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.930281693 meters Centerline goodness [0,1] 0.9999367208757831 Centerline is valid? [True, True] Translation: X:288.31, Y:-17.20, Z:-1.58 [[ 9.96199275e-01 8.71028230e-02 3.20442325e-04 2.88312872e+02] [-8.71028186e-02 9.96199327e-01 -2.75070878e-05 -1.72033724e+01] [-3.21620373e-04 -5.08888814e-07 9.99999948e-01 -1.58168385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96028169299996 meters Centerline goodness [0,1] 0.9999364837398373 Centerline is valid? [True, True] Translation: X:288.34, Y:-17.21, Z:-1.58 [[ 9.96560978e-01 8.28591371e-02 -7.61302262e-04 2.88343912e+02] [-8.28591109e-02 9.96561269e-01 6.58894551e-05 -1.72099577e+01] [ 7.64143892e-04 -2.58203122e-06 9.99999708e-01 -1.58405418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.990281693 meters Centerline goodness [0,1] 0.9999787238569392 Centerline is valid? [True, True] Translation: X:288.38, Y:-17.22, Z:-1.59 [[ 9.96752122e-01 8.05198314e-02 -1.32853538e-03 2.88375282e+02] [-8.05197503e-02 9.96753007e-01 1.14519897e-04 -1.72160644e+01] [ 1.33344276e-03 -7.17461309e-06 9.99999111e-01 -1.58505002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.41, Y:-17.22, Z:-1.59 [[ 9.96950891e-01 7.80045021e-02 -2.05401632e-03 2.88405793e+02] [-7.80043028e-02 9.96953007e-01 1.77078261e-04 -1.72227343e+01] [ 2.06157065e-03 -1.63162192e-05 9.99997875e-01 -1.58686842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.050281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.44, Y:-17.23, Z:-1.59 [[ 9.97296826e-01 7.34105424e-02 -3.15167859e-03 2.88436814e+02] [-7.34100480e-02 9.97301805e-01 2.72433885e-04 -1.72326180e+01] [ 3.16317427e-03 -4.03325725e-05 9.99994996e-01 -1.58947861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08028169299996 meters Centerline goodness [0,1] 0.9998937391082586 Centerline is valid? [True, True] Translation: X:288.47, Y:-17.24, Z:-1.59 [[ 9.97523168e-01 7.02987987e-02 -2.36806292e-03 2.88467175e+02] [-7.02985104e-02 9.97525978e-01 2.04848564e-04 -1.72433454e+01] [ 2.37660488e-03 -3.78698930e-05 9.99997175e-01 -1.58785050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.110281693 meters Centerline goodness [0,1] 0.9999571486726802 Centerline is valid? [True, True] Translation: X:288.50, Y:-17.25, Z:-1.59 [[ 9.97596622e-01 6.92373604e-02 -2.67712794e-03 2.88498809e+02] [-6.92369866e-02 9.97600213e-01 2.32164107e-04 -1.72501412e+01] [ 2.68677784e-03 -4.62498572e-05 9.99996390e-01 -1.58700087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14028169299996 meters Centerline goodness [0,1] 0.9998931327078034 Centerline is valid? [True, True] Translation: X:288.53, Y:-17.26, Z:-1.59 [[ 9.97643560e-01 6.85476944e-02 -2.92240658e-03 2.88530482e+02] [-6.85472446e-02 9.97647839e-01 2.53906250e-04 -1.72554893e+01] [ 2.93293730e-03 -5.29850160e-05 9.99995698e-01 -1.58735033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.170281693 meters Centerline goodness [0,1] 0.9995748751195663 Centerline is valid? [True, True] Translation: X:288.56, Y:-17.26, Z:-1.59 [[ 9.97651894e-01 6.84431540e-02 -2.49656340e-03 2.88561714e+02] [-6.84428241e-02 9.97655017e-01 2.17433831e-04 -1.72649808e+01] [ 2.50559086e-03 -4.60514235e-05 9.99996860e-01 -1.58825776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20028169299997 meters Centerline goodness [0,1] 0.9996777381515061 Centerline is valid? [True, True] Translation: X:288.59, Y:-17.27, Z:-1.59 [[ 9.97628763e-01 6.87872704e-02 -2.27208647e-03 2.88593499e+02] [-6.87869972e-02 9.97631350e-01 1.98260679e-04 -1.72685589e+01] [ 2.28034250e-03 -4.15005508e-05 9.99997399e-01 -1.58807267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23028169299994 meters Centerline goodness [0,1] 0.99952975376197 Centerline is valid? [True, True] Translation: X:288.63, Y:-17.27, Z:-1.59 [[ 9.97563963e-01 6.97115094e-02 -2.53886561e-03 2.88625773e+02] [-6.97111715e-02 9.97567192e-01 2.21429759e-04 -1.72740720e+01] [ 2.54812524e-03 -4.39030514e-05 9.99996753e-01 -1.58860362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26028169299997 meters Centerline goodness [0,1] 0.9994285835220419 Centerline is valid? [True, True] Translation: X:288.66, Y:-17.28, Z:-1.59 [[ 9.97528484e-01 7.02164866e-02 -2.56275163e-03 2.88656270e+02] [-7.02161425e-02 9.97531775e-01 2.24107031e-04 -1.72806840e+01] [ 2.57216219e-03 -4.36066135e-05 9.99996691e-01 -1.58946325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29028169299994 meters Centerline goodness [0,1] 0.9991499851247397 Centerline is valid? [True, True] Translation: X:288.69, Y:-17.28, Z:-1.59 [[ 9.97495607e-01 7.06875124e-02 -2.40626280e-03 2.88688848e+02] [-7.06872093e-02 9.97498508e-01 2.10876077e-04 -1.72817976e+01] [ 2.41514986e-03 -4.02559584e-05 9.99997083e-01 -1.58762515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32028169299997 meters Centerline goodness [0,1] 0.9989649345162653 Centerline is valid? [True, True] Translation: X:288.72, Y:-17.29, Z:-1.59 [[ 9.97417024e-01 7.18125138e-02 -1.49784810e-03 2.88719100e+02] [-7.18123971e-02 9.97418148e-01 1.31604861e-04 -1.72902068e+01] [ 1.50343176e-03 -2.37008663e-05 9.99998870e-01 -1.58775278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35028169299994 meters Centerline goodness [0,1] 0.9989608590232075 Centerline is valid? [True, True] Translation: X:288.75, Y:-17.29, Z:-1.59 [[ 9.97387682e-01 7.22227958e-02 -1.29569561e-03 2.88751651e+02] [-7.22227083e-02 9.97388524e-01 1.14231041e-04 -1.72916356e+01] [ 1.30056201e-03 -2.03539877e-05 9.99999154e-01 -1.58651740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.380281693 meters Centerline goodness [0,1] 0.9989562920678197 Centerline is valid? [True, True] Translation: X:288.78, Y:-17.30, Z:-1.59 [[ 9.97360852e-01 7.26007837e-02 -6.75604280e-04 2.88782316e+02] [-7.26007600e-02 9.97361081e-01 5.96164386e-05 -1.72974310e+01] [ 6.78149615e-04 -1.04097178e-05 9.99999770e-01 -1.58624239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41028169299994 meters Centerline goodness [0,1] 0.9989595940293436 Centerline is valid? [True, True] Translation: X:288.81, Y:-17.30, Z:-1.59 [[ 9.97351489e-01 7.27306164e-02 -5.14765136e-04 2.88813620e+02] [-7.27306024e-02 9.97351622e-01 4.57340946e-05 -1.73035263e+01] [ 5.16728112e-04 -8.17378890e-06 9.99999866e-01 -1.58705629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.440281693 meters Centerline goodness [0,1] 0.9989598369703659 Centerline is valid? [True, True] Translation: X:288.84, Y:-17.31, Z:-1.59 [[ 9.97376120e-01 7.23820742e-02 -1.30794351e-03 2.88844851e+02] [-7.23819846e-02 9.97376977e-01 1.15806521e-04 -1.73111278e+01] [ 1.31289506e-03 -2.08311112e-05 9.99999138e-01 -1.58941196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47028169299995 meters Centerline goodness [0,1] 0.9986063763641432 Centerline is valid? [True, True] Translation: X:288.88, Y:-17.32, Z:-1.58 [[ 9.97365625e-01 7.24962980e-02 -2.46906464e-03 2.88877596e+02] [-7.24959784e-02 9.97368681e-01 2.18837869e-04 -1.73156193e+01] [ 2.47843268e-03 -3.92641117e-05 9.99996928e-01 -1.58425329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.500281693 meters Centerline goodness [0,1] 0.9990198376339733 Centerline is valid? [True, True] Translation: X:288.91, Y:-17.32, Z:-1.59 [[ 9.97355184e-01 7.25986065e-02 -3.47565409e-03 2.88910347e+02] [-7.25979719e-02 9.97361238e-01 3.08573021e-04 -1.73189662e+01] [ 3.48888464e-03 -5.54314640e-05 9.99993912e-01 -1.59302459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53028169299995 meters Centerline goodness [0,1] 0.9988375533668682 Centerline is valid? [True, True] Translation: X:288.94, Y:-17.33, Z:-1.59 [[ 9.97311878e-01 7.32240127e-02 -2.69494772e-03 2.88941297e+02] [-7.32236331e-02 9.97315518e-01 2.39407715e-04 -1.73250077e+01] [ 2.70524357e-03 -4.14302951e-05 9.99996340e-01 -1.59225029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.560281693 meters Centerline goodness [0,1] 0.9989002622451569 Centerline is valid? [True, True] Translation: X:288.97, Y:-17.33, Z:-1.59 [[ 9.97264233e-01 7.39095806e-02 -1.19336779e-03 2.88972688e+02] [-7.39095061e-02 9.97264947e-01 1.06456877e-04 -1.73300098e+01] [ 1.19797205e-03 -1.79644116e-05 9.99999282e-01 -1.58916793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59028169299995 meters Centerline goodness [0,1] 0.9989143392370572 Centerline is valid? [True, True] Translation: X:289.00, Y:-17.33, Z:-1.59 [[ 9.97199178e-01 7.47885274e-02 -6.89549171e-04 2.89004523e+02] [-7.47885026e-02 9.97199416e-01 6.17830338e-05 -1.73331469e+01] [ 6.92238693e-04 -1.00396406e-05 9.99999760e-01 -1.58649051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.620281693 meters Centerline goodness [0,1] 0.9989670310751485 Centerline is valid? [True, True] Translation: X:289.04, Y:-17.34, Z:-1.59 [[ 9.97170343e-01 7.51513947e-02 -1.89079305e-03 2.89037746e+02] [-7.51512089e-02 9.97172135e-01 1.69221132e-04 -1.73357542e+01] [ 1.89816335e-03 -2.66469109e-05 9.99998198e-01 -1.58867375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65028169299995 meters Centerline goodness [0,1] 0.9990419008686765 Centerline is valid? [True, True] Translation: X:289.07, Y:-17.34, Z:-1.59 [[ 9.97035310e-01 7.67964260e-02 -4.78543338e-03 2.89069630e+02] [-7.67952538e-02 9.97046792e-01 4.28498390e-04 -1.73388745e+01] [ 4.80420814e-03 -5.97294541e-05 9.99988458e-01 -1.59468595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.680281693 meters Centerline goodness [0,1] 0.9990660751809479 Centerline is valid? [True, True] Translation: X:289.10, Y:-17.34, Z:-1.59 [[ 9.96940681e-01 7.80259175e-02 -4.60821723e-03 2.89101885e+02] [-7.80248402e-02 9.96951330e-01 4.13380457e-04 -1.73409762e+01] [ 4.62642269e-03 -5.25603815e-05 9.99989297e-01 -1.59468059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71028169299996 meters Centerline goodness [0,1] 0.9990772928200506 Centerline is valid? [True, True] Translation: X:289.13, Y:-17.34, Z:-1.59 [[ 9.96865522e-01 7.90998851e-02 -1.52973781e-03 2.89133928e+02] [-7.90997669e-02 9.96866695e-01 1.37726431e-04 -1.73419590e+01] [ 1.53583882e-03 -1.62928262e-05 9.99998820e-01 -1.58775741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.740281693 meters Centerline goodness [0,1] 0.9989233919486605 Centerline is valid? [True, True] Translation: X:289.17, Y:-17.35, Z:-1.59 [[ 9.96813436e-01 7.97681915e-02 9.85042657e-05 2.89165046e+02] [-7.97681910e-02 9.96813441e-01 -8.53135725e-06 -1.73461291e+01] [-9.88709070e-05 6.46664452e-07 9.99999995e-01 -1.58509363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77028169299996 meters Centerline goodness [0,1] 0.9990212974192039 Centerline is valid? [True, True] Translation: X:289.20, Y:-17.34, Z:-1.58 [[ 9.96557749e-01 8.28994777e-02 5.74676529e-04 2.89197773e+02] [-8.28994618e-02 9.96557914e-01 -5.14435494e-05 -1.73443706e+01] [-5.76963087e-04 3.62609277e-06 9.99999834e-01 -1.58403990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.800281693 meters Centerline goodness [0,1] 0.9990707301104564 Centerline is valid? [True, True] Translation: X:289.23, Y:-17.35, Z:-1.59 [[ 9.96421661e-01 8.45212441e-02 1.80562931e-04 2.89228503e+02] [-8.45212426e-02 9.96421677e-01 -1.59785285e-05 -1.73458902e+01] [-1.81267344e-04 6.59948599e-07 9.99999984e-01 -1.58553053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83028169299996 meters Centerline goodness [0,1] 0.9991785842161798 Centerline is valid? [True, True] Translation: X:289.26, Y:-17.35, Z:-1.59 [[ 9.96296618e-01 8.59804055e-02 6.46441944e-04 2.89259600e+02] [-8.59803859e-02 9.96296828e-01 -5.81379858e-05 -1.73479895e+01] [-6.49046786e-04 2.34135084e-06 9.99999789e-01 -1.58543675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.860281693 meters Centerline goodness [0,1] 0.9992843159955375 Centerline is valid? [True, True] Translation: X:289.29, Y:-17.35, Z:-1.58 [[ 9.96088985e-01 8.83055550e-02 2.97706936e-03 2.89291228e+02] [-8.83051446e-02 9.96093434e-01 -2.69291783e-04 -1.73467424e+01] [-2.98921921e-03 5.34803807e-06 9.99995532e-01 -1.57943937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89028169299996 meters Centerline goodness [0,1] 0.9990042372881356 Centerline is valid? [True, True] Translation: X:289.32, Y:-17.35, Z:-1.58 [[ 9.96036819e-01 8.88566660e-02 3.89202264e-03 2.89323811e+02] [-8.88559665e-02 9.96044423e-01 -3.52631019e-04 -1.73481276e+01] [-3.90796106e-03 5.40404491e-06 9.99992364e-01 -1.57743392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.920281693 meters Centerline goodness [0,1] 0.9990165266286105 Centerline is valid? [True, True] Translation: X:289.36, Y:-17.35, Z:-1.58 [[ 9.95993694e-01 8.93398935e-02 3.86586471e-03 2.89357088e+02] [-8.93392042e-02 9.96001196e-01 -3.50974150e-04 -1.73514639e+01] [-3.88176187e-03 4.19476304e-06 9.99992466e-01 -1.57952149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95028169299997 meters Centerline goodness [0,1] 0.9992213968561268 Centerline is valid? [True, True] Translation: X:289.39, Y:-17.36, Z:-1.58 [[ 9.95936376e-01 9.00122840e-02 2.91954446e-03 2.89389355e+02] [-9.00118925e-02 9.95940655e-01 -2.65499318e-04 -1.73550679e+01] [-2.93159122e-03 1.62670680e-06 9.99995703e-01 -1.58205102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98028169299994 meters Centerline goodness [0,1] 0.9992213968561268 Centerline is valid? [True, True] Translation: X:289.42, Y:-17.36, Z:-1.58 [[ 9.95920022e-01 9.01930525e-02 2.91949779e-03 2.89421703e+02] [-9.01926602e-02 9.95924301e-01 -2.66011689e-04 -1.73582177e+01] [-2.93159120e-03 1.60909554e-06 9.99995703e-01 -1.58211947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01028169299997 meters Centerline goodness [0,1] 0.99931395249121 Centerline is valid? [True, True] Translation: X:289.45, Y:-17.36, Z:-1.58 [[ 9.95826896e-01 9.12526603e-02 1.32091418e-03 2.89454942e+02] [-9.12525809e-02 9.95827772e-01 -1.20379481e-04 -1.73611962e+01] [-1.32638798e-03 -6.59703636e-07 9.99999120e-01 -1.58479763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04028169299994 meters Centerline goodness [0,1] 0.9995502056202878 Centerline is valid? [True, True] Translation: X:289.49, Y:-17.36, Z:-1.59 [[ 9.95516159e-01 9.45838238e-02 -1.21545680e-03 2.89486320e+02] [-9.45837579e-02 9.95516901e-01 1.11658040e-04 -1.73593106e+01] [ 1.22056883e-03 3.80508797e-06 9.99999255e-01 -1.58771529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07028169299997 meters Centerline goodness [0,1] 0.9995557999830781 Centerline is valid? [True, True] Translation: X:289.52, Y:-17.36, Z:-1.59 [[ 9.95235096e-01 9.74954423e-02 -1.31967536e-03 2.89517649e+02] [-9.74953670e-02 9.95235971e-01 1.21406582e-04 -1.73562137e+01] [ 1.32522498e-03 7.83414219e-06 9.99999122e-01 -1.58752337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10028169299994 meters Centerline goodness [0,1] 0.9997862836870338 Centerline is valid? [True, True] Translation: X:289.55, Y:-17.35, Z:-1.59 [[ 9.94560310e-01 1.04159341e-01 -7.88077082e-04 2.89549850e+02] [-1.04159316e-01 9.94560622e-01 7.23750202e-05 -1.73458820e+01] [ 7.91328967e-04 1.01042476e-05 9.99999687e-01 -1.58703337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.130281693 meters Centerline goodness [0,1] 0.9998504177618224 Centerline is valid? [True, True] Translation: X:289.58, Y:-17.34, Z:-1.59 [[ 9.94179781e-01 1.07730680e-01 -8.14325011e-04 2.89581977e+02] [-1.07730655e-01 9.94180115e-01 7.48033820e-05 -1.73425308e+01] [ 8.17644352e-04 1.33597568e-05 9.99999666e-01 -1.58745774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16028169299994 meters Centerline goodness [0,1] 0.9996804022670133 Centerline is valid? [True, True] Translation: X:289.61, Y:-17.33, Z:-1.59 [[ 9.93644516e-01 1.12557027e-01 -1.22151318e-03 2.89613352e+02] [-1.12556974e-01 9.93645266e-01 1.12133021e-04 -1.73325769e+01] [ 1.22637215e-03 2.60694664e-05 9.99999248e-01 -1.58937931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.190281693 meters Centerline goodness [0,1] 0.9995969452694102 Centerline is valid? [True, True] Translation: X:289.64, Y:-17.33, Z:-1.59 [[ 9.93540282e-01 1.13466758e-01 -1.73291261e-03 2.89643006e+02] [-1.13466654e-01 9.93541792e-01 1.59033895e-04 -1.73293294e+01] [ 1.73976616e-03 3.86212145e-05 9.99998486e-01 -1.59109322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22028169299995 meters Centerline goodness [0,1] 0.9996627958439588 Centerline is valid? [True, True] Translation: X:289.67, Y:-17.33, Z:-1.59 [[ 9.93649963e-01 1.12479882e-01 -2.83316735e-03 2.89673225e+02] [-1.12479597e-01 9.93654000e-01 2.60047229e-04 -1.73294969e+01] [ 2.84443815e-03 6.02776034e-05 9.99995953e-01 -1.59310864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.250281693 meters Centerline goodness [0,1] 0.9998079877112135 Centerline is valid? [True, True] Translation: X:289.70, Y:-17.33, Z:-1.59 [[ 9.93801382e-01 1.11132128e-01 -2.90898902e-03 2.89703091e+02] [-1.11131823e-01 9.93805638e-01 2.66947547e-04 -1.73344224e+01] [ 2.92063614e-03 5.79884113e-05 9.99995733e-01 -1.59201997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28028169299995 meters Centerline goodness [0,1] 0.999829377012818 Centerline is valid? [True, True] Translation: X:289.73, Y:-17.34, Z:-1.59 [[ 9.93971395e-01 1.09610917e-01 -2.51252728e-03 2.89732462e+02] [-1.09610684e-01 9.93974569e-01 2.30532977e-04 -1.73360518e+01] [ 2.52265715e-03 4.62566489e-05 9.99996817e-01 -1.59141253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.310281693 meters Centerline goodness [0,1] 0.9999149280078267 Centerline is valid? [True, True] Translation: X:289.76, Y:-17.34, Z:-1.59 [[ 9.94377841e-01 1.05883792e-01 -1.15433449e-03 2.89762192e+02] [-1.05883740e-01 9.94378511e-01 1.05887719e-04 -1.73353584e+01] [ 1.15905721e-03 1.69328519e-05 9.99999328e-01 -1.59010252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34028169299995 meters Centerline goodness [0,1] 0.9998508067094354 Centerline is valid? [True, True] Translation: X:289.79, Y:-17.34, Z:-1.59 [[ 9.94506109e-01 1.04672921e-01 -1.08552238e-03 2.89792907e+02] [-1.04672875e-01 9.94506701e-01 9.95984210e-05 -1.73378047e+01] [ 1.08998454e-03 1.45735105e-05 9.99999406e-01 -1.59037472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.370281693 meters Centerline goodness [0,1] 0.9998521709748268 Centerline is valid? [True, True] Translation: X:289.82, Y:-17.34, Z:-1.59 [[ 9.94614969e-01 1.03613411e-01 -2.30727755e-03 2.89822505e+02] [-1.03613199e-01 9.94617645e-01 2.11758530e-04 -1.73385266e+01] [ 2.31679999e-03 2.84462043e-05 9.99997316e-01 -1.59313632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40028169299995 meters Centerline goodness [0,1] 0.9999572795625428 Centerline is valid? [True, True] Translation: X:289.85, Y:-17.34, Z:-1.59 [[ 9.94645152e-01 1.03316848e-01 -2.57885973e-03 2.89851805e+02] [-1.03316582e-01 9.94648495e-01 2.36541403e-04 -1.73419428e+01] [ 2.58949766e-03 3.11642122e-05 9.99996647e-01 -1.59320997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.430281693 meters Centerline goodness [0,1] 0.999893146410788 Centerline is valid? [True, True] Translation: X:289.88, Y:-17.34, Z:-1.59 [[ 9.94779455e-01 1.02040654e-01 -1.24120879e-03 2.89881161e+02] [-1.02040591e-01 9.94780229e-01 1.13790199e-04 -1.73423660e+01] [ 1.24634119e-03 1.34575265e-05 9.99999223e-01 -1.58989242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46028169299996 meters Centerline goodness [0,1] 0.9998711423233039 Centerline is valid? [True, True] Translation: X:289.91, Y:-17.34, Z:-1.59 [[ 9.94867779e-01 1.01183468e-01 -9.47021548e-05 2.89910965e+02] [-1.01183467e-01 9.94867783e-01 8.65931575e-06 -1.73442354e+01] [ 9.50923023e-05 9.67418151e-07 9.99999995e-01 -1.58792575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.490281693 meters Centerline goodness [0,1] 0.999808539153743 Centerline is valid? [True, True] Translation: X:289.94, Y:-17.35, Z:-1.59 [[ 9.94960368e-01 1.00267722e-01 5.00388271e-04 2.89940729e+02] [-1.00267712e-01 9.94960494e-01 -4.59074175e-05 -1.73466849e+01] [-5.02469593e-04 -4.49672591e-06 9.99999874e-01 -1.58653268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52028169299996 meters Centerline goodness [0,1] 0.9998313552712018 Centerline is valid? [True, True] Translation: X:289.97, Y:-17.35, Z:-1.59 [[ 9.95098220e-01 9.88909846e-02 3.26563549e-04 2.89970009e+02] [-9.88909801e-02 9.95098273e-01 -2.99643519e-05 -1.73496929e+01] [-3.27926028e-04 -2.47671616e-06 9.99999946e-01 -1.58750629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.550281693 meters Centerline goodness [0,1] 0.9999360081909515 Centerline is valid? [True, True] Translation: X:290.00, Y:-17.35, Z:-1.59 [[ 9.95099718e-01 9.88754556e-02 -4.41912328e-04 2.90000071e+02] [-9.88754474e-02 9.95099816e-01 4.05156099e-05 -1.73523536e+01] [ 4.43752876e-04 3.37720719e-06 9.99999902e-01 -1.58955492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58028169299996 meters Centerline goodness [0,1] 0.9998931806528798 Centerline is valid? [True, True] Translation: X:290.03, Y:-17.35, Z:-1.59 [[ 9.95092491e-01 9.89482312e-02 -4.26170827e-04 2.90029550e+02] [-9.89482236e-02 9.95092582e-01 3.90424908e-05 -1.73546221e+01] [ 4.27942614e-04 3.31795686e-06 9.99999908e-01 -1.58961620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.610281693 meters Centerline goodness [0,1] 0.9998945236688886 Centerline is valid? [True, True] Translation: X:290.06, Y:-17.36, Z:-1.59 [[ 9.95065430e-01 9.92209079e-02 4.11765986e-05 2.90059292e+02] [-9.92209078e-02 9.95065431e-01 -3.79874051e-06 -1.73561630e+01] [-4.13503243e-05 -3.05584136e-07 9.99999999e-01 -1.58881389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64028169299996 meters Centerline goodness [0,1] 0.9998932490712669 Centerline is valid? [True, True] Translation: X:290.09, Y:-17.36, Z:-1.59 [[ 9.95014437e-01 9.97284769e-02 7.08316708e-04 2.90090330e+02] [-9.97284559e-02 9.95014689e-01 -6.49235296e-05 -1.73568898e+01] [-7.11260254e-04 -6.03948238e-06 9.99999747e-01 -1.58602667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.670281693 meters Centerline goodness [0,1] 0.9999362136417758 Centerline is valid? [True, True] Translation: X:290.12, Y:-17.36, Z:-1.59 [[ 9.94986767e-01 1.00000904e-01 1.07324371e-03 2.90121139e+02] [-1.00000856e-01 9.94987346e-01 -9.83723364e-05 -1.73588909e+01] [-1.07770123e-03 -9.44611645e-06 9.99999419e-01 -1.58514106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70028169299997 meters Centerline goodness [0,1] 0.9998944702406078 Centerline is valid? [True, True] Translation: X:290.15, Y:-17.36, Z:-1.59 [[ 9.94855546e-01 1.01294544e-01 1.36310971e-03 2.90150374e+02] [-1.01294468e-01 9.94856480e-01 -1.24935336e-04 -1.73588564e+01] [-1.36875380e-03 -1.37828615e-05 9.99999063e-01 -1.58548015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73028169299994 meters Centerline goodness [0,1] 0.999787460148778 Centerline is valid? [True, True] Translation: X:290.18, Y:-17.36, Z:-1.59 [[ 9.94764060e-01 1.02188834e-01 1.38060743e-03 2.90179600e+02] [-1.02188757e-01 9.94765018e-01 -1.26572664e-04 -1.73615094e+01] [-1.38631429e-03 -1.51726208e-05 9.99999039e-01 -1.58576839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76028169299997 meters Centerline goodness [0,1] 0.9998726195783708 Centerline is valid? [True, True] Translation: X:290.21, Y:-17.36, Z:-1.59 [[ 9.94608077e-01 1.03705151e-01 -1.24811624e-04 2.90209702e+02] [-1.03705150e-01 9.94608084e-01 1.14119847e-05 -1.73623322e+01] [ 1.25322132e-04 1.59315603e-06 9.99999992e-01 -1.58866723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79028169299994 meters Centerline goodness [0,1] 0.9998936124941487 Centerline is valid? [True, True] Translation: X:290.24, Y:-17.36, Z:-1.59 [[ 9.94583421e-01 1.03940135e-01 -5.17532922e-04 2.90238221e+02] [-1.03940124e-01 9.94583555e-01 4.73547400e-05 -1.73639087e+01] [ 5.19651792e-04 6.69419690e-06 9.99999865e-01 -1.58930857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82028169299997 meters Centerline goodness [0,1] 0.9999149515223678 Centerline is valid? [True, True] Translation: X:290.27, Y:-17.36, Z:-1.59 [[ 9.94386033e-01 1.05812353e-01 -4.04298534e-04 2.90268104e+02] [-1.05812347e-01 9.94386115e-01 3.69772816e-05 -1.73632574e+01] [ 4.05941502e-04 6.01008445e-06 9.99999918e-01 -1.58781770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85028169299994 meters Centerline goodness [0,1] 0.9997870573454569 Centerline is valid? [True, True] Translation: X:290.30, Y:-17.36, Z:-1.59 [[ 9.94140165e-01 1.08098035e-01 -3.83268957e-04 2.90297518e+02] [-1.08098030e-01 9.94140239e-01 3.50206301e-05 -1.73622310e+01] [ 3.84808753e-04 6.61520422e-06 9.99999926e-01 -1.58745012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.880281693 meters Centerline goodness [0,1] 0.9995128357197323 Centerline is valid? [True, True] Translation: X:290.33, Y:-17.35, Z:-1.59 [[ 9.93468072e-01 1.14084848e-01 -2.41604497e-03 2.90327712e+02] [-1.14084648e-01 9.93471008e-01 2.21081623e-04 -1.73491021e+01] [ 2.42549270e-03 5.59961052e-05 9.99997057e-01 -1.59187918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91028169299994 meters Centerline goodness [0,1] 0.9995725947771081 Centerline is valid? [True, True] Translation: X:290.36, Y:-17.35, Z:-1.59 [[ 9.93235250e-01 1.16073213e-01 -3.27820772e-03 2.90357327e+02] [-1.16072855e-01 9.93240657e-01 2.99916116e-04 -1.73488374e+01] [ 3.29086142e-03 8.26236718e-05 9.99994582e-01 -1.59358607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.940281693 meters Centerline goodness [0,1] 0.9992363011519124 Centerline is valid? [True, True] Translation: X:290.39, Y:-17.35, Z:-1.59 [[ 9.93150390e-01 1.16797811e-01 -3.25176773e-03 2.90385567e+02] [-1.16797464e-01 9.93155710e-01 2.97234444e-04 -1.73455080e+01] [ 3.26422802e-03 8.45997193e-05 9.99994669e-01 -1.59406821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97028169299995 meters Centerline goodness [0,1] 0.9990725517473968 Centerline is valid? [True, True] Translation: X:290.41, Y:-17.35, Z:-1.59 [[ 9.93348302e-01 1.15142136e-01 -1.19974141e-03 2.90414599e+02] [-1.15142087e-01 9.93349026e-01 1.09560229e-04 -1.73465484e+01] [ 1.20437696e-03 2.93092632e-05 9.99999274e-01 -1.59006037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.000281693 meters Centerline goodness [0,1] 0.9994650232179924 Centerline is valid? [True, True] Translation: X:290.44, Y:-17.35, Z:-1.59 [[ 9.93616876e-01 1.12807348e-01 -7.96266749e-05 2.90442794e+02] [-1.12807347e-01 9.93616879e-01 7.17489506e-06 -1.73546176e+01] [ 7.99277891e-05 1.85337717e-06 9.99999997e-01 -1.58756741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03028169299995 meters Centerline goodness [0,1] 0.9998522333868107 Centerline is valid? [True, True] Translation: X:290.47, Y:-17.37, Z:-1.59 [[ 9.94495265e-01 1.04781520e-01 -1.19476931e-05 2.90470389e+02] [-1.04781520e-01 9.94495265e-01 1.02609810e-06 -1.73689893e+01] [ 1.19894403e-05 2.31447738e-07 1.00000000e+00 -1.58763070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.060281693 meters Centerline goodness [0,1] 0.9998721745243827 Centerline is valid? [True, True] Translation: X:290.50, Y:-17.38, Z:-1.59 [[ 9.94955236e-01 1.00318988e-01 -4.22724472e-04 2.90499648e+02] [-1.00318981e-01 9.94955326e-01 3.85738129e-05 -1.73786695e+01] [ 4.24461651e-04 4.02807103e-06 9.99999910e-01 -1.58918989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09028169299995 meters Centerline goodness [0,1] 0.9996109033527161 Centerline is valid? [True, True] Translation: X:290.53, Y:-17.39, Z:-1.59 [[ 9.95505226e-01 9.47058937e-02 -3.73747825e-04 2.90528224e+02] [-9.47058876e-02 9.95505296e-01 3.40974318e-05 -1.73901299e+01] [ 3.75297167e-04 1.45194801e-06 9.99999930e-01 -1.58912292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.120281693 meters Centerline goodness [0,1] 0.999576199355823 Centerline is valid? [True, True] Translation: X:290.56, Y:-17.39, Z:-1.59 [[ 9.95566721e-01 9.40559079e-02 6.24294590e-04 2.90557792e+02] [-9.40558906e-02 9.95566917e-01 -5.70309981e-05 -1.73943560e+01] [-6.26891142e-04 -1.94041983e-06 9.99999804e-01 -1.58798864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15028169299995 meters Centerline goodness [0,1] 0.9994104518465491 Centerline is valid? [True, True] Translation: X:290.59, Y:-17.40, Z:-1.59 [[ 9.95541574e-01 9.43136189e-02 1.38405147e-03 2.90587267e+02] [-9.43135344e-02 9.95542536e-01 -1.26335875e-04 -1.73969798e+01] [-1.38979730e-03 -4.76217035e-06 9.99999034e-01 -1.58605338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.180281693 meters Centerline goodness [0,1] 0.9997659624263313 Centerline is valid? [True, True] Translation: X:290.62, Y:-17.40, Z:-1.58 [[ 9.95368773e-01 9.61117252e-02 1.88215330e-03 2.90617589e+02] [-9.61115722e-02 9.95370552e-01 -1.71769215e-04 -1.73979906e+01] [-1.88994900e-03 -9.92300021e-06 9.99998214e-01 -1.58444619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21028169299996 meters Centerline goodness [0,1] 0.99968167734816 Centerline is valid? [True, True] Translation: X:290.65, Y:-17.40, Z:-1.59 [[ 9.95250918e-01 9.73381136e-02 9.49153564e-04 2.90646738e+02] [-9.73380752e-02 9.95251371e-01 -8.66350283e-05 -1.73991118e+01] [-9.53079276e-04 -6.16518953e-06 9.99999546e-01 -1.58553377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.240281693 meters Centerline goodness [0,1] 0.9996626678754401 Centerline is valid? [True, True] Translation: X:290.68, Y:-17.40, Z:-1.59 [[ 9.95106822e-01 9.88045636e-02 -2.68184770e-04 2.90675384e+02] [-9.88045607e-02 9.95106858e-01 2.43907568e-05 -1.73998012e+01] [ 2.69282421e-04 2.22646985e-06 9.99999964e-01 -1.58851499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27028169299996 meters Centerline goodness [0,1] 0.9996400592843532 Centerline is valid? [True, True] Translation: X:290.71, Y:-17.40, Z:-1.59 [[ 9.94771204e-01 1.02123647e-01 -1.00621210e-03 2.90705563e+02] [-1.02123606e-01 9.94771713e-01 9.17110162e-05 -1.73964280e+01] [ 1.01031719e-03 1.15265298e-05 9.99999490e-01 -1.59024958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.300281693 meters Centerline goodness [0,1] 0.99974571422517 Centerline is valid? [True, True] Translation: X:290.73, Y:-17.40, Z:-1.59 [[ 9.94688780e-01 1.02910173e-01 1.93059394e-03 2.90734399e+02] [-1.02910025e-01 9.94690653e-01 -1.76062334e-04 -1.73959911e+01] [-1.93846236e-03 -2.35502420e-05 9.99998121e-01 -1.58668247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33028169299996 meters Centerline goodness [0,1] 0.9995328095136972 Centerline is valid? [True, True] Translation: X:290.76, Y:-17.41, Z:-1.58 [[ 9.94957213e-01 1.00249814e-01 3.18098081e-03 2.90764021e+02] [-1.00249399e-01 9.94962298e-01 -2.89973607e-04 -1.74060583e+01] [-3.19402578e-03 -3.03800836e-05 9.99994899e-01 -1.58481888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.360281693 meters Centerline goodness [0,1] 0.9995561285958868 Centerline is valid? [True, True] Translation: X:290.79, Y:-17.42, Z:-1.58 [[ 9.95369010e-01 9.60796218e-02 3.03962853e-03 2.90793713e+02] [-9.60792236e-02 9.95373651e-01 -2.77099172e-04 -1.74176068e+01] [-3.05218974e-03 -1.62292209e-05 9.99995342e-01 -1.58492556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39028169299996 meters Centerline goodness [0,1] 0.9992407465991775 Centerline is valid? [True, True] Translation: X:290.83, Y:-17.44, Z:-1.59 [[ 9.96236510e-01 8.66736595e-02 -7.01452641e-04 2.90825021e+02] [-8.66736356e-02 9.96236757e-01 6.44598901e-05 -1.74416574e+01] [ 7.04399879e-04 -3.41984541e-06 9.99999752e-01 -1.59152623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.420281693 meters Centerline goodness [0,1] 0.9990665704951419 Centerline is valid? [True, True] Translation: X:290.86, Y:-17.45, Z:-1.60 [[ 9.96607778e-01 8.22553312e-02 -2.64510107e-03 2.90855588e+02] [-8.22549776e-02 9.96611288e-01 2.42344086e-04 -1.74544987e+01] [ 2.65607167e-03 -2.39492724e-05 9.99996472e-01 -1.59614241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45028169299997 meters Centerline goodness [0,1] 0.9987857873210634 Centerline is valid? [True, True] Translation: X:290.89, Y:-17.48, Z:-1.60 [[ 9.97197689e-01 7.47285894e-02 -3.52223334e-03 2.90885067e+02] [-7.47279166e-02 9.97203908e-01 3.22423110e-04 -1.74770366e+01] [ 3.53647907e-03 -5.83104218e-05 9.99993745e-01 -1.59691902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48028169299994 meters Centerline goodness [0,1] 0.9986274635956165 Centerline is valid? [True, True] Translation: X:290.92, Y:-17.49, Z:-1.59 [[ 9.97309213e-01 7.32731303e-02 -2.31972076e-03 2.90916598e+02] [-7.32728328e-02 9.97311910e-01 2.13052041e-04 -1.74875861e+01] [ 2.32909613e-03 -4.25062522e-05 9.99997287e-01 -1.59379205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51028169299997 meters Centerline goodness [0,1] 0.998889790341176 Centerline is valid? [True, True] Translation: X:290.95, Y:-17.50, Z:-1.59 [[ 9.97134040e-01 7.56550314e-02 -1.51715040e-04 2.90947374e+02] [-7.56550301e-02 9.97134051e-01 1.42578165e-05 -1.74971491e+01] [ 1.52358908e-04 -2.73894824e-06 9.99999988e-01 -1.58829874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54028169299994 meters Centerline goodness [0,1] 0.9993816762968807 Centerline is valid? [True, True] Translation: X:290.98, Y:-17.50, Z:-1.59 [[ 9.96875462e-01 7.89875602e-02 -5.28189622e-04 2.90979127e+02] [-7.89875453e-02 9.96875602e-01 4.89478786e-05 -1.74996762e+01] [ 5.30405621e-04 -7.07453733e-06 9.99999859e-01 -1.58887550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57028169299997 meters Centerline goodness [0,1] 0.9990034349688308 Centerline is valid? [True, True] Translation: X:291.01, Y:-17.50, Z:-1.59 [[ 9.96531938e-01 8.31979231e-02 -1.48388955e-03 2.91010102e+02] [-8.31978112e-02 9.96533043e-01 1.37127089e-04 -1.75011426e+01] [ 1.49015366e-03 -1.31951610e-05 9.99998890e-01 -1.59055690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60028169299994 meters Centerline goodness [0,1] 0.9997228204089466 Centerline is valid? [True, True] Translation: X:291.04, Y:-17.49, Z:-1.59 [[ 9.95592982e-01 9.37678500e-02 -1.48454474e-03 2.91041623e+02] [-9.37677501e-02 9.95594089e-01 1.36925815e-04 -1.74941561e+01] [ 1.49084321e-03 2.88003979e-06 9.99998889e-01 -1.59191143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.630281693 meters Centerline goodness [0,1] 0.9997032640949555 Centerline is valid? [True, True] Translation: X:291.07, Y:-17.49, Z:-1.59 [[ 9.94663671e-01 1.03163003e-01 1.25545565e-03 2.91073241e+02] [-1.03162939e-01 9.94664463e-01 -1.15754393e-04 -1.74855283e+01] [-1.26069870e-03 -1.43798055e-05 9.99999205e-01 -1.58660316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66028169299994 meters Centerline goodness [0,1] 0.9995567843650408 Centerline is valid? [True, True] Translation: X:291.11, Y:-17.48, Z:-1.59 [[ 9.94252015e-01 1.07047392e-01 1.94586196e-03 2.91105133e+02] [-1.07047246e-01 9.94253919e-01 -1.79387960e-04 -1.74835972e+01] [-1.95388389e-03 -2.99423225e-05 9.99998091e-01 -1.58525183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.690281693 meters Centerline goodness [0,1] 0.9994262399591993 Centerline is valid? [True, True] Translation: X:291.14, Y:-17.48, Z:-1.59 [[ 9.93940485e-01 1.09897648e-01 2.19544702e-03 2.91137330e+02] [-1.09897468e-01 9.93942909e-01 -2.02770453e-04 -1.74844976e+01] [-2.20443299e-03 -3.97323059e-05 9.99997569e-01 -1.58558558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72028169299995 meters Centerline goodness [0,1] 0.9992063832525417 Centerline is valid? [True, True] Translation: X:291.17, Y:-17.49, Z:-1.59 [[ 9.93686199e-01 1.12182739e-01 1.66484082e-03 2.91168998e+02] [-1.12182639e-01 9.93687593e-01 -1.53958771e-04 -1.74862867e+01] [-1.67160318e-03 -3.37795305e-05 9.99998602e-01 -1.58733109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.750281693 meters Centerline goodness [0,1] 0.9992761028785556 Centerline is valid? [True, True] Translation: X:291.20, Y:-17.49, Z:-1.59 [[ 9.93643567e-01 1.12563778e-01 1.36278682e-03 2.91201098e+02] [-1.12563711e-01 9.93644501e-01 -1.26165694e-04 -1.74895348e+01] [-1.36832732e-03 -2.80366116e-05 9.99999063e-01 -1.58758449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78028169299995 meters Centerline goodness [0,1] 0.9991078635456052 Centerline is valid? [True, True] Translation: X:291.23, Y:-17.49, Z:-1.59 [[ 9.93611392e-01 1.12826871e-01 2.54917232e-03 2.91231165e+02] [-1.12826635e-01 9.93614661e-01 -2.36659058e-04 -1.74898888e+01] [-2.55959649e-03 -5.24673987e-05 9.99996723e-01 -1.58517362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.810281693 meters Centerline goodness [0,1] 0.9989482319779549 Centerline is valid? [True, True] Translation: X:291.26, Y:-17.49, Z:-1.58 [[ 9.93574153e-01 1.13145886e-01 2.90001680e-03 2.91261057e+02] [-1.13145582e-01 9.93578384e-01 -2.69268074e-04 -1.74914049e+01] [-2.91186058e-03 -6.05862884e-05 9.99995759e-01 -1.58443023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84028169299995 meters Centerline goodness [0,1] 0.9990058590858134 Centerline is valid? [True, True] Translation: X:291.29, Y:-17.49, Z:-1.59 [[ 9.93458872e-01 1.14171064e-01 2.10665694e-03 2.91292285e+02] [-1.14170906e-01 9.93461104e-01 -1.95621867e-04 -1.74894232e+01] [-2.11521608e-03 -4.61766504e-05 9.99997762e-01 -1.58583322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.870281693 meters Centerline goodness [0,1] 0.9990058590858134 Centerline is valid? [True, True] Translation: X:291.32, Y:-17.49, Z:-1.59 [[ 9.93456299e-01 1.14193450e-01 2.10665254e-03 2.91322990e+02] [-1.14193292e-01 9.93458532e-01 -1.95669216e-04 -1.74923207e+01] [-2.11521608e-03 -4.61767726e-05 9.99997762e-01 -1.58589814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90028169299995 meters Centerline goodness [0,1] 0.9990843660832163 Centerline is valid? [True, True] Translation: X:291.35, Y:-17.49, Z:-1.59 [[ 9.93369081e-01 1.14965449e-01 9.02788838e-04 2.91354299e+02] [-1.14965421e-01 9.93369491e-01 -8.38452271e-05 -1.74925288e+01] [-9.06442192e-04 -2.05002424e-05 9.99999589e-01 -1.58852130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.930281693 meters Centerline goodness [0,1] 0.9990707301104564 Centerline is valid? [True, True] Translation: X:291.38, Y:-17.49, Z:-1.59 [[ 9.93280237e-01 1.15733889e-01 -1.95431803e-04 2.91383799e+02] [-1.15733888e-01 9.93280256e-01 1.81081587e-05 -1.74883583e+01] [ 1.96214279e-04 4.63160613e-06 9.99999981e-01 -1.59156065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96028169299996 meters Centerline goodness [0,1] 0.9992492653525236 Centerline is valid? [True, True] Translation: X:291.41, Y:-17.49, Z:-1.59 [[ 9.93293007e-01 1.15624288e-01 -1.60315876e-04 2.91412756e+02] [-1.15624288e-01 9.93293020e-01 1.48406959e-05 -1.74935299e+01] [ 1.60956586e-04 3.79524947e-06 9.99999987e-01 -1.59119504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.990281693 meters Centerline goodness [0,1] 0.9992576252492258 Centerline is valid? [True, True] Translation: X:291.44, Y:-17.49, Z:-1.59 [[ 9.93394805e-01 1.14746399e-01 -1.56650818e-04 2.91442821e+02] [-1.14746398e-01 9.93394818e-01 1.45498329e-05 -1.74942742e+01] [ 1.57285651e-04 3.52138861e-06 9.99999988e-01 -1.59155328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02028169299996 meters Centerline goodness [0,1] 0.9993018532622493 Centerline is valid? [True, True] Translation: X:291.47, Y:-17.50, Z:-1.59 [[ 9.93444639e-01 1.14313026e-01 5.29972815e-04 2.91472691e+02] [-1.14313016e-01 9.93444781e-01 -4.92422983e-05 -1.74950315e+01] [-5.32127763e-04 -1.16632936e-05 9.99999858e-01 -1.59010856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.050281693 meters Centerline goodness [0,1] 0.9990886741268227 Centerline is valid? [True, True] Translation: X:291.50, Y:-17.50, Z:-1.59 [[ 9.93453956e-01 1.14229537e-01 9.22482915e-04 2.91502113e+02] [-1.14229506e-01 9.93454384e-01 -8.56969531e-05 -1.74959167e+01] [-9.26233819e-04 -2.02387910e-05 9.99999571e-01 -1.58859967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08028169299996 meters Centerline goodness [0,1] 0.9993858274386886 Centerline is valid? [True, True] Translation: X:291.53, Y:-17.49, Z:-1.59 [[ 9.93287440e-01 1.15670679e-01 -5.96000406e-04 2.91532881e+02] [-1.15670666e-01 9.93287619e-01 5.52750357e-05 -1.74892046e+01] [ 5.98393526e-04 1.40357654e-05 9.99999821e-01 -1.59102305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.110281693 meters Centerline goodness [0,1] 0.9992269369524137 Centerline is valid? [True, True] Translation: X:291.56, Y:-17.49, Z:-1.59 [[ 9.93133319e-01 1.16985640e-01 -7.55664010e-04 2.91562868e+02] [-1.16985621e-01 9.93133606e-01 7.00766648e-05 -1.74871345e+01] [ 7.58673287e-04 1.88063527e-05 9.99999712e-01 -1.59123973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14028169299996 meters Centerline goodness [0,1] 0.9989569807786458 Centerline is valid? [True, True] Translation: X:291.59, Y:-17.48, Z:-1.59 [[ 9.92815398e-01 1.19656093e-01 6.80686767e-05 2.91592246e+02] [-1.19656092e-01 9.92815401e-01 -6.41136598e-06 -1.74774612e+01] [-6.83467895e-05 -1.77952900e-06 9.99999998e-01 -1.58992522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.170281693 meters Centerline goodness [0,1] 0.9985644316838372 Centerline is valid? [True, True] Translation: X:291.62, Y:-17.47, Z:-1.59 [[ 9.92759008e-01 1.20121722e-01 5.68698408e-04 2.91620382e+02] [-1.20121712e-01 9.92759171e-01 -5.28369347e-05 -1.74725320e+01] [-5.70927424e-04 -1.58586833e-05 9.99999837e-01 -1.58940410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20028169299997 meters Centerline goodness [0,1] 0.9988830112331134 Centerline is valid? [True, True] Translation: X:291.65, Y:-17.47, Z:-1.59 [[ 9.92957915e-01 1.18467600e-01 -8.48181559e-05 2.91650126e+02] [-1.18467600e-01 9.92957918e-01 7.78813862e-06 -1.74681289e+01] [ 8.51435016e-05 2.31490947e-06 9.99999996e-01 -1.59044286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23028169299994 meters Centerline goodness [0,1] 0.99909338168631 Centerline is valid? [True, True] Translation: X:291.68, Y:-17.47, Z:-1.59 [[ 9.93177459e-01 1.16611766e-01 -4.79686150e-04 2.91678778e+02] [-1.16611758e-01 9.93177575e-01 4.43290773e-05 -1.74710499e+01] [ 4.81582820e-04 1.19104048e-05 9.99999884e-01 -1.59111462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26028169299997 meters Centerline goodness [0,1] 0.9994320572149769 Centerline is valid? [True, True] Translation: X:291.71, Y:-17.47, Z:-1.59 [[ 9.93688400e-01 1.12171242e-01 -9.88476695e-04 2.91707791e+02] [-1.12171206e-01 9.93688891e-01 9.14412267e-05 -1.74702377e+01] [ 9.92495387e-04 2.00145372e-05 9.99999507e-01 -1.59270116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29028169299994 meters Centerline goodness [0,1] 0.9993173915825849 Centerline is valid? [True, True] Translation: X:291.74, Y:-17.48, Z:-1.59 [[ 9.93946461e-01 1.09862137e-01 -8.61748804e-04 2.91736698e+02] [-1.09862109e-01 9.93946835e-01 7.96763186e-05 -1.74754991e+01] [ 8.65285907e-04 1.54795461e-05 9.99999626e-01 -1.59201953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32028169299997 meters Centerline goodness [0,1] 0.9995561942601124 Centerline is valid? [True, True] Translation: X:291.77, Y:-17.48, Z:-1.59 [[ 9.94229304e-01 1.07274787e-01 -4.60195504e-04 2.91765206e+02] [-1.07274778e-01 9.94229410e-01 4.24683019e-05 -1.74755278e+01] [ 4.62095683e-04 7.14414052e-06 9.99999893e-01 -1.59100862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35028169299994 meters Centerline goodness [0,1] 0.9996422634203825 Centerline is valid? [True, True] Translation: X:291.79, Y:-17.48, Z:-1.59 [[ 9.94723294e-01 1.02590033e-01 9.24303896e-04 2.91794224e+02] [-1.02589998e-01 9.94723723e-01 -8.55686292e-05 -1.74792594e+01] [-9.28205501e-04 -9.70722633e-06 9.99999569e-01 -1.58954771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.380281693 meters Centerline goodness [0,1] 0.999639088805384 Centerline is valid? [True, True] Translation: X:291.82, Y:-17.48, Z:-1.59 [[ 9.94910983e-01 1.00753898e-01 8.88174035e-04 2.91822505e+02] [-1.00753865e-01 9.94911379e-01 -8.21420497e-05 -1.74831869e+01] [-8.91930586e-04 -7.76293917e-06 9.99999602e-01 -1.58905816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41028169299994 meters Centerline goodness [0,1] 0.9995980707395499 Centerline is valid? [True, True] Translation: X:291.85, Y:-17.49, Z:-1.59 [[ 9.95253656e-01 9.73147429e-02 -1.71307790e-05 2.91851274e+02] [-9.73147429e-02 9.95253657e-01 1.53324257e-06 -1.74885063e+01] [ 1.71986775e-05 1.41112083e-07 1.00000000e+00 -1.59053725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.440281693 meters Centerline goodness [0,1] 0.9994270070669128 Centerline is valid? [True, True] Translation: X:291.88, Y:-17.49, Z:-1.59 [[ 9.95387860e-01 9.59283847e-02 -8.67682649e-04 2.91880895e+02] [-9.59283513e-02 9.95388238e-01 8.00854463e-05 -1.74926363e+01] [ 8.71363571e-04 3.51928496e-06 9.99999620e-01 -1.59184209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47028169299995 meters Centerline goodness [0,1] 0.9996166379145103 Centerline is valid? [True, True] Translation: X:291.91, Y:-17.50, Z:-1.59 [[ 9.95551919e-01 9.42103728e-02 -8.84764434e-04 2.91909974e+02] [-9.42103374e-02 9.95552312e-01 8.16405690e-05 -1.74972021e+01] [ 8.88520666e-04 2.07653082e-06 9.99999605e-01 -1.59219252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.500281693 meters Centerline goodness [0,1] 0.9996194985836891 Centerline is valid? [True, True] Translation: X:291.94, Y:-17.51, Z:-1.59 [[ 9.95942544e-01 8.99903874e-02 -4.22729000e-04 2.91937545e+02] [-8.99903789e-02 9.95942634e-01 3.89410606e-05 -1.75063251e+01] [ 4.24518155e-04 -7.41516018e-07 9.99999910e-01 -1.59291820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53028169299995 meters Centerline goodness [0,1] 0.9995117394811701 Centerline is valid? [True, True] Translation: X:291.97, Y:-17.51, Z:-1.59 [[ 9.96120093e-01 8.80040173e-02 -2.31307850e-04 2.91966901e+02] [-8.80040147e-02 9.96120120e-01 2.12952666e-05 -1.75127749e+01] [ 2.32284472e-04 -8.56623553e-07 9.99999973e-01 -1.59248212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.560281693 meters Centerline goodness [0,1] 0.9995363247412903 Centerline is valid? [True, True] Translation: X:292.00, Y:-17.52, Z:-1.59 [[ 9.96427640e-01 8.44506572e-02 2.11344860e-04 2.91996641e+02] [-8.44506550e-02 9.96427662e-01 -1.95011895e-05 -1.75231707e+01] [-2.12236753e-04 1.58331233e-06 9.99999977e-01 -1.59311452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59028169299995 meters Centerline goodness [0,1] 0.9993448581934993 Centerline is valid? [True, True] Translation: X:292.03, Y:-17.53, Z:-1.59 [[ 9.96569358e-01 8.27563789e-02 9.47077049e-04 2.92026633e+02] [-8.27563332e-02 9.96569808e-01 -8.73885882e-05 -1.75311142e+01] [-9.51060356e-04 8.71216543e-06 9.99999548e-01 -1.59147322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.620281693 meters Centerline goodness [0,1] 0.9994037859591594 Centerline is valid? [True, True] Translation: X:292.06, Y:-17.54, Z:-1.59 [[ 9.96831667e-01 7.95096712e-02 2.20013759e-03 2.92056951e+02] [-7.95094168e-02 9.96834094e-01 -2.03013301e-04 -1.75449040e+01] [-2.20931368e-03 2.74384303e-05 9.99997559e-01 -1.58866205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65028169299995 meters Centerline goodness [0,1] 0.9991976690173557 Centerline is valid? [True, True] Translation: X:292.09, Y:-17.56, Z:-1.59 [[ 9.96948075e-01 7.80305458e-02 2.40221084e-03 2.92087350e+02] [-7.80302380e-02 9.96950968e-01 -2.21741427e-04 -1.75555832e+01] [-2.41218903e-03 3.36196053e-05 9.99997090e-01 -1.58861700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.680281693 meters Centerline goodness [0,1] 0.9993891650518156 Centerline is valid? [True, True] Translation: X:292.12, Y:-17.56, Z:-1.59 [[ 9.97018027e-01 7.71404235e-02 2.09975687e-03 2.92119352e+02] [-7.71401860e-02 9.97020238e-01 -1.93993542e-04 -1.75620811e+01] [-2.10846483e-03 3.14394232e-05 9.99997777e-01 -1.58917631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71028169299996 meters Centerline goodness [0,1] 0.9992951730029902 Centerline is valid? [True, True] Translation: X:292.15, Y:-17.57, Z:-1.59 [[ 9.97024202e-01 7.70607193e-02 2.09447929e-03 2.92151092e+02] [-7.70604821e-02 9.97026401e-01 -1.93846985e-04 -1.75736876e+01] [-2.10318914e-03 3.18685513e-05 9.99997788e-01 -1.58896798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.740281693 meters Centerline goodness [0,1] 0.9992937399678973 Centerline is valid? [True, True] Translation: X:292.18, Y:-17.58, Z:-1.59 [[ 9.96922028e-01 7.83789552e-02 1.79166053e-03 2.92182084e+02] [-7.83787832e-02 9.96923637e-01 -1.66111841e-04 -1.75805215e+01] [-1.79916841e-03 2.51723808e-05 9.99998381e-01 -1.58888875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77028169299996 meters Centerline goodness [0,1] 0.9993827291883953 Centerline is valid? [True, True] Translation: X:292.21, Y:-17.59, Z:-1.59 [[ 9.96537826e-01 8.31403073e-02 -2.26771642e-04 2.92212610e+02] [-8.31403045e-02 9.96537851e-01 2.14148539e-05 -1.75855974e+01] [ 2.27766963e-04 -2.48684851e-06 9.99999974e-01 -1.59224692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.800281693 meters Centerline goodness [0,1] 0.9995735062054847 Centerline is valid? [True, True] Translation: X:292.24, Y:-17.59, Z:-1.59 [[ 9.96289772e-01 8.60587233e-02 -7.65613640e-04 2.92244030e+02] [-8.60586939e-02 9.96290066e-01 7.13009845e-05 -1.75880459e+01] [ 7.68909336e-04 -5.14873172e-06 9.99999704e-01 -1.59332931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83028169299996 meters Centerline goodness [0,1] 0.9995056102489145 Centerline is valid? [True, True] Translation: X:292.28, Y:-17.59, Z:-1.59 [[ 9.95996173e-01 8.93940573e-02 -5.70049979e-04 2.92275379e+02] [-8.93940415e-02 9.95996337e-01 5.31135258e-05 -1.75897528e+01] [ 5.72515724e-04 -1.94179693e-06 9.99999836e-01 -1.59307421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.860281693 meters Centerline goodness [0,1] 0.9995380480430035 Centerline is valid? [True, True] Translation: X:292.31, Y:-17.59, Z:-1.59 [[ 9.95259996e-01 9.72493158e-02 3.31922250e-04 2.92305410e+02] [-9.72493109e-02 9.95260052e-01 -3.09185517e-05 -1.75854347e+01] [-3.33355763e-04 -1.50721241e-06 9.99999944e-01 -1.59079682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89028169299996 meters Centerline goodness [0,1] 0.9994459479617278 Centerline is valid? [True, True] Translation: X:292.34, Y:-17.58, Z:-1.59 [[ 9.94380106e-01 1.05864667e-01 9.36420723e-04 2.92336897e+02] [-1.05864631e-01 9.94380547e-01 -8.71597971e-05 -1.75778317e+01] [-9.40385694e-04 -1.24638664e-05 9.99999558e-01 -1.58981761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.920281693 meters Centerline goodness [0,1] 0.9992867781250655 Centerline is valid? [True, True] Translation: X:292.37, Y:-17.58, Z:-1.59 [[ 9.93937651e-01 1.09939814e-01 1.08765147e-03 2.92367868e+02] [-1.09939769e-01 9.93938246e-01 -1.01235993e-04 -1.75751315e+01] [-1.09218826e-03 -1.89538871e-05 9.99999403e-01 -1.58927510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95028169299997 meters Centerline goodness [0,1] 0.9989393746552968 Centerline is valid? [True, True] Translation: X:292.40, Y:-17.57, Z:-1.59 [[ 9.93568227e-01 1.13233583e-01 5.77498007e-04 2.92397923e+02] [-1.13233571e-01 9.93568395e-01 -5.37500633e-05 -1.75730044e+01] [-5.79870080e-04 -1.19878066e-05 9.99999832e-01 -1.59019990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98028169299994 meters Centerline goodness [0,1] 0.9983666716161467 Centerline is valid? [True, True] Translation: X:292.43, Y:-17.56, Z:-1.59 [[ 9.93005143e-01 1.18065547e-01 -1.14553390e-03 2.92428018e+02] [-1.18065503e-01 9.93005803e-01 1.06615648e-04 -1.75639888e+01] [ 1.15010945e-03 2.93781489e-05 9.99999338e-01 -1.59450862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01028169299997 meters Centerline goodness [0,1] 0.9988955439446073 Centerline is valid? [True, True] Translation: X:292.46, Y:-17.57, Z:-1.59 [[ 9.92819694e-01 1.19611319e-01 -1.47921386e-03 2.92456776e+02] [-1.19611247e-01 9.92820795e-01 1.37557568e-04 -1.75694733e+01] [ 1.48504773e-03 4.03607523e-05 9.99998897e-01 -1.59472150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04028169299994 meters Centerline goodness [0,1] 0.9979327075203037 Centerline is valid? [True, True] Translation: X:292.49, Y:-17.56, Z:-1.59 [[ 9.92625382e-01 1.21216458e-01 -1.19254257e-03 2.92485518e+02] [-1.21216413e-01 9.92626097e-01 1.10808102e-04 -1.75642212e+01] [ 1.19718064e-03 3.45647975e-05 9.99999283e-01 -1.59455173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07028169299997 meters Centerline goodness [0,1] 0.9987521942347144 Centerline is valid? [True, True] Translation: X:292.51, Y:-17.57, Z:-1.60 [[ 9.92684453e-01 1.20731066e-01 -1.25939790e-03 2.92513745e+02] [-1.20731015e-01 9.92685251e-01 1.16967954e-04 -1.75704907e+01] [ 1.26430739e-03 3.59361166e-05 9.99999200e-01 -1.59503195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10028169299994 meters Centerline goodness [0,1] 0.9985406708684066 Centerline is valid? [True, True] Translation: X:292.54, Y:-17.57, Z:-1.60 [[ 9.92933265e-01 1.18649316e-01 -2.42299161e-03 2.92542524e+02] [-1.18649120e-01 9.92936219e-01 2.25158238e-04 -1.75728465e+01] [ 2.43259100e-03 6.39187169e-05 9.99997039e-01 -1.59896969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.130281693 meters Centerline goodness [0,1] 0.9989028246885958 Centerline is valid? [True, True] Translation: X:292.57, Y:-17.58, Z:-1.60 [[ 9.93089880e-01 1.17338442e-01 -2.04437951e-03 2.92571842e+02] [-1.17338299e-01 9.93091983e-01 1.89952295e-04 -1.75822877e+01] [ 2.05254561e-03 5.12443136e-05 9.99997892e-01 -1.59792907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16028169299994 meters Centerline goodness [0,1] 0.9987327067272151 Centerline is valid? [True, True] Translation: X:292.60, Y:-17.58, Z:-1.60 [[ 9.93102085e-01 1.17245137e-01 -1.35148040e-03 2.92599707e+02] [-1.17245074e-01 9.93103004e-01 1.25390733e-04 -1.75797868e+01] [ 1.35686070e-03 3.39286215e-05 9.99999079e-01 -1.59625984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.190281693 meters Centerline goodness [0,1] 0.9989178178114456 Centerline is valid? [True, True] Translation: X:292.63, Y:-17.59, Z:-1.59 [[ 9.92995164e-01 1.18142992e-01 -1.68454280e-03 2.92628863e+02] [-1.18142897e-01 9.92996592e-01 1.56353008e-04 -1.75874046e+01] [ 1.69121727e-03 4.37589856e-05 9.99998569e-01 -1.59481898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22028169299995 meters Centerline goodness [0,1] 0.9987175713745112 Centerline is valid? [True, True] Translation: X:292.66, Y:-17.58, Z:-1.60 [[ 9.92875516e-01 1.19125408e-01 -2.71051047e-03 2.92658019e+02] [-1.19125165e-01 9.92879213e-01 2.51514655e-04 -1.75817520e+01] [ 2.72117129e-03 7.31672651e-05 9.99996295e-01 -1.59700908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.250281693 meters Centerline goodness [0,1] 0.9989606753489161 Centerline is valid? [True, True] Translation: X:292.69, Y:-17.59, Z:-1.60 [[ 9.92888914e-01 1.19013955e-01 -2.69867973e-03 2.92687005e+02] [-1.19013714e-01 9.92892579e-01 2.50253565e-04 -1.75865253e+01] [ 2.70928275e-03 7.27059088e-05 9.99996327e-01 -1.59636728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28028169299995 meters Centerline goodness [0,1] 0.9989301151196132 Centerline is valid? [True, True] Translation: X:292.72, Y:-17.59, Z:-1.59 [[ 9.92978810e-01 1.18282499e-01 -1.52748448e-03 2.92716171e+02] [-1.18282422e-01 9.92979984e-01 1.41530485e-04 -1.75883951e+01] [ 1.53350209e-03 4.01377907e-05 9.99998823e-01 -1.59424011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.310281693 meters Centerline goodness [0,1] 0.9988188299974229 Centerline is valid? [True, True] Translation: X:292.75, Y:-17.59, Z:-1.59 [[ 9.93095563e-01 1.17295802e-01 -1.70234588e-03 2.92745068e+02] [-1.17295704e-01 9.93097021e-01 1.57763749e-04 -1.75910422e+01] [ 1.70909964e-03 4.30033780e-05 9.99998539e-01 -1.59475898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34028169299995 meters Centerline goodness [0,1] 0.9988781406769257 Centerline is valid? [True, True] Translation: X:292.77, Y:-17.59, Z:-1.60 [[ 9.93395809e-01 1.14683040e-01 -3.54500211e-03 2.92773612e+02] [-1.14682598e-01 9.93402131e-01 3.28425680e-04 -1.75940293e+01] [ 3.55927751e-03 8.02933578e-05 9.99993663e-01 -1.59955975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.370281693 meters Centerline goodness [0,1] 0.9990857288654533 Centerline is valid? [True, True] Translation: X:292.80, Y:-17.60, Z:-1.60 [[ 9.93662143e-01 1.12335286e-01 -4.04083366e-03 2.92802852e+02] [-1.12334692e-01 9.93670356e-01 3.74298403e-04 -1.76029423e+01] [ 4.05730354e-03 8.19996517e-05 9.99991766e-01 -1.60031074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40028169299995 meters Centerline goodness [0,1] 0.9994014792014022 Centerline is valid? [True, True] Translation: X:292.83, Y:-17.61, Z:-1.60 [[ 9.93967021e-01 1.09616854e-01 -3.70211018e-03 2.92831646e+02] [-1.09616338e-01 9.93973914e-01 3.42827750e-04 -1.76097609e+01] [ 3.71738065e-03 6.50522821e-05 9.99993088e-01 -1.59924960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.430281693 meters Centerline goodness [0,1] 0.999511397191596 Centerline is valid? [True, True] Translation: X:292.86, Y:-17.62, Z:-1.60 [[ 9.94407990e-01 1.05573939e-01 -2.62543450e-03 2.92860638e+02] [-1.05573665e-01 9.94411455e-01 2.43103038e-04 -1.76169937e+01] [ 2.63642749e-03 3.54331391e-05 9.99996524e-01 -1.59630132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46028169299996 meters Centerline goodness [0,1] 0.9995305364687807 Centerline is valid? [True, True] Translation: X:292.89, Y:-17.62, Z:-1.60 [[ 9.94565721e-01 1.04081651e-01 -2.45712773e-03 2.92889993e+02] [-1.04081407e-01 9.94568755e-01 2.27432080e-04 -1.76233672e+01] [ 2.46745397e-03 2.95451602e-05 9.99996955e-01 -1.59544024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.490281693 meters Centerline goodness [0,1] 0.9995563442768411 Centerline is valid? [True, True] Translation: X:292.92, Y:-17.63, Z:-1.60 [[ 9.94798728e-01 1.01812309e-01 -3.12165881e-03 2.92918894e+02] [-1.01811904e-01 9.94803625e-01 2.88942629e-04 -1.76290223e+01] [ 3.13485542e-03 3.03822674e-05 9.99995086e-01 -1.59813139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52028169299996 meters Centerline goodness [0,1] 0.9996775580395528 Centerline is valid? [True, True] Translation: X:292.95, Y:-17.63, Z:-1.60 [[ 9.94830900e-01 1.01491487e-01 -3.31043622e-03 2.92948509e+02] [-1.01491030e-01 9.94836407e-01 3.06314052e-04 -1.76329672e+01] [ 3.32443074e-03 3.12488967e-05 9.99994474e-01 -1.59910352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.550281693 meters Centerline goodness [0,1] 0.9996582656984194 Centerline is valid? [True, True] Translation: X:292.98, Y:-17.64, Z:-1.60 [[ 9.94831531e-01 1.01469749e-01 -3.75690815e-03 2.92977861e+02] [-1.01469160e-01 9.94838625e-01 3.47542838e-04 -1.76387630e+01] [ 3.77278242e-03 3.54637389e-05 9.99992882e-01 -1.60014252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58028169299996 meters Centerline goodness [0,1] 0.9996334943083822 Centerline is valid? [True, True] Translation: X:293.01, Y:-17.64, Z:-1.60 [[ 9.94862122e-01 1.01166405e-01 -3.83614808e-03 2.93007154e+02] [-1.01165789e-01 9.94869518e-01 3.54783446e-04 -1.76424957e+01] [ 3.85235895e-03 3.51263349e-05 9.99992579e-01 -1.59942380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.610281693 meters Centerline goodness [0,1] 0.9996993708260861 Centerline is valid? [True, True] Translation: X:293.04, Y:-17.65, Z:-1.60 [[ 9.94846713e-01 1.01328730e-01 -3.53631661e-03 2.93037147e+02] [-1.01328208e-01 9.94852998e-01 3.26966174e-04 -1.76451066e+01] [ 3.55124625e-03 3.30474009e-05 9.99993694e-01 -1.59810708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64028169299996 meters Centerline goodness [0,1] 0.999659342531085 Centerline is valid? [True, True] Translation: X:293.07, Y:-17.65, Z:-1.60 [[ 9.94754513e-01 1.02274069e-01 -1.86384703e-03 2.93066403e+02] [-1.02273926e-01 9.94756259e-01 1.72310063e-04 -1.76480062e+01] [ 1.87169635e-03 1.92167404e-05 9.99998248e-01 -1.59573332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.670281693 meters Centerline goodness [0,1] 0.999595753281845 Centerline is valid? [True, True] Translation: X:293.10, Y:-17.65, Z:-1.59 [[ 9.94678814e-01 1.03022590e-01 -6.34811025e-04 2.93096423e+02] [-1.03022574e-01 9.94679016e-01 5.86957832e-05 -1.76519932e+01] [ 6.37480197e-04 7.01641371e-06 9.99999797e-01 -1.59320490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70028169299997 meters Centerline goodness [0,1] 0.999570179020438 Centerline is valid? [True, True] Translation: X:293.13, Y:-17.65, Z:-1.59 [[ 9.94381744e-01 1.05849651e-01 8.93725186e-04 2.93127190e+02] [-1.05849620e-01 9.94382145e-01 -8.26354580e-05 -1.76510259e+01] [-8.97451302e-04 -1.24292804e-05 9.99999597e-01 -1.58940829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73028169299994 meters Centerline goodness [0,1] 0.9994287286037704 Centerline is valid? [True, True] Translation: X:293.16, Y:-17.65, Z:-1.59 [[ 9.94186228e-01 1.07667539e-01 1.20244288e-03 2.93156728e+02] [-1.07667483e-01 9.94186955e-01 -1.11190632e-04 -1.76487630e+01] [-1.20742465e-03 -1.89198038e-05 9.99999271e-01 -1.58884346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76028169299997 meters Centerline goodness [0,1] 0.9995939737151405 Centerline is valid? [True, True] Translation: X:293.19, Y:-17.65, Z:-1.59 [[ 9.94046538e-01 1.08946553e-01 1.45940614e-03 2.93187150e+02] [-1.08946472e-01 9.94047609e-01 -1.34922076e-04 -1.76488854e+01] [-1.46541848e-03 -2.48783268e-05 9.99998926e-01 -1.58771444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79028169299994 meters Centerline goodness [0,1] 0.9995939737151405 Centerline is valid? [True, True] Translation: X:293.22, Y:-17.65, Z:-1.59 [[ 9.94046538e-01 1.08946553e-01 1.45940614e-03 2.93217026e+02] [-1.08946472e-01 9.94047609e-01 -1.34922076e-04 -1.76516475e+01] [-1.46541848e-03 -2.48783269e-05 9.99998926e-01 -1.58777759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82028169299997 meters Centerline goodness [0,1] 0.9993807256187405 Centerline is valid? [True, True] Translation: X:293.25, Y:-17.65, Z:-1.59 [[ 9.93780622e-01 1.11328014e-01 2.47943513e-03 2.93247430e+02] [-1.11327789e-01 9.93783714e-01 -2.29219171e-04 -1.76491425e+01] [-2.48954077e-03 -4.82364599e-05 9.99996900e-01 -1.58579948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85028169299994 meters Centerline goodness [0,1] 0.9991525962332902 Centerline is valid? [True, True] Translation: X:293.28, Y:-17.65, Z:-1.59 [[ 9.93632714e-01 1.12646977e-01 2.16529818e-03 2.93277249e+02] [-1.12646809e-01 9.93635072e-01 -2.00156330e-04 -1.76459941e+01] [-2.17406322e-03 -4.50320518e-05 9.99997636e-01 -1.58625746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.880281693 meters Centerline goodness [0,1] 0.9993220051697106 Centerline is valid? [True, True] Translation: X:293.31, Y:-17.64, Z:-1.59 [[ 9.93328158e-01 1.15321999e-01 8.53627227e-05 2.93307680e+02] [-1.15321999e-01 9.93328162e-01 -7.93931074e-06 -1.76422871e+01] [-8.57087736e-05 -1.95785892e-06 9.99999996e-01 -1.58970973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91028169299994 meters Centerline goodness [0,1] 0.9993151271295266 Centerline is valid? [True, True] Translation: X:293.34, Y:-17.64, Z:-1.59 [[ 9.93171536e-01 1.16659877e-01 -8.78846504e-04 2.93337247e+02] [-1.16659851e-01 9.93171925e-01 8.11164785e-05 -1.76382087e+01] [ 8.82308712e-04 2.19635247e-05 9.99999611e-01 -1.59132462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.940281693 meters Centerline goodness [0,1] 0.9989584883201904 Centerline is valid? [True, True] Translation: X:293.37, Y:-17.63, Z:-1.59 [[ 9.93067135e-01 1.17540936e-01 -1.33932225e-03 2.93365830e+02] [-1.17540876e-01 9.93068038e-01 1.23530352e-04 -1.76324919e+01] [ 1.34455799e-03 3.47511782e-05 9.99999095e-01 -1.59137914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97028169299995 meters Centerline goodness [0,1] 0.9990612532269421 Centerline is valid? [True, True] Translation: X:293.39, Y:-17.63, Z:-1.59 [[ 9.93026225e-01 1.17893263e-01 3.09645235e-04 2.93394386e+02] [-1.17893260e-01 9.93026273e-01 -2.86716513e-05 -1.76320110e+01] [-3.10866048e-04 -8.03338445e-06 9.99999952e-01 -1.58637692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.000281693 meters Centerline goodness [0,1] 0.9990689604096574 Centerline is valid? [True, True] Translation: X:293.42, Y:-17.63, Z:-1.59 [[ 9.93194137e-01 1.16456294e-01 1.82700841e-03 2.93422884e+02] [-1.16456181e-01 9.93195816e-01 -1.68608787e-04 -1.76266462e+01] [-1.83421266e-03 -4.53051634e-05 9.99998317e-01 -1.58602499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03028169299995 meters Centerline goodness [0,1] 0.9994088461944474 Centerline is valid? [True, True] Translation: X:293.45, Y:-17.63, Z:-1.59 [[ 9.93336283e-01 1.15244384e-01 1.32692935e-03 2.93451157e+02] [-1.15244323e-01 9.93337169e-01 -1.22405610e-04 -1.76313162e+01] [-1.33219480e-03 -3.13311407e-05 9.99999112e-01 -1.58665830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.060281693 meters Centerline goodness [0,1] 0.9993430672402467 Centerline is valid? [True, True] Translation: X:293.48, Y:-17.63, Z:-1.59 [[ 9.93507145e-01 1.13767743e-01 6.73580214e-04 2.93479124e+02] [-1.13767727e-01 9.93507373e-01 -6.21691850e-05 -1.76302538e+01] [-6.76279757e-04 -1.48661603e-05 9.99999771e-01 -1.58805141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09028169299995 meters Centerline goodness [0,1] 0.9991389810575833 Centerline is valid? [True, True] Translation: X:293.51, Y:-17.63, Z:-1.59 [[ 9.93666608e-01 1.12368449e-01 6.66077523e-05 2.93506867e+02] [-1.12368449e-01 9.93666610e-01 -6.24856942e-06 -1.76322046e+01] [-6.68880415e-05 -1.27561504e-06 9.99999998e-01 -1.58844537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.120281693 meters Centerline goodness [0,1] 0.9995973211258053 Centerline is valid? [True, True] Translation: X:293.54, Y:-17.64, Z:-1.59 [[ 9.94013856e-01 1.09253319e-01 -4.07202312e-04 2.93535623e+02] [-1.09253313e-01 9.94013940e-01 3.73699413e-05 -1.76355768e+01] [ 4.08847564e-04 7.34196225e-06 9.99999916e-01 -1.58833516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15028169299995 meters Centerline goodness [0,1] 0.9996813053731914 Centerline is valid? [True, True] Translation: X:293.56, Y:-17.64, Z:-1.59 [[ 9.94328400e-01 1.06343263e-01 -1.46397866e-03 2.93564407e+02] [-1.06343180e-01 9.94329478e-01 1.34578713e-04 -1.76365095e+01] [ 1.46998867e-03 2.18687098e-05 9.99998919e-01 -1.59035695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.180281693 meters Centerline goodness [0,1] 0.9997000599880024 Centerline is valid? [True, True] Translation: X:293.59, Y:-17.64, Z:-1.59 [[ 9.94464529e-01 1.05041770e-01 -2.55491738e-03 2.93593468e+02] [-1.05041514e-01 9.94467810e-01 2.34773551e-04 -1.76391406e+01] [ 2.56544412e-03 3.48984207e-05 9.99996709e-01 -1.59263707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21028169299996 meters Centerline goodness [0,1] 0.9995350115190328 Centerline is valid? [True, True] Translation: X:293.62, Y:-17.64, Z:-1.60 [[ 9.94595618e-01 1.03758076e-01 -3.71736105e-03 2.93621425e+02] [-1.03757525e-01 9.94602564e-01 3.41392480e-04 -1.76409041e+01] [ 3.73271906e-03 4.61567173e-05 9.99993032e-01 -1.59565411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.240281693 meters Centerline goodness [0,1] 0.9995523724261415 Centerline is valid? [True, True] Translation: X:293.65, Y:-17.64, Z:-1.60 [[ 9.94907260e-01 1.00737018e-01 -3.40531797e-03 2.93650173e+02] [-1.00736539e-01 9.94913088e-01 3.12591758e-04 -1.76449317e+01] [ 3.41948498e-03 3.20401355e-05 9.99994153e-01 -1.59580828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27028169299996 meters Centerline goodness [0,1] 0.9997203338783237 Centerline is valid? [True, True] Translation: X:293.68, Y:-17.65, Z:-1.59 [[ 9.95006957e-01 9.97723456e-02 -2.57594671e-03 2.93678563e+02] [-9.97720681e-02 9.95010291e-01 2.36313248e-04 -1.76469430e+01] [ 2.58667101e-03 2.18742057e-05 9.99996654e-01 -1.59308550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.300281693 meters Centerline goodness [0,1] 0.9996378509650207 Centerline is valid? [True, True] Translation: X:293.71, Y:-17.65, Z:-1.59 [[ 9.94925472e-01 1.00599532e-01 -1.74339435e-03 2.93707149e+02] [-1.00599406e-01 9.94926999e-01 1.59774293e-04 -1.76453826e+01] [ 1.75062333e-03 1.64209222e-05 9.99998468e-01 -1.59123365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33028169299996 meters Centerline goodness [0,1] 0.9996382439937863 Centerline is valid? [True, True] Translation: X:293.73, Y:-17.64, Z:-1.59 [[ 9.94855209e-01 1.01298282e-01 -1.33079513e-03 2.93734655e+02] [-1.01298210e-01 9.94856099e-01 1.21813235e-04 -1.76446525e+01] [ 1.33628912e-03 1.36206326e-05 9.99999107e-01 -1.59055614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.360281693 meters Centerline goodness [0,1] 0.9997657231699785 Centerline is valid? [True, True] Translation: X:293.76, Y:-17.64, Z:-1.59 [[ 9.94742335e-01 1.02408108e-01 -5.15865341e-04 2.93763795e+02] [-1.02408097e-01 9.94742469e-01 4.71521947e-05 -1.76409820e+01] [ 5.17981930e-04 5.92450380e-06 9.99999866e-01 -1.58834145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39028169299996 meters Centerline goodness [0,1] 0.9997452337480361 Centerline is valid? [True, True] Translation: X:293.79, Y:-17.64, Z:-1.59 [[ 9.94689052e-01 1.02923508e-01 -6.63707374e-04 2.93792691e+02] [-1.02923490e-01 9.94689274e-01 6.06627405e-05 -1.76404286e+01] [ 6.66426228e-04 7.97051561e-06 9.99999778e-01 -1.58893435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.420281693 meters Centerline goodness [0,1] 0.9997468514650971 Centerline is valid? [True, True] Translation: X:293.82, Y:-17.64, Z:-1.59 [[ 9.94692477e-01 1.02888171e-01 -9.49358600e-04 2.93821115e+02] [-1.02888136e-01 9.94692930e-01 8.67702210e-05 -1.76402756e+01] [ 9.53247916e-04 1.13680502e-05 9.99999546e-01 -1.58970205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45028169299997 meters Centerline goodness [0,1] 0.9997252805308425 Centerline is valid? [True, True] Translation: X:293.85, Y:-17.65, Z:-1.59 [[ 9.94953141e-01 1.00339013e-01 -5.73704693e-04 2.93849498e+02] [-1.00338999e-01 9.94953307e-01 5.23726796e-05 -1.76462634e+01] [ 5.76064404e-04 5.45659271e-06 9.99999834e-01 -1.58946372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48028169299994 meters Centerline goodness [0,1] 0.9997242023082146 Centerline is valid? [True, True] Translation: X:293.88, Y:-17.66, Z:-1.59 [[ 9.95417356e-01 9.56229270e-02 -7.37504856e-04 2.93877237e+02] [-9.56229034e-02 9.95417629e-01 6.73132495e-05 -1.76559346e+01] [ 7.40562025e-04 3.51757871e-06 9.99999726e-01 -1.58946360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51028169299997 meters Centerline goodness [0,1] 0.9998292386176866 Centerline is valid? [True, True] Translation: X:293.90, Y:-17.66, Z:-1.59 [[ 9.95630391e-01 9.33785030e-02 -7.61937122e-04 2.93904459e+02] [-9.33784772e-02 9.95630682e-01 6.94764332e-05 -1.76610812e+01] [ 7.65095582e-04 1.97567986e-06 9.99999707e-01 -1.58997064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54028169299994 meters Centerline goodness [0,1] 0.9998300078621364 Centerline is valid? [True, True] Translation: X:293.93, Y:-17.67, Z:-1.59 [[ 9.95761291e-01 9.19705894e-02 -9.28323239e-04 2.93931671e+02] [-9.19705505e-02 9.95761724e-01 8.46230881e-05 -1.76654264e+01] [ 9.32171584e-04 1.11400387e-06 9.99999566e-01 -1.59055147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57028169299997 meters Centerline goodness [0,1] 0.9998487598306111 Centerline is valid? [True, True] Translation: X:293.96, Y:-17.67, Z:-1.59 [[ 9.95888504e-01 9.05825284e-02 -9.45075391e-04 2.93959701e+02] [-9.05824874e-02 9.95888952e-01 8.61380519e-05 -1.76700900e+01] [ 9.48992743e-04 -1.76615980e-07 9.99999550e-01 -1.58979868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60028169299994 meters Centerline goodness [0,1] 0.999808888794513 Centerline is valid? [True, True] Translation: X:293.99, Y:-17.67, Z:-1.59 [[ 9.95906133e-01 9.03860590e-02 -1.15536657e-03 2.93988041e+02] [-9.03859977e-02 9.95906803e-01 1.05272785e-04 -1.76723068e+01] [ 1.16015262e-03 -4.12851838e-07 9.99999327e-01 -1.59000639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.630281693 meters Centerline goodness [0,1] 0.9998507080702952 Centerline is valid? [True, True] Translation: X:294.02, Y:-17.67, Z:-1.59 [[ 9.95968521e-01 8.96746734e-02 -2.27109464e-03 2.94016373e+02] [-8.96744347e-02 9.95971110e-01 2.06916256e-04 -1.76745677e+01] [ 2.28049979e-03 -2.42294945e-06 9.99997400e-01 -1.59212024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66028169299994 meters Centerline goodness [0,1] 0.9998090550345823 Centerline is valid? [True, True] Translation: X:294.04, Y:-17.68, Z:-1.60 [[ 9.96004939e-01 8.92283800e-02 -3.52961898e-03 2.94044794e+02] [-8.92278011e-02 9.96011193e-01 3.21468061e-04 -1.76784542e+01] [ 3.54422409e-03 -5.24363585e-06 9.99993719e-01 -1.59516261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.690281693 meters Centerline goodness [0,1] 0.9997670675927495 Centerline is valid? [True, True] Translation: X:294.07, Y:-17.68, Z:-1.60 [[ 9.96026157e-01 8.89905430e-02 -3.54662921e-03 2.94072541e+02] [-8.89899579e-02 9.96032471e-01 3.22741502e-04 -1.76839580e+01] [ 3.56127880e-03 -5.84459314e-06 9.99993659e-01 -1.59622022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72028169299995 meters Centerline goodness [0,1] 0.9998301305871111 Centerline is valid? [True, True] Translation: X:294.10, Y:-17.69, Z:-1.59 [[ 9.95994531e-01 8.93876626e-02 -2.17700661e-03 2.94101838e+02] [-8.93874436e-02 9.95996911e-01 1.97866018e-04 -1.76858430e+01] [ 2.18597863e-03 -2.47641708e-06 9.99997611e-01 -1.59282846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.750281693 meters Centerline goodness [0,1] 0.9998286937901499 Centerline is valid? [True, True] Translation: X:294.13, Y:-17.69, Z:-1.59 [[ 9.95950827e-01 8.98926382e-02 -1.12427489e-03 2.94130685e+02] [-8.98925802e-02 9.95951461e-01 1.02114587e-04 -1.76868052e+01] [ 1.12890257e-03 -6.37135977e-07 9.99999363e-01 -1.59011593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78028169299995 meters Centerline goodness [0,1] 0.9998316214850985 Centerline is valid? [True, True] Translation: X:294.16, Y:-17.69, Z:-1.59 [[ 9.95842807e-01 9.10882036e-02 -2.09486322e-04 2.94159135e+02] [-9.10882017e-02 9.95842829e-01 1.89071601e-05 -1.76863826e+01] [ 2.10337671e-04 2.53172966e-07 9.99999978e-01 -1.58944823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.810281693 meters Centerline goodness [0,1] 0.9998734631039501 Centerline is valid? [True, True] Translation: X:294.19, Y:-17.69, Z:-1.59 [[ 9.95799202e-01 9.15636232e-02 -2.28121127e-04 2.94187522e+02] [-9.15636208e-02 9.95799228e-01 2.06174239e-05 -1.76879728e+01] [ 2.29050648e-04 3.56782114e-07 9.99999974e-01 -1.58975355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84028169299995 meters Centerline goodness [0,1] 0.9999149659863945 Centerline is valid? [True, True] Translation: X:294.22, Y:-17.69, Z:-1.59 [[ 9.95727429e-01 9.23405661e-02 3.27543255e-04 2.94216802e+02] [-9.23405613e-02 9.95727483e-01 -2.98271313e-05 -1.76897054e+01] [-3.28898075e-04 -5.45835302e-07 9.99999946e-01 -1.58903863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.870281693 meters Centerline goodness [0,1] 0.9999573569859918 Centerline is valid? [True, True] Translation: X:294.25, Y:-17.69, Z:-1.59 [[ 9.95679032e-01 9.28610475e-02 3.01098952e-04 2.94245115e+02] [-9.28610435e-02 9.95679078e-01 -2.74129134e-05 -1.76923717e+01] [-3.02343518e-04 -6.65899777e-07 9.99999954e-01 -1.58877198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90028169299995 meters Centerline goodness [0,1] 0.9998942649297919 Centerline is valid? [True, True] Translation: X:294.27, Y:-17.69, Z:-1.59 [[ 9.95600177e-01 9.37031431e-02 9.72728262e-05 2.94273229e+02] [-9.37031426e-02 9.95600181e-01 -8.94128835e-06 -1.76949761e+01] [-9.76826702e-05 -2.12821240e-07 9.99999995e-01 -1.58979641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.930281693 meters Centerline goodness [0,1] 0.9998301053346925 Centerline is valid? [True, True] Translation: X:294.30, Y:-17.70, Z:-1.59 [[ 9.95387204e-01 9.59241187e-02 -1.69606751e-03 2.94301038e+02] [-9.59239963e-02 9.95388649e-01 1.53539201e-04 -1.76964896e+01] [ 1.70297447e-03 9.86261831e-06 9.99998550e-01 -1.59202473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96028169299996 meters Centerline goodness [0,1] 0.9998088035350102 Centerline is valid? [True, True] Translation: X:294.33, Y:-17.70, Z:-1.59 [[ 9.95312897e-01 9.66715559e-02 -2.61686753e-03 2.94329953e+02] [-9.66712672e-02 9.95316337e-01 2.36862311e-04 -1.76977575e+01] [ 2.62750885e-03 1.72237872e-05 9.99996548e-01 -1.59280100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.990281693 meters Centerline goodness [0,1] 0.9998505837904758 Centerline is valid? [True, True] Translation: X:294.36, Y:-17.70, Z:-1.60 [[ 9.95336369e-01 9.64118754e-02 -3.20347335e-03 2.94357609e+02] [-9.64114422e-02 9.95341524e-01 2.89771012e-04 -1.77005301e+01] [ 3.21648741e-03 2.04318587e-05 9.99994827e-01 -1.59567310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02028169299996 meters Centerline goodness [0,1] 0.9998274337237645 Centerline is valid? [True, True] Translation: X:294.39, Y:-17.71, Z:-1.60 [[ 9.95420984e-01 9.55473555e-02 -2.78714151e-03 2.94386433e+02] [-9.55470244e-02 9.95424885e-01 2.51992023e-04 -1.77056794e+01] [ 2.79846719e-03 1.54649306e-05 9.99996084e-01 -1.59581545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.050281693 meters Centerline goodness [0,1] 0.9997858626523052 Centerline is valid? [True, True] Translation: X:294.41, Y:-17.71, Z:-1.59 [[ 9.95452039e-01 9.52364460e-02 -2.29288319e-03 2.94414579e+02] [-9.52362214e-02 9.95454680e-01 2.07182583e-04 -1.77104438e+01] [ 2.30219264e-03 1.21252067e-05 9.99997350e-01 -1.59495372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08028169299996 meters Centerline goodness [0,1] 0.9998072846405859 Centerline is valid? [True, True] Translation: X:294.44, Y:-17.71, Z:-1.59 [[ 9.95437522e-01 9.54098976e-02 -1.04444814e-03 2.94443682e+02] [-9.54098511e-02 9.95438070e-01 9.43117475e-05 -1.77143673e+01] [ 1.04868171e-03 5.76918904e-06 9.99999450e-01 -1.59226429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.110281693 meters Centerline goodness [0,1] 0.999871619308456 Centerline is valid? [True, True] Translation: X:294.47, Y:-17.72, Z:-1.59 [[ 9.95455034e-01 9.52319672e-02 -3.84767270e-04 2.94472857e+02] [-9.52319609e-02 9.95455108e-01 3.46850748e-05 -1.77173733e+01] [ 3.86321673e-04 2.11470932e-06 9.99999925e-01 -1.59041088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14028169299996 meters Centerline goodness [0,1] 0.9998711644585686 Centerline is valid? [True, True] Translation: X:294.50, Y:-17.72, Z:-1.59 [[ 9.95545356e-01 9.42797888e-02 8.74881751e-04 2.94499886e+02] [-9.42797557e-02 9.95545740e-01 -7.90997582e-05 -1.77227585e+01] [-8.78442309e-04 -3.73624082e-06 9.99999614e-01 -1.58781304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.170281693 meters Centerline goodness [0,1] 0.9998515565357536 Centerline is valid? [True, True] Translation: X:294.53, Y:-17.73, Z:-1.59 [[ 9.95623136e-01 9.34584364e-02 3.03559816e-04 2.94529063e+02] [-9.34584323e-02 9.95623182e-01 -2.74444489e-05 -1.77269720e+01] [-3.04796106e-04 -1.04589628e-06 9.99999954e-01 -1.58909665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20028169299997 meters Centerline goodness [0,1] 0.9999135957143475 Centerline is valid? [True, True] Translation: X:294.56, Y:-17.73, Z:-1.59 [[ 9.95756822e-01 9.20199288e-02 -8.26695580e-04 2.94558351e+02] [-9.20198986e-02 9.95757166e-01 7.45404744e-05 -1.77329527e+01] [ 8.30047256e-04 1.84825756e-06 9.99999656e-01 -1.59176292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23028169299994 meters Centerline goodness [0,1] 0.9999363813724659 Centerline is valid? [True, True] Translation: X:294.59, Y:-17.74, Z:-1.59 [[ 9.95792866e-01 9.16244990e-02 -1.23268765e-03 2.94586863e+02] [-9.16244317e-02 9.95793629e-01 1.11102842e-04 -1.77367359e+01] [ 1.23768225e-03 2.30888772e-06 9.99999234e-01 -1.59325880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26028169299997 meters Centerline goodness [0,1] 0.9999153600372416 Centerline is valid? [True, True] Translation: X:294.62, Y:-17.74, Z:-1.59 [[ 9.95819462e-01 9.13365983e-02 -1.10686819e-03 2.94616474e+02] [-9.13365438e-02 9.95820077e-01 9.97590234e-05 -1.77432613e+01] [ 1.11135322e-03 1.75553833e-06 9.99999382e-01 -1.59215715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29028169299994 meters Centerline goodness [0,1] 0.9999147194269146 Centerline is valid? [True, True] Translation: X:294.64, Y:-17.75, Z:-1.59 [[ 9.95801602e-01 9.15349955e-02 -7.17252047e-04 2.94644554e+02] [-9.15349728e-02 9.95801860e-01 6.45800298e-05 -1.77459482e+01] [ 7.20152256e-04 1.34474951e-06 9.99999741e-01 -1.59165949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32028169299997 meters Centerline goodness [0,1] 0.9998307952622674 Centerline is valid? [True, True] Translation: X:294.67, Y:-17.75, Z:-1.59 [[ 9.95763815e-01 9.19478797e-02 -1.11947705e-04 2.94674418e+02] [-9.19478791e-02 9.95763821e-01 1.00420729e-05 -1.77478130e+01] [ 1.12396822e-04 2.93821227e-07 9.99999994e-01 -1.59107901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35028169299994 meters Centerline goodness [0,1] 0.999873166194563 Centerline is valid? [True, True] Translation: X:294.70, Y:-17.75, Z:-1.59 [[ 9.95569544e-01 9.40172136e-02 1.43045222e-03 2.94702947e+02] [-9.40171254e-02 9.95570572e-01 -1.28940736e-04 -1.77455253e+01] [-1.43623879e-03 -6.11753572e-06 9.99998969e-01 -1.58823135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.380281693 meters Centerline goodness [0,1] 0.999850663480821 Centerline is valid? [True, True] Translation: X:294.73, Y:-17.75, Z:-1.59 [[ 9.95396236e-01 9.58329139e-02 1.54467944e-03 2.94732330e+02] [-9.58328133e-02 9.95397434e-01 -1.39139000e-04 -1.77455119e+01] [-1.55090405e-03 -9.53253902e-06 9.99998797e-01 -1.58832244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41028169299994 meters Centerline goodness [0,1] 0.9997254893679921 Centerline is valid? [True, True] Translation: X:294.76, Y:-17.74, Z:-1.59 [[ 9.95031879e-01 9.95457137e-02 1.48709157e-03 2.94761217e+02] [-9.95456248e-02 9.95032990e-01 -1.33876183e-04 -1.77408712e+01] [-1.49303197e-03 -1.48223895e-05 9.99998885e-01 -1.58893423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.440281693 meters Centerline goodness [0,1] 0.9998307272381033 Centerline is valid? [True, True] Translation: X:294.79, Y:-17.74, Z:-1.59 [[ 9.95007808e-01 9.97677094e-02 2.42204074e-03 2.94789611e+02] [-9.97674745e-02 9.95010755e-01 -2.17921992e-04 -1.77422770e+01] [-2.43169816e-03 -2.48068034e-05 9.99997043e-01 -1.58749904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47028169299995 meters Centerline goodness [0,1] 0.9998098819155453 Centerline is valid? [True, True] Translation: X:294.82, Y:-17.75, Z:-1.59 [[ 9.95323948e-01 9.65352523e-02 3.34420094e-03 2.94817332e+02] [-9.65347868e-02 9.95329566e-01 -3.00713704e-04 -1.77509410e+01] [-3.35761155e-03 -2.35241740e-05 9.99994363e-01 -1.58631175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.500281693 meters Centerline goodness [0,1] 0.9998713771222775 Centerline is valid? [True, True] Translation: X:294.85, Y:-17.76, Z:-1.59 [[ 9.95634631e-01 9.32814999e-02 3.20047913e-03 2.94846702e+02] [-9.32810570e-02 9.95639775e-01 -2.87707372e-04 -1.77608275e+01] [-3.21336209e-03 -1.20926527e-05 9.99994837e-01 -1.58695322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53028169299995 meters Centerline goodness [0,1] 0.9996141148222785 Centerline is valid? [True, True] Translation: X:294.88, Y:-17.78, Z:-1.59 [[ 9.96407103e-01 8.46758607e-02 1.69809293e-03 2.94875240e+02] [-8.46757236e-02 9.96408550e-01 -1.52632807e-04 -1.77788713e+01] [-1.70491863e-03 8.29716572e-06 9.99998547e-01 -1.59049258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.560281693 meters Centerline goodness [0,1] 0.9994237049369277 Centerline is valid? [True, True] Translation: X:294.91, Y:-17.79, Z:-1.59 [[ 9.96728000e-01 8.08230761e-02 9.61848339e-04 2.94905503e+02] [-8.08230303e-02 9.96728464e-01 -8.64433849e-05 -1.77890739e+01] [-9.65688237e-04 8.42104472e-06 9.99999534e-01 -1.59184416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59028169299995 meters Centerline goodness [0,1] 0.9993156544054748 Centerline is valid? [True, True] Translation: X:294.93, Y:-17.80, Z:-1.59 [[ 9.97081959e-01 7.63042971e-02 2.28517375e-03 2.94934797e+02] [-7.63040265e-02 9.97084577e-01 -2.05491027e-04 -1.78046722e+01] [-2.29419135e-03 3.05234368e-05 9.99997368e-01 -1.58898417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.620281693 meters Centerline goodness [0,1] 0.9993522616862788 Centerline is valid? [True, True] Translation: X:294.97, Y:-17.81, Z:-1.59 [[ 9.97138641e-01 7.55328239e-02 3.05330925e-03 2.94965787e+02] [-7.55323369e-02 9.97143315e-01 -2.74649812e-04 -1.78114901e+01] [-3.06533199e-03 4.32403571e-05 9.99995301e-01 -1.58711220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65028169299995 meters Centerline goodness [0,1] 0.9992759641389297 Centerline is valid? [True, True] Translation: X:295.00, Y:-17.82, Z:-1.59 [[ 9.97110879e-01 7.59021127e-02 2.96046318e-03 2.94996479e+02] [-7.59016561e-02 9.97115273e-01 -2.66422091e-04 -1.78158365e+01] [-2.97214505e-03 4.09483074e-05 9.99995582e-01 -1.58698763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.680281693 meters Centerline goodness [0,1] 0.9992759641389297 Centerline is valid? [True, True] Translation: X:295.03, Y:-17.82, Z:-1.59 [[ 9.97099036e-01 7.60575360e-02 2.96043414e-03 2.95028015e+02] [-7.60570792e-02 9.97103430e-01 -2.66744432e-04 -1.78188359e+01] [-2.97214696e-03 4.08086425e-05 9.99995582e-01 -1.58705431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71028169299996 meters Centerline goodness [0,1] 0.9993589195657748 Centerline is valid? [True, True] Translation: X:295.06, Y:-17.82, Z:-1.59 [[ 9.96913310e-01 7.85033644e-02 1.03592230e-03 2.95059646e+02] [-7.85033097e-02 9.96913849e-01 -9.34302837e-05 -1.78183873e+01] [-1.04005988e-03 1.18185644e-05 9.99999459e-01 -1.59168251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.740281693 meters Centerline goodness [0,1] 0.9994936281542747 Centerline is valid? [True, True] Translation: X:295.09, Y:-17.82, Z:-1.60 [[ 9.96713441e-01 8.10011776e-02 -1.06110342e-03 2.95089811e+02] [-8.10011215e-02 9.96714006e-01 9.57884915e-05 -1.78232322e+01] [ 1.06537562e-03 -9.52311000e-06 9.99999432e-01 -1.59594385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77028169299996 meters Centerline goodness [0,1] 0.9996157294735494 Centerline is valid? [True, True] Translation: X:295.12, Y:-17.83, Z:-1.60 [[ 9.96669445e-01 8.15402303e-02 -1.09937429e-03 2.95119481e+02] [-8.15401704e-02 9.96670051e-01 9.92546471e-05 -1.78285857e+01] [ 1.10380668e-03 -9.28090714e-06 9.99999391e-01 -1.59602905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.800281693 meters Centerline goodness [0,1] 0.9995489884455135 Centerline is valid? [True, True] Translation: X:295.15, Y:-17.83, Z:-1.59 [[ 9.96650386e-01 8.17735195e-02 -1.04831833e-03 2.95150919e+02] [-8.17734651e-02 9.96650938e-01 9.46979821e-05 -1.78301793e+01] [ 1.05255124e-03 -8.65615785e-06 9.99999446e-01 -1.59491229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83028169299996 meters Centerline goodness [0,1] 0.9994581942698626 Centerline is valid? [True, True] Translation: X:295.18, Y:-17.83, Z:-1.60 [[ 9.96629655e-01 8.20255344e-02 -1.06877784e-03 2.95180894e+02] [-8.20254781e-02 9.96630228e-01 9.64946772e-05 -1.78333490e+01] [ 1.07309133e-03 -8.50244325e-06 9.99999424e-01 -1.59548577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.860281693 meters Centerline goodness [0,1] 0.9995683329016662 Centerline is valid? [True, True] Translation: X:295.21, Y:-17.84, Z:-1.60 [[ 9.96592885e-01 8.24734141e-02 -8.70626546e-04 2.95211016e+02] [-8.24733769e-02 9.96593265e-01 7.86045744e-05 -1.78371401e+01] [ 8.74143339e-04 -6.53324826e-06 9.99999618e-01 -1.59515026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89028169299996 meters Centerline goodness [0,1] 0.9994405835144264 Centerline is valid? [True, True] Translation: X:295.24, Y:-17.84, Z:-1.59 [[ 9.96514191e-01 8.34224339e-02 4.06880983e-04 2.95240718e+02] [-8.34224259e-02 9.96514274e-01 -3.66261686e-05 -1.78425931e+01] [-4.08518152e-04 2.55549808e-06 9.99999917e-01 -1.59369209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.920281693 meters Centerline goodness [0,1] 0.9995334831841893 Centerline is valid? [True, True] Translation: X:295.27, Y:-17.84, Z:-1.59 [[ 9.96267469e-01 8.62770707e-02 2.71982982e-03 2.95271981e+02] [-8.62767213e-02 9.96271181e-01 -2.45736388e-04 -1.78402030e+01] [-2.73088948e-03 1.01611701e-05 9.99996271e-01 -1.58842025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95028169299997 meters Centerline goodness [0,1] 0.9994705857439329 Centerline is valid? [True, True] Translation: X:295.30, Y:-17.84, Z:-1.59 [[ 9.96093654e-01 8.82466364e-02 3.15652253e-03 2.95303648e+02] [-8.82461756e-02 9.96098655e-01 -2.85218143e-04 -1.78399750e+01] [-3.16937739e-03 5.55293991e-06 9.99994977e-01 -1.58784143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98028169299994 meters Centerline goodness [0,1] 0.9995533340423269 Centerline is valid? [True, True] Translation: X:295.34, Y:-17.84, Z:-1.59 [[ 9.95776127e-01 9.17716958e-02 2.80387018e-03 2.95335515e+02] [-9.17713461e-02 9.95780074e-01 -2.53411648e-04 -1.78386759e+01] [-2.81529407e-03 -4.97367100e-06 9.99996037e-01 -1.59002386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01028169299997 meters Centerline goodness [0,1] 0.9998293151269468 Centerline is valid? [True, True] Translation: X:295.37, Y:-17.84, Z:-1.59 [[ 9.95676764e-01 9.28607885e-02 2.15768555e-03 2.95366917e+02] [-9.28605839e-02 9.95679102e-01 -1.95049693e-04 -1.78413784e+01] [-2.16647488e-03 -6.15749325e-06 9.99997653e-01 -1.59114532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04028169299994 meters Centerline goodness [0,1] 0.9997889226612631 Centerline is valid? [True, True] Translation: X:295.40, Y:-17.84, Z:-1.59 [[ 9.95576067e-01 9.39433440e-02 1.71544112e-03 2.95397452e+02] [-9.39432162e-02 9.95577545e-01 -1.55107135e-04 -1.78428847e+01] [-1.72242594e-03 -6.73310507e-06 9.99998517e-01 -1.59153692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07028169299997 meters Centerline goodness [0,1] 0.9999575749862119 Centerline is valid? [True, True] Translation: X:295.43, Y:-17.84, Z:-1.59 [[ 9.95437092e-01 9.53827641e-02 2.66898353e-03 2.95427034e+02] [-9.53824598e-02 9.95440670e-01 -2.41357211e-04 -1.78434371e+01] [-2.67983607e-03 -1.43182935e-05 9.99996409e-01 -1.58909049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10028169299994 meters Centerline goodness [0,1] 0.9998511873126554 Centerline is valid? [True, True] Translation: X:295.46, Y:-17.85, Z:-1.59 [[ 9.95345069e-01 9.63221209e-02 3.20026408e-03 2.95457222e+02] [-9.63216883e-02 9.95350214e-01 -2.89373682e-04 -1.78483702e+01] [-3.21325662e-03 -2.02281712e-05 9.99994837e-01 -1.58954219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.130281693 meters Centerline goodness [0,1] 0.9999144641176974 Centerline is valid? [True, True] Translation: X:295.49, Y:-17.85, Z:-1.59 [[ 9.95285731e-01 9.69449069e-02 2.82811382e-03 2.95488258e+02] [-9.69445715e-02 9.95289749e-01 -2.55740448e-04 -1.78508808e+01] [-2.83958543e-03 -1.96354637e-05 9.99995968e-01 -1.59068194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16028169299994 meters Centerline goodness [0,1] 0.9999367395567552 Centerline is valid? [True, True] Translation: X:295.52, Y:-17.85, Z:-1.59 [[ 9.95192396e-01 9.79229859e-02 1.78417870e-03 2.95518628e+02] [-9.79228540e-02 9.95193995e-01 -1.61353864e-04 -1.78512978e+01] [-1.79140418e-03 -1.41337323e-05 9.99998395e-01 -1.59216283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.190281693 meters Centerline goodness [0,1] 0.9999365254004189 Centerline is valid? [True, True] Translation: X:295.55, Y:-17.85, Z:-1.59 [[ 9.95012505e-01 9.97305235e-02 1.98425406e-03 2.95549203e+02] [-9.97303637e-02 9.95014483e-01 -1.79574154e-04 -1.78505093e+01] [-1.99227055e-03 -1.92118501e-05 9.99998015e-01 -1.59191463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22028169299995 meters Centerline goodness [0,1] 0.9998941126641254 Centerline is valid? [True, True] Translation: X:295.58, Y:-17.85, Z:-1.59 [[ 9.94944787e-01 1.00371237e-01 3.23813246e-03 2.95580113e+02] [-1.00370814e-01 9.94950056e-01 -2.93049620e-04 -1.78525016e+01] [-3.25119383e-03 -3.34458013e-05 9.99994714e-01 -1.58975815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.250281693 meters Centerline goodness [0,1] 0.9997871661168458 Centerline is valid? [True, True] Translation: X:295.61, Y:-17.86, Z:-1.59 [[ 9.94972071e-01 1.00030038e-01 4.95677849e-03 2.95611462e+02] [-1.00029044e-01 9.94984417e-01 -4.48653151e-04 -1.78589218e+01] [-4.97679615e-03 -4.94244576e-05 9.99987614e-01 -1.58618025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28028169299995 meters Centerline goodness [0,1] 0.9998526408858388 Centerline is valid? [True, True] Translation: X:295.64, Y:-17.86, Z:-1.59 [[ 9.95051794e-01 9.92565407e-02 4.47959580e-03 2.95641764e+02] [-9.92557202e-02 9.95061876e-01 -4.05646750e-04 -1.78638033e+01] [-4.49773810e-03 -4.09859815e-05 9.99989884e-01 -1.58734671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.310281693 meters Centerline goodness [0,1] 0.9997875775342 Centerline is valid? [True, True] Translation: X:295.67, Y:-17.87, Z:-1.59 [[ 9.95181545e-01 9.79765254e-02 3.78047425e-03 2.95672235e+02] [-9.79759313e-02 9.95188726e-01 -3.42481487e-04 -1.78694961e+01] [-3.79584049e-03 -2.95642297e-05 9.99992795e-01 -1.58943640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34028169299995 meters Centerline goodness [0,1] 0.999637712045009 Centerline is valid? [True, True] Translation: X:295.70, Y:-17.88, Z:-1.59 [[ 9.95547520e-01 9.42374912e-02 2.10472856e-03 2.95703792e+02] [-9.42372986e-02 9.95549745e-01 -1.90699394e-04 -1.78834631e+01] [-2.11333302e-03 -8.49362513e-06 9.99997767e-01 -1.59376971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.370281693 meters Centerline goodness [0,1] 0.9995975855130784 Centerline is valid? [True, True] Translation: X:295.73, Y:-17.90, Z:-1.59 [[ 9.95899204e-01 9.04575453e-02 1.48608255e-03 2.95733644e+02] [-9.04574451e-02 9.95900313e-01 -1.34641217e-04 -1.79017002e+01] [-1.49216939e-03 -3.38149054e-07 9.99998887e-01 -1.59402770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40028169299995 meters Centerline goodness [0,1] 0.9994669736898213 Centerline is valid? [True, True] Translation: X:295.77, Y:-17.91, Z:-1.59 [[ 9.96040171e-01 8.88941628e-02 1.34373644e-03 2.95766042e+02] [-8.88940792e-02 9.96041077e-01 -1.21889375e-04 -1.79109547e+01] [-1.34925195e-03 1.95650042e-06 9.99999090e-01 -1.59430561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.430281693 meters Centerline goodness [0,1] 0.9994297902895398 Centerline is valid? [True, True] Translation: X:295.80, Y:-17.92, Z:-1.60 [[ 9.96035594e-01 8.89513104e-02 8.72115235e-04 2.95797159e+02] [-8.89512752e-02 9.96035975e-01 -7.91492900e-05 -1.79173116e+01] [-8.75698582e-04 1.25974777e-06 9.99999617e-01 -1.59505161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46028169299996 meters Centerline goodness [0,1] 0.9996816232966846 Centerline is valid? [True, True] Translation: X:295.83, Y:-17.92, Z:-1.59 [[ 9.95699186e-01 9.26339787e-02 1.44134288e-03 2.95829020e+02] [-9.26338857e-02 9.95700229e-01 -1.31297656e-04 -1.79228294e+01] [-1.44730806e-03 -2.78422218e-06 9.99998953e-01 -1.59443622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.490281693 meters Centerline goodness [0,1] 0.9999571036376115 Centerline is valid? [True, True] Translation: X:295.86, Y:-17.92, Z:-1.59 [[ 9.95074802e-01 9.91084116e-02 1.91350201e-03 2.95860685e+02] [-9.91082588e-02 9.95076642e-01 -1.74741703e-04 -1.79228415e+01] [-1.92139953e-03 -1.57627864e-05 9.99998154e-01 -1.59344723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.89, Y:-17.92, Z:-1.59 [[ 9.94680523e-01 1.03000078e-01 1.28063416e-03 2.95891821e+02] [-1.03000013e-01 9.94681348e-01 -1.16961448e-04 -1.79205049e+01] [-1.28586995e-03 -1.55660608e-05 9.99999173e-01 -1.59400646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.550281693 meters Centerline goodness [0,1] 0.9997684356777466 Centerline is valid? [True, True] Translation: X:295.92, Y:-17.92, Z:-1.60 [[ 9.94286404e-01 1.06745033e-01 2.12717776e-04 2.95922978e+02] [-1.06745032e-01 9.94286426e-01 -1.91625829e-05 -1.79185009e+01] [-2.13547908e-04 -3.65347013e-06 9.99999977e-01 -1.59645013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58028169299996 meters Centerline goodness [0,1] 0.9997880906971816 Centerline is valid? [True, True] Translation: X:295.95, Y:-17.92, Z:-1.60 [[ 9.93888117e-01 1.10386154e-01 -1.14335938e-03 2.95953069e+02] [-1.10386106e-01 9.93888775e-01 1.04811500e-04 -1.79184148e+01] [ 1.14794179e-03 2.20400855e-05 9.99999341e-01 -1.59958555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.610281693 meters Centerline goodness [0,1] 0.9996419167983149 Centerline is valid? [True, True] Translation: X:295.98, Y:-17.92, Z:-1.60 [[ 9.93762177e-01 1.11514845e-01 -1.08380212e-03 2.95982721e+02] [-1.11514803e-01 9.93762768e-01 9.92580588e-05 -1.79216965e+01] [ 1.08811094e-03 2.22210750e-05 9.99999408e-01 -1.59935825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64028169299996 meters Centerline goodness [0,1] 0.9993879273955255 Centerline is valid? [True, True] Translation: X:296.01, Y:-17.92, Z:-1.59 [[ 9.93582196e-01 1.13096551e-01 1.89445235e-03 2.96011839e+02] [-1.13096426e-01 9.93584002e-01 -1.73483806e-04 -1.79243230e+01] [-1.90191797e-03 -4.18853689e-05 9.99998190e-01 -1.59308514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.670281693 meters Centerline goodness [0,1] 0.999297947026912 Centerline is valid? [True, True] Translation: X:296.04, Y:-17.93, Z:-1.59 [[ 9.93507310e-01 1.13730948e-01 2.91483635e-03 2.96042684e+02] [-1.13730655e-01 9.93511584e-01 -2.66908298e-04 -1.79287892e+01] [-2.92627941e-03 -6.63309004e-05 9.99995716e-01 -1.59079709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70028169299997 meters Centerline goodness [0,1] 0.998641073551894 Centerline is valid? [True, True] Translation: X:296.07, Y:-17.93, Z:-1.59 [[ 9.93277822e-01 1.15732937e-01 2.24837412e-03 2.96073298e+02] [-1.15732767e-01 9.93280365e-01 -2.05922822e-04 -1.79265689e+01] [-2.25709792e-03 -5.56719865e-05 9.99997451e-01 -1.59215133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73028169299994 meters Centerline goodness [0,1] 0.9991258927619657 Centerline is valid? [True, True] Translation: X:296.10, Y:-17.93, Z:-1.59 [[ 9.93164730e-01 1.16679853e-01 3.10346735e-03 2.96104429e+02] [-1.16679533e-01 9.93169575e-01 -2.84376859e-04 -1.79333747e+01] [-3.11545040e-03 -7.96780563e-05 9.99995144e-01 -1.59143771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76028169299997 meters Centerline goodness [0,1] 0.9978401727861771 Centerline is valid? [True, True] Translation: X:296.14, Y:-17.92, Z:-1.58 [[ 9.92850671e-01 1.19227597e-01 5.68545635e-03 2.96135467e+02] [-1.19226565e-01 9.92866937e-01 -5.21265599e-04 -1.79241239e+01] [-5.70705088e-03 -1.60318531e-04 9.99983702e-01 -1.58470178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79028169299994 meters Centerline goodness [0,1] 0.9987624554590651 Centerline is valid? [True, True] Translation: X:296.17, Y:-17.93, Z:-1.58 [[ 9.92559046e-01 1.21599330e-01 6.33579259e-03 2.96166634e+02] [-1.21598092e-01 9.92579249e-01 -5.81691834e-04 -1.79311485e+01] [-6.35950959e-03 -1.93056797e-04 9.99979759e-01 -1.58452172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82028169299997 meters Centerline goodness [0,1] 0.9972987919006295 Centerline is valid? [True, True] Translation: X:296.20, Y:-17.92, Z:-1.58 [[ 9.92228808e-01 1.24285788e-01 5.91908840e-03 2.96197932e+02] [-1.24284753e-01 9.92246443e-01 -5.43787619e-04 -1.79222786e+01] [-5.94077949e-03 -1.96090700e-04 9.99982334e-01 -1.58449438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85028169299994 meters Centerline goodness [0,1] 0.9950952411154098 Centerline is valid? [True, True] Translation: X:296.23, Y:-17.91, Z:-1.59 [[ 9.91627882e-01 1.29070045e-01 3.88159825e-03 2.96228927e+02] [-1.29069636e-01 9.91635468e-01 -3.56593606e-04 -1.79100194e+01] [-3.89515605e-03 -1.47388312e-04 9.99992403e-01 -1.58934980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.880281693 meters Centerline goodness [0,1] 0.9953748886154369 Centerline is valid? [True, True] Translation: X:296.26, Y:-17.90, Z:-1.59 [[ 9.91428104e-01 1.30609288e-01 3.39529303e-03 2.96259100e+02] [-1.30608985e-01 9.91433909e-01 -3.11862085e-04 -1.79027759e+01] [-3.40694073e-03 -1.34266941e-04 9.99994187e-01 -1.59089750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91028169299994 meters Centerline goodness [0,1] 0.9950082490799104 Centerline is valid? [True, True] Translation: X:296.29, Y:-17.90, Z:-1.59 [[ 9.91477478e-01 1.30233822e-01 3.40042955e-03 2.96288323e+02] [-1.30233516e-01 9.91483300e-01 -3.12228224e-04 -1.79019614e+01] [-3.41213179e-03 -1.33282644e-04 9.99994170e-01 -1.59025129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.940281693 meters Centerline goodness [0,1] 0.996801842138928 Centerline is valid? [True, True] Translation: X:296.32, Y:-17.90, Z:-1.59 [[ 9.91613683e-01 1.29193164e-01 3.38090453e-03 2.96317585e+02] [-1.29192856e-01 9.91619438e-01 -3.10297070e-04 -1.79049834e+01] [-3.39265891e-03 -1.29093892e-04 9.99994237e-01 -1.59024119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97028169299995 meters Centerline goodness [0,1] 0.9973208020583044 Centerline is valid? [True, True] Translation: X:296.35, Y:-17.91, Z:-1.59 [[ 9.91909793e-01 1.26923411e-01 2.32587818e-03 2.96347572e+02] [-1.26923260e-01 9.91912517e-01 -2.13414653e-04 -1.79060097e+01] [-2.33415499e-03 -8.35199551e-05 9.99997272e-01 -1.59258312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.000281693 meters Centerline goodness [0,1] 0.997502116850127 Centerline is valid? [True, True] Translation: X:296.38, Y:-17.90, Z:-1.59 [[ 9.92106439e-01 1.25387800e-01 1.64742405e-03 2.96376082e+02] [-1.25387721e-01 9.92107805e-01 -1.51165604e-04 -1.79048110e+01] [-1.65337658e-03 -5.65943784e-05 9.99998632e-01 -1.59485031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03028169299995 meters Centerline goodness [0,1] 0.9985720070760247 Centerline is valid? [True, True] Translation: X:296.41, Y:-17.91, Z:-1.60 [[ 9.92538060e-01 1.21932716e-01 7.82024139e-04 2.96406215e+02] [-1.21932697e-01 9.92538368e-01 -7.17258546e-05 -1.79058136e+01] [-7.84934691e-04 -2.41636719e-05 9.99999692e-01 -1.59704697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.060281693 meters Centerline goodness [0,1] 0.9988511127186077 Centerline is valid? [True, True] Translation: X:296.43, Y:-17.91, Z:-1.60 [[ 9.92787643e-01 1.19882581e-01 9.28641821e-04 2.96434792e+02] [-1.19882554e-01 9.92788077e-01 -8.51989771e-05 -1.79080975e+01] [-9.32158401e-04 -2.67434613e-05 9.99999565e-01 -1.59709959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09028169299995 meters Centerline goodness [0,1] 0.9990435706695006 Centerline is valid? [True, True] Translation: X:296.46, Y:-17.91, Z:-1.59 [[ 9.93203309e-01 1.16385610e-01 1.25580916e-03 2.96463804e+02] [-1.16385557e-01 9.93204102e-01 -1.15102513e-04 -1.79098525e+01] [-1.26067108e-03 -3.18378517e-05 9.99999205e-01 -1.59460152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.120281693 meters Centerline goodness [0,1] 0.9990291671942932 Centerline is valid? [True, True] Translation: X:296.49, Y:-17.91, Z:-1.60 [[ 9.93335567e-01 1.15255192e-01 8.31849718e-04 2.96491776e+02] [-1.15255169e-01 9.93335915e-01 -7.62844110e-05 -1.79065255e+01] [-8.35098376e-04 -2.00989609e-05 9.99999651e-01 -1.59518801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15028169299995 meters Centerline goodness [0,1] 0.9994497936726272 Centerline is valid? [True, True] Translation: X:296.52, Y:-17.91, Z:-1.60 [[ 9.93454042e-01 1.14232510e-01 2.71885209e-05 2.96520496e+02] [-1.14232510e-01 9.93454042e-01 -2.58500365e-06 -1.79125437e+01] [-2.73058374e-05 -5.37730665e-07 1.00000000e+00 -1.59668669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.180281693 meters Centerline goodness [0,1] 0.9994294529087336 Centerline is valid? [True, True] Translation: X:296.55, Y:-17.90, Z:-1.60 [[ 9.93566354e-01 1.13248744e-01 -7.89018908e-04 2.96549201e+02] [-1.13248723e-01 9.93566667e-01 7.20343898e-05 -1.79047775e+01] [ 7.92100691e-04 1.77844376e-05 9.99999686e-01 -1.59983360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21028169299996 meters Centerline goodness [0,1] 0.9996604702487055 Centerline is valid? [True, True] Translation: X:296.58, Y:-17.91, Z:-1.60 [[ 9.93807156e-01 1.11116250e-01 7.18307652e-04 2.96577479e+02] [-1.11116231e-01 9.93807415e-01 -6.57551649e-05 -1.79101674e+01] [-7.21165938e-04 -1.44676857e-05 9.99999740e-01 -1.59591476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.240281693 meters Centerline goodness [0,1] 0.9997893716957684 Centerline is valid? [True, True] Translation: X:296.61, Y:-17.91, Z:-1.59 [[ 9.94035940e-01 1.09041846e-01 1.55723165e-03 2.96606684e+02] [-1.09041757e-01 9.94037160e-01 -1.42362364e-04 -1.79137265e+01] [-1.56346959e-03 -2.82899692e-05 9.99998777e-01 -1.59446682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27028169299996 meters Centerline goodness [0,1] 0.9999361104012267 Centerline is valid? [True, True] Translation: X:296.64, Y:-17.92, Z:-1.59 [[ 9.94348162e-01 1.06150949e-01 1.92584354e-03 2.96635281e+02] [-1.06150807e-01 9.94350027e-01 -1.75979608e-04 -1.79184223e+01] [-1.93364298e-03 -2.94448456e-05 9.99998130e-01 -1.59399517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.300281693 meters Centerline goodness [0,1] 0.9999576190375283 Centerline is valid? [True, True] Translation: X:296.66, Y:-17.93, Z:-1.60 [[ 9.94969382e-01 1.00170691e-01 1.32750330e-03 2.96663938e+02] [-1.00170618e-01 9.94970267e-01 -1.21255728e-04 -1.79261680e+01] [-1.33297259e-03 -1.23310901e-05 9.99999112e-01 -1.59569808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33028169299996 meters Centerline goodness [0,1] 0.9997864981425338 Centerline is valid? [True, True] Translation: X:296.69, Y:-17.94, Z:-1.59 [[ 9.95463308e-01 9.51108805e-02 2.59289433e-03 2.96693823e+02] [-9.51105865e-02 9.95466685e-01 -2.36744325e-04 -1.79358653e+01] [-2.60365688e-03 -1.09414113e-05 9.99996610e-01 -1.59221731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.360281693 meters Centerline goodness [0,1] 0.999703433812782 Centerline is valid? [True, True] Translation: X:296.72, Y:-17.94, Z:-1.59 [[ 9.95609661e-01 9.35190860e-02 3.94751578e-03 2.96723357e+02] [-9.35183920e-02 9.95617487e-01 -3.60454453e-04 -1.79399766e+01] [-3.96392512e-03 -1.02933926e-05 9.99992144e-01 -1.58864726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39028169299996 meters Centerline goodness [0,1] 0.9997654284130166 Centerline is valid? [True, True] Translation: X:296.75, Y:-17.95, Z:-1.59 [[ 9.95727032e-01 9.21701798e-02 5.68643445e-03 2.96753413e+02] [-9.21687173e-02 9.95743269e-01 -5.19281093e-04 -1.79452774e+01] [-5.71009106e-03 -7.04914768e-06 9.99983697e-01 -1.58572264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.420281693 meters Centerline goodness [0,1] 0.9997460801117247 Centerline is valid? [True, True] Translation: X:296.78, Y:-17.95, Z:-1.58 [[ 9.95853071e-01 9.07260635e-02 6.74108364e-03 2.96783060e+02] [-9.07239733e-02 9.95875887e-01 -6.15845635e-04 -1.79510323e+01] [-6.76915590e-03 1.71387431e-06 9.99977089e-01 -1.58421167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45028169299997 meters Centerline goodness [0,1] 0.9997024125836964 Centerline is valid? [True, True] Translation: X:296.81, Y:-17.96, Z:-1.59 [[ 9.95921613e-01 9.00163340e-02 6.09929193e-03 2.96813707e+02] [-9.00146083e-02 9.95940289e-01 -5.57410696e-04 -1.79553505e+01] [-6.12470664e-03 6.11198526e-06 9.99981244e-01 -1.58609567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48028169299994 meters Centerline goodness [0,1] 0.9995557529986673 Centerline is valid? [True, True] Translation: X:296.84, Y:-17.96, Z:-1.59 [[ 9.96052997e-01 8.86717934e-02 3.96741613e-03 2.96844149e+02] [-8.86710514e-02 9.96060898e-01 -3.62892656e-04 -1.79636442e+01] [-3.98396642e-03 9.66535812e-06 9.99992064e-01 -1.59066086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51028169299997 meters Centerline goodness [0,1] 0.9996818461407937 Centerline is valid? [True, True] Translation: X:296.87, Y:-17.97, Z:-1.59 [[ 9.96197076e-01 8.70723602e-02 3.12892094e-03 2.96874998e+02] [-8.70718899e-02 9.96201990e-01 -2.86468631e-04 -1.79716324e+01] [-3.14198077e-03 1.29381523e-05 9.99995064e-01 -1.59226935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54028169299994 meters Centerline goodness [0,1] 0.9997000792647658 Centerline is valid? [True, True] Translation: X:296.91, Y:-17.98, Z:-1.59 [[ 9.96320139e-01 8.56537323e-02 3.10145891e-03 2.96906935e+02] [-8.56532626e-02 9.96324966e-01 -2.84169691e-04 -1.79800095e+01] [-3.11440114e-03 1.74739112e-05 9.99995150e-01 -1.59252062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57028169299997 meters Centerline goodness [0,1] 0.999385684326477 Centerline is valid? [True, True] Translation: X:296.94, Y:-18.00, Z:-1.59 [[ 9.96547712e-01 8.29591003e-02 3.23189456e-03 2.96937105e+02] [-8.29585744e-02 9.96552952e-01 -2.96662116e-04 -1.79952787e+01] [-3.24536489e-03 2.75245880e-05 9.99994733e-01 -1.59183045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60028169299994 meters Centerline goodness [0,1] 0.999385684326477 Centerline is valid? [True, True] Translation: X:296.97, Y:-18.00, Z:-1.59 [[ 9.96534749e-01 8.31146789e-02 3.23184870e-03 2.96968633e+02] [-8.31141522e-02 9.96539989e-01 -2.97160971e-04 -1.79983347e+01] [-3.24536491e-03 2.75188686e-05 9.99994733e-01 -1.59189713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.630281693 meters Centerline goodness [0,1] 0.999397318065391 Centerline is valid? [True, True] Translation: X:297.00, Y:-18.01, Z:-1.59 [[ 9.96642266e-01 8.18376146e-02 2.60747414e-03 2.96999763e+02] [-8.18372665e-02 9.96645676e-01 -2.40095534e-04 -1.80059048e+01] [-2.61837668e-03 2.59008008e-05 9.99996572e-01 -1.59344326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66028169299994 meters Centerline goodness [0,1] 0.9994304758690516 Centerline is valid? [True, True] Translation: X:297.03, Y:-18.02, Z:-1.60 [[ 9.96705757e-01 8.10859787e-02 1.64267437e-03 2.97029705e+02] [-8.10858393e-02 9.96707110e-01 -1.51389484e-04 -1.80200686e+01] [-1.64954079e-03 1.76931401e-05 9.99998639e-01 -1.59664754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.690281693 meters Centerline goodness [0,1] 0.9994265202523311 Centerline is valid? [True, True] Translation: X:297.06, Y:-18.03, Z:-1.60 [[ 9.96640258e-01 8.18968182e-02 1.05264481e-03 2.97059788e+02] [-8.18967614e-02 9.96640813e-01 -9.70651348e-05 -1.80283858e+01] [-1.05705811e-03 1.05308198e-05 9.99999441e-01 -1.59795489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72028169299995 meters Centerline goodness [0,1] 0.999682216855218 Centerline is valid? [True, True] Translation: X:297.09, Y:-18.03, Z:-1.60 [[ 9.96384578e-01 8.49530246e-02 -8.69935682e-04 2.97091565e+02] [-8.49529866e-02 9.96384958e-01 8.06427804e-05 -1.80327388e+01] [ 8.73641676e-04 -6.44758834e-06 9.99999618e-01 -1.60049509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.750281693 meters Centerline goodness [0,1] 0.9996783048811873 Centerline is valid? [True, True] Translation: X:297.12, Y:-18.04, Z:-1.60 [[ 9.96228438e-01 8.67629050e-02 -1.04815232e-03 2.97122470e+02] [-8.67628509e-02 9.96228989e-01 9.70915974e-05 -1.80361780e+01] [ 1.05262367e-03 -5.78472738e-06 9.99999446e-01 -1.60082547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78028169299995 meters Centerline goodness [0,1] 0.999872046404504 Centerline is valid? [True, True] Translation: X:297.15, Y:-18.04, Z:-1.60 [[ 9.96079098e-01 8.84612873e-02 -1.01573275e-03 2.97153359e+02] [-8.84612371e-02 9.96079616e-01 9.43374810e-05 -1.80407562e+01] [ 1.02009590e-03 -4.11461748e-06 9.99999480e-01 -1.60111032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.810281693 meters Centerline goodness [0,1] 0.999893917212993 Centerline is valid? [True, True] Translation: X:297.18, Y:-18.04, Z:-1.60 [[ 9.95706597e-01 9.25645365e-02 4.23410825e-04 2.97184059e+02] [-9.25645282e-02 9.95706687e-01 -3.92018322e-05 -1.80438372e+01] [-4.25221689e-04 -1.59300317e-07 9.99999910e-01 -1.59870035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84028169299995 meters Centerline goodness [0,1] 0.9999571247883037 Centerline is valid? [True, True] Translation: X:297.22, Y:-18.04, Z:-1.60 [[ 9.95144240e-01 9.84029877e-02 2.18924712e-03 2.97215594e+02] [-9.84027793e-02 9.95146648e-01 -2.02950723e-04 -1.80419090e+01] [-2.19859289e-03 -1.34627579e-05 9.99997583e-01 -1.59575607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.870281693 meters Centerline goodness [0,1] 0.9999369562476359 Centerline is valid? [True, True] Translation: X:297.25, Y:-18.04, Z:-1.60 [[ 9.94772728e-01 1.02084698e-01 2.43594683e-03 2.97247194e+02] [-1.02084451e-01 9.94775710e-01 -2.25927557e-04 -1.80402818e+01] [-2.44628448e-03 -2.39257223e-05 9.99997008e-01 -1.59535520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90028169299995 meters Centerline goodness [0,1] 0.9998300078621364 Centerline is valid? [True, True] Translation: X:297.28, Y:-18.04, Z:-1.60 [[ 9.94099786e-01 1.08461395e-01 1.31937689e-03 2.97278963e+02] [-1.08461328e-01 9.94100662e-01 -1.22523721e-04 -1.80379685e+01] [-1.32488254e-03 -2.13005652e-05 9.99999122e-01 -1.59729133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.930281693 meters Centerline goodness [0,1] 0.999785444558874 Centerline is valid? [True, True] Translation: X:297.31, Y:-18.04, Z:-1.60 [[ 9.93838804e-01 1.10834101e-01 4.83513709e-04 2.97310738e+02] [-1.10834093e-01 9.93838921e-01 -4.48821324e-05 -1.80374481e+01] [-4.85509214e-04 -8.98419857e-06 9.99999882e-01 -1.59844213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96028169299996 meters Centerline goodness [0,1] 0.9998291693358958 Centerline is valid? [True, True] Translation: X:297.34, Y:-18.03, Z:-1.60 [[ 9.93566490e-01 1.13249376e-01 -4.56418980e-04 2.97340738e+02] [-1.13249369e-01 9.93566595e-01 4.23832983e-05 -1.80314277e+01] [ 4.58282534e-04 9.57853645e-06 9.99999895e-01 -1.59983798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.990281693 meters Centerline goodness [0,1] 0.9997434197866107 Centerline is valid? [True, True] Translation: X:297.37, Y:-18.03, Z:-1.60 [[ 9.93116341e-01 1.17131097e-01 -4.89140692e-04 2.97371338e+02] [-1.17131089e-01 9.93116461e-01 4.54179644e-05 -1.80289637e+01] [ 4.91093530e-04 1.21882595e-05 9.99999879e-01 -1.59909087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02028169299996 meters Centerline goodness [0,1] 0.9993195253689449 Centerline is valid? [True, True] Translation: X:297.40, Y:-18.03, Z:-1.60 [[ 9.93018589e-01 1.17954859e-01 8.55886887e-04 2.97401191e+02] [-1.17954834e-01 9.93018958e-01 -7.95415755e-05 -1.80294912e+01] [-8.59294220e-04 -2.19697328e-05 9.99999631e-01 -1.59679466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.050281693 meters Centerline goodness [0,1] 0.9989997446156466 Centerline is valid? [True, True] Translation: X:297.43, Y:-18.03, Z:-1.59 [[ 9.93183187e-01 1.16507744e-01 3.61975784e-03 2.97430804e+02] [-1.16507292e-01 9.93189779e-01 -3.36181430e-04 -1.80320032e+01] [-3.63427423e-03 -8.78384397e-05 9.99993392e-01 -1.59208902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08028169299996 meters Centerline goodness [0,1] 0.9994899151984017 Centerline is valid? [True, True] Translation: X:297.46, Y:-18.04, Z:-1.59 [[ 9.93558146e-01 1.13234827e-01 4.48155981e-03 2.97460726e+02] [-1.13234101e-01 9.93568249e-01 -4.16214507e-04 -1.80352711e+01] [-4.49986551e-03 -9.39320803e-05 9.99989871e-01 -1.59123375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.110281693 meters Centerline goodness [0,1] 0.999660116834838 Centerline is valid? [True, True] Translation: X:297.49, Y:-18.04, Z:-1.59 [[ 9.93726959e-01 1.11769654e-01 3.77817085e-03 2.97491736e+02] [-1.11769127e-01 9.93734139e-01 -3.50945921e-04 -1.80426010e+01] [-3.79372246e-03 -7.35384351e-05 9.99992801e-01 -1.59271937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14028169299996 meters Centerline goodness [0,1] 0.9996191362857324 Centerline is valid? [True, True] Translation: X:297.52, Y:-18.05, Z:-1.59 [[ 9.93878233e-01 1.10441274e-01 2.96366325e-03 2.97522060e+02] [-1.10440944e-01 9.93882650e-01 -2.75336990e-04 -1.80462440e+01] [-2.97594206e-03 -5.36583262e-05 9.99995570e-01 -1.59459551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.170281693 meters Centerline goodness [0,1] 0.9998501968840952 Centerline is valid? [True, True] Translation: X:297.55, Y:-18.05, Z:-1.59 [[ 9.94023710e-01 1.09128936e-01 2.78199428e-03 2.97552819e+02] [-1.09128640e-01 9.94027602e-01 -2.58498645e-04 -1.80495714e+01] [-2.79358879e-03 -4.66414711e-05 9.99996097e-01 -1.59485798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20028169299997 meters Centerline goodness [0,1] 0.9997232393766499 Centerline is valid? [True, True] Translation: X:297.58, Y:-18.05, Z:-1.60 [[ 9.93947146e-01 1.09840247e-01 2.04728672e-03 2.97583183e+02] [-1.09840088e-01 9.93949254e-01 -1.90267107e-04 -1.80485101e+01] [-2.05579809e-03 -3.57587055e-05 9.99997886e-01 -1.59663078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23028169299994 meters Centerline goodness [0,1] 0.9997247628726287 Centerline is valid? [True, True] Translation: X:297.61, Y:-18.05, Z:-1.60 [[ 9.93837012e-01 1.10842041e-01 1.42650841e-03 2.97613124e+02] [-1.10841965e-01 9.93838036e-01 -1.32591735e-04 -1.80524490e+01] [-1.43241505e-03 -2.63424214e-05 9.99998974e-01 -1.59751636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26028169299997 meters Centerline goodness [0,1] 0.9997044106158816 Centerline is valid? [True, True] Translation: X:297.64, Y:-18.05, Z:-1.60 [[ 9.93676878e-01 1.12277230e-01 2.93385734e-04 2.97642626e+02] [-1.12277227e-01 9.93676921e-01 -2.72908100e-05 -1.80521094e+01] [-2.94594770e-04 -5.82228982e-06 9.99999957e-01 -1.59931537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29028169299994 meters Centerline goodness [0,1] 0.9995133305120609 Centerline is valid? [True, True] Translation: X:297.67, Y:-18.04, Z:-1.60 [[ 9.93222147e-01 1.16214978e-01 -1.96104580e-03 2.97672534e+02] [-1.16214845e-01 9.93224082e-01 1.82113363e-04 -1.80413602e+01] [ 1.96892221e-03 4.70236078e-05 9.99998061e-01 -1.60497263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32028169299997 meters Centerline goodness [0,1] 0.999551942648659 Centerline is valid? [True, True] Translation: X:297.70, Y:-18.05, Z:-1.60 [[ 9.93028904e-01 1.17853976e-01 -2.00881493e-03 2.97701763e+02] [-1.17853839e-01 9.93030935e-01 1.86528454e-04 -1.80453434e+01] [ 2.01679848e-03 5.15184053e-05 9.99997965e-01 -1.60498019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35028169299994 meters Centerline goodness [0,1] 0.998832271762208 Centerline is valid? [True, True] Translation: X:297.73, Y:-18.04, Z:-1.60 [[ 9.92614964e-01 1.21307393e-01 -2.23851876e-04 2.97731610e+02] [-1.21307392e-01 9.92614989e-01 2.06997830e-05 -1.80407687e+01] [ 2.24709764e-04 6.60797280e-06 9.99999975e-01 -1.60141028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.380281693 meters Centerline goodness [0,1] 0.9989891603578802 Centerline is valid? [True, True] Translation: X:297.76, Y:-18.04, Z:-1.60 [[ 9.92452765e-01 1.22626124e-01 5.85250461e-04 2.97760960e+02] [-1.22626113e-01 9.92452938e-01 -5.43871995e-05 -1.80395029e+01] [-5.87502831e-04 -1.77902629e-05 9.99999827e-01 -1.59925575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41028169299994 meters Centerline goodness [0,1] 0.9992286761082424 Centerline is valid? [True, True] Translation: X:297.79, Y:-18.04, Z:-1.60 [[ 9.92325267e-01 1.23644901e-01 1.58178342e-03 2.97791125e+02] [-1.23644824e-01 9.92326527e-01 -1.46809761e-04 -1.80398736e+01] [-1.58779793e-03 -4.98962965e-05 9.99998738e-01 -1.59810410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.440281693 meters Centerline goodness [0,1] 0.9981329033353136 Centerline is valid? [True, True] Translation: X:297.82, Y:-18.04, Z:-1.60 [[ 9.92404453e-01 1.23008260e-01 1.53958720e-03 2.97819887e+02] [-1.23008187e-01 9.92405646e-01 -1.42877319e-04 -1.80351353e+01] [-1.54547011e-03 -4.75897419e-05 9.99998805e-01 -1.59869669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47028169299995 meters Centerline goodness [0,1] 0.9986021095437794 Centerline is valid? [True, True] Translation: X:297.85, Y:-18.04, Z:-1.60 [[ 9.92828066e-01 1.19550651e-01 2.71516694e-04 2.97848419e+02] [-1.19550648e-01 9.92828103e-01 -2.52160698e-05 -1.80396488e+01] [-2.72584002e-04 -7.42477507e-06 9.99999963e-01 -1.60121335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.500281693 meters Centerline goodness [0,1] 0.9994464905371171 Centerline is valid? [True, True] Translation: X:297.88, Y:-18.05, Z:-1.60 [[ 9.93115403e-01 1.17138187e-01 -6.65042558e-04 2.97877165e+02] [-1.17138172e-01 9.93115625e-01 6.15495389e-05 -1.80465494e+01] [ 6.67673957e-04 1.67760745e-05 9.99999777e-01 -1.60221522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53028169299995 meters Centerline goodness [0,1] 0.9997003488795189 Centerline is valid? [True, True] Translation: X:297.91, Y:-18.05, Z:-1.60 [[ 9.93306703e-01 1.15498374e-01 -1.38556258e-03 2.97905870e+02] [-1.15498307e-01 9.93307669e-01 1.28221468e-04 -1.80497860e+01] [ 1.39109931e-03 3.26668895e-05 9.99999032e-01 -1.60262137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.560281693 meters Centerline goodness [0,1] 0.99957547970793 Centerline is valid? [True, True] Translation: X:297.93, Y:-18.05, Z:-1.60 [[ 9.93572590e-01 1.13185256e-01 -1.61448617e-03 2.97934930e+02] [-1.13185163e-01 9.93573901e-01 1.49389733e-04 -1.80537772e+01] [ 1.62102004e-03 3.43063367e-05 9.99998686e-01 -1.60337320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59028169299995 meters Centerline goodness [0,1] 0.999785747953893 Centerline is valid? [True, True] Translation: X:297.96, Y:-18.06, Z:-1.60 [[ 9.93695949e-01 1.12103359e-01 -1.09465953e-03 2.97963007e+02] [-1.12103315e-01 9.93696551e-01 1.01272881e-04 -1.80574915e+01] [ 1.09911243e-03 2.20805103e-05 9.99999396e-01 -1.60280558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.620281693 meters Centerline goodness [0,1] 0.9997250364855432 Centerline is valid? [True, True] Translation: X:297.99, Y:-18.06, Z:-1.60 [[ 9.93973505e-01 1.09611704e-01 1.39490892e-03 2.97991248e+02] [-1.09611631e-01 9.93974483e-01 -1.29132233e-04 -1.80612444e+01] [-1.40065827e-03 -2.45442227e-05 9.99999019e-01 -1.59895328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65028169299995 meters Centerline goodness [0,1] 0.9998104784366577 Centerline is valid? [True, True] Translation: X:298.02, Y:-18.06, Z:-1.60 [[ 9.94072289e-01 1.08688740e-01 2.65367482e-03 2.98020284e+02] [-1.08688471e-01 9.94075830e-01 -2.45507200e-04 -1.80644981e+01] [-2.66463787e-03 -4.43719553e-05 9.99996449e-01 -1.59677944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.680281693 meters Centerline goodness [0,1] 0.9996816300541229 Centerline is valid? [True, True] Translation: X:298.05, Y:-18.07, Z:-1.60 [[ 9.94255030e-01 1.06993029e-01 3.07048733e-03 2.98049796e+02] [-1.06992662e-01 9.94259770e-01 -2.83989490e-04 -1.80699499e+01] [-3.08324692e-03 -4.61616335e-05 9.99995246e-01 -1.59530098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71028169299996 meters Centerline goodness [0,1] 0.9996804703476483 Centerline is valid? [True, True] Translation: X:298.08, Y:-18.08, Z:-1.60 [[ 9.94372725e-01 1.05914695e-01 2.22748485e-03 2.98079347e+02] [-1.05914499e-01 9.94375219e-01 -2.05981615e-04 -1.80755883e+01] [-2.23677222e-03 -3.11004433e-05 9.99997498e-01 -1.59688642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.740281693 meters Centerline goodness [0,1] 0.9997636492554951 Centerline is valid? [True, True] Translation: X:298.11, Y:-18.08, Z:-1.60 [[ 9.94497465e-01 1.04752500e-01 1.30572131e-03 2.98109049e+02] [-1.04752432e-01 9.94498322e-01 -1.20733090e-04 -1.80791510e+01] [-1.31118475e-03 -1.67087308e-05 9.99999140e-01 -1.59865016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77028169299996 meters Centerline goodness [0,1] 0.9999150436463267 Centerline is valid? [True, True] Translation: X:298.14, Y:-18.08, Z:-1.60 [[ 9.94609714e-01 1.03688089e-01 5.44301998e-04 2.98138031e+02] [-1.03688077e-01 9.94609863e-01 -5.03635213e-05 -1.80790238e+01] [-5.46590234e-04 -6.34557983e-06 9.99999851e-01 -1.60010286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.800281693 meters Centerline goodness [0,1] 0.99978816700913 Centerline is valid? [True, True] Translation: X:298.17, Y:-18.08, Z:-1.60 [[ 9.94602535e-01 1.03754652e-01 8.77507336e-04 2.98166627e+02] [-1.03754620e-01 9.94602922e-01 -8.11033808e-05 -1.80789804e+01] [-8.81186213e-04 -1.03798123e-05 9.99999612e-01 -1.59952116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83028169299996 meters Centerline goodness [0,1] 0.9996153106366609 Centerline is valid? [True, True] Translation: X:298.20, Y:-18.08, Z:-1.60 [[ 9.94607825e-01 1.03681261e-01 2.33881991e-03 2.98195906e+02] [-1.03681039e-01 9.94610575e-01 -2.16018213e-04 -1.80811743e+01] [-2.34861206e-03 -2.76378743e-05 9.99997242e-01 -1.59598488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.860281693 meters Centerline goodness [0,1] 0.9996589286094946 Centerline is valid? [True, True] Translation: X:298.23, Y:-18.08, Z:-1.60 [[ 9.94675521e-01 1.03014728e-01 2.92822292e-03 2.98225730e+02] [-1.03014378e-01 9.94679830e-01 -2.70375293e-04 -1.80826410e+01] [-2.94049691e-03 -3.27133781e-05 9.99995676e-01 -1.59503287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89028169299996 meters Centerline goodness [0,1] 0.9995512724630868 Centerline is valid? [True, True] Translation: X:298.26, Y:-18.09, Z:-1.60 [[ 9.94829590e-01 1.01515752e-01 2.93912942e-03 2.98255517e+02] [-1.01515393e-01 9.94833932e-01 -2.71312887e-04 -1.80851067e+01] [-2.95148820e-03 -2.84567898e-05 9.99995644e-01 -1.59573544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.920281693 meters Centerline goodness [0,1] 0.9992338469396441 Centerline is valid? [True, True] Translation: X:298.28, Y:-18.10, Z:-1.60 [[ 9.95417165e-01 9.56229356e-02 9.60129299e-04 2.98284994e+02] [-9.56228946e-02 9.95417628e-01 -8.86139643e-05 -1.80962541e+01] [-9.64203157e-04 -3.60248159e-06 9.99999535e-01 -1.60020467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95028169299997 meters Centerline goodness [0,1] 0.9990308035902407 Centerline is valid? [True, True] Translation: X:298.31, Y:-18.11, Z:-1.60 [[ 9.95826699e-01 9.12637339e-02 -3.42301878e-04 2.98313973e+02] [-9.12637284e-02 9.95826757e-01 3.16209912e-05 -1.81075316e+01] [ 3.43759218e-04 -2.49281637e-07 9.99999941e-01 -1.60336002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98028169299994 meters Centerline goodness [0,1] 0.9988158172975259 Centerline is valid? [True, True] Translation: X:298.34, Y:-18.13, Z:-1.60 [[ 9.96567618e-01 8.27805148e-02 -6.08181357e-04 2.98344647e+02] [-8.27804957e-02 9.96567803e-01 5.65805794e-05 -1.81281374e+01] [ 6.10777729e-04 -6.04081898e-06 9.99999813e-01 -1.60443530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01028169299997 meters Centerline goodness [0,1] 0.9988005997001499 Centerline is valid? [True, True] Translation: X:298.38, Y:-18.14, Z:-1.60 [[ 9.96840314e-01 7.94316048e-02 -8.81940415e-05 2.98375531e+02] [-7.94316044e-02 9.96840318e-01 8.20695916e-06 -1.81373716e+01] [ 8.85672683e-05 -1.17563354e-06 9.99999996e-01 -1.60260607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04028169299994 meters Centerline goodness [0,1] 0.9984851991331973 Centerline is valid? [True, True] Translation: X:298.41, Y:-18.15, Z:-1.60 [[ 9.97077574e-01 7.63939381e-02 5.27511308e-04 2.98405314e+02] [-7.63939231e-02 9.97077713e-01 -4.85514311e-05 -1.81501106e+01] [-5.29678804e-04 8.11088478e-06 9.99999860e-01 -1.60046114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07028169299997 meters Centerline goodness [0,1] 0.9983166418069466 Centerline is valid? [True, True] Translation: X:298.44, Y:-18.16, Z:-1.60 [[ 9.97100489e-01 7.60931770e-02 6.66377282e-04 2.98437050e+02] [-7.60931529e-02 9.97100711e-01 -6.15024152e-05 -1.81552985e+01] [-6.69125176e-04 1.06173399e-05 9.99999776e-01 -1.59971717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10028169299994 meters Centerline goodness [0,1] 0.998362538278326 Centerline is valid? [True, True] Translation: X:298.47, Y:-18.16, Z:-1.60 [[ 9.97038118e-01 7.68743296e-02 2.30836945e-03 2.98468965e+02] [-7.68740394e-02 9.97040790e-01 -2.14273819e-04 -1.81631853e+01] [-2.31801065e-03 3.61854814e-05 9.99997313e-01 -1.59761489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.130281693 meters Centerline goodness [0,1] 0.9985039218619761 Centerline is valid? [True, True] Translation: X:298.50, Y:-18.17, Z:-1.60 [[ 9.96975746e-01 7.76628618e-02 2.80039737e-03 2.98500215e+02] [-7.76624364e-02 9.96979678e-01 -2.60486367e-04 -1.81688919e+01] [-2.81216939e-03 4.22129064e-05 9.99996045e-01 -1.59751311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16028169299994 meters Centerline goodness [0,1] 0.9986544786638759 Centerline is valid? [True, True] Translation: X:298.53, Y:-18.18, Z:-1.60 [[ 9.96861329e-01 7.90974094e-02 3.33015136e-03 2.98532074e+02] [-7.90968139e-02 9.96866891e-01 -3.10379846e-04 -1.81755830e+01] [-3.34426787e-03 4.60013044e-05 9.99994407e-01 -1.59802145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.190281693 meters Centerline goodness [0,1] 0.9987480903072483 Centerline is valid? [True, True] Translation: X:298.56, Y:-18.18, Z:-1.60 [[ 9.96808784e-01 7.97650380e-02 3.12855196e-03 2.98562381e+02] [-7.97645143e-02 9.96813692e-01 -2.92011512e-04 -1.81816252e+01] [-3.14187574e-03 4.15322118e-05 9.99995063e-01 -1.59835802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22028169299995 meters Centerline goodness [0,1] 0.9987528272771471 Centerline is valid? [True, True] Translation: X:298.59, Y:-18.18, Z:-1.60 [[ 9.96742948e-01 8.06175659e-02 2.07438976e-03 2.98594813e+02] [-8.06173372e-02 9.96745107e-01 -1.93744289e-04 -1.81845487e+01] [-2.08325704e-03 2.58814753e-05 9.99997830e-01 -1.59985931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.250281693 meters Centerline goodness [0,1] 0.9990622735603768 Centerline is valid? [True, True] Translation: X:298.63, Y:-18.19, Z:-1.60 [[ 9.96554147e-01 8.29440573e-02 -3.40810005e-04 2.98627265e+02] [-8.29440511e-02 9.96554205e-01 3.22912313e-05 -1.81852222e+01] [ 3.42314009e-04 -3.91179798e-06 9.99999941e-01 -1.60281217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28028169299995 meters Centerline goodness [0,1] 0.9988768806950625 Centerline is valid? [True, True] Translation: X:298.66, Y:-18.19, Z:-1.61 [[ 9.96461271e-01 8.40423716e-02 -1.34737346e-03 2.98657931e+02] [-8.40422772e-02 9.96462182e-01 1.26610578e-04 -1.81874185e+01] [ 1.35324735e-03 -1.29262041e-05 9.99999084e-01 -1.60526603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.310281693 meters Centerline goodness [0,1] 0.9989588424027368 Centerline is valid? [True, True] Translation: X:298.69, Y:-18.19, Z:-1.61 [[ 9.96271825e-01 8.62608449e-02 -1.23185898e-03 2.98689283e+02] [-8.62607678e-02 9.96272586e-01 1.15654605e-04 -1.81860707e+01] [ 1.23724379e-03 -8.96232310e-06 9.99999235e-01 -1.60592871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34028169299995 meters Centerline goodness [0,1] 0.9990873007450173 Centerline is valid? [True, True] Translation: X:298.72, Y:-18.19, Z:-1.60 [[ 9.96159163e-01 8.75602625e-02 -3.49202797e-04 2.98720952e+02] [-8.75602563e-02 9.96159224e-01 3.31379545e-05 -1.81867109e+01] [ 3.50763156e-04 -2.43439064e-06 9.99999938e-01 -1.60459650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.370281693 meters Centerline goodness [0,1] 0.9992008748317631 Centerline is valid? [True, True] Translation: X:298.75, Y:-18.18, Z:-1.60 [[ 9.95906192e-01 9.03912315e-02 5.30469612e-04 2.98753448e+02] [-9.03912178e-02 9.95906334e-01 -4.98085912e-05 -1.81815604e+01] [-5.32800306e-04 1.65489021e-06 9.99999858e-01 -1.60215655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40028169299995 meters Centerline goodness [0,1] 0.9992156530218558 Centerline is valid? [True, True] Translation: X:298.79, Y:-18.18, Z:-1.60 [[ 9.95763207e-01 9.19535346e-02 4.27747793e-04 2.98785889e+02] [-9.19535259e-02 9.95763299e-01 -3.99452119e-05 -1.81802708e+01] [-4.29608657e-04 4.43054509e-07 9.99999908e-01 -1.60206172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.430281693 meters Centerline goodness [0,1] 0.9992736905067077 Centerline is valid? [True, True] Translation: X:298.82, Y:-18.18, Z:-1.60 [[ 9.95658517e-01 9.30787373e-02 6.82896138e-04 2.98817560e+02] [-9.30787152e-02 9.95658751e-01 -6.41933225e-05 -1.81810031e+01] [-6.85906550e-04 3.51533125e-07 9.99999765e-01 -1.60191585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46028169299996 meters Centerline goodness [0,1] 0.999384092598492 Centerline is valid? [True, True] Translation: X:298.85, Y:-18.18, Z:-1.60 [[ 9.95545675e-01 9.42769222e-02 8.19414233e-04 2.98849610e+02] [-9.42768906e-02 9.95546012e-01 -7.72333985e-05 -1.81794358e+01] [-8.23045899e-04 -3.62450145e-07 9.99999661e-01 -1.60189029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.490281693 meters Centerline goodness [0,1] 0.999384092598492 Centerline is valid? [True, True] Translation: X:298.88, Y:-18.18, Z:-1.60 [[ 9.95543460e-01 9.43003014e-02 8.19412414e-04 2.98880303e+02] [-9.43002698e-02 9.95543798e-01 -7.72526889e-05 -1.81823765e+01] [-8.23045898e-04 -3.62402499e-07 9.99999661e-01 -1.60195519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52028169299996 meters Centerline goodness [0,1] 0.9992490076172085 Centerline is valid? [True, True] Translation: X:298.91, Y:-18.18, Z:-1.60 [[ 9.95463941e-01 9.51292590e-02 1.40240340e-03 2.98911237e+02] [-9.51291670e-02 9.95464929e-01 -1.32292803e-04 -1.81794924e+01] [-1.40862832e-03 -1.71675227e-06 9.99999008e-01 -1.60122280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.550281693 meters Centerline goodness [0,1] 0.9993591386823891 Centerline is valid? [True, True] Translation: X:298.94, Y:-18.18, Z:-1.60 [[ 9.95439104e-01 9.53857993e-02 1.59364237e-03 2.98942372e+02] [-9.53856809e-02 9.95440380e-01 -1.50349187e-04 -1.81807365e+01] [-1.60071714e-03 -2.34720185e-06 9.99998719e-01 -1.60067798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58028169299996 meters Centerline goodness [0,1] 0.9993908202919861 Centerline is valid? [True, True] Translation: X:298.97, Y:-18.18, Z:-1.60 [[ 9.95365518e-01 9.61354755e-02 2.33577430e-03 2.98972650e+02] [-9.61352229e-02 9.95368259e-01 -2.20439358e-04 -1.81807729e+01] [-2.34614764e-03 -5.13244729e-06 9.99997248e-01 -1.59919349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.610281693 meters Centerline goodness [0,1] 0.9993696022190002 Centerline is valid? [True, True] Translation: X:299.00, Y:-18.18, Z:-1.60 [[ 9.95324906e-01 9.65588585e-02 2.17235909e-03 2.99002860e+02] [-9.65586409e-02 9.95327276e-01 -2.05040740e-04 -1.81814609e+01] [-2.18200675e-03 -5.67788602e-06 9.99997619e-01 -1.59964240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64028169299996 meters Centerline goodness [0,1] 0.9993607500532709 Centerline is valid? [True, True] Translation: X:299.03, Y:-18.18, Z:-1.60 [[ 9.95238772e-01 9.74643646e-02 6.95369453e-04 2.99033465e+02] [-9.74643425e-02 9.95239015e-01 -6.56410806e-05 -1.81797504e+01] [-6.98456476e-04 -2.44517808e-06 9.99999756e-01 -1.60319576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.670281693 meters Centerline goodness [0,1] 0.9993834247565591 Centerline is valid? [True, True] Translation: X:299.06, Y:-18.18, Z:-1.61 [[ 9.95225019e-01 9.76071489e-02 7.80164260e-05 2.99062508e+02] [-9.76071486e-02 9.95225022e-01 -7.38767529e-06 -1.81813083e+01] [-7.83649892e-05 -2.62561604e-07 9.99999997e-01 -1.60502494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70028169299997 meters Centerline goodness [0,1] 0.9995306165991039 Centerline is valid? [True, True] Translation: X:299.09, Y:-18.18, Z:-1.61 [[ 9.95207661e-01 9.77839781e-02 7.62155450e-05 2.99091857e+02] [-9.77839779e-02 9.95207664e-01 -7.24016665e-06 -1.81830652e+01] [-7.65582668e-05 -2.47189848e-07 9.99999997e-01 -1.60506304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73028169299994 meters Centerline goodness [0,1] 0.9992306048300919 Centerline is valid? [True, True] Translation: X:299.12, Y:-18.18, Z:-1.60 [[ 9.95137655e-01 9.84918376e-02 6.36823828e-04 2.99121124e+02] [-9.84918192e-02 9.95137859e-01 -6.01425077e-05 -1.81810390e+01] [-6.39651047e-04 -2.87186328e-06 9.99999795e-01 -1.59849275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76028169299997 meters Centerline goodness [0,1] 0.9995365786868325 Centerline is valid? [True, True] Translation: X:299.15, Y:-18.18, Z:-1.60 [[ 9.95038224e-01 9.94786558e-02 1.71170139e-03 2.99150515e+02] [-9.94785252e-02 9.95039696e-01 -1.61475579e-04 -1.81798353e+01] [-1.71927421e-03 -9.60315661e-06 9.99998522e-01 -1.60174770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79028169299994 meters Centerline goodness [0,1] 0.9995706956876382 Centerline is valid? [True, True] Translation: X:299.18, Y:-18.18, Z:-1.60 [[ 9.94806730e-01 1.01753577e-01 2.40389215e-03 2.99180242e+02] [-1.01753326e-01 9.94809635e-01 -2.26667449e-04 -1.81765801e+01] [-2.41447930e-03 -1.91137190e-05 9.99997085e-01 -1.60137024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82028169299997 meters Centerline goodness [0,1] 0.9995945109588749 Centerline is valid? [True, True] Translation: X:299.21, Y:-18.18, Z:-1.60 [[ 9.94683225e-01 1.02962226e-01 2.01526339e-03 2.99209842e+02] [-1.02962052e-01 9.94685267e-01 -1.89985164e-04 -1.81768057e+01] [-2.02411410e-03 -1.85205998e-05 9.99997951e-01 -1.60195104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85028169299994 meters Centerline goodness [0,1] 0.9998721418373218 Centerline is valid? [True, True] Translation: X:299.24, Y:-18.17, Z:-1.60 [[ 9.94515935e-01 1.04578129e-01 1.21248027e-03 2.99239073e+02] [-1.04578068e-01 9.94516674e-01 -1.14305457e-04 -1.81744086e+01] [-1.21778569e-03 -1.31202448e-05 9.99999258e-01 -1.60305996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.880281693 meters Centerline goodness [0,1] 0.9999574205360755 Centerline is valid? [True, True] Translation: X:299.27, Y:-18.17, Z:-1.61 [[ 9.94191525e-01 1.07621165e-01 -9.46853748e-04 2.99268195e+02] [-1.07621129e-01 9.94191976e-01 8.91814824e-05 -1.81670451e+01] [ 9.50952213e-04 1.32379948e-05 9.99999548e-01 -1.60652168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91028169299994 meters Centerline goodness [0,1] 0.9999366018596788 Centerline is valid? [True, True] Translation: X:299.30, Y:-18.17, Z:-1.61 [[ 9.94028132e-01 1.09111181e-01 -1.68036824e-03 2.99297496e+02] [-1.09111069e-01 9.94029552e-01 1.58135294e-04 -1.81660096e+01] [ 1.68759002e-03 2.61558443e-05 9.99998576e-01 -1.60777620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.940281693 meters Centerline goodness [0,1] 0.999721059972106 Centerline is valid? [True, True] Translation: X:299.33, Y:-18.16, Z:-1.61 [[ 9.93776498e-01 1.11383267e-01 -1.42793619e-03 2.99326173e+02] [-1.11383189e-01 9.93777524e-01 1.34257768e-04 -1.81644811e+01] [ 1.43400496e-03 2.56258719e-05 9.99998971e-01 -1.60759868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97028169299995 meters Centerline goodness [0,1] 0.9997232275920801 Centerline is valid? [True, True] Translation: X:299.35, Y:-18.16, Z:-1.61 [[ 9.93621385e-01 1.12762377e-01 -1.09078497e-03 2.99354652e+02] [-1.12762332e-01 9.93621983e-01 1.02439566e-04 -1.81623428e+01] [ 1.09537925e-03 2.12133141e-05 9.99999400e-01 -1.60731523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.000281693 meters Centerline goodness [0,1] 0.9992980216975111 Centerline is valid? [True, True] Translation: X:299.39, Y:-18.16, Z:-1.61 [[ 9.93203376e-01 1.16386221e-01 -1.14099460e-03 2.99385103e+02] [-1.16386174e-01 9.93204031e-01 1.07226259e-04 -1.81554300e+01] [ 1.14572009e-03 2.62985140e-05 9.99999343e-01 -1.60766296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03028169299995 meters Centerline goodness [0,1] 0.9992138865872054 Centerline is valid? [True, True] Translation: X:299.41, Y:-18.15, Z:-1.61 [[ 9.92998552e-01 1.18118701e-01 -1.35914459e-03 2.99413918e+02] [-1.18118637e-01 9.92999482e-01 1.27627510e-04 -1.81542106e+01] [ 1.36470507e-03 3.38063739e-05 9.99999068e-01 -1.60776196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.060281693 meters Centerline goodness [0,1] 0.9988747823871598 Centerline is valid? [True, True] Translation: X:299.44, Y:-18.15, Z:-1.61 [[ 9.92859833e-01 1.19282513e-01 -1.01688261e-03 2.99442440e+02] [-1.19282477e-01 9.92860353e-01 9.53853176e-05 -1.81518190e+01] [ 1.02100023e-03 2.65920270e-05 9.99999478e-01 -1.60745062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09028169299995 meters Centerline goodness [0,1] 0.9987141020145736 Centerline is valid? [True, True] Translation: X:299.47, Y:-18.15, Z:-1.61 [[ 9.92721425e-01 1.20433243e-01 7.94431229e-05 2.99470943e+02] [-1.20433243e-01 9.92721428e-01 -7.55672352e-06 -1.81525278e+01] [-7.97749712e-05 -2.06587157e-06 9.99999997e-01 -1.60540879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.120281693 meters Centerline goodness [0,1] 0.998562355162647 Centerline is valid? [True, True] Translation: X:299.50, Y:-18.15, Z:-1.60 [[ 9.92658339e-01 1.20949733e-01 7.64749798e-04 2.99499544e+02] [-1.20949714e-01 9.92658633e-01 -7.18491562e-05 -1.81517758e+01] [-7.67825625e-04 -2.11746052e-05 9.99999705e-01 -1.60444893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15028169299995 meters Centerline goodness [0,1] 0.9974448513755216 Centerline is valid? [True, True] Translation: X:299.53, Y:-18.14, Z:-1.60 [[ 9.92531066e-01 1.21983870e-01 1.42047067e-03 2.99528927e+02] [-1.21983804e-01 9.92532082e-01 -1.33324243e-04 -1.81407743e+01] [-1.42612612e-03 -4.09459630e-05 9.99998982e-01 -1.60282917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.180281693 meters Centerline goodness [0,1] 0.9980496904943611 Centerline is valid? [True, True] Translation: X:299.56, Y:-18.14, Z:-1.60 [[ 9.92527567e-01 1.22009370e-01 1.65595260e-03 2.99557949e+02] [-1.22009281e-01 9.92528947e-01 -1.55254889e-04 -1.81437741e+01] [-1.66252344e-03 -4.79468279e-05 9.99998617e-01 -1.60253525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21028169299996 meters Centerline goodness [0,1] 0.9983193992384113 Centerline is valid? [True, True] Translation: X:299.59, Y:-18.14, Z:-1.60 [[ 9.92659075e-01 1.20916060e-01 2.69586690e-03 2.99586741e+02] [-1.20915820e-01 9.92662733e-01 -2.52576457e-04 -1.81419805e+01] [-2.70662715e-03 -7.52506431e-05 9.99996334e-01 -1.60120363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.240281693 meters Centerline goodness [0,1] 0.9982333283667866 Centerline is valid? [True, True] Translation: X:299.62, Y:-18.14, Z:-1.60 [[ 9.92744811e-01 1.20217660e-01 2.33544843e-03 2.99616157e+02] [-1.20217478e-01 9.92747556e-01 -2.18737359e-04 -1.81422404e+01] [-2.34480682e-03 -6.36113414e-05 9.99997249e-01 -1.60148569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27028169299996 meters Centerline goodness [0,1] 0.9991217359638412 Centerline is valid? [True, True] Translation: X:299.65, Y:-18.14, Z:-1.61 [[ 9.93046632e-01 1.17720967e-01 -4.00836155e-04 2.99645183e+02] [-1.17720961e-01 9.93046713e-01 3.74146959e-05 -1.81427606e+01] [ 4.02453521e-04 1.00322799e-05 9.99999919e-01 -1.60749368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.300281693 meters Centerline goodness [0,1] 0.9993444148373726 Centerline is valid? [True, True] Translation: X:299.67, Y:-18.15, Z:-1.61 [[ 9.93321821e-01 1.15374673e-01 -6.67289387e-04 2.99673116e+02] [-1.15374657e-01 9.93322045e-01 6.23196728e-05 -1.81465206e+01] [ 6.70023370e-04 1.50847935e-05 9.99999775e-01 -1.60835890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33028169299996 meters Centerline goodness [0,1] 0.9995260867692043 Centerline is valid? [True, True] Translation: X:299.70, Y:-18.15, Z:-1.61 [[ 9.93691010e-01 1.12151817e-01 3.83450520e-04 2.99701916e+02] [-1.12151811e-01 9.93691084e-01 -3.59252910e-05 -1.81524079e+01] [-3.85060449e-04 -7.30603164e-06 9.99999926e-01 -1.60618270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.360281693 meters Centerline goodness [0,1] 0.9995570274432046 Centerline is valid? [True, True] Translation: X:299.73, Y:-18.16, Z:-1.60 [[ 9.94405499e-01 1.05610660e-01 2.02271120e-03 2.99729935e+02] [-1.05610494e-01 9.94407556e-01 -1.89129645e-04 -1.81622943e+01] [-2.03137341e-03 -2.55479684e-05 9.99997936e-01 -1.60178708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39028169299996 meters Centerline goodness [0,1] 0.9995962772512855 Centerline is valid? [True, True] Translation: X:299.76, Y:-18.17, Z:-1.60 [[ 9.94683651e-01 1.02974037e-01 8.84161575e-04 2.99757871e+02] [-1.02974004e-01 9.94684044e-01 -8.27060972e-05 -1.81680568e+01] [-8.87977991e-04 -8.77925490e-06 9.99999606e-01 -1.60383015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.420281693 meters Centerline goodness [0,1] 0.9992712151415771 Centerline is valid? [True, True] Translation: X:299.79, Y:-18.18, Z:-1.61 [[ 9.95064110e-01 9.92209067e-02 -1.62123770e-03 2.99786435e+02] [-9.92207918e-02 9.95065431e-01 1.51352315e-04 -1.81767284e+01] [ 1.62825490e-03 1.02552314e-05 9.99998674e-01 -1.60608353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45028169299997 meters Centerline goodness [0,1] 0.9993216746157922 Centerline is valid? [True, True] Translation: X:299.82, Y:-18.18, Z:-1.61 [[ 9.95233441e-01 9.75180228e-02 -7.95188366e-04 2.99815253e+02] [-9.75179947e-02 9.95233759e-01 7.41403275e-05 -1.81821453e+01] [ 7.98628325e-04 3.75824151e-06 9.99999681e-01 -1.60788167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48028169299994 meters Centerline goodness [0,1] 0.9991022571819426 Centerline is valid? [True, True] Translation: X:299.84, Y:-18.19, Z:-1.60 [[ 9.95710639e-01 9.25032070e-02 1.86563032e-03 2.99843070e+02] [-9.25030430e-02 9.95712387e-01 -1.74175931e-04 -1.81937116e+01] [-1.87374305e-03 8.52346546e-07 9.99998245e-01 -1.60344329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51028169299997 meters Centerline goodness [0,1] 0.9991025832781351 Centerline is valid? [True, True] Translation: X:299.87, Y:-18.20, Z:-1.60 [[ 9.96020756e-01 8.90923619e-02 2.28148355e-03 2.99871397e+02] [-8.90921080e-02 9.96023369e-01 -2.12877519e-04 -1.82036909e+01] [-2.29137669e-03 8.76824894e-06 9.99997375e-01 -1.60276465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54028169299994 meters Centerline goodness [0,1] 0.9988306082963025 Centerline is valid? [True, True] Translation: X:299.90, Y:-18.23, Z:-1.61 [[ 9.96742075e-01 8.06458303e-02 1.21916299e-03 2.99899134e+02] [-8.06457515e-02 9.96742820e-01 -1.13715893e-04 -1.82258479e+01] [-1.22436267e-03 1.50250998e-05 9.99999250e-01 -1.60523108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57028169299997 meters Centerline goodness [0,1] 0.9985610901857886 Centerline is valid? [True, True] Translation: X:299.93, Y:-18.24, Z:-1.61 [[ 9.97071377e-01 7.64746116e-02 5.51169518e-04 2.99927963e+02] [-7.64745950e-02 9.97071529e-01 -5.13149515e-05 -1.82389384e+01] [-5.53479725e-04 9.01420368e-06 9.99999847e-01 -1.60721232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60028169299994 meters Centerline goodness [0,1] 0.9981114459109621 Centerline is valid? [True, True] Translation: X:299.96, Y:-18.26, Z:-1.61 [[ 9.97503964e-01 7.06070583e-02 6.96236344e-04 2.99956240e+02] [-7.06070302e-02 9.97504207e-01 -6.49653434e-05 -1.82576301e+01] [-6.99085694e-04 1.56440070e-05 9.99999756e-01 -1.60622024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.630281693 meters Centerline goodness [0,1] 0.9976230395381905 Centerline is valid? [True, True] Translation: X:299.99, Y:-18.27, Z:-1.61 [[ 9.97579731e-01 6.95291714e-02 6.11408788e-04 2.99986948e+02] [-6.95291495e-02 9.97579919e-01 -5.70181735e-05 -1.82654926e+01] [-6.13893556e-04 1.43694412e-05 9.99999811e-01 -1.60620742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66028169299994 meters Centerline goodness [0,1] 0.9979250449217079 Centerline is valid? [True, True] Translation: X:300.02, Y:-18.27, Z:-1.61 [[ 9.97449463e-01 7.13741466e-02 5.47696957e-04 3.00017385e+02] [-7.13741293e-02 9.97449613e-01 -5.11004288e-05 -1.82692144e+01] [-5.49947368e-04 1.18787018e-05 9.99999849e-01 -1.60590477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.690281693 meters Centerline goodness [0,1] 0.9982621009268795 Centerline is valid? [True, True] Translation: X:300.05, Y:-18.27, Z:-1.61 [[ 9.97262842e-01 7.39334561e-02 8.17581859e-04 3.00048081e+02] [-7.39334184e-02 9.97263177e-01 -7.63143882e-05 -1.82700397e+01] [-8.20986468e-04 1.56588820e-05 9.99999663e-01 -1.60565982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72028169299995 meters Centerline goodness [0,1] 0.9985708495979181 Centerline is valid? [True, True] Translation: X:300.08, Y:-18.27, Z:-1.61 [[ 9.97076988e-01 7.63972714e-02 9.68437015e-04 3.00078627e+02] [-7.63972196e-02 9.97077458e-01 -9.03954479e-05 -1.82710297e+01] [-9.72512683e-04 1.61453256e-05 9.99999527e-01 -1.60561715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.750281693 meters Centerline goodness [0,1] 0.9988946283187722 Centerline is valid? [True, True] Translation: X:300.11, Y:-18.27, Z:-1.60 [[ 9.96766932e-01 8.03472197e-02 8.62630666e-05 3.00109334e+02] [-8.03472193e-02 9.96766936e-01 -8.05193154e-06 -1.82710040e+01] [-8.66311228e-05 1.09490157e-06 9.99999996e-01 -1.60401218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78028169299995 meters Centerline goodness [0,1] 0.9987624026458978 Centerline is valid? [True, True] Translation: X:300.14, Y:-18.27, Z:-1.61 [[ 9.96511689e-01 8.34531103e-02 -1.80004343e-04 3.00139182e+02] [-8.34531086e-02 9.96511705e-01 1.68462554e-05 -1.82708953e+01] [ 1.80782307e-04 -1.76556840e-06 9.99999984e-01 -1.60878438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.810281693 meters Centerline goodness [0,1] 0.9989468707015131 Centerline is valid? [True, True] Translation: X:300.17, Y:-18.27, Z:-1.61 [[ 9.96419619e-01 8.45450213e-02 -2.87342798e-04 3.00168129e+02] [-8.45450171e-02 9.96419660e-01 2.67513466e-05 -1.82733682e+01] [ 2.88575706e-04 -2.36216487e-06 9.99999958e-01 -1.60887913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84028169299995 meters Centerline goodness [0,1] 0.9989591520275294 Centerline is valid? [True, True] Translation: X:300.20, Y:-18.28, Z:-1.61 [[ 9.96339552e-01 8.54808543e-02 -7.21917092e-04 3.00197214e+02] [-8.54808279e-02 9.96339813e-01 6.73168291e-05 -1.82761495e+01] [ 7.25029041e-04 -5.36034862e-06 9.99999737e-01 -1.60930364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.870281693 meters Centerline goodness [0,1] 0.9991487369384324 Centerline is valid? [True, True] Translation: X:300.23, Y:-18.28, Z:-1.61 [[ 9.96076561e-01 8.84833848e-02 -1.47457422e-03 3.00226821e+02] [-8.84832782e-02 9.96077653e-01 1.37515375e-04 -1.82759318e+01] [ 1.48095825e-03 -6.50068138e-06 9.99998903e-01 -1.61068884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90028169299995 meters Centerline goodness [0,1] 0.9991754931185387 Centerline is valid? [True, True] Translation: X:300.26, Y:-18.28, Z:-1.61 [[ 9.95888199e-01 9.05838882e-02 -1.11992229e-03 3.00256591e+02] [-9.05838281e-02 9.95888829e-01 1.04407286e-04 -1.82757254e+01] [ 1.12477571e-03 -2.53113561e-06 9.99999367e-01 -1.61021650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.930281693 meters Centerline goodness [0,1] 0.999530035033752 Centerline is valid? [True, True] Translation: X:300.29, Y:-18.27, Z:-1.61 [[ 9.95375041e-01 9.60652087e-02 6.37170506e-05 3.00286691e+02] [-9.60652085e-02 9.95375043e-01 -6.02793990e-06 -1.82681683e+01] [-6.40014373e-05 -1.20930833e-07 9.99999998e-01 -1.60846073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96028169299996 meters Centerline goodness [0,1] 0.9995955553663417 Centerline is valid? [True, True] Translation: X:300.32, Y:-18.26, Z:-1.61 [[ 9.95028168e-01 9.95938182e-02 1.24910558e-04 3.00316128e+02] [-9.95938176e-02 9.95028176e-01 -1.17275046e-05 -1.82638582e+01] [-1.25457511e-04 -7.71121919e-07 9.99999992e-01 -1.60814268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.990281693 meters Centerline goodness [0,1] 0.999616907163836 Centerline is valid? [True, True] Translation: X:300.35, Y:-18.25, Z:-1.61 [[ 9.94322551e-01 1.06402569e-01 -1.07645119e-03 3.00347144e+02] [-1.06402523e-01 9.94323133e-01 1.00239782e-04 -1.82523617e+01] [ 1.08100609e-03 1.48664465e-05 9.99999416e-01 -1.61035153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02028169299996 meters Centerline goodness [0,1] 0.9998497983005751 Centerline is valid? [True, True] Translation: X:300.38, Y:-18.25, Z:-1.61 [[ 9.94050898e-01 1.08901979e-01 -1.78091741e-03 3.00375912e+02] [-1.08901857e-01 9.94052493e-01 1.65734800e-04 -1.82545873e+01] [ 1.78837424e-03 2.91963864e-05 9.99998400e-01 -1.61128651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.050281693 meters Centerline goodness [0,1] 0.9998087385243115 Centerline is valid? [True, True] Translation: X:300.40, Y:-18.25, Z:-1.61 [[ 9.93812523e-01 1.11044481e-01 -2.40672166e-03 3.00404525e+02] [-1.11044265e-01 9.93815436e-01 2.23813365e-04 -1.82522537e+01] [ 2.41669037e-03 4.48241122e-05 9.99997079e-01 -1.61259180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08028169299996 meters Centerline goodness [0,1] 0.9994915577399741 Centerline is valid? [True, True] Translation: X:300.43, Y:-18.24, Z:-1.61 [[ 9.93280901e-01 1.15693928e-01 -2.82270170e-03 3.00433941e+02] [-1.15693649e-01 9.93284909e-01 2.62488083e-04 -1.82439034e+01] [ 2.83411528e-03 6.58442620e-05 9.99995982e-01 -1.61279489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.110281693 meters Centerline goodness [0,1] 0.9992311635058944 Centerline is valid? [True, True] Translation: X:300.46, Y:-18.24, Z:-1.61 [[ 9.93095770e-01 1.17286446e-01 -2.16372573e-03 3.00462673e+02] [-1.17286286e-01 9.93098125e-01 2.01021509e-04 -1.82412583e+01] [ 2.17236907e-03 5.41417448e-05 9.99997639e-01 -1.61148333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14028169299996 meters Centerline goodness [0,1] 0.9985152819903705 Centerline is valid? [True, True] Translation: X:300.49, Y:-18.23, Z:-1.61 [[ 9.92811278e-01 1.19690002e-01 2.64820421e-04 3.00492828e+02] [-1.19689999e-01 9.92811313e-01 -2.46798630e-05 -1.82339151e+01] [-2.65870642e-04 -7.19390970e-06 9.99999965e-01 -1.60674240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.170281693 meters Centerline goodness [0,1] 0.9981159236208138 Centerline is valid? [True, True] Translation: X:300.52, Y:-18.23, Z:-1.61 [[ 9.92675772e-01 1.20806448e-01 7.83332968e-04 3.00522102e+02] [-1.20806428e-01 9.92676081e-01 -7.28514293e-05 -1.82311585e+01] [-7.86396823e-04 -2.23138091e-05 9.99999691e-01 -1.60576770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20028169299997 meters Centerline goodness [0,1] 0.9981498809118747 Centerline is valid? [True, True] Translation: X:300.55, Y:-18.23, Z:-1.61 [[ 9.92448161e-01 1.22660405e-01 1.03562390e-03 3.00552357e+02] [-1.22660371e-01 9.92448701e-01 -9.62149022e-05 -1.82275158e+01] [-1.03960536e-03 -3.15417096e-05 9.99999459e-01 -1.60627425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23028169299994 meters Centerline goodness [0,1] 0.9924650390583427 Centerline is valid? [True, True] Translation: X:300.58, Y:-18.21, Z:-1.61 [[ 9.92402948e-01 1.23019132e-01 1.63790366e-03 3.00581908e+02] [-1.23019049e-01 9.92404298e-01 -1.52118975e-04 -1.82108608e+01] [-1.64417617e-03 -5.05300305e-05 9.99998647e-01 -1.60580731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26028169299997 meters Centerline goodness [0,1] 0.9966452157400569 Centerline is valid? [True, True] Translation: X:300.61, Y:-18.22, Z:-1.60 [[ 9.92462538e-01 1.22527367e-01 2.27031910e-03 3.00610207e+02] [-1.22527206e-01 9.92465133e-01 -2.10677627e-04 -1.82203227e+01] [-2.27902632e-03 -6.90862028e-05 9.99997401e-01 -1.60370203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29028169299994 meters Centerline goodness [0,1] 0.9976459610205077 Centerline is valid? [True, True] Translation: X:300.64, Y:-18.22, Z:-1.60 [[ 9.92856125e-01 1.19292573e-01 2.44886508e-03 3.00640032e+02] [-1.19292375e-01 9.92859143e-01 -2.27143503e-04 -1.82229249e+01] [-2.45847462e-03 -6.66101128e-05 9.99996976e-01 -1.60317950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32028169299997 meters Centerline goodness [0,1] 0.9990485453315291 Centerline is valid? [True, True] Translation: X:300.67, Y:-18.23, Z:-1.60 [[ 9.93288906e-01 1.15641450e-01 2.05038927e-03 3.00669348e+02] [-1.15641304e-01 9.93291021e-01 -1.90164416e-04 -1.82344869e+01] [-2.05862414e-03 -4.82214847e-05 9.99997880e-01 -1.60420407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35028169299994 meters Centerline goodness [0,1] 0.9996608804391598 Centerline is valid? [True, True] Translation: X:300.70, Y:-18.25, Z:-1.60 [[ 9.94463148e-01 1.05042513e-01 3.01944150e-03 3.00697000e+02] [-1.05042147e-01 9.94467732e-01 -2.79991055e-04 -1.82502372e+01] [-3.03214810e-03 -3.87278299e-05 9.99995402e-01 -1.60357505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.380281693 meters Centerline goodness [0,1] 0.9994268489428547 Centerline is valid? [True, True] Translation: X:300.72, Y:-18.27, Z:-1.60 [[ 9.95105060e-01 9.87722464e-02 3.15641682e-03 3.00724598e+02] [-9.87718151e-02 9.95110066e-01 -2.92612255e-04 -1.82656956e+01] [-3.16988411e-03 -2.05850828e-05 9.99994976e-01 -1.60395534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41028169299994 meters Centerline goodness [0,1] 0.9994268489428547 Centerline is valid? [True, True] Translation: X:300.75, Y:-18.27, Z:-1.60 [[ 9.95109685e-01 9.87256344e-02 3.15643054e-03 3.00752814e+02] [-9.87252034e-02 9.95114691e-01 -2.92464141e-04 -1.82682198e+01] [-3.16988411e-03 -2.05853481e-05 9.99994976e-01 -1.60401497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.440281693 meters Centerline goodness [0,1] 0.9991717459171321 Centerline is valid? [True, True] Translation: X:300.78, Y:-18.29, Z:-1.61 [[ 9.96215766e-01 8.69014569e-02 1.51164104e-03 3.00780525e+02] [-8.69013445e-02 9.96216912e-01 -1.40022975e-04 -1.82920223e+01] [-1.51809057e-03 8.12945663e-06 9.99998848e-01 -1.60752565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47028169299995 meters Centerline goodness [0,1] 0.9990849116833369 Centerline is valid? [True, True] Translation: X:300.81, Y:-18.30, Z:-1.61 [[ 9.96645540e-01 8.18366429e-02 6.56615692e-04 3.00809868e+02] [-8.18366206e-02 9.96645756e-01 -6.08114684e-05 -1.83044037e+01] [-6.59389850e-04 6.87226952e-06 9.99999783e-01 -1.60923174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.500281693 meters Centerline goodness [0,1] 0.9989146857908962 Centerline is valid? [True, True] Translation: X:300.84, Y:-18.32, Z:-1.61 [[ 9.97159236e-01 7.53191358e-02 -6.97152394e-04 3.00839103e+02] [-7.53191091e-02 9.97159480e-01 6.45657137e-05 -1.83211371e+01] [ 7.00035152e-04 -1.18734005e-05 9.99999755e-01 -1.61073186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53028169299995 meters Centerline goodness [0,1] 0.9990407776096178 Centerline is valid? [True, True] Translation: X:300.87, Y:-18.33, Z:-1.61 [[ 9.97236765e-01 7.42780796e-02 -1.26549289e-03 3.00869262e+02] [-7.42779907e-02 9.97237568e-01 1.17201709e-04 -1.83277000e+01] [ 1.27070257e-03 -2.28795835e-05 9.99999192e-01 -1.61131225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.560281693 meters Centerline goodness [0,1] 0.9989580232211968 Centerline is valid? [True, True] Translation: X:300.90, Y:-18.33, Z:-1.61 [[ 9.97191545e-01 7.48780691e-02 -1.51579004e-03 3.00897805e+02] [-7.48779424e-02 9.97192697e-01 1.40257211e-04 -1.83318723e+01] [ 1.52203695e-03 -2.63640658e-05 9.99998841e-01 -1.61163279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59028169299995 meters Centerline goodness [0,1] 0.9990411455114956 Centerline is valid? [True, True] Translation: X:300.93, Y:-18.33, Z:-1.61 [[ 9.96818993e-01 7.96765481e-02 -1.88206122e-03 3.00927569e+02] [-7.96763613e-02 9.96820770e-01 1.74144813e-04 -1.83297515e+01] [ 1.88995297e-03 -2.36350678e-05 9.99998214e-01 -1.61267624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.620281693 meters Centerline goodness [0,1] 0.9992080648958712 Centerline is valid? [True, True] Translation: X:300.96, Y:-18.33, Z:-1.62 [[ 9.96245265e-01 8.64990618e-02 -3.64466883e-03 3.00957207e+02] [-8.64984068e-02 9.96251932e-01 3.37265295e-04 -1.83265793e+01] [ 3.66018150e-03 -2.07409064e-05 9.99993301e-01 -1.61682256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65028169299995 meters Centerline goodness [0,1] 0.9993555316863587 Centerline is valid? [True, True] Translation: X:300.99, Y:-18.32, Z:-1.62 [[ 9.95946547e-01 8.98522935e-02 -4.12810786e-03 3.00986825e+02] [-8.98514830e-02 9.95955102e-01 3.81744290e-04 -1.83242513e+01] [ 4.14571068e-03 -9.28029417e-06 9.99991406e-01 -1.61786574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.680281693 meters Centerline goodness [0,1] 0.9994480181729402 Centerline is valid? [True, True] Translation: X:301.02, Y:-18.32, Z:-1.62 [[ 9.95356388e-01 9.61764995e-02 -3.96756304e-03 3.01015053e+02] [-9.61758018e-02 9.95364295e-01 3.66713929e-04 -1.83172708e+01] [ 3.98443985e-03 1.65725049e-05 9.99992062e-01 -1.61589712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71028169299996 meters Centerline goodness [0,1] 0.9996617765188348 Centerline is valid? [True, True] Translation: X:301.04, Y:-18.31, Z:-1.62 [[ 9.95046391e-01 9.93457821e-02 -3.61864861e-03 3.01043503e+02] [-9.93452235e-02 9.95052971e-01 3.34226581e-04 -1.83149546e+01] [ 3.63395105e-03 2.69245017e-05 9.99993397e-01 -1.61501007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.740281693 meters Centerline goodness [0,1] 0.9997661962251317 Centerline is valid? [True, True] Translation: X:301.07, Y:-18.31, Z:-1.61 [[ 9.94686603e-01 1.02893829e-01 -3.37967823e-03 3.01072926e+02] [-1.02893363e-01 9.94692344e-01 3.12020350e-04 -1.83116891e+01] [ 3.39384503e-03 3.73839974e-05 9.99994240e-01 -1.61412155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77028169299996 meters Centerline goodness [0,1] 0.9997437266417512 Centerline is valid? [True, True] Translation: X:301.10, Y:-18.30, Z:-1.61 [[ 9.93849419e-01 1.10711732e-01 -2.49899482e-03 3.01104112e+02] [-1.10711502e-01 9.93852560e-01 2.30731198e-04 -1.83002775e+01] [ 2.50917705e-03 4.73554019e-05 9.99996851e-01 -1.61301689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.800281693 meters Centerline goodness [0,1] 0.9981649053977093 Centerline is valid? [True, True] Translation: X:301.14, Y:-18.28, Z:-1.61 [[ 9.92879550e-01 1.19110235e-01 -1.71792016e-03 3.01135280e+02] [-1.19110139e-01 9.92881035e-01 1.58587879e-04 -1.82839003e+01] [ 1.72457978e-03 4.71630464e-05 9.99998512e-01 -1.61087564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83028169299996 meters Centerline goodness [0,1] 0.9979157805189282 Centerline is valid? [True, True] Translation: X:301.17, Y:-18.28, Z:-1.61 [[ 9.92362505e-01 1.23347919e-01 -1.39656926e-03 3.01165433e+02] [-1.23347859e-01 9.92363486e-01 1.28900829e-04 -1.82829390e+01] [ 1.40180399e-03 4.43474789e-05 9.99999016e-01 -1.60880696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.860281693 meters Centerline goodness [0,1] 0.9939175585461482 Centerline is valid? [True, True] Translation: X:301.20, Y:-18.27, Z:-1.61 [[ 9.91298793e-01 1.31630937e-01 1.06228869e-05 3.01197749e+02] [-1.31630937e-01 9.91298793e-01 -9.97076179e-07 -1.82669347e+01] [-1.06617010e-05 -4.09900139e-07 1.00000000e+00 -1.60699943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89028169299996 meters Centerline goodness [0,1] 0.9887132219590774 Centerline is valid? [True, True] Translation: X:301.23, Y:-18.26, Z:-1.61 [[ 9.90828056e-01 1.35125826e-01 8.79688625e-04 3.01228425e+02] [-1.35125807e-01 9.90828446e-01 -8.12218356e-05 -1.82556541e+01] [-8.82595681e-04 -3.83917619e-05 9.99999610e-01 -1.60593053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.920281693 meters Centerline goodness [0,1] 0.9860519096855876 Centerline is valid? [True, True] Translation: X:301.26, Y:-18.25, Z:-1.61 [[ 9.90500433e-01 1.37505046e-01 1.12003080e-03 3.01258151e+02] [-1.37505016e-01 9.90501065e-01 -1.03391865e-04 -1.82488903e+01] [-1.12360860e-03 -5.16001664e-05 9.99999367e-01 -1.60618495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95028169299997 meters Centerline goodness [0,1] 0.982967231590363 Centerline is valid? [True, True] Translation: X:301.29, Y:-18.24, Z:-1.61 [[ 9.90234317e-01 1.39412147e-01 -5.00975682e-04 3.01288299e+02] [-1.39412142e-01 9.90234443e-01 4.60990152e-05 -1.82377826e+01] [ 5.02510138e-04 2.41932661e-05 9.99999873e-01 -1.60944953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98028169299994 meters Centerline goodness [0,1] 0.990087637199013 Centerline is valid? [True, True] Translation: X:301.32, Y:-18.24, Z:-1.61 [[ 9.90330183e-01 1.38726405e-01 -1.05466408e-03 3.01316216e+02] [-1.38726380e-01 9.90330744e-01 9.71133210e-05 -1.82448795e+01] [ 1.05793845e-03 5.01354769e-05 9.99999439e-01 -1.61021653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01028169299997 meters Centerline goodness [0,1] 0.9909245962392874 Centerline is valid? [True, True] Translation: X:301.35, Y:-18.24, Z:-1.61 [[ 9.90871515e-01 1.34806303e-01 -9.49490427e-04 3.01346376e+02] [-1.34806281e-01 9.90871969e-01 8.75089576e-05 -1.82404969e+01] [ 9.52620208e-04 4.12871402e-05 9.99999545e-01 -1.61024873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04028169299994 meters Centerline goodness [0,1] 0.9930376809148065 Centerline is valid? [True, True] Translation: X:301.38, Y:-18.24, Z:-1.61 [[ 9.91223591e-01 1.32195867e-01 -2.13100157e-04 3.01376118e+02] [-1.32195866e-01 9.91223614e-01 1.95883728e-05 -1.82422884e+01] [ 2.13819410e-04 8.75450258e-06 9.99999977e-01 -1.60914672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07028169299997 meters Centerline goodness [0,1] 0.9953707672524646 Centerline is valid? [True, True] Translation: X:301.41, Y:-18.25, Z:-1.61 [[ 9.91580048e-01 1.29494974e-01 2.46823301e-04 3.01405372e+02] [-1.29494972e-01 9.91580078e-01 -2.27882207e-05 -1.82478865e+01] [-2.47696029e-04 -9.36603152e-06 9.99999969e-01 -1.60827294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10028169299994 meters Centerline goodness [0,1] 0.9958699565815948 Centerline is valid? [True, True] Translation: X:301.44, Y:-18.24, Z:-1.61 [[ 9.92214138e-01 1.24543569e-01 6.55661445e-05 3.01435322e+02] [-1.24543569e-01 9.92214140e-01 -6.04617359e-06 -1.82442129e+01] [-6.58086677e-05 -2.16674271e-06 9.99999998e-01 -1.60966083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.130281693 meters Centerline goodness [0,1] 0.9981952173259137 Centerline is valid? [True, True] Translation: X:301.47, Y:-18.24, Z:-1.61 [[ 9.92562010e-01 1.21731741e-01 -1.42796588e-03 3.01465408e+02] [-1.21731678e-01 9.92563036e-01 1.31503754e-04 -1.82435654e+01] [ 1.43335433e-03 4.33030526e-05 9.99998972e-01 -1.61178352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16028169299994 meters Centerline goodness [0,1] 0.9979999148899953 Centerline is valid? [True, True] Translation: X:301.49, Y:-18.24, Z:-1.61 [[ 9.92604144e-01 1.21381454e-01 -1.88575925e-03 3.01494342e+02] [-1.21381343e-01 9.92605934e-01 1.73507274e-04 -1.82413671e+01] [ 1.89287639e-03 5.66719511e-05 9.99998207e-01 -1.61230458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.190281693 meters Centerline goodness [0,1] 0.9982495463763476 Centerline is valid? [True, True] Translation: X:301.52, Y:-18.24, Z:-1.61 [[ 9.92671996e-01 1.20825509e-01 -1.87220740e-03 3.01522221e+02] [-1.20825400e-01 9.92673760e-01 1.72124976e-04 -1.82393607e+01] [ 1.87928824e-03 5.53465638e-05 9.99998233e-01 -1.61224931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22028169299995 meters Centerline goodness [0,1] 0.9986572031459812 Centerline is valid? [True, True] Translation: X:301.55, Y:-18.24, Z:-1.61 [[ 9.92960657e-01 1.18444526e-01 -1.64860799e-04 3.01551987e+02] [-1.18444525e-01 9.92960671e-01 1.48233329e-05 -1.82369086e+01] [ 1.65456032e-04 4.80787254e-06 9.99999986e-01 -1.60965435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.250281693 meters Centerline goodness [0,1] 0.9986789960369881 Centerline is valid? [True, True] Translation: X:301.58, Y:-18.24, Z:-1.61 [[ 9.93185027e-01 1.16547186e-01 5.04693582e-04 3.01580382e+02] [-1.16547178e-01 9.93185156e-01 -4.64308025e-05 -1.82379666e+01] [-5.06665553e-04 -1.27062347e-05 9.99999872e-01 -1.60854875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28028169299995 meters Centerline goodness [0,1] 0.9992140869602159 Centerline is valid? [True, True] Translation: X:301.61, Y:-18.24, Z:-1.61 [[ 9.93580499e-01 1.13127147e-01 2.01920101e-04 3.01610454e+02] [-1.13127145e-01 9.93580519e-01 -1.85590895e-05 -1.82386204e+01] [-2.02723416e-04 -4.40269522e-06 9.99999979e-01 -1.61034315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.310281693 meters Centerline goodness [0,1] 0.9992947813822285 Centerline is valid? [True, True] Translation: X:301.64, Y:-18.24, Z:-1.61 [[ 9.93740001e-01 1.11717020e-01 -3.43731492e-04 3.01639100e+02] [-1.11717016e-01 9.93740060e-01 3.14389052e-05 -1.82391428e+01] [ 3.45092015e-04 7.15855901e-06 9.99999940e-01 -1.61161441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34028169299995 meters Centerline goodness [0,1] 0.9995734334342874 Centerline is valid? [True, True] Translation: X:301.67, Y:-18.24, Z:-1.61 [[ 9.93925923e-01 1.10046737e-01 -9.87965438e-04 3.01667542e+02] [-1.10046702e-01 9.93926413e-01 9.04988540e-05 -1.82404027e+01] [ 9.91924048e-04 1.87731811e-05 9.99999508e-01 -1.61261036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.370281693 meters Centerline goodness [0,1] 0.999533967420086 Centerline is valid? [True, True] Translation: X:301.70, Y:-18.24, Z:-1.61 [[ 9.94330476e-01 1.06333175e-01 3.99284725e-04 3.01696515e+02] [-1.06333169e-01 9.94330557e-01 -3.66924982e-05 -1.82408653e+01] [-4.00922633e-04 -5.97274091e-06 9.99999920e-01 -1.61016622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40028169299995 meters Centerline goodness [0,1] 0.9997243718859323 Centerline is valid? [True, True] Translation: X:301.72, Y:-18.24, Z:-1.61 [[ 9.94493436e-01 1.04789746e-01 1.38344964e-03 3.01723990e+02] [-1.04789671e-01 9.94494399e-01 -1.26838628e-04 -1.82420857e+01] [-1.38912431e-03 -1.88310497e-05 9.99999035e-01 -1.60805911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.430281693 meters Centerline goodness [0,1] 0.9996808918010467 Centerline is valid? [True, True] Translation: X:301.75, Y:-18.25, Z:-1.61 [[ 9.94830176e-01 1.01538207e-01 1.70690716e-03 3.01752612e+02] [-1.01538088e-01 9.94831640e-01 -1.56364540e-04 -1.82470457e+01] [-1.71396222e-03 -1.77599275e-05 9.99998531e-01 -1.60725611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46028169299996 meters Centerline goodness [0,1] 0.999745287824758 Centerline is valid? [True, True] Translation: X:301.78, Y:-18.25, Z:-1.61 [[ 9.95100018e-01 9.88617774e-02 1.51784028e-03 3.01780172e+02] [-9.88616804e-02 9.95101175e-01 -1.38990918e-04 -1.82511985e+01] [-1.52414554e-03 -1.17463761e-05 9.99998838e-01 -1.60760905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.490281693 meters Centerline goodness [0,1] 0.9996569541819429 Centerline is valid? [True, True] Translation: X:301.81, Y:-18.26, Z:-1.61 [[ 9.95830625e-01 9.11858184e-02 2.55208199e-03 3.01808275e+02] [-9.11855195e-02 9.95833895e-01 -2.33469456e-04 -1.82646637e+01] [-2.56273885e-03 -2.16887739e-07 9.99996716e-01 -1.60669517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52028169299996 meters Centerline goodness [0,1] 0.9995080634811995 Centerline is valid? [True, True] Translation: X:301.84, Y:-18.27, Z:-1.61 [[ 9.96235611e-01 8.66371927e-02 2.93343554e-03 3.01836101e+02] [-8.66367785e-02 9.96239929e-01 -2.68205658e-04 -1.82741058e+01] [-2.94564220e-03 1.30526224e-05 9.99995662e-01 -1.60634211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.550281693 meters Centerline goodness [0,1] 0.9995117913013946 Centerline is valid? [True, True] Translation: X:301.86, Y:-18.29, Z:-1.61 [[ 9.96653808e-01 8.16910109e-02 2.78670061e-03 3.01862993e+02] [-8.16906181e-02 9.96657704e-01 -2.54648944e-04 -1.82853180e+01] [-2.79818916e-03 2.61495447e-05 9.99996085e-01 -1.60693823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58028169299996 meters Centerline goodness [0,1] 0.9994242947610823 Centerline is valid? [True, True] Translation: X:301.89, Y:-18.31, Z:-1.61 [[ 9.97436550e-01 7.15504237e-02 9.30449869e-04 3.01891515e+02] [-7.15503756e-02 9.97436984e-01 -8.49889166e-05 -1.83071189e+01] [-9.34146104e-04 1.81970142e-05 9.99999564e-01 -1.61025865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.610281693 meters Centerline goodness [0,1] 0.9991876175816659 Centerline is valid? [True, True] Translation: X:301.92, Y:-18.33, Z:-1.61 [[ 9.97971433e-01 6.36548227e-02 -1.04004509e-03 3.01920136e+02] [-6.36547582e-02 9.97971975e-01 9.49705274e-05 -1.83258567e+01] [ 1.04398118e-03 -2.85740549e-05 9.99999455e-01 -1.61202043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64028169299996 meters Centerline goodness [0,1] 0.9992020703040759 Centerline is valid? [True, True] Translation: X:301.95, Y:-18.33, Z:-1.61 [[ 9.98138154e-01 6.09880727e-02 -8.25206657e-04 3.01949291e+02] [-6.09880312e-02 9.98138495e-01 7.52849819e-05 -1.83332707e+01] [ 8.28262016e-04 -2.48170835e-05 9.99999657e-01 -1.61149031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.670281693 meters Centerline goodness [0,1] 0.9984162314870302 Centerline is valid? [True, True] Translation: X:301.98, Y:-18.35, Z:-1.61 [[ 9.98250462e-01 5.91247978e-02 -5.23740699e-04 3.01976876e+02] [-5.91247809e-02 9.98250599e-01 4.77255058e-05 -1.83492273e+01] [ 5.25646227e-04 -1.66759541e-05 9.99999862e-01 -1.61154623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70028169299997 meters Centerline goodness [0,1] 0.998770518323591 Centerline is valid? [True, True] Translation: X:302.01, Y:-18.36, Z:-1.61 [[ 9.98389653e-01 5.67270531e-02 3.76475458e-04 3.02005687e+02] [-5.67270442e-02 9.98389724e-01 -3.43970896e-05 -1.83601634e+01] [-3.77820474e-04 1.29853585e-05 9.99999929e-01 -1.61037814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73028169299994 meters Centerline goodness [0,1] 0.9971925162341141 Centerline is valid? [True, True] Translation: X:302.03, Y:-18.38, Z:-1.61 [[ 9.98432182e-01 5.59748030e-02 5.90739385e-07 3.02032856e+02] [-5.59748030e-02 9.98432182e-01 -1.27378079e-07 -1.83799588e+01] [-5.96943174e-07 9.41118540e-08 1.00000000e+00 -1.61180372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76028169299997 meters Centerline goodness [0,1] 0.9973731240445277 Centerline is valid? [True, True] Translation: X:302.06, Y:-18.39, Z:-1.61 [[ 9.98524093e-01 5.43017794e-02 -9.75527127e-04 3.02061951e+02] [-5.43017184e-02 9.98524569e-01 8.89000642e-05 -1.83910573e+01] [ 9.78915236e-04 -3.57960567e-05 9.99999520e-01 -1.61273038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79028169299994 meters Centerline goodness [0,1] 0.9982831881196618 Centerline is valid? [True, True] Translation: X:302.09, Y:-18.39, Z:-1.61 [[ 9.98547710e-01 5.38604147e-02 -1.23591218e-03 3.02091324e+02] [-5.38603165e-02 9.98548473e-01 1.12610664e-04 -1.83945368e+01] [ 1.24018348e-03 -4.58804994e-05 9.99999230e-01 -1.61303982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82028169299997 meters Centerline goodness [0,1] 0.9970346034048726 Centerline is valid? [True, True] Translation: X:302.12, Y:-18.42, Z:-1.61 [[ 9.98577155e-01 5.33061653e-02 -1.45541489e-03 3.02119255e+02] [-5.33060285e-02 9.98578214e-01 1.32626841e-04 -1.84155153e+01] [ 1.46041543e-03 -5.48557463e-05 9.99998932e-01 -1.61464514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85028169299994 meters Centerline goodness [0,1] 0.998109356536685 Centerline is valid? [True, True] Translation: X:302.15, Y:-18.42, Z:-1.61 [[ 9.98591126e-01 5.30555044e-02 -9.36158111e-04 3.02149170e+02] [-5.30554478e-02 9.98591564e-01 8.52538797e-05 -1.84177969e+01] [ 9.39362780e-04 -3.54654800e-05 9.99999558e-01 -1.61274770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.880281693 meters Centerline goodness [0,1] 0.997760573293237 Centerline is valid? [True, True] Translation: X:302.18, Y:-18.43, Z:-1.61 [[ 9.98569466e-01 5.34695063e-02 1.81520974e-04 3.02177958e+02] [-5.34695042e-02 9.98569483e-01 -1.65622692e-05 -1.84301546e+01] [-1.82146882e-04 6.83273986e-06 9.99999983e-01 -1.61064077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91028169299994 meters Centerline goodness [0,1] 0.9986142687019595 Centerline is valid? [True, True] Translation: X:302.21, Y:-18.43, Z:-1.61 [[ 9.98508851e-01 5.45865240e-02 6.20637271e-04 3.02208473e+02] [-5.45864993e-02 9.98509044e-01 -5.65451828e-05 -1.84311045e+01] [-6.22798533e-04 2.25824495e-05 9.99999806e-01 -1.60927967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.940281693 meters Centerline goodness [0,1] 0.99862660944206 Centerline is valid? [True, True] Translation: X:302.24, Y:-18.44, Z:-1.61 [[ 9.98316784e-01 5.79768453e-02 1.51120342e-03 3.02236821e+02] [-5.79767032e-02 9.98317927e-01 -1.37690159e-04 -1.84441015e+01] [-1.51664431e-03 4.98438049e-05 9.99998849e-01 -1.60711903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97028169299995 meters Centerline goodness [0,1] 0.9989318065287985 Centerline is valid? [True, True] Translation: X:302.27, Y:-18.45, Z:-1.61 [[ 9.98185888e-01 6.01643614e-02 2.27653091e-03 3.02267275e+02] [-6.01640448e-02 9.98188482e-01 -2.07383361e-04 -1.84471109e+01] [-2.28488402e-03 7.00418364e-05 9.99997387e-01 -1.60521689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.000281693 meters Centerline goodness [0,1] 0.9990667684737422 Centerline is valid? [True, True] Translation: X:302.30, Y:-18.45, Z:-1.60 [[ 9.98031825e-01 6.26615102e-02 2.45169895e-03 3.02297048e+02] [-6.26611505e-02 9.98034834e-01 -2.23340507e-04 -1.84519504e+01] [-2.46087580e-03 6.92746568e-05 9.99996970e-01 -1.60462900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03028169299995 meters Centerline goodness [0,1] 0.9995326407919615 Centerline is valid? [True, True] Translation: X:302.33, Y:-18.45, Z:-1.61 [[ 9.97702224e-01 6.77398505e-02 1.25906463e-03 3.02328158e+02] [-6.77397597e-02 9.97703018e-01 -1.14686239e-04 -1.84501681e+01] [-1.26394141e-03 2.91339798e-05 9.99999201e-01 -1.60670351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.060281693 meters Centerline goodness [0,1] 0.9997030626961907 Centerline is valid? [True, True] Translation: X:302.36, Y:-18.45, Z:-1.61 [[ 9.97381169e-01 7.23215640e-02 -6.28199023e-04 3.02357423e+02] [-7.23215423e-02 9.97381367e-01 5.71704623e-05 -1.84518043e+01] [ 6.30688658e-04 -1.15884203e-05 9.99999801e-01 -1.61052177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09028169299995 meters Centerline goodness [0,1] 0.9997221925419383 Centerline is valid? [True, True] Translation: X:302.39, Y:-18.45, Z:-1.61 [[ 9.97265269e-01 7.38968727e-02 -1.11126456e-03 3.02387151e+02] [-7.38968059e-02 9.97265888e-01 1.01143402e-04 -1.84530892e+01] [ 1.11570042e-03 -1.87479004e-05 9.99999377e-01 -1.61073928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.120281693 meters Centerline goodness [0,1] 0.9997240735237933 Centerline is valid? [True, True] Translation: X:302.42, Y:-18.46, Z:-1.61 [[ 9.97168414e-01 7.51953567e-02 -9.01805978e-04 3.02415412e+02] [-7.51953132e-02 9.97168821e-01 8.20607100e-05 -1.84560076e+01] [ 9.05423389e-04 -1.40167650e-05 9.99999590e-01 -1.61049671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15028169299995 meters Centerline goodness [0,1] 0.9998297510108534 Centerline is valid? [True, True] Translation: X:302.45, Y:-18.45, Z:-1.61 [[ 9.97012187e-01 7.72401713e-02 8.09106039e-04 3.02445907e+02] [-7.72401370e-02 9.97012515e-01 -7.36772119e-05 -1.84547168e+01] [-8.12379688e-04 1.09616169e-05 9.99999670e-01 -1.60643663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.180281693 meters Centerline goodness [0,1] 0.9998297510108534 Centerline is valid? [True, True] Translation: X:302.48, Y:-18.45, Z:-1.60 [[ 9.96869038e-01 7.90511912e-02 1.74081597e-03 3.02475703e+02] [-7.90510350e-02 9.96870558e-01 -1.58474549e-04 -1.84538042e+01] [-1.74789579e-03 2.03650669e-05 9.99998472e-01 -1.60497937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21028169299996 meters Centerline goodness [0,1] 0.9998293551758708 Centerline is valid? [True, True] Translation: X:302.51, Y:-18.45, Z:-1.60 [[ 9.96470165e-01 8.39033725e-02 2.72642979e-03 3.02505807e+02] [-8.39030077e-02 9.96473895e-01 -2.48106545e-04 -1.84492524e+01] [-2.73763308e-03 1.84751103e-05 9.99996253e-01 -1.60400465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.240281693 meters Centerline goodness [0,1] 0.9998070408644569 Centerline is valid? [True, True] Translation: X:302.54, Y:-18.45, Z:-1.61 [[ 9.96266045e-01 8.63101223e-02 2.12831441e-03 3.02535341e+02] [-8.63099056e-02 9.96268319e-01 -1.93637912e-04 -1.84477492e+01] [-2.13708513e-03 9.22026172e-06 9.99997716e-01 -1.60555206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27028169299996 meters Centerline goodness [0,1] 0.9998304474069051 Centerline is valid? [True, True] Translation: X:302.56, Y:-18.44, Z:-1.61 [[ 9.95958620e-01 8.98046807e-02 -1.24322252e-03 3.02563035e+02] [-8.98046098e-02 9.95959396e-01 1.12869060e-04 -1.84449702e+01] [ 1.24833532e-03 -7.65799851e-07 9.99999221e-01 -1.61194134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.300281693 meters Centerline goodness [0,1] 0.9998304474069051 Centerline is valid? [True, True] Translation: X:302.59, Y:-18.45, Z:-1.61 [[ 9.95962710e-01 8.97593152e-02 -1.24322513e-03 3.02591256e+02] [-8.97592443e-02 9.95963486e-01 1.12840243e-04 -1.84474428e+01] [ 1.24833530e-03 -7.93725597e-07 9.99999221e-01 -1.61200096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33028169299996 meters Centerline goodness [0,1] 0.9998311452572924 Centerline is valid? [True, True] Translation: X:302.62, Y:-18.45, Z:-1.61 [[ 9.95860052e-01 9.08661598e-02 -2.46935702e-03 3.02618746e+02] [-9.08658836e-02 9.95863114e-01 2.24059431e-04 -1.84486892e+01] [ 2.47950099e-03 1.24847092e-06 9.99996926e-01 -1.61487487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.360281693 meters Centerline goodness [0,1] 0.9998737240871304 Centerline is valid? [True, True] Translation: X:302.65, Y:-18.45, Z:-1.62 [[ 9.95750734e-01 9.20433500e-02 -2.91519741e-03 3.02647286e+02] [-9.20429703e-02 9.95755001e-01 2.64430428e-04 -1.84494896e+01] [ 2.92716146e-03 5.01663576e-06 9.99995716e-01 -1.61556685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39028169299996 meters Centerline goodness [0,1] 0.9999145992570135 Centerline is valid? [True, True] Translation: X:302.68, Y:-18.45, Z:-1.61 [[ 9.95522034e-01 9.45247185e-02 -9.78911289e-04 3.02676805e+02] [-9.45246770e-02 9.95522515e-01 8.86853874e-05 -1.84473926e+01] [ 9.82911189e-04 4.24301611e-06 9.99999517e-01 -1.61056077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.420281693 meters Centerline goodness [0,1] 0.9998937074829932 Centerline is valid? [True, True] Translation: X:302.71, Y:-18.45, Z:-1.61 [[ 9.95433481e-01 9.54535039e-02 9.02266761e-04 3.02706103e+02] [-9.54534689e-02 9.95433890e-01 -8.18859835e-05 -1.84481154e+01] [-9.05963215e-04 -4.61244262e-06 9.99999590e-01 -1.60630088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.73, Y:-18.45, Z:-1.60 [[ 9.95495696e-01 9.47482591e-02 3.32959628e-03 3.02733553e+02] [-9.47477798e-02 9.95501264e-01 -3.01746392e-04 -1.84500808e+01] [-3.34320725e-03 -1.50846211e-05 9.99994411e-01 -1.60222927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48028169299994 meters Centerline goodness [0,1] 0.9999573005401482 Centerline is valid? [True, True] Translation: X:302.76, Y:-18.45, Z:-1.60 [[ 9.95608545e-01 9.35664995e-02 2.98914426e-03 3.02762093e+02] [-9.35661083e-02 9.95613032e-01 -2.70741617e-04 -1.84538626e+01] [-3.00136332e-03 -1.01299283e-05 9.99995496e-01 -1.60386404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51028169299997 meters Centerline goodness [0,1] 0.9999787301924917 Centerline is valid? [True, True] Translation: X:302.79, Y:-18.46, Z:-1.61 [[ 9.95722865e-01 9.23775069e-02 1.54003623e-03 3.02791072e+02] [-9.23774017e-02 9.95724056e-01 -1.39464601e-04 -1.84580225e+01] [-1.54633452e-03 -3.39645370e-06 9.99998804e-01 -1.60729502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54028169299994 meters Centerline goodness [0,1] 0.9999136777590746 Centerline is valid? [True, True] Translation: X:302.82, Y:-18.46, Z:-1.61 [[ 9.95910845e-01 9.03283250e-02 -1.54379320e-03 3.02819753e+02] [-9.03282172e-02 9.95912041e-01 1.39541056e-04 -1.84644939e+01] [ 1.55008675e-03 4.77636810e-07 9.99998799e-01 -1.61349859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57028169299997 meters Centerline goodness [0,1] 0.99982974014089 Centerline is valid? [True, True] Translation: X:302.85, Y:-18.47, Z:-1.61 [[ 9.95970614e-01 8.96749550e-02 -9.69174253e-04 3.02847180e+02] [-8.96749124e-02 9.95971085e-01 8.74871517e-05 -1.84674804e+01] [ 9.73114939e-04 -2.24015950e-07 9.99999527e-01 -1.61102033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60028169299994 meters Centerline goodness [0,1] 0.9998515376458113 Centerline is valid? [True, True] Translation: X:302.87, Y:-18.47, Z:-1.61 [[ 9.95965335e-01 8.97387197e-02 -1.18304758e-04 3.02874608e+02] [-8.97387191e-02 9.95965342e-01 1.05686613e-05 -1.84684494e+01] [ 1.18775857e-04 9.04971561e-08 9.99999993e-01 -1.60972924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.630281693 meters Centerline goodness [0,1] 0.9999150905347174 Centerline is valid? [True, True] Translation: X:302.90, Y:-18.47, Z:-1.61 [[ 9.95916119e-01 9.02827327e-02 3.35284563e-04 3.02903721e+02] [-9.02827276e-02 9.95916175e-01 -3.03681083e-05 -1.84690129e+01] [-3.36657035e-04 -2.63163202e-08 9.99999943e-01 -1.60884612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66028169299994 meters Centerline goodness [0,1] 0.9998281750037586 Centerline is valid? [True, True] Translation: X:302.93, Y:-18.47, Z:-1.61 [[ 9.95955164e-01 8.98507089e-02 4.01208439e-04 3.02932126e+02] [-8.98507016e-02 9.95955245e-01 -3.63020538e-05 -1.84721166e+01] [-4.02847414e-04 1.06358203e-07 9.99999919e-01 -1.60909837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.690281693 meters Centerline goodness [0,1] 0.9998092977920923 Centerline is valid? [True, True] Translation: X:302.96, Y:-18.48, Z:-1.61 [[ 9.96043772e-01 8.88632317e-02 3.60751855e-04 3.02959818e+02] [-8.88632257e-02 9.96043837e-01 -3.26541036e-05 -1.84772067e+01] [-3.62226411e-04 4.67343025e-07 9.99999934e-01 -1.60936857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72028169299995 meters Centerline goodness [0,1] 0.9998929496649325 Centerline is valid? [True, True] Translation: X:302.99, Y:-18.49, Z:-1.61 [[ 9.96364628e-01 8.51874966e-02 7.86290662e-04 3.02988142e+02] [-8.51874671e-02 9.96364938e-01 -7.09454786e-05 -1.84891128e+01] [-7.89476115e-04 3.70545546e-06 9.99999688e-01 -1.60898244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.750281693 meters Centerline goodness [0,1] 0.9999151409720601 Centerline is valid? [True, True] Translation: X:303.02, Y:-18.50, Z:-1.61 [[ 9.96560722e-01 8.28587485e-02 1.07475163e-03 3.03015636e+02] [-8.28586922e-02 9.96561302e-01 -9.69036697e-05 -1.84978251e+01] [-1.07908520e-03 7.51787694e-06 9.99999418e-01 -1.60942009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78028169299995 meters Centerline goodness [0,1] 0.9998734284026665 Centerline is valid? [True, True] Translation: X:303.04, Y:-18.51, Z:-1.61 [[ 9.96712343e-01 8.10178631e-02 7.81916013e-04 3.03043973e+02] [-8.10178327e-02 9.96712650e-01 -7.05415547e-05 -1.85052560e+01] [-7.85060707e-04 6.96049747e-06 9.99999692e-01 -1.61006973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.810281693 meters Centerline goodness [0,1] 0.9997654184082573 Centerline is valid? [True, True] Translation: X:303.07, Y:-18.51, Z:-1.61 [[ 9.96708890e-01 8.10501556e-02 -1.50351908e-03 3.03072530e+02] [-8.10500435e-02 9.96710024e-01 1.35419358e-04 -1.85106658e+01] [ 1.50954830e-03 -1.31133914e-05 9.99998861e-01 -1.61331764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84028169299995 meters Centerline goodness [0,1] 0.9997671119767959 Centerline is valid? [True, True] Translation: X:303.10, Y:-18.51, Z:-1.62 [[ 9.96596651e-01 8.23901927e-02 -2.64027839e-03 3.03101777e+02] [-8.23898520e-02 9.96600148e-01 2.37720076e-04 -1.85124101e+01] [ 2.65088764e-03 -1.93788853e-05 9.99996486e-01 -1.61524979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.870281693 meters Centerline goodness [0,1] 0.9998719754192805 Centerline is valid? [True, True] Translation: X:303.13, Y:-18.51, Z:-1.62 [[ 9.96253842e-01 8.64184343e-02 -3.18389499e-03 3.03129603e+02] [-8.64179600e-02 9.96258929e-01 2.86489418e-04 -1.85107320e+01] [ 3.19674178e-03 -1.02704729e-05 9.99994890e-01 -1.61621294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90028169299995 meters Centerline goodness [0,1] 0.9998718523739347 Centerline is valid? [True, True] Translation: X:303.16, Y:-18.51, Z:-1.62 [[ 9.96053688e-01 8.87002526e-02 -3.05220484e-03 3.03158819e+02] [-8.86998279e-02 9.96058364e-01 2.74516448e-04 -1.85108330e+01] [ 3.06452384e-03 -2.70307657e-06 9.99995304e-01 -1.61548922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.930281693 meters Centerline goodness [0,1] 0.9999575290395192 Centerline is valid? [True, True] Translation: X:303.19, Y:-18.51, Z:-1.62 [[ 9.95758945e-01 9.19661473e-02 -2.52031414e-03 3.03186231e+02] [-9.19658687e-02 9.95762134e-01 2.26492882e-04 -1.85120054e+01] [ 2.53046306e-03 6.25056614e-06 9.99996798e-01 -1.61536864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96028169299996 meters Centerline goodness [0,1] 0.9999361090405707 Centerline is valid? [True, True] Translation: X:303.21, Y:-18.52, Z:-1.61 [[ 9.95683397e-01 9.27989158e-02 -1.71306445e-03 3.03214955e+02] [-9.27987884e-02 9.95684870e-01 1.53857947e-04 -1.85151632e+01] [ 1.71995021e-03 5.77650280e-06 9.99998521e-01 -1.61372063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.990281693 meters Centerline goodness [0,1] 0.9999786775837438 Centerline is valid? [True, True] Translation: X:303.24, Y:-18.52, Z:-1.61 [[ 9.95653532e-01 9.31315023e-02 -7.53173683e-04 3.03243453e+02] [-9.31314779e-02 9.95653817e-01 6.75596489e-05 -1.85186431e+01] [ 7.56192184e-04 2.87817515e-06 9.99999714e-01 -1.61176364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02028169299996 meters Centerline goodness [0,1] 0.9999789234076635 Centerline is valid? [True, True] Translation: X:303.27, Y:-18.52, Z:-1.61 [[ 9.95631073e-01 9.33740633e-02 -2.26373465e-04 3.03272439e+02] [-9.33740612e-02 9.95631098e-01 2.02300337e-05 -1.85237861e+01] [ 2.27273423e-04 9.95759693e-07 9.99999974e-01 -1.61059561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.050281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.30, Y:-18.53, Z:-1.61 [[ 9.95542833e-01 9.42863673e-02 -2.13252774e-03 3.03301102e+02] [-9.42861739e-02 9.95545117e-01 1.91269045e-04 -1.85282098e+01] [ 2.14106164e-03 1.06513542e-05 9.99997708e-01 -1.61446562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.33, Y:-18.53, Z:-1.62 [[ 9.95531351e-01 9.43895008e-02 -2.81977950e-03 3.03329186e+02] [-9.43891634e-02 9.95535344e-01 2.52814316e-04 -1.85323598e+01] [ 2.83105317e-03 1.44720497e-05 9.99995992e-01 -1.61570184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.110281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.36, Y:-18.54, Z:-1.61 [[ 9.95573006e-01 9.39549697e-02 -2.61784707e-03 3.03358113e+02] [-9.39546776e-02 9.95576448e-01 2.34627419e-04 -1.85381274e+01] [ 2.62831130e-03 1.23702519e-05 9.99996546e-01 -1.61408313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.39, Y:-18.54, Z:-1.61 [[ 9.95590321e-01 9.38015127e-02 -1.09076941e-03 3.03386343e+02] [-9.38014620e-02 9.95590918e-01 9.76402185e-05 -1.85445694e+01] [ 1.09511892e-03 5.10610860e-06 9.99999400e-01 -1.61022254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.170281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.41, Y:-18.55, Z:-1.61 [[ 9.95545634e-01 9.42806347e-02 2.27357767e-04 3.03413879e+02] [-9.42806324e-02 9.95545660e-01 -2.04839093e-05 -1.85473752e+01] [-2.28276274e-04 -1.04276755e-06 9.99999974e-01 -1.60826206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.44, Y:-18.55, Z:-1.61 [[ 9.95395370e-01 9.58499809e-02 9.16211841e-04 3.03441880e+02] [-9.58499459e-02 9.95395791e-01 -8.21246580e-05 -1.85462878e+01] [-9.19865057e-04 -6.07235113e-06 9.99999577e-01 -1.60785105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23028169299994 meters Centerline goodness [0,1] 0.999957758675312 Centerline is valid? [True, True] Translation: X:303.47, Y:-18.55, Z:-1.61 [[ 9.95267282e-01 9.71748051e-02 -3.08284546e-04 3.03469548e+02] [-9.71748013e-02 9.95267330e-01 2.74380326e-05 -1.85452047e+01] [ 3.09491822e-04 2.64931334e-06 9.99999952e-01 -1.61083908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26028169299997 meters Centerline goodness [0,1] 0.9999572284003422 Centerline is valid? [True, True] Translation: X:303.50, Y:-18.54, Z:-1.61 [[ 9.94951281e-01 1.00327972e-01 -2.49912545e-03 3.03499733e+02] [-1.00327728e-01 9.94954420e-01 2.23357744e-04 -1.85443019e+01] [ 2.50892495e-03 2.85015044e-05 9.99996852e-01 -1.61408259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29028169299994 meters Centerline goodness [0,1] 0.9998519458544839 Centerline is valid? [True, True] Translation: X:303.53, Y:-18.54, Z:-1.61 [[ 9.94789366e-01 1.01919556e-01 -2.55356207e-03 3.03528025e+02] [-1.01919306e-01 9.94792643e-01 2.27997856e-04 -1.85427951e+01] [ 2.56350220e-03 3.34474311e-05 9.99996714e-01 -1.61309884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32028169299997 meters Centerline goodness [0,1] 0.9999145791957631 Centerline is valid? [True, True] Translation: X:303.56, Y:-18.54, Z:-1.61 [[ 9.94467075e-01 1.05029764e-01 -1.99646809e-03 3.03557926e+02] [-1.05029617e-01 9.94469078e-01 1.78161351e-04 -1.85356309e+01] [ 2.00413802e-03 3.25126822e-05 9.99997991e-01 -1.61063927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35028169299994 meters Centerline goodness [0,1] 0.9998724164327635 Centerline is valid? [True, True] Translation: X:303.59, Y:-18.53, Z:-1.61 [[ 9.94336162e-01 1.06256474e-01 -2.27119723e-03 3.03587262e+02] [-1.06256288e-01 9.94338755e-01 2.02584695e-04 -1.85330357e+01] [ 2.27986537e-03 3.98916993e-05 9.99997400e-01 -1.61111848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.380281693 meters Centerline goodness [0,1] 0.9997466858059614 Centerline is valid? [True, True] Translation: X:303.62, Y:-18.52, Z:-1.62 [[ 9.94285516e-01 1.06711773e-01 -2.98498648e-03 3.03616415e+02] [-1.06711455e-01 9.94289995e-01 2.66085120e-04 -1.85240749e+01] [ 2.99633660e-03 5.39676679e-05 9.99995510e-01 -1.61512418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41028169299994 meters Centerline goodness [0,1] 0.9998505933578076 Centerline is valid? [True, True] Translation: X:303.64, Y:-18.53, Z:-1.61 [[ 9.94343355e-01 1.06181525e-01 -2.60308222e-03 3.03644841e+02] [-1.06181282e-01 9.94346761e-01 2.31929381e-04 -1.85310014e+01] [ 2.61299299e-03 4.57811683e-05 9.99996585e-01 -1.61265936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.440281693 meters Centerline goodness [0,1] 0.9997879828690158 Centerline is valid? [True, True] Translation: X:303.67, Y:-18.53, Z:-1.61 [[ 9.94491721e-01 1.04815125e-01 -7.40855078e-05 3.03672642e+02] [-1.04815125e-01 9.94491724e-01 6.47065507e-06 -1.85297865e+01] [ 7.43556469e-05 1.33026889e-06 9.99999997e-01 -1.60874338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47028169299995 meters Centerline goodness [0,1] 0.9998733402292542 Centerline is valid? [True, True] Translation: X:303.70, Y:-18.53, Z:-1.61 [[ 9.94535529e-01 1.04398626e-01 -9.39715919e-05 3.03701531e+02] [-1.04398626e-01 9.94535533e-01 8.26977378e-06 -1.85305078e+01] [ 9.43214403e-05 1.58592120e-06 9.99999996e-01 -1.60936362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.500281693 meters Centerline goodness [0,1] 0.9998075360335315 Centerline is valid? [True, True] Translation: X:303.73, Y:-18.53, Z:-1.61 [[ 9.94490958e-01 1.04801259e-01 -2.10481226e-03 3.03730088e+02] [-1.04801097e-01 9.94493185e-01 1.87146816e-04 -1.85273648e+01] [ 2.11283467e-03 3.44708180e-05 9.99997767e-01 -1.61348816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53028169299995 meters Centerline goodness [0,1] 0.9997655883731833 Centerline is valid? [True, True] Translation: X:303.76, Y:-18.53, Z:-1.61 [[ 9.94447657e-01 1.05211200e-01 -2.11184133e-03 3.03758942e+02] [-1.05211039e-01 9.94449899e-01 1.87699753e-04 -1.85266146e+01] [ 2.11986851e-03 3.55314409e-05 9.99997752e-01 -1.61341013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.560281693 meters Centerline goodness [0,1] 0.999765188063015 Centerline is valid? [True, True] Translation: X:303.79, Y:-18.53, Z:-1.61 [[ 9.94449842e-01 1.05211665e-01 1.32688000e-04 3.03787622e+02] [-1.05211664e-01 9.94449851e-01 -1.18920448e-05 -1.85271023e+01] [-1.33202743e-04 -2.13428323e-06 9.99999991e-01 -1.60910975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59028169299995 meters Centerline goodness [0,1] 0.9998715423482059 Centerline is valid? [True, True] Translation: X:303.82, Y:-18.53, Z:-1.61 [[ 9.94595096e-01 1.03818475e-01 1.52302475e-03 3.03815886e+02] [-1.03818390e-01 9.94596262e-01 -1.35390383e-04 -1.85307412e+01] [-1.52885075e-03 -2.34593662e-05 9.99998831e-01 -1.60631083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.620281693 meters Centerline goodness [0,1] 0.9999140247178936 Centerline is valid? [True, True] Translation: X:303.84, Y:-18.54, Z:-1.60 [[ 9.94807840e-01 1.01743907e-01 2.35360248e-03 3.03844807e+02] [-1.01743697e-01 9.94810623e-01 -2.09059848e-04 -1.85350774e+01] [-2.36265931e-03 -3.14898427e-05 9.99997208e-01 -1.60489575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65028169299995 meters Centerline goodness [0,1] 0.9999365227142888 Centerline is valid? [True, True] Translation: X:303.87, Y:-18.54, Z:-1.61 [[ 9.95241271e-01 9.74357817e-02 1.03920997e-03 3.03871933e+02] [-9.74357384e-02 9.95241814e-01 -9.23267708e-05 -1.85415766e+01] [-1.04326115e-03 -9.36877836e-06 9.99999456e-01 -1.60794924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.680281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.90, Y:-18.55, Z:-1.61 [[ 9.95449109e-01 9.52942420e-02 2.80028060e-04 3.03900610e+02] [-9.52942388e-02 9.95449149e-01 -2.49302063e-05 -1.85470380e+01] [-2.81129399e-04 -1.86830915e-06 9.99999960e-01 -1.60988977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.93, Y:-18.55, Z:-1.61 [[ 9.95768011e-01 9.19024022e-02 -1.27771516e-04 3.03929019e+02] [-9.19024015e-02 9.95768019e-01 1.12276147e-05 -1.85536557e+01] [ 1.28262634e-04 5.62409644e-07 9.99999992e-01 -1.61018144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.740281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.96, Y:-18.56, Z:-1.61 [[ 9.95907533e-01 9.03761099e-02 -5.86590604e-04 3.03957203e+02] [-9.03760951e-02 9.95907706e-01 5.18671888e-05 -1.85575679e+01] [ 5.88877657e-04 1.35884417e-06 9.99999827e-01 -1.61089997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.98, Y:-18.56, Z:-1.61 [[ 9.95959229e-01 8.97936776e-02 -1.51967138e-03 3.03984613e+02] [-8.97935770e-02 9.95960388e-01 1.34414117e-04 -1.85604042e+01] [ 1.52560204e-03 2.58574874e-06 9.99998836e-01 -1.61294817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.800281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.01, Y:-18.56, Z:-1.61 [[ 9.95999725e-01 8.93039543e-02 -3.05796043e-03 3.04013764e+02] [-8.93035448e-02 9.96004420e-01 2.70481779e-04 -1.85624878e+01] [ 3.06989720e-03 3.68692878e-06 9.99995288e-01 -1.61472567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.04, Y:-18.56, Z:-1.62 [[ 9.95907522e-01 9.03194708e-02 -3.25576194e-03 3.04041619e+02] [-9.03190127e-02 9.95912844e-01 2.87767647e-04 -1.85614163e+01] [ 3.26844615e-03 7.46723965e-06 9.99994659e-01 -1.61570759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.860281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.07, Y:-18.56, Z:-1.61 [[ 9.95836674e-01 9.11215580e-02 -2.48584410e-03 3.04070960e+02] [-9.11212938e-02 9.95839777e-01 2.19592665e-04 -1.85623778e+01] [ 2.49551206e-03 7.83490108e-06 9.99996886e-01 -1.61398539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.10, Y:-18.56, Z:-1.61 [[ 9.95749109e-01 9.21006185e-02 -1.09030461e-03 3.04098506e+02] [-9.21005684e-02 9.95749706e-01 9.61620147e-05 -1.85616915e+01] [ 1.09452707e-03 4.66443372e-06 9.99999401e-01 -1.61185022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.920281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.13, Y:-18.56, Z:-1.61 [[ 9.95592827e-01 9.37812436e-02 -3.77363620e-05 3.04127985e+02] [-9.37812435e-02 9.95592828e-01 3.23703633e-06 -1.85579686e+01] [ 3.78736246e-05 3.16192801e-07 9.99999999e-01 -1.60940834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.16, Y:-18.56, Z:-1.61 [[ 9.95537693e-01 9.43636037e-02 -4.60664240e-04 3.04157114e+02] [-9.43635950e-02 9.95537800e-01 4.05387406e-05 -1.85584955e+01] [ 4.62434045e-04 3.11208949e-06 9.99999893e-01 -1.61004583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.19, Y:-18.55, Z:-1.61 [[ 9.95285930e-01 9.69439454e-02 -2.79103894e-03 3.04185659e+02] [-9.69436369e-02 9.95289843e-01 2.45935257e-04 -1.85533510e+01] [ 2.80173464e-03 2.57975647e-05 9.99996075e-01 -1.61400707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01028169299997 meters Centerline goodness [0,1] 0.9999353364659224 Centerline is valid? [True, True] Translation: X:304.21, Y:-18.55, Z:-1.62 [[ 9.95086756e-01 9.89315988e-02 -3.85822912e-03 3.04214302e+02] [-9.89310246e-02 9.95094235e-01 3.39855401e-04 -1.85526171e+01] [ 3.87292399e-03 4.35129511e-05 9.99992499e-01 -1.61584039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04028169299994 meters Centerline goodness [0,1] 0.9998935558725225 Centerline is valid? [True, True] Translation: X:304.24, Y:-18.55, Z:-1.62 [[ 9.94676936e-01 1.02960550e-01 -4.11313214e-03 3.04242496e+02] [-1.02959933e-01 9.94685438e-01 3.61977348e-04 -1.85453517e+01] [ 4.12854204e-03 6.34372906e-05 9.99991476e-01 -1.61641627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07028169299997 meters Centerline goodness [0,1] 0.9999356292243321 Centerline is valid? [True, True] Translation: X:304.27, Y:-18.54, Z:-1.61 [[ 9.94442850e-01 1.05241893e-01 -2.75001450e-03 3.04272019e+02] [-1.05241627e-01 9.94446651e-01 2.41881776e-04 -1.85426546e+01] [ 2.76019881e-03 4.88783972e-05 9.99996189e-01 -1.61337597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10028169299994 meters Centerline goodness [0,1] 0.999764090246204 Centerline is valid? [True, True] Translation: X:304.30, Y:-18.54, Z:-1.61 [[ 9.94137360e-01 1.08117497e-01 -1.23151100e-03 3.04300580e+02] [-1.08117446e-01 9.94138122e-01 1.08165160e-04 -1.85382323e+01] [ 1.23598658e-03 2.56167970e-05 9.99999236e-01 -1.61025874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.130281693 meters Centerline goodness [0,1] 0.9990967741935484 Centerline is valid? [True, True] Translation: X:304.33, Y:-18.53, Z:-1.61 [[ 9.93546964e-01 1.13420885e-01 3.64639492e-04 3.04331794e+02] [-1.13420881e-01 9.93547031e-01 -3.20639663e-05 -1.85303809e+01] [-3.65923208e-04 -9.50067591e-06 9.99999933e-01 -1.60724630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16028169299994 meters Centerline goodness [0,1] 0.9986122082968594 Centerline is valid? [True, True] Translation: X:304.36, Y:-18.52, Z:-1.61 [[ 9.93160971e-01 1.16752900e-01 2.13845811e-04 3.04360925e+02] [-1.16752899e-01 9.93160994e-01 -1.88947579e-05 -1.85207357e+01] [-2.14589336e-04 -6.20158228e-06 9.99999977e-01 -1.60881131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.190281693 meters Centerline goodness [0,1] 0.9982430955798856 Centerline is valid? [True, True] Translation: X:304.39, Y:-18.52, Z:-1.61 [[ 9.93108217e-01 1.17200426e-01 3.59789458e-04 3.04389529e+02] [-1.17200422e-01 9.93108282e-01 -3.17229986e-05 -1.85179637e+01] [-3.61027840e-04 -1.06631058e-05 9.99999935e-01 -1.60953445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22028169299995 meters Centerline goodness [0,1] 0.9982430955798856 Centerline is valid? [True, True] Translation: X:304.42, Y:-18.52, Z:-1.61 [[ 9.93116384e-01 1.17131204e-01 3.59789647e-04 3.04416935e+02] [-1.17131200e-01 9.93116449e-01 -3.17208956e-05 -1.85202342e+01] [-3.61028523e-04 -1.06400521e-05 9.99999935e-01 -1.60959234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.250281693 meters Centerline goodness [0,1] 0.998035446460635 Centerline is valid? [True, True] Translation: X:304.45, Y:-18.52, Z:-1.61 [[ 9.93132158e-01 1.16996962e-01 4.77436685e-04 3.04445022e+02] [-1.16996956e-01 9.93132272e-01 -4.20114680e-05 -1.85202978e+01] [-4.79072994e-04 -1.41356988e-05 9.99999885e-01 -1.61014904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28028169299995 meters Centerline goodness [0,1] 0.9988991214142056 Centerline is valid? [True, True] Translation: X:304.47, Y:-18.52, Z:-1.61 [[ 9.93382993e-01 1.14846756e-01 -6.71635134e-04 3.04473972e+02] [-1.14846743e-01 9.93383220e-01 5.87956394e-05 -1.85215577e+01] [ 6.73943560e-04 1.87285192e-05 9.99999773e-01 -1.61238450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.310281693 meters Centerline goodness [0,1] 0.9991263397898954 Centerline is valid? [True, True] Translation: X:304.50, Y:-18.52, Z:-1.61 [[ 9.93517752e-01 1.13667770e-01 -1.45383087e-03 3.04502935e+02] [-1.13667706e-01 9.93518815e-01 1.27261515e-04 -1.85240155e+01] [ 1.45887385e-03 3.88170450e-05 9.99998935e-01 -1.61331924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34028169299995 meters Centerline goodness [0,1] 0.9986093281985452 Centerline is valid? [True, True] Translation: X:304.53, Y:-18.52, Z:-1.61 [[ 9.93703215e-01 1.12038416e-01 -1.14653586e-03 3.04531843e+02] [-1.12038375e-01 9.93703876e-01 1.00250495e-04 -1.85158078e+01] [ 1.15054903e-03 2.88367748e-05 9.99999338e-01 -1.61382684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.370281693 meters Centerline goodness [0,1] 0.9994673598091017 Centerline is valid? [True, True] Translation: X:304.56, Y:-18.53, Z:-1.61 [[ 9.93777950e-01 1.11377626e-01 -6.40141598e-04 3.04559918e+02] [-1.11377613e-01 9.93778156e-01 5.59133390e-05 -1.85250631e+01] [ 6.42386232e-04 1.57319998e-05 9.99999794e-01 -1.61165328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40028169299995 meters Centerline goodness [0,1] 0.9984415029888983 Centerline is valid? [True, True] Translation: X:304.59, Y:-18.52, Z:-1.61 [[ 9.94006156e-01 1.09316997e-01 1.24736963e-03 3.04588826e+02] [-1.09316946e-01 9.94006938e-01 -1.09181980e-04 -1.85191901e+01] [-1.25182952e-03 -2.78310780e-05 9.99999216e-01 -1.60821886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.430281693 meters Centerline goodness [0,1] 0.9988407629887238 Centerline is valid? [True, True] Translation: X:304.62, Y:-18.52, Z:-1.61 [[ 9.94110597e-01 1.08352853e-01 1.94411896e-03 3.04617564e+02] [-1.08352728e-01 9.94112497e-01 -1.70022888e-04 -1.85215543e+01] [-1.95109542e-03 -4.16290381e-05 9.99998096e-01 -1.60713936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46028169299996 meters Centerline goodness [0,1] 0.9995116876499437 Centerline is valid? [True, True] Translation: X:304.65, Y:-18.53, Z:-1.61 [[ 9.94203261e-01 1.07499787e-01 1.91605530e-03 3.04645658e+02] [-1.07499663e-01 9.94205107e-01 -1.67489704e-04 -1.85289327e+01] [-1.92295708e-03 -3.94564902e-05 9.99998150e-01 -1.60751598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.490281693 meters Centerline goodness [0,1] 0.9997226903304252 Centerline is valid? [True, True] Translation: X:304.67, Y:-18.53, Z:-1.61 [[ 9.94244880e-01 1.07120225e-01 1.54112594e-03 3.04674216e+02] [-1.07120145e-01 9.94246074e-01 -1.34663737e-04 -1.85309847e+01] [-1.54668363e-03 -3.11969032e-05 9.99998803e-01 -1.60850929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52028169299996 meters Centerline goodness [0,1] 0.9990881136676917 Centerline is valid? [True, True] Translation: X:304.70, Y:-18.53, Z:-1.61 [[ 9.94359489e-01 1.06059680e-01 7.41764956e-04 3.04702119e+02] [-1.06059661e-01 9.94359766e-01 -6.48466675e-05 -1.85275232e+01] [-7.44458845e-04 -1.41904404e-05 9.99999723e-01 -1.61060630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.550281693 meters Centerline goodness [0,1] 0.9997879019258505 Centerline is valid? [True, True] Translation: X:304.73, Y:-18.54, Z:-1.61 [[ 9.94416912e-01 1.05520236e-01 -6.96154257e-04 3.04729881e+02] [-1.05520220e-01 9.94417156e-01 6.06194568e-05 -1.85366780e+01] [ 6.98664316e-04 1.31773372e-05 9.99999756e-01 -1.61235130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58028169299996 meters Centerline goodness [0,1] 0.9998931897803982 Centerline is valid? [True, True] Translation: X:304.76, Y:-18.54, Z:-1.62 [[ 9.94485818e-01 1.04783922e-01 -4.27644695e-03 3.04757261e+02] [-1.04783288e-01 9.94495009e-01 3.72607163e-04 -1.85372501e+01] [ 4.29194839e-03 7.75476340e-05 9.99990787e-01 -1.61797315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.610281693 meters Centerline goodness [0,1] 0.9999151337703944 Centerline is valid? [True, True] Translation: X:304.79, Y:-18.54, Z:-1.62 [[ 9.94509500e-01 1.04556306e-01 -4.33974562e-03 3.04786514e+02] [-1.04555652e-01 9.94518966e-01 3.77951796e-04 -1.85380989e+01] [ 4.35547657e-03 7.78682805e-05 9.99990512e-01 -1.61859559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64028169299996 meters Centerline goodness [0,1] 0.9998718687936446 Centerline is valid? [True, True] Translation: X:304.81, Y:-18.54, Z:-1.61 [[ 9.94635139e-01 1.03435900e-01 -1.39851002e-03 3.04814918e+02] [-1.03435831e-01 9.94636121e-01 1.21670902e-04 -1.85373563e+01] [ 1.40359373e-03 2.36378920e-05 9.99999015e-01 -1.61390607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.670281693 meters Centerline goodness [0,1] 0.9998941059364213 Centerline is valid? [True, True] Translation: X:304.84, Y:-18.54, Z:-1.61 [[ 9.94724265e-01 1.02584677e-01 1.42102353e-04 3.04843540e+02] [-1.02584677e-01 9.94724275e-01 -1.24604811e-05 -1.85398196e+01] [-1.42630915e-04 -2.18278103e-06 9.99999990e-01 -1.61139584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70028169299997 meters Centerline goodness [0,1] 0.9999363111413043 Centerline is valid? [True, True] Translation: X:304.87, Y:-18.54, Z:-1.61 [[ 9.94967019e-01 1.00202662e-01 2.39429357e-04 3.04871522e+02] [-1.00202660e-01 9.94967048e-01 -2.09397969e-05 -1.85429675e+01] [-2.40322544e-04 -3.15705106e-06 9.99999971e-01 -1.61173560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73028169299994 meters Centerline goodness [0,1] 0.9999573760709262 Centerline is valid? [True, True] Translation: X:304.90, Y:-18.55, Z:-1.61 [[ 9.95147536e-01 9.83937214e-02 -2.39471733e-04 3.04900292e+02] [-9.83937193e-02 9.95147565e-01 2.07149794e-05 -1.85483280e+01] [ 2.40347936e-04 2.94805382e-06 9.99999971e-01 -1.61247683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76028169299997 meters Centerline goodness [0,1] 0.9999787093614938 Centerline is valid? [True, True] Translation: X:304.93, Y:-18.55, Z:-1.61 [[ 9.95494193e-01 9.48225035e-02 -6.90198278e-05 3.04929020e+02] [-9.48225034e-02 9.95494195e-01 5.89607039e-06 -1.85521390e+01] [ 6.92679181e-05 6.75129017e-07 9.99999998e-01 -1.61242200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79028169299994 meters Centerline goodness [0,1] 0.9999571624400274 Centerline is valid? [True, True] Translation: X:304.96, Y:-18.55, Z:-1.61 [[ 9.95631382e-01 9.33707154e-02 -2.44729404e-04 3.04957119e+02] [-9.33707130e-02 9.95631412e-01 2.11220600e-05 -1.85548818e+01] [ 2.45632464e-04 1.82077323e-06 9.99999970e-01 -1.61247190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.98, Y:-18.56, Z:-1.62 [[ 9.95722241e-01 9.23865201e-02 -1.39640632e-03 3.04984442e+02] [-9.23864414e-02 9.95723220e-01 1.20939113e-04 -1.85555683e+01] [ 1.40160734e-03 8.58724543e-06 9.99999018e-01 -1.61545199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.01, Y:-18.56, Z:-1.62 [[ 9.95727697e-01 9.22753870e-02 -3.40673753e-03 3.05013058e+02] [-9.22749171e-02 9.95733525e-01 2.95212013e-04 -1.85584963e+01] [ 3.41944358e-03 2.04056453e-05 9.99994153e-01 -1.61851757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.880281693 meters Centerline goodness [0,1] 0.9999787730842709 Centerline is valid? [True, True] Translation: X:305.04, Y:-18.56, Z:-1.62 [[ 9.95699832e-01 9.25893867e-02 -3.00836336e-03 3.05040155e+02] [-9.25890226e-02 9.95704376e-01 2.60362174e-04 -1.85606801e+01] [ 3.01954733e-03 1.92988497e-05 9.99995441e-01 -1.61864476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91028169299994 meters Centerline goodness [0,1] 0.9999787025599522 Centerline is valid? [True, True] Translation: X:305.07, Y:-18.57, Z:-1.61 [[ 9.95657197e-01 9.30935727e-02 -5.77301776e-04 3.05068354e+02] [-9.30935595e-02 9.95657364e-01 4.99011143e-05 -1.85652571e+01] [ 5.79440238e-04 4.05867369e-06 9.99999832e-01 -1.61423876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.940281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.10, Y:-18.57, Z:-1.61 [[ 9.95648163e-01 9.31894584e-02 6.79229221e-04 3.05095645e+02] [-9.31894399e-02 9.95648394e-01 -5.89163777e-05 -1.85675063e+01] [-6.81763869e-04 -4.63700751e-06 9.99999768e-01 -1.61170669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97028169299995 meters Centerline goodness [0,1] 0.9999786971155894 Centerline is valid? [True, True] Translation: X:305.12, Y:-18.57, Z:-1.61 [[ 9.95591580e-01 9.37922962e-02 6.41459946e-04 3.05124533e+02] [-9.37922799e-02 9.95591786e-01 -5.55448924e-05 -1.85679958e+01] [-6.43841937e-04 -4.86396361e-06 9.99999793e-01 -1.61081321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.000281693 meters Centerline goodness [0,1] 0.9999788726442999 Centerline is valid? [True, True] Translation: X:305.15, Y:-18.57, Z:-1.61 [[ 9.95553031e-01 9.42024091e-02 -2.61414402e-04 3.05152861e+02] [-9.42024065e-02 9.95553065e-01 2.24573328e-05 -1.85684936e+01] [ 2.62367444e-04 2.26839994e-06 9.99999966e-01 -1.61342812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03028169299995 meters Centerline goodness [0,1] 0.9999787324542748 Centerline is valid? [True, True] Translation: X:305.18, Y:-18.57, Z:-1.62 [[ 9.95447249e-01 9.53020560e-02 -1.51436815e-03 3.05181858e+02] [-9.53019675e-02 9.95448400e-01 1.30642851e-04 -1.85690712e+01] [ 1.51992589e-03 1.42741981e-05 9.99998845e-01 -1.61562957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.060281693 meters Centerline goodness [0,1] 0.9999783657486533 Centerline is valid? [True, True] Translation: X:305.21, Y:-18.57, Z:-1.62 [[ 9.95380311e-01 9.60004087e-02 -1.39918129e-03 3.05210625e+02] [-9.60003339e-02 9.95381294e-01 1.20631584e-04 -1.85699815e+01] [ 1.40429956e-03 1.42475676e-05 9.99999014e-01 -1.61552657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09028169299995 meters Centerline goodness [0,1] 0.9998942201912498 Centerline is valid? [True, True] Translation: X:305.24, Y:-18.57, Z:-1.61 [[ 9.95242315e-01 9.74300237e-02 3.53591772e-04 3.05238457e+02] [-9.74300190e-02 9.95242378e-01 -3.06115167e-05 -1.85685594e+01] [-3.54891997e-04 -3.98457629e-06 9.99999937e-01 -1.61251565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.120281693 meters Centerline goodness [0,1] 0.9999787048276155 Centerline is valid? [True, True] Translation: X:305.27, Y:-18.57, Z:-1.61 [[ 9.95282457e-01 9.70082530e-02 1.49312349e-03 3.05266801e+02] [-9.70081690e-02 9.95283577e-01 -1.28776931e-04 -1.85720114e+01] [-1.49857371e-03 -1.66757552e-05 9.99998877e-01 -1.61068426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.29, Y:-18.58, Z:-1.61 [[ 9.95401014e-01 9.57825511e-02 1.58899783e-03 3.05294488e+02] [-9.57824545e-02 9.95402282e-01 -1.36970531e-04 -1.85752775e+01] [-1.59481146e-03 -1.58575072e-05 9.99998728e-01 -1.61099772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.180281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.32, Y:-18.58, Z:-1.61 [[ 9.95704960e-01 9.25830961e-02 -5.91646579e-05 3.05321647e+02] [-9.25830959e-02 9.95704961e-01 4.97076077e-06 -1.85803830e+01] [ 5.93707519e-05 5.28236046e-07 9.99999998e-01 -1.61487502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21028169299996 meters Centerline goodness [0,1] 0.9999790017428554 Centerline is valid? [True, True] Translation: X:305.35, Y:-18.58, Z:-1.62 [[ 9.95793257e-01 9.16261608e-02 -6.59805963e-04 3.05349826e+02] [-9.16261434e-02 9.95793476e-01 5.66277935e-05 -1.85827893e+01] [ 6.62219061e-04 4.06590088e-06 9.99999781e-01 -1.61674899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.240281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.38, Y:-18.58, Z:-1.62 [[ 9.95859213e-01 9.09060565e-02 -7.18537817e-04 3.05378422e+02] [-9.09060357e-02 9.95859472e-01 6.16657570e-05 -1.85839320e+01] [ 7.21168482e-04 3.90901212e-06 9.99999740e-01 -1.61642711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27028169299996 meters Centerline goodness [0,1] 0.9999572284003422 Centerline is valid? [True, True] Translation: X:305.41, Y:-18.58, Z:-1.62 [[ 9.95886117e-01 9.06111903e-02 -6.74088281e-04 3.05405091e+02] [-9.06111720e-02 9.95886345e-01 5.77161170e-05 -1.85843149e+01] [ 6.76545040e-04 3.60124948e-06 9.99999771e-01 -1.61670274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.300281693 meters Centerline goodness [0,1] 0.9999787609115817 Centerline is valid? [True, True] Translation: X:305.43, Y:-18.59, Z:-1.62 [[ 9.96068828e-01 8.85826726e-02 1.67065366e-05 3.05432386e+02] [-8.85826726e-02 9.96068828e-01 -1.55456017e-06 -1.85881363e+01] [-1.67785674e-05 6.85392631e-08 1.00000000e+00 -1.61625261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.46, Y:-18.59, Z:-1.62 [[ 9.96257016e-01 8.64382910e-02 6.16195190e-04 3.05460726e+02] [-8.64382748e-02 9.96257207e-01 -5.29492155e-05 -1.85938225e+01] [-6.18465738e-04 -5.11821727e-07 9.99999809e-01 -1.61503316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.360281693 meters Centerline goodness [0,1] 0.9999579027131701 Centerline is valid? [True, True] Translation: X:305.49, Y:-18.60, Z:-1.61 [[ 9.96665539e-01 8.15818018e-02 1.48766040e-03 3.05488011e+02] [-8.15817021e-02 9.96666649e-01 -1.27636977e-04 -1.86022616e+01] [-1.49311436e-03 5.84550916e-06 9.99998885e-01 -1.61322311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.52, Y:-18.61, Z:-1.61 [[ 9.96810826e-01 7.97892142e-02 1.36290171e-03 3.05516379e+02] [-7.97891290e-02 9.96811758e-01 -1.16857779e-04 -1.86067482e+01] [-1.36788044e-03 7.74035858e-06 9.99999064e-01 -1.61339922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.420281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.54, Y:-18.61, Z:-1.61 [[ 9.97056475e-01 7.66698969e-02 3.36328597e-04 3.05543502e+02] [-7.66698915e-02 9.97056531e-01 -2.89134021e-05 -1.86129010e+01] [-3.37555412e-04 3.04201771e-06 9.99999943e-01 -1.61491074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45028169299997 meters Centerline goodness [0,1] 0.9999578245924802 Centerline is valid? [True, True] Translation: X:305.57, Y:-18.62, Z:-1.62 [[ 9.97166144e-01 7.52303364e-02 2.77290673e-04 3.05572353e+02] [-7.52303327e-02 9.97166183e-01 -2.38225347e-05 -1.86161858e+01] [-2.78297060e-04 2.89435549e-06 9.99999961e-01 -1.61501942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48028169299994 meters Centerline goodness [0,1] 0.9999788976112096 Centerline is valid? [True, True] Translation: X:305.60, Y:-18.63, Z:-1.62 [[ 9.97457238e-01 7.12675078e-02 1.37340260e-05 3.05599396e+02] [-7.12675078e-02 9.97457238e-01 -1.29221238e-06 -1.86250243e+01] [-1.37911964e-05 3.10136793e-07 1.00000000e+00 -1.61584505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.63, Y:-18.63, Z:-1.62 [[ 9.97639677e-01 6.86662481e-02 1.45810181e-04 3.05627801e+02] [-6.86662470e-02 9.97639688e-01 -1.25546254e-05 -1.86336922e+01] [-1.46328103e-04 2.51275450e-06 9.99999989e-01 -1.61598676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54028169299994 meters Centerline goodness [0,1] 0.9997039856221588 Centerline is valid? [True, True] Translation: X:305.66, Y:-18.65, Z:-1.61 [[ 9.98031217e-01 6.27103228e-02 1.05097776e-03 3.05655669e+02] [-6.27102629e-02 9.98031770e-01 -8.98506107e-05 -1.86496498e+01] [-1.05454375e-03 2.37666229e-05 9.99999444e-01 -1.61479136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57028169299997 meters Centerline goodness [0,1] 0.9997873381111371 Centerline is valid? [True, True] Translation: X:305.69, Y:-18.65, Z:-1.61 [[ 9.98196692e-01 6.00175222e-02 1.12276073e-03 3.05685157e+02] [-6.00174523e-02 9.98197323e-01 -9.59607613e-05 -1.86538127e+01] [-1.12649608e-03 2.84024763e-05 9.99999365e-01 -1.61476545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60028169299994 meters Centerline goodness [0,1] 0.9995956414403677 Centerline is valid? [True, True] Translation: X:305.71, Y:-18.67, Z:-1.62 [[ 9.98417491e-01 5.62350932e-02 -3.56922007e-04 3.05713122e+02] [-5.62350859e-02 9.98417555e-01 3.04344496e-05 -1.86655787e+01] [ 3.58068682e-04 -1.03147470e-05 9.99999936e-01 -1.61685249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.630281693 meters Centerline goodness [0,1] 0.9992077257446307 Centerline is valid? [True, True] Translation: X:305.74, Y:-18.68, Z:-1.62 [[ 9.98479621e-01 5.51127149e-02 -1.01773588e-03 3.05741325e+02] [-5.51126550e-02 9.98480139e-01 8.68268909e-05 -1.86765976e+01] [ 1.02097432e-03 -3.06047548e-05 9.99999478e-01 -1.61823799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66028169299994 meters Centerline goodness [0,1] 0.9987405003842541 Centerline is valid? [True, True] Translation: X:305.77, Y:-18.69, Z:-1.62 [[ 9.98528500e-01 5.42227171e-02 -8.55629871e-04 3.05768838e+02] [-5.42226745e-02 9.98528866e-01 7.29539800e-05 -1.86873862e+01] [ 8.58326888e-04 -2.64520882e-05 9.99999631e-01 -1.61835018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.690281693 meters Centerline goodness [0,1] 0.9989784843261189 Centerline is valid? [True, True] Translation: X:305.80, Y:-18.69, Z:-1.62 [[ 9.98528777e-01 5.42242495e-02 -1.07411333e-04 3.05798508e+02] [-5.42242488e-02 9.98528783e-01 9.11995001e-06 -1.86943155e+01] [ 1.07747830e-04 -3.28223371e-06 9.99999994e-01 -1.61687699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72028169299995 meters Centerline goodness [0,1] 0.9993322563274099 Centerline is valid? [True, True] Translation: X:305.83, Y:-18.70, Z:-1.62 [[ 9.98533172e-01 5.41424457e-02 3.15116037e-04 3.05826858e+02] [-5.41424398e-02 9.98533222e-01 -2.69650274e-05 -1.87021443e+01] [-3.16113784e-04 9.86432331e-06 9.99999950e-01 -1.61572895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.750281693 meters Centerline goodness [0,1] 0.9986301081160825 Centerline is valid? [True, True] Translation: X:305.85, Y:-18.71, Z:-1.62 [[ 9.98546457e-01 5.38971808e-02 -2.57621079e-04 3.05854540e+02] [-5.38971770e-02 9.98546491e-01 2.18908020e-05 -1.87136579e+01] [ 2.58426477e-04 -7.97393392e-06 9.99999967e-01 -1.61725427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78028169299995 meters Centerline goodness [0,1] 0.9984669761103777 Centerline is valid? [True, True] Translation: X:305.88, Y:-18.72, Z:-1.62 [[ 9.98546287e-01 5.38964568e-02 -6.96234314e-04 3.05882716e+02] [-5.38964285e-02 9.98546529e-01 5.92899492e-05 -1.87246734e+01] [ 6.98417876e-04 -2.16792156e-05 9.99999756e-01 -1.61833518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.810281693 meters Centerline goodness [0,1] 0.9982090315977996 Centerline is valid? [True, True] Translation: X:305.91, Y:-18.73, Z:-1.62 [[ 9.98550483e-01 5.38201260e-02 -5.72554587e-04 3.05912185e+02] [-5.38201069e-02 9.98550647e-01 4.87382155e-05 -1.87318085e+01] [ 5.74347850e-04 -1.78526195e-05 9.99999835e-01 -1.61806385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84028169299995 meters Centerline goodness [0,1] 0.9989161849710982 Centerline is valid? [True, True] Translation: X:305.94, Y:-18.73, Z:-1.62 [[ 9.98541563e-01 5.39795286e-02 -9.78199202e-04 3.05941941e+02] [-5.39794729e-02 9.98542042e-01 8.32752022e-05 -1.87326767e+01] [ 9.81268185e-04 -3.03510733e-05 9.99999518e-01 -1.61782261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.870281693 meters Centerline goodness [0,1] 0.9982856054352657 Centerline is valid? [True, True] Translation: X:305.97, Y:-18.75, Z:-1.62 [[ 9.98495741e-01 5.48114615e-02 -1.39969460e-03 3.05969834e+02] [-5.48113483e-02 9.98496721e-01 1.19147135e-04 -1.87492225e+01] [ 1.40412110e-03 -4.22487588e-05 9.99999013e-01 -1.61951015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90028169299995 meters Centerline goodness [0,1] 0.9983264130158461 Centerline is valid? [True, True] Translation: X:306.00, Y:-18.76, Z:-1.62 [[ 9.98476888e-01 5.51632528e-02 -9.59379234e-04 3.05999164e+02] [-5.51631998e-02 9.98477348e-01 8.16346221e-05 -1.87562107e+01] [ 9.62421664e-04 -2.85878550e-05 9.99999536e-01 -1.61906480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.930281693 meters Centerline goodness [0,1] 0.9991541373258052 Centerline is valid? [True, True] Translation: X:306.03, Y:-18.76, Z:-1.62 [[ 9.98422809e-01 5.61318621e-02 -1.05258305e-03 3.06028582e+02] [-5.61317989e-02 9.98423364e-01 8.95451389e-05 -1.87616364e+01] [ 1.05594984e-03 -3.03205291e-05 9.99999442e-01 -1.61871696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96028169299996 meters Centerline goodness [0,1] 0.9995718903182995 Centerline is valid? [True, True] Translation: X:306.06, Y:-18.77, Z:-1.62 [[ 9.98376892e-01 5.69345736e-02 -1.42685591e-03 3.06057949e+02] [-5.69344583e-02 9.98377911e-01 1.21370547e-04 -1.87662062e+01] [ 1.43145160e-03 -3.99362816e-05 9.99998975e-01 -1.61955709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.990281693 meters Centerline goodness [0,1] 0.9997443926129466 Centerline is valid? [True, True] Translation: X:306.09, Y:-18.77, Z:-1.62 [[ 9.98202730e-01 5.98979993e-02 -1.88134404e-03 3.06087291e+02] [-5.98978040e-02 9.98204502e-01 1.60004107e-04 -1.87697986e+01] [ 1.88755002e-03 -4.70281597e-05 9.99998217e-01 -1.62077519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02028169299996 meters Centerline goodness [0,1] 0.9998094027954256 Centerline is valid? [True, True] Translation: X:306.12, Y:-18.77, Z:-1.62 [[ 9.98109876e-01 6.14238430e-02 -1.94619470e-03 3.06116362e+02] [-6.14236370e-02 9.98111772e-01 1.65479445e-04 -1.87723833e+01] [ 1.95268423e-03 -4.56243108e-05 9.99998092e-01 -1.62114847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.050281693 meters Centerline goodness [0,1] 0.9999578067973249 Centerline is valid? [True, True] Translation: X:306.15, Y:-18.77, Z:-1.62 [[ 9.97855064e-01 6.54445197e-02 -1.51222140e-03 3.06146768e+02] [-6.54443999e-02 9.97856209e-01 1.28576152e-04 -1.87716847e+01] [ 1.51739412e-03 -2.93339424e-05 9.99998848e-01 -1.61975584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08028169299996 meters Centerline goodness [0,1] 0.9998932536293766 Centerline is valid? [True, True] Translation: X:306.18, Y:-18.77, Z:-1.62 [[ 9.97740633e-01 6.71808104e-02 -6.05923437e-04 3.06175931e+02] [-6.71807915e-02 9.97740817e-01 5.14697016e-05 -1.87736126e+01] [ 6.08012322e-04 -1.06469965e-05 9.99999815e-01 -1.61783996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.110281693 meters Centerline goodness [0,1] 0.9998932536293766 Centerline is valid? [True, True] Translation: X:306.20, Y:-18.78, Z:-1.62 [[ 9.97742053e-01 6.71597311e-02 -6.05924510e-04 3.06204999e+02] [-6.71597123e-02 9.97742236e-01 5.14570771e-05 -1.87760363e+01] [ 6.08012319e-04 -1.06471740e-05 9.99999815e-01 -1.61790135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14028169299996 meters Centerline goodness [0,1] 0.9999789278489548 Centerline is valid? [True, True] Translation: X:306.24, Y:-18.77, Z:-1.61 [[ 9.97506419e-01 7.05643195e-02 1.27329015e-03 3.06235197e+02] [-7.05642388e-02 9.97507231e-01 -1.08247422e-04 -1.87747283e+01] [-1.27775454e-03 1.81287484e-05 9.99999184e-01 -1.61479976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.170281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.26, Y:-18.77, Z:-1.62 [[ 9.97425526e-01 7.17067545e-02 6.78984571e-04 3.06264682e+02] [-7.17067318e-02 9.97425757e-01 -5.77264671e-05 -1.87733033e+01] [-6.81376077e-04 8.89008736e-06 9.99999768e-01 -1.61544927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20028169299997 meters Centerline goodness [0,1] 0.9999789176311851 Centerline is valid? [True, True] Translation: X:306.29, Y:-18.78, Z:-1.62 [[ 9.97362090e-01 7.25850436e-02 -5.23042001e-04 3.06293040e+02] [-7.25850304e-02 9.97362227e-01 4.43407397e-05 -1.87773702e+01] [ 5.24880809e-04 -6.25875328e-06 9.99999862e-01 -1.61894700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23028169299994 meters Centerline goodness [0,1] 0.9999576369913791 Centerline is valid? [True, True] Translation: X:306.32, Y:-18.78, Z:-1.62 [[ 9.97419559e-01 7.17682254e-02 -1.88302221e-03 3.06321501e+02] [-7.17680516e-02 9.97421336e-01 1.59767943e-04 -1.87799191e+01] [ 1.88963279e-03 -2.42148364e-05 9.99998214e-01 -1.62211339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26028169299997 meters Centerline goodness [0,1] 0.9999574902227513 Centerline is valid? [True, True] Translation: X:306.35, Y:-18.78, Z:-1.62 [[ 9.97529980e-01 7.02290441e-02 -1.34937578e-03 3.06351204e+02] [-7.02289535e-02 9.97530892e-01 1.14456810e-04 -1.87810661e+01] [ 1.35408222e-03 -1.94088511e-05 9.99999083e-01 -1.61994195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29028169299994 meters Centerline goodness [0,1] 0.9997003360517135 Centerline is valid? [True, True] Translation: X:306.38, Y:-18.80, Z:-1.62 [[ 9.97891989e-01 6.48836465e-02 -1.30053670e-03 3.06379735e+02] [-6.48835577e-02 9.97892836e-01 1.10400614e-04 -1.88029095e+01] [ 1.30495945e-03 -2.57844402e-05 9.99999148e-01 -1.62244778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32028169299997 meters Centerline goodness [0,1] 0.9997863339173539 Centerline is valid? [True, True] Translation: X:306.41, Y:-18.81, Z:-1.62 [[ 9.98117209e-01 6.13163674e-02 -1.52993512e-03 3.06410130e+02] [-6.13162403e-02 9.98118381e-01 1.29885840e-04 -1.88092814e+01] [ 1.53502049e-03 -3.58314228e-05 9.99998821e-01 -1.62226855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35028169299994 meters Centerline goodness [0,1] 0.9994251160413916 Centerline is valid? [True, True] Translation: X:306.44, Y:-18.82, Z:-1.62 [[ 9.98322265e-01 5.78874203e-02 -1.30480446e-03 3.06439168e+02] [-5.78873249e-02 9.98323117e-01 1.10753105e-04 -1.88225605e+01] [ 1.30902767e-03 -3.50356507e-05 9.99999143e-01 -1.62228177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.380281693 meters Centerline goodness [0,1] 0.9991421095526102 Centerline is valid? [True, True] Translation: X:306.47, Y:-18.83, Z:-1.62 [[ 9.98679365e-01 5.13748332e-02 -3.89339463e-04 3.06469359e+02] [-5.13748242e-02 9.98679441e-01 3.30543102e-05 -1.88301743e+01] [ 3.90523477e-04 -1.30084110e-05 9.99999924e-01 -1.61962248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41028169299994 meters Centerline goodness [0,1] 0.9968370552772353 Centerline is valid? [True, True] Translation: X:306.50, Y:-18.85, Z:-1.62 [[ 9.98835680e-01 4.82392612e-02 5.07377000e-04 3.06497643e+02] [-4.82392455e-02 9.98835809e-01 -4.30680512e-05 -1.88473025e+01] [-5.08863888e-04 1.85424225e-05 9.99999870e-01 -1.61806903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.440281693 meters Centerline goodness [0,1] 0.9965889344174372 Centerline is valid? [True, True] Translation: X:306.53, Y:-18.85, Z:-1.62 [[ 9.98847941e-01 4.79755612e-02 1.06603796e-03 3.06529707e+02] [-4.79754921e-02 9.98848509e-01 -9.03268242e-05 -1.88536644e+01] [-1.06914390e-03 3.90790668e-05 9.99999428e-01 -1.61670135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47028169299995 meters Centerline goodness [0,1] 0.9970251375873865 Centerline is valid? [True, True] Translation: X:306.56, Y:-18.86, Z:-1.62 [[ 9.98844446e-01 4.80316230e-02 1.65396975e-03 3.06562145e+02] [-4.80314560e-02 9.98845814e-01 -1.40583971e-04 -1.88572581e+01] [-1.65881324e-03 6.09789432e-05 9.99998622e-01 -1.61526682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.500281693 meters Centerline goodness [0,1] 0.9976342206781901 Centerline is valid? [True, True] Translation: X:306.59, Y:-18.86, Z:-1.61 [[ 9.98749436e-01 4.99038542e-02 3.02812625e-03 3.06593437e+02] [-4.99033010e-02 9.98754021e-01 -2.58038059e-04 -1.88634511e+01] [-3.03723036e-03 1.06601871e-04 9.99995382e-01 -1.61281815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53028169299995 meters Centerline goodness [0,1] 0.9990620736698499 Centerline is valid? [True, True] Translation: X:306.62, Y:-18.86, Z:-1.61 [[ 9.98493405e-01 5.48218613e-02 2.34179848e-03 3.06624554e+02] [-5.48215438e-02 9.98496148e-01 -1.99612312e-04 -1.88628082e+01] [-2.34921988e-03 7.09305696e-05 9.99997238e-01 -1.61465404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.560281693 meters Centerline goodness [0,1] 0.9992790194664745 Centerline is valid? [True, True] Translation: X:306.66, Y:-18.87, Z:-1.62 [[ 9.98391297e-01 5.66864812e-02 1.20909241e-03 3.06655303e+02] [-5.66863980e-02 9.98392028e-01 -1.02987575e-04 -1.88664258e+01] [-1.21298622e-03 3.42828049e-05 9.99999264e-01 -1.61701430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59028169299995 meters Centerline goodness [0,1] 0.9993983411405732 Centerline is valid? [True, True] Translation: X:306.69, Y:-18.87, Z:-1.62 [[ 9.98327763e-01 5.78029600e-02 -7.04125628e-04 3.06685768e+02] [-5.78029317e-02 9.98328011e-01 6.05143781e-05 -1.88737977e+01] [ 7.06446248e-04 -1.97126582e-05 9.99999750e-01 -1.62124699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.620281693 meters Centerline goodness [0,1] 0.9994440048756495 Centerline is valid? [True, True] Translation: X:306.72, Y:-18.88, Z:-1.62 [[ 9.98320666e-01 5.79128579e-02 -1.39580004e-03 3.06717957e+02] [-5.79127468e-02 9.98321641e-01 1.19903342e-04 -1.88781115e+01] [ 1.40040133e-03 -3.88673702e-05 9.99999019e-01 -1.62243640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65028169299995 meters Centerline goodness [0,1] 0.999525268654784 Centerline is valid? [True, True] Translation: X:306.75, Y:-18.88, Z:-1.62 [[ 9.98328597e-01 5.77766398e-02 -1.36824676e-03 3.06749976e+02] [-5.77765326e-02 9.98329534e-01 1.17776886e-04 -1.88837644e+01] [ 1.37276591e-03 -3.85274799e-05 9.99999057e-01 -1.62227235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.680281693 meters Centerline goodness [0,1] 0.9994246627884676 Centerline is valid? [True, True] Translation: X:306.78, Y:-18.89, Z:-1.62 [[ 9.98313431e-01 5.80513020e-02 -5.82946996e-04 3.06780534e+02] [-5.80512825e-02 9.98313601e-01 5.04417645e-05 -1.88914890e+01] [ 5.84892125e-04 -1.65158703e-05 9.99999829e-01 -1.62106477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71028169299996 meters Centerline goodness [0,1] 0.9991265259166152 Centerline is valid? [True, True] Translation: X:306.81, Y:-18.90, Z:-1.62 [[ 9.98277169e-01 5.86435858e-02 1.90341115e-03 3.06812176e+02] [-5.86433804e-02 9.98278983e-01 -1.63617562e-04 -1.89004092e+01] [-1.90973047e-03 5.17132124e-05 9.99998175e-01 -1.61669707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.740281693 meters Centerline goodness [0,1] 0.9995097725771043 Centerline is valid? [True, True] Translation: X:306.84, Y:-18.91, Z:-1.62 [[ 9.98210364e-01 5.97594956e-02 2.20722898e-03 3.06843770e+02] [-5.97592211e-02 9.98212803e-01 -1.90147383e-04 -1.89078701e+01] [-2.21464734e-03 5.79048042e-05 9.99997546e-01 -1.61726344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77028169299996 meters Centerline goodness [0,1] 0.9994257029820904 Centerline is valid? [True, True] Translation: X:306.87, Y:-18.92, Z:-1.62 [[ 9.98172705e-01 6.04113129e-02 1.31301006e-03 3.06874073e+02] [-6.04112162e-02 9.98173568e-01 -1.13199336e-04 -1.89161134e+01] [-1.31745046e-03 3.36719531e-05 9.99999132e-01 -1.61868383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.800281693 meters Centerline goodness [0,1] 0.9996372017585045 Centerline is valid? [True, True] Translation: X:306.91, Y:-18.92, Z:-1.62 [[ 9.98116427e-01 6.13481671e-02 1.59878533e-05 3.06905614e+02] [-6.13481671e-02 9.98116427e-01 -1.04206839e-06 -1.89198874e+01] [-1.60216680e-05 5.92800859e-08 1.00000000e+00 -1.62096630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83028169299996 meters Centerline goodness [0,1] 0.9997651980874317 Centerline is valid? [True, True] Translation: X:306.94, Y:-18.92, Z:-1.62 [[ 9.97897855e-01 6.47627783e-02 -2.37768310e-03 3.06936753e+02] [-6.47624710e-02 9.97900686e-01 2.06071493e-04 -1.89231828e+01] [ 2.38603736e-03 -5.16536676e-05 9.99997152e-01 -1.62428443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.860281693 meters Centerline goodness [0,1] 0.9998299789598963 Centerline is valid? [True, True] Translation: X:306.97, Y:-18.93, Z:-1.63 [[ 9.97767787e-01 6.67149811e-02 -2.92481895e-03 3.06968064e+02] [-6.67145223e-02 9.97772072e-01 2.54256785e-04 -1.89285647e+01] [ 2.93526540e-03 -5.85613307e-05 9.99995690e-01 -1.62592959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89028169299996 meters Centerline goodness [0,1] 0.999788036796812 Centerline is valid? [True, True] Translation: X:307.00, Y:-18.94, Z:-1.62 [[ 9.97621260e-01 6.89063506e-02 -1.93300563e-03 3.06999538e+02] [-6.89061534e-02 9.97623132e-01 1.68470706e-04 -1.89351623e+01] [ 1.94001983e-03 -3.48739754e-05 9.99998118e-01 -1.62480338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.920281693 meters Centerline goodness [0,1] 0.999787374285046 Centerline is valid? [True, True] Translation: X:307.03, Y:-18.94, Z:-1.62 [[ 9.97572062e-01 6.96363954e-02 -8.67662348e-04 3.07031041e+02] [-6.96363559e-02 9.97572440e-01 7.56420166e-05 -1.89391362e+01] [ 8.70823482e-04 -1.50375184e-05 9.99999621e-01 -1.62270584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95028169299997 meters Centerline goodness [0,1] 0.9998070077625767 Centerline is valid? [True, True] Translation: X:307.06, Y:-18.94, Z:-1.62 [[ 9.97471806e-01 7.10540978e-02 1.14534230e-03 3.07062919e+02] [-7.10540304e-02 9.97472463e-01 -9.95280718e-05 -1.89443713e+01] [-1.14951928e-03 1.78952593e-05 9.99999339e-01 -1.61921373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98028169299994 meters Centerline goodness [0,1] 0.9998313090418354 Centerline is valid? [True, True] Translation: X:307.09, Y:-18.95, Z:-1.62 [[ 9.97452268e-01 7.13081261e-02 2.03072650e-03 3.07094186e+02] [-7.13079133e-02 9.97454335e-01 -1.77071842e-04 -1.89511311e+01] [-2.03818361e-03 3.18138412e-05 9.99997922e-01 -1.61812140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01028169299997 meters Centerline goodness [0,1] 0.999786370433668 Centerline is valid? [True, True] Translation: X:307.12, Y:-18.96, Z:-1.62 [[ 9.97526823e-01 7.01515555e-02 4.35847479e-03 3.07123831e+02] [-7.01505602e-02 9.97536342e-01 -3.81021115e-04 -1.89646231e+01] [-4.37446622e-03 7.43293348e-05 9.99990429e-01 -1.61514585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04028169299994 meters Centerline goodness [0,1] 0.9996598422518443 Centerline is valid? [True, True] Translation: X:307.16, Y:-18.97, Z:-1.61 [[ 9.97549120e-01 6.98154680e-02 4.64264394e-03 3.07155615e+02] [-6.98143322e-02 9.97559920e-01 -4.06457662e-04 -1.89718515e+01] [-4.65969255e-03 8.13383965e-05 9.99989140e-01 -1.61446605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07028169299997 meters Centerline goodness [0,1] 0.9996605206764125 Centerline is valid? [True, True] Translation: X:307.19, Y:-18.98, Z:-1.61 [[ 9.97532429e-01 7.00645955e-02 4.47277766e-03 3.07187826e+02] [-7.00635403e-02 9.97542453e-01 -3.92357873e-04 -1.89789841e+01] [-4.48927600e-03 7.80110638e-05 9.99989920e-01 -1.61491371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10028169299994 meters Centerline goodness [0,1] 0.9998495012039904 Centerline is valid? [True, True] Translation: X:307.22, Y:-18.99, Z:-1.62 [[ 9.97378931e-01 7.23401342e-02 1.47405702e-03 3.07219970e+02] [-7.23400220e-02 9.97380020e-01 -1.29379477e-04 -1.89851381e+01] [-1.47955435e-03 2.24070471e-05 9.99998905e-01 -1.62001975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.130281693 meters Centerline goodness [0,1] 0.9999158320006734 Centerline is valid? [True, True] Translation: X:307.25, Y:-18.99, Z:-1.62 [[ 9.97219376e-01 7.45219097e-02 -3.58324590e-05 3.07251023e+02] [-7.45219096e-02 9.97219377e-01 3.34860673e-06 -1.89880839e+01] [ 3.59823670e-05 -6.68992241e-07 9.99999999e-01 -1.62271324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16028169299994 meters Centerline goodness [0,1] 0.9998713053923041 Centerline is valid? [True, True] Translation: X:307.28, Y:-18.99, Z:-1.62 [[ 9.96849462e-01 7.93160056e-02 -3.47873033e-04 3.07282012e+02] [-7.93159996e-02 9.96849523e-01 3.09738972e-05 -1.89885735e+01] [ 3.49233793e-04 -3.28441538e-06 9.99999939e-01 -1.62317965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.190281693 meters Centerline goodness [0,1] 0.9998737400307233 Centerline is valid? [True, True] Translation: X:307.31, Y:-18.99, Z:-1.62 [[ 9.96599455e-01 8.23977837e-02 3.62402325e-04 3.07313830e+02] [-8.23977776e-02 9.96599521e-01 -3.16660706e-05 -1.89892639e+01] [-3.63779198e-04 1.69724245e-06 9.99999934e-01 -1.62160351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22028169299995 meters Centerline goodness [0,1] 0.9997671809850361 Centerline is valid? [True, True] Translation: X:307.35, Y:-18.99, Z:-1.62 [[ 9.96130627e-01 8.78660091e-02 1.82714886e-03 3.07346420e+02] [-8.78658611e-02 9.96132303e-01 -1.61291677e-04 -1.89881341e+01] [-1.83425406e-03 1.23570744e-07 9.99998318e-01 -1.61902091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.250281693 meters Centerline goodness [0,1] 0.9997023050097814 Centerline is valid? [True, True] Translation: X:307.38, Y:-18.99, Z:-1.62 [[ 9.95862477e-01 9.08485158e-02 2.11504257e-03 3.07379375e+02] [-9.08483233e-02 9.95864723e-01 -1.87114672e-04 -1.89881313e+01] [-2.12329537e-03 -5.80759072e-06 9.99997746e-01 -1.61925236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28028169299995 meters Centerline goodness [0,1] 0.9995545279056448 Centerline is valid? [True, True] Translation: X:307.41, Y:-18.99, Z:-1.62 [[ 9.95555694e-01 9.41573108e-02 1.80600613e-03 3.07412085e+02] [-9.41571754e-02 9.95557332e-01 -1.60067627e-04 -1.89860804e+01] [-1.81305418e-03 -1.06921986e-05 9.99998356e-01 -1.62008416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.310281693 meters Centerline goodness [0,1] 0.9994886109394643 Centerline is valid? [True, True] Translation: X:307.44, Y:-18.97, Z:-1.62 [[ 9.94869408e-01 1.01167348e-01 1.68801387e-04 3.07444409e+02] [-1.01167347e-01 9.94869422e-01 -1.46969915e-05 -1.89748439e+01] [-1.69422194e-04 -2.45560112e-06 9.99999986e-01 -1.62246758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34028169299995 meters Centerline goodness [0,1] 0.9991903869098346 Centerline is valid? [True, True] Translation: X:307.48, Y:-18.97, Z:-1.62 [[ 9.94407603e-01 1.05610197e-01 -6.69486569e-05 3.07476502e+02] [-1.05610196e-01 9.94407606e-01 6.28662920e-06 -1.89704148e+01] [ 6.72381857e-05 8.18988930e-07 9.99999998e-01 -1.62172179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.370281693 meters Centerline goodness [0,1] 0.9986584898428517 Centerline is valid? [True, True] Translation: X:307.51, Y:-18.96, Z:-1.62 [[ 9.93497710e-01 1.13841439e-01 1.55810424e-03 3.07508959e+02] [-1.13841361e-01 9.93498931e-01 -1.38872072e-04 -1.89556215e+01] [-1.56378429e-03 -3.94076218e-05 9.99998777e-01 -1.61875708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40028169299995 meters Centerline goodness [0,1] 0.998019886303149 Centerline is valid? [True, True] Translation: X:307.54, Y:-18.95, Z:-1.62 [[ 9.93191239e-01 1.16469296e-01 2.46272417e-03 3.07540042e+02] [-1.16469110e-01 9.93194290e-01 -2.19520513e-04 -1.89535743e+01] [-2.47153098e-03 -6.88054399e-05 9.99996943e-01 -1.61732048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.430281693 meters Centerline goodness [0,1] 0.9965444584913612 Centerline is valid? [True, True] Translation: X:307.57, Y:-18.95, Z:-1.62 [[ 9.92976655e-01 1.18273513e-01 2.95616319e-03 3.07570970e+02] [-1.18273252e-01 9.92981051e-01 -2.63570753e-04 -1.89455776e+01] [-2.96658747e-03 -8.79154298e-05 9.99995596e-01 -1.61685160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46028169299996 meters Centerline goodness [0,1] 0.9971463253615009 Centerline is valid? [True, True] Translation: X:307.60, Y:-18.94, Z:-1.62 [[ 9.92907048e-01 1.18866548e-01 2.51735300e-03 3.07601951e+02] [-1.18866360e-01 9.92910237e-01 -2.24521683e-04 -1.89446238e+01] [-2.52619368e-03 -7.62994276e-05 9.99996806e-01 -1.61845355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.490281693 meters Centerline goodness [0,1] 0.9954178808226699 Centerline is valid? [True, True] Translation: X:307.63, Y:-18.94, Z:-1.62 [[ 9.92894629e-01 1.18980368e-01 1.98205502e-03 3.07631472e+02] [-1.18980252e-01 9.92896605e-01 -1.76782705e-04 -1.89368258e+01] [-1.98900937e-03 -6.02988075e-05 9.99998020e-01 -1.61984067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52028169299996 meters Centerline goodness [0,1] 0.9959334176148336 Centerline is valid? [True, True] Translation: X:307.66, Y:-18.93, Z:-1.62 [[ 9.92745335e-01 1.20219372e-01 2.00050335e-03 3.07661894e+02] [-1.20219257e-01 9.92747349e-01 -1.78355792e-04 -1.89334547e+01] [-2.00743622e-03 -6.34371446e-05 9.99997983e-01 -1.61986468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.550281693 meters Centerline goodness [0,1] 0.9965797349294571 Centerline is valid? [True, True] Translation: X:307.69, Y:-18.93, Z:-1.62 [[ 9.92663372e-01 1.20882989e-01 2.59485401e-03 3.07692089e+02] [-1.20882797e-01 9.92666760e-01 -2.31271976e-04 -1.89337001e+01] [-2.60378217e-03 -8.40979912e-05 9.99996607e-01 -1.61852739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58028169299996 meters Centerline goodness [0,1] 0.9953838262950931 Centerline is valid? [True, True] Translation: X:307.72, Y:-18.92, Z:-1.62 [[ 9.92480859e-01 1.22383471e-01 2.00754273e-03 3.07721312e+02] [-1.22383360e-01 9.92482887e-01 -1.78892817e-04 -1.89242542e+01] [-2.01434533e-03 -6.81421279e-05 9.99997969e-01 -1.61836112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.610281693 meters Centerline goodness [0,1] 0.995291902071563 Centerline is valid? [True, True] Translation: X:307.75, Y:-18.92, Z:-1.62 [[ 9.92387282e-01 1.23141680e-01 1.89956153e-03 3.07750614e+02] [-1.23141581e-01 9.92389098e-01 -1.69187755e-04 -1.89202532e+01] [-1.90593821e-03 -6.60152340e-05 9.99998182e-01 -1.61898519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64028169299996 meters Centerline goodness [0,1] 0.9940071232058691 Centerline is valid? [True, True] Translation: X:307.78, Y:-18.91, Z:-1.62 [[ 9.92213055e-01 1.24512045e-01 3.16308280e-03 3.07781280e+02] [-1.24511779e-01 9.92218090e-01 -2.81539261e-04 -1.89117567e+01] [-3.17352300e-03 -1.14494136e-04 9.99994958e-01 -1.61715878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.670281693 meters Centerline goodness [0,1] 0.9934055284004719 Centerline is valid? [True, True] Translation: X:307.81, Y:-18.91, Z:-1.62 [[ 9.92185540e-01 1.24722381e-01 3.49034450e-03 3.07809958e+02] [-1.24722059e-01 9.92191671e-01 -3.10534681e-04 -1.89077650e+01] [-3.50182136e-03 -1.27214934e-04 9.99993861e-01 -1.61585871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70028169299997 meters Centerline goodness [0,1] 0.9949851253718657 Centerline is valid? [True, True] Translation: X:307.84, Y:-18.91, Z:-1.62 [[ 9.92514520e-01 1.22104603e-01 2.32244205e-03 3.07840014e+02] [-1.22104454e-01 9.92517234e-01 -2.06541549e-04 -1.89060384e+01] [-2.33028343e-03 -7.85850313e-05 9.99997282e-01 -1.61814093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73028169299994 meters Centerline goodness [0,1] 0.9969774271688567 Centerline is valid? [True, True] Translation: X:307.87, Y:-18.91, Z:-1.62 [[ 9.92823680e-01 1.19577854e-01 1.50903101e-03 3.07870020e+02] [-1.19577788e-01 9.92824826e-01 -1.34178185e-04 -1.89108469e+01] [-1.51424819e-03 -4.72313117e-05 9.99998852e-01 -1.61962350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76028169299997 meters Centerline goodness [0,1] 0.9982655617652727 Centerline is valid? [True, True] Translation: X:307.90, Y:-18.91, Z:-1.62 [[ 9.93534598e-01 1.13522146e-01 1.31350093e-03 3.07899949e+02] [-1.13522091e-01 9.93535466e-01 -1.16782098e-04 -1.89115553e+01] [-1.31826711e-03 -3.30843162e-05 9.99999131e-01 -1.62162992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79028169299994 meters Centerline goodness [0,1] 0.9982834255197406 Centerline is valid? [True, True] Translation: X:307.93, Y:-18.91, Z:-1.62 [[ 9.93846481e-01 1.10752488e-01 1.74876225e-03 3.07928738e+02] [-1.10752386e-01 9.93848019e-01 -1.55451808e-04 -1.89129974e+01] [-1.75522058e-03 -3.91843599e-05 9.99998459e-01 -1.62052763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82028169299997 meters Centerline goodness [0,1] 0.9988742804953166 Centerline is valid? [True, True] Translation: X:307.96, Y:-18.92, Z:-1.62 [[ 9.94144576e-01 1.08021557e-01 2.81176528e-03 3.07957923e+02] [-1.08021282e-01 9.94148550e-01 -2.49802931e-04 -1.89152033e+01] [-2.82229648e-03 -5.53902615e-05 9.99996016e-01 -1.61722217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85028169299994 meters Centerline goodness [0,1] 0.9989850077181704 Centerline is valid? [True, True] Translation: X:307.99, Y:-18.91, Z:-1.62 [[ 9.94101511e-01 1.08406150e-01 3.20817361e-03 3.07986548e+02] [-1.08405795e-01 9.94106686e-01 -2.84870476e-04 -1.89132889e+01] [-3.22014855e-03 -6.45944407e-05 9.99994813e-01 -1.61567217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.880281693 meters Centerline goodness [0,1] 0.9982199241348619 Centerline is valid? [True, True] Translation: X:308.02, Y:-18.90, Z:-1.62 [[ 9.93784507e-01 1.11275931e-01 3.16568161e-03 3.08017538e+02] [-1.11275601e-01 9.93789546e-01 -2.80949792e-04 -1.89023070e+01] [-3.17728424e-03 -7.30595730e-05 9.99994950e-01 -1.61593081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91028169299994 meters Centerline goodness [0,1] 0.9967155128852956 Centerline is valid? [True, True] Translation: X:308.05, Y:-18.89, Z:-1.62 [[ 9.93571731e-01 1.13172553e-01 2.68132970e-03 3.08046008e+02] [-1.13172323e-01 9.93575346e-01 -2.37883146e-04 -1.88931258e+01] [-2.69102493e-03 -6.70983407e-05 9.99996377e-01 -1.61718945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.940281693 meters Centerline goodness [0,1] 0.9963389455311722 Centerline is valid? [True, True] Translation: X:308.08, Y:-18.89, Z:-1.62 [[ 9.93365356e-01 1.14974630e-01 2.47067465e-03 3.08075265e+02] [-1.14974441e-01 9.93368426e-01 -2.19051957e-04 -1.88892135e+01] [-2.47947561e-03 -6.64658113e-05 9.99996924e-01 -1.61784103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97028169299995 meters Centerline goodness [0,1] 0.9955490866135088 Centerline is valid? [True, True] Translation: X:308.11, Y:-18.88, Z:-1.62 [[ 9.93113188e-01 1.17133089e-01 2.45682149e-03 3.08106366e+02] [-1.17132909e-01 9.93116224e-01 -2.17744922e-04 -1.88780464e+01] [-2.46541441e-03 -7.15292930e-05 9.99996958e-01 -1.61742756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.000281693 meters Centerline goodness [0,1] 0.9960069665689648 Centerline is valid? [True, True] Translation: X:308.14, Y:-18.87, Z:-1.62 [[ 9.93173031e-01 1.16618730e-01 2.72075063e-03 3.08135136e+02] [-1.16618507e-01 9.93176755e-01 -2.41055550e-04 -1.88748581e+01] [-2.73029787e-03 -7.78800043e-05 9.99996270e-01 -1.61732502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03028169299995 meters Centerline goodness [0,1] 0.9960069665689648 Centerline is valid? [True, True] Translation: X:308.16, Y:-18.88, Z:-1.62 [[ 9.93180903e-01 1.16551664e-01 2.72076271e-03 3.08162542e+02] [-1.16551441e-01 9.93184627e-01 -2.40919133e-04 -1.88771470e+01] [-2.73029922e-03 -7.78325326e-05 9.99996270e-01 -1.61738291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.060281693 meters Centerline goodness [0,1] 0.997102560824918 Centerline is valid? [True, True] Translation: X:308.19, Y:-18.88, Z:-1.62 [[ 9.93583500e-01 1.13058552e-01 3.09720871e-03 3.08192705e+02] [-1.13058247e-01 9.93588324e-01 -2.74078881e-04 -1.88759896e+01] [-3.10833738e-03 -7.78447336e-05 9.99995166e-01 -1.61780149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09028169299995 meters Centerline goodness [0,1] 0.9978825223393893 Centerline is valid? [True, True] Translation: X:308.22, Y:-18.88, Z:-1.62 [[ 9.93931420e-01 1.09961916e-01 2.95111002e-03 3.08221885e+02] [-1.09961625e-01 9.93935799e-01 -2.61066340e-04 -1.88792496e+01] [-2.96192125e-03 -6.50268141e-05 9.99995611e-01 -1.61841285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.120281693 meters Centerline goodness [0,1] 0.9992790653294036 Centerline is valid? [True, True] Translation: X:308.25, Y:-18.89, Z:-1.62 [[ 9.94728643e-01 1.02471757e-01 3.80339649e-03 3.08249957e+02] [-1.02471220e-01 9.94735913e-01 -3.36211109e-04 -1.88857509e+01] [-3.81782722e-03 -5.52998579e-05 9.99992711e-01 -1.61745612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15028169299995 meters Centerline goodness [0,1] 0.9996816503247167 Centerline is valid? [True, True] Translation: X:308.28, Y:-18.89, Z:-1.62 [[ 9.95160229e-01 9.81834937e-02 4.01487014e-03 3.08277748e+02] [-9.81828616e-02 9.95168327e-01 -3.54718510e-04 -1.88909086e+01] [-4.03029910e-03 -4.11896846e-05 9.99991877e-01 -1.61772493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.180281693 meters Centerline goodness [0,1] 0.9998289392092715 Centerline is valid? [True, True] Translation: X:308.31, Y:-18.90, Z:-1.62 [[ 9.95873765e-01 9.07085441e-02 2.72109729e-03 3.08305977e+02] [-9.07082262e-02 9.95877482e-01 -2.40290824e-04 -1.89035745e+01] [-2.73167594e-03 -7.52658082e-06 9.99996269e-01 -1.62029994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21028169299996 meters Centerline goodness [0,1] 0.9997861191316437 Centerline is valid? [True, True] Translation: X:308.33, Y:-18.91, Z:-1.62 [[ 9.96161776e-01 8.74930845e-02 2.58376329e-03 3.08334070e+02] [-8.74927874e-02 9.96165127e-01 -2.28014061e-04 -1.89118163e+01] [-2.59380454e-03 1.07823899e-06 9.99996636e-01 -1.62077541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.240281693 meters Centerline goodness [0,1] 0.9998721581829416 Centerline is valid? [True, True] Translation: X:308.36, Y:-18.92, Z:-1.62 [[ 9.96587098e-01 8.24742873e-02 3.48534309e-03 3.08362203e+02] [-8.24737166e-02 9.96593193e-01 -3.07402690e-04 -1.89218273e+01] [-3.49882201e-03 1.89043568e-05 9.99993879e-01 -1.61826094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27028169299996 meters Centerline goodness [0,1] 0.9997878524301504 Centerline is valid? [True, True] Translation: X:308.39, Y:-18.93, Z:-1.62 [[ 9.96727863e-01 8.07393213e-02 3.83779817e-03 3.08390587e+02] [-8.07386171e-02 9.96735251e-01 -3.38333411e-04 -1.89268547e+01] [-3.85258553e-03 2.73678213e-05 9.99992578e-01 -1.61771478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.300281693 meters Centerline goodness [0,1] 0.9997041295067416 Centerline is valid? [True, True] Translation: X:308.42, Y:-18.93, Z:-1.62 [[ 9.96811481e-01 7.97265982e-02 3.24679983e-03 3.08417775e+02] [-7.97260892e-02 9.96816768e-01 -2.86079700e-04 -1.89324638e+01] [-3.25927268e-03 2.63128762e-05 9.99994688e-01 -1.61906082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33028169299996 meters Centerline goodness [0,1] 0.9998943319666934 Centerline is valid? [True, True] Translation: X:308.45, Y:-18.94, Z:-1.62 [[ 9.96941299e-01 7.81512495e-02 6.54128480e-04 3.08445077e+02] [-7.81512285e-02 9.96941514e-01 -5.76032367e-05 -1.89434291e+01] [-6.56629602e-04 6.30610137e-06 9.99999784e-01 -1.62467046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.360281693 meters Centerline goodness [0,1] 0.9997243251267044 Centerline is valid? [True, True] Translation: X:308.47, Y:-18.95, Z:-1.63 [[ 9.97050486e-01 7.67484630e-02 -4.16346270e-05 3.08473684e+02] [-7.67484630e-02 9.97050487e-01 3.57230080e-06 -1.89493935e+01] [ 4.17859937e-05 -3.66370623e-07 9.99999999e-01 -1.62565086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39028169299996 meters Centerline goodness [0,1] 0.9996603260869565 Centerline is valid? [True, True] Translation: X:308.50, Y:-18.95, Z:-1.62 [[ 9.97033731e-01 7.69650198e-02 3.53128615e-04 3.08501089e+02] [-7.69650136e-02 9.97033794e-01 -3.11817413e-05 -1.89522379e+01] [-3.54481066e-04 3.91069923e-06 9.99999937e-01 -1.62493952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.420281693 meters Centerline goodness [0,1] 0.9997662459093034 Centerline is valid? [True, True] Translation: X:308.53, Y:-18.96, Z:-1.62 [[ 9.96987962e-01 7.75541481e-02 5.98434835e-04 3.08529475e+02] [-7.75541304e-02 9.96988141e-01 -5.27125875e-05 -1.89559871e+01] [-6.00720514e-04 6.14272189e-06 9.99999820e-01 -1.62477120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45028169299997 meters Centerline goodness [0,1] 0.9998936645328683 Centerline is valid? [True, True] Translation: X:308.56, Y:-18.96, Z:-1.63 [[ 9.96834635e-01 7.95013271e-02 -4.98854975e-04 3.08557563e+02] [-7.95013151e-02 9.96834760e-01 4.37243729e-05 -1.89584494e+01] [ 5.00752125e-04 -3.92634277e-06 9.99999875e-01 -1.62654172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48028169299994 meters Centerline goodness [0,1] 0.9998106897204518 Centerline is valid? [True, True] Translation: X:308.59, Y:-18.96, Z:-1.63 [[ 9.96725506e-01 8.08566537e-02 -6.83282120e-04 3.08586590e+02] [-8.08566317e-02 9.96725740e-01 5.99253902e-05 -1.89573087e+01] [ 6.85890243e-04 -4.48127418e-06 9.99999765e-01 -1.62667077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51028169299997 meters Centerline goodness [0,1] 0.9998926070707504 Centerline is valid? [True, True] Translation: X:308.62, Y:-18.95, Z:-1.62 [[ 9.96516617e-01 8.33875683e-02 1.07040164e-03 3.08615936e+02] [-8.33875153e-02 9.96517192e-01 -9.40669782e-05 -1.89512225e+01] [-1.07451766e-03 4.48117349e-06 9.99999423e-01 -1.62242078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54028169299994 meters Centerline goodness [0,1] 0.9998717098933054 Centerline is valid? [True, True] Translation: X:308.64, Y:-18.95, Z:-1.62 [[ 9.96474794e-01 8.38788648e-02 1.52339263e-03 3.08643522e+02] [-8.38787583e-02 9.96475959e-01 -1.33767476e-04 -1.89528334e+01] [-1.52924439e-03 5.51563625e-06 9.99998831e-01 -1.62155452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57028169299997 meters Centerline goodness [0,1] 0.9998069663692519 Centerline is valid? [True, True] Translation: X:308.67, Y:-18.96, Z:-1.62 [[ 9.96509541e-01 8.34656283e-02 1.49112151e-03 3.08671701e+02] [-8.34655259e-02 9.96510657e-01 -1.30840240e-04 -1.89561902e+01] [-1.49683914e-03 5.92630617e-06 9.99998880e-01 -1.62206342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60028169299994 meters Centerline goodness [0,1] 0.9998104983892363 Centerline is valid? [True, True] Translation: X:308.70, Y:-18.97, Z:-1.62 [[ 9.96860325e-01 7.91681027e-02 1.38002749e-03 3.08698772e+02] [-7.91680111e-02 9.96861280e-01 -1.20998227e-04 -1.89699452e+01] [-1.38527517e-03 1.13643009e-05 9.99999040e-01 -1.62342343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.630281693 meters Centerline goodness [0,1] 0.9998924846790668 Centerline is valid? [True, True] Translation: X:308.73, Y:-18.98, Z:-1.62 [[ 9.97128128e-01 7.57163413e-02 1.59132497e-03 3.08728126e+02] [-7.57162150e-02 9.97129397e-01 -1.39542343e-04 -1.89776266e+01] [-1.59732255e-03 1.86524921e-05 9.99998724e-01 -1.62339566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66028169299994 meters Centerline goodness [0,1] 0.9994669282272165 Centerline is valid? [True, True] Translation: X:308.76, Y:-19.00, Z:-1.62 [[ 9.97684870e-01 6.79756703e-02 2.05156909e-03 3.08756485e+02] [-6.79754442e-02 9.97686978e-01 -1.79836727e-04 -1.90031614e+01] [-2.05904829e-03 3.99640608e-05 9.99997879e-01 -1.62220466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.690281693 meters Centerline goodness [0,1] 0.999405722047712 Centerline is valid? [True, True] Translation: X:308.79, Y:-19.01, Z:-1.62 [[ 9.97882061e-01 6.50164262e-02 2.06322354e-03 3.08787102e+02] [-6.50161911e-02 9.97884193e-01 -1.80881546e-04 -1.90085972e+01] [-2.07061842e-03 4.63555141e-05 9.99997855e-01 -1.62139916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72028169299995 meters Centerline goodness [0,1] 0.99944700852883 Centerline is valid? [True, True] Translation: X:308.82, Y:-19.02, Z:-1.62 [[ 9.98035194e-01 6.26337190e-02 1.66423977e-03 3.08817136e+02] [-6.26335626e-02 9.98036580e-01 -1.45964450e-04 -1.90223943e+01] [-1.67011447e-03 4.14403925e-05 9.99998604e-01 -1.62169800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.750281693 meters Centerline goodness [0,1] 0.9985877194831475 Centerline is valid? [True, True] Translation: X:308.85, Y:-19.04, Z:-1.62 [[ 9.98016230e-01 6.29495766e-02 9.77121540e-04 3.08847336e+02] [-6.29495229e-02 9.98016708e-01 -8.56264376e-05 -1.90383320e+01] [-9.80573771e-04 2.39472397e-05 9.99999519e-01 -1.62347085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78028169299995 meters Centerline goodness [0,1] 0.999295353604373 Centerline is valid? [True, True] Translation: X:308.88, Y:-19.04, Z:-1.62 [[ 9.97928877e-01 6.43255318e-02 4.26752870e-04 3.08878710e+02] [-6.43255217e-02 9.97928968e-01 -3.74718728e-05 -1.90360260e+01] [-4.28279449e-04 9.94316302e-06 9.99999908e-01 -1.62448648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.810281693 meters Centerline goodness [0,1] 0.9995506195031135 Centerline is valid? [True, True] Translation: X:308.91, Y:-19.04, Z:-1.62 [[ 9.97713778e-01 6.75805013e-02 3.06265627e-04 3.08908560e+02] [-6.75804963e-02 9.97713825e-01 -2.68997781e-05 -1.90425075e+01] [-3.07383350e-04 6.14069623e-06 9.99999953e-01 -1.62448568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84028169299995 meters Centerline goodness [0,1] 0.9993858794629622 Centerline is valid? [True, True] Translation: X:308.94, Y:-19.05, Z:-1.62 [[ 9.97645370e-01 6.85746738e-02 1.10903429e-03 3.08938867e+02] [-6.85746079e-02 9.97645986e-01 -9.73481968e-05 -1.90483293e+01] [-1.11309923e-03 2.10673864e-05 9.99999380e-01 -1.62305185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.870281693 meters Centerline goodness [0,1] 0.9992221171029118 Centerline is valid? [True, True] Translation: X:308.97, Y:-19.06, Z:-1.62 [[ 9.97506654e-01 7.05191363e-02 2.74362270e-03 3.08969276e+02] [-7.05187397e-02 9.97510426e-01 -2.41157670e-04 -1.90570093e+01] [-2.75379847e-03 4.70795652e-05 9.99996207e-01 -1.62000601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90028169299995 meters Centerline goodness [0,1] 0.9995116150677369 Centerline is valid? [True, True] Translation: X:309.00, Y:-19.06, Z:-1.62 [[ 9.97414811e-01 7.17852576e-02 3.25138521e-03 3.09000712e+02] [-7.17847070e-02 9.97420109e-01 -2.85897823e-04 -1.90624663e+01] [-3.26352024e-03 5.17589885e-05 9.99994673e-01 -1.61899057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.930281693 meters Centerline goodness [0,1] 0.9998730803401447 Centerline is valid? [True, True] Translation: X:309.03, Y:-19.07, Z:-1.62 [[ 9.97191585e-01 7.48691077e-02 1.88652092e-03 3.09031636e+02] [-7.48689278e-02 9.97193369e-01 -1.65909611e-04 -1.90697190e+01] [-1.89364766e-03 2.42018691e-05 9.99998207e-01 -1.62182369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96028169299996 meters Centerline goodness [0,1] 0.9998300981183367 Centerline is valid? [True, True] Translation: X:309.06, Y:-19.07, Z:-1.62 [[ 9.97078850e-01 7.63787170e-02 2.41267795e-04 3.09062904e+02] [-7.63787141e-02 9.97078879e-01 -2.12140238e-05 -1.90713523e+01] [-2.42183323e-04 2.72433048e-06 9.99999971e-01 -1.62495884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.990281693 meters Centerline goodness [0,1] 0.9998945014136811 Centerline is valid? [True, True] Translation: X:309.09, Y:-19.07, Z:-1.63 [[ 9.96789637e-01 8.00543736e-02 -1.31029184e-03 3.09092540e+02] [-8.00542909e-02 9.96790498e-01 1.15542937e-04 -1.90718291e+01] [ 1.31533618e-03 -1.02775181e-05 9.99999135e-01 -1.62830718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02028169299996 meters Centerline goodness [0,1] 0.9999362353341269 Centerline is valid? [True, True] Translation: X:309.12, Y:-19.07, Z:-1.63 [[ 9.96648521e-01 8.18015050e-02 -4.88679584e-04 3.09122562e+02] [-8.18014937e-02 9.96648641e-01 4.30768027e-05 -1.90733865e+01] [ 4.90565590e-04 -2.95771179e-06 9.99999880e-01 -1.62735306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.050281693 meters Centerline goodness [0,1] 0.9998314938073974 Centerline is valid? [True, True] Translation: X:309.15, Y:-19.08, Z:-1.63 [[ 9.96558350e-01 8.28928032e-02 4.88517142e-04 3.09152785e+02] [-8.28927921e-02 9.96558470e-01 -4.30443411e-05 -1.90776921e+01] [-4.90403961e-04 2.40164771e-06 9.99999880e-01 -1.62521073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08028169299996 meters Centerline goodness [0,1] 0.9999365482233502 Centerline is valid? [True, True] Translation: X:309.18, Y:-19.09, Z:-1.62 [[ 9.96597032e-01 8.24198655e-02 1.14992774e-03 3.09183024e+02] [-8.24198034e-02 9.96597695e-01 -1.01356946e-04 -1.90883191e+01] [-1.15436916e-03 6.23521343e-06 9.99999334e-01 -1.62371688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.110281693 meters Centerline goodness [0,1] 0.9999152039345375 Centerline is valid? [True, True] Translation: X:309.21, Y:-19.10, Z:-1.63 [[ 9.96759870e-01 8.04345224e-02 2.22690264e-04 3.09213413e+02] [-8.04345201e-02 9.96759895e-01 -1.93615834e-05 -1.90981582e+01] [-2.23526064e-04 1.38686476e-06 9.99999975e-01 -1.62579856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14028169299996 meters Centerline goodness [0,1] 0.9998713771222775 Centerline is valid? [True, True] Translation: X:309.24, Y:-19.10, Z:-1.63 [[ 9.96837189e-01 7.94705172e-02 2.34676226e-04 3.09244052e+02] [-7.94705146e-02 9.96837217e-01 -2.06865826e-05 -1.91039637e+01] [-2.35577970e-04 1.97131434e-06 9.99999972e-01 -1.62634492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.170281693 meters Centerline goodness [0,1] 0.999620437340531 Centerline is valid? [True, True] Translation: X:309.28, Y:-19.11, Z:-1.63 [[ 9.96879741e-01 7.89331130e-02 5.87666912e-04 3.09276209e+02] [-7.89330963e-02 9.96879914e-01 -5.16824420e-05 -1.91107117e+01] [-5.89912797e-04 5.13481048e-06 9.99999826e-01 -1.62581712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20028169299997 meters Centerline goodness [0,1] 0.999893130423631 Centerline is valid? [True, True] Translation: X:309.31, Y:-19.12, Z:-1.62 [[ 9.96806473e-01 7.98394617e-02 1.58621246e-03 3.09307544e+02] [-7.98393395e-02 9.96807735e-01 -1.40315547e-04 -1.91167432e+01] [-1.59235157e-03 1.32252902e-05 9.99998732e-01 -1.62329043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23028169299994 meters Centerline goodness [0,1] 0.9999140708915145 Centerline is valid? [True, True] Translation: X:309.34, Y:-19.12, Z:-1.62 [[ 9.96702960e-01 8.11250515e-02 1.39149796e-03 3.09339118e+02] [-8.11249584e-02 9.96703931e-01 -1.23278213e-04 -1.91195808e+01] [-1.39691244e-03 9.98654554e-06 9.99999024e-01 -1.62373390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26028169299997 meters Centerline goodness [0,1] 0.9999787753369416 Centerline is valid? [True, True] Translation: X:309.37, Y:-19.12, Z:-1.63 [[ 9.96583282e-01 8.25938890e-02 -1.07033773e-04 3.09370041e+02] [-8.25938884e-02 9.96583288e-01 9.84290764e-06 -1.91243739e+01] [ 1.07481033e-04 -9.68941730e-07 9.99999994e-01 -1.62679235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29028169299994 meters Centerline goodness [0,1] 0.9998937391082586 Centerline is valid? [True, True] Translation: X:309.40, Y:-19.13, Z:-1.63 [[ 9.96566272e-01 8.27948368e-02 -8.24482705e-04 3.09402031e+02] [-8.27948041e-02 9.96566613e-01 7.38354783e-05 -1.91292807e+01] [ 8.27765134e-04 -5.31906328e-06 9.99999657e-01 -1.62837925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32028169299997 meters Centerline goodness [0,1] 0.999957900940914 Centerline is valid? [True, True] Translation: X:309.43, Y:-19.14, Z:-1.63 [[ 9.96517589e-01 8.33761211e-02 -1.05722552e-03 3.09432642e+02] [-8.33760675e-02 9.96518150e-01 9.47139544e-05 -1.91358779e+01] [ 1.06144130e-03 -6.23681549e-06 9.99999437e-01 -1.62838106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35028169299994 meters Centerline goodness [0,1] 0.9999358590609767 Centerline is valid? [True, True] Translation: X:309.46, Y:-19.14, Z:-1.63 [[ 9.96432149e-01 8.43969461e-02 -3.58605294e-04 3.09464686e+02] [-8.43969399e-02 9.96432213e-01 3.24175743e-05 -1.91377170e+01] [ 3.60061811e-04 -2.03672376e-06 9.99999935e-01 -1.62716476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.380281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.50, Y:-19.14, Z:-1.63 [[ 9.96299047e-01 8.59546635e-02 -6.35002775e-05 3.09496604e+02] [-8.59546633e-02 9.96299049e-01 6.02766266e-06 -1.91397562e+01] [ 6.37833718e-05 -5.47209594e-07 9.99999998e-01 -1.62703098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.53, Y:-19.14, Z:-1.63 [[ 9.96010294e-01 8.92383465e-02 -1.12065960e-04 3.09527891e+02] [-8.92383460e-02 9.96010300e-01 1.02452489e-05 -1.91391475e+01] [ 1.12533120e-04 -2.03792419e-07 9.99999994e-01 -1.62618203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.440281693 meters Centerline goodness [0,1] 0.9999365307719974 Centerline is valid? [True, True] Translation: X:309.56, Y:-19.14, Z:-1.63 [[ 9.95830411e-01 9.12238552e-02 -1.27999235e-05 3.09559171e+02] [-9.12238551e-02 9.95830411e-01 1.45868197e-06 -1.91374107e+01] [ 1.28796197e-05 -2.84941499e-07 1.00000000e+00 -1.62571685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47028169299995 meters Centerline goodness [0,1] 0.9999575947756764 Centerline is valid? [True, True] Translation: X:309.59, Y:-19.13, Z:-1.62 [[ 9.95495173e-01 9.48052439e-02 1.15194520e-03 3.09590089e+02] [-9.48051876e-02 9.95495839e-01 -1.03510826e-04 -1.91292374e+01] [-1.15657002e-03 -6.16585346e-06 9.99999331e-01 -1.62305453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.500281693 meters Centerline goodness [0,1] 0.9999580360889635 Centerline is valid? [True, True] Translation: X:309.62, Y:-19.13, Z:-1.62 [[ 9.95378571e-01 9.60106709e-02 1.85774406e-03 3.09621323e+02] [-9.60105266e-02 9.95380305e-01 -1.66926755e-04 -1.91277424e+01] [-1.86518860e-03 -1.22076714e-05 9.99998260e-01 -1.62219530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53028169299995 meters Centerline goodness [0,1] 0.9998935332069927 Centerline is valid? [True, True] Translation: X:309.65, Y:-19.13, Z:-1.62 [[ 9.95311926e-01 9.67016562e-02 1.72042737e-03 3.09652601e+02] [-9.67015334e-02 9.95313413e-01 -1.54622801e-04 -1.91274576e+01] [-1.72731671e-03 -1.24700469e-05 9.99998508e-01 -1.62326415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.560281693 meters Centerline goodness [0,1] 0.9999146812277371 Centerline is valid? [True, True] Translation: X:309.68, Y:-19.13, Z:-1.63 [[ 9.95367515e-01 9.61419323e-02 4.89477341e-04 3.09683044e+02] [-9.61419223e-02 9.95367635e-01 -4.39129587e-05 -1.91274325e+01] [-4.91431780e-04 -3.34975991e-06 9.99999879e-01 -1.62536719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59028169299995 meters Centerline goodness [0,1] 0.999936604539115 Centerline is valid? [True, True] Translation: X:309.71, Y:-19.13, Z:-1.63 [[ 9.95448330e-01 9.52987048e-02 -8.82791107e-04 3.09713933e+02] [-9.52986718e-02 9.95448721e-01 7.94167982e-05 -1.91284808e+01] [ 8.86341597e-04 5.07350081e-06 9.99999607e-01 -1.62782501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.620281693 meters Centerline goodness [0,1] 0.999914998512474 Centerline is valid? [True, True] Translation: X:309.74, Y:-19.13, Z:-1.63 [[ 9.95593704e-01 9.37540826e-02 -1.83012546e-03 3.09743804e+02] [-9.37539385e-02 9.95595386e-01 1.64596907e-04 -1.91279609e+01] [ 1.83749609e-03 7.70982495e-06 9.99998312e-01 -1.62942408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65028169299995 meters Centerline goodness [0,1] 0.9999785711224446 Centerline is valid? [True, True] Translation: X:309.77, Y:-19.13, Z:-1.63 [[ 9.95654992e-01 9.31186789e-02 2.22248691e-04 3.09774051e+02] [-9.31186768e-02 9.95655016e-01 -2.00323576e-05 -1.91255218e+01] [-2.23148411e-04 -7.50187173e-07 9.99999975e-01 -1.62503578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.680281693 meters Centerline goodness [0,1] 0.9998721609068053 Centerline is valid? [True, True] Translation: X:309.80, Y:-19.12, Z:-1.62 [[ 9.95658135e-01 9.30763455e-02 1.29321765e-03 3.09804057e+02] [-9.30762729e-02 9.95658975e-01 -1.16314243e-04 -1.91245644e+01] [-1.29842987e-03 -4.55865717e-06 9.99999157e-01 -1.62293184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71028169299996 meters Centerline goodness [0,1] 0.9998931098616841 Centerline is valid? [True, True] Translation: X:309.83, Y:-19.12, Z:-1.62 [[ 9.95665483e-01 9.29937358e-02 1.55296048e-03 3.09833596e+02] [-9.29936311e-02 9.95666694e-01 -1.39632718e-04 -1.91242633e+01] [-1.55921599e-03 -5.38795605e-06 9.99998784e-01 -1.62287579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.740281693 meters Centerline goodness [0,1] 0.9998927268826432 Centerline is valid? [True, True] Translation: X:309.86, Y:-19.12, Z:-1.63 [[ 9.95636914e-01 9.33119709e-02 1.07728499e-04 3.09863511e+02] [-9.33119704e-02 9.95636920e-01 -9.72638829e-06 -1.91221922e+01] [-1.08166059e-04 -3.68407283e-07 9.99999994e-01 -1.62662698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77028169299996 meters Centerline goodness [0,1] 0.9998505997353481 Centerline is valid? [True, True] Translation: X:309.89, Y:-19.12, Z:-1.63 [[ 9.95583585e-01 9.38786817e-02 -3.42851659e-04 3.09892315e+02] [-9.38786767e-02 9.95583644e-01 3.07301071e-05 -1.91206836e+01] [ 3.44222406e-04 1.59206986e-06 9.99999941e-01 -1.62700539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.800281693 meters Centerline goodness [0,1] 0.9998298451590948 Centerline is valid? [True, True] Translation: X:309.92, Y:-19.11, Z:-1.63 [[ 9.95319003e-01 9.66440975e-02 -3.41544856e-05 3.09922083e+02] [-9.66440974e-02 9.95319003e-01 2.99911165e-06 -1.91110167e+01] [ 3.42844550e-05 3.15756614e-07 9.99999999e-01 -1.62584606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83028169299996 meters Centerline goodness [0,1] 0.9997671267677195 Centerline is valid? [True, True] Translation: X:309.95, Y:-19.11, Z:-1.63 [[ 9.95198767e-01 9.78742220e-02 -2.24595297e-04 3.09950813e+02] [-9.78742200e-02 9.95198793e-01 2.00439330e-05 -1.91078899e+01] [ 2.25478752e-04 2.03439210e-06 9.99999975e-01 -1.62598054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.860281693 meters Centerline goodness [0,1] 0.9997686402355663 Centerline is valid? [True, True] Translation: X:309.98, Y:-19.11, Z:-1.63 [[ 9.95127242e-01 9.85990465e-02 2.83396626e-05 3.09979380e+02] [-9.85990464e-02 9.95127242e-01 -2.65328481e-06 -1.91060945e+01] [-2.84631817e-05 -1.53907713e-07 1.00000000e+00 -1.62579570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89028169299996 meters Centerline goodness [0,1] 0.9994926433282598 Centerline is valid? [True, True] Translation: X:310.01, Y:-19.10, Z:-1.63 [[ 9.95112904e-01 9.87420551e-02 5.60612540e-04 3.10007747e+02] [-9.87420424e-02 9.95113062e-01 -5.03632944e-05 -1.91034602e+01] [-5.62845836e-04 -5.23886302e-06 9.99999842e-01 -1.62515392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.920281693 meters Centerline goodness [0,1] 0.9994926433282598 Centerline is valid? [True, True] Translation: X:310.04, Y:-19.11, Z:-1.63 [[ 9.95117032e-01 9.87004431e-02 5.60616662e-04 3.10035973e+02] [-9.87004304e-02 9.95117190e-01 -5.03173212e-05 -1.91058913e+01] [-5.62845620e-04 -5.26148250e-06 9.99999842e-01 -1.62521355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95028169299997 meters Centerline goodness [0,1] 0.9997253095550015 Centerline is valid? [True, True] Translation: X:310.06, Y:-19.11, Z:-1.63 [[ 9.95133648e-01 9.85321977e-02 6.54733478e-04 3.10064672e+02] [-9.85321804e-02 9.95133863e-01 -5.87222036e-05 -1.91058642e+01] [-6.57333484e-04 -6.07587658e-06 9.99999784e-01 -1.62551367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98028169299994 meters Centerline goodness [0,1] 0.9995544050246138 Centerline is valid? [True, True] Translation: X:310.09, Y:-19.10, Z:-1.63 [[ 9.95156049e-01 9.83076595e-02 2.05923386e-04 3.10093582e+02] [-9.83076578e-02 9.95156070e-01 -1.85205755e-05 -1.91025923e+01] [-2.06746622e-04 -1.81298302e-06 9.99999979e-01 -1.62655704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01028169299997 meters Centerline goodness [0,1] 0.9996804295027483 Centerline is valid? [True, True] Translation: X:310.12, Y:-19.10, Z:-1.63 [[ 9.95254016e-01 9.73104936e-02 -3.32492541e-04 3.10122749e+02] [-9.73104891e-02 9.95254072e-01 2.96599405e-05 -1.91043334e+01] [ 3.33800779e-04 2.83583694e-06 9.99999944e-01 -1.62856745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04028169299994 meters Centerline goodness [0,1] 0.999807573068782 Centerline is valid? [True, True] Translation: X:310.15, Y:-19.11, Z:-1.63 [[ 9.95415702e-01 9.56406890e-02 -6.61932046e-04 3.10151502e+02] [-9.56406708e-02 9.95415922e-01 5.91069066e-05 -1.91078836e+01] [ 6.64550723e-04 4.47168198e-06 9.99999779e-01 -1.62977597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07028169299997 meters Centerline goodness [0,1] 0.999872397439442 Centerline is valid? [True, True] Translation: X:310.18, Y:-19.12, Z:-1.63 [[ 9.95819144e-01 9.13466583e-02 -1.43639572e-04 3.10179904e+02] [-9.13466575e-02 9.95819154e-01 1.27511861e-05 -1.91163014e+01] [ 1.44203816e-04 4.23119632e-07 9.99999990e-01 -1.62917201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10028169299994 meters Centerline goodness [0,1] 0.9999574187229875 Centerline is valid? [True, True] Translation: X:310.21, Y:-19.12, Z:-1.63 [[ 9.96009121e-01 8.92512050e-02 2.31905666e-04 3.10207815e+02] [-8.92512025e-02 9.96009148e-01 -2.08071749e-05 -1.91229359e+01] [-2.32837230e-04 2.62763914e-08 9.99999973e-01 -1.62787092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.130281693 meters Centerline goodness [0,1] 0.9998941059364213 Centerline is valid? [True, True] Translation: X:310.24, Y:-19.14, Z:-1.63 [[ 9.96384543e-01 8.49516427e-02 1.03036019e-03 3.10236426e+02] [-8.49515929e-02 9.96385075e-01 -9.20786384e-05 -1.91363617e+01] [-1.03445775e-03 4.21499268e-06 9.99999465e-01 -1.62532167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16028169299994 meters Centerline goodness [0,1] 0.9997411505856468 Centerline is valid? [True, True] Translation: X:310.27, Y:-19.14, Z:-1.62 [[ 9.96531998e-01 8.32000206e-02 1.31643795e-03 3.10265403e+02] [-8.31999378e-02 9.96532868e-01 -1.17606470e-04 -1.91407804e+01] [-1.32165855e-03 7.67105467e-06 9.99999127e-01 -1.62386409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.190281693 meters Centerline goodness [0,1] 0.9997463484749202 Centerline is valid? [True, True] Translation: X:310.29, Y:-19.15, Z:-1.62 [[ 9.96636786e-01 8.19334803e-02 1.42157680e-03 3.10294591e+02] [-8.19333826e-02 9.96637800e-01 -1.26953232e-04 -1.91497301e+01] [-1.42719889e-03 1.00516654e-05 9.99998982e-01 -1.62442289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22028169299995 meters Centerline goodness [0,1] 0.9997433100173265 Centerline is valid? [True, True] Translation: X:310.32, Y:-19.16, Z:-1.63 [[ 9.96679940e-01 8.14063200e-02 1.45224733e-03 3.10323499e+02] [-8.14062175e-02 9.96680998e-01 -1.29680341e-04 -1.91572134e+01] [-1.45798412e-03 1.10278318e-05 9.99998937e-01 -1.62542478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.250281693 meters Centerline goodness [0,1] 0.9997880817156904 Centerline is valid? [True, True] Translation: X:310.35, Y:-19.16, Z:-1.63 [[ 9.96631008e-01 8.20150722e-02 4.03393724e-04 3.10353911e+02] [-8.20150644e-02 9.96631089e-01 -3.60094128e-05 -1.91616264e+01] [-4.04988041e-04 2.80373515e-06 9.99999918e-01 -1.62688646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28028169299995 meters Centerline goodness [0,1] 0.9997240032270391 Centerline is valid? [True, True] Translation: X:310.38, Y:-19.17, Z:-1.63 [[ 9.96648982e-01 8.17971775e-02 -1.68735624e-04 3.10383880e+02] [-8.17971761e-02 9.96648996e-01 1.50623829e-05 -1.91678762e+01] [ 1.69402250e-04 -1.20981106e-06 9.99999986e-01 -1.62778781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.310281693 meters Centerline goodness [0,1] 0.9997459188210633 Centerline is valid? [True, True] Translation: X:310.41, Y:-19.18, Z:-1.63 [[ 9.96726856e-01 8.08372428e-02 -9.56182799e-04 3.10412474e+02] [-8.08371980e-02 9.96727315e-01 8.53796412e-05 -1.91792475e+01] [ 9.59955369e-04 -7.80504303e-06 9.99999539e-01 -1.63058620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34028169299995 meters Centerline goodness [0,1] 0.9996811563396748 Centerline is valid? [True, True] Translation: X:310.44, Y:-19.19, Z:-1.63 [[ 9.96952588e-01 7.80079470e-02 -5.45138983e-04 3.10442134e+02] [-7.80079321e-02 9.96952737e-01 4.86669096e-05 -1.91894692e+01] [ 5.47274207e-04 -5.99343673e-06 9.99999850e-01 -1.62925358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.370281693 meters Centerline goodness [0,1] 0.9995526203664252 Centerline is valid? [True, True] Translation: X:310.47, Y:-19.20, Z:-1.63 [[ 9.97046963e-01 7.67942253e-02 4.59927632e-06 3.10471433e+02] [-7.67942253e-02 9.97046963e-01 -3.86378122e-07 -1.92003425e+01] [-4.61536610e-06 3.20392726e-08 1.00000000e+00 -1.62877821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40028169299995 meters Centerline goodness [0,1] 0.9994506307181947 Centerline is valid? [True, True] Translation: X:310.50, Y:-19.21, Z:-1.63 [[ 9.97112135e-01 7.59317338e-02 1.32773907e-03 3.10501528e+02] [-7.59316433e-02 9.97113018e-01 -1.18539798e-04 -1.92103730e+01] [-1.33290684e-03 1.73800613e-05 9.99999112e-01 -1.62560238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.430281693 meters Centerline goodness [0,1] 0.9994863343535304 Centerline is valid? [True, True] Translation: X:310.53, Y:-19.21, Z:-1.63 [[ 9.97060395e-01 7.66127851e-02 1.02473329e-03 3.10533102e+02] [-7.66127316e-02 9.97060921e-01 -9.13338078e-05 -1.92136821e+01] [-1.02871886e-03 1.25577055e-05 9.99999471e-01 -1.62595004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46028169299996 meters Centerline goodness [0,1] 0.9995321338947727 Centerline is valid? [True, True] Translation: X:310.56, Y:-19.22, Z:-1.63 [[ 9.96958586e-01 7.79328864e-02 -2.06366882e-04 3.10564170e+02] [-7.79328843e-02 9.96958608e-01 1.85428964e-05 -1.92157600e+01] [ 2.07184341e-04 -2.40373347e-06 9.99999979e-01 -1.62780560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.490281693 meters Centerline goodness [0,1] 0.9997226548332729 Centerline is valid? [True, True] Translation: X:310.60, Y:-19.21, Z:-1.63 [[ 9.96603001e-01 8.23324438e-02 -1.95647024e-03 3.10595551e+02] [-8.23322586e-02 9.96604921e-01 1.75139931e-04 -1.92135551e+01] [ 1.96424757e-03 -1.34643668e-05 9.99998071e-01 -1.63027004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52028169299996 meters Centerline goodness [0,1] 0.9998716604992407 Centerline is valid? [True, True] Translation: X:310.63, Y:-19.21, Z:-1.63 [[ 9.96358477e-01 8.52394527e-02 -2.00542788e-03 3.10625619e+02] [-8.52392642e-02 9.96360495e-01 1.79446299e-04 -1.92126953e+01] [ 2.01342502e-03 -7.85164346e-06 9.99997973e-01 -1.63078462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.550281693 meters Centerline goodness [0,1] 0.9999368992280673 Centerline is valid? [True, True] Translation: X:310.65, Y:-19.20, Z:-1.63 [[ 9.95916286e-01 9.02744799e-02 -1.12696041e-03 3.10654913e+02] [-9.02744237e-02 9.95916923e-01 1.00746085e-04 -1.92045687e+01] [ 1.13145374e-03 1.40103456e-06 9.99999360e-01 -1.63100100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58028169299996 meters Centerline goodness [0,1] 0.9999788413524607 Centerline is valid? [True, True] Translation: X:310.68, Y:-19.20, Z:-1.63 [[ 9.95810584e-01 9.14399742e-02 -1.10817259e-04 3.10684530e+02] [-9.14399737e-02 9.95810590e-01 9.86364973e-06 -1.92048170e+01] [ 1.11254932e-04 3.10800460e-07 9.99999994e-01 -1.62768486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.610281693 meters Centerline goodness [0,1] 0.999894336432798 Centerline is valid? [True, True] Translation: X:310.71, Y:-19.21, Z:-1.63 [[ 9.95797371e-01 9.15801351e-02 8.22012379e-04 3.10714388e+02] [-9.15801056e-02 9.95797710e-01 -7.35014783e-05 -1.92053482e+01] [-8.25289320e-04 -2.08740167e-06 9.99999659e-01 -1.62629316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64028169299996 meters Centerline goodness [0,1] 0.9998929794520548 Centerline is valid? [True, True] Translation: X:310.74, Y:-19.21, Z:-1.63 [[ 9.95864007e-01 9.08562963e-02 1.14883982e-04 3.10744681e+02] [-9.08562957e-02 9.95864014e-01 -1.02763146e-05 -1.92088496e+01] [-1.15342491e-04 -2.04121171e-07 9.99999993e-01 -1.62715349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.670281693 meters Centerline goodness [0,1] 0.9999789371695769 Centerline is valid? [True, True] Translation: X:310.77, Y:-19.21, Z:-1.63 [[ 9.95921459e-01 9.02176804e-02 -1.10337671e-03 3.10774357e+02] [-9.02176264e-02 9.95922070e-01 9.87388871e-05 -1.92113587e+01] [ 1.10778521e-03 1.20785101e-06 9.99999386e-01 -1.63013960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70028169299997 meters Centerline goodness [0,1] 0.9999784473468684 Centerline is valid? [True, True] Translation: X:310.81, Y:-19.22, Z:-1.63 [[ 9.96119493e-01 8.80079209e-02 -7.49812878e-04 3.10805066e+02] [-8.80078953e-02 9.96119775e-01 6.70803204e-05 -1.92158510e+01] [ 7.52807035e-04 -8.30561448e-07 9.99999717e-01 -1.62909906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73028169299994 meters Centerline goodness [0,1] 0.9998517137651993 Centerline is valid? [True, True] Translation: X:310.83, Y:-19.22, Z:-1.63 [[ 9.96259911e-01 8.64070500e-02 1.07722275e-04 3.10834521e+02] [-8.64070494e-02 9.96259917e-01 -9.61044085e-06 -1.92216964e+01] [-1.08149795e-04 2.66533003e-07 9.99999994e-01 -1.62830651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76028169299997 meters Centerline goodness [0,1] 0.999701027185171 Centerline is valid? [True, True] Translation: X:310.86, Y:-19.23, Z:-1.63 [[ 9.96589833e-01 8.25056865e-02 1.23108138e-03 3.10863586e+02] [-8.25056134e-02 9.96590594e-01 -1.10109318e-04 -1.92337735e+01] [-1.23596877e-03 8.16270266e-06 9.99999236e-01 -1.62671890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79028169299994 meters Centerline goodness [0,1] 0.9997013524467767 Centerline is valid? [True, True] Translation: X:310.89, Y:-19.24, Z:-1.63 [[ 9.96774733e-01 8.02490428e-02 4.72581954e-04 3.10894814e+02] [-8.02490319e-02 9.96774845e-01 -4.20607339e-05 -1.92405328e+01] [-4.74433138e-04 4.00083254e-06 9.99999887e-01 -1.62772107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82028169299997 meters Centerline goodness [0,1] 0.9996585501184404 Centerline is valid? [True, True] Translation: X:310.92, Y:-19.26, Z:-1.63 [[ 9.97188745e-01 7.49245194e-02 -9.60927180e-04 3.10924093e+02] [-7.49244710e-02 9.97189208e-01 8.62461959e-05 -1.92566086e+01] [ 9.64688169e-04 -1.40067751e-05 9.99999535e-01 -1.63105610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85028169299994 meters Centerline goodness [0,1] 0.9995513108134094 Centerline is valid? [True, True] Translation: X:310.96, Y:-19.27, Z:-1.63 [[ 9.97394292e-01 7.21358258e-02 -1.02403571e-03 3.10955436e+02] [-7.21357689e-02 9.97394818e-01 9.23653577e-05 -1.92663625e+01] [ 1.02803076e-03 -1.82550773e-05 9.99999471e-01 -1.63104193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.880281693 meters Centerline goodness [0,1] 0.9993822821479541 Centerline is valid? [True, True] Translation: X:310.99, Y:-19.28, Z:-1.63 [[ 9.97567929e-01 6.96977037e-02 -6.76072666e-04 3.10987139e+02] [-6.96976783e-02 9.97568158e-01 6.12109728e-05 -1.92768276e+01] [ 6.78694829e-04 -1.39414082e-05 9.99999770e-01 -1.63055039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91028169299994 meters Centerline goodness [0,1] 0.9992339121552605 Centerline is valid? [True, True] Translation: X:311.02, Y:-19.29, Z:-1.63 [[ 9.97808269e-01 6.61687912e-02 -5.91764075e-04 3.11016971e+02] [-6.61687710e-02 9.97808444e-01 5.36831434e-05 -1.92944404e+01] [ 5.94019339e-04 -1.44091828e-05 9.99999823e-01 -1.63057934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.940281693 meters Centerline goodness [0,1] 0.9993286555786556 Centerline is valid? [True, True] Translation: X:311.05, Y:-19.30, Z:-1.63 [[ 9.97860599e-01 6.53751207e-02 -5.64208200e-04 3.11048251e+02] [-6.53751022e-02 9.97860759e-01 5.13200331e-05 -1.93021523e+01] [ 5.66356276e-04 -1.43250702e-05 9.99999840e-01 -1.63102218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97028169299995 meters Centerline goodness [0,1] 0.9990631720143931 Centerline is valid? [True, True] Translation: X:311.08, Y:-19.32, Z:-1.63 [[ 9.97827595e-01 6.58767331e-02 -5.88854076e-04 3.11078462e+02] [-6.58767130e-02 9.97827769e-01 5.34533332e-05 -1.93165684e+01] [ 5.91096280e-04 -1.45454399e-05 9.99999825e-01 -1.63124127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.000281693 meters Centerline goodness [0,1] 0.99928265502036 Centerline is valid? [True, True] Translation: X:311.11, Y:-19.32, Z:-1.63 [[ 9.97774393e-01 6.66771191e-02 -6.50159744e-04 3.11110690e+02] [-6.66770946e-02 9.97774605e-01 5.92481553e-05 -1.93222646e+01] [ 6.52663378e-04 -1.57655294e-05 9.99999787e-01 -1.63079657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03028169299995 meters Centerline goodness [0,1] 0.9992823370482945 Centerline is valid? [True, True] Translation: X:311.14, Y:-19.33, Z:-1.63 [[ 9.97720486e-01 6.74734363e-02 -1.08083479e-03 3.11141100e+02] [-6.74733692e-02 9.97721071e-01 9.84039615e-05 -1.93306481e+01] [ 1.08501130e-03 -2.52520832e-05 9.99999411e-01 -1.63227475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.060281693 meters Centerline goodness [0,1] 0.9993464741224835 Centerline is valid? [True, True] Translation: X:311.17, Y:-19.34, Z:-1.63 [[ 9.97679465e-01 6.80663866e-02 -1.62840323e-03 3.11171642e+02] [-6.80662351e-02 9.97680793e-01 1.48328239e-04 -1.93381800e+01] [ 1.63472279e-03 -3.71447610e-05 9.99998663e-01 -1.63403894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09028169299995 meters Centerline goodness [0,1] 0.9995309068423633 Centerline is valid? [True, True] Translation: X:311.20, Y:-19.35, Z:-1.63 [[ 9.97529674e-01 7.02437935e-02 -5.99843309e-04 3.11202954e+02] [-7.02437731e-02 9.97529854e-01 5.49506132e-05 -1.93477849e+01] [ 6.02221548e-04 -1.26796099e-05 9.99999819e-01 -1.63231231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.120281693 meters Centerline goodness [0,1] 0.9997230389023819 Centerline is valid? [True, True] Translation: X:311.23, Y:-19.35, Z:-1.63 [[ 9.97200479e-01 7.47713195e-02 6.73989963e-04 3.11233578e+02] [-7.47712951e-02 9.97200707e-01 -6.13395585e-05 -1.93526818e+01] [-6.76689707e-04 1.07727347e-05 9.99999771e-01 -1.62919499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15028169299995 meters Centerline goodness [0,1] 0.9995761364840521 Centerline is valid? [True, True] Translation: X:311.27, Y:-19.35, Z:-1.63 [[ 9.96959771e-01 7.79171228e-02 3.70418186e-04 3.11265784e+02] [-7.79171157e-02 9.96959840e-01 -3.34622757e-05 -1.93537745e+01] [-3.71899339e-04 4.49862610e-06 9.99999931e-01 -1.62961825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.180281693 meters Centerline goodness [0,1] 0.9998086816036733 Centerline is valid? [True, True] Translation: X:311.30, Y:-19.36, Z:-1.63 [[ 9.96731496e-01 8.07844461e-02 -4.45817387e-04 3.11298018e+02] [-8.07844358e-02 9.96731595e-01 4.10877264e-05 -1.93550674e+01] [ 4.47679525e-04 -4.93832486e-06 9.99999900e-01 -1.63154101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21028169299996 meters Centerline goodness [0,1] 0.9998740316180639 Centerline is valid? [True, True] Translation: X:311.33, Y:-19.36, Z:-1.63 [[ 9.96481259e-01 8.38029735e-02 -1.47065996e-03 3.11329671e+02] [-8.38028656e-02 9.96482344e-01 1.34997125e-04 -1.93569845e+01] [ 1.47679985e-03 -1.12765857e-05 9.99998909e-01 -1.63478319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.240281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.36, Y:-19.36, Z:-1.64 [[ 9.96005536e-01 8.91775014e-02 -4.51064478e-03 3.11362071e+02] [-8.91765406e-02 9.96015749e-01 4.14082303e-04 -1.93576061e+01] [ 4.52960006e-03 -1.01845690e-05 9.99989741e-01 -1.64032480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27028169299996 meters Centerline goodness [0,1] 0.9999573842449554 Centerline is valid? [True, True] Translation: X:311.39, Y:-19.35, Z:-1.64 [[ 9.95250816e-01 9.72341787e-02 -4.61826879e-03 3.11393913e+02] [-9.72332551e-02 9.95261530e-01 4.24623929e-04 -1.93519377e+01] [ 4.63767322e-03 2.64419956e-05 9.99989246e-01 -1.63897342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.300281693 meters Centerline goodness [0,1] 0.9998095802301964 Centerline is valid? [True, True] Translation: X:311.43, Y:-19.35, Z:-1.64 [[ 9.94764640e-01 1.02143201e-01 -3.17448757e-03 3.11426140e+02] [-1.02142788e-01 9.94769705e-01 2.92521101e-04 -1.93498645e+01] [ 3.18776311e-03 3.32613624e-05 9.99994919e-01 -1.63574376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33028169299996 meters Centerline goodness [0,1] 0.9995540549149519 Centerline is valid? [True, True] Translation: X:311.46, Y:-19.35, Z:-1.63 [[ 9.94288108e-01 1.06714533e-01 -1.77927916e-03 3.11457615e+02] [-1.06714410e-01 9.94289700e-01 1.64348237e-04 -1.93465376e+01] [ 1.78665729e-03 2.64652283e-05 9.99998404e-01 -1.63329947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.360281693 meters Centerline goodness [0,1] 0.9986457605958653 Centerline is valid? [True, True] Translation: X:311.49, Y:-19.34, Z:-1.63 [[ 9.93689826e-01 1.12159917e-01 -8.26049300e-04 3.11488852e+02] [-1.12159893e-01 9.93690169e-01 7.61868344e-05 -1.93382408e+01] [ 8.29382178e-04 1.69435186e-05 9.99999656e-01 -1.63207250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39028169299996 meters Centerline goodness [0,1] 0.9986219762979923 Centerline is valid? [True, True] Translation: X:311.52, Y:-19.34, Z:-1.63 [[ 9.93561610e-01 1.13287060e-01 -1.16995111e-03 3.11520977e+02] [-1.13287011e-01 9.93562299e-01 1.08372026e-04 -1.93414719e+01] [ 1.17469647e-03 2.48659796e-05 9.99999310e-01 -1.63364763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.420281693 meters Centerline goodness [0,1] 0.9993994509265615 Centerline is valid? [True, True] Translation: X:311.55, Y:-19.35, Z:-1.64 [[ 9.93564502e-01 1.13247585e-01 -2.13630775e-03 3.11553012e+02] [-1.13247421e-01 9.93566798e-01 1.98097511e-04 -1.93515465e+01] [ 2.14499852e-03 4.51086886e-05 9.99997698e-01 -1.63582600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45028169299997 meters Centerline goodness [0,1] 0.999050592852019 Centerline is valid? [True, True] Translation: X:311.58, Y:-19.35, Z:-1.64 [[ 9.93526502e-01 1.13588668e-01 -1.64440437e-03 3.11584859e+02] [-1.13588570e-01 9.93527862e-01 1.52839891e-04 -1.93508963e+01] [ 1.65112244e-03 3.49350596e-05 9.99998636e-01 -1.63565479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48028169299994 meters Centerline goodness [0,1] 0.9981518040912337 Centerline is valid? [True, True] Translation: X:311.62, Y:-19.35, Z:-1.63 [[ 9.93469666e-01 1.14094482e-01 -6.87482553e-04 3.11615441e+02] [-1.14094465e-01 9.93469903e-01 6.41350205e-05 -1.93538471e+01] [ 6.90310678e-04 1.47217567e-05 9.99999762e-01 -1.63345111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51028169299997 meters Centerline goodness [0,1] 0.9987951297877737 Centerline is valid? [True, True] Translation: X:311.65, Y:-19.36, Z:-1.63 [[ 9.93326051e-01 1.15336085e-01 -9.71237654e-04 3.11646831e+02] [-1.15336051e-01 9.93326526e-01 9.06787722e-05 -1.93600881e+01] [ 9.75214660e-04 2.19451294e-05 9.99999524e-01 -1.63332656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54028169299994 meters Centerline goodness [0,1] 0.9989670728108268 Centerline is valid? [True, True] Translation: X:311.68, Y:-19.36, Z:-1.64 [[ 9.93308789e-01 1.15444600e-01 -3.19286595e-03 3.11678221e+02] [-1.15444238e-01 9.93313918e-01 2.97782043e-04 -1.93611236e+01] [ 3.20589551e-03 7.28084569e-05 9.99994858e-01 -1.63872884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57028169299997 meters Centerline goodness [0,1] 0.998984191479906 Centerline is valid? [True, True] Translation: X:311.71, Y:-19.37, Z:-1.64 [[ 9.93415443e-01 1.14513051e-01 -3.53830094e-03 3.11710224e+02] [-1.14512599e-01 9.93421741e-01 3.30542602e-04 -1.93684195e+01] [ 3.55287652e-03 7.68139119e-05 9.99993686e-01 -1.63873135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60028169299994 meters Centerline goodness [0,1] 0.999125445276338 Centerline is valid? [True, True] Translation: X:311.74, Y:-19.38, Z:-1.64 [[ 9.93519211e-01 1.13629028e-01 -2.83225625e-03 3.11742133e+02] [-1.13628734e-01 9.93523246e-01 2.65109418e-04 -1.93755095e+01] [ 2.84403654e-03 5.84343922e-05 9.99995954e-01 -1.63704217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.630281693 meters Centerline goodness [0,1] 0.9983925549915398 Centerline is valid? [True, True] Translation: X:311.77, Y:-19.38, Z:-1.63 [[ 9.93549002e-01 1.13403196e-01 3.08460881e-04 3.11772906e+02] [-1.13403193e-01 9.93549050e-01 -2.85713335e-05 -1.93794248e+01] [-3.09711095e-04 -6.59342871e-06 9.99999952e-01 -1.63019273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66028169299994 meters Centerline goodness [0,1] 0.9986421691348072 Centerline is valid? [True, True] Translation: X:311.81, Y:-19.38, Z:-1.63 [[ 9.93484552e-01 1.13960149e-01 1.23669165e-03 3.11806398e+02] [-1.13960093e-01 9.93485321e-01 -1.15640525e-04 -1.93808819e+01] [-1.24181341e-03 -2.60464208e-05 9.99999229e-01 -1.62871353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.690281693 meters Centerline goodness [0,1] 0.9976905801093267 Centerline is valid? [True, True] Translation: X:311.84, Y:-19.37, Z:-1.63 [[ 9.93183494e-01 1.16554827e-01 1.23291401e-03 3.11838455e+02] [-1.16554773e-01 9.93184259e-01 -1.15539079e-04 -1.93744536e+01] [-1.23797742e-03 -2.89505066e-05 9.99999233e-01 -1.62797838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72028169299995 meters Centerline goodness [0,1] 0.9980813507290868 Centerline is valid? [True, True] Translation: X:311.87, Y:-19.38, Z:-1.63 [[ 9.92947928e-01 1.18550886e-01 3.16516681e-04 3.11870923e+02] [-1.18550882e-01 9.92947978e-01 -2.94555861e-05 -1.93762290e+01] [-3.17776584e-04 -8.27546854e-06 9.99999949e-01 -1.62902447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.750281693 meters Centerline goodness [0,1] 0.9979017685093993 Centerline is valid? [True, True] Translation: X:311.90, Y:-19.37, Z:-1.63 [[ 9.92381265e-01 1.23199572e-01 -1.13634808e-03 3.11902567e+02] [-1.23199530e-01 9.92381915e-01 1.06992299e-04 -1.93694973e+01] [ 1.14087269e-03 3.38203970e-05 9.99999349e-01 -1.63063859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78028169299995 meters Centerline goodness [0,1] 0.9967213812778097 Centerline is valid? [True, True] Translation: X:311.93, Y:-19.36, Z:-1.63 [[ 9.92055130e-01 1.25798820e-01 -1.12926660e-03 3.11933503e+02] [-1.25798780e-01 9.92055772e-01 1.06338714e-04 -1.93634019e+01] [ 1.13367273e-03 3.65664931e-05 9.99999357e-01 -1.63018313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.810281693 meters Centerline goodness [0,1] 0.9963488843813387 Centerline is valid? [True, True] Translation: X:311.97, Y:-19.36, Z:-1.63 [[ 9.91771724e-01 1.28018018e-01 -4.84879372e-04 3.11965145e+02] [-1.28018011e-01 9.91771842e-01 4.57106142e-05 -1.93640642e+01] [ 4.86741490e-04 1.67387980e-05 9.99999881e-01 -1.62866041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84028169299995 meters Centerline goodness [0,1] 0.9963488843813387 Centerline is valid? [True, True] Translation: X:312.00, Y:-19.37, Z:-1.63 [[ 9.91768685e-01 1.28041555e-01 -4.84878299e-04 3.11995857e+02] [-1.28041548e-01 9.91768804e-01 4.57220034e-05 -1.93669995e+01] [ 4.86741486e-04 1.67389168e-05 9.99999881e-01 -1.62872535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.870281693 meters Centerline goodness [0,1] 0.9943712042660346 Centerline is valid? [True, True] Translation: X:312.03, Y:-19.36, Z:-1.63 [[ 9.91532382e-01 1.29859083e-01 3.93362970e-04 3.12026358e+02] [-1.29859079e-01 9.91532460e-01 -3.70720644e-05 -1.93600285e+01] [-3.94846297e-04 -1.43236004e-05 9.99999922e-01 -1.62722793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90028169299995 meters Centerline goodness [0,1] 0.9953221668930134 Centerline is valid? [True, True] Translation: X:312.06, Y:-19.36, Z:-1.63 [[ 9.91619502e-01 1.29190277e-01 7.97267349e-04 3.12056310e+02] [-1.29190259e-01 9.91619822e-01 -7.50869930e-05 -1.93645259e+01] [-8.00286616e-04 -2.85414484e-05 9.99999679e-01 -1.62636119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.930281693 meters Centerline goodness [0,1] 0.9956169421222553 Centerline is valid? [True, True] Translation: X:312.09, Y:-19.36, Z:-1.63 [[ 9.91649308e-01 1.28962963e-01 4.50880231e-04 3.12087518e+02] [-1.28962957e-01 9.91649411e-01 -4.24641004e-05 -1.93620687e+01] [-4.52591412e-04 -1.60373522e-05 9.99999897e-01 -1.62652647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96028169299996 meters Centerline goodness [0,1] 0.9933671643048156 Centerline is valid? [True, True] Translation: X:312.12, Y:-19.36, Z:-1.63 [[ 9.91533796e-01 1.29848467e-01 -3.27345685e-04 3.12117336e+02] [-1.29848464e-01 9.91533850e-01 3.09138740e-05 -1.93552994e+01] [ 3.28588447e-04 1.18531836e-05 9.99999946e-01 -1.62816877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.990281693 meters Centerline goodness [0,1] 0.9908888180949347 Centerline is valid? [True, True] Translation: X:312.15, Y:-19.35, Z:-1.63 [[ 9.91460214e-01 1.30403846e-01 -1.21739700e-03 3.12146184e+02] [-1.30403803e-01 9.91460960e-01 1.14586948e-04 -1.93510940e+01] [ 1.22194418e-03 4.51447997e-05 9.99999252e-01 -1.63063869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02028169299996 meters Centerline goodness [0,1] 0.9952104221214637 Centerline is valid? [True, True] Translation: X:312.17, Y:-19.35, Z:-1.63 [[ 9.91460474e-01 1.30403362e-01 -1.04472487e-03 3.12174887e+02] [-1.30403330e-01 9.91461024e-01 9.82475418e-05 -1.93548024e+01] [ 1.04861580e-03 3.88270486e-05 9.99999449e-01 -1.62985323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.050281693 meters Centerline goodness [0,1] 0.9951805680503791 Centerline is valid? [True, True] Translation: X:312.20, Y:-19.36, Z:-1.63 [[ 9.91586129e-01 1.29448552e-01 -1.46157109e-04 3.12204159e+02] [-1.29448552e-01 9.91586140e-01 1.37058347e-05 -1.93569250e+01] [ 1.46701564e-04 5.32931048e-06 9.99999989e-01 -1.62888090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08028169299996 meters Centerline goodness [0,1] 0.9951992217240504 Centerline is valid? [True, True] Translation: X:312.23, Y:-19.36, Z:-1.63 [[ 9.91862813e-01 1.27311263e-01 5.61231724e-05 3.12233132e+02] [-1.27311263e-01 9.91862814e-01 -5.35325479e-06 -1.93574431e+01] [-5.63480174e-05 -1.83541762e-06 9.99999998e-01 -1.62865445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.110281693 meters Centerline goodness [0,1] 0.9958536790705506 Centerline is valid? [True, True] Translation: X:312.26, Y:-19.36, Z:-1.63 [[ 9.92039462e-01 1.25926320e-01 -5.18326746e-04 3.12261641e+02] [-1.25926312e-01 9.92039597e-01 4.86729491e-05 -1.93594829e+01] [ 5.20329861e-04 1.69854892e-05 9.99999864e-01 -1.63037493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14028169299996 meters Centerline goodness [0,1] 0.997059700856522 Centerline is valid? [True, True] Translation: X:312.29, Y:-19.36, Z:-1.63 [[ 9.92214385e-01 1.24529846e-01 -1.71244166e-03 3.12291017e+02] [-1.24529753e-01 9.92215861e-01 1.60954280e-04 -1.93649423e+01] [ 1.71915539e-03 5.35487859e-05 9.99998521e-01 -1.63273447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.170281693 meters Centerline goodness [0,1] 0.9987202457128231 Centerline is valid? [True, True] Translation: X:312.32, Y:-19.37, Z:-1.64 [[ 9.92633944e-01 1.21101631e-01 -3.49966301e-03 3.12320915e+02] [-1.21101223e-01 9.92640109e-01 3.29036068e-04 -1.93695307e+01] [ 3.51375268e-03 9.72010999e-05 9.99993822e-01 -1.63599917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20028169299997 meters Centerline goodness [0,1] 0.9986032632848708 Centerline is valid? [True, True] Translation: X:312.35, Y:-19.37, Z:-1.64 [[ 9.92801981e-01 1.19716942e-01 -3.47566537e-03 3.12349927e+02] [-1.19716532e-01 9.92808061e-01 3.26585276e-04 -1.93702127e+01] [ 3.48976639e-03 9.18600941e-05 9.99993907e-01 -1.63647466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23028169299994 meters Centerline goodness [0,1] 0.998540640003384 Centerline is valid? [True, True] Translation: X:312.38, Y:-19.37, Z:-1.63 [[ 9.92993116e-01 1.18154053e-01 -2.07170263e-03 3.12379556e+02] [-1.18153904e-01 9.92995275e-01 1.94613026e-04 -1.93722985e+01] [ 2.08018524e-03 5.15303587e-05 9.99997835e-01 -1.63357740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26028169299997 meters Centerline goodness [0,1] 0.99880675885875 Centerline is valid? [True, True] Translation: X:312.41, Y:-19.37, Z:-1.63 [[ 9.93037277e-01 1.17790553e-01 -1.53363558e-03 3.12408070e+02] [-1.17790471e-01 9.93038461e-01 1.43979349e-04 -1.93743526e+01] [ 1.53991852e-03 3.76707955e-05 9.99998814e-01 -1.63266397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29028169299994 meters Centerline goodness [0,1] 0.9985718853245231 Centerline is valid? [True, True] Translation: X:312.44, Y:-19.38, Z:-1.63 [[ 9.93035631e-01 1.17799910e-01 -1.84869809e-03 3.12436909e+02] [-1.17799791e-01 9.93037350e-01 1.73466328e-04 -1.93769854e+01] [ 1.85626057e-03 4.55180039e-05 9.99998276e-01 -1.63297514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32028169299997 meters Centerline goodness [0,1] 0.9985148094712721 Centerline is valid? [True, True] Translation: X:312.47, Y:-19.38, Z:-1.63 [[ 9.93055758e-01 1.17612484e-01 -2.75053411e-03 3.12466122e+02] [-1.17612220e-01 9.93059565e-01 2.58116694e-04 -1.93811199e+01] [ 2.76180195e-03 6.71721534e-05 9.99996184e-01 -1.63418179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35028169299994 meters Centerline goodness [0,1] 0.9990795641843441 Centerline is valid? [True, True] Translation: X:312.50, Y:-19.38, Z:-1.63 [[ 9.93057418e-01 1.17590285e-01 -3.08055389e-03 3.12495841e+02] [-1.17589954e-01 9.93062193e-01 2.89019290e-04 -1.93841344e+01] [ 3.09316746e-03 7.52294401e-05 9.99995213e-01 -1.63401281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.380281693 meters Centerline goodness [0,1] 0.998308640918044 Centerline is valid? [True, True] Translation: X:312.53, Y:-19.38, Z:-1.63 [[ 9.92859098e-01 1.19278095e-01 -1.88329023e-03 3.12525445e+02] [-1.19277974e-01 9.92860883e-01 1.76582718e-04 -1.93775108e+01] [ 1.89090765e-03 4.93132859e-05 9.99998211e-01 -1.63226412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41028169299994 meters Centerline goodness [0,1] 0.9979032948224219 Centerline is valid? [True, True] Translation: X:312.55, Y:-19.38, Z:-1.63 [[ 9.92711077e-01 1.20515870e-01 -8.01587399e-04 3.12554865e+02] [-1.20515849e-01 9.92711400e-01 7.50921185e-05 -1.93756696e+01] [ 8.04794742e-04 2.20592080e-05 9.99999676e-01 -1.63029224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.440281693 meters Centerline goodness [0,1] 0.9969667607532544 Centerline is valid? [True, True] Translation: X:312.58, Y:-19.37, Z:-1.63 [[ 9.92570287e-01 1.21670756e-01 6.72575047e-04 3.12584187e+02] [-1.21670741e-01 9.92570515e-01 -6.31067348e-05 -1.93731057e+01] [-6.75256405e-04 -1.91948348e-05 9.99999772e-01 -1.62713073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47028169299995 meters Centerline goodness [0,1] 0.9981197384727148 Centerline is valid? [True, True] Translation: X:312.61, Y:-19.38, Z:-1.63 [[ 9.92676273e-01 1.20804426e-01 3.27904515e-04 3.12612908e+02] [-1.20804423e-01 9.92676327e-01 -3.07791304e-05 -1.93798114e+01] [-3.29221305e-04 -9.05860321e-06 9.99999946e-01 -1.62761961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.500281693 meters Centerline goodness [0,1] 0.9983712666046197 Centerline is valid? [True, True] Translation: X:312.64, Y:-19.38, Z:-1.63 [[ 9.92894164e-01 1.18999930e-01 -4.43540492e-04 3.12641528e+02] [-1.18999923e-01 9.92894263e-01 4.14769645e-05 -1.93814730e+01] [ 4.45324566e-04 1.15990485e-05 9.99999901e-01 -1.62919347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53028169299995 meters Centerline goodness [0,1] 0.9994236434274004 Centerline is valid? [True, True] Translation: X:312.67, Y:-19.39, Z:-1.63 [[ 9.93458064e-01 1.14196169e-01 -5.57331662e-04 3.12670229e+02] [-1.14196158e-01 9.93458220e-01 5.21489337e-05 -1.93909496e+01] [ 5.59640929e-04 1.18373559e-05 9.99999843e-01 -1.63025319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.560281693 meters Centerline goodness [0,1] 0.9996105666255598 Centerline is valid? [True, True] Translation: X:312.70, Y:-19.40, Z:-1.63 [[ 9.93761783e-01 1.11523379e-01 2.31859371e-04 3.12699818e+02] [-1.11523377e-01 9.93761811e-01 -2.17152070e-05 -1.93988509e+01] [-2.32834742e-04 -4.27799718e-06 9.99999973e-01 -1.62851611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59028169299995 meters Centerline goodness [0,1] 0.9997471501717272 Centerline is valid? [True, True] Translation: X:312.73, Y:-19.40, Z:-1.63 [[ 9.94269159e-01 1.06902947e-01 7.73838630e-04 3.12729282e+02] [-1.06902923e-01 9.94269460e-01 -7.24913252e-05 -1.94031048e+01] [-7.77153654e-04 -1.06497222e-05 9.99999698e-01 -1.62724285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.620281693 meters Centerline goodness [0,1] 0.9999145755472504 Centerline is valid? [True, True] Translation: X:312.76, Y:-19.41, Z:-1.63 [[ 9.94463025e-01 1.05086799e-01 -2.39256888e-04 3.12760076e+02] [-1.05086797e-01 9.94463053e-01 2.24132036e-05 -1.94069924e+01] [ 2.40287467e-04 2.85363764e-06 9.99999971e-01 -1.62947629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65028169299995 meters Centerline goodness [0,1] 0.9999362475295918 Centerline is valid? [True, True] Translation: X:312.79, Y:-19.41, Z:-1.64 [[ 9.94731041e-01 1.02456726e-01 -3.57438204e-03 3.12789493e+02] [-1.02456185e-01 9.94737462e-01 3.34668649e-04 -1.94120176e+01] [ 3.58986078e-03 3.33122543e-05 9.99993556e-01 -1.63537314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.680281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.82, Y:-19.42, Z:-1.64 [[ 9.94869065e-01 1.01073294e-01 -4.44225436e-03 3.12818144e+02] [-1.01072445e-01 9.94878982e-01 4.15732553e-04 -1.94159434e+01] [ 4.46152495e-03 3.53900541e-05 9.99990047e-01 -1.63737896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71028169299996 meters Centerline goodness [0,1] 0.9999358563181526 Centerline is valid? [True, True] Translation: X:312.85, Y:-19.42, Z:-1.64 [[ 9.95020235e-01 9.95853157e-02 -4.18303682e-03 3.12847169e+02] [-9.95845502e-02 9.95029027e-01 3.91397475e-04 -1.94204307e+01] [ 4.20122049e-03 2.71174332e-05 9.99991174e-01 -1.63660756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.740281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.88, Y:-19.42, Z:-1.63 [[ 9.95247776e-01 9.73552700e-02 -1.95345122e-03 3.12876656e+02] [-9.73550988e-02 9.95249693e-01 1.82756267e-04 -1.94249181e+01] [ 1.96196401e-03 8.29066760e-06 9.99998075e-01 -1.63297213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77028169299996 meters Centerline goodness [0,1] 0.9999786306521925 Centerline is valid? [True, True] Translation: X:312.91, Y:-19.43, Z:-1.63 [[ 9.95328814e-01 9.65269313e-02 -1.76177339e-03 3.12906692e+02] [-9.65267907e-02 9.95330373e-01 1.64845324e-04 -1.94279546e+01] [ 1.76945858e-03 5.98303120e-06 9.99998434e-01 -1.63206730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.800281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.94, Y:-19.43, Z:-1.63 [[ 9.95405289e-01 9.57074835e-02 -2.89617463e-03 3.12936503e+02] [-9.57071003e-02 9.95409502e-01 2.70931778e-04 -1.94286814e+01] [ 2.90880994e-03 7.49755102e-06 9.99995769e-01 -1.63446566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83028169299996 meters Centerline goodness [0,1] 0.9999787034670755 Centerline is valid? [True, True] Translation: X:312.97, Y:-19.43, Z:-1.63 [[ 9.95378554e-01 9.59728022e-02 -3.27965841e-03 3.12966124e+02] [-9.59723126e-02 9.95383957e-01 3.06710054e-04 -1.94297060e+01] [ 3.29395519e-03 9.46379244e-06 9.99994575e-01 -1.63482467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.860281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.99, Y:-19.43, Z:-1.63 [[ 9.95397018e-01 9.58073559e-02 -2.39302626e-03 3.12994864e+02] [-9.58070951e-02 9.95399895e-01 2.23674659e-04 -1.94297158e+01] [ 2.40344776e-03 6.62380519e-06 9.99997112e-01 -1.63311502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.02, Y:-19.43, Z:-1.63 [[ 9.95466198e-01 9.50936257e-02 -2.06201858e-03 3.13023230e+02] [-9.50934305e-02 9.95468333e-01 1.92699130e-04 -1.94320783e+01] [ 2.07099866e-03 4.25895063e-06 9.99997855e-01 -1.63265903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.920281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.05, Y:-19.44, Z:-1.63 [[ 9.95584943e-01 9.38570226e-02 -1.21670298e-03 3.13053086e+02] [-9.38569538e-02 9.95585687e-01 1.13657728e-04 -1.94357153e+01] [ 1.22199964e-03 1.04011208e-06 9.99999253e-01 -1.63116553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95028169299997 meters Centerline goodness [0,1] 0.9999786260847262 Centerline is valid? [True, True] Translation: X:313.08, Y:-19.44, Z:-1.63 [[ 9.95966847e-01 8.97191976e-02 7.10112169e-04 3.13084093e+02] [-8.97191731e-02 9.95967101e-01 -6.63295907e-05 -1.94441828e+01] [-7.13199395e-04 2.35139675e-06 9.99999746e-01 -1.62673890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98028169299994 meters Centerline goodness [0,1] 0.99991513737138 Centerline is valid? [True, True] Translation: X:313.11, Y:-19.46, Z:-1.62 [[ 9.96463377e-01 8.40100603e-02 1.74608077e-03 3.13113996e+02] [-8.40099033e-02 9.96464906e-01 -1.63164860e-04 -1.94589497e+01] [-1.75361570e-03 1.58997314e-05 9.99998462e-01 -1.62480562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01028169299997 meters Centerline goodness [0,1] 0.9999788431430626 Centerline is valid? [True, True] Translation: X:313.15, Y:-19.47, Z:-1.63 [[ 9.96740047e-01 8.06581342e-02 1.88246115e-03 3.13145813e+02] [-8.06579452e-02 9.96741825e-01 -1.76220016e-04 -1.94683497e+01] [-1.89054134e-03 2.38100992e-05 9.99998213e-01 -1.62518059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04028169299994 meters Centerline goodness [0,1] 0.9998527400862522 Centerline is valid? [True, True] Translation: X:313.18, Y:-19.48, Z:-1.63 [[ 9.97024498e-01 7.70761564e-02 1.19027267e-03 3.13177436e+02] [-7.70760781e-02 9.97025208e-01 -1.11587283e-04 -1.94764442e+01] [-1.19533258e-03 1.95137058e-05 9.99999285e-01 -1.62605653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07028169299997 meters Centerline goodness [0,1] 0.9997891096208191 Centerline is valid? [True, True] Translation: X:313.21, Y:-19.49, Z:-1.63 [[ 9.97476525e-01 7.09969940e-02 -9.12406403e-05 3.13207498e+02] [-7.09969935e-02 9.97476529e-01 8.61136136e-06 -1.94928865e+01] [ 9.16217780e-05 -2.11181966e-06 9.99999996e-01 -1.62820120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10028169299994 meters Centerline goodness [0,1] 0.9996217056870245 Centerline is valid? [True, True] Translation: X:313.24, Y:-19.51, Z:-1.63 [[ 9.97754388e-01 6.69789172e-02 7.27591555e-05 3.13236308e+02] [-6.69789169e-02 9.97754391e-01 -6.80539878e-06 -1.95117815e+01] [-7.30515851e-05 1.91678707e-06 9.99999997e-01 -1.62683156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.130281693 meters Centerline goodness [0,1] 0.999764680714515 Centerline is valid? [True, True] Translation: X:313.27, Y:-19.52, Z:-1.63 [[ 9.97819440e-01 6.59976409e-02 8.22031925e-04 3.13268056e+02] [-6.59975999e-02 9.97819779e-01 -7.69508683e-05 -1.95175831e+01] [-8.25318289e-04 2.25309382e-05 9.99999659e-01 -1.62546544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16028169299994 meters Centerline goodness [0,1] 0.9997019310609125 Centerline is valid? [True, True] Translation: X:313.30, Y:-19.53, Z:-1.62 [[ 9.97871866e-01 6.51840150e-02 1.66827955e-03 3.13299225e+02] [-6.51838439e-02 9.97873259e-01 -1.56794851e-04 -1.95263474e+01] [-1.67495207e-03 4.77162963e-05 9.99998596e-01 -1.62482939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.190281693 meters Centerline goodness [0,1] 0.9991585855823639 Centerline is valid? [True, True] Translation: X:313.33, Y:-19.54, Z:-1.62 [[ 9.97907736e-01 6.46063711e-02 2.48335979e-03 3.13329136e+02] [-6.46059887e-02 9.97910823e-01 -2.33967601e-04 -1.95383855e+01] [-2.49328741e-03 7.30381649e-05 9.99996889e-01 -1.62409439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22028169299995 meters Centerline goodness [0,1] 0.9996603549290991 Centerline is valid? [True, True] Translation: X:313.36, Y:-19.55, Z:-1.63 [[ 9.97846204e-01 6.55909306e-02 8.84742093e-04 3.13360512e+02] [-6.55908825e-02 9.97846596e-01 -8.32707321e-05 -1.95472940e+01] [-8.88298690e-04 2.50603692e-05 9.99999605e-01 -1.62728091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.250281693 meters Centerline goodness [0,1] 0.9998058294319432 Centerline is valid? [True, True] Translation: X:313.39, Y:-19.55, Z:-1.63 [[ 9.97731399e-01 6.73042667e-02 -1.48010468e-03 3.13391243e+02] [-6.73041327e-02 9.97732496e-01 1.40207084e-04 -1.95529162e+01] [ 1.48618507e-03 -4.02718489e-05 9.99998895e-01 -1.63110524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28028169299995 meters Centerline goodness [0,1] 0.9999367995281031 Centerline is valid? [True, True] Translation: X:313.42, Y:-19.56, Z:-1.64 [[ 9.97355548e-01 7.24121984e-02 -6.19556414e-03 3.13421186e+02] [-7.24099536e-02 9.97374782e-01 5.86174195e-04 -1.95565048e+01] [ 6.22174560e-03 -1.36003573e-04 9.99980636e-01 -1.64039416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.310281693 meters Centerline goodness [0,1] 0.9999360150151431 Centerline is valid? [True, True] Translation: X:313.45, Y:-19.56, Z:-1.64 [[ 9.97081667e-01 7.59950143e-02 -7.27371636e-03 3.13452256e+02] [-7.59920141e-02 9.97108189e-01 6.88364890e-04 -1.95571229e+01] [ 7.30499445e-03 -1.33611656e-04 9.99973309e-01 -1.64222977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34028169299995 meters Centerline goodness [0,1] 0.9999575695858791 Centerline is valid? [True, True] Translation: X:313.48, Y:-19.56, Z:-1.64 [[ 9.96780960e-01 7.99001952e-02 -6.60877780e-03 3.13484044e+02] [-7.98978032e-02 9.96802864e-01 6.25592917e-04 -1.95565210e+01] [ 6.63763364e-03 -9.55522798e-05 9.99977966e-01 -1.64060081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.370281693 meters Centerline goodness [0,1] 0.99997850340721 Centerline is valid? [True, True] Translation: X:313.52, Y:-19.55, Z:-1.63 [[ 9.96166225e-01 8.74559802e-02 -2.07456860e-03 3.13515711e+02] [-8.74557608e-02 9.96168385e-01 1.96414725e-04 -1.95495567e+01] [ 2.08379729e-03 -1.42287402e-05 9.99997829e-01 -1.63040903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40028169299995 meters Centerline goodness [0,1] 0.9999788677331417 Centerline is valid? [True, True] Translation: X:313.55, Y:-19.55, Z:-1.63 [[ 9.95833807e-01 9.11830189e-02 -8.28510548e-04 3.13547246e+02] [-9.11829848e-02 9.95834151e-01 7.88782447e-05 -1.95473113e+01] [ 8.32251455e-04 -3.00355798e-06 9.99999654e-01 -1.62797567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.430281693 meters Centerline goodness [0,1] 0.9999365777345567 Centerline is valid? [True, True] Translation: X:313.58, Y:-19.54, Z:-1.63 [[ 9.95205456e-01 9.77890776e-02 -1.84287210e-03 3.13580129e+02] [-9.77889204e-02 9.95207162e-01 1.75428343e-04 -1.95387745e+01] [ 1.85119449e-03 5.62522861e-06 9.99998287e-01 -1.63044920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46028169299996 meters Centerline goodness [0,1] 0.9999361770024465 Centerline is valid? [True, True] Translation: X:313.61, Y:-19.54, Z:-1.63 [[ 9.94953494e-01 1.00292917e-01 -2.97911272e-03 3.13612304e+02] [-1.00292517e-01 9.94957954e-01 2.83817920e-04 -1.95365270e+01] [ 2.99255683e-03 1.63970810e-05 9.99995522e-01 -1.63276139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.490281693 meters Centerline goodness [0,1] 0.999894783358936 Centerline is valid? [True, True] Translation: X:313.64, Y:-19.53, Z:-1.63 [[ 9.94439451e-01 1.05254535e-01 -3.41497426e-03 3.13643976e+02] [-1.05254039e-01 9.94445314e-01 3.25016667e-04 -1.95257210e+01] [ 3.43021462e-03 3.62304377e-05 9.99994116e-01 -1.63445405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52028169299996 meters Centerline goodness [0,1] 0.9999353071830591 Centerline is valid? [True, True] Translation: X:313.67, Y:-19.52, Z:-1.63 [[ 9.94196951e-01 1.07528483e-01 -3.16979452e-03 3.13674510e+02] [-1.07528068e-01 9.94202003e-01 3.01685668e-04 -1.95211531e+01] [ 3.18385587e-03 4.09069092e-05 9.99994931e-01 -1.63384422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.550281693 meters Centerline goodness [0,1] 0.9996596830798681 Centerline is valid? [True, True] Translation: X:313.70, Y:-19.51, Z:-1.63 [[ 9.93863900e-01 1.10564695e-01 -3.16161058e-03 3.13704656e+02] [-1.10564297e-01 9.93868928e-01 3.00776716e-04 -1.95098904e+01] [ 3.17548180e-03 5.06301317e-05 9.99994957e-01 -1.63288401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58028169299996 meters Centerline goodness [0,1] 0.9996394256262329 Centerline is valid? [True, True] Translation: X:313.73, Y:-19.51, Z:-1.63 [[ 9.93788041e-01 1.11219101e-01 -3.95489431e-03 3.13734930e+02] [-1.11218484e-01 9.93795908e-01 3.76167656e-04 -1.95071609e+01] [ 3.97219481e-03 6.60264317e-05 9.99992109e-01 -1.63418585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.610281693 meters Centerline goodness [0,1] 0.9996614974506527 Centerline is valid? [True, True] Translation: X:313.76, Y:-19.50, Z:-1.64 [[ 9.93740684e-01 1.11620879e-01 -4.49805773e-03 3.13764122e+02] [-1.11620087e-01 9.93750861e-01 4.27661800e-04 -1.95040651e+01] [ 4.51768473e-03 7.70886651e-05 9.99989792e-01 -1.63537489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64028169299996 meters Centerline goodness [0,1] 0.999721018069445 Centerline is valid? [True, True] Translation: X:313.79, Y:-19.50, Z:-1.63 [[ 9.93738098e-01 1.11668041e-01 -3.85236939e-03 3.13793631e+02] [-1.11667461e-01 9.93745563e-01 3.66065240e-04 -1.94979455e+01] [ 3.86915278e-03 6.64113322e-05 9.99992513e-01 -1.63380441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.670281693 meters Centerline goodness [0,1] 0.9996823985263291 Centerline is valid? [True, True] Translation: X:313.82, Y:-19.50, Z:-1.63 [[ 9.93853071e-01 1.10680099e-01 -2.44730897e-03 3.13822483e+02] [-1.10679862e-01 9.93856083e-01 2.32458731e-04 -1.94982807e+01] [ 2.45800147e-03 3.98379958e-05 9.99996978e-01 -1.63167029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70028169299997 meters Centerline goodness [0,1] 0.9996622120885849 Centerline is valid? [True, True] Translation: X:313.85, Y:-19.50, Z:-1.63 [[ 9.94130846e-01 1.08180864e-01 -8.73140298e-04 3.13851131e+02] [-1.08180833e-01 9.94131229e-01 8.28620711e-05 -1.94970040e+01] [ 8.76980128e-04 1.20813038e-05 9.99999615e-01 -1.62850795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73028169299994 meters Centerline goodness [0,1] 0.9996622120885849 Centerline is valid? [True, True] Translation: X:313.88, Y:-19.50, Z:-1.63 [[ 9.94135599e-01 1.08137178e-01 -8.73146129e-04 3.13879347e+02] [-1.08137147e-01 9.94135982e-01 8.28006488e-05 -1.94995892e+01] [ 8.76979813e-04 1.21044588e-05 9.99999615e-01 -1.62856758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76028169299997 meters Centerline goodness [0,1] 0.9997883956155571 Centerline is valid? [True, True] Translation: X:313.91, Y:-19.50, Z:-1.63 [[ 9.94256709e-01 1.07016997e-01 -9.78761605e-04 3.13907924e+02] [-1.07016958e-01 9.94257191e-01 9.28185888e-05 -1.95010181e+01] [ 9.83073931e-04 1.24585845e-05 9.99999517e-01 -1.62900078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79028169299994 meters Centerline goodness [0,1] 0.9997884314306267 Centerline is valid? [True, True] Translation: X:313.94, Y:-19.50, Z:-1.63 [[ 9.94382273e-01 1.05834867e-01 -1.69566400e-03 3.13936343e+02] [-1.05834746e-01 9.94383719e-01 1.60756975e-04 -1.95036020e+01] [ 1.70315436e-03 1.96062831e-05 9.99998549e-01 -1.63102524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82028169299997 meters Centerline goodness [0,1] 0.999829841539934 Centerline is valid? [True, True] Translation: X:313.96, Y:-19.51, Z:-1.64 [[ 9.94621887e-01 1.03531701e-01 -2.91364339e-03 3.13964777e+02] [-1.03531336e-01 9.94626154e-01 2.76221337e-04 -1.95072905e+01] [ 2.92658358e-03 2.69176061e-05 9.99995717e-01 -1.63540274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85028169299994 meters Centerline goodness [0,1] 0.9999151355709255 Centerline is valid? [True, True] Translation: X:313.99, Y:-19.51, Z:-1.63 [[ 9.94819392e-01 1.01637490e-01 -2.04888010e-03 3.13993900e+02] [-1.01637306e-01 9.94821502e-01 1.94195966e-04 -1.95124370e+01] [ 2.05800756e-03 1.50527397e-05 9.99997882e-01 -1.63377879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.880281693 meters Centerline goodness [0,1] 0.9998497918544268 Centerline is valid? [True, True] Translation: X:314.02, Y:-19.52, Z:-1.63 [[ 9.94961073e-01 1.00242685e-01 -1.96639306e-03 3.14022512e+02] [-1.00242512e-01 9.94963016e-01 1.86287463e-04 -1.95171388e+01] [ 1.97516232e-03 1.17674061e-05 9.99998049e-01 -1.63332768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91028169299994 meters Centerline goodness [0,1] 0.9999154101550108 Centerline is valid? [True, True] Translation: X:314.05, Y:-19.52, Z:-1.63 [[ 9.95148316e-01 9.83635749e-02 -2.10605894e-03 3.14051427e+02] [-9.83633729e-02 9.95150545e-01 1.99502542e-04 -1.95243222e+01] [ 2.11546948e-03 8.62444193e-06 9.99997762e-01 -1.63387916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.940281693 meters Centerline goodness [0,1] 0.9999363503277958 Centerline is valid? [True, True] Translation: X:314.08, Y:-19.53, Z:-1.64 [[ 9.95377392e-01 9.59883365e-02 -3.17595185e-03 3.14080516e+02] [-9.59878652e-02 9.95382459e-01 3.00862842e-04 -1.95341388e+01] [ 3.19016608e-03 5.38076642e-06 9.99994911e-01 -1.63715448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97028169299995 meters Centerline goodness [0,1] 0.9999146739478231 Centerline is valid? [True, True] Translation: X:314.11, Y:-19.54, Z:-1.64 [[ 9.95443294e-01 9.52842208e-02 -3.68317575e-03 3.14109929e+02] [-9.52835824e-02 9.95450108e-01 3.48815411e-04 -1.95389568e+01] [ 3.69965431e-03 3.72021891e-06 9.99993156e-01 -1.63901548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.000281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.14, Y:-19.54, Z:-1.64 [[ 9.95489094e-01 9.47908988e-02 -4.01859176e-03 3.14139127e+02] [-9.47901351e-02 9.95497205e-01 3.80495371e-04 -1.95440615e+01] [ 4.03656436e-03 2.14386343e-06 9.99991853e-01 -1.63943327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03028169299995 meters Centerline goodness [0,1] 0.9999576351966786 Centerline is valid? [True, True] Translation: X:314.17, Y:-19.55, Z:-1.64 [[ 9.95502687e-01 9.46666544e-02 -3.55311301e-03 3.14167968e+02] [-9.46660571e-02 9.95509028e-01 3.36276597e-04 -1.95476382e+01] [ 3.56899026e-03 1.59494312e-06 9.99993631e-01 -1.63822084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.060281693 meters Centerline goodness [0,1] 0.9999574205360755 Centerline is valid? [True, True] Translation: X:314.20, Y:-19.55, Z:-1.64 [[ 9.95522809e-01 9.44616961e-02 -3.36525018e-03 3.14197826e+02] [-9.44611593e-02 9.95528497e-01 3.18442500e-04 -1.95518762e+01] [ 3.38028307e-03 8.68660614e-07 9.99994287e-01 -1.63748846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.23, Y:-19.56, Z:-1.64 [[ 9.95649550e-01 9.31252903e-02 -3.10713629e-03 3.14227311e+02] [-9.31248265e-02 9.95654398e-01 2.93946983e-04 -1.95583976e+01] [ 3.12100781e-03 -3.31665285e-06 9.99995130e-01 -1.63651671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.120281693 meters Centerline goodness [0,1] 0.9999790303640329 Centerline is valid? [True, True] Translation: X:314.26, Y:-19.57, Z:-1.64 [[ 9.95823742e-01 9.12040930e-02 -4.10951882e-03 3.14256943e+02] [-9.12032650e-02 9.95832221e-01 3.88836643e-04 -1.95680840e+01] [ 4.12785475e-03 -1.24112267e-05 9.99991480e-01 -1.63878158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.29, Y:-19.57, Z:-1.64 [[ 9.95883327e-01 9.05228010e-02 -4.69266977e-03 3.14287485e+02] [-9.05217138e-02 9.95894383e-01 4.44013530e-04 -1.95741439e+01] [ 4.71359682e-03 -1.73971619e-05 9.99988891e-01 -1.63878704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.180281693 meters Centerline goodness [0,1] 0.9999576916567947 Centerline is valid? [True, True] Translation: X:314.32, Y:-19.58, Z:-1.64 [[ 9.95882013e-01 9.05490257e-02 -4.45973394e-03 3.14316901e+02] [-9.05480443e-02 9.95891999e-01 4.21894979e-04 -1.95794672e+01] [ 4.47961553e-03 -1.63374343e-05 9.99989966e-01 -1.63817308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21028169299996 meters Centerline goodness [0,1] 0.9999786657564056 Centerline is valid? [True, True] Translation: X:314.35, Y:-19.58, Z:-1.63 [[ 9.95536581e-01 9.43635479e-02 -1.56096322e-03 3.14347413e+02] [-9.43634324e-02 9.95537805e-01 1.47677356e-04 -1.95804990e+01] [ 1.56793326e-03 2.79637351e-07 9.99998771e-01 -1.63113832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.240281693 meters Centerline goodness [0,1] 0.9998927291840982 Centerline is valid? [True, True] Translation: X:314.38, Y:-19.58, Z:-1.63 [[ 9.95193826e-01 9.79209203e-02 -8.61299460e-04 3.14376990e+02] [-9.79208865e-02 9.95194199e-01 8.14496849e-05 -1.95782188e+01] [ 8.65135854e-04 3.28098317e-06 9.99999626e-01 -1.62938386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27028169299996 meters Centerline goodness [0,1] 0.9998714652956299 Centerline is valid? [True, True] Translation: X:314.41, Y:-19.57, Z:-1.63 [[ 9.94196581e-01 1.07521649e-01 -3.50034949e-03 3.14408107e+02] [-1.07521149e-01 9.94202742e-01 3.31091639e-04 -1.95655169e+01] [ 3.51565658e-03 4.71914245e-05 9.99993819e-01 -1.63412646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.300281693 meters Centerline goodness [0,1] 0.9994401619223978 Centerline is valid? [True, True] Translation: X:314.44, Y:-19.56, Z:-1.64 [[ 9.93634757e-01 1.12556747e-01 -4.57692759e-03 3.14437636e+02] [-1.12555947e-01 9.93645295e-01 4.32701314e-04 -1.95594467e+01] [ 4.59654602e-03 8.52133554e-05 9.99989432e-01 -1.63627191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33028169299996 meters Centerline goodness [0,1] 0.9982418606621619 Centerline is valid? [True, True] Translation: X:314.47, Y:-19.54, Z:-1.63 [[ 9.92610967e-01 1.21299961e-01 -3.12854277e-03 3.14468496e+02] [-1.21299631e-01 9.92615893e-01 2.95825348e-04 -1.95437592e+01] [ 3.14132488e-03 8.58515991e-05 9.99995062e-01 -1.63346181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.360281693 meters Centerline goodness [0,1] 0.996438263229308 Centerline is valid? [True, True] Translation: X:314.50, Y:-19.54, Z:-1.63 [[ 9.92173154e-01 1.24862112e-01 -1.37292121e-03 3.14498593e+02] [-1.24862052e-01 9.92174103e-01 1.29740098e-04 -1.95392750e+01] [ 1.37837650e-03 4.27011177e-05 9.99999049e-01 -1.63009342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39028169299996 meters Centerline goodness [0,1] 0.9949330127104088 Centerline is valid? [True, True] Translation: X:314.53, Y:-19.53, Z:-1.63 [[ 9.91784822e-01 1.27917086e-01 -2.92658619e-04 3.14528884e+02] [-1.27917084e-01 9.91784865e-01 2.76118113e-05 -1.95347797e+01] [ 2.93786412e-04 1.00510618e-05 9.99999957e-01 -1.62804868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.420281693 meters Centerline goodness [0,1] 0.9933764961451633 Centerline is valid? [True, True] Translation: X:314.56, Y:-19.52, Z:-1.63 [[ 9.91344482e-01 1.31269931e-01 -2.07944302e-03 3.14558833e+02] [-1.31269807e-01 9.91346659e-01 1.96436266e-04 -1.95237012e+01] [ 2.08723507e-03 7.82320760e-05 9.99997819e-01 -1.63157093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45028169299997 meters Centerline goodness [0,1] 0.9928978480904993 Centerline is valid? [True, True] Translation: X:314.59, Y:-19.52, Z:-1.64 [[ 9.91311369e-01 1.31494084e-01 -3.32796760e-03 3.14587538e+02] [-1.31493769e-01 9.91316947e-01 3.14210316e-04 -1.95230665e+01] [ 3.34038748e-03 1.26126746e-04 9.99994413e-01 -1.63500984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48028169299994 meters Centerline goodness [0,1] 0.9941895960085051 Centerline is valid? [True, True] Translation: X:314.62, Y:-19.52, Z:-1.63 [[ 9.91541313e-01 1.29754146e-01 -3.11231718e-03 3.14615340e+02] [-1.29753863e-01 9.91546191e-01 2.93645852e-04 -1.95224075e+01] [ 3.12410801e-03 1.12673183e-04 9.99995114e-01 -1.63494682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51028169299997 meters Centerline goodness [0,1] 0.9945387578849328 Centerline is valid? [True, True] Translation: X:314.64, Y:-19.52, Z:-1.63 [[ 9.91820368e-01 1.27630979e-01 -1.64058086e-03 3.14644010e+02] [-1.27630897e-01 9.91821723e-01 1.54724981e-04 -1.95248080e+01] [ 1.64691143e-03 5.59294193e-05 9.99998642e-01 -1.63235717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54028169299994 meters Centerline goodness [0,1] 0.9955499046408137 Centerline is valid? [True, True] Translation: X:314.67, Y:-19.53, Z:-1.63 [[ 9.92123857e-01 1.25260368e-01 -3.05169005e-04 3.14673293e+02] [-1.25260365e-01 9.92123904e-01 2.87405555e-05 -1.95295409e+01] [ 3.06365517e-04 9.71139035e-06 9.99999953e-01 -1.62938153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57028169299997 meters Centerline goodness [0,1] 0.9967803707834431 Centerline is valid? [True, True] Translation: X:314.70, Y:-19.54, Z:-1.63 [[ 9.92587674e-01 1.21529481e-01 5.42508316e-04 3.14702366e+02] [-1.21529471e-01 9.92587822e-01 -5.12108810e-05 -1.95366111e+01] [-5.44710779e-04 -1.50994592e-05 9.99999852e-01 -1.62859787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60028169299994 meters Centerline goodness [0,1] 0.9972772329880241 Centerline is valid? [True, True] Translation: X:314.73, Y:-19.54, Z:-1.63 [[ 9.92764555e-01 1.20076755e-01 3.33842001e-04 3.14730653e+02] [-1.20076752e-01 9.92764611e-01 -3.15638117e-05 -1.95383564e+01] [-3.35216604e-04 -8.75122955e-06 9.99999944e-01 -1.62987741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.630281693 meters Centerline goodness [0,1] 0.998491031199524 Centerline is valid? [True, True] Translation: X:314.76, Y:-19.54, Z:-1.63 [[ 9.93104812e-01 1.17229820e-01 4.87750074e-05 3.14759867e+02] [-1.17229820e-01 9.93104813e-01 -4.64315450e-06 -1.95425244e+01] [-4.89830108e-05 -1.10674627e-06 9.99999999e-01 -1.63050596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66028169299994 meters Centerline goodness [0,1] 0.9985668142634067 Centerline is valid? [True, True] Translation: X:314.79, Y:-19.55, Z:-1.63 [[ 9.93262056e-01 1.15889029e-01 -4.69221938e-04 3.14788142e+02] [-1.15889021e-01 9.93262167e-01 4.41046131e-05 -1.95459124e+01] [ 4.71171640e-04 1.05702323e-05 9.99999889e-01 -1.63168332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.690281693 meters Centerline goodness [0,1] 0.9991036749327756 Centerline is valid? [True, True] Translation: X:314.82, Y:-19.55, Z:-1.63 [[ 9.93417082e-01 1.14545733e-01 -1.33246177e-03 3.14816662e+02] [-1.14545668e-01 9.93417976e-01 1.25354906e-04 -1.95507457e+01] [ 1.33805034e-03 2.80980187e-05 9.99999104e-01 -1.63360996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72028169299995 meters Centerline goodness [0,1] 0.9990544231981509 Centerline is valid? [True, True] Translation: X:314.84, Y:-19.55, Z:-1.64 [[ 9.93648537e-01 1.12493242e-01 -2.80260279e-03 3.14844214e+02] [-1.12492946e-01 9.93652488e-01 2.63583163e-04 -1.95511820e+01] [ 2.81446456e-03 5.33640204e-05 9.99996038e-01 -1.63725531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.750281693 meters Centerline goodness [0,1] 0.9995948222549208 Centerline is valid? [True, True] Translation: X:314.87, Y:-19.56, Z:-1.64 [[ 9.93826534e-01 1.10866230e-01 -4.18320844e-03 3.14872822e+02] [-1.10865557e-01 9.93835335e-01 3.93312731e-04 -1.95577353e+01] [ 4.20102547e-03 7.28891043e-05 9.99991173e-01 -1.63791647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78028169299995 meters Centerline goodness [0,1] 0.9996131361760661 Centerline is valid? [True, True] Translation: X:314.90, Y:-19.56, Z:-1.64 [[ 9.93856771e-01 1.10559845e-01 -5.02392634e-03 3.14901664e+02] [-1.10558871e-01 9.93869465e-01 4.72135533e-04 -1.95601245e+01] [ 5.04532622e-03 8.62045271e-05 9.99987269e-01 -1.63913335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.810281693 meters Centerline goodness [0,1] 0.9996586011180814 Centerline is valid? [True, True] Translation: X:314.93, Y:-19.56, Z:-1.64 [[ 9.93872239e-01 1.10414519e-01 -5.15819821e-03 3.14929310e+02] [-1.10413491e-01 9.93885620e-01 4.84424706e-04 -1.95584015e+01] [ 5.18014655e-03 8.80784056e-05 9.99986579e-01 -1.64081403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84028169299995 meters Centerline goodness [0,1] 0.999530806799036 Centerline is valid? [True, True] Translation: X:314.96, Y:-19.56, Z:-1.64 [[ 9.93772147e-01 1.11387081e-01 -3.13668536e-03 3.14957918e+02] [-1.11386706e-01 9.93777095e-01 2.94407047e-04 -1.95585944e+01] [ 3.14995920e-03 5.68115267e-05 9.99995037e-01 -1.63600960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.870281693 meters Centerline goodness [0,1] 0.9992350353796137 Centerline is valid? [True, True] Translation: X:314.99, Y:-19.55, Z:-1.63 [[ 9.93687196e-01 1.12165068e-01 -2.18016814e-03 3.14986747e+02] [-1.12164889e-01 9.93689587e-01 2.04447305e-04 -1.95540097e+01] [ 2.18934223e-03 4.13816497e-05 9.99997603e-01 -1.63487482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90028169299995 meters Centerline goodness [0,1] 0.9994631045442831 Centerline is valid? [True, True] Translation: X:315.02, Y:-19.55, Z:-1.63 [[ 9.93479633e-01 1.13986824e-01 -2.28517557e-03 3.15015934e+02] [-1.13986633e-01 9.93482260e-01 2.14216159e-04 -1.95542709e+01] [ 2.29469921e-03 4.76600774e-05 9.99997366e-01 -1.63470047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.930281693 meters Centerline goodness [0,1] 0.9992337817129235 Centerline is valid? [True, True] Translation: X:315.04, Y:-19.55, Z:-1.64 [[ 9.93393909e-01 1.14716597e-01 -2.93989027e-03 3.15044653e+02] [-1.14716284e-01 9.93398258e-01 2.75422897e-04 -1.95477408e+01] [ 2.95207745e-03 6.36498588e-05 9.99995641e-01 -1.63708622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96028169299996 meters Centerline goodness [0,1] 0.999252552001025 Centerline is valid? [True, True] Translation: X:315.07, Y:-19.55, Z:-1.64 [[ 9.93264079e-01 1.15839059e-01 -2.78943970e-03 3.15073426e+02] [-1.15838782e-01 9.93267994e-01 2.61215604e-04 -1.95522870e+01] [ 2.80092015e-03 6.36692204e-05 9.99996075e-01 -1.63571970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.990281693 meters Centerline goodness [0,1] 0.9986621363346783 Centerline is valid? [True, True] Translation: X:315.10, Y:-19.54, Z:-1.63 [[ 9.93003137e-01 1.18075033e-01 -1.74810848e-03 3.15101832e+02] [-1.18074928e-01 9.93004675e-01 1.63538812e-04 -1.95449922e+01] [ 1.75518974e-03 4.40132291e-05 9.99998459e-01 -1.63362623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02028169299996 meters Centerline goodness [0,1] 0.9984012278570058 Centerline is valid? [True, True] Translation: X:315.13, Y:-19.54, Z:-1.63 [[ 9.92868634e-01 1.19206207e-01 -1.32478780e-03 3.15130995e+02] [-1.19206148e-01 9.92869518e-01 1.23870110e-04 -1.95420441e+01] [ 1.33010751e-03 3.49361033e-05 9.99999115e-01 -1.63269928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.050281693 meters Centerline goodness [0,1] 0.9982981840115465 Centerline is valid? [True, True] Translation: X:315.16, Y:-19.54, Z:-1.63 [[ 9.92616609e-01 1.21284961e-01 -1.49209598e-03 3.15161379e+02] [-1.21284888e-01 9.92617729e-01 1.39536949e-04 -1.95370799e+01] [ 1.49800466e-03 4.24620014e-05 9.99998877e-01 -1.63269733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08028169299996 meters Centerline goodness [0,1] 0.9970571422522388 Centerline is valid? [True, True] Translation: X:315.19, Y:-19.53, Z:-1.63 [[ 9.92519104e-01 1.22081303e-01 -1.40863444e-03 3.15189448e+02] [-1.22081239e-01 9.92520102e-01 1.31466947e-04 -1.95310455e+01] [ 1.41414766e-03 4.14843813e-05 9.99998999e-01 -1.63368948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.110281693 meters Centerline goodness [0,1] 0.9955976463514152 Centerline is valid? [True, True] Translation: X:315.22, Y:-19.52, Z:-1.63 [[ 9.92235231e-01 1.24375140e-01 2.66442276e-04 3.15219246e+02] [-1.24375137e-01 9.92235267e-01 -2.49667799e-05 -1.95248821e+01] [-2.67478669e-04 -8.36587603e-06 9.99999964e-01 -1.63071134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14028169299996 meters Centerline goodness [0,1] 0.9947296837810269 Centerline is valid? [True, True] Translation: X:315.25, Y:-19.52, Z:-1.63 [[ 9.92148216e-01 1.25066058e-01 6.31789018e-04 3.15247815e+02] [-1.25066045e-01 9.92148417e-01 -5.91119380e-05 -1.95190344e+01] [-6.34221371e-04 -2.03675501e-05 9.99999799e-01 -1.63010792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.170281693 meters Centerline goodness [0,1] 0.9942911714770798 Centerline is valid? [True, True] Translation: X:315.28, Y:-19.52, Z:-1.63 [[ 9.92122921e-01 1.25266659e-01 6.12132657e-04 3.15276980e+02] [-1.25266647e-01 9.92123109e-01 -5.72206589e-05 -1.95178072e+01] [-6.14478795e-04 -1.99098784e-05 9.99999811e-01 -1.63044556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20028169299997 meters Centerline goodness [0,1] 0.9970109455303959 Centerline is valid? [True, True] Translation: X:315.31, Y:-19.52, Z:-1.63 [[ 9.92526837e-01 1.22024394e-01 7.24716331e-04 3.15306220e+02] [-1.22024377e-01 9.92527101e-01 -6.76653473e-05 -1.95245613e+01] [-7.27557422e-04 -2.12733856e-05 9.99999735e-01 -1.63036511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23028169299994 meters Centerline goodness [0,1] 0.998530069661916 Centerline is valid? [True, True] Translation: X:315.34, Y:-19.53, Z:-1.63 [[ 9.93194983e-01 1.16452808e-01 1.57160375e-03 3.15335365e+02] [-1.16452722e-01 9.93196225e-01 -1.46634855e-04 -1.95285775e+01] [-1.57798696e-03 -3.73805325e-05 9.99998754e-01 -1.62964076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26028169299997 meters Centerline goodness [0,1] 0.9987653006918573 Centerline is valid? [True, True] Translation: X:315.36, Y:-19.53, Z:-1.63 [[ 9.93587288e-01 1.13033995e-01 2.75981967e-03 3.15363226e+02] [-1.13033716e-01 9.93591120e-01 -2.57424801e-04 -1.95327238e+01] [-2.77123007e-03 -5.61786624e-05 9.99996159e-01 -1.62807241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29028169299994 meters Centerline goodness [0,1] 0.9992370133310726 Centerline is valid? [True, True] Translation: X:315.39, Y:-19.54, Z:-1.63 [[ 9.93999515e-01 1.09336140e-01 3.25159119e-03 3.15391897e+02] [-1.09335733e-01 9.94004832e-01 -3.03137904e-04 -1.95403165e+01] [-3.26524128e-03 -5.41961763e-05 9.99994668e-01 -1.62781015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32028169299997 meters Centerline goodness [0,1] 0.9998284108701714 Centerline is valid? [True, True] Translation: X:315.42, Y:-19.55, Z:-1.63 [[ 9.94666500e-01 1.03143366e-01 -2.75760372e-07 3.15421109e+02] [-1.03143366e-01 9.94666500e-01 -9.21001991e-12 -1.95514108e+01] [ 2.74288657e-07 2.84520152e-08 1.00000000e+00 -1.63378466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35028169299994 meters Centerline goodness [0,1] 0.999873348250095 Centerline is valid? [True, True] Translation: X:315.45, Y:-19.55, Z:-1.64 [[ 9.94892590e-01 1.00906262e-01 -2.58097708e-03 3.15448887e+02] [-1.00905978e-01 9.94895937e-01 2.40201518e-04 -1.95549167e+01] [ 2.59204145e-03 2.14613064e-05 9.99996640e-01 -1.63849190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.380281693 meters Centerline goodness [0,1] 0.99991508512716 Centerline is valid? [True, True] Translation: X:315.48, Y:-19.56, Z:-1.64 [[ 9.95144048e-01 9.83558618e-02 -3.80120211e-03 3.15476984e+02] [-9.83552285e-02 9.95151307e-01 3.53632684e-04 -1.95570181e+01] [ 3.81755310e-03 2.19526420e-05 9.99992713e-01 -1.64186529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41028169299994 meters Centerline goodness [0,1] 0.9999361240045991 Centerline is valid? [True, True] Translation: X:315.51, Y:-19.56, Z:-1.64 [[ 9.95256409e-01 9.72443204e-02 -2.86762093e-03 3.15505637e+02] [-9.72439557e-02 9.95260540e-01 2.66646678e-04 -1.95613855e+01] [ 2.87995982e-03 1.34769869e-05 9.99995853e-01 -1.63968278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.440281693 meters Centerline goodness [0,1] 0.9999358659170104 Centerline is valid? [True, True] Translation: X:315.53, Y:-19.57, Z:-1.64 [[ 9.95536736e-01 9.43662881e-02 -1.26896880e-03 3.15533880e+02] [-9.43662145e-02 9.95537545e-01 1.17879274e-04 -1.95691896e+01] [ 1.27442991e-03 2.39463468e-06 9.99999188e-01 -1.63731851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47028169299995 meters Centerline goodness [0,1] 0.9999789082932591 Centerline is valid? [True, True] Translation: X:315.56, Y:-19.58, Z:-1.64 [[ 9.95750542e-01 9.20861165e-02 -1.00285275e-03 3.15561205e+02] [-9.20860695e-02 9.95751047e-01 9.30476067e-05 -1.95752357e+01] [ 1.00716006e-03 -3.03437215e-07 9.99999493e-01 -1.63744906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.500281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.59, Y:-19.58, Z:-1.64 [[ 9.95991376e-01 8.94397435e-02 -1.30820892e-03 3.15589450e+02] [-8.94396612e-02 9.95992235e-01 1.21386582e-04 -1.95813467e+01] [ 1.31382271e-03 -3.89422619e-06 9.99999137e-01 -1.63768121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.62, Y:-19.59, Z:-1.64 [[ 9.96496988e-01 8.35933381e-02 -2.43021507e-03 3.15617711e+02] [-8.35930366e-02 9.96499952e-01 2.25572678e-04 -1.95947722e+01] [ 2.44056558e-03 -2.16334368e-05 9.99997022e-01 -1.63950626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.560281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.65, Y:-19.60, Z:-1.64 [[ 9.96745291e-01 8.05925396e-02 -1.91488276e-03 3.15645132e+02] [-8.05923472e-02 9.96747130e-01 1.77545788e-04 -1.96047192e+01] [ 1.92296276e-03 -2.26430319e-05 9.99998151e-01 -1.63885327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59028169299995 meters Centerline goodness [0,1] 0.9999787338111137 Centerline is valid? [True, True] Translation: X:315.67, Y:-19.62, Z:-1.64 [[ 9.97190686e-01 7.49048353e-02 -2.87969052e-05 3.15673678e+02] [-7.49048353e-02 9.97190687e-01 2.62170175e-06 -1.96210048e+01] [ 2.89123839e-05 -4.57309118e-07 1.00000000e+00 -1.63585930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.620281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.70, Y:-19.63, Z:-1.64 [[ 9.97356346e-01 7.26649014e-02 3.62204483e-04 3.15703032e+02] [-7.26648939e-02 9.97356412e-01 -3.36383482e-05 -1.96295162e+01] [-3.63691291e-04 7.22986973e-06 9.99999934e-01 -1.63569367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.73, Y:-19.63, Z:-1.64 [[ 9.97358034e-01 7.26417300e-02 3.62205277e-04 3.15732082e+02] [-7.26417226e-02 9.97358100e-01 -3.36297898e-05 -1.96321660e+01] [-3.63691293e-04 7.22972575e-06 9.99999934e-01 -1.63575507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.680281693 meters Centerline goodness [0,1] 0.999957310565635 Centerline is valid? [True, True] Translation: X:315.76, Y:-19.64, Z:-1.64 [[ 9.97440049e-01 7.15066906e-02 -3.76685047e-04 3.15761144e+02] [-7.15066826e-02 9.97440120e-01 3.48652561e-05 -1.96421033e+01] [ 3.78213878e-04 -7.84050461e-06 9.99999928e-01 -1.63651588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71028169299996 meters Centerline goodness [0,1] 0.9999785274097615 Centerline is valid? [True, True] Translation: X:315.79, Y:-19.64, Z:-1.64 [[ 9.97357219e-01 7.26519695e-02 -5.18157164e-04 3.15790410e+02] [-7.26519544e-02 9.97357354e-01 4.79652298e-05 -1.96445737e+01] [ 5.20272626e-04 -1.01933376e-05 9.99999865e-01 -1.63589675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.740281693 meters Centerline goodness [0,1] 0.9999360722809411 Centerline is valid? [True, True] Translation: X:315.82, Y:-19.64, Z:-1.64 [[ 9.96943525e-01 7.81237628e-02 -5.34548677e-04 3.15819245e+02] [-7.81237475e-02 9.96943668e-01 4.94407900e-05 -1.96417003e+01] [ 5.36777419e-04 -7.52872958e-06 9.99999856e-01 -1.63556033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.85, Y:-19.64, Z:-1.64 [[ 9.96636581e-01 8.19419907e-02 -1.01800693e-03 3.15849297e+02] [-8.19419372e-02 9.96637100e-01 9.42241618e-05 -1.96394227e+01] [ 1.02230439e-03 -1.04897866e-05 9.99999477e-01 -1.63652631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.800281693 meters Centerline goodness [0,1] 0.9999785057174791 Centerline is valid? [True, True] Translation: X:315.88, Y:-19.64, Z:-1.64 [[ 9.96328573e-01 8.56027583e-02 -1.24217751e-03 3.15878845e+02] [-8.56026816e-02 9.96329347e-01 1.14914929e-04 -1.96379461e+01] [ 1.24745494e-03 -8.15930140e-06 9.99999222e-01 -1.63758828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83028169299996 meters Centerline goodness [0,1] 0.9999575668851972 Centerline is valid? [True, True] Translation: X:315.91, Y:-19.63, Z:-1.64 [[ 9.95824021e-01 9.12883609e-02 -9.76738315e-04 3.15906941e+02] [-9.12883163e-02 9.95824500e-01 9.02364528e-05 -1.96343048e+01] [ 9.80897482e-04 -6.94830984e-07 9.99999519e-01 -1.63742876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.860281693 meters Centerline goodness [0,1] 0.9998292130993552 Centerline is valid? [True, True] Translation: X:315.94, Y:-19.63, Z:-1.64 [[ 9.95589701e-01 9.38142805e-02 1.69548156e-04 3.15936058e+02] [-9.38142791e-02 9.95589715e-01 -1.57769562e-05 -1.96330549e+01] [-1.70280504e-04 -1.98662951e-07 9.99999986e-01 -1.63558583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89028169299996 meters Centerline goodness [0,1] 0.9998515219005196 Centerline is valid? [True, True] Translation: X:315.97, Y:-19.63, Z:-1.63 [[ 9.95230661e-01 9.75375355e-02 1.53627489e-03 3.15965897e+02] [-9.75374324e-02 9.95231847e-01 -1.42076945e-04 -1.96270426e+01] [-1.54280753e-03 -8.44497617e-06 9.99998810e-01 -1.63366667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.920281693 meters Centerline goodness [0,1] 0.9997645547945205 Centerline is valid? [True, True] Translation: X:315.99, Y:-19.63, Z:-1.63 [[ 9.95052660e-01 9.93412089e-02 1.23594656e-03 3.15994737e+02] [-9.93411436e-02 9.95053428e-01 -1.14262557e-04 -1.96252773e+01] [-1.24118384e-03 -9.08308262e-06 9.99999230e-01 -1.63471626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95028169299997 meters Centerline goodness [0,1] 0.99970102080041 Centerline is valid? [True, True] Translation: X:316.02, Y:-19.62, Z:-1.64 [[ 9.94654331e-01 1.03260610e-01 -9.45164429e-05 3.16023382e+02] [-1.03260609e-01 9.94654335e-01 8.60045436e-06 -1.96165484e+01] [ 9.48992778e-05 1.20534630e-06 9.99999995e-01 -1.63538139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98028169299994 meters Centerline goodness [0,1] 0.9995475892972554 Centerline is valid? [True, True] Translation: X:316.05, Y:-19.61, Z:-1.64 [[ 9.94510263e-01 1.04638897e-01 1.95951087e-04 3.16052088e+02] [-1.04638896e-01 9.94510282e-01 -1.82003103e-05 -1.96118926e+01] [-1.96779832e-04 -2.40371001e-06 9.99999981e-01 -1.63562667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01028169299997 meters Centerline goodness [0,1] 0.999639042826507 Centerline is valid? [True, True] Translation: X:316.08, Y:-19.61, Z:-1.64 [[ 9.94404685e-01 1.05636966e-01 3.93206460e-04 3.16081078e+02] [-1.05636960e-01 9.94404762e-01 -3.63541338e-05 -1.96102995e+01] [-3.94846717e-04 -5.38641421e-06 9.99999922e-01 -1.63560759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04028169299994 meters Centerline goodness [0,1] 0.9996787939784578 Centerline is valid? [True, True] Translation: X:316.11, Y:-19.61, Z:-1.64 [[ 9.94432559e-01 1.05374830e-01 -1.73126016e-04 3.16109461e+02] [-1.05374829e-01 9.94432574e-01 1.57992075e-05 -1.96085595e+01] [ 1.73826988e-04 2.53187798e-06 9.99999985e-01 -1.63717780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07028169299997 meters Centerline goodness [0,1] 0.999681088551079 Centerline is valid? [True, True] Translation: X:316.14, Y:-19.61, Z:-1.64 [[ 9.94622251e-01 1.03564941e-01 -9.38061508e-04 3.16137275e+02] [-1.03564905e-01 9.94622694e-01 8.62435195e-05 -1.96106036e+01] [ 9.41949069e-04 1.13705276e-05 9.99999556e-01 -1.63849614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10028169299994 meters Centerline goodness [0,1] 0.9998510986790325 Centerline is valid? [True, True] Translation: X:316.17, Y:-19.61, Z:-1.64 [[ 9.95143996e-01 9.84119024e-02 -1.87739862e-03 3.16166173e+02] [-9.84117518e-02 9.95145767e-01 1.72664076e-04 -1.96139587e+01] [ 1.88527749e-03 1.29324689e-05 9.99998223e-01 -1.63989302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.130281693 meters Centerline goodness [0,1] 0.9998938293625514 Centerline is valid? [True, True] Translation: X:316.19, Y:-19.62, Z:-1.64 [[ 9.95409402e-01 9.56967666e-02 -1.50027196e-03 3.16194043e+02] [-9.56966675e-02 9.95410533e-01 1.37818862e-04 -1.96165282e+01] [ 1.50657533e-03 6.38483575e-06 9.99998865e-01 -1.64017140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16028169299994 meters Centerline goodness [0,1] 0.999894058818544 Centerline is valid? [True, True] Translation: X:316.22, Y:-19.63, Z:-1.64 [[ 9.95948068e-01 8.99295490e-02 -3.50274848e-04 3.16222585e+02] [-8.99295433e-02 9.95948129e-01 3.20952912e-05 -1.96252083e+01] [ 3.51741894e-04 -4.65186173e-07 9.99999938e-01 -1.63743796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.190281693 meters Centerline goodness [0,1] 0.9998716055723181 Centerline is valid? [True, True] Translation: X:316.25, Y:-19.63, Z:-1.64 [[ 9.96223605e-01 8.68245895e-02 1.39065286e-04 3.16251135e+02] [-8.68245885e-02 9.96223615e-01 -1.28732916e-05 -1.96313720e+01] [-1.39657840e-04 7.50390752e-07 9.99999990e-01 -1.63649635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22028169299995 meters Centerline goodness [0,1] 0.9998735697578861 Centerline is valid? [True, True] Translation: X:316.28, Y:-19.64, Z:-1.64 [[ 9.96475402e-01 8.38846195e-02 3.79493434e-04 3.16278818e+02] [-8.38846123e-02 9.96475474e-01 -3.49611847e-05 -1.96389262e+01] [-3.81088605e-04 3.00430102e-06 9.99999927e-01 -1.63632897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.250281693 meters Centerline goodness [0,1] 0.9997862654156069 Centerline is valid? [True, True] Translation: X:316.31, Y:-19.65, Z:-1.64 [[ 9.96951108e-01 7.80187507e-02 1.24975018e-03 3.16307687e+02] [-7.80186681e-02 9.96951892e-01 -1.14752502e-04 -1.96473166e+01] [-1.25489365e-03 1.68987892e-05 9.99999212e-01 -1.63518829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28028169299995 meters Centerline goodness [0,1] 0.9998088400841104 Centerline is valid? [True, True] Translation: X:316.34, Y:-19.65, Z:-1.64 [[ 9.97175804e-01 7.50968729e-02 9.35610304e-04 3.16335575e+02] [-7.50968254e-02 9.97176243e-01 -8.59058545e-05 -1.96549739e+01] [-9.39419629e-04 1.54018760e-05 9.99999559e-01 -1.63586911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.310281693 meters Centerline goodness [0,1] 0.9996809053778081 Centerline is valid? [True, True] Translation: X:316.36, Y:-19.67, Z:-1.64 [[ 9.97553242e-01 6.99108317e-02 -7.42967006e-05 3.16364055e+02] [-6.99108314e-02 9.97553244e-01 6.79123370e-06 -1.96670562e+01] [ 7.45896955e-05 -1.58047308e-06 9.99999997e-01 -1.63712004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34028169299995 meters Centerline goodness [0,1] 0.999487234269843 Centerline is valid? [True, True] Translation: X:316.39, Y:-19.67, Z:-1.64 [[ 9.97686321e-01 6.79840598e-02 -4.14447478e-04 3.16392755e+02] [-6.79840499e-02 9.97686407e-01 3.79322975e-05 -1.96728116e+01] [ 4.16067407e-04 -9.66871625e-06 9.99999913e-01 -1.63777120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.370281693 meters Centerline goodness [0,1] 0.9995042782938552 Centerline is valid? [True, True] Translation: X:316.42, Y:-19.68, Z:-1.64 [[ 9.97859515e-01 6.53887161e-02 -8.38720935e-04 3.16422149e+02] [-6.53886746e-02 9.97859868e-01 7.68785354e-05 -1.96797404e+01] [ 8.41952949e-04 -2.18711278e-05 9.99999645e-01 -1.63903096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40028169299995 meters Centerline goodness [0,1] 0.9993349352098172 Centerline is valid? [True, True] Translation: X:316.45, Y:-19.68, Z:-1.64 [[ 9.97910643e-01 6.46057571e-02 -6.67319367e-04 3.16450345e+02] [-6.46057306e-02 9.97910866e-01 6.10904437e-05 -1.96847301e+01] [ 6.69872042e-04 -1.78501486e-05 9.99999775e-01 -1.63906787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.430281693 meters Centerline goodness [0,1] 0.999256552954671 Centerline is valid? [True, True] Translation: X:316.48, Y:-19.69, Z:-1.64 [[ 9.97969395e-01 6.36924109e-02 -6.03424472e-04 3.16478967e+02] [-6.36923892e-02 9.97969577e-01 5.52138272e-05 -1.96911728e+01] [ 6.05715967e-04 -1.66681634e-05 9.99999816e-01 -1.63919259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46028169299996 meters Centerline goodness [0,1] 0.9991498947994815 Centerline is valid? [True, True] Translation: X:316.51, Y:-19.70, Z:-1.64 [[ 9.98184531e-01 6.02189436e-02 -1.14956745e-03 3.16506762e+02] [-6.02188622e-02 9.98185192e-01 1.05365738e-04 -1.97045128e+01] [ 1.15382622e-03 -3.59488060e-05 9.99999334e-01 -1.64047988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.490281693 meters Centerline goodness [0,1] 0.99790471756016 Centerline is valid? [True, True] Translation: X:316.54, Y:-19.72, Z:-1.64 [[ 9.98356447e-01 5.72851103e-02 -1.67959429e-03 3.16535491e+02] [-5.72849324e-02 9.98357858e-01 1.53864681e-04 -1.97164045e+01] [ 1.68565031e-03 -5.73963508e-05 9.99998578e-01 -1.64157587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52028169299996 meters Centerline goodness [0,1] 0.9957682010536316 Centerline is valid? [True, True] Translation: X:316.56, Y:-19.74, Z:-1.64 [[ 9.98754269e-01 4.98483489e-02 -2.24759031e-03 3.16563828e+02] [-4.98480115e-02 9.98756794e-01 2.05909343e-04 -1.97350819e+01] [ 2.25506034e-03 -9.36149280e-05 9.99997453e-01 -1.64305834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.550281693 meters Centerline goodness [0,1] 0.9925734650760794 Centerline is valid? [True, True] Translation: X:316.59, Y:-19.75, Z:-1.64 [[ 9.98924923e-01 4.63125212e-02 -2.03660641e-03 3.16592016e+02] [-4.63122369e-02 9.98926995e-01 1.86554586e-04 -1.97489101e+01] [ 2.04306093e-03 -9.20342272e-05 9.99997909e-01 -1.64298335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58028169299996 meters Centerline goodness [0,1] 0.9822976724322016 Centerline is valid? [True, True] Translation: X:316.62, Y:-19.77, Z:-1.64 [[ 9.99161235e-01 4.09393906e-02 -8.90426265e-04 3.16620374e+02] [-4.09393340e-02 9.99161631e-01 8.16498604e-05 -1.97696772e+01] [ 8.93022454e-04 -4.51279171e-05 9.99999600e-01 -1.63962621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.610281693 meters Centerline goodness [0,1] 0.9795796563925481 Centerline is valid? [True, True] Translation: X:316.65, Y:-19.78, Z:-1.64 [[ 9.99223500e-01 3.93904644e-02 -8.87361694e-04 3.16650605e+02] [-3.93904077e-02 9.99223893e-01 8.13471550e-05 -1.97780814e+01] [ 8.89877309e-04 -4.63304501e-05 9.99999603e-01 -1.63893516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64028169299996 meters Centerline goodness [0,1] 0.9875848440587679 Centerline is valid? [True, True] Translation: X:316.68, Y:-19.78, Z:-1.64 [[ 9.99232176e-01 3.91712268e-02 -8.21017871e-04 3.16681744e+02] [-3.91711781e-02 9.99232512e-01 7.53104577e-05 -1.97814332e+01] [ 8.23337752e-04 -4.30923953e-05 9.99999660e-01 -1.63856302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.670281693 meters Centerline goodness [0,1] 0.9931536249302485 Centerline is valid? [True, True] Translation: X:316.71, Y:-19.79, Z:-1.64 [[ 9.99114212e-01 4.20709806e-02 -9.08208574e-04 3.16712455e+02] [-4.20709222e-02 9.99114623e-01 8.33113131e-05 -1.97887019e+01] [ 9.10909456e-04 -4.50283447e-05 9.99999584e-01 -1.63811010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70028169299997 meters Centerline goodness [0,1] 0.9883255146413041 Centerline is valid? [True, True] Translation: X:316.74, Y:-19.80, Z:-1.64 [[ 9.99019868e-01 4.42448167e-02 -1.30381029e-03 3.16741674e+02] [-4.42446983e-02 9.99020717e-01 1.19583396e-04 -1.98003536e+01] [ 1.30782443e-03 -6.17794955e-05 9.99999143e-01 -1.63918278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73028169299994 meters Centerline goodness [0,1] 0.9965818539169817 Centerline is valid? [True, True] Translation: X:316.77, Y:-19.79, Z:-1.64 [[ 9.98817898e-01 4.85551744e-02 -2.28090334e-03 3.16772963e+02] [-4.85548231e-02 9.98820497e-01 2.09164511e-04 -1.97948344e+01] [ 2.28836903e-03 -9.81683993e-05 9.99997377e-01 -1.64039005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76028169299997 meters Centerline goodness [0,1] 0.9957967056413758 Centerline is valid? [True, True] Translation: X:316.80, Y:-19.80, Z:-1.64 [[ 9.98751915e-01 4.99029068e-02 -2.07647270e-03 3.16802945e+02] [-4.99026183e-02 9.98754070e-01 1.90515686e-04 -1.98045151e+01] [ 2.08339285e-03 -8.66564819e-05 9.99997826e-01 -1.64060738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79028169299994 meters Centerline goodness [0,1] 0.9965372620711904 Centerline is valid? [True, True] Translation: X:316.83, Y:-19.81, Z:-1.64 [[ 9.98693814e-01 5.10942708e-02 2.01639922e-04 3.16833451e+02] [-5.10942682e-02 9.98693835e-01 -1.84499122e-05 -1.98122800e+01] [-2.02319232e-04 8.12316891e-06 9.99999980e-01 -1.63593614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82028169299997 meters Centerline goodness [0,1] 0.9959736690739439 Centerline is valid? [True, True] Translation: X:316.86, Y:-19.82, Z:-1.63 [[ 9.98673135e-01 5.14857528e-02 1.08926474e-03 3.16863580e+02] [-5.14856745e-02 9.98673728e-01 -9.98430686e-05 -1.98226091e+01] [-1.09296058e-03 4.36290603e-05 9.99999402e-01 -1.63435858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85028169299994 meters Centerline goodness [0,1] 0.9935854946652697 Centerline is valid? [True, True] Translation: X:316.89, Y:-19.84, Z:-1.64 [[ 9.98644170e-01 5.20506285e-02 7.43572725e-04 3.16892763e+02] [-5.20505922e-02 9.98644447e-01 -6.80898235e-05 -1.98448062e+01] [-7.46108890e-04 2.92941046e-05 9.99999721e-01 -1.63688844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.880281693 meters Centerline goodness [0,1] 0.9943061552789773 Centerline is valid? [True, True] Translation: X:316.92, Y:-19.85, Z:-1.64 [[ 9.98601269e-01 5.28721936e-02 1.88981378e-04 3.16924468e+02] [-5.28721913e-02 9.98601287e-01 -1.70978183e-05 -1.98521681e+01] [-1.89621047e-04 7.08204343e-06 9.99999982e-01 -1.63863604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91028169299994 meters Centerline goodness [0,1] 0.9968785410386334 Centerline is valid? [True, True] Translation: X:316.96, Y:-19.85, Z:-1.64 [[ 9.98557292e-01 5.36932451e-02 -6.08522104e-04 3.16957282e+02] [-5.36932207e-02 9.98557477e-01 5.65091490e-05 -1.98510867e+01] [ 6.10678457e-04 -2.37541112e-05 9.99999813e-01 -1.63918616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.940281693 meters Centerline goodness [0,1] 0.9961557852281321 Centerline is valid? [True, True] Translation: X:316.99, Y:-19.87, Z:-1.64 [[ 9.98388910e-01 5.66787282e-02 -2.66557686e-03 3.16986495e+02] [-5.66782729e-02 9.98392464e-01 2.46104471e-04 -1.98655102e+01] [ 2.67524074e-03 -9.46276824e-05 9.99996417e-01 -1.64335248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97028169299995 meters Centerline goodness [0,1] 0.998789217664677 Centerline is valid? [True, True] Translation: X:317.02, Y:-19.86, Z:-1.64 [[ 9.98251087e-01 5.90308102e-02 -3.18278443e-03 3.17018025e+02] [-5.90301727e-02 9.98256156e-01 2.93953623e-04 -1.98619731e+01] [ 3.19458647e-03 -1.05559210e-04 9.99994892e-01 -1.64354547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.000281693 meters Centerline goodness [0,1] 0.9994492808879286 Centerline is valid? [True, True] Translation: X:317.05, Y:-19.87, Z:-1.64 [[ 9.97894399e-01 6.48223236e-02 -2.19877473e-03 3.17048799e+02] [-6.48220335e-02 9.97896820e-01 2.03047253e-04 -1.98655404e+01] [ 2.20731231e-03 -6.00906677e-05 9.99997562e-01 -1.64120138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03028169299995 meters Centerline goodness [0,1] 0.999357917941913 Centerline is valid? [True, True] Translation: X:317.08, Y:-19.87, Z:-1.64 [[ 9.97704541e-01 6.77055464e-02 -1.26800372e-03 3.17078943e+02] [-6.77054521e-02 9.97705346e-01 1.17131768e-04 -1.98673618e+01] [ 1.27302456e-03 -3.10121317e-05 9.99999189e-01 -1.63957249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.060281693 meters Centerline goodness [0,1] 0.9995272070832976 Centerline is valid? [True, True] Translation: X:317.11, Y:-19.87, Z:-1.64 [[ 9.97516963e-01 7.04231812e-02 -6.96123467e-04 3.17110521e+02] [-7.04231535e-02 9.97517206e-01 6.43600064e-05 -1.98651522e+01] [ 6.98927572e-04 -1.51769884e-05 9.99999756e-01 -1.63895947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09028169299995 meters Centerline goodness [0,1] 0.9998307594668924 Centerline is valid? [True, True] Translation: X:317.14, Y:-19.87, Z:-1.64 [[ 9.97216472e-01 7.45402027e-02 -1.75093045e-03 3.17140129e+02] [-7.45400335e-02 9.97218009e-01 1.61799195e-04 -1.98711326e+01] [ 1.75811992e-03 -3.08344081e-05 9.99998454e-01 -1.64159003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.120281693 meters Centerline goodness [0,1] 0.9997016070591245 Centerline is valid? [True, True] Translation: X:317.17, Y:-19.88, Z:-1.64 [[ 9.97124795e-01 7.57252345e-02 -2.79854133e-03 3.17172155e+02] [-7.57248048e-02 9.97128721e-01 2.59357753e-04 -1.98752920e+01] [ 2.81014586e-03 -4.66930505e-05 9.99996050e-01 -1.64369972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15028169299995 meters Centerline goodness [0,1] 0.9997226666666666 Centerline is valid? [True, True] Translation: X:317.20, Y:-19.88, Z:-1.64 [[ 9.96930051e-01 7.82516094e-02 -2.67558928e-03 3.17203694e+02] [-7.82512245e-02 9.96933641e-01 2.48408182e-04 -1.98777779e+01] [ 2.68682330e-03 -3.82774443e-05 9.99996390e-01 -1.64284038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.180281693 meters Centerline goodness [0,1] 0.9996839643511788 Centerline is valid? [True, True] Translation: X:317.24, Y:-19.88, Z:-1.64 [[ 9.96795723e-01 7.99809861e-02 -1.15288183e-03 3.17236085e+02] [-7.99809154e-02 9.96796389e-01 1.07414311e-04 -1.98793714e+01] [ 1.15777955e-03 -1.48615815e-05 9.99999330e-01 -1.63957465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21028169299996 meters Centerline goodness [0,1] 0.9997021403344538 Centerline is valid? [True, True] Translation: X:317.27, Y:-19.88, Z:-1.64 [[ 9.96487680e-01 8.37353178e-02 8.36916551e-04 3.17267138e+02] [-8.37352822e-02 9.96488031e-01 -7.75423916e-05 -1.98799336e+01] [-8.40470363e-04 7.19059436e-06 9.99999647e-01 -1.63664067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.240281693 meters Centerline goodness [0,1] 0.9997022163610839 Centerline is valid? [True, True] Translation: X:317.30, Y:-19.88, Z:-1.64 [[ 9.96353561e-01 8.53185886e-02 5.65393554e-04 3.17299255e+02] [-8.53185726e-02 9.96353722e-01 -5.23485081e-05 -1.98816712e+01] [-5.67798273e-04 3.91905139e-06 9.99999839e-01 -1.63688670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27028169299996 meters Centerline goodness [0,1] 0.9997876632338889 Centerline is valid? [True, True] Translation: X:317.33, Y:-19.88, Z:-1.64 [[ 9.96167860e-01 8.74606135e-02 4.85599533e-04 3.17331030e+02] [-8.74606019e-02 9.96167978e-01 -4.49896513e-05 -1.98835307e+01] [-4.87673527e-04 2.34641729e-06 9.99999881e-01 -1.63781214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.300281693 meters Centerline goodness [0,1] 0.9997253791879673 Centerline is valid? [True, True] Translation: X:317.36, Y:-19.89, Z:-1.64 [[ 9.96084910e-01 8.84001871e-02 5.07999136e-04 3.17362079e+02] [-8.84001745e-02 9.96085040e-01 -4.72777157e-05 -1.98869245e+01] [-5.10189698e-04 2.18540695e-06 9.99999870e-01 -1.63820751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33028169299996 meters Centerline goodness [0,1] 0.9998072887670764 Centerline is valid? [True, True] Translation: X:317.39, Y:-19.89, Z:-1.64 [[ 9.96013022e-01 8.92073190e-02 3.37772031e-04 3.17394923e+02] [-8.92073135e-02 9.96013079e-01 -3.12439802e-05 -1.98905192e+01] [-3.39212553e-04 9.87675695e-07 9.99999942e-01 -1.63839922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.360281693 meters Centerline goodness [0,1] 0.9998301197655652 Centerline is valid? [True, True] Translation: X:317.43, Y:-19.89, Z:-1.64 [[ 9.95872013e-01 9.07684039e-02 -1.75327128e-04 3.17428018e+02] [-9.07684023e-02 9.95872028e-01 1.68414064e-05 -1.98922553e+01] [ 1.76132050e-04 -8.57721939e-07 9.99999984e-01 -1.63909456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39028169299996 meters Centerline goodness [0,1] 0.9997869938441221 Centerline is valid? [True, True] Translation: X:317.46, Y:-19.89, Z:-1.64 [[ 9.95757727e-01 9.20125859e-02 -4.82104445e-04 3.17459788e+02] [-9.20125746e-02 9.95757844e-01 4.56786205e-05 -1.98938898e+01] [ 4.84262291e-04 -1.12516817e-06 9.99999883e-01 -1.64020730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.420281693 meters Centerline goodness [0,1] 0.999741913282863 Centerline is valid? [True, True] Translation: X:317.49, Y:-19.89, Z:-1.64 [[ 9.95497269e-01 9.47716902e-02 -1.87473376e-03 3.17493270e+02] [-9.47715249e-02 9.95499034e-01 1.76974347e-04 -1.98931397e+01] [ 1.88306780e-03 1.49389757e-06 9.99998227e-01 -1.64144059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45028169299997 meters Centerline goodness [0,1] 0.999765937526598 Centerline is valid? [True, True] Translation: X:317.52, Y:-19.89, Z:-1.64 [[ 9.95412901e-01 9.56338936e-02 -2.70475690e-03 3.17524327e+02] [-9.56335524e-02 9.95416575e-01 2.55493968e-04 -1.98947855e+01] [ 2.71679373e-03 4.34351903e-06 9.99996309e-01 -1.64469533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48028169299994 meters Centerline goodness [0,1] 0.9997660818713451 Centerline is valid? [True, True] Translation: X:317.56, Y:-19.90, Z:-1.65 [[ 9.95336061e-01 9.64023812e-02 -3.56454615e-03 3.17556837e+02] [-9.64017918e-02 9.95342444e-01 3.37203678e-04 -1.98974270e+01] [ 3.58045131e-03 7.99765437e-06 9.99993590e-01 -1.64559532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51028169299997 meters Centerline goodness [0,1] 0.9997666475741954 Centerline is valid? [True, True] Translation: X:317.59, Y:-19.90, Z:-1.64 [[ 9.95179491e-01 9.80207247e-02 -3.11748084e-03 3.17588129e+02] [-9.80202824e-02 9.95184374e-01 2.94736299e-04 -1.98974540e+01] [ 3.13135848e-03 1.22608323e-05 9.99995097e-01 -1.64388386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54028169299994 meters Centerline goodness [0,1] 0.9997666475741954 Centerline is valid? [True, True] Translation: X:317.62, Y:-19.90, Z:-1.64 [[ 9.95163236e-01 9.81856183e-02 -3.11740382e-03 3.17619643e+02] [-9.81851742e-02 9.95168119e-01 2.95550288e-04 -1.99005820e+01] [ 3.13135969e-03 1.19620560e-05 9.99995097e-01 -1.64395052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57028169299997 meters Centerline goodness [0,1] 0.9998312485497922 Centerline is valid? [True, True] Translation: X:317.65, Y:-19.90, Z:-1.64 [[ 9.95028895e-01 9.95693917e-02 -1.85316976e-03 3.17650894e+02] [-9.95692364e-02 9.95030621e-01 1.76094264e-04 -1.99007612e+01] [ 1.86149425e-03 9.29981707e-06 9.99998267e-01 -1.64187968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60028169299994 meters Centerline goodness [0,1] 0.9997257673241219 Centerline is valid? [True, True] Translation: X:317.68, Y:-19.89, Z:-1.64 [[ 9.94678942e-01 1.03021435e-01 -6.21947187e-04 3.17681664e+02] [-1.03021418e-01 9.94679136e-01 5.90227048e-05 -1.98930869e+01] [ 6.24718495e-04 5.36523953e-06 9.99999805e-01 -1.63928432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.630281693 meters Centerline goodness [0,1] 0.9998080941617979 Centerline is valid? [True, True] Translation: X:317.71, Y:-19.89, Z:-1.64 [[ 9.94493114e-01 1.04800785e-01 -4.91728949e-04 3.17713267e+02] [-1.04800775e-01 9.94493235e-01 4.67071069e-05 -1.98923406e+01] [ 4.93916054e-04 5.08367861e-06 9.99999878e-01 -1.63828064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66028169299994 meters Centerline goodness [0,1] 0.9996606214869022 Centerline is valid? [True, True] Translation: X:317.74, Y:-19.89, Z:-1.64 [[ 9.94357461e-01 1.06080560e-01 -3.93806139e-04 3.17744181e+02] [-1.06080554e-01 9.94357539e-01 3.73954443e-05 -1.98895790e+01] [ 3.95551033e-04 4.59073432e-06 9.99999922e-01 -1.63863673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.690281693 meters Centerline goodness [0,1] 0.999786903062203 Centerline is valid? [True, True] Translation: X:317.77, Y:-19.89, Z:-1.64 [[ 9.94193856e-01 1.07603173e-01 3.65753433e-04 3.17774840e+02] [-1.07603168e-01 9.94193923e-01 -3.47085324e-05 -1.98855895e+01] [-3.67364588e-04 -4.84921831e-06 9.99999933e-01 -1.63766350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72028169299995 meters Centerline goodness [0,1] 0.9997216274089936 Centerline is valid? [True, True] Translation: X:317.81, Y:-19.89, Z:-1.64 [[ 9.94141178e-01 1.08085256e-01 9.46764796e-04 3.17805860e+02] [-1.08085220e-01 9.94141628e-01 -8.98306238e-05 -1.98851465e+01] [-9.50927662e-04 -1.30269589e-05 9.99999548e-01 -1.63616297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.750281693 meters Centerline goodness [0,1] 0.9996372791670223 Centerline is valid? [True, True] Translation: X:317.84, Y:-19.88, Z:-1.64 [[ 9.94116685e-01 1.08310946e-01 8.68807099e-04 3.17835923e+02] [-1.08310915e-01 9.94117065e-01 -8.24709654e-05 -1.98818313e+01] [-8.72628472e-04 -1.21155294e-05 9.99999619e-01 -1.63641640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78028169299995 meters Centerline goodness [0,1] 0.9996847017278345 Centerline is valid? [True, True] Translation: X:317.87, Y:-19.88, Z:-1.64 [[ 9.94194152e-01 1.07600836e-01 -2.19717533e-04 3.17865500e+02] [-1.07600834e-01 9.94194176e-01 2.08844060e-05 -1.98804036e+01] [ 2.20689071e-04 2.87863552e-06 9.99999976e-01 -1.63915449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.810281693 meters Centerline goodness [0,1] 0.9997001627687827 Centerline is valid? [True, True] Translation: X:317.90, Y:-19.88, Z:-1.64 [[ 9.94322975e-01 1.06393086e-01 -1.52730021e-03 3.17895271e+02] [-1.06392989e-01 9.94324148e-01 1.44873375e-04 -1.98848343e+01] [ 1.53404501e-03 1.84431093e-05 9.99998823e-01 -1.64099265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84028169299995 meters Centerline goodness [0,1] 0.9998084739630994 Centerline is valid? [True, True] Translation: X:317.92, Y:-19.89, Z:-1.64 [[ 9.94530142e-01 1.04421111e-01 -2.45524596e-03 3.17924726e+02] [-1.04420854e-01 9.94533172e-01 2.32863538e-04 -1.98862104e+01] [ 2.46613943e-03 2.47890724e-05 9.99996959e-01 -1.64223292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.870281693 meters Centerline goodness [0,1] 0.9998305120654224 Centerline is valid? [True, True] Translation: X:317.95, Y:-19.88, Z:-1.64 [[ 9.94507813e-01 1.04657899e-01 -9.66831396e-04 3.17954191e+02] [-1.04657860e-01 9.94508283e-01 9.16442205e-05 -1.98845113e+01] [ 9.71113122e-04 1.00456115e-05 9.99999528e-01 -1.63945976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90028169299995 meters Centerline goodness [0,1] 0.99978700291806 Centerline is valid? [True, True] Translation: X:317.98, Y:-19.88, Z:-1.64 [[ 9.94449682e-01 1.05213130e-01 1.62486707e-04 3.17983034e+02] [-1.05213129e-01 9.94449696e-01 -1.54779260e-05 -1.98834606e+01] [-1.63213337e-04 -1.70371618e-06 9.99999987e-01 -1.63744762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.930281693 meters Centerline goodness [0,1] 0.9997224772111094 Centerline is valid? [True, True] Translation: X:318.01, Y:-19.88, Z:-1.64 [[ 9.94333998e-01 1.06299243e-01 6.08618122e-04 3.18012619e+02] [-1.06299227e-01 9.94334185e-01 -5.77354072e-05 -1.98831394e+01] [-6.11307034e-04 -7.28735785e-06 9.99999813e-01 -1.63654788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96028169299996 meters Centerline goodness [0,1] 0.999786470789204 Centerline is valid? [True, True] Translation: X:318.04, Y:-19.88, Z:-1.64 [[ 9.94136989e-01 1.08121684e-01 -1.16158910e-03 3.18042919e+02] [-1.08121629e-01 9.94137667e-01 1.10018201e-04 -1.98782635e+01] [ 1.16667483e-03 1.62197424e-05 9.99999319e-01 -1.63955029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.990281693 meters Centerline goodness [0,1] 0.9998101305879623 Centerline is valid? [True, True] Translation: X:318.07, Y:-19.88, Z:-1.64 [[ 9.94075999e-01 1.08670112e-01 -1.92756604e-03 3.18070629e+02] [-1.08669962e-01 9.94077867e-01 1.82408935e-04 -1.98766625e+01] [ 1.93597314e-03 2.81401847e-05 9.99998126e-01 -1.64188489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02028169299996 meters Centerline goodness [0,1] 0.9998300403654132 Centerline is valid? [True, True] Translation: X:318.10, Y:-19.87, Z:-1.64 [[ 9.94083123e-01 1.08615424e-01 -1.19763042e-03 3.18098701e+02] [-1.08615366e-01 9.94083844e-01 1.13218148e-04 -1.98737252e+01] [ 1.20284229e-03 1.75328168e-05 9.99999276e-01 -1.64080918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.050281693 meters Centerline goodness [0,1] 0.9997430571911868 Centerline is valid? [True, True] Translation: X:318.13, Y:-19.88, Z:-1.64 [[ 9.94196075e-01 1.07583049e-01 -2.26713088e-04 3.18127223e+02] [-1.07583047e-01 9.94196101e-01 2.13447588e-05 -1.98784225e+01] [ 2.27693603e-04 3.16960936e-06 9.99999974e-01 -1.63858111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08028169299996 meters Centerline goodness [0,1] 0.9998289721224559 Centerline is valid? [True, True] Translation: X:318.16, Y:-19.88, Z:-1.64 [[ 9.94365328e-01 1.06003440e-01 9.30630948e-04 3.18156364e+02] [-1.06003404e-01 9.94365763e-01 -8.80571439e-05 -1.98842119e+01] [-9.34721913e-04 -1.10890780e-05 9.99999563e-01 -1.63683449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.110281693 meters Centerline goodness [0,1] 0.9998299392032651 Centerline is valid? [True, True] Translation: X:318.19, Y:-19.89, Z:-1.64 [[ 9.94873416e-01 1.01114416e-01 1.66145861e-03 3.18185372e+02] [-1.01114295e-01 9.94874804e-01 -1.57117297e-04 -1.98949205e+01] [-1.66883013e-03 -1.16853937e-05 9.99998607e-01 -1.63652729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14028169299996 meters Centerline goodness [0,1] 0.9998066802706477 Centerline is valid? [True, True] Translation: X:318.22, Y:-19.90, Z:-1.64 [[ 9.95242027e-01 9.74305118e-02 7.76715480e-04 3.18215113e+02] [-9.74304842e-02 9.95242330e-01 -7.34507836e-05 -1.99037160e+01] [-7.80176472e-04 -2.57445860e-06 9.99999696e-01 -1.63911172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.170281693 meters Centerline goodness [0,1] 0.9998506762233884 Centerline is valid? [True, True] Translation: X:318.24, Y:-19.91, Z:-1.64 [[ 9.95265270e-01 9.71952773e-02 -3.47516910e-04 3.18244222e+02] [-9.71952717e-02 9.95265330e-01 3.28338978e-05 -1.99065705e+01] [ 3.49062832e-04 1.09856227e-06 9.99999939e-01 -1.64104947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20028169299997 meters Centerline goodness [0,1] 0.999767008387698 Centerline is valid? [True, True] Translation: X:318.27, Y:-19.91, Z:-1.64 [[ 9.95213970e-01 9.77053195e-02 -1.68085283e-03 3.18273841e+02] [-9.77051906e-02 9.95215389e-01 1.58841103e-04 -1.99084294e+01] [ 1.68833023e-03 6.14716210e-06 9.99998575e-01 -1.64277065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23028169299994 meters Centerline goodness [0,1] 0.9998288001027199 Centerline is valid? [True, True] Translation: X:318.30, Y:-19.91, Z:-1.64 [[ 9.95060902e-01 9.92235775e-02 -2.91257202e-03 3.18303072e+02] [-9.92231972e-02 9.95065164e-01 2.75147361e-04 -1.99089401e+01] [ 2.92550006e-03 1.52063259e-05 9.99995721e-01 -1.64415024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26028169299997 meters Centerline goodness [0,1] 0.9998500813843914 Centerline is valid? [True, True] Translation: X:318.33, Y:-19.90, Z:-1.64 [[ 9.94496890e-01 1.04721188e-01 -3.06742543e-03 3.18333541e+02] [-1.04720792e-01 9.94501620e-01 2.89732445e-04 -1.99032731e+01] [ 3.08090068e-03 3.30852050e-05 9.99995253e-01 -1.64362139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29028169299994 meters Centerline goodness [0,1] 0.9997691306720397 Centerline is valid? [True, True] Translation: X:318.36, Y:-19.89, Z:-1.64 [[ 9.93778302e-01 1.11369124e-01 -1.26700304e-03 3.18362813e+02] [-1.11369062e-01 9.93779109e-01 1.19536890e-04 -1.98918447e+01] [ 1.27243387e-03 2.23117740e-05 9.99999190e-01 -1.64101483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32028169299997 meters Centerline goodness [0,1] 0.9996832101372756 Centerline is valid? [True, True] Translation: X:318.39, Y:-19.89, Z:-1.64 [[ 9.93495209e-01 1.13870674e-01 -8.59674744e-04 3.18391822e+02] [-1.13870647e-01 9.93495581e-01 8.10347064e-05 -1.98909659e+01] [ 8.63310535e-04 1.73841264e-05 9.99999627e-01 -1.64074932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35028169299994 meters Centerline goodness [0,1] 0.9995513683266039 Centerline is valid? [True, True] Translation: X:318.42, Y:-19.89, Z:-1.64 [[ 9.93302454e-01 1.15539987e-01 -8.63735711e-04 3.18420629e+02] [-1.15539960e-01 9.93302829e-01 8.13776060e-05 -1.98898189e+01] [ 8.67353493e-04 1.89634141e-05 9.99999624e-01 -1.64139022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.380281693 meters Centerline goodness [0,1] 0.999300684481553 Centerline is valid? [True, True] Translation: X:318.45, Y:-19.89, Z:-1.64 [[ 9.93160181e-01 1.16757784e-01 -6.88896819e-04 3.18448885e+02] [-1.16757767e-01 9.93160420e-01 6.48206607e-05 -1.98863699e+01] [ 6.91753371e-04 1.60567553e-05 9.99999761e-01 -1.64117575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41028169299994 meters Centerline goodness [0,1] 0.9994929755994507 Centerline is valid? [True, True] Translation: X:318.48, Y:-19.89, Z:-1.64 [[ 9.93143824e-01 1.16896833e-01 -6.90029841e-04 3.18477298e+02] [-1.16896816e-01 9.93144063e-01 6.48928267e-05 -1.98863500e+01] [ 6.92884806e-04 1.62143811e-05 9.99999760e-01 -1.64073841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.440281693 meters Centerline goodness [0,1] 0.999387177211445 Centerline is valid? [True, True] Translation: X:318.51, Y:-19.89, Z:-1.64 [[ 9.93014536e-01 1.17983760e-01 -1.40124631e-03 3.18506115e+02] [-1.17983692e-01 9.93015524e-01 1.31858395e-04 -1.98858003e+01] [ 1.40701649e-03 3.43869097e-05 9.99999010e-01 -1.64192574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47028169299995 meters Centerline goodness [0,1] 0.9993600273055017 Centerline is valid? [True, True] Translation: X:318.53, Y:-19.89, Z:-1.64 [[ 9.92908974e-01 1.18870595e-01 -1.24499726e-03 3.18534209e+02] [-1.18870542e-01 9.92909755e-01 1.17043318e-04 -1.98893434e+01] [ 1.25008293e-03 3.17801373e-05 9.99999218e-01 -1.64137686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.500281693 meters Centerline goodness [0,1] 0.9993835034013605 Centerline is valid? [True, True] Translation: X:318.56, Y:-19.89, Z:-1.64 [[ 9.92831790e-01 1.19519981e-01 1.01426658e-04 3.18562048e+02] [-1.19519981e-01 9.92831795e-01 -9.66209649e-06 -1.98890092e+01] [-1.01854424e-04 -2.52967564e-06 9.99999995e-01 -1.63985726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53028169299995 meters Centerline goodness [0,1] 0.9988079526586913 Centerline is valid? [True, True] Translation: X:318.59, Y:-19.89, Z:-1.63 [[ 9.92704716e-01 1.20537699e-01 2.83021961e-03 3.18590425e+02] [-1.20537430e-01 9.92708747e-01 -2.66143316e-04 -1.98902004e+01] [-2.84166407e-03 -7.69456745e-05 9.99995960e-01 -1.63404219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.560281693 meters Centerline goodness [0,1] 0.9985033095830347 Centerline is valid? [True, True] Translation: X:318.62, Y:-19.89, Z:-1.63 [[ 9.92632700e-01 1.21120700e-01 3.17778813e-03 3.18618621e+02] [-1.21120365e-01 9.92637783e-01 -2.98625044e-04 -1.98874766e+01] [-3.19056224e-03 -8.84698730e-05 9.99994906e-01 -1.63360700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59028169299995 meters Centerline goodness [0,1] 0.9983166400134669 Centerline is valid? [True, True] Translation: X:318.65, Y:-19.89, Z:-1.64 [[ 9.92588650e-01 1.21505322e-01 2.05628574e-03 3.18647088e+02] [-1.21505182e-01 9.92590778e-01 -1.93157316e-04 -1.98859248e+01] [-2.06451991e-03 -5.81236141e-05 9.99997867e-01 -1.63665321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.620281693 meters Centerline goodness [0,1] 0.998763721624214 Centerline is valid? [True, True] Translation: X:318.68, Y:-19.89, Z:-1.64 [[ 9.92662261e-01 1.20911033e-01 1.46898433e-03 3.18675461e+02] [-1.20910961e-01 9.92663347e-01 -1.37933311e-04 -1.98911530e+01] [-1.47488456e-03 -4.06951143e-05 9.99998912e-01 -1.63798589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65028169299995 meters Centerline goodness [0,1] 0.999322421496178 Centerline is valid? [True, True] Translation: X:318.70, Y:-19.89, Z:-1.64 [[ 9.92793641e-01 1.19835081e-01 5.83634307e-04 3.18703842e+02] [-1.19835069e-01 9.92793812e-01 -5.48331200e-05 -1.98928419e+01] [-5.85999460e-04 -1.55018847e-05 9.99999828e-01 -1.63919421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.680281693 meters Centerline goodness [0,1] 0.9991688333830613 Centerline is valid? [True, True] Translation: X:318.73, Y:-19.89, Z:-1.64 [[ 9.93043010e-01 1.17750122e-01 -6.99471967e-04 3.18732251e+02] [-1.17750105e-01 9.93043256e-01 6.54355162e-05 -1.98905517e+01] [ 7.02310960e-04 1.73826159e-05 9.99999753e-01 -1.64145271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71028169299996 meters Centerline goodness [0,1] 0.9993590017520618 Centerline is valid? [True, True] Translation: X:318.76, Y:-19.89, Z:-1.64 [[ 9.93153422e-01 1.16815567e-01 -6.36035903e-04 3.18760998e+02] [-1.16815553e-01 9.93153625e-01 5.94881217e-05 -1.98932350e+01] [ 6.38630502e-04 1.52180540e-05 9.99999796e-01 -1.64147040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.740281693 meters Centerline goodness [0,1] 0.9995107215793056 Centerline is valid? [True, True] Translation: X:318.79, Y:-19.90, Z:-1.64 [[ 9.93298183e-01 1.15579575e-01 2.84822145e-04 3.18789265e+02] [-1.15579572e-01 9.93298224e-01 -2.67662576e-05 -1.98989372e+01] [-2.86006963e-04 -6.33274672e-06 9.99999959e-01 -1.63952341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77028169299996 meters Centerline goodness [0,1] 0.9993900771867836 Centerline is valid? [True, True] Translation: X:318.82, Y:-19.90, Z:-1.64 [[ 9.93301713e-01 1.15548764e-01 4.36263427e-04 3.18817132e+02] [-1.15548758e-01 9.93301809e-01 -4.09443823e-05 -1.98985279e+01] [-4.38072324e-04 -9.73957189e-06 9.99999904e-01 -1.63860909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.800281693 meters Centerline goodness [0,1] 0.9997237979900992 Centerline is valid? [True, True] Translation: X:318.85, Y:-19.90, Z:-1.64 [[ 9.93263664e-01 1.15876106e-01 1.45788980e-04 3.18845446e+02] [-1.15876105e-01 9.93263675e-01 -1.37706245e-05 -1.98998292e+01] [-1.46402585e-04 -3.21559830e-06 9.99999989e-01 -1.63881836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83028169299996 meters Centerline goodness [0,1] 0.9994211598242041 Centerline is valid? [True, True] Translation: X:318.87, Y:-19.90, Z:-1.64 [[ 9.93019917e-01 1.17946561e-01 2.29570214e-04 3.18874811e+02] [-1.17946559e-01 9.93019944e-01 -2.15547712e-05 -1.98950616e+01] [-2.30510113e-04 -5.67269980e-06 9.99999973e-01 -1.63953097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.860281693 meters Centerline goodness [0,1] 0.9987746392580229 Centerline is valid? [True, True] Translation: X:318.90, Y:-19.89, Z:-1.64 [[ 9.92910104e-01 1.18860798e-01 1.27918889e-03 3.18903190e+02] [-1.18860743e-01 9.92910927e-01 -1.19603256e-04 -1.98904799e+01] [-1.28433677e-03 -3.32900599e-05 9.99999175e-01 -1.63815488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89028169299996 meters Centerline goodness [0,1] 0.9992753005371302 Centerline is valid? [True, True] Translation: X:318.93, Y:-19.89, Z:-1.64 [[ 9.92995556e-01 1.18146757e-01 1.08159074e-03 3.18932247e+02] [-1.18146717e-01 9.92996145e-01 -1.01060163e-04 -1.98945479e+01] [-1.08595536e-03 -2.74341020e-05 9.99999410e-01 -1.63752289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.920281693 meters Centerline goodness [0,1] 0.999296435272045 Centerline is valid? [True, True] Translation: X:318.96, Y:-19.89, Z:-1.64 [[ 9.93171214e-01 1.16660664e-01 1.10876731e-03 3.18960498e+02] [-1.16660621e-01 9.93171832e-01 -1.03581308e-04 -1.98942969e+01] [-1.11328033e-03 -2.64755102e-05 9.99999380e-01 -1.63749660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95028169299997 meters Centerline goodness [0,1] 0.9997432715758846 Centerline is valid? [True, True] Translation: X:318.99, Y:-19.90, Z:-1.64 [[ 9.93429606e-01 1.14435845e-01 1.43399809e-03 3.18989238e+02] [-1.14435771e-01 9.93430640e-01 -1.33828575e-04 -1.99014454e+01] [-1.43989243e-03 -3.11514085e-05 9.99998963e-01 -1.63723923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98028169299994 meters Centerline goodness [0,1] 0.9997483274260187 Centerline is valid? [True, True] Translation: X:319.02, Y:-19.91, Z:-1.64 [[ 9.93937228e-01 1.09923178e-01 2.38374946e-03 3.19017396e+02] [-1.09922961e-01 9.93940085e-01 -2.22336156e-04 -1.99107806e+01] [-2.39374404e-03 -4.10406172e-05 9.99997134e-01 -1.63601858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01028169299997 meters Centerline goodness [0,1] 0.9998733295332193 Centerline is valid? [True, True] Translation: X:319.05, Y:-19.92, Z:-1.64 [[ 9.94257729e-01 1.06994640e-01 1.92758819e-03 3.19045979e+02] [-1.06994492e-01 9.94259597e-01 -1.79757553e-04 -1.99152717e+01] [-1.93575615e-03 -2.75159832e-05 9.99998126e-01 -1.63738305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04028169299994 meters Centerline goodness [0,1] 0.9998298234418209 Centerline is valid? [True, True] Translation: X:319.07, Y:-19.92, Z:-1.64 [[ 9.94259179e-01 1.06994014e-01 9.82624630e-04 3.19074750e+02] [-1.06993976e-01 9.94259665e-01 -9.16374439e-05 -1.99167945e+01] [-9.86788693e-04 -1.40235460e-05 9.99999513e-01 -1.63866507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07028169299997 meters Centerline goodness [0,1] 0.9998310775143057 Centerline is valid? [True, True] Translation: X:319.10, Y:-19.92, Z:-1.64 [[ 9.94194835e-01 1.07594614e-01 -1.68804495e-04 3.19103611e+02] [-1.07594613e-01 9.94194850e-01 1.56213106e-05 -1.99177162e+01] [ 1.69505328e-04 2.63182785e-06 9.99999986e-01 -1.64043224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10028169299994 meters Centerline goodness [0,1] 0.9998718085674607 Centerline is valid? [True, True] Translation: X:319.13, Y:-19.92, Z:-1.64 [[ 9.94112588e-01 1.08345840e-01 -1.15826273e-03 3.19132713e+02] [-1.08345789e-01 9.94113262e-01 1.07695302e-04 -1.99189773e+01] [ 1.16311268e-03 1.84316342e-05 9.99999323e-01 -1.64206298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.130281693 meters Centerline goodness [0,1] 0.9998299645050904 Centerline is valid? [True, True] Translation: X:319.16, Y:-19.92, Z:-1.64 [[ 9.94130377e-01 1.08186893e-01 6.24519021e-04 3.19160457e+02] [-1.08186877e-01 9.94130573e-01 -5.82083352e-05 -1.99188104e+01] [-6.27150831e-04 -9.69808854e-06 9.99999803e-01 -1.63981257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16028169299994 meters Centerline goodness [0,1] 0.9998289648095096 Centerline is valid? [True, True] Translation: X:319.19, Y:-19.92, Z:-1.64 [[ 9.94192500e-01 1.07604813e-01 1.57401722e-03 3.19188476e+02] [-1.07604716e-01 9.94193746e-01 -1.46419314e-04 -1.99249305e+01] [-1.58063350e-03 -2.38026918e-05 9.99998751e-01 -1.63880730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.190281693 meters Centerline goodness [0,1] 0.9998521147589471 Centerline is valid? [True, True] Translation: X:319.22, Y:-19.93, Z:-1.64 [[ 9.94275489e-01 1.06835568e-01 1.55362330e-03 3.19216909e+02] [-1.06835473e-01 9.94276702e-01 -1.44448710e-04 -1.99251515e+01] [-1.56016372e-03 -2.23602686e-05 9.99998783e-01 -1.63882774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22028169299995 meters Centerline goodness [0,1] 0.9999788162521713 Centerline is valid? [True, True] Translation: X:319.24, Y:-19.93, Z:-1.64 [[ 9.94430229e-01 1.05394703e-01 -6.90224426e-04 3.19244674e+02] [-1.05394684e-01 9.94430468e-01 6.39962079e-05 -1.99344948e+01] [ 6.93125061e-04 9.10622145e-06 9.99999760e-01 -1.64272332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.250281693 meters Centerline goodness [0,1] 0.9999358727715788 Centerline is valid? [True, True] Translation: X:319.27, Y:-19.94, Z:-1.64 [[ 9.94509095e-01 1.04629339e-01 -2.08853002e-03 3.19272763e+02] [-1.04629163e-01 9.94511287e-01 1.93694112e-04 -1.99381621e+01] [ 2.09733277e-03 2.58905920e-05 9.99997800e-01 -1.64495716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28028169299995 meters Centerline goodness [0,1] 0.999978627911947 Centerline is valid? [True, True] Translation: X:319.30, Y:-19.94, Z:-1.65 [[ 9.94629100e-01 1.03433603e-01 -3.80052928e-03 3.19301459e+02] [-1.03433011e-01 9.94636360e-01 3.52421761e-04 -1.99447584e+01] [ 3.81659686e-03 4.25712491e-05 9.99992716e-01 -1.64864721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.310281693 meters Centerline goodness [0,1] 0.9999153259949196 Centerline is valid? [True, True] Translation: X:319.33, Y:-19.95, Z:-1.65 [[ 9.94691831e-01 1.02818578e-01 -4.06224611e-03 3.19328983e+02] [-1.02817898e-01 9.94700125e-01 3.76434879e-04 -1.99497218e+01] [ 4.07942121e-03 4.32349062e-05 9.99991678e-01 -1.64901857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34028169299995 meters Centerline goodness [0,1] 0.9999352093816816 Centerline is valid? [True, True] Translation: X:319.36, Y:-19.96, Z:-1.64 [[ 9.94833936e-01 1.01498336e-01 -1.87818162e-03 3.19357104e+02] [-1.01498189e-01 9.94835709e-01 1.73906719e-04 -1.99593807e+01] [ 1.88613339e-03 1.76237265e-05 9.99998221e-01 -1.64460264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.370281693 meters Centerline goodness [0,1] 0.9999149406711181 Centerline is valid? [True, True] Translation: X:319.39, Y:-19.96, Z:-1.64 [[ 9.94933031e-01 1.00538803e-01 -4.61811605e-04 3.19385034e+02] [-1.00538794e-01 9.94933138e-01 4.26302238e-05 -1.99644242e+01] [ 4.63757661e-04 4.01576390e-06 9.99999892e-01 -1.64266054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40028169299995 meters Centerline goodness [0,1] 0.9999142955090847 Centerline is valid? [True, True] Translation: X:319.41, Y:-19.97, Z:-1.64 [[ 9.95074089e-01 9.91324121e-02 5.67934043e-04 3.19412929e+02] [-9.91323982e-02 9.95074251e-01 -5.26556949e-05 -1.99723026e+01] [-5.70356429e-04 -3.90434619e-06 9.99999837e-01 -1.64112763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.430281693 meters Centerline goodness [0,1] 0.9998936373885852 Centerline is valid? [True, True] Translation: X:319.44, Y:-19.98, Z:-1.64 [[ 9.95301691e-01 9.68218961e-02 2.52575901e-04 3.19440420e+02] [-9.68218932e-02 9.95301723e-01 -2.34615177e-05 -1.99832563e+01] [-2.53660819e-04 -1.10358867e-06 9.99999968e-01 -1.64117367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46028169299996 meters Centerline goodness [0,1] 0.9998936373885852 Centerline is valid? [True, True] Translation: X:319.47, Y:-19.99, Z:-1.64 [[ 9.95306291e-01 9.67745981e-02 2.52577002e-04 3.19468638e+02] [-9.67745952e-02 9.95306323e-01 -2.34496396e-05 -1.99857745e+01] [-2.53660817e-04 -1.10346331e-06 9.99999968e-01 -1.64123330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.490281693 meters Centerline goodness [0,1] 0.9999157256025619 Centerline is valid? [True, True] Translation: X:319.50, Y:-19.99, Z:-1.64 [[ 9.95339595e-01 9.64317314e-02 1.07824547e-04 3.19497457e+02] [-9.64317309e-02 9.95339601e-01 -1.00388115e-05 -1.99904990e+01] [-1.08290102e-04 -4.05681124e-07 9.99999994e-01 -1.64168276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.53, Y:-20.00, Z:-1.64 [[ 9.95289028e-01 9.69520157e-02 2.41231554e-04 3.19526070e+02] [-9.69520131e-02 9.95289057e-01 -2.23804477e-05 -1.99963471e+01] [-2.42264955e-04 -1.11287071e-06 9.99999971e-01 -1.64126338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.550281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.55, Y:-20.00, Z:-1.64 [[ 9.95224096e-01 9.76160812e-02 3.16419262e-04 3.19553811e+02] [-9.76160768e-02 9.95224146e-01 -2.93459508e-05 -1.99999113e+01] [-3.17772726e-04 -1.68180961e-06 9.99999950e-01 -1.64124005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58028169299996 meters Centerline goodness [0,1] 0.9999788632664708 Centerline is valid? [True, True] Translation: X:319.58, Y:-20.00, Z:-1.64 [[ 9.95143814e-01 9.84290162e-02 7.20441288e-04 3.19582851e+02] [-9.84289939e-02 9.95144074e-01 -6.65399123e-05 -2.00024089e+01] [-7.23492337e-04 -4.69552905e-06 9.99999738e-01 -1.64108013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.610281693 meters Centerline goodness [0,1] 0.9999787690282584 Centerline is valid? [True, True] Translation: X:319.61, Y:-20.01, Z:-1.64 [[ 9.94983240e-01 1.00033000e-01 1.32341431e-03 3.19611994e+02] [-1.00032926e-01 9.94984120e-01 -1.22128364e-04 -2.00051405e+01] [-1.32899309e-03 -1.08693304e-05 9.99999117e-01 -1.63937607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64028169299996 meters Centerline goodness [0,1] 0.9998734764455316 Centerline is valid? [True, True] Translation: X:319.64, Y:-20.01, Z:-1.64 [[ 9.94891064e-01 1.00949748e-01 9.58407294e-04 3.19640993e+02] [-1.00949709e-01 9.94891526e-01 -8.84272729e-05 -2.00069558e+01] [-9.62438006e-04 -8.77543418e-06 9.99999537e-01 -1.63964552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.670281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.67, Y:-20.01, Z:-1.64 [[ 9.94734060e-01 1.02487562e-01 -6.71027824e-04 3.19670879e+02] [-1.02487544e-01 9.94734286e-01 6.17816896e-05 -2.00084178e+01] [ 6.73826238e-04 7.31564247e-06 9.99999773e-01 -1.64206533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.70, Y:-20.01, Z:-1.64 [[ 9.94627586e-01 1.03515836e-01 -6.60997944e-04 3.19699874e+02] [-1.03515818e-01 9.94627806e-01 6.07726456e-05 -2.00107840e+01] [ 6.63737866e-04 7.97759315e-06 9.99999780e-01 -1.64166268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.73, Y:-20.01, Z:-1.64 [[ 9.94479350e-01 1.04932368e-01 -1.43522670e-04 3.19727914e+02] [-1.04932368e-01 9.94479360e-01 1.30829306e-05 -2.00103067e+01] [ 1.44103156e-04 2.04946926e-06 9.99999990e-01 -1.64137912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76028169299997 meters Centerline goodness [0,1] 0.9999358755129959 Centerline is valid? [True, True] Translation: X:319.76, Y:-20.01, Z:-1.64 [[ 9.94049867e-01 1.08920500e-01 1.08971182e-03 3.19758259e+02] [-1.08920455e-01 9.94050464e-01 -1.00315190e-04 -2.00063495e+01] [-1.09415492e-03 -1.89736064e-05 9.99999401e-01 -1.63838460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79028169299994 meters Centerline goodness [0,1] 0.9995967399609474 Centerline is valid? [True, True] Translation: X:319.79, Y:-20.00, Z:-1.64 [[ 9.93789704e-01 1.11270737e-01 9.20690161e-04 3.19786814e+02] [-1.11270706e-01 9.93790130e-01 -8.47831575e-05 -1.99983050e+01] [-9.24406679e-04 -1.81892151e-05 9.99999573e-01 -1.63919325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82028169299997 meters Centerline goodness [0,1] 0.9996798770727959 Centerline is valid? [True, True] Translation: X:319.82, Y:-20.00, Z:-1.64 [[ 9.93366242e-01 1.14977878e-01 -1.89648511e-03 3.19816163e+02] [-1.14977755e-01 9.93368051e-01 1.74242073e-04 -1.99957861e+01] [ 1.90394170e-03 4.49674061e-05 9.99998186e-01 -1.64363501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85028169299994 meters Centerline goodness [0,1] 0.9997645749507748 Centerline is valid? [True, True] Translation: X:319.85, Y:-19.99, Z:-1.64 [[ 9.93249493e-01 1.15975023e-01 -2.28876171e-03 3.19845206e+02] [-1.15974846e-01 9.93252129e-01 2.10165448e-04 -1.99948288e+01] [ 2.29769138e-03 5.66920629e-05 9.99997359e-01 -1.64495920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.880281693 meters Centerline goodness [0,1] 0.999678615045101 Centerline is valid? [True, True] Translation: X:319.87, Y:-19.99, Z:-1.64 [[ 9.93201088e-01 1.16396826e-01 -1.83796377e-03 3.19874233e+02] [-1.16396714e-01 9.93202787e-01 1.68665814e-04 -1.99940349e+01] [ 1.84510291e-03 4.64138731e-05 9.99998297e-01 -1.64491286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91028169299994 meters Centerline goodness [0,1] 0.9996409487401525 Centerline is valid? [True, True] Translation: X:319.90, Y:-19.99, Z:-1.64 [[ 9.93248092e-01 1.16003884e-01 -1.15158929e-03 3.19903281e+02] [-1.16003840e-01 9.93248759e-01 1.05588304e-04 -1.99915399e+01] [ 1.15606328e-03 2.87133978e-05 9.99999331e-01 -1.64406462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.940281693 meters Centerline goodness [0,1] 0.9996594150453404 Centerline is valid? [True, True] Translation: X:319.93, Y:-19.99, Z:-1.64 [[ 9.93369970e-01 1.14953638e-01 -1.32781855e-03 3.19932093e+02] [-1.14953578e-01 9.93370857e-01 1.21698426e-04 -1.99928612e+01] [ 1.33300593e-03 3.17459315e-05 9.99999111e-01 -1.64446751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97028169299995 meters Centerline goodness [0,1] 0.9999785926829791 Centerline is valid? [True, True] Translation: X:319.96, Y:-19.99, Z:-1.65 [[ 9.93753915e-01 1.11566363e-01 -2.47056958e-03 3.19961515e+02] [-1.11566145e-01 9.93756984e-01 2.26511410e-04 -1.99929963e+01] [ 2.48041683e-03 5.05353227e-05 9.99996922e-01 -1.64629672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.000281693 meters Centerline goodness [0,1] 0.9998928808620948 Centerline is valid? [True, True] Translation: X:319.99, Y:-20.00, Z:-1.65 [[ 9.94081636e-01 1.08614618e-01 -2.13695493e-03 3.19990670e+02] [-1.08614448e-01 9.94083932e-01 1.95814657e-04 -1.99976681e+01] [ 2.14558089e-03 3.74484256e-05 9.99997698e-01 -1.64584179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.02, Y:-20.01, Z:-1.64 [[ 9.94840301e-01 1.01452241e-01 -4.66957820e-04 3.20018777e+02] [-1.01452232e-01 9.94840411e-01 4.27132655e-05 -2.00061617e+01] [ 4.68881866e-04 4.88103517e-06 9.99999890e-01 -1.64352635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.060281693 meters Centerline goodness [0,1] 0.9999785757134287 Centerline is valid? [True, True] Translation: X:320.05, Y:-20.01, Z:-1.64 [[ 9.95269358e-01 9.71538104e-02 -2.06913192e-04 3.20046185e+02] [-9.71538086e-02 9.95269379e-01 1.88238183e-05 -2.00127418e+01] [ 2.07763170e-04 1.36763510e-06 9.99999978e-01 -1.64343687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.07, Y:-20.03, Z:-1.64 [[ 9.96099841e-01 8.82307507e-02 -6.64462053e-04 3.20073495e+02] [-8.82307298e-02 9.96100063e-01 6.07144413e-05 -2.00274136e+01] [ 6.67227573e-04 -1.85167345e-06 9.99999777e-01 -1.64394227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.120281693 meters Centerline goodness [0,1] 0.9999154995035596 Centerline is valid? [True, True] Translation: X:320.10, Y:-20.04, Z:-1.64 [[ 9.96429443e-01 8.44271885e-02 -6.43540621e-04 3.20101892e+02] [-8.44271681e-02 9.96429651e-01 5.88022691e-05 -2.00357110e+01] [ 6.46207467e-04 -4.26000000e-06 9.99999791e-01 -1.64386361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15028169299995 meters Centerline goodness [0,1] 0.9998284145504461 Centerline is valid? [True, True] Translation: X:320.13, Y:-20.04, Z:-1.64 [[ 9.96714795e-01 8.09896911e-02 -5.36536400e-04 3.20130877e+02] [-8.09896765e-02 9.96714939e-01 4.90243039e-05 -2.00433779e+01] [ 5.38744308e-04 -5.40933958e-06 9.99999855e-01 -1.64333235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.180281693 meters Centerline goodness [0,1] 0.9998299825732138 Centerline is valid? [True, True] Translation: X:320.16, Y:-20.06, Z:-1.64 [[ 9.97117656e-01 7.58541900e-02 -1.58797050e-03 3.20159082e+02] [-7.58540549e-02 9.97118920e-01 1.45247444e-04 -2.00564935e+01] [ 1.59441306e-03 -2.43747896e-05 9.99998729e-01 -1.64488130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21028169299996 meters Centerline goodness [0,1] 0.9998086246491452 Centerline is valid? [True, True] Translation: X:320.19, Y:-20.06, Z:-1.65 [[ 9.97243223e-01 7.41510986e-02 -2.75129106e-03 3.20188426e+02] [-7.41506868e-02 9.97247017e-01 2.51536720e-04 -2.00635125e+01] [ 2.76236853e-03 -4.68331676e-05 9.99996184e-01 -1.64648149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.240281693 meters Centerline goodness [0,1] 0.9998286717779586 Centerline is valid? [True, True] Translation: X:320.22, Y:-20.07, Z:-1.65 [[ 9.97307261e-01 7.32372845e-02 -3.81156498e-03 3.20217951e+02] [-7.32364877e-02 9.97314542e-01 3.48400501e-04 -2.00684945e+01] [ 3.82684509e-03 -6.83167172e-05 9.99992675e-01 -1.64784665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27028169299996 meters Centerline goodness [0,1] 0.999871904355252 Centerline is valid? [True, True] Translation: X:320.25, Y:-20.07, Z:-1.65 [[ 9.97194412e-01 7.47413942e-02 -4.12657054e-03 3.20246774e+02] [-7.47404735e-02 9.97202948e-01 3.77100629e-04 -2.00730997e+01] [ 4.14321334e-03 -6.76208035e-05 9.99991415e-01 -1.64836468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.300281693 meters Centerline goodness [0,1] 0.9997664146776523 Centerline is valid? [True, True] Translation: X:320.28, Y:-20.07, Z:-1.65 [[ 9.96937049e-01 7.81729705e-02 -2.34663302e-03 3.20276154e+02] [-7.81726825e-02 9.96939811e-01 2.14367714e-04 -2.00742888e+01] [ 2.35620964e-03 -3.02685178e-05 9.99997224e-01 -1.64524015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33028169299996 meters Centerline goodness [0,1] 0.9998513295386968 Centerline is valid? [True, True] Translation: X:320.30, Y:-20.08, Z:-1.64 [[ 9.96801093e-01 7.99017540e-02 -1.81393974e-03 3.20304874e+02] [-7.99015849e-02 9.96802743e-01 1.65606792e-04 -2.00758485e+01] [ 1.82137238e-03 -2.01403719e-05 9.99998341e-01 -1.64403170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.360281693 meters Centerline goodness [0,1] 0.9998732840549103 Centerline is valid? [True, True] Translation: X:320.33, Y:-20.08, Z:-1.64 [[ 9.96662010e-01 8.16248087e-02 -1.49258153e-03 3.20333149e+02] [-8.16246962e-02 9.96663128e-01 1.36204873e-04 -2.00782527e+01] [ 1.49871867e-03 -1.39187087e-05 9.99998877e-01 -1.64470664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39028169299996 meters Centerline goodness [0,1] 0.9998933447098977 Centerline is valid? [True, True] Translation: X:320.36, Y:-20.08, Z:-1.65 [[ 9.96491747e-01 8.36633825e-02 -2.15338910e-03 3.20362730e+02] [-8.36631531e-02 9.96494073e-01 1.96510245e-04 -2.00770455e+01] [ 2.16228019e-03 -1.56615155e-05 9.99997662e-01 -1.64581085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.420281693 meters Centerline goodness [0,1] 0.9999568314267213 Centerline is valid? [True, True] Translation: X:320.39, Y:-20.08, Z:-1.65 [[ 9.96475044e-01 8.38135357e-02 -3.57470104e-03 3.20392117e+02] [-8.38129050e-02 9.96481455e-01 3.26160837e-04 -2.00812371e+01] [ 3.58945998e-03 -2.54050562e-05 9.99993558e-01 -1.64828868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45028169299997 meters Centerline goodness [0,1] 0.9998720245712823 Centerline is valid? [True, True] Translation: X:320.42, Y:-20.09, Z:-1.65 [[ 9.96493538e-01 8.35768299e-02 -3.94236838e-03 3.20420952e+02] [-8.35760614e-02 9.96501336e-01 3.59547780e-04 -2.00855453e+01] [ 3.95862523e-03 -2.87994175e-05 9.99992164e-01 -1.64978397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48028169299994 meters Centerline goodness [0,1] 0.9998097492918446 Centerline is valid? [True, True] Translation: X:320.45, Y:-20.09, Z:-1.65 [[ 9.96474345e-01 8.38093975e-02 -3.85551282e-03 3.20449813e+02] [-8.38086650e-02 9.96481803e-01 3.51432480e-04 -2.00878462e+01] [ 3.87140171e-03 -2.70680679e-05 9.99992506e-01 -1.64896675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51028169299997 meters Centerline goodness [0,1] 0.9998942984588716 Centerline is valid? [True, True] Translation: X:320.48, Y:-20.09, Z:-1.65 [[ 9.96366230e-01 8.51366748e-02 -2.46615948e-03 3.20479188e+02] [-8.51363795e-02 9.96369282e-01 2.24646892e-04 -2.00877847e+01] [ 2.47633124e-03 -1.38706873e-05 9.99996934e-01 -1.64576752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.51, Y:-20.09, Z:-1.65 [[ 9.96321047e-01 8.56650781e-02 -2.42176376e-03 3.20507819e+02] [-8.56647952e-02 9.96323991e-01 2.20482865e-04 -2.00884291e+01] [ 2.43174901e-03 -1.22118221e-05 9.99997043e-01 -1.64547829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57028169299997 meters Centerline goodness [0,1] 0.9998929840332178 Centerline is valid? [True, True] Translation: X:320.54, Y:-20.09, Z:-1.65 [[ 9.96342188e-01 8.54150399e-02 -2.55241637e-03 3.20536175e+02] [-8.54147250e-02 9.96345458e-01 2.32318166e-04 -2.00909637e+01] [ 2.56293192e-03 -1.34544480e-05 9.99996716e-01 -1.64677326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60028169299994 meters Centerline goodness [0,1] 0.999893644175955 Centerline is valid? [True, True] Translation: X:320.56, Y:-20.09, Z:-1.64 [[ 9.96387839e-01 8.49047168e-02 -1.56951677e-03 3.20564792e+02] [-8.49045973e-02 9.96389075e-01 1.42729410e-04 -2.00936287e+01] [ 1.57596776e-03 -8.95465985e-06 9.99998758e-01 -1.64458028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.630281693 meters Centerline goodness [0,1] 0.9997437266417512 Centerline is valid? [True, True] Translation: X:320.59, Y:-20.10, Z:-1.64 [[ 9.96525047e-01 8.32936374e-02 3.18869348e-05 3.20592808e+02] [-8.32936374e-02 9.96525047e-01 -2.95690627e-06 -2.01004666e+01] [-3.20224207e-05 2.90652375e-07 9.99999999e-01 -1.64266445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66028169299994 meters Centerline goodness [0,1] 0.9998086531306474 Centerline is valid? [True, True] Translation: X:320.62, Y:-20.11, Z:-1.64 [[ 9.96631891e-01 8.20045819e-02 -3.50612694e-04 3.20622435e+02] [-8.20045758e-02 9.96631952e-01 3.18387811e-05 -2.01057239e+01] [ 3.52042739e-04 -2.97969937e-06 9.99999938e-01 -1.64333545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.690281693 meters Centerline goodness [0,1] 0.9998924430485943 Centerline is valid? [True, True] Translation: X:320.65, Y:-20.11, Z:-1.64 [[ 9.96771427e-01 8.02806721e-02 -1.31781683e-03 3.20652601e+02] [-8.02805837e-02 9.96772298e-01 1.19856194e-04 -2.01122330e+01] [ 1.32318544e-03 -1.36741253e-05 9.99999124e-01 -1.64479277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72028169299995 meters Centerline goodness [0,1] 0.9996159672292035 Centerline is valid? [True, True] Translation: X:320.68, Y:-20.12, Z:-1.65 [[ 9.97041368e-01 7.68024903e-02 -3.14451567e-03 3.20681805e+02] [-7.68019701e-02 9.97046326e-01 2.86057259e-04 -2.01248248e+01] [ 3.15719770e-03 -4.37059224e-05 9.99995015e-01 -1.64800945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.750281693 meters Centerline goodness [0,1] 0.9998272735123931 Centerline is valid? [True, True] Translation: X:320.71, Y:-20.13, Z:-1.65 [[ 9.97140314e-01 7.55044151e-02 -3.20576134e-03 3.20710804e+02] [-7.55038682e-02 9.97145466e-01 2.91473364e-04 -2.01296212e+01] [ 3.21861791e-03 -4.85924610e-05 9.99994819e-01 -1.64666462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78028169299995 meters Centerline goodness [0,1] 0.9995980027081923 Centerline is valid? [True, True] Translation: X:320.74, Y:-20.14, Z:-1.64 [[ 9.97275870e-01 7.37545848e-02 -1.04852982e-03 3.20738807e+02] [-7.37545253e-02 9.97276422e-01 9.53124311e-05 -2.01438527e+01] [ 1.05270380e-03 -1.77189684e-05 9.99999446e-01 -1.64357053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.810281693 meters Centerline goodness [0,1] 0.9994443732102406 Centerline is valid? [True, True] Translation: X:320.77, Y:-20.15, Z:-1.64 [[ 9.97335100e-01 7.29567212e-02 -1.19245464e-04 3.20769164e+02] [-7.29567204e-02 9.97335108e-01 1.08424572e-05 -2.01489103e+01] [ 1.19718718e-04 -2.11380510e-06 9.99999993e-01 -1.64163206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84028169299995 meters Centerline goodness [0,1] 0.9993975774005465 Centerline is valid? [True, True] Translation: X:320.80, Y:-20.16, Z:-1.64 [[ 9.97371575e-01 7.24561955e-02 -2.00725925e-04 3.20799719e+02] [-7.24561933e-02 9.97371596e-01 1.83066773e-05 -2.01552180e+01] [ 2.01524769e-04 -3.71472318e-06 9.99999980e-01 -1.64159884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.870281693 meters Centerline goodness [0,1] 0.9995502345205715 Centerline is valid? [True, True] Translation: X:320.83, Y:-20.17, Z:-1.64 [[ 9.97466614e-01 7.11252812e-02 -1.24457262e-03 3.20831015e+02] [-7.11251946e-02 9.97467390e-01 1.13762981e-04 -2.01671558e+01] [ 1.24951202e-03 -2.49543058e-05 9.99999219e-01 -1.64395739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90028169299995 meters Centerline goodness [0,1] 0.9991045539826028 Centerline is valid? [True, True] Translation: X:320.86, Y:-20.18, Z:-1.64 [[ 9.97507753e-01 7.05360299e-02 -1.71778447e-03 3.20861119e+02] [-7.05358643e-02 9.97509232e-01 1.56878897e-04 -2.01770387e+01] [ 1.72457148e-03 -3.53225044e-05 9.99998512e-01 -1.64498442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.930281693 meters Centerline goodness [0,1] 0.9992569948626502 Centerline is valid? [True, True] Translation: X:320.89, Y:-20.19, Z:-1.65 [[ 9.97473589e-01 7.09283545e-02 -3.95077697e-03 3.20891924e+02] [-7.09274822e-02 9.97481409e-01 3.60639478e-04 -2.01874787e+01] [ 3.96640615e-03 -7.95096906e-05 9.99992131e-01 -1.64835101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96028169299996 meters Centerline goodness [0,1] 0.9992682979318657 Centerline is valid? [True, True] Translation: X:320.92, Y:-20.19, Z:-1.65 [[ 9.97350445e-01 7.25610237e-02 -5.19490570e-03 3.20922803e+02] [-7.25595375e-02 9.97363970e-01 4.74256013e-04 -2.01910346e+01] [ 5.21562428e-03 -9.60594911e-05 9.99986394e-01 -1.65023375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.990281693 meters Centerline goodness [0,1] 0.9990768966553605 Centerline is valid? [True, True] Translation: X:320.95, Y:-20.19, Z:-1.65 [[ 9.97152542e-01 7.52180106e-02 -5.39058365e-03 3.20952490e+02] [-7.52164498e-02 9.97167109e-01 4.91978825e-04 -2.01936404e+01] [ 5.41231838e-03 -8.51173714e-05 9.99985350e-01 -1.65074787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02028169299996 meters Centerline goodness [0,1] 0.999212212830285 Centerline is valid? [True, True] Translation: X:320.98, Y:-20.19, Z:-1.65 [[ 9.96533647e-01 8.30861077e-02 -4.17012277e-03 3.20983282e+02] [-8.30852424e-02 9.96542371e-01 3.80611098e-04 -2.01902350e+01] [ 4.18732753e-03 -3.28161038e-05 9.99991233e-01 -1.64766286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.050281693 meters Centerline goodness [0,1] 0.9991905593660801 Centerline is valid? [True, True] Translation: X:321.01, Y:-20.19, Z:-1.65 [[ 9.96167545e-01 8.73870842e-02 -3.70412746e-03 3.21013644e+02] [-8.73864320e-02 9.96174431e-01 3.37878152e-04 -2.01889918e+01] [ 3.71948326e-03 -1.28927665e-05 9.99993083e-01 -1.64639879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08028169299996 meters Centerline goodness [0,1] 0.9992492653525236 Centerline is valid? [True, True] Translation: X:321.04, Y:-20.18, Z:-1.65 [[ 9.95399634e-01 9.57260660e-02 -4.01110383e-03 3.21042891e+02] [-9.57253694e-02 9.95407715e-01 3.65741423e-04 -2.01816097e+01] [ 4.02769469e-03 1.99055167e-05 9.99991889e-01 -1.64732660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.110281693 meters Centerline goodness [0,1] 0.9992813662495773 Centerline is valid? [True, True] Translation: X:321.07, Y:-20.18, Z:-1.65 [[ 9.94980322e-01 9.99797074e-02 -4.26823006e-03 3.21071770e+02] [-9.99789583e-02 9.94989476e-01 3.89043420e-04 -2.01771523e+01] [ 4.28574043e-03 3.96426479e-05 9.99990815e-01 -1.64952459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14028169299996 meters Centerline goodness [0,1] 0.9993876301285977 Centerline is valid? [True, True] Translation: X:321.10, Y:-20.17, Z:-1.65 [[ 9.94578048e-01 1.03920004e-01 -3.89081510e-03 3.21101460e+02] [-1.03919412e-01 9.94585658e-01 3.54571837e-04 -2.01744213e+01] [ 3.90659601e-03 5.16818504e-05 9.99992368e-01 -1.64859214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.170281693 meters Centerline goodness [0,1] 0.9992727117157586 Centerline is valid? [True, True] Translation: X:321.13, Y:-20.17, Z:-1.64 [[ 9.93825001e-01 1.10929908e-01 -2.53439997e-03 3.21132561e+02] [-1.10929680e-01 9.93828231e-01 2.30938647e-04 -2.01665599e+01] [ 2.54437624e-03 5.16275761e-05 9.99996762e-01 -1.64478118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20028169299997 meters Centerline goodness [0,1] 0.9991327890350692 Centerline is valid? [True, True] Translation: X:321.16, Y:-20.16, Z:-1.64 [[ 9.93356409e-01 1.15065508e-01 -1.72422847e-03 3.21161157e+02] [-1.15065409e-01 9.93357905e-01 1.56955801e-04 -2.01609804e+01] [ 1.73083617e-03 4.24860014e-05 9.99998501e-01 -1.64322535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23028169299994 meters Centerline goodness [0,1] 0.999155209191324 Centerline is valid? [True, True] Translation: X:321.19, Y:-20.16, Z:-1.64 [[ 9.93251680e-01 1.15966144e-01 -1.71864711e-03 3.21189718e+02] [-1.15966047e-01 9.93253166e-01 1.56413496e-04 -2.01614385e+01] [ 1.72519036e-03 4.39467443e-05 9.99998511e-01 -1.64396781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26028169299997 meters Centerline goodness [0,1] 0.9990473972776731 Centerline is valid? [True, True] Translation: X:321.22, Y:-20.16, Z:-1.64 [[ 9.93192241e-01 1.16474952e-01 -1.66067960e-03 3.21218267e+02] [-1.16474862e-01 9.93193629e-01 1.51036490e-04 -2.01630315e+01] [ 1.66696837e-03 4.34191570e-05 9.99998610e-01 -1.64390100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29028169299994 meters Centerline goodness [0,1] 0.9990889251435473 Centerline is valid? [True, True] Translation: X:321.25, Y:-20.16, Z:-1.64 [[ 9.93127816e-01 1.17033778e-01 -4.85636435e-04 3.21246599e+02] [-1.17033771e-01 9.93127935e-01 4.40328032e-05 -2.01635947e+01] [ 4.87452435e-04 1.31056614e-05 9.99999881e-01 -1.64189305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32028169299997 meters Centerline goodness [0,1] 0.9989248445240856 Centerline is valid? [True, True] Translation: X:321.28, Y:-20.17, Z:-1.64 [[ 9.93133544e-01 1.16986045e-01 1.72432087e-04 3.21275625e+02] [-1.16986044e-01 9.93133559e-01 -1.57677692e-05 -2.01656504e+01] [-1.73092701e-04 -4.51264730e-06 9.99999985e-01 -1.64108458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35028169299994 meters Centerline goodness [0,1] 0.9989248445240856 Centerline is valid? [True, True] Translation: X:321.30, Y:-20.17, Z:-1.64 [[ 9.93138752e-01 1.16941821e-01 1.72432782e-04 3.21303857e+02] [-1.16941820e-01 9.93138767e-01 -1.57601454e-05 -2.01681245e+01] [-1.73092700e-04 -4.51259219e-06 9.99999985e-01 -1.64114423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.380281693 meters Centerline goodness [0,1] 0.9988779981793933 Centerline is valid? [True, True] Translation: X:321.33, Y:-20.17, Z:-1.64 [[ 9.93070183e-01 1.17520868e-01 -6.76539341e-04 3.21331535e+02] [-1.17520854e-01 9.93070413e-01 6.13107529e-05 -2.01680398e+01] [ 6.79056496e-04 1.86216006e-05 9.99999769e-01 -1.64233694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41028169299994 meters Centerline goodness [0,1] 0.9989081567116249 Centerline is valid? [True, True] Translation: X:321.36, Y:-20.17, Z:-1.64 [[ 9.92935311e-01 1.18653110e-01 -9.52455740e-04 3.21360526e+02] [-1.18653082e-01 9.92935768e-01 8.63730673e-05 -2.01723591e+01] [ 9.55975804e-04 2.72489403e-05 9.99999543e-01 -1.64240060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.440281693 meters Centerline goodness [0,1] 0.9987948695876733 Centerline is valid? [True, True] Translation: X:321.39, Y:-20.17, Z:-1.64 [[ 9.92709366e-01 1.20524439e-01 -1.40479219e-03 3.21390232e+02] [-1.20524380e-01 9.92710359e-01 1.27419750e-04 -2.01715915e+01] [ 1.40990896e-03 4.28209277e-05 9.99999005e-01 -1.64235002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47028169299995 meters Centerline goodness [0,1] 0.9972399332448971 Centerline is valid? [True, True] Translation: X:321.42, Y:-20.16, Z:-1.64 [[ 9.92087904e-01 1.25539182e-01 -1.22692448e-03 3.21420884e+02] [-1.25539140e-01 9.92088661e-01 1.11275594e-04 -2.01570012e+01] [ 1.23118732e-03 4.36318745e-05 9.99999241e-01 -1.64254875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.500281693 meters Centerline goodness [0,1] 0.9958412497361199 Centerline is valid? [True, True] Translation: X:321.45, Y:-20.15, Z:-1.64 [[ 9.91816573e-01 1.27669066e-01 -7.04152616e-04 3.21450311e+02] [-1.27669053e-01 9.91816822e-01 6.37566085e-05 -2.01533367e+01] [ 7.06530157e-04 2.66636368e-05 9.99999750e-01 -1.64189804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53028169299995 meters Centerline goodness [0,1] 0.9967134046140385 Centerline is valid? [True, True] Translation: X:321.48, Y:-20.15, Z:-1.64 [[ 9.91480960e-01 1.30248058e-01 -9.74781132e-04 3.21479651e+02] [-1.30248034e-01 9.91481438e-01 8.82865825e-05 -2.01535356e+01] [ 9.77976555e-04 3.94288604e-05 9.99999521e-01 -1.64260427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.560281693 meters Centerline goodness [0,1] 0.9958079669693076 Centerline is valid? [True, True] Translation: X:321.51, Y:-20.15, Z:-1.64 [[ 9.91450770e-01 1.30473243e-01 -1.45037902e-03 3.21507708e+02] [-1.30473190e-01 9.91451829e-01 1.31265802e-04 -2.01531984e+01] [ 1.45510761e-03 5.90919975e-05 9.99998940e-01 -1.64399646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59028169299995 meters Centerline goodness [0,1] 0.995739060036644 Centerline is valid? [True, True] Translation: X:321.54, Y:-20.15, Z:-1.64 [[ 9.91499766e-01 1.30091557e-01 -2.09767451e-03 3.21535847e+02] [-1.30091446e-01 9.91501982e-01 1.89784682e-04 -2.01529443e+01] [ 2.10453782e-03 8.47180431e-05 9.99997782e-01 -1.64483547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.620281693 meters Centerline goodness [0,1] 0.9984826790331888 Centerline is valid? [True, True] Translation: X:321.57, Y:-20.16, Z:-1.64 [[ 9.91885939e-01 1.27118248e-01 -1.79865329e-03 3.21565072e+02] [-1.27118162e-01 9.91887567e-01 1.62740535e-04 -2.01594789e+01] [ 1.80474913e-03 6.72214505e-05 9.99998369e-01 -1.64391676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65028169299995 meters Centerline goodness [0,1] 0.9987948495676259 Centerline is valid? [True, True] Translation: X:321.59, Y:-20.16, Z:-1.64 [[ 9.92297610e-01 1.23875833e-01 -4.81639386e-04 3.21593875e+02] [-1.23875826e-01 9.92297726e-01 4.35309233e-05 -2.01605515e+01] [ 4.83322097e-04 1.64678459e-05 9.99999883e-01 -1.64133471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.680281693 meters Centerline goodness [0,1] 0.9987664036412361 Centerline is valid? [True, True] Translation: X:321.62, Y:-20.16, Z:-1.64 [[ 9.92448061e-01 1.22665339e-01 2.46323751e-04 3.21622255e+02] [-1.22665337e-01 9.92448092e-01 -2.23953945e-05 -2.01595086e+01] [-2.47210676e-04 -7.98912020e-06 9.99999969e-01 -1.63992475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71028169299996 meters Centerline goodness [0,1] 0.9989593067708776 Centerline is valid? [True, True] Translation: X:321.65, Y:-20.16, Z:-1.64 [[ 9.92585334e-01 1.21547434e-01 7.58630575e-04 3.21650951e+02] [-1.21547417e-01 9.92585624e-01 -6.86613601e-05 -2.01639049e+01] [-7.61351415e-04 -2.40573277e-05 9.99999710e-01 -1.63905034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.740281693 meters Centerline goodness [0,1] 0.9991047830164549 Centerline is valid? [True, True] Translation: X:321.68, Y:-20.17, Z:-1.64 [[ 9.92801520e-01 1.19769968e-01 -5.43830204e-04 3.21680325e+02] [-1.19769960e-01 9.92801669e-01 4.90569799e-05 -2.01650331e+01] [ 5.45791087e-04 1.64306772e-05 9.99999851e-01 -1.64107459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77028169299996 meters Centerline goodness [0,1] 0.9989825119236884 Centerline is valid? [True, True] Translation: X:321.71, Y:-20.16, Z:-1.64 [[ 9.92868033e-01 1.19209775e-01 -1.44868533e-03 3.21708223e+02] [-1.19209712e-01 9.92869089e-01 1.30669948e-04 -2.01635208e+01] [ 1.45393202e-03 4.29593460e-05 9.99998942e-01 -1.64357747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.800281693 meters Centerline goodness [0,1] 0.9992754704114902 Centerline is valid? [True, True] Translation: X:321.74, Y:-20.16, Z:-1.64 [[ 9.92997569e-01 1.18125597e-01 -1.47356469e-03 3.21736818e+02] [-1.18125530e-01 9.92998661e-01 1.32874309e-04 -2.01640529e+01] [ 1.47894362e-03 4.21217436e-05 9.99998905e-01 -1.64354886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83028169299996 meters Centerline goodness [0,1] 0.9992664472994781 Centerline is valid? [True, True] Translation: X:321.77, Y:-20.16, Z:-1.64 [[ 9.93030395e-01 1.17854134e-01 -1.01894839e-03 3.21765236e+02] [-1.17854102e-01 9.93030917e-01 9.18044550e-05 -2.01642426e+01] [ 1.02266679e-03 2.89226329e-05 9.99999477e-01 -1.64317334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.860281693 meters Centerline goodness [0,1] 0.9993447058574841 Centerline is valid? [True, True] Translation: X:321.79, Y:-20.17, Z:-1.64 [[ 9.93106140e-01 1.17216347e-01 -7.22574327e-04 3.21794401e+02] [-1.17216330e-01 9.93106403e-01 6.50740441e-05 -2.01668948e+01] [ 7.25220933e-04 2.00720783e-05 9.99999737e-01 -1.64252181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89028169299996 meters Centerline goodness [0,1] 0.9993830181052273 Centerline is valid? [True, True] Translation: X:321.82, Y:-20.17, Z:-1.64 [[ 9.93333840e-01 1.15270975e-01 -6.96505429e-04 3.21822549e+02] [-1.15270959e-01 9.93334084e-01 6.26642695e-05 -2.01727371e+01] [ 6.99085953e-04 1.80403096e-05 9.99999755e-01 -1.64257107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.920281693 meters Centerline goodness [0,1] 0.9993621635412681 Centerline is valid? [True, True] Translation: X:321.85, Y:-20.17, Z:-1.64 [[ 9.93502329e-01 1.13804809e-01 -1.25980907e-03 3.21850370e+02] [-1.13804757e-01 9.93503128e-01 1.13365762e-04 -2.01715557e+01] [ 1.26452582e-03 3.07431170e-05 9.99999200e-01 -1.64412546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95028169299997 meters Centerline goodness [0,1] 0.999424503367721 Centerline is valid? [True, True] Translation: X:321.88, Y:-20.18, Z:-1.64 [[ 9.93513078e-01 1.13707971e-01 -1.50400154e-03 3.21879077e+02] [-1.13707896e-01 9.93514215e-01 1.35286483e-04 -2.01764445e+01] [ 1.50963007e-03 3.66079618e-05 9.99998860e-01 -1.64396737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98028169299994 meters Centerline goodness [0,1] 0.9994908782350446 Centerline is valid? [True, True] Translation: X:321.91, Y:-20.18, Z:-1.64 [[ 9.93490703e-01 1.13898767e-01 -1.81497376e-03 3.21907091e+02] [-1.13898659e-01 9.93492360e-01 1.63148372e-04 -2.01763596e+01] [ 1.82174497e-03 4.46366869e-05 9.99998340e-01 -1.64389653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01028169299997 meters Centerline goodness [0,1] 0.9994684131068065 Centerline is valid? [True, True] Translation: X:321.94, Y:-20.18, Z:-1.64 [[ 9.93449430e-01 1.14260579e-01 -1.65836088e-03 3.21936336e+02] [-1.14260489e-01 9.93450813e-01 1.49007956e-04 -2.01762243e+01] [ 1.66452570e-03 4.14532569e-05 9.99998614e-01 -1.64316696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04028169299994 meters Centerline goodness [0,1] 0.9993470797615788 Centerline is valid? [True, True] Translation: X:321.96, Y:-20.17, Z:-1.64 [[ 9.93301723e-01 1.15545193e-01 -9.98030642e-04 3.21964531e+02] [-1.15545161e-01 9.93302224e-01 8.95194580e-05 -2.01678776e+01] [ 1.00168960e-03 2.63977796e-05 9.99999498e-01 -1.64225934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07028169299997 meters Centerline goodness [0,1] 0.9992984544739472 Centerline is valid? [True, True] Translation: X:321.99, Y:-20.16, Z:-1.64 [[ 9.93048562e-01 1.17704937e-01 -3.18869167e-04 3.21994648e+02] [-1.17704934e-01 9.93048613e-01 2.84855522e-05 -2.01631484e+01] [ 3.20005474e-04 9.24493751e-06 9.99999949e-01 -1.64241388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10028169299994 meters Centerline goodness [0,1] 0.9991895062386691 Centerline is valid? [True, True] Translation: X:322.02, Y:-20.17, Z:-1.64 [[ 9.93010246e-01 1.18027687e-01 -3.41011210e-04 3.22022829e+02] [-1.18027684e-01 9.93010305e-01 3.04706978e-05 -2.01660061e+01] [ 3.42224031e-04 9.99104800e-06 9.99999941e-01 -1.64207173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.130281693 meters Centerline goodness [0,1] 0.9993183512621152 Centerline is valid? [True, True] Translation: X:322.05, Y:-20.16, Z:-1.64 [[ 9.93075505e-01 1.17477789e-01 -1.02631435e-04 3.22051342e+02] [-1.17477789e-01 9.93075510e-01 9.10464475e-06 -2.01649669e+01] [ 1.02990358e-04 3.01531438e-06 9.99999995e-01 -1.64172830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16028169299994 meters Centerline goodness [0,1] 0.9996163601099768 Centerline is valid? [True, True] Translation: X:322.08, Y:-20.17, Z:-1.64 [[ 9.93335907e-01 1.15255115e-01 1.83666460e-04 3.22080379e+02] [-1.15255114e-01 9.93335924e-01 -1.65357588e-05 -2.01682426e+01] [-1.84348324e-04 -4.74293572e-06 9.99999983e-01 -1.64111230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.190281693 meters Centerline goodness [0,1] 0.9995550658926226 Centerline is valid? [True, True] Translation: X:322.11, Y:-20.17, Z:-1.64 [[ 9.93545897e-01 1.13430455e-01 -2.87382341e-04 3.22108316e+02] [-1.13430452e-01 9.93545938e-01 2.56217722e-05 -2.01707600e+01] [ 2.88433847e-04 7.14150225e-06 9.99999958e-01 -1.64277603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22028169299995 meters Centerline goodness [0,1] 0.9998719234956347 Centerline is valid? [True, True] Translation: X:322.14, Y:-20.18, Z:-1.64 [[ 9.93976274e-01 1.09592077e-01 -8.62071446e-04 3.22138309e+02] [-1.09592052e-01 9.93976648e-01 7.72214159e-05 -2.01751694e+01] [ 8.65341741e-04 1.77199231e-05 9.99999625e-01 -1.64409190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.250281693 meters Centerline goodness [0,1] 0.9998730561726437 Centerline is valid? [True, True] Translation: X:322.17, Y:-20.18, Z:-1.64 [[ 9.94109307e-01 1.08381582e-01 -3.45390913e-04 3.22166457e+02] [-1.08381578e-01 9.94109367e-01 3.07990708e-05 -2.01764012e+01] [ 3.46694394e-04 6.81636927e-06 9.99999940e-01 -1.64256074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28028169299995 meters Centerline goodness [0,1] 0.9997439235184908 Centerline is valid? [True, True] Translation: X:322.19, Y:-20.18, Z:-1.64 [[ 9.94159691e-01 1.07914984e-01 9.30455930e-04 3.22194806e+02] [-1.07914953e-01 9.94160126e-01 -8.33595425e-05 -2.01760262e+01] [-9.34017928e-04 -1.75374113e-05 9.99999564e-01 -1.63971088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.310281693 meters Centerline goodness [0,1] 0.9997447188716574 Centerline is valid? [True, True] Translation: X:322.22, Y:-20.17, Z:-1.64 [[ 9.94148984e-01 1.07969055e-01 3.23743112e-03 3.22224227e+02] [-1.07968685e-01 9.94154253e-01 -2.89578787e-04 -2.01727663e+01] [-3.24977147e-03 -6.16567230e-05 9.99994718e-01 -1.63514551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34028169299995 meters Centerline goodness [0,1] 0.9996388664655649 Centerline is valid? [True, True] Translation: X:322.25, Y:-20.17, Z:-1.64 [[ 9.94121263e-01 1.08219441e-01 3.38618934e-03 3.22253050e+02] [-1.08219037e-01 9.94127028e-01 -3.02728343e-04 -2.01721311e+01] [-3.39906343e-03 -6.55014670e-05 9.99994221e-01 -1.63525084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.370281693 meters Centerline goodness [0,1] 0.9997642772956177 Centerline is valid? [True, True] Translation: X:322.28, Y:-20.17, Z:-1.64 [[ 9.94164584e-01 1.07844109e-01 2.53523545e-03 3.22282006e+02] [-1.07843881e-01 9.94167816e-01 -2.26560749e-04 -2.01705389e+01] [-2.54488273e-03 -4.81709588e-05 9.99996761e-01 -1.63780027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40028169299995 meters Centerline goodness [0,1] 0.9998301810694347 Centerline is valid? [True, True] Translation: X:322.31, Y:-20.17, Z:-1.64 [[ 9.94284421e-01 1.06742341e-01 2.13616729e-03 3.22310744e+02] [-1.06742177e-01 9.94286715e-01 -1.90812388e-04 -2.01710736e+01] [-2.14433052e-03 -3.82973619e-05 9.99997700e-01 -1.63898409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.430281693 meters Centerline goodness [0,1] 0.9998730104977989 Centerline is valid? [True, True] Translation: X:322.34, Y:-20.17, Z:-1.64 [[ 9.94490677e-01 1.04803346e-01 2.13374426e-03 3.22339242e+02] [-1.04803178e-01 9.94492965e-01 -1.90494304e-04 -2.01707311e+01] [-2.14195810e-03 -3.41783709e-05 9.99997705e-01 -1.63959809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46028169299996 meters Centerline goodness [0,1] 0.9998302351243528 Centerline is valid? [True, True] Translation: X:322.37, Y:-20.18, Z:-1.64 [[ 9.95102330e-01 9.88388625e-02 1.49383179e-03 3.22367487e+02] [-9.88387737e-02 9.95103451e-01 -1.33308770e-04 -2.01796160e+01] [-1.49969325e-03 -1.49926348e-05 9.99998875e-01 -1.64106789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.490281693 meters Centerline goodness [0,1] 0.9998718852091474 Centerline is valid? [True, True] Translation: X:322.40, Y:-20.19, Z:-1.64 [[ 9.95458372e-01 9.51929242e-02 9.68252296e-04 3.22395807e+02] [-9.51928851e-02 9.95458843e-01 -8.64293714e-05 -2.01882759e+01] [-9.72082775e-04 -6.13388835e-06 9.99999528e-01 -1.64149599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52028169299996 meters Centerline goodness [0,1] 0.9997646706458722 Centerline is valid? [True, True] Translation: X:322.42, Y:-20.20, Z:-1.65 [[ 9.95978864e-01 8.95831379e-02 -9.81634399e-04 3.22422699e+02] [-8.95830953e-02 9.95979348e-01 8.73418279e-05 -2.01969703e+01] [ 9.85511943e-04 9.47233319e-07 9.99999514e-01 -1.64524986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.550281693 meters Centerline goodness [0,1] 0.9998073753825739 Centerline is valid? [True, True] Translation: X:322.45, Y:-20.20, Z:-1.65 [[ 9.96131344e-01 8.78609460e-02 -1.67327581e-03 3.22451386e+02] [-8.78608198e-02 9.96132749e-01 1.48914143e-04 -2.02007310e+01] [ 1.67988857e-03 -1.32266104e-06 9.99998589e-01 -1.64650345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58028169299996 meters Centerline goodness [0,1] 0.9997243660418964 Centerline is valid? [True, True] Translation: X:322.48, Y:-20.20, Z:-1.65 [[ 9.96238748e-01 8.66340939e-02 -1.70035368e-03 3.22480319e+02] [-8.66339620e-02 9.96240199e-01 1.51245447e-04 -2.02032032e+01] [ 1.70706370e-03 -3.36819828e-06 9.99998543e-01 -1.64613422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.610281693 meters Centerline goodness [0,1] 0.999510554988083 Centerline is valid? [True, True] Translation: X:322.51, Y:-20.20, Z:-1.64 [[ 9.96392234e-01 8.48676336e-02 -5.40068911e-06 3.22509006e+02] [-8.48676336e-02 9.96392234e-01 3.82781874e-07 -2.02043129e+01] [ 5.41369048e-06 7.69428191e-08 1.00000000e+00 -1.64385348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64028169299996 meters Centerline goodness [0,1] 0.9996184581469784 Centerline is valid? [True, True] Translation: X:322.54, Y:-20.21, Z:-1.64 [[ 9.96481210e-01 8.38129326e-02 7.67996167e-04 3.22537976e+02] [-8.38129048e-02 9.96481506e-01 -6.83848611e-05 -2.02079837e+01] [-7.71025513e-04 3.77623956e-06 9.99999703e-01 -1.64299567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.670281693 meters Centerline goodness [0,1] 0.9995321935867993 Centerline is valid? [True, True] Translation: X:322.56, Y:-20.22, Z:-1.65 [[ 9.96767259e-01 8.03431856e-02 -5.92035367e-05 3.22564540e+02] [-8.03431855e-02 9.96767261e-01 5.16552625e-06 -2.02172277e+01] [ 5.94271620e-05 -3.92226707e-07 9.99999998e-01 -1.64504349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70028169299997 meters Centerline goodness [0,1] 0.999507431361631 Centerline is valid? [True, True] Translation: X:322.59, Y:-20.22, Z:-1.65 [[ 9.96910546e-01 7.85326547e-02 -1.40907447e-03 3.22592710e+02] [-7.85325563e-02 9.96911542e-01 1.25051925e-04 -2.02217485e+01] [ 1.41454326e-03 -1.40073631e-05 9.99998999e-01 -1.64742032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73028169299994 meters Centerline goodness [0,1] 0.9993388077210195 Centerline is valid? [True, True] Translation: X:322.62, Y:-20.23, Z:-1.65 [[ 9.97075388e-01 7.63784105e-02 -2.64730541e-03 3.22619775e+02] [-7.63780563e-02 9.97078902e-01 2.34807801e-04 -2.02270723e+01] [ 2.65750661e-03 -3.19250384e-05 9.99996468e-01 -1.64983908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76028169299997 meters Centerline goodness [0,1] 0.998647906367516 Centerline is valid? [True, True] Translation: X:322.65, Y:-20.25, Z:-1.65 [[ 9.97395183e-01 7.21124533e-02 -1.62546537e-03 3.22646414e+02] [-7.21123143e-02 9.97396508e-01 1.44084491e-04 -2.02451138e+01] [ 1.63162377e-03 -2.64931083e-05 9.99998669e-01 -1.64989786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79028169299994 meters Centerline goodness [0,1] 0.9986849082617457 Centerline is valid? [True, True] Translation: X:322.68, Y:-20.25, Z:-1.65 [[ 9.97510963e-01 7.05093310e-02 -5.60129853e-04 3.22675489e+02] [-7.05093143e-02 9.97511120e-01 4.95607929e-05 -2.02461721e+01] [ 5.62230255e-04 -9.94306237e-06 9.99999842e-01 -1.64577497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82028169299997 meters Centerline goodness [0,1] 0.9981372901805559 Centerline is valid? [True, True] Translation: X:322.70, Y:-20.26, Z:-1.64 [[ 9.97627607e-01 6.88414676e-02 1.00147527e-04 3.22702667e+02] [-6.88414670e-02 9.97627612e-01 -8.93498415e-06 -2.02627516e+01] [-1.00525035e-04 2.01948420e-06 9.99999995e-01 -1.64499250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85028169299994 meters Centerline goodness [0,1] 0.9983929374959823 Centerline is valid? [True, True] Translation: X:322.73, Y:-20.26, Z:-1.64 [[ 9.97674142e-01 6.81638199e-02 5.31453291e-06 3.22733102e+02] [-6.81638199e-02 9.97674142e-01 -5.20556606e-07 -2.02598086e+01] [-5.33765519e-06 1.57087002e-07 1.00000000e+00 -1.64447557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.880281693 meters Centerline goodness [0,1] 0.9983481711895312 Centerline is valid? [True, True] Translation: X:322.76, Y:-20.27, Z:-1.65 [[ 9.97700399e-01 6.77776162e-02 -3.30388018e-04 3.22760765e+02] [-6.77776102e-02 9.97700453e-01 2.92129371e-05 -2.02716910e+01] [ 3.31608258e-04 -6.75284869e-06 9.99999945e-01 -1.64545950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91028169299994 meters Centerline goodness [0,1] 0.998220564274076 Centerline is valid? [True, True] Translation: X:322.79, Y:-20.28, Z:-1.64 [[ 9.97668616e-01 6.82439876e-02 3.01367385e-04 3.22789631e+02] [-6.82439826e-02 9.97668661e-01 -2.67372472e-05 -2.02780079e+01] [-3.02489451e-04 6.10840184e-06 9.99999954e-01 -1.64424909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.940281693 meters Centerline goodness [0,1] 0.9987689956702607 Centerline is valid? [True, True] Translation: X:322.82, Y:-20.28, Z:-1.64 [[ 9.97589109e-01 6.93917685e-02 8.66945570e-04 3.22818750e+02] [-6.93917279e-02 9.97589486e-01 -7.68019600e-05 -2.02826455e+01] [-8.70185209e-04 1.64579477e-05 9.99999621e-01 -1.64249792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97028169299995 meters Centerline goodness [0,1] 0.9989221632816958 Centerline is valid? [True, True] Translation: X:322.85, Y:-20.28, Z:-1.64 [[ 9.97269165e-01 7.38243087e-02 2.04553324e-03 3.22847539e+02] [-7.38240925e-02 9.97271262e-01 -1.81098112e-04 -2.02830526e+01] [-2.05332096e-03 2.95939279e-05 9.99997891e-01 -1.64015030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.000281693 meters Centerline goodness [0,1] 0.9991444765265747 Centerline is valid? [True, True] Translation: X:322.88, Y:-20.28, Z:-1.64 [[ 9.97030047e-01 7.69884863e-02 1.96427620e-03 3.22877459e+02] [-7.69882932e-02 9.97031982e-01 -1.73836935e-04 -2.02832644e+01] [-1.97182963e-03 2.20943760e-05 9.99998056e-01 -1.64047543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03028169299995 meters Centerline goodness [0,1] 0.9995901816142531 Centerline is valid? [True, True] Translation: X:322.91, Y:-20.28, Z:-1.64 [[ 9.96421601e-01 8.45200597e-02 5.93609710e-04 3.22906585e+02] [-8.45200434e-02 9.96421778e-01 -5.25715456e-05 -2.02785302e+01] [-5.95928993e-04 2.21150524e-06 9.99999822e-01 -1.64298627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.060281693 meters Centerline goodness [0,1] 0.9997469422184733 Centerline is valid? [True, True] Translation: X:322.94, Y:-20.28, Z:-1.64 [[ 9.96106722e-01 8.81544585e-02 -4.35252575e-04 3.22935271e+02] [-8.81544501e-02 9.96106817e-01 3.83768784e-05 -2.02757375e+01] [ 4.36941150e-04 1.41984844e-07 9.99999905e-01 -1.64380742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09028169299995 meters Centerline goodness [0,1] 0.9997466537178566 Centerline is valid? [True, True] Translation: X:322.96, Y:-20.27, Z:-1.65 [[ 9.95544873e-01 9.42666206e-02 -2.05203601e-03 3.22964146e+02] [-9.42664473e-02 9.95546987e-01 1.81196828e-04 -2.02685159e+01] [ 2.05997908e-03 1.30485712e-05 9.99997878e-01 -1.64712456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.120281693 meters Centerline goodness [0,1] 0.9998082577016489 Centerline is valid? [True, True] Translation: X:322.99, Y:-20.27, Z:-1.65 [[ 9.95339472e-01 9.63909162e-02 -2.85061131e-03 3.22993313e+02] [-9.63905909e-02 9.95343554e-01 2.51610245e-04 -2.02690022e+01] [ 2.86159054e-03 2.43345006e-05 9.99995905e-01 -1.64854065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15028169299995 meters Centerline goodness [0,1] 0.9997252515005495 Centerline is valid? [True, True] Translation: X:323.02, Y:-20.27, Z:-1.65 [[ 9.95043727e-01 9.94009184e-02 -2.72727149e-03 3.23020977e+02] [-9.94006324e-02 9.95047464e-01 2.40584601e-04 -2.02662052e+01] [ 2.73767891e-03 3.17003132e-05 9.99996252e-01 -1.64982242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.180281693 meters Centerline goodness [0,1] 0.9996591248029315 Centerline is valid? [True, True] Translation: X:323.05, Y:-20.27, Z:-1.65 [[ 9.94954954e-01 1.00305377e-01 -1.86283876e-03 3.23049760e+02] [-1.00305245e-01 9.94956698e-01 1.64219120e-04 -2.02655061e+01] [ 1.86991596e-03 2.34618713e-05 9.99998251e-01 -1.64799105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21028169299996 meters Centerline goodness [0,1] 0.9996414561100097 Centerline is valid? [True, True] Translation: X:323.08, Y:-20.26, Z:-1.65 [[ 9.94880642e-01 1.01051288e-01 -1.07014418e-03 3.23078886e+02] [-1.01051245e-01 9.94881218e-01 9.42508076e-05 -2.02645457e+01] [ 1.07419051e-03 1.43710976e-05 9.99999423e-01 -1.64693870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.240281693 meters Centerline goodness [0,1] 0.9995779433177876 Centerline is valid? [True, True] Translation: X:323.11, Y:-20.26, Z:-1.65 [[ 9.94732039e-01 1.02506881e-01 -7.14236310e-04 3.23106986e+02] [-1.02506862e-01 9.94732295e-01 6.28101398e-05 -2.02621679e+01] [ 7.16912396e-04 1.07348644e-05 9.99999743e-01 -1.64641694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27028169299996 meters Centerline goodness [0,1] 0.9995779433177876 Centerline is valid? [True, True] Translation: X:323.14, Y:-20.26, Z:-1.65 [[ 9.94736592e-01 1.02462686e-01 -7.14237016e-04 3.23135216e+02] [-1.02462667e-01 9.94736849e-01 6.28020975e-05 -2.02645605e+01] [ 7.16912750e-04 1.07110852e-05 9.99999743e-01 -1.64647657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.300281693 meters Centerline goodness [0,1] 0.9996199404573383 Centerline is valid? [True, True] Translation: X:323.16, Y:-20.26, Z:-1.65 [[ 9.94637555e-01 1.03410992e-01 -1.51655461e-03 3.23163920e+02] [-1.03410909e-01 9.94638711e-01 1.33387218e-04 -2.02644349e+01] [ 1.52221763e-03 2.41563540e-05 9.99998841e-01 -1.64828488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33028169299996 meters Centerline goodness [0,1] 0.9996375807448782 Centerline is valid? [True, True] Translation: X:323.19, Y:-20.26, Z:-1.65 [[ 9.94481900e-01 1.04877046e-01 -2.56035626e-03 3.23192738e+02] [-1.04876814e-01 9.94485195e-01 2.25138129e-04 -2.02632568e+01] [ 2.56984822e-03 4.46262128e-05 9.99996697e-01 -1.65040136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.360281693 meters Centerline goodness [0,1] 0.9994035954673256 Centerline is valid? [True, True] Translation: X:323.22, Y:-20.26, Z:-1.65 [[ 9.94444820e-01 1.05226339e-01 -2.62999545e-03 3.23220503e+02] [-1.05226096e-01 9.94448297e-01 2.31091873e-04 -2.02614217e+01] [ 2.63971145e-03 4.69360373e-05 9.99996515e-01 -1.65167110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39028169299996 meters Centerline goodness [0,1] 0.9996385362845782 Centerline is valid? [True, True] Translation: X:323.25, Y:-20.27, Z:-1.65 [[ 9.94431569e-01 1.05349135e-01 -2.72286445e-03 3.23248738e+02] [-1.05348875e-01 9.94435296e-01 2.39147975e-04 -2.02663262e+01] [ 2.73290655e-03 4.90344098e-05 9.99996264e-01 -1.65100019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.420281693 meters Centerline goodness [0,1] 0.9994242947610823 Centerline is valid? [True, True] Translation: X:323.28, Y:-20.27, Z:-1.65 [[ 9.94605479e-01 1.03707891e-01 -2.14827494e-03 3.23278023e+02] [-1.03707726e-01 9.94607798e-01 1.88609778e-04 -2.02688973e+01] [ 2.15625133e-03 3.52003897e-05 9.99997675e-01 -1.64935013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45028169299997 meters Centerline goodness [0,1] 0.9994266785577781 Centerline is valid? [True, True] Translation: X:323.31, Y:-20.27, Z:-1.65 [[ 9.94717283e-01 1.02643432e-01 -1.36132175e-03 3.23306447e+02] [-1.02643365e-01 9.94718214e-01 1.19362231e-04 -2.02675019e+01] [ 1.36638329e-03 2.09989715e-05 9.99999066e-01 -1.64848302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48028169299994 meters Centerline goodness [0,1] 0.9995068081912727 Centerline is valid? [True, True] Translation: X:323.34, Y:-20.27, Z:-1.64 [[ 9.94914763e-01 1.00714534e-01 1.09386035e-03 3.23335067e+02] [-1.00714489e-01 9.94915365e-01 -9.60575604e-05 -2.02720703e+01] [-1.09797286e-03 -1.45985012e-05 9.99999397e-01 -1.64329856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51028169299997 meters Centerline goodness [0,1] 0.9995929821554809 Centerline is valid? [True, True] Translation: X:323.36, Y:-20.28, Z:-1.64 [[ 9.95037318e-01 9.94881229e-02 1.68779283e-03 3.23363851e+02] [-9.94880149e-02 9.95038749e-01 -1.48080464e-04 -2.02759165e+01] [-1.69415151e-03 -2.05695703e-05 9.99998565e-01 -1.64232291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54028169299994 meters Centerline goodness [0,1] 0.9995325116872078 Centerline is valid? [True, True] Translation: X:323.39, Y:-20.28, Z:-1.64 [[ 9.95360342e-01 9.62035756e-02 1.63138537e-03 3.23391557e+02] [-9.62034703e-02 9.95361679e-01 -1.43060119e-04 -2.02786019e+01] [-1.63758138e-03 -1.45485651e-05 9.99998659e-01 -1.64349213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57028169299997 meters Centerline goodness [0,1] 0.9995749022275123 Centerline is valid? [True, True] Translation: X:323.42, Y:-20.28, Z:-1.64 [[ 9.95581277e-01 9.38891391e-02 1.65856663e-03 3.23419075e+02] [-9.38890272e-02 9.95582658e-01 -1.45340677e-04 -2.02824335e+01] [-1.66488609e-03 -1.10227506e-05 9.99998614e-01 -1.64429822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60028169299994 meters Centerline goodness [0,1] 0.9995107007616049 Centerline is valid? [True, True] Translation: X:323.45, Y:-20.29, Z:-1.64 [[ 9.95821293e-01 9.12961227e-02 2.22928152e-03 3.23447765e+02] [-9.12959145e-02 9.95823789e-01 -1.95171821e-04 -2.02888961e+01] [-2.23779000e-03 -9.16803965e-06 9.99997496e-01 -1.64359469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.630281693 meters Centerline goodness [0,1] 0.9998291912204287 Centerline is valid? [True, True] Translation: X:323.48, Y:-20.30, Z:-1.64 [[ 9.96297069e-01 8.59208340e-02 3.12414975e-03 3.23476281e+02] [-8.59203993e-02 9.96301967e-01 -2.73336519e-04 -2.02971191e+01] [-3.13608185e-03 3.89617906e-06 9.99995082e-01 -1.64118251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66028169299994 meters Centerline goodness [0,1] 0.9997024568562441 Centerline is valid? [True, True] Translation: X:323.50, Y:-20.30, Z:-1.64 [[ 9.96488762e-01 8.36872335e-02 2.56797237e-03 3.23503990e+02] [-8.36869327e-02 9.96492071e-01 -2.24569981e-04 -2.03016740e+01] [-2.57775774e-03 8.87573173e-06 9.99996678e-01 -1.64193021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.690281693 meters Centerline goodness [0,1] 0.9994662453563345 Centerline is valid? [True, True] Translation: X:323.53, Y:-20.31, Z:-1.65 [[ 9.96770642e-01 8.02974247e-02 7.81019862e-04 3.23532291e+02] [-8.02973958e-02 9.96770948e-01 -6.83229140e-05 -2.03082834e+01] [-7.83984063e-04 5.38841387e-06 9.99999693e-01 -1.64558454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72028169299995 meters Centerline goodness [0,1] 0.9996406679348975 Centerline is valid? [True, True] Translation: X:323.56, Y:-20.31, Z:-1.64 [[ 9.96853942e-01 7.92533783e-02 1.05877728e-03 3.23561378e+02] [-7.92533248e-02 9.96854504e-01 -9.25426679e-05 -2.03108820e+01] [-1.06278122e-03 8.33990376e-06 9.99999435e-01 -1.64497582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.750281693 meters Centerline goodness [0,1] 0.9995543104546033 Centerline is valid? [True, True] Translation: X:323.59, Y:-20.31, Z:-1.64 [[ 9.96913963e-01 7.84765496e-02 1.99537074e-03 3.23590043e+02] [-7.84763580e-02 9.96915960e-01 -1.74224854e-04 -2.03131348e+01] [-2.00288950e-03 1.70977607e-05 9.99997994e-01 -1.64360354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78028169299995 meters Centerline goodness [0,1] 0.9996818056468891 Centerline is valid? [True, True] Translation: X:323.62, Y:-20.31, Z:-1.64 [[ 9.96886453e-01 7.88360686e-02 1.50820310e-03 3.23619061e+02] [-7.88359597e-02 9.96887594e-01 -1.31641127e-04 -2.03145773e+01] [-1.51388703e-03 1.23306174e-05 9.99998854e-01 -1.64426785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.810281693 meters Centerline goodness [0,1] 0.9996783462709611 Centerline is valid? [True, True] Translation: X:323.65, Y:-20.31, Z:-1.65 [[ 9.96814708e-01 7.97512041e-02 4.28077385e-04 3.23648217e+02] [-7.97511954e-02 9.96814800e-01 -3.74166918e-05 -2.03144093e+01] [-4.29697899e-04 3.15782558e-06 9.99999908e-01 -1.64569273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84028169299995 meters Centerline goodness [0,1] 0.9997861237060485 Centerline is valid? [True, True] Translation: X:323.68, Y:-20.31, Z:-1.65 [[ 9.96553106e-01 8.29519626e-02 -9.37803125e-04 3.23676661e+02] [-8.29519226e-02 9.96553547e-01 8.15670465e-05 -2.03108494e+01] [ 9.41337177e-04 -3.49332123e-06 9.99999557e-01 -1.64758795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.870281693 meters Centerline goodness [0,1] 0.9997870618798177 Centerline is valid? [True, True] Translation: X:323.71, Y:-20.31, Z:-1.65 [[ 9.96390022e-01 8.48910760e-02 -6.54695656e-04 3.23705011e+02] [-8.48910569e-02 9.96390237e-01 5.68710188e-05 -2.03082730e+01] [ 6.57160202e-04 -1.08790952e-06 9.99999784e-01 -1.64752912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90028169299995 meters Centerline goodness [0,1] 0.999703364691923 Centerline is valid? [True, True] Translation: X:323.73, Y:-20.30, Z:-1.65 [[ 9.95994160e-01 8.94182978e-02 1.86574795e-05 3.23733507e+02] [-8.94182977e-02 9.95994161e-01 -1.75439976e-06 -2.02993700e+01] [-1.87396160e-05 7.90518610e-08 1.00000000e+00 -1.64656612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.930281693 meters Centerline goodness [0,1] 0.9997879019258505 Centerline is valid? [True, True] Translation: X:323.76, Y:-20.30, Z:-1.65 [[ 9.95806443e-01 9.14841987e-02 -4.11851659e-04 3.23762898e+02] [-9.14841917e-02 9.95806528e-01 3.57106484e-05 -2.02969413e+01] [ 4.13391530e-04 2.11702234e-06 9.99999915e-01 -1.64741818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96028169299996 meters Centerline goodness [0,1] 0.9996785737244734 Centerline is valid? [True, True] Translation: X:323.79, Y:-20.30, Z:-1.65 [[ 9.95653521e-01 9.31287719e-02 -1.04818458e-03 3.23791409e+02] [-9.31287277e-02 9.95654072e-01 9.09414627e-05 -2.02960563e+01] [ 1.05209852e-03 7.06990917e-06 9.99999447e-01 -1.64819627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.990281693 meters Centerline goodness [0,1] 0.9997047223335372 Centerline is valid? [True, True] Translation: X:323.82, Y:-20.29, Z:-1.65 [[ 9.95468044e-01 9.50928265e-02 -8.52992156e-04 3.23819220e+02] [-9.50927981e-02 9.95468409e-01 7.38987743e-05 -2.02924578e+01] [ 8.56153988e-04 7.54954248e-06 9.99999633e-01 -1.64811895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02028169299996 meters Centerline goodness [0,1] 0.9996367366126757 Centerline is valid? [True, True] Translation: X:323.85, Y:-20.29, Z:-1.65 [[ 9.95439149e-01 9.53981254e-02 -3.12411234e-04 3.23847099e+02] [-9.53981216e-02 9.95439198e-01 2.69545584e-05 -2.02925097e+01] [ 3.13557803e-04 2.97182221e-06 9.99999951e-01 -1.64756828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.050281693 meters Centerline goodness [0,1] 0.9996397694524496 Centerline is valid? [True, True] Translation: X:323.87, Y:-20.29, Z:-1.65 [[ 9.95456322e-01 9.52192555e-02 -6.65900712e-05 3.23874851e+02] [-9.52192553e-02 9.95456324e-01 5.64891035e-06 -2.02919310e+01] [ 6.68253926e-05 7.17413471e-07 9.99999998e-01 -1.64813992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08028169299996 meters Centerline goodness [0,1] 0.9996163764625647 Centerline is valid? [True, True] Translation: X:323.90, Y:-20.29, Z:-1.65 [[ 9.95501624e-01 9.47431899e-02 4.94841103e-04 3.23903707e+02] [-9.47431802e-02 9.95501747e-01 -4.29705780e-05 -2.02942364e+01] [-4.96686353e-04 -4.10553971e-06 9.99999877e-01 -1.64722192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.110281693 meters Centerline goodness [0,1] 0.9995357278521082 Centerline is valid? [True, True] Translation: X:323.93, Y:-20.30, Z:-1.64 [[ 9.95733626e-01 9.22629821e-02 1.44506261e-03 3.23931195e+02] [-9.22628975e-02 9.95734675e-01 -1.25232536e-04 -2.02965971e+01] [-1.45045328e-03 -8.62741681e-06 9.99998948e-01 -1.64488611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14028169299996 meters Centerline goodness [0,1] 0.9997640700068634 Centerline is valid? [True, True] Translation: X:323.96, Y:-20.30, Z:-1.64 [[ 9.95926491e-01 9.01495828e-02 1.86473803e-03 3.23959821e+02] [-9.01494385e-02 9.95928237e-01 -1.61459503e-04 -2.03023359e+01] [-1.87170076e-03 -7.30329015e-06 9.99998248e-01 -1.64420053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.170281693 meters Centerline goodness [0,1] 0.9997222459618836 Centerline is valid? [True, True] Translation: X:323.99, Y:-20.31, Z:-1.64 [[ 9.96436781e-01 8.43190673e-02 2.00888220e-03 3.23988057e+02] [-8.43188883e-02 9.96438806e-01 -1.73780789e-04 -2.03149443e+01] [-2.01638121e-03 3.77485629e-06 9.99997967e-01 -1.64440194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20028169299997 meters Centerline goodness [0,1] 0.9996641618739768 Centerline is valid? [True, True] Translation: X:324.01, Y:-20.32, Z:-1.64 [[ 9.96679195e-01 8.14098027e-02 1.73980088e-03 3.24014759e+02] [-8.14096641e-02 9.96680713e-01 -1.50439027e-04 -2.03238476e+01] [-1.74627320e-03 8.30284249e-06 9.99998475e-01 -1.64492260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23028169299994 meters Centerline goodness [0,1] 0.9996407438715131 Centerline is valid? [True, True] Translation: X:324.04, Y:-20.34, Z:-1.65 [[ 9.97061148e-01 7.66042253e-02 9.27541878e-04 3.24042794e+02] [-7.66041839e-02 9.97061579e-01 -8.01916192e-05 -2.03386935e+01] [-9.30959387e-04 8.90235929e-06 9.99999567e-01 -1.64599591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26028169299997 meters Centerline goodness [0,1] 0.9997856193457102 Centerline is valid? [True, True] Translation: X:324.07, Y:-20.34, Z:-1.65 [[ 9.97167801e-01 7.52088721e-02 3.95347707e-05 3.24070784e+02] [-7.52088720e-02 9.97167802e-01 -3.50892376e-06 -2.03447744e+01] [-3.96867026e-05 5.25620280e-07 9.99999999e-01 -1.64751415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29028169299994 meters Centerline goodness [0,1] 0.9996422182468694 Centerline is valid? [True, True] Translation: X:324.10, Y:-20.35, Z:-1.65 [[ 9.97195003e-01 7.48445123e-02 -6.51998475e-04 3.24098183e+02] [-7.48444916e-02 9.97195216e-01 5.61154511e-05 -2.03523068e+01] [ 6.54369694e-04 -7.15955307e-06 9.99999786e-01 -1.64960795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32028169299997 meters Centerline goodness [0,1] 0.99965858654831 Centerline is valid? [True, True] Translation: X:324.13, Y:-20.35, Z:-1.65 [[ 9.96980166e-01 7.76489818e-02 -1.08820241e-03 3.24127062e+02] [-7.76489258e-02 9.96980760e-01 9.37167625e-05 -2.03529486e+01] [ 1.09219387e-03 -8.93600554e-06 9.99999404e-01 -1.64985758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35028169299994 meters Centerline goodness [0,1] 0.9997869393842548 Centerline is valid? [True, True] Translation: X:324.16, Y:-20.35, Z:-1.65 [[ 9.96581832e-01 8.26089102e-02 -6.48847863e-04 3.24155664e+02] [-8.26088913e-02 9.96582043e-01 5.58437828e-05 -2.03508405e+01] [ 6.51243323e-04 -2.05229670e-06 9.99999788e-01 -1.64914521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.380281693 meters Centerline goodness [0,1] 0.9997888335163443 Centerline is valid? [True, True] Translation: X:324.18, Y:-20.35, Z:-1.65 [[ 9.96407260e-01 8.46853031e-02 -9.85902817e-04 3.24184289e+02] [-8.46852607e-02 9.96407748e-01 8.48218697e-05 -2.03511157e+01] [ 9.89544371e-04 -1.02568972e-06 9.99999510e-01 -1.64925498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41028169299994 meters Centerline goodness [0,1] 0.9997243952595984 Centerline is valid? [True, True] Translation: X:324.21, Y:-20.35, Z:-1.65 [[ 9.96240333e-01 8.66242382e-02 -1.20026410e-03 3.24213076e+02] [-8.66241767e-02 9.96241056e-01 1.03229387e-04 -2.03520600e+01] [ 1.20469454e-03 1.13061043e-06 9.99999274e-01 -1.64936900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.440281693 meters Centerline goodness [0,1] 0.9996763195373527 Centerline is valid? [True, True] Translation: X:324.24, Y:-20.35, Z:-1.65 [[ 9.96105312e-01 8.81661404e-02 -9.69266868e-04 3.24241544e+02] [-8.81661011e-02 9.96105783e-01 8.32925073e-05 -2.03539705e+01] [ 9.72835912e-04 2.48837168e-06 9.99999527e-01 -1.64834299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47028169299995 meters Centerline goodness [0,1] 0.9995526680157631 Centerline is valid? [True, True] Translation: X:324.27, Y:-20.36, Z:-1.65 [[ 9.95980124e-01 8.95729433e-02 5.28868587e-04 3.24269398e+02] [-8.95729317e-02 9.95980265e-01 -4.55948844e-05 -2.03565445e+01] [-5.30826744e-04 -1.96071125e-06 9.99999859e-01 -1.64670738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.500281693 meters Centerline goodness [0,1] 0.9997650777379122 Centerline is valid? [True, True] Translation: X:324.30, Y:-20.36, Z:-1.64 [[ 9.95929474e-01 9.01113804e-02 2.10281942e-03 3.24296830e+02] [-9.01111996e-02 9.95931694e-01 -1.80794138e-04 -2.03587130e+01] [-2.11055611e-03 -9.42936961e-06 9.99997773e-01 -1.64359263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53028169299995 meters Centerline goodness [0,1] 0.9996387590310242 Centerline is valid? [True, True] Translation: X:324.33, Y:-20.36, Z:-1.64 [[ 9.95938217e-01 9.00215244e-02 1.78683574e-03 3.24325579e+02] [-9.00213938e-02 9.95939820e-01 -1.53533412e-04 -2.03612830e+01] [-1.79340218e-03 -7.94365195e-06 9.99998392e-01 -1.64370162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.560281693 meters Centerline goodness [0,1] 0.9997458596298022 Centerline is valid? [True, True] Translation: X:324.35, Y:-20.36, Z:-1.65 [[ 9.95959825e-01 8.97963554e-02 8.00829176e-04 3.24353439e+02] [-8.97963291e-02 9.95960147e-01 -6.88415387e-05 -2.03639896e+01] [-8.03775663e-04 -3.34811329e-06 9.99999677e-01 -1.64590460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59028169299995 meters Centerline goodness [0,1] 0.9997211616833255 Centerline is valid? [True, True] Translation: X:324.38, Y:-20.37, Z:-1.65 [[ 9.96081333e-01 8.84410854e-02 -3.90476179e-04 3.24382101e+02] [-8.84410791e-02 9.96081410e-01 3.33969345e-05 -2.03710696e+01] [ 3.91899724e-04 1.26807164e-06 9.99999923e-01 -1.64843589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.620281693 meters Centerline goodness [0,1] 0.9996601096146492 Centerline is valid? [True, True] Translation: X:324.41, Y:-20.38, Z:-1.65 [[ 9.96158015e-01 8.75738472e-02 -1.72740576e-04 3.24410339e+02] [-8.75738460e-02 9.96158030e-01 1.47141727e-05 -2.03761037e+01] [ 1.73365489e-04 4.69915570e-07 9.99999985e-01 -1.64825454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65028169299995 meters Centerline goodness [0,1] 0.9997880412895568 Centerline is valid? [True, True] Translation: X:324.44, Y:-20.38, Z:-1.65 [[ 9.96260608e-01 8.63952958e-02 8.08046076e-04 3.24437991e+02] [-8.63952679e-02 9.96260936e-01 -6.93417673e-05 -2.03819804e+01] [-8.11015543e-04 -7.28885947e-07 9.99999671e-01 -1.64564347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.680281693 meters Centerline goodness [0,1] 0.9997883777034748 Centerline is valid? [True, True] Translation: X:324.47, Y:-20.38, Z:-1.64 [[ 9.96211708e-01 8.69485451e-02 1.47737651e-03 3.24466779e+02] [-8.69484530e-02 9.96212804e-01 -1.26594405e-04 -2.03837635e+01] [-1.48278860e-03 -2.34077408e-06 9.99998901e-01 -1.64378498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71028169299996 meters Centerline goodness [0,1] 0.9996820282358927 Centerline is valid? [True, True] Translation: X:324.50, Y:-20.38, Z:-1.64 [[ 9.96119831e-01 8.79952394e-02 1.45579222e-03 3.24496044e+02] [-8.79951512e-02 9.96120895e-01 -1.24680586e-04 -2.03844494e+01] [-1.46111635e-03 -3.90585284e-06 9.99998933e-01 -1.64306551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.740281693 meters Centerline goodness [0,1] 0.9996618051151976 Centerline is valid? [True, True] Translation: X:324.52, Y:-20.38, Z:-1.64 [[ 9.95997207e-01 8.93817029e-02 6.88916873e-04 3.24524634e+02] [-8.93816835e-02 9.95997445e-01 -5.90205634e-05 -2.03839069e+01] [-6.91434804e-04 -2.79223357e-06 9.99999761e-01 -1.64477431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77028169299996 meters Centerline goodness [0,1] 0.9996390734803932 Centerline is valid? [True, True] Translation: X:324.55, Y:-20.38, Z:-1.65 [[ 9.95646835e-01 9.31970806e-02 -1.29791597e-03 3.24553795e+02] [-9.31970152e-02 9.95647681e-01 1.10861652e-04 -2.03789372e+01] [ 1.30259900e-03 1.05828416e-05 9.99999152e-01 -1.64916913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.800281693 meters Centerline goodness [0,1] 0.9997184318821746 Centerline is valid? [True, True] Translation: X:324.58, Y:-20.38, Z:-1.65 [[ 9.95335420e-01 9.64741271e-02 -3.81385564e-04 3.24583055e+02] [-9.64741217e-02 9.95335493e-01 3.24823847e-05 -2.03772973e+01] [ 3.82740298e-04 4.46296938e-06 9.99999927e-01 -1.64680182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83028169299996 meters Centerline goodness [0,1] 0.9997240149456522 Centerline is valid? [True, True] Translation: X:324.61, Y:-20.38, Z:-1.64 [[ 9.95213725e-01 9.77198260e-02 6.90732383e-04 3.24610821e+02] [-9.77198085e-02 9.95213965e-01 -5.91169151e-05 -2.03754463e+01] [-6.93203408e-04 -8.66427087e-06 9.99999760e-01 -1.64497151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.860281693 meters Centerline goodness [0,1] 0.9996847944860049 Centerline is valid? [True, True] Translation: X:324.64, Y:-20.37, Z:-1.64 [[ 9.95147524e-01 9.83821468e-02 1.53575484e-03 3.24638575e+02] [-9.83820616e-02 9.95148709e-01 -1.31135997e-04 -2.03734361e+01] [-1.54120589e-03 -2.05910647e-05 9.99998812e-01 -1.64303743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89028169299996 meters Centerline goodness [0,1] 0.9996386822529224 Centerline is valid? [True, True] Translation: X:324.67, Y:-20.37, Z:-1.64 [[ 9.95096886e-01 9.89000871e-02 9.79816518e-04 3.24667772e+02] [-9.89000527e-02 9.95097368e-01 -8.36373371e-05 -2.03728996e+01] [-9.83284578e-04 -1.36766515e-05 9.99999516e-01 -1.64443222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.920281693 meters Centerline goodness [0,1] 0.9997416354476166 Centerline is valid? [True, True] Translation: X:324.70, Y:-20.38, Z:-1.65 [[ 9.95118757e-01 9.86845918e-02 1.03229162e-04 3.24695362e+02] [-9.86845914e-02 9.95118762e-01 -8.94359160e-06 -2.03752303e+01] [-1.03607870e-04 -1.28719191e-06 9.99999995e-01 -1.64691894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95028169299997 meters Centerline goodness [0,1] 0.9995940170940171 Centerline is valid? [True, True] Translation: X:324.72, Y:-20.38, Z:-1.65 [[ 9.95241561e-01 9.74284120e-02 -1.39288223e-03 3.24723815e+02] [-9.74283416e-02 9.95242535e-01 1.18496468e-04 -2.03773338e+01] [ 1.39780056e-03 1.77735956e-05 9.99999023e-01 -1.65088224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98028169299994 meters Centerline goodness [0,1] 0.9995933567331564 Centerline is valid? [True, True] Translation: X:324.75, Y:-20.38, Z:-1.65 [[ 9.95379499e-01 9.60125173e-02 -1.11736795e-03 3.24752828e+02] [-9.60124711e-02 9.95380127e-01 9.50216032e-05 -2.03816396e+01] [ 1.12132912e-03 1.26987024e-05 9.99999371e-01 -1.65060383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01028169299997 meters Centerline goodness [0,1] 0.9995971418272799 Centerline is valid? [True, True] Translation: X:324.78, Y:-20.39, Z:-1.65 [[ 9.95569054e-01 9.40296746e-02 -8.23676670e-04 3.24781574e+02] [-9.40296489e-02 9.95569395e-01 6.99619506e-05 -2.03866444e+01] [ 8.26605784e-04 7.79807512e-06 9.99999658e-01 -1.64960288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04028169299994 meters Centerline goodness [0,1] 0.9997867258147074 Centerline is valid? [True, True] Translation: X:324.81, Y:-20.40, Z:-1.65 [[ 9.95924359e-01 9.01921886e-02 1.99736485e-04 3.24809161e+02] [-9.01921870e-02 9.95924379e-01 -1.70793572e-05 -2.03956725e+01] [-2.00462860e-04 -1.00492257e-06 9.99999980e-01 -1.64738771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07028169299997 meters Centerline goodness [0,1] 0.9996809868141217 Centerline is valid? [True, True] Translation: X:324.84, Y:-20.40, Z:-1.65 [[ 9.96056222e-01 8.87215060e-02 7.04938238e-04 3.24836961e+02] [-8.87214857e-02 9.96056471e-01 -6.00105975e-05 -2.04010583e+01] [-7.07482525e-04 -2.76923875e-06 9.99999750e-01 -1.64652800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10028169299994 meters Centerline goodness [0,1] 0.9997217525309818 Centerline is valid? [True, True] Translation: X:324.87, Y:-20.41, Z:-1.65 [[ 9.96117086e-01 8.80331295e-02 9.58716854e-04 3.24865417e+02] [-8.80330918e-02 9.96117547e-01 -8.15014645e-05 -2.04062913e+01] [-9.62169510e-04 -3.21380742e-06 9.99999537e-01 -1.64503416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.130281693 meters Centerline goodness [0,1] 0.9997028042541448 Centerline is valid? [True, True] Translation: X:324.89, Y:-20.41, Z:-1.65 [[ 9.96066954e-01 8.86012785e-02 6.61256022e-04 3.24893629e+02] [-8.86012607e-02 9.96067173e-01 -5.62303154e-05 -2.04086088e+01] [-6.63637495e-04 -2.57895825e-06 9.99999780e-01 -1.64547149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16028169299994 meters Centerline goodness [0,1] 0.9997028042541448 Centerline is valid? [True, True] Translation: X:324.92, Y:-20.41, Z:-1.65 [[ 9.96071114e-01 8.85544961e-02 6.61260793e-04 3.24921862e+02] [-8.85544783e-02 9.96071333e-01 -5.61741059e-05 -2.04109134e+01] [-6.63637390e-04 -2.60420033e-06 9.99999780e-01 -1.64553112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.190281693 meters Centerline goodness [0,1] 0.9997233336170938 Centerline is valid? [True, True] Translation: X:324.95, Y:-20.41, Z:-1.65 [[ 9.95941291e-01 9.00017895e-02 7.89096835e-04 3.24951101e+02] [-9.00017646e-02 9.95941604e-01 -6.69774586e-05 -2.04128112e+01] [-7.91922458e-04 -4.31449100e-06 9.99999686e-01 -1.64568038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22028169299995 meters Centerline goodness [0,1] 0.9997641357720265 Centerline is valid? [True, True] Translation: X:324.98, Y:-20.41, Z:-1.64 [[ 9.95519350e-01 9.45462535e-02 1.49340109e-03 3.24979970e+02] [-9.45461699e-02 9.95520470e-01 -1.26598730e-04 -2.04125164e+01] [-1.49868079e-03 -1.51638682e-05 9.99998877e-01 -1.64469285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.250281693 meters Centerline goodness [0,1] 0.9993611992419564 Centerline is valid? [True, True] Translation: X:325.01, Y:-20.40, Z:-1.65 [[ 9.94795871e-01 1.01885698e-01 6.93184238e-04 3.25009432e+02] [-1.01885681e-01 9.94796112e-01 -5.87871797e-05 -2.03981001e+01] [-6.95566557e-04 -1.21443047e-05 9.99999758e-01 -1.64605844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28028169299995 meters Centerline goodness [0,1] 0.9992786217431894 Centerline is valid? [True, True] Translation: X:325.04, Y:-20.40, Z:-1.65 [[ 9.94340287e-01 1.06237293e-01 -1.01566781e-03 3.25039205e+02] [-1.06237261e-01 9.94340805e-01 8.59053254e-05 -2.03996408e+01] [ 1.01904630e-03 2.24826402e-05 9.99999481e-01 -1.64865994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.310281693 meters Centerline goodness [0,1] 0.9991186018014919 Centerline is valid? [True, True] Translation: X:325.07, Y:-20.40, Z:-1.65 [[ 9.93874597e-01 1.10468512e-01 -3.16132225e-03 3.25070356e+02] [-1.10468220e-01 9.93879621e-01 2.67540542e-04 -2.03951276e+01] [ 3.17152857e-03 8.33238936e-05 9.99994967e-01 -1.65246642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34028169299995 meters Centerline goodness [0,1] 0.9984377340723779 Centerline is valid? [True, True] Translation: X:325.10, Y:-20.38, Z:-1.65 [[ 9.93012585e-01 1.17959084e-01 -3.41481648e-03 3.25101221e+02] [-1.17958787e-01 9.93018449e-01 2.88975894e-04 -2.03841257e+01] [ 3.42506310e-03 1.15850911e-04 9.99994128e-01 -1.65355078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.370281693 meters Centerline goodness [0,1] 0.9969249040357984 Centerline is valid? [True, True] Translation: X:325.13, Y:-20.38, Z:-1.65 [[ 9.92675007e-01 1.20806284e-01 -1.47384798e-03 3.25130752e+02] [-1.20806232e-01 9.92676100e-01 1.24601036e-04 -2.03780860e+01] [ 1.47810625e-03 5.43616874e-05 9.99998906e-01 -1.65093237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40028169299995 meters Centerline goodness [0,1] 0.9945396825396825 Centerline is valid? [True, True] Translation: X:325.16, Y:-20.37, Z:-1.64 [[ 9.92228577e-01 1.24408076e-01 2.25421517e-03 3.25161034e+02] [-1.24407963e-01 9.92231134e-01 -1.90684770e-04 -2.03736976e+01] [-2.26042520e-03 -9.12394406e-05 9.99997441e-01 -1.64372818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.430281693 meters Centerline goodness [0,1] 0.9918572272382078 Centerline is valid? [True, True] Translation: X:325.19, Y:-20.37, Z:-1.64 [[ 9.92122716e-01 1.25243620e-01 2.55953472e-03 3.25189183e+02] [-1.25243478e-01 9.92126012e-01 -2.16445920e-04 -2.03699311e+01] [-2.56648945e-03 -1.05824115e-04 9.99996701e-01 -1.64262155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46028169299996 meters Centerline goodness [0,1] 0.9944574219579528 Centerline is valid? [True, True] Translation: X:325.22, Y:-20.38, Z:-1.64 [[ 9.92113162e-01 1.25325849e-01 2.21489339e-03 3.25218134e+02] [-1.25325743e-01 9.92115630e-01 -1.87144020e-04 -2.03753597e+01] [-2.22088433e-03 -9.19151145e-05 9.99997530e-01 -1.64382084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.490281693 meters Centerline goodness [0,1] 0.9945996513160692 Centerline is valid? [True, True] Translation: X:325.25, Y:-20.38, Z:-1.64 [[ 9.92235847e-01 1.24353776e-01 2.04027227e-03 3.25246108e+02] [-1.24353684e-01 9.92237941e-01 -1.72303855e-04 -2.03753548e+01] [-2.04586219e-03 -8.27493116e-05 9.99997904e-01 -1.64439343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52028169299996 meters Centerline goodness [0,1] 0.9952861662971653 Centerline is valid? [True, True] Translation: X:325.27, Y:-20.38, Z:-1.64 [[ 9.92392832e-01 1.23090614e-01 2.27332798e-03 3.25274586e+02] [-1.23090497e-01 9.92395432e-01 -1.91843659e-04 -2.03795522e+01] [-2.27965445e-03 -8.94407987e-05 9.99997398e-01 -1.64409143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.550281693 meters Centerline goodness [0,1] 0.9963570127504554 Centerline is valid? [True, True] Translation: X:325.30, Y:-20.38, Z:-1.64 [[ 9.92705323e-01 1.20552904e-01 1.77163859e-03 3.25302810e+02] [-1.20552829e-01 9.92706902e-01 -1.49439129e-04 -2.03829561e+01] [-1.77673318e-03 -6.52270256e-05 9.99998419e-01 -1.64445051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58028169299996 meters Centerline goodness [0,1] 0.9966242754930893 Centerline is valid? [True, True] Translation: X:325.33, Y:-20.38, Z:-1.65 [[ 9.92789060e-01 1.19872523e-01 6.78082570e-04 3.25331165e+02] [-1.19872512e-01 9.92789292e-01 -5.72422202e-05 -2.03841826e+01] [-6.80054884e-04 -2.44540112e-05 9.99999768e-01 -1.64644826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.610281693 meters Centerline goodness [0,1] 0.997003506534906 Centerline is valid? [True, True] Translation: X:325.36, Y:-20.39, Z:-1.65 [[ 9.92887259e-01 1.19058023e-01 -2.78711504e-04 3.25359415e+02] [-1.19058021e-01 9.92887298e-01 2.33836662e-05 -2.03855276e+01] [ 2.79513125e-04 9.96549597e-06 9.99999961e-01 -1.64802339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64028169299996 meters Centerline goodness [0,1] 0.9970293668307588 Centerline is valid? [True, True] Translation: X:325.39, Y:-20.39, Z:-1.65 [[ 9.92947595e-01 1.18554090e-01 -4.28842014e-05 3.25388399e+02] [-1.18554090e-01 9.92947596e-01 3.51715596e-06 -2.03874156e+01] [ 4.29987379e-05 1.59174592e-06 9.99999999e-01 -1.64764836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.670281693 meters Centerline goodness [0,1] 0.9971025527145063 Centerline is valid? [True, True] Translation: X:325.42, Y:-20.39, Z:-1.65 [[ 9.93133592e-01 1.16985102e-01 -3.92904499e-04 3.25416208e+02] [-1.16985098e-01 9.93133670e-01 3.29408177e-05 -2.03896912e+01] [ 3.94060272e-04 1.32493388e-05 9.99999922e-01 -1.64859164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70028169299997 meters Centerline goodness [0,1] 0.9975911760977053 Centerline is valid? [True, True] Translation: X:325.44, Y:-20.39, Z:-1.65 [[ 9.93230913e-01 1.16155147e-01 -5.78630522e-04 3.25444956e+02] [-1.16155138e-01 9.93231082e-01 4.85641157e-05 -2.03925214e+01] [ 5.80354791e-04 1.89755271e-05 9.99999831e-01 -1.64979415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73028169299994 meters Centerline goodness [0,1] 0.9978732001956656 Centerline is valid? [True, True] Translation: X:325.47, Y:-20.39, Z:-1.65 [[ 9.93290108e-01 1.15642745e-01 -1.23143768e-03 3.25472760e+02] [-1.15642706e-01 9.93290871e-01 1.03367576e-04 -2.03947306e+01] [ 1.23512952e-03 3.97327949e-05 9.99999236e-01 -1.65094666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76028169299997 meters Centerline goodness [0,1] 0.9982294466487478 Centerline is valid? [True, True] Translation: X:325.50, Y:-20.40, Z:-1.65 [[ 9.93354463e-01 1.15093890e-01 -5.53839573e-04 3.25500941e+02] [-1.15093882e-01 9.93354618e-01 4.64194558e-05 -2.04016844e+01] [ 5.55501693e-04 1.76325726e-05 9.99999846e-01 -1.65011626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79028169299994 meters Centerline goodness [0,1] 0.9981780433032499 Centerline is valid? [True, True] Translation: X:325.53, Y:-20.40, Z:-1.65 [[ 9.93346725e-01 1.15161963e-01 7.91678178e-05 3.25529876e+02] [-1.15161963e-01 9.93346728e-01 -6.74306273e-06 -2.04038477e+01] [-7.94176371e-05 -2.41892199e-06 9.99999997e-01 -1.64903495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82028169299997 meters Centerline goodness [0,1] 0.9979387139274938 Centerline is valid? [True, True] Translation: X:325.56, Y:-20.40, Z:-1.65 [[ 9.93237892e-01 1.16096554e-01 2.82630897e-04 3.25557858e+02] [-1.16096552e-01 9.93237932e-01 -2.38292714e-05 -2.03989683e+01] [-2.83486224e-04 -9.14433746e-06 9.99999960e-01 -1.64851286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85028169299994 meters Centerline goodness [0,1] 0.9971810245082571 Centerline is valid? [True, True] Translation: X:325.59, Y:-20.39, Z:-1.65 [[ 9.93167027e-01 1.16701546e-01 -7.94994278e-05 3.25586045e+02] [-1.16701546e-01 9.93167030e-01 6.54615162e-06 -2.03942454e+01] [ 7.97201566e-05 2.77628422e-06 9.99999997e-01 -1.64986390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.880281693 meters Centerline goodness [0,1] 0.9973883686859035 Centerline is valid? [True, True] Translation: X:325.61, Y:-20.40, Z:-1.65 [[ 9.93105712e-01 1.17222151e-01 -1.12811609e-04 3.25614480e+02] [-1.17222151e-01 9.93105718e-01 9.35821528e-06 -2.03973768e+01] [ 1.13130844e-04 3.93032238e-06 9.99999994e-01 -1.64945653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91028169299994 meters Centerline goodness [0,1] 0.9967728327357097 Centerline is valid? [True, True] Translation: X:325.64, Y:-20.39, Z:-1.65 [[ 9.93089908e-01 1.17354450e-01 6.06933149e-04 3.25642576e+02] [-1.17354441e-01 9.93090093e-01 -5.09759428e-05 -2.03946929e+01] [-6.08721551e-04 -2.06026061e-05 9.99999815e-01 -1.64855711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.940281693 meters Centerline goodness [0,1] 0.9986218009880626 Centerline is valid? [True, True] Translation: X:325.67, Y:-20.40, Z:-1.65 [[ 9.93235386e-01 1.16109305e-01 1.44848979e-03 3.25670835e+02] [-1.16109251e-01 9.93236441e-01 -1.21269181e-04 -2.04034005e+01] [-1.45277332e-03 -4.77342224e-05 9.99998944e-01 -1.64714439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97028169299995 meters Centerline goodness [0,1] 0.9986549095800329 Centerline is valid? [True, True] Translation: X:325.70, Y:-20.41, Z:-1.65 [[ 9.93398001e-01 1.14712858e-01 1.17093508e-03 3.25699951e+02] [-1.14712822e-01 9.93398691e-01 -9.79847129e-05 -2.04080572e+01] [-1.17444548e-03 -3.69834494e-05 9.99999310e-01 -1.64826080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.000281693 meters Centerline goodness [0,1] 0.9988531622987724 Centerline is valid? [True, True] Translation: X:325.73, Y:-20.41, Z:-1.65 [[ 9.93888207e-01 1.10390392e-01 -4.38815671e-04 3.25728493e+02] [-1.10390386e-01 9.93888304e-01 3.66019712e-05 -2.04114109e+01] [ 4.40174269e-04 1.20627639e-05 9.99999903e-01 -1.65179851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03028169299995 meters Centerline goodness [0,1] 0.9992357336956522 Centerline is valid? [True, True] Translation: X:325.76, Y:-20.42, Z:-1.65 [[ 9.94119865e-01 1.08282754e-01 -7.34286713e-04 3.25757270e+02] [-1.08282738e-01 9.94120136e-01 6.12715439e-05 -2.04199479e+01] [ 7.36603859e-04 1.85993170e-05 9.99999729e-01 -1.65108655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.060281693 meters Centerline goodness [0,1] 0.999337946352298 Centerline is valid? [True, True] Translation: X:325.79, Y:-20.42, Z:-1.65 [[ 9.94312256e-01 1.06503641e-01 -3.36073678e-04 3.25785643e+02] [-1.06503638e-01 9.94312312e-01 2.79623896e-05 -2.04197592e+01] [ 3.37140292e-04 7.98972262e-06 9.99999943e-01 -1.65078466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09028169299995 meters Centerline goodness [0,1] 0.999339891827435 Centerline is valid? [True, True] Translation: X:325.81, Y:-20.42, Z:-1.65 [[ 9.94398803e-01 1.05686107e-01 1.21153126e-03 3.25814009e+02] [-1.05686062e-01 9.94399540e-01 -1.01202618e-04 -2.04221886e+01] [-1.21544184e-03 -2.74062060e-05 9.99999261e-01 -1.64783427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.120281693 meters Centerline goodness [0,1] 0.9991299365490313 Centerline is valid? [True, True] Translation: X:325.84, Y:-20.42, Z:-1.65 [[ 9.94366062e-01 1.05988444e-01 1.60755739e-03 3.25842371e+02] [-1.05988365e-01 9.94367361e-01 -1.34180837e-04 -2.04174316e+01] [-1.61272422e-03 -3.69575091e-05 9.99998699e-01 -1.64730076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15028169299995 meters Centerline goodness [0,1] 0.9993862953400771 Centerline is valid? [True, True] Translation: X:325.87, Y:-20.42, Z:-1.65 [[ 9.94490019e-01 1.04831031e-01 2.38349837e-04 3.25870914e+02] [-1.04831029e-01 9.94490048e-01 -1.99629500e-05 -2.04242569e+01] [-2.39129277e-04 -5.13350412e-06 9.99999971e-01 -1.64988981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.180281693 meters Centerline goodness [0,1] 0.9995544711997454 Centerline is valid? [True, True] Translation: X:325.90, Y:-20.43, Z:-1.65 [[ 9.94662239e-01 1.03182061e-01 -7.01546337e-04 3.25899876e+02] [-1.03182045e-01 9.94662487e-01 5.83405974e-05 -2.04279690e+01] [ 7.03821527e-04 1.43577967e-05 9.99999752e-01 -1.65213710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21028169299996 meters Centerline goodness [0,1] 0.9996584480734336 Centerline is valid? [True, True] Translation: X:325.93, Y:-20.44, Z:-1.65 [[ 9.95160590e-01 9.82618170e-02 -1.20420258e-04 3.25928642e+02] [-9.82618165e-02 9.95160598e-01 9.97808003e-06 -2.04389455e+01] [ 1.20817960e-04 1.90292129e-06 9.99999993e-01 -1.65129722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.240281693 meters Centerline goodness [0,1] 0.9997015879782586 Centerline is valid? [True, True] Translation: X:325.96, Y:-20.44, Z:-1.65 [[ 9.95424649e-01 9.55458073e-02 8.75387251e-04 3.25956497e+02] [-9.55457801e-02 9.95425034e-01 -7.29556770e-05 -2.04443001e+01] [-8.78352993e-04 -1.10176786e-05 9.99999614e-01 -1.64883904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27028169299996 meters Centerline goodness [0,1] 0.99991462113127 Centerline is valid? [True, True] Translation: X:325.98, Y:-20.45, Z:-1.65 [[ 9.95630677e-01 9.33536569e-02 2.15620774e-03 3.25984998e+02] [-9.33534872e-02 9.95633012e-01 -1.79453319e-04 -2.04507091e+01] [-2.16354423e-03 -2.26202816e-05 9.99997659e-01 -1.64616225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.300281693 meters Centerline goodness [0,1] 0.9998723757258631 Centerline is valid? [True, True] Translation: X:326.01, Y:-20.46, Z:-1.64 [[ 9.95892432e-01 9.04742698e-02 3.55954124e-03 3.26013711e+02] [-9.04737896e-02 9.95898793e-01 -2.96037523e-04 -2.04598819e+01] [-3.57172660e-03 -2.72236562e-05 9.99993621e-01 -1.64351871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33028169299996 meters Centerline goodness [0,1] 0.9998105223267858 Centerline is valid? [True, True] Translation: X:326.04, Y:-20.46, Z:-1.64 [[ 9.95954820e-01 8.97842441e-02 3.57581294e-03 3.26041333e+02] [-8.97837556e-02 9.95961239e-01 -2.97233565e-04 -2.04646431e+01] [-3.58805798e-03 -2.50187134e-05 9.99993563e-01 -1.64433010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.360281693 meters Centerline goodness [0,1] 0.9997432441106617 Centerline is valid? [True, True] Translation: X:326.07, Y:-20.48, Z:-1.64 [[ 9.96169525e-01 8.73391819e-02 4.25960875e-03 3.26069828e+02] [-8.73384673e-02 9.96178632e-01 -3.53853040e-04 -2.04758607e+01] [-4.27423645e-03 -1.95300842e-05 9.99990865e-01 -1.64425192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39028169299996 meters Centerline goodness [0,1] 0.999828785446763 Centerline is valid? [True, True] Translation: X:326.10, Y:-20.48, Z:-1.64 [[ 9.96296871e-01 8.58707172e-02 4.33190737e-03 3.26097428e+02] [-8.58699651e-02 9.96306288e-01 -3.59650233e-04 -2.04826621e+01] [-4.34678998e-03 -1.36623333e-05 9.99990553e-01 -1.64364753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.420281693 meters Centerline goodness [0,1] 0.9998945080912294 Centerline is valid? [True, True] Translation: X:326.12, Y:-20.50, Z:-1.64 [[ 9.96464295e-01 8.39629632e-02 3.02146156e-03 3.26124365e+02] [-8.39625890e-02 9.96468876e-01 -2.50710692e-04 -2.04952145e+01] [-3.03184282e-03 -3.86548191e-06 9.99995404e-01 -1.64443628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45028169299997 meters Centerline goodness [0,1] 0.9999572219964494 Centerline is valid? [True, True] Translation: X:326.15, Y:-20.50, Z:-1.65 [[ 9.96501767e-01 8.35392652e-02 2.32779350e-03 3.26152302e+02] [-8.35390422e-02 9.96504486e-01 -1.93045293e-04 -2.05023147e+01] [-2.33578352e-03 -2.09166349e-06 9.99997272e-01 -1.64607346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48028169299994 meters Centerline goodness [0,1] 0.9999575866822182 Centerline is valid? [True, True] Translation: X:326.18, Y:-20.51, Z:-1.65 [[ 9.96512287e-01 8.34325231e-02 1.50859628e-03 3.26179539e+02] [-8.34324294e-02 9.96513429e-01 -1.25079254e-04 -2.05081006e+01] [-1.51377213e-03 -1.22283947e-06 9.99998854e-01 -1.64753304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51028169299997 meters Centerline goodness [0,1] 0.9998923295576898 Centerline is valid? [True, True] Translation: X:326.21, Y:-20.52, Z:-1.65 [[ 9.96392427e-01 8.48597640e-02 9.75206348e-04 3.26207726e+02] [-8.48597255e-02 9.96392905e-01 -8.08283407e-05 -2.05152090e+01] [-9.78547760e-04 -2.21899648e-06 9.99999521e-01 -1.64978502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54028169299994 meters Centerline goodness [0,1] 0.9998504337421478 Centerline is valid? [True, True] Translation: X:326.24, Y:-20.52, Z:-1.65 [[ 9.96292258e-01 8.60305561e-02 6.92170927e-04 3.26235377e+02] [-8.60305370e-02 9.96292499e-01 -5.73817011e-05 -2.05199857e+01] [-6.94541282e-04 -2.37889201e-06 9.99999759e-01 -1.65047980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57028169299997 meters Centerline goodness [0,1] 0.9998089050257978 Centerline is valid? [True, True] Translation: X:326.26, Y:-20.53, Z:-1.65 [[ 9.96084084e-01 8.84099869e-02 4.15422550e-04 3.26262833e+02] [-8.84099802e-02 9.96084170e-01 -3.44627608e-05 -2.05270874e+01] [-4.16842678e-04 -2.39969184e-06 9.99999913e-01 -1.65088858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60028169299994 meters Centerline goodness [0,1] 0.9998510131108462 Centerline is valid? [True, True] Translation: X:326.29, Y:-20.53, Z:-1.65 [[ 9.95976698e-01 8.96120760e-02 3.04745678e-04 3.26291329e+02] [-8.96120725e-02 9.95976745e-01 -2.52747675e-05 -2.05315506e+01] [-3.05784533e-04 -2.13581231e-06 9.99999953e-01 -1.65074914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.630281693 meters Centerline goodness [0,1] 0.9998505774115738 Centerline is valid? [True, True] Translation: X:326.32, Y:-20.53, Z:-1.65 [[ 9.95858812e-01 9.09118027e-02 5.21199787e-04 3.26318668e+02] [-9.09117926e-02 9.95858948e-01 -4.31520122e-05 -2.05348586e+01] [-5.22964498e-04 -4.40989528e-06 9.99999863e-01 -1.65047817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66028169299994 meters Centerline goodness [0,1] 0.9997855733767904 Centerline is valid? [True, True] Translation: X:326.35, Y:-20.54, Z:-1.65 [[ 9.95562556e-01 9.40853429e-02 1.77344157e-03 3.26347163e+02] [-9.40852313e-02 9.95564135e-01 -1.46436050e-04 -2.05363141e+01] [-1.77935231e-03 -2.10684120e-05 9.99998417e-01 -1.64828412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.690281693 meters Centerline goodness [0,1] 0.9996413653432344 Centerline is valid? [True, True] Translation: X:326.38, Y:-20.54, Z:-1.65 [[ 9.95348573e-01 9.63163964e-02 2.09030775e-03 3.26375808e+02] [-9.63162465e-02 9.95350768e-01 -1.72487887e-04 -2.05362201e+01] [-2.09720283e-03 -2.96450239e-05 9.99997800e-01 -1.64675310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72028169299995 meters Centerline goodness [0,1] 0.9993565683646113 Centerline is valid? [True, True] Translation: X:326.41, Y:-20.53, Z:-1.65 [[ 9.94792504e-01 1.01893363e-01 2.36998313e-03 3.26406131e+02] [-1.01893187e-01 9.94795326e-01 -1.95452013e-04 -2.05304960e+01] [-2.37756340e-03 -4.70509365e-05 9.99997172e-01 -1.64634427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.750281693 meters Centerline goodness [0,1] 0.9987661412130109 Centerline is valid? [True, True] Translation: X:326.44, Y:-20.53, Z:-1.65 [[ 9.94448934e-01 1.05191179e-01 2.47655872e-03 3.26436346e+02] [-1.05190997e-01 9.94452016e-01 -2.04183325e-04 -2.05280128e+01] [-2.48429709e-03 -5.74617910e-05 9.99996912e-01 -1.64708476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78028169299995 meters Centerline goodness [0,1] 0.9984964635127694 Centerline is valid? [True, True] Translation: X:326.47, Y:-20.52, Z:-1.65 [[ 9.94051777e-01 1.08883569e-01 2.33081825e-03 3.26465752e+02] [-1.08883418e-01 9.94054508e-01 -1.92115331e-04 -2.05239015e+01] [-2.33787859e-03 -6.28148714e-05 9.99997265e-01 -1.64725533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.810281693 meters Centerline goodness [0,1] 0.9973279750325987 Centerline is valid? [True, True] Translation: X:326.50, Y:-20.52, Z:-1.65 [[ 9.93333386e-01 1.15263891e-01 1.73772757e-03 3.26496907e+02] [-1.15263817e-01 9.93334904e-01 -1.43178180e-04 -2.05150968e+01] [-1.74264872e-03 -5.80734457e-05 9.99998480e-01 -1.64879181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84028169299995 meters Centerline goodness [0,1] 0.9965624664303362 Centerline is valid? [True, True] Translation: X:326.53, Y:-20.51, Z:-1.65 [[ 9.93103276e-01 1.17239823e-01 8.40321188e-04 3.26526021e+02] [-1.17239807e-01 9.93103632e-01 -6.92790709e-05 -2.05128598e+01] [-8.42648289e-04 -2.97178213e-05 9.99999645e-01 -1.65057628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.870281693 meters Centerline goodness [0,1] 0.9958052083555139 Centerline is valid? [True, True] Translation: X:326.56, Y:-20.51, Z:-1.65 [[ 9.92799382e-01 1.19788905e-01 -6.89255607e-05 3.26555823e+02] [-1.19788905e-01 9.92799385e-01 5.62776298e-06 -2.05112235e+01] [ 6.91033978e-05 2.66927779e-06 9.99999998e-01 -1.65303623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90028169299995 meters Centerline goodness [0,1] 0.9956799277838674 Centerline is valid? [True, True] Translation: X:326.58, Y:-20.51, Z:-1.65 [[ 9.92690054e-01 1.20691566e-01 5.97824079e-05 3.26584746e+02] [-1.20691566e-01 9.92690055e-01 -5.01363052e-06 -2.05091728e+01] [-5.99505047e-05 -2.23825127e-06 9.99999998e-01 -1.65238678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.930281693 meters Centerline goodness [0,1] 0.9930625843454791 Centerline is valid? [True, True] Translation: X:326.61, Y:-20.50, Z:-1.65 [[ 9.92452121e-01 1.22630249e-01 7.80606035e-04 3.26614162e+02] [-1.22630236e-01 9.92452428e-01 -6.42824770e-05 -2.04995758e+01] [-7.82597330e-04 -3.19286218e-05 9.99999693e-01 -1.65188747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96028169299996 meters Centerline goodness [0,1] 0.9937296106427149 Centerline is valid? [True, True] Translation: X:326.64, Y:-20.50, Z:-1.65 [[ 9.92382956e-01 1.23186072e-01 1.12272707e-03 3.26642606e+02] [-1.23186046e-01 9.92383590e-01 -9.23980345e-05 -2.05017267e+01] [-1.12555807e-03 -4.66100738e-05 9.99999365e-01 -1.65164433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.990281693 meters Centerline goodness [0,1] 0.9957003508171473 Centerline is valid? [True, True] Translation: X:326.67, Y:-20.51, Z:-1.65 [[ 9.92354685e-01 1.23413233e-01 1.16338084e-03 3.26670919e+02] [-1.23413206e-01 9.92355365e-01 -9.56909888e-05 -2.05062765e+01] [-1.16629675e-03 -4.86171578e-05 9.99999319e-01 -1.65144085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02028169299996 meters Centerline goodness [0,1] 0.9940822081695436 Centerline is valid? [True, True] Translation: X:326.70, Y:-20.50, Z:-1.65 [[ 9.92532763e-01 1.21976004e-01 7.54007770e-04 3.26699965e+02] [-1.21975992e-01 9.92533049e-01 -6.20334958e-05 -2.04953771e+01] [-7.55944229e-04 -3.04005685e-05 9.99999714e-01 -1.65255616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.050281693 meters Centerline goodness [0,1] 0.9965783265679128 Centerline is valid? [True, True] Translation: X:326.73, Y:-20.50, Z:-1.66 [[ 9.92752566e-01 1.20175830e-01 -3.34493036e-04 3.26728339e+02] [-1.20175828e-01 9.92752623e-01 2.73536859e-05 -2.05015550e+01] [ 3.35356091e-04 1.30425356e-05 9.99999944e-01 -1.65509318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08028169299996 meters Centerline goodness [0,1] 0.9965783265679128 Centerline is valid? [True, True] Translation: X:326.76, Y:-20.50, Z:-1.66 [[ 9.92760811e-01 1.20107703e-01 -3.34498875e-04 3.26755766e+02] [-1.20107700e-01 9.92760867e-01 2.72824671e-05 -2.05036691e+01] [ 3.35354228e-04 1.30909264e-05 9.99999944e-01 -1.65515108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.110281693 meters Centerline goodness [0,1] 0.9978546698103188 Centerline is valid? [True, True] Translation: X:326.79, Y:-20.51, Z:-1.66 [[ 9.93314738e-01 1.15421852e-01 -1.90443355e-03 3.26785514e+02] [-1.15421765e-01 9.93316562e-01 1.56097625e-04 -2.05052272e+01] [ 1.90972246e-03 6.47590096e-05 9.99998174e-01 -1.65877243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14028169299996 meters Centerline goodness [0,1] 0.9987487540559455 Centerline is valid? [True, True] Translation: X:326.81, Y:-20.51, Z:-1.66 [[ 9.93703183e-01 1.12037848e-01 -1.22644201e-03 3.26814610e+02] [-1.12037809e-01 9.93703939e-01 1.00466823e-04 -2.05116774e+01] [ 1.22997634e-03 3.75736737e-05 9.99999243e-01 -1.65674709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.170281693 meters Centerline goodness [0,1] 0.9985835694050992 Centerline is valid? [True, True] Translation: X:326.84, Y:-20.51, Z:-1.66 [[ 9.94135460e-01 1.08141976e-01 -3.07668650e-05 3.26843970e+02] [-1.08141976e-01 9.94135460e-01 2.47164841e-06 -2.05095322e+01] [ 3.08537204e-05 8.70036235e-07 1.00000000e+00 -1.65504122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20028169299997 meters Centerline goodness [0,1] 0.9993228659697829 Centerline is valid? [True, True] Translation: X:326.87, Y:-20.52, Z:-1.65 [[ 9.94573155e-01 1.04033789e-01 1.10038639e-03 3.26873096e+02] [-1.04033753e-01 9.94573763e-01 -9.01819912e-05 -2.05191734e+01] [-1.10379741e-03 -2.47847388e-05 9.99999391e-01 -1.65263904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23028169299994 meters Centerline goodness [0,1] 0.9998729378878042 Centerline is valid? [True, True] Translation: X:326.90, Y:-20.53, Z:-1.65 [[ 9.95351848e-01 9.62837110e-02 2.03601398e-03 3.26901946e+02] [-9.62835712e-02 9.95353930e-01 -1.66773939e-04 -2.05319751e+01] [-2.04261213e-03 -3.00359478e-05 9.99997913e-01 -1.65121393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26028169299997 meters Centerline goodness [0,1] 0.9997659026580689 Centerline is valid? [True, True] Translation: X:326.93, Y:-20.54, Z:-1.65 [[ 9.95649275e-01 9.31458394e-02 2.52471823e-03 3.26929134e+02] [-9.31456146e-02 9.95652475e-01 -2.06721110e-04 -2.05378639e+01] [-2.53299716e-03 -2.93447077e-05 9.99996792e-01 -1.65068157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29028169299994 meters Centerline goodness [0,1] 0.9998299102776714 Centerline is valid? [True, True] Translation: X:326.96, Y:-20.55, Z:-1.65 [[ 9.96069992e-01 8.85416526e-02 2.22430131e-03 3.26956413e+02] [-8.85414669e-02 9.96072475e-01 -1.82009399e-04 -2.05455437e+01] [-2.23168072e-03 -1.56488005e-05 9.99997510e-01 -1.65117979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32028169299997 meters Centerline goodness [0,1] 0.9999787505312367 Centerline is valid? [True, True] Translation: X:326.99, Y:-20.55, Z:-1.65 [[ 9.96209332e-01 8.69669425e-02 1.92830428e-03 3.26985350e+02] [-8.69668002e-02 9.96211198e-01 -1.57700006e-04 -2.05500209e+01] [-1.93471300e-03 -1.05962350e-05 9.99998128e-01 -1.65207024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35028169299994 meters Centerline goodness [0,1] 0.9998930000642 Centerline is valid? [True, True] Translation: X:327.01, Y:-20.55, Z:-1.65 [[ 9.96306038e-01 8.58526963e-02 1.89559330e-03 3.27013598e+02] [-8.58525569e-02 9.96307841e-01 -1.54942010e-04 -2.05546533e+01] [-1.90189666e-03 -8.37187203e-06 9.99998191e-01 -1.65240954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.380281693 meters Centerline goodness [0,1] 0.9999363624793178 Centerline is valid? [True, True] Translation: X:327.04, Y:-20.56, Z:-1.65 [[ 9.96418367e-01 8.45521115e-02 1.17411762e-03 3.27040888e+02] [-8.45520572e-02 9.96419059e-01 -9.59637953e-05 -2.05594751e+01] [-1.17802711e-03 -3.65397175e-06 9.99999306e-01 -1.65335756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41028169299994 meters Centerline goodness [0,1] 0.9999360586555267 Centerline is valid? [True, True] Translation: X:327.07, Y:-20.56, Z:-1.65 [[ 9.96438683e-01 8.43174764e-02 7.16730986e-04 3.27068551e+02] [-8.43174561e-02 9.96438941e-01 -5.85844972e-05 -2.05624470e+01] [-7.19118362e-04 -2.05707425e-06 9.99999741e-01 -1.65458243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.440281693 meters Centerline goodness [0,1] 0.9999787329065737 Centerline is valid? [True, True] Translation: X:327.10, Y:-20.57, Z:-1.66 [[ 9.96432236e-01 8.43963242e-02 2.44022501e-04 3.27097078e+02] [-8.43963219e-02 9.96432266e-01 -1.99889667e-05 -2.05667335e+01] [-2.44838889e-04 -6.76950749e-07 9.99999970e-01 -1.65589355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47028169299995 meters Centerline goodness [0,1] 0.9999577184897045 Centerline is valid? [True, True] Translation: X:327.13, Y:-20.57, Z:-1.65 [[ 9.96415265e-01 8.45909836e-02 9.92876155e-04 3.27125139e+02] [-8.45909449e-02 9.96415759e-01 -8.10133957e-05 -2.05689946e+01] [-9.96170451e-04 -3.26534805e-06 9.99999504e-01 -1.65465146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.500281693 meters Centerline goodness [0,1] 0.9999360790914709 Centerline is valid? [True, True] Translation: X:327.15, Y:-20.57, Z:-1.65 [[ 9.96387848e-01 8.48921513e-02 2.13972424e-03 3.27154016e+02] [-8.48919727e-02 9.96390146e-01 -1.74315496e-04 -2.05706031e+01] [-2.14679816e-03 -7.95956945e-06 9.99997696e-01 -1.65301979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53028169299995 meters Centerline goodness [0,1] 0.9999786484466745 Centerline is valid? [True, True] Translation: X:327.18, Y:-20.57, Z:-1.65 [[ 9.96283097e-01 8.61350714e-02 8.60410104e-04 3.27182683e+02] [-8.61350429e-02 9.96283468e-01 -7.01117408e-05 -2.05711775e+01] [-8.63251442e-04 -4.26031897e-06 9.99999627e-01 -1.65473904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.560281693 meters Centerline goodness [0,1] 0.9999361362426823 Centerline is valid? [True, True] Translation: X:327.21, Y:-20.57, Z:-1.66 [[ 9.96267304e-01 8.63207751e-02 -4.27063033e-04 3.27210145e+02] [-8.63207682e-02 9.96267396e-01 3.46042961e-05 -2.05738924e+01] [ 4.28456045e-04 2.38928028e-06 9.99999908e-01 -1.65800543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59028169299995 meters Centerline goodness [0,1] 0.999936790206696 Centerline is valid? [True, True] Translation: X:327.24, Y:-20.58, Z:-1.66 [[ 9.96211262e-01 8.69518774e-02 -1.57894663e-03 3.27238264e+02] [-8.69517834e-02 9.96212513e-01 1.28196649e-04 -2.05765206e+01] [ 1.58411333e-03 9.58128041e-06 9.99998745e-01 -1.66056232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.620281693 meters Centerline goodness [0,1] 0.999935745036304 Centerline is valid? [True, True] Translation: X:327.27, Y:-20.58, Z:-1.66 [[ 9.96142711e-01 8.77380671e-02 -1.31562560e-03 3.27267517e+02] [-8.77380026e-02 9.96143580e-01 1.06763128e-04 -2.05780998e+01] [ 1.31991919e-03 9.07905109e-06 9.99999129e-01 -1.65986334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65028169299995 meters Centerline goodness [0,1] 0.9999145846679479 Centerline is valid? [True, True] Translation: X:327.30, Y:-20.58, Z:-1.66 [[ 9.96064764e-01 8.86258089e-02 -6.71866910e-04 3.27295865e+02] [-8.86257924e-02 9.96064991e-01 5.44179600e-05 -2.05791160e+01] [ 6.74045943e-04 5.34092478e-06 9.99999773e-01 -1.65896147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.680281693 meters Centerline goodness [0,1] 0.9998519802922332 Centerline is valid? [True, True] Translation: X:327.32, Y:-20.58, Z:-1.66 [[ 9.95826265e-01 9.12690024e-02 1.40603393e-04 3.27323887e+02] [-9.12690017e-02 9.95826275e-01 -1.15187962e-05 -2.05772906e+01] [-1.41067862e-04 -1.36201147e-06 9.99999990e-01 -1.65675304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71028169299996 meters Centerline goodness [0,1] 0.9998098417460753 Centerline is valid? [True, True] Translation: X:327.35, Y:-20.58, Z:-1.66 [[ 9.95726055e-01 9.23530983e-02 7.27609201e-04 3.27352791e+02] [-9.23530798e-02 9.95726320e-01 -5.90766829e-05 -2.05765082e+01] [-7.29955547e-04 -8.37275822e-06 9.99999734e-01 -1.65590075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.740281693 meters Centerline goodness [0,1] 0.9998305120654224 Centerline is valid? [True, True] Translation: X:327.38, Y:-20.57, Z:-1.66 [[ 9.95539615e-01 9.43418848e-02 6.95563804e-04 3.27381662e+02] [-9.43418684e-02 9.95539858e-01 -5.64890718e-05 -2.05715053e+01] [-6.97790776e-04 -9.38368008e-06 9.99999757e-01 -1.65685271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77028169299996 meters Centerline goodness [0,1] 0.9998511525048907 Centerline is valid? [True, True] Translation: X:327.41, Y:-20.57, Z:-1.66 [[ 9.95488594e-01 9.48809337e-02 2.61284896e-04 3.27410951e+02] [-9.48809314e-02 9.95488628e-01 -2.12416851e-05 -2.05711344e+01] [-2.62121573e-04 -3.64509905e-06 9.99999966e-01 -1.65784817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.800281693 meters Centerline goodness [0,1] 0.9997878389273136 Centerline is valid? [True, True] Translation: X:327.44, Y:-20.57, Z:-1.66 [[ 9.95478473e-01 9.49870151e-02 2.78013325e-04 3.27439898e+02] [-9.49870125e-02 9.95478512e-01 -2.25839425e-05 -2.05720232e+01] [-2.78901472e-04 -3.92582655e-06 9.99999961e-01 -1.65758089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83028169299996 meters Centerline goodness [0,1] 0.9998310382698319 Centerline is valid? [True, True] Translation: X:327.47, Y:-20.57, Z:-1.66 [[ 9.95634767e-01 9.33279907e-02 1.13860197e-03 3.27467551e+02] [-9.33279463e-02 9.95635418e-01 -9.21750007e-05 -2.05738240e+01] [-1.14223496e-03 -1.44907483e-05 9.99999348e-01 -1.65506822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.860281693 meters Centerline goodness [0,1] 0.9999368474233749 Centerline is valid? [True, True] Translation: X:327.50, Y:-20.58, Z:-1.65 [[ 9.95783562e-01 9.17259025e-02 1.20643526e-03 3.27495518e+02] [-9.17258516e-02 9.95784293e-01 -9.75948477e-05 -2.05771333e+01] [-1.21030126e-03 -1.34779565e-05 9.99999267e-01 -1.65468140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89028169299996 meters Centerline goodness [0,1] 0.9999577032885694 Centerline is valid? [True, True] Translation: X:327.52, Y:-20.58, Z:-1.65 [[ 9.96104115e-01 8.81598969e-02 2.10339617e-03 3.27523023e+02] [-8.81597346e-02 9.96106336e-01 -1.69961205e-04 -2.05837954e+01] [-2.11019001e-03 -1.61357924e-05 9.99997773e-01 -1.65421166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.920281693 meters Centerline goodness [0,1] 0.9999788476182419 Centerline is valid? [True, True] Translation: X:327.55, Y:-20.59, Z:-1.65 [[ 9.96239927e-01 8.65936669e-02 2.74671958e-03 3.27552032e+02] [-8.65933845e-02 9.96243713e-01 -2.21772565e-04 -2.05879564e+01] [-2.75560621e-03 -1.69090611e-05 9.99996203e-01 -1.65304502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.58, Y:-20.59, Z:-1.65 [[ 9.96418586e-01 8.45460972e-02 1.39976210e-03 3.27580532e+02] [-8.45460219e-02 9.96419569e-01 -1.13002468e-04 -2.05922571e+01] [-1.40430426e-03 -5.74655770e-06 9.99999014e-01 -1.65489210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98028169299994 meters Centerline goodness [0,1] 0.9999365455391515 Centerline is valid? [True, True] Translation: X:327.61, Y:-20.59, Z:-1.66 [[ 9.96426261e-01 8.44671910e-02 -6.84720157e-06 3.27609364e+02] [-8.44671910e-02 9.96426261e-01 4.64464172e-07 -2.05940633e+01] [ 6.86196344e-06 1.15559586e-07 1.00000000e+00 -1.65749805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01028169299997 meters Centerline goodness [0,1] 0.999914451312103 Centerline is valid? [True, True] Translation: X:327.64, Y:-20.59, Z:-1.66 [[ 9.96420430e-01 8.45355217e-02 2.68269823e-04 3.27637424e+02] [-8.45355190e-02 9.96420466e-01 -2.17439847e-05 -2.05949230e+01] [-2.69147682e-04 -1.01217817e-06 9.99999964e-01 -1.65718469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04028169299994 meters Centerline goodness [0,1] 0.9999361172036371 Centerline is valid? [True, True] Translation: X:327.67, Y:-20.60, Z:-1.65 [[ 9.96451615e-01 8.41529606e-02 1.56756577e-03 3.27666339e+02] [-8.41528660e-02 9.96452848e-01 -1.26309727e-04 -2.05979419e+01] [-1.57263471e-03 -6.05361994e-06 9.99998763e-01 -1.65474945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07028169299997 meters Centerline goodness [0,1] 0.9999363935121383 Centerline is valid? [True, True] Translation: X:327.69, Y:-20.60, Z:-1.65 [[ 9.96518570e-01 8.33285352e-02 2.66361396e-03 3.27694446e+02] [-8.33282596e-02 9.96522130e-01 -2.14453533e-04 -2.06026690e+01] [-2.67222036e-03 -8.24738836e-06 9.99996430e-01 -1.65320331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10028169299994 meters Centerline goodness [0,1] 0.9999357752991801 Centerline is valid? [True, True] Translation: X:327.72, Y:-20.61, Z:-1.66 [[ 9.96850942e-01 7.92712870e-02 2.06438345e-03 3.27722251e+02] [-7.92711129e-02 9.96853080e-01 -1.66142092e-04 -2.06138831e+01] [-2.07105730e-03 1.97292694e-06 9.99997855e-01 -1.65569201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.130281693 meters Centerline goodness [0,1] 0.9998946791928214 Centerline is valid? [True, True] Translation: X:327.75, Y:-20.62, Z:-1.66 [[ 9.97010041e-01 7.72644119e-02 1.09060639e-03 3.27749328e+02] [-7.72643621e-02 9.97010637e-01 -8.77791300e-05 -2.06205325e+01] [-1.09412838e-03 3.25166687e-06 9.99999401e-01 -1.65736007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16028169299994 meters Centerline goodness [0,1] 0.9998935513401886 Centerline is valid? [True, True] Translation: X:327.78, Y:-20.63, Z:-1.66 [[ 9.97155524e-01 7.53679564e-02 7.30066396e-04 3.27777792e+02] [-7.53679336e-02 9.97155791e-01 -5.87418313e-05 -2.06259669e+01] [-7.32417187e-04 3.55114592e-06 9.99999732e-01 -1.65726796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.190281693 meters Centerline goodness [0,1] 0.9999354824834943 Centerline is valid? [True, True] Translation: X:327.81, Y:-20.63, Z:-1.66 [[ 9.97407758e-01 7.19560114e-02 3.12350335e-04 3.27805317e+02] [-7.19560071e-02 9.97407806e-01 -2.51946491e-05 -2.06347779e+01] [-3.13353569e-04 2.65385558e-06 9.99999951e-01 -1.65833384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22028169299995 meters Centerline goodness [0,1] 0.9998500878057138 Centerline is valid? [True, True] Translation: X:327.83, Y:-20.64, Z:-1.66 [[ 9.97499280e-01 7.06750135e-02 -4.78939114e-04 3.27833848e+02] [-7.06750032e-02 9.97499395e-01 3.83214764e-05 -2.06393928e+01] [ 4.80449848e-04 -4.37662164e-06 9.99999885e-01 -1.65964647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.250281693 meters Centerline goodness [0,1] 0.9997668454185125 Centerline is valid? [True, True] Translation: X:327.86, Y:-20.65, Z:-1.66 [[ 9.97581767e-01 6.94949835e-02 -1.03266705e-03 3.27861402e+02] [-6.94949352e-02 9.97582301e-01 8.26375217e-05 -2.06450951e+01] [ 1.03591326e-03 -1.06725554e-05 9.99999463e-01 -1.66068844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28028169299995 meters Centerline goodness [0,1] 0.9997655683900942 Centerline is valid? [True, True] Translation: X:327.89, Y:-20.65, Z:-1.66 [[ 9.97602852e-01 6.91979637e-02 -4.38508828e-04 3.27890025e+02] [-6.91979549e-02 9.97602948e-01 3.50312358e-05 -2.06479852e+01] [ 4.39881789e-04 -4.60334665e-06 9.99999903e-01 -1.65920363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.310281693 meters Centerline goodness [0,1] 0.9997414127483515 Centerline is valid? [True, True] Translation: X:327.92, Y:-20.65, Z:-1.66 [[ 9.97584491e-01 6.94633819e-02 -1.46079930e-04 3.27918871e+02] [-6.94633810e-02 9.97584502e-01 1.15977242e-05 -2.06496542e+01] [ 1.46532691e-04 -1.42250393e-06 9.99999989e-01 -1.65824077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34028169299995 meters Centerline goodness [0,1] 0.9998263436658852 Centerline is valid? [True, True] Translation: X:327.95, Y:-20.65, Z:-1.66 [[ 9.97477887e-01 7.09681167e-02 -1.17979160e-03 3.27948074e+02] [-7.09680548e-02 9.97478584e-01 9.42992550e-05 -2.06508798e+01] [ 1.18350910e-03 -1.03339064e-05 9.99999300e-01 -1.65954010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.370281693 meters Centerline goodness [0,1] 0.99991547271882 Centerline is valid? [True, True] Translation: X:327.98, Y:-20.65, Z:-1.66 [[ 9.97415270e-01 7.18388071e-02 -1.40185892e-03 3.27976121e+02] [-7.18387207e-02 9.97416255e-01 1.11959131e-04 -2.06544368e+01] [ 1.40627988e-03 -1.09619955e-05 9.99999011e-01 -1.66041910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40028169299995 meters Centerline goodness [0,1] 0.9999358508318009 Centerline is valid? [True, True] Translation: X:328.00, Y:-20.66, Z:-1.66 [[ 9.97366062e-01 7.25277789e-02 -8.11827664e-04 3.28003832e+02] [-7.25277502e-02 9.97366393e-01 6.47426586e-05 -2.06579276e+01] [ 8.14385270e-04 -5.69209645e-06 9.99999668e-01 -1.65885553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.430281693 meters Centerline goodness [0,1] 0.9999574829931973 Centerline is valid? [True, True] Translation: X:328.03, Y:-20.66, Z:-1.66 [[ 9.97327528e-01 7.30561908e-02 -7.71639139e-04 3.28032772e+02] [-7.30561651e-02 9.97327826e-01 6.15172773e-05 -2.06600594e+01] [ 7.74071403e-04 -4.97987781e-06 9.99999700e-01 -1.65809406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46028169299996 meters Centerline goodness [0,1] 0.9999366821443647 Centerline is valid? [True, True] Translation: X:328.06, Y:-20.66, Z:-1.66 [[ 9.97272082e-01 7.38036053e-02 -1.19290085e-03 3.28060836e+02] [-7.38035444e-02 9.97272795e-01 9.50613959e-05 -2.06633631e+01] [ 1.19666343e-03 -6.76176566e-06 9.99999284e-01 -1.65988488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.490281693 meters Centerline goodness [0,1] 0.9999784468823415 Centerline is valid? [True, True] Translation: X:328.09, Y:-20.66, Z:-1.66 [[ 9.97068798e-01 7.65010430e-02 -1.18463285e-03 3.28089385e+02] [-7.65009849e-02 9.97069501e-01 9.43692877e-05 -2.06646873e+01] [ 1.18838064e-03 -3.46709223e-06 9.99999294e-01 -1.65884989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52028169299996 meters Centerline goodness [0,1] 0.9999786643908684 Centerline is valid? [True, True] Translation: X:328.12, Y:-20.67, Z:-1.66 [[ 9.96913322e-01 7.85090518e-02 -3.96420930e-04 3.28118359e+02] [-7.85090454e-02 9.96913401e-01 3.14934617e-05 -2.06651707e+01] [ 3.97669860e-04 -2.73622733e-07 9.99999921e-01 -1.65723120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.550281693 meters Centerline goodness [0,1] 0.9999572284003422 Centerline is valid? [True, True] Translation: X:328.15, Y:-20.67, Z:-1.66 [[ 9.96744575e-01 8.06237948e-02 2.36210749e-04 3.28146918e+02] [-8.06237926e-02 9.96744603e-01 -1.89147907e-05 -2.06657348e+01] [-2.36966772e-04 -1.90991484e-07 9.99999972e-01 -1.65527370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58028169299996 meters Centerline goodness [0,1] 0.9999147721219611 Centerline is valid? [True, True] Translation: X:328.17, Y:-20.67, Z:-1.65 [[ 9.96500018e-01 8.35824566e-02 1.29867178e-03 3.28174481e+02] [-8.35823927e-02 9.96500864e-01 -1.03485496e-04 -2.06655380e+01] [-1.30277713e-03 -5.42279618e-06 9.99999151e-01 -1.65430051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.610281693 meters Centerline goodness [0,1] 0.999872185416356 Centerline is valid? [True, True] Translation: X:328.20, Y:-20.67, Z:-1.65 [[ 9.96415673e-01 8.45732287e-02 1.78229218e-03 3.28202211e+02] [-8.45731103e-02 9.96417266e-01 -1.41868885e-04 -2.06672112e+01] [-1.78790501e-03 -9.37361218e-06 9.99998402e-01 -1.65338117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64028169299996 meters Centerline goodness [0,1] 0.9998935241380779 Centerline is valid? [True, True] Translation: X:328.23, Y:-20.67, Z:-1.65 [[ 9.96304800e-01 8.58575404e-02 2.28634529e-03 3.28230786e+02] [-8.58573492e-02 9.96307424e-01 -1.81832567e-04 -2.06692855e+01] [-2.29351448e-03 -1.51388866e-05 9.99997370e-01 -1.65244257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.670281693 meters Centerline goodness [0,1] 0.9999152632136427 Centerline is valid? [True, True] Translation: X:328.26, Y:-20.67, Z:-1.65 [[ 9.96249472e-01 8.64977099e-02 2.26640277e-03 3.28259896e+02] [-8.64975239e-02 9.96252049e-01 -1.80139901e-04 -2.06704471e+01] [-2.27349010e-03 -1.65739472e-05 9.99997415e-01 -1.65282748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70028169299997 meters Centerline goodness [0,1] 0.9998712473981245 Centerline is valid? [True, True] Translation: X:328.29, Y:-20.67, Z:-1.65 [[ 9.96250763e-01 8.64763074e-02 2.50309613e-03 3.28288184e+02] [-8.64760808e-02 9.96253907e-01 -1.98822474e-04 -2.06721256e+01] [-2.51091273e-03 -1.83809013e-05 9.99996847e-01 -1.65279807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73028169299994 meters Centerline goodness [0,1] 0.9998108607935441 Centerline is valid? [True, True] Translation: X:328.32, Y:-20.67, Z:-1.65 [[ 9.96310274e-01 8.57609841e-02 3.30013476e-03 3.28315860e+02] [-8.57605870e-02 9.96315740e-01 -2.61924149e-04 -2.06725135e+01] [-3.31043908e-03 -2.20637733e-05 9.99994520e-01 -1.65088480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76028169299997 meters Centerline goodness [0,1] 0.9998296603853933 Centerline is valid? [True, True] Translation: X:328.34, Y:-20.68, Z:-1.65 [[ 9.96332529e-01 8.55090262e-02 3.11430669e-03 3.28344655e+02] [-8.55086718e-02 9.96337396e-01 -2.47006606e-04 -2.06757164e+01] [-3.12402151e-03 -2.01995125e-05 9.99995120e-01 -1.65144175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79028169299994 meters Centerline goodness [0,1] 0.9999152362788727 Centerline is valid? [True, True] Translation: X:328.37, Y:-20.68, Z:-1.65 [[ 9.96359835e-01 8.52420078e-02 9.37937907e-04 3.28372523e+02] [-8.52419755e-02 9.96360276e-01 -7.44297734e-05 -2.06750429e+01] [-9.40868616e-04 -5.79284340e-06 9.99999557e-01 -1.65464737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82028169299997 meters Centerline goodness [0,1] 0.9999571752815726 Centerline is valid? [True, True] Translation: X:328.40, Y:-20.68, Z:-1.66 [[ 9.96348733e-01 8.53762450e-02 3.13572176e-04 3.28401429e+02] [-8.53762414e-02 9.96348783e-01 -2.49250918e-05 -2.06754207e+01] [-3.14555267e-04 -1.93753013e-06 9.99999951e-01 -1.65588891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85028169299994 meters Centerline goodness [0,1] 0.9999363151973167 Centerline is valid? [True, True] Translation: X:328.43, Y:-20.67, Z:-1.66 [[ 9.96293636e-01 8.60173858e-02 -1.11441999e-05 3.28429997e+02] [-8.60173858e-02 9.96293636e-01 7.83628235e-07 -2.06748928e+01] [ 1.11703011e-05 1.77871123e-07 1.00000000e+00 -1.65690353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.880281693 meters Centerline goodness [0,1] 0.9999146775879354 Centerline is valid? [True, True] Translation: X:328.46, Y:-20.67, Z:-1.66 [[ 9.96154288e-01 8.76163424e-02 -1.04631424e-04 3.28459716e+02] [-8.76163420e-02 9.96154294e-01 8.17628819e-06 -2.06696967e+01] [ 1.04945418e-04 1.02257806e-06 9.99999994e-01 -1.65770438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91028169299994 meters Centerline goodness [0,1] 0.9998924638678596 Centerline is valid? [True, True] Translation: X:328.49, Y:-20.67, Z:-1.66 [[ 9.96105011e-01 8.81744144e-02 2.83225498e-04 3.28488538e+02] [-8.81744115e-02 9.96105051e-01 -2.24850554e-05 -2.06686775e+01] [-2.84104955e-04 -2.57576520e-06 9.99999960e-01 -1.65644257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.940281693 meters Centerline goodness [0,1] 0.9998720218416057 Centerline is valid? [True, True] Translation: X:328.52, Y:-20.66, Z:-1.66 [[ 9.96041380e-01 8.88889741e-02 -5.64566896e-04 3.28517046e+02] [-8.88889632e-02 9.96041540e-01 4.44608354e-05 -2.06640200e+01] [ 5.66284159e-04 5.89893419e-06 9.99999840e-01 -1.65871251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97028169299995 meters Centerline goodness [0,1] 0.9998720218416057 Centerline is valid? [True, True] Translation: X:328.54, Y:-20.67, Z:-1.66 [[ 9.96047517e-01 8.88201817e-02 -5.64571582e-04 3.28544462e+02] [-8.88201708e-02 9.96047677e-01 4.44014157e-05 -2.06660466e+01] [ 5.66283955e-04 5.91942451e-06 9.99999840e-01 -1.65877039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.000281693 meters Centerline goodness [0,1] 0.9998728355551788 Centerline is valid? [True, True] Translation: X:328.57, Y:-20.67, Z:-1.66 [[ 9.96019783e-01 8.91114296e-02 -1.93520015e-03 3.28573557e+02] [-8.91113015e-02 9.96021663e-01 1.52505779e-04 -2.06660049e+01] [ 1.94109128e-03 2.05494316e-05 9.99998116e-01 -1.66060550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03028169299995 meters Centerline goodness [0,1] 0.99982874879589 Centerline is valid? [True, True] Translation: X:328.60, Y:-20.66, Z:-1.66 [[ 9.96016408e-01 8.91258358e-02 -2.81080298e-03 3.28601844e+02] [-8.91255660e-02 9.96020374e-01 2.21363801e-04 -2.06644882e+01] [ 2.81934627e-03 3.00324292e-05 9.99996025e-01 -1.66247384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.060281693 meters Centerline goodness [0,1] 0.9998518675272458 Centerline is valid? [True, True] Translation: X:328.63, Y:-20.66, Z:-1.66 [[ 9.95945713e-01 8.99208092e-02 -2.52673672e-03 3.28629779e+02] [-8.99205942e-02 9.95948918e-01 1.98785093e-04 -2.06575973e+01] [ 2.53437562e-03 2.92265061e-05 9.99996788e-01 -1.66234814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09028169299995 meters Centerline goodness [0,1] 0.9998513989725301 Centerline is valid? [True, True] Translation: X:328.66, Y:-20.66, Z:-1.66 [[ 9.95958688e-01 8.97865960e-02 -2.15842030e-03 3.28657634e+02] [-8.97864392e-02 9.95961027e-01 1.69639640e-04 -2.06572129e+01] [ 2.16493386e-03 2.48427996e-05 9.99997656e-01 -1.66175917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.120281693 meters Centerline goodness [0,1] 0.9998289209186947 Centerline is valid? [True, True] Translation: X:328.69, Y:-20.65, Z:-1.66 [[ 9.95987673e-01 8.94649362e-02 -2.14033659e-03 3.28685335e+02] [-8.94647816e-02 9.95989972e-01 1.68024768e-04 -2.06540771e+01] [ 2.14678611e-03 2.41341477e-05 9.99997695e-01 -1.66163069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15028169299995 meters Centerline goodness [0,1] 0.9998718167834558 Centerline is valid? [True, True] Translation: X:328.71, Y:-20.65, Z:-1.66 [[ 9.96003499e-01 8.92882562e-02 -2.15358963e-03 3.28712847e+02] [-8.92880997e-02 9.96005827e-01 1.68896799e-04 -2.06531601e+01] [ 2.16006833e-03 2.40681234e-05 9.99997667e-01 -1.66173330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.180281693 meters Centerline goodness [0,1] 0.9998928418345477 Centerline is valid? [True, True] Translation: X:328.74, Y:-20.65, Z:-1.66 [[ 9.96008132e-01 8.92498615e-02 -1.50434971e-03 3.28742140e+02] [-8.92497852e-02 9.96009268e-01 1.17926388e-04 -2.06544764e+01] [ 1.50887116e-03 1.68072468e-05 9.99998862e-01 -1.66040755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21028169299996 meters Centerline goodness [0,1] 0.9998293406148004 Centerline is valid? [True, True] Translation: X:328.77, Y:-20.66, Z:-1.66 [[ 9.96077865e-01 8.84809862e-02 -3.82094273e-05 3.28771338e+02] [-8.84809861e-02 9.96077866e-01 2.92227783e-06 -2.06576042e+01] [ 3.83181309e-05 4.69991547e-07 9.99999999e-01 -1.65826901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.240281693 meters Centerline goodness [0,1] 0.9998726195783708 Centerline is valid? [True, True] Translation: X:328.80, Y:-20.66, Z:-1.66 [[ 9.96199941e-01 8.70950255e-02 3.66703870e-04 3.28798803e+02] [-8.70950208e-02 9.96200008e-01 -2.88724658e-05 -2.06600282e+01] [-3.67825047e-04 -3.17533249e-06 9.99999932e-01 -1.65797661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27028169299996 meters Centerline goodness [0,1] 0.9998723757258631 Centerline is valid? [True, True] Translation: X:328.83, Y:-20.67, Z:-1.66 [[ 9.96459771e-01 8.40706617e-02 2.22078118e-04 3.28827188e+02] [-8.40706599e-02 9.96459795e-01 -1.74839694e-05 -2.06691712e+01] [-2.22761805e-04 -1.24818183e-06 9.99999975e-01 -1.65784723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.300281693 meters Centerline goodness [0,1] 0.9998702562439182 Centerline is valid? [True, True] Translation: X:328.86, Y:-20.68, Z:-1.66 [[ 9.96566058e-01 8.28002647e-02 4.57167645e-04 3.28855992e+02] [-8.28002569e-02 9.96566162e-01 -3.58801477e-05 -2.06752550e+01] [-4.58568692e-04 -2.09666117e-06 9.99999895e-01 -1.65701678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33028169299996 meters Centerline goodness [0,1] 0.9998933970108522 Centerline is valid? [True, True] Translation: X:328.88, Y:-20.68, Z:-1.66 [[ 9.96606414e-01 8.23082874e-02 1.00104242e-03 3.28882584e+02] [-8.23082501e-02 9.96606916e-01 -7.84352919e-05 -2.06787736e+01] [-1.00410167e-03 -4.22493488e-06 9.99999496e-01 -1.65607167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.360281693 meters Centerline goodness [0,1] 0.9998516760605162 Centerline is valid? [True, True] Translation: X:328.91, Y:-20.68, Z:-1.66 [[ 9.96485608e-01 8.37569463e-02 1.09854985e-03 3.28910797e+02] [-8.37569024e-02 9.96486214e-01 -8.59494761e-05 -2.06811390e+01] [-1.10188864e-03 -6.36371634e-06 9.99999393e-01 -1.65545531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39028169299996 meters Centerline goodness [0,1] 0.9999362339787872 Centerline is valid? [True, True] Translation: X:328.94, Y:-20.68, Z:-1.66 [[ 9.96328690e-01 8.56100924e-02 2.32143516e-04 3.28939047e+02] [-8.56100904e-02 9.96328717e-01 -1.82412350e-05 -2.06801804e+01] [-2.32852885e-04 -1.69956166e-06 9.99999973e-01 -1.65744897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.420281693 meters Centerline goodness [0,1] 0.9998506507360785 Centerline is valid? [True, True] Translation: X:328.97, Y:-20.68, Z:-1.66 [[ 9.95853694e-01 9.09453326e-02 -2.08964269e-03 3.28969163e+02] [-9.09451908e-02 9.95855886e-01 1.62995224e-04 -2.06761011e+01] [ 2.09580663e-03 2.77235570e-05 9.99997803e-01 -1.66106111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45028169299997 meters Centerline goodness [0,1] 0.9997678002237561 Centerline is valid? [True, True] Translation: X:329.00, Y:-20.67, Z:-1.66 [[ 9.95571486e-01 9.39641370e-02 -2.85612459e-03 3.28997532e+02] [-9.39638851e-02 9.95575582e-01 2.22557959e-04 -2.06715265e+01] [ 2.86440036e-03 4.68002044e-05 9.99995897e-01 -1.66291605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48028169299994 meters Centerline goodness [0,1] 0.9997453472826433 Centerline is valid? [True, True] Translation: X:329.03, Y:-20.66, Z:-1.66 [[ 9.95132941e-01 9.85172870e-02 -2.18501912e-03 3.29026939e+02] [-9.85171507e-02 9.95135339e-01 1.70213161e-04 -2.06632664e+01] [ 2.19115868e-03 4.58771350e-05 9.99997598e-01 -1.66279382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51028169299997 meters Centerline goodness [0,1] 0.9996390351622219 Centerline is valid? [True, True] Translation: X:329.05, Y:-20.67, Z:-1.66 [[ 9.95042704e-01 9.94461013e-02 -6.99585143e-04 3.29054960e+02] [-9.94460877e-02 9.95042950e-01 5.43887485e-05 -2.06692272e+01] [ 7.01526014e-04 1.54518781e-05 9.99999754e-01 -1.65936420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54028169299994 meters Centerline goodness [0,1] 0.9997209521969648 Centerline is valid? [True, True] Translation: X:329.08, Y:-20.67, Z:-1.66 [[ 9.95002782e-01 9.98445433e-02 7.29173207e-04 3.29083972e+02] [-9.98445284e-02 9.95003049e-01 -5.68565604e-05 -2.06707959e+01] [-7.31206381e-04 -1.62315192e-05 9.99999733e-01 -1.65752469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57028169299997 meters Centerline goodness [0,1] 0.999507884545435 Centerline is valid? [True, True] Translation: X:329.11, Y:-20.67, Z:-1.66 [[ 9.95102052e-01 9.88466713e-02 1.11459907e-03 3.29111915e+02] [-9.88466361e-02 9.95102676e-01 -8.68161364e-05 -2.06721879e+01] [-1.11772200e-03 -2.37834527e-05 9.99999375e-01 -1.65709417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60028169299994 meters Centerline goodness [0,1] 0.9997404002163331 Centerline is valid? [True, True] Translation: X:329.14, Y:-20.68, Z:-1.66 [[ 9.95228410e-01 9.75723127e-02 -2.34421856e-04 3.29140382e+02] [-9.75723111e-02 9.95228438e-01 1.81171005e-05 -2.06790435e+01] [ 2.35071025e-04 4.84242922e-06 9.99999972e-01 -1.65916173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.630281693 meters Centerline goodness [0,1] 0.9998087263298833 Centerline is valid? [True, True] Translation: X:329.17, Y:-20.68, Z:-1.66 [[ 9.95443104e-01 9.53308368e-02 -2.24923280e-03 3.29168435e+02] [-9.53306859e-02 9.95445644e-01 1.74467374e-04 -2.06812511e+01] [ 2.25562111e-03 4.07485606e-05 9.99997455e-01 -1.66227034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66028169299994 meters Centerline goodness [0,1] 0.9997030878859857 Centerline is valid? [True, True] Translation: X:329.20, Y:-20.68, Z:-1.66 [[ 9.95528134e-01 9.44378388e-02 -2.28658993e-03 3.29196432e+02] [-9.44376806e-02 9.95530759e-01 1.77286957e-04 -2.06844011e+01] [ 2.29311320e-03 3.94460957e-05 9.99997370e-01 -1.66215516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.690281693 meters Centerline goodness [0,1] 0.9996818461407937 Centerline is valid? [True, True] Translation: X:329.22, Y:-20.69, Z:-1.66 [[ 9.95732313e-01 9.22734987e-02 -1.66197954e-03 3.29223692e+02] [-9.22734125e-02 9.95733700e-01 1.28655953e-04 -2.06893989e+01] [ 1.66676057e-03 2.52496346e-05 9.99998611e-01 -1.66104539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72028169299995 meters Centerline goodness [0,1] 0.9998099461514096 Centerline is valid? [True, True] Translation: X:329.25, Y:-20.70, Z:-1.66 [[ 9.95886600e-01 9.06022834e-02 -1.05177244e-03 3.29252290e+02] [-9.06022479e-02 9.95887155e-01 8.13766355e-05 -2.06963769e+01] [ 1.05481957e-03 1.42510468e-05 9.99999444e-01 -1.66064515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.750281693 meters Centerline goodness [0,1] 0.999872608760271 Centerline is valid? [True, True] Translation: X:329.28, Y:-20.70, Z:-1.66 [[ 9.96091025e-01 8.83317241e-02 -4.19519427e-04 3.29280290e+02] [-8.83317183e-02 9.96091114e-01 3.23791970e-05 -2.07032332e+01] [ 4.20739683e-04 4.80424424e-06 9.99999911e-01 -1.66016752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78028169299995 meters Centerline goodness [0,1] 0.9999144293507327 Centerline is valid? [True, True] Translation: X:329.31, Y:-20.71, Z:-1.66 [[ 9.96464707e-01 8.40118967e-02 2.98578592e-04 3.29307845e+02] [-8.40118936e-02 9.96464752e-01 -2.31989355e-05 -2.07142750e+01] [-2.99472029e-04 -1.96723248e-06 9.99999955e-01 -1.65828149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.810281693 meters Centerline goodness [0,1] 0.9998939846913895 Centerline is valid? [True, True] Translation: X:329.34, Y:-20.72, Z:-1.66 [[ 9.96604274e-01 8.23376983e-02 6.51305933e-04 3.29335960e+02] [-8.23376829e-02 9.96604487e-01 -5.04576573e-05 -2.07217847e+01] [-6.53248982e-04 -3.34070439e-06 9.99999787e-01 -1.65669856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84028169299995 meters Centerline goodness [0,1] 0.999893601174643 Centerline is valid? [True, True] Translation: X:329.36, Y:-20.73, Z:-1.66 [[ 9.96729036e-01 8.08119285e-02 8.13128581e-04 3.29364801e+02] [-8.08119041e-02 9.96729368e-01 -6.29346857e-05 -2.07282495e+01] [-8.15555009e-04 -2.98164022e-06 9.99999667e-01 -1.65550026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.870281693 meters Centerline goodness [0,1] 0.9999158709460312 Centerline is valid? [True, True] Translation: X:329.39, Y:-20.74, Z:-1.66 [[ 9.96854638e-01 7.92486818e-02 6.90360138e-04 3.29392430e+02] [-7.92486638e-02 9.96854877e-01 -5.34313257e-05 -2.07350217e+01] [-6.92423233e-04 -1.44685372e-06 9.99999760e-01 -1.65626305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90028169299995 meters Centerline goodness [0,1] 0.9998710703311343 Centerline is valid? [True, True] Translation: X:329.42, Y:-20.74, Z:-1.66 [[ 9.96870987e-01 7.90450468e-02 3.41297116e-04 3.29420614e+02] [-7.90450424e-02 9.96871045e-01 -2.64378396e-05 -2.07393336e+01] [-3.42318993e-04 -6.22729719e-07 9.99999941e-01 -1.65720761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.930281693 meters Centerline goodness [0,1] 0.9998504305463558 Centerline is valid? [True, True] Translation: X:329.45, Y:-20.74, Z:-1.66 [[ 9.96702921e-01 8.11369251e-02 -2.94823707e-04 3.29448103e+02] [-8.11369220e-02 9.96702964e-01 2.26103252e-05 -2.07394736e+01] [ 2.95686195e-04 1.38531099e-06 9.99999956e-01 -1.65781203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96028169299996 meters Centerline goodness [0,1] 0.9999141428234133 Centerline is valid? [True, True] Translation: X:329.48, Y:-20.74, Z:-1.66 [[ 9.96577386e-01 8.26649443e-02 -1.43008554e-04 3.29475863e+02] [-8.26649436e-02 9.96577396e-01 1.08964785e-05 -2.07378998e+01] [ 1.43419849e-04 9.62610026e-07 9.99999990e-01 -1.65745444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.990281693 meters Centerline goodness [0,1] 0.9998937865108869 Centerline is valid? [True, True] Translation: X:329.51, Y:-20.74, Z:-1.66 [[ 9.96428149e-01 8.44449215e-02 -5.90753370e-06 3.29505177e+02] [-8.44449215e-02 9.96428149e-01 3.57775092e-07 -2.07372966e+01] [ 5.91664516e-06 1.42364048e-07 1.00000000e+00 -1.65743848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02028169299996 meters Centerline goodness [0,1] 0.9998303215406804 Centerline is valid? [True, True] Translation: X:329.53, Y:-20.74, Z:-1.66 [[ 9.96299694e-01 8.59465857e-02 -3.22583885e-04 3.29533675e+02] [-8.59465822e-02 9.96299746e-01 2.47289512e-05 -2.07369460e+01] [ 3.23515612e-04 3.08753588e-06 9.99999948e-01 -1.65863016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.050281693 meters Centerline goodness [0,1] 0.9997884851305047 Centerline is valid? [True, True] Translation: X:329.56, Y:-20.73, Z:-1.66 [[ 9.96116994e-01 8.80374239e-02 -5.88435093e-04 3.29562590e+02] [-8.80374126e-02 9.96117168e-01 4.51619616e-05 -2.07344048e+01] [ 5.90126241e-04 6.81770559e-06 9.99999826e-01 -1.65981829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08028169299996 meters Centerline goodness [0,1] 0.9998310239945928 Centerline is valid? [True, True] Translation: X:329.59, Y:-20.73, Z:-1.66 [[ 9.96143278e-01 8.77240325e-02 -1.75061014e-03 3.29590659e+02] [-8.77239318e-02 9.96144816e-01 1.34387098e-04 -2.07318159e+01] [ 1.75565019e-03 1.97015996e-05 9.99998459e-01 -1.66231429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.110281693 meters Centerline goodness [0,1] 0.9998506507360785 Centerline is valid? [True, True] Translation: X:329.62, Y:-20.73, Z:-1.67 [[ 9.96225051e-01 8.67434680e-02 -3.34935007e-03 3.29618961e+02] [-8.67430941e-02 9.96230681e-01 2.57012915e-04 -2.07334864e+01] [ 3.35901950e-03 3.44902844e-05 9.99994358e-01 -1.66510874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14028169299996 meters Centerline goodness [0,1] 0.999789145194619 Centerline is valid? [True, True] Translation: X:329.65, Y:-20.74, Z:-1.67 [[ 9.96327800e-01 8.54840531e-02 -4.83640954e-03 3.29647710e+02] [-8.54832592e-02 9.96339538e-01 3.71014154e-04 -2.07351684e+01] [ 4.85042184e-03 4.37803345e-05 9.99988236e-01 -1.66817452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.170281693 meters Centerline goodness [0,1] 0.9998286607697415 Centerline is valid? [True, True] Translation: X:329.68, Y:-20.74, Z:-1.67 [[ 9.96573805e-01 8.25533661e-02 -5.05894135e-03 3.29676851e+02] [-8.25524608e-02 9.96586645e-01 3.87858258e-04 -2.07377663e+01] [ 5.07369239e-03 3.10986778e-05 9.99987128e-01 -1.66841648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20028169299997 meters Centerline goodness [0,1] 0.9998511303460156 Centerline is valid? [True, True] Translation: X:329.70, Y:-20.74, Z:-1.67 [[ 9.96762641e-01 8.03122699e-02 -3.76512716e-03 3.29704892e+02] [-8.03117535e-02 9.96769752e-01 2.88404298e-04 -2.07412039e+01] [ 3.77612727e-03 1.49133350e-05 9.99992870e-01 -1.66589539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23028169299994 meters Centerline goodness [0,1] 0.9998722235236494 Centerline is valid? [True, True] Translation: X:329.73, Y:-20.75, Z:-1.66 [[ 9.96978558e-01 7.76461095e-02 -2.19906952e-03 3.29733228e+02] [-7.76459271e-02 9.96980984e-01 1.68313513e-04 -2.07463403e+01] [ 2.20549938e-03 2.94382852e-06 9.99997568e-01 -1.66197639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26028169299997 meters Centerline goodness [0,1] 0.9998506921485399 Centerline is valid? [True, True] Translation: X:329.76, Y:-20.76, Z:-1.66 [[ 9.97428909e-01 7.16596042e-02 -6.86960542e-04 3.29761896e+02] [-7.16595851e-02 9.97429146e-01 5.24791457e-05 -2.07559427e+01] [ 6.88955101e-04 -3.11690969e-06 9.99999763e-01 -1.65860996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29028169299994 meters Centerline goodness [0,1] 0.9998720573183214 Centerline is valid? [True, True] Translation: X:329.79, Y:-20.76, Z:-1.66 [[ 9.97630265e-01 6.87980793e-02 -8.24391029e-04 3.29789164e+02] [-6.87980508e-02 9.97630605e-01 6.29065302e-05 -2.07624963e+01] [ 8.26765569e-04 -6.04096248e-06 9.99999658e-01 -1.65906336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32028169299997 meters Centerline goodness [0,1] 0.9997210001073077 Centerline is valid? [True, True] Translation: X:329.82, Y:-20.77, Z:-1.66 [[ 9.97942475e-01 6.40765618e-02 -2.23845819e-03 3.29818298e+02] [-6.40763392e-02 9.97944985e-01 1.71078135e-04 -2.07694591e+01] [ 2.24482023e-03 -2.72939305e-05 9.99997480e-01 -1.66194038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35028169299994 meters Centerline goodness [0,1] 0.999766355140187 Centerline is valid? [True, True] Translation: X:329.85, Y:-20.77, Z:-1.66 [[ 9.98060019e-01 6.21996977e-02 -2.71966354e-03 3.29846036e+02] [-6.21993628e-02 9.98063723e-01 2.07637880e-04 -2.07742405e+01] [ 2.72731253e-03 -3.80737273e-05 9.99996280e-01 -1.66303774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.380281693 meters Centerline goodness [0,1] 0.9997466323212703 Centerline is valid? [True, True] Translation: X:329.87, Y:-20.78, Z:-1.66 [[ 9.98160961e-01 6.05683751e-02 -2.48351461e-03 3.29873788e+02] [-6.05680912e-02 9.98164050e-01 1.89456629e-04 -2.07800169e+01] [ 2.49043009e-03 -3.86864714e-05 9.99996898e-01 -1.66274314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41028169299994 meters Centerline goodness [0,1] 0.9993872937398323 Centerline is valid? [True, True] Translation: X:329.90, Y:-20.79, Z:-1.66 [[ 9.98338826e-01 5.76155785e-02 -1.82404758e-04 3.29901541e+02] [-5.76155769e-02 9.98338843e-01 1.38458839e-05 -2.07909856e+01] [ 1.82899493e-04 -3.31352817e-06 9.99999983e-01 -1.65788660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.440281693 meters Centerline goodness [0,1] 0.9992919974254452 Centerline is valid? [True, True] Translation: X:329.93, Y:-20.80, Z:-1.66 [[ 9.98400150e-01 5.65421320e-02 3.58506644e-04 3.29930975e+02] [-5.65421259e-02 9.98400214e-01 -2.73933869e-05 -2.07971247e+01] [-3.59481990e-04 7.07883378e-06 9.99999935e-01 -1.65599249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47028169299995 meters Centerline goodness [0,1] 0.9993058915087395 Centerline is valid? [True, True] Translation: X:329.96, Y:-20.81, Z:-1.66 [[ 9.98453011e-01 5.56016040e-02 -2.14630651e-04 3.29958816e+02] [-5.56016018e-02 9.98453034e-01 1.62936610e-05 -2.08062681e+01] [ 2.15204579e-04 -4.33464693e-06 9.99999977e-01 -1.65736696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.500281693 meters Centerline goodness [0,1] 0.9992228985882657 Centerline is valid? [True, True] Translation: X:329.99, Y:-20.81, Z:-1.66 [[ 9.98493833e-01 5.48584153e-02 -7.87766165e-04 3.29987959e+02] [-5.48583851e-02 9.98494143e-01 5.99975193e-05 -2.08120048e+01] [ 7.89871271e-04 -1.66915734e-05 9.99999688e-01 -1.65869865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53028169299995 meters Centerline goodness [0,1] 0.998973415745236 Centerline is valid? [True, True] Translation: X:330.02, Y:-20.83, Z:-1.66 [[ 9.98635277e-01 5.22260303e-02 -1.59844220e-04 3.30015203e+02] [-5.22260291e-02 9.98635290e-01 1.20828766e-05 -2.08258391e+01] [ 1.60257120e-04 -3.71835797e-06 9.99999987e-01 -1.65731186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.560281693 meters Centerline goodness [0,1] 0.9989262321486094 Centerline is valid? [True, True] Translation: X:330.04, Y:-20.83, Z:-1.66 [[ 9.98715837e-01 5.06623749e-02 -3.71876404e-05 3.30044244e+02] [-5.06623748e-02 9.98715837e-01 2.78541636e-06 -2.08344553e+01] [ 3.72810012e-05 -8.97825250e-07 9.99999999e-01 -1.65655529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59028169299995 meters Centerline goodness [0,1] 0.9986428313930064 Centerline is valid? [True, True] Translation: X:330.07, Y:-20.84, Z:-1.66 [[ 9.98795034e-01 4.90715864e-02 -6.77754097e-04 3.30073431e+02] [-4.90715627e-02 9.98795264e-01 5.15834759e-05 -2.08440734e+01] [ 6.79468865e-04 -1.82628669e-05 9.99999769e-01 -1.65799393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.620281693 meters Centerline goodness [0,1] 0.9990976668242169 Centerline is valid? [True, True] Translation: X:330.10, Y:-20.86, Z:-1.66 [[ 9.98899022e-01 4.67680128e-02 -3.67390120e-03 3.30103174e+02] [-4.67672999e-02 9.98905772e-01 2.79743634e-04 -2.08556580e+01] [ 3.68296417e-03 -1.07617203e-04 9.99993212e-01 -1.66217378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65028169299995 meters Centerline goodness [0,1] 0.9990754477627986 Centerline is valid? [True, True] Translation: X:330.13, Y:-20.86, Z:-1.66 [[ 9.98913275e-01 4.64201094e-02 -4.17650578e-03 3.30132325e+02] [-4.64191858e-02 9.98921998e-01 3.17863914e-04 -2.08609569e+01] [ 4.18675878e-03 -1.23648485e-04 9.99991228e-01 -1.66230398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.680281693 meters Centerline goodness [0,1] 0.9980779908597788 Centerline is valid? [True, True] Translation: X:330.16, Y:-20.88, Z:-1.66 [[ 9.98899478e-01 4.67524550e-02 -3.74701060e-03 3.30159876e+02] [-4.67517146e-02 9.98906500e-01 2.85012447e-04 -2.08758238e+01] [ 3.75623828e-03 -1.09519615e-04 9.99992939e-01 -1.66268330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71028169299996 meters Centerline goodness [0,1] 0.9985818605143402 Centerline is valid? [True, True] Translation: X:330.19, Y:-20.88, Z:-1.66 [[ 9.98767783e-01 4.95498473e-02 -2.77997190e-03 3.30188382e+02] [-4.95494506e-02 9.98771649e-01 2.11406012e-04 -2.08847800e+01] [ 2.78703226e-03 -7.33994336e-05 9.99996114e-01 -1.65968076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.740281693 meters Centerline goodness [0,1] 0.9989340610143476 Centerline is valid? [True, True] Translation: X:330.22, Y:-20.89, Z:-1.66 [[ 9.98674184e-01 5.13973201e-02 -2.86173746e-03 3.30218030e+02] [-5.13969075e-02 9.98678282e-01 2.17564032e-04 -2.08892083e+01] [ 2.86913726e-03 -7.01911262e-05 9.99995882e-01 -1.65989457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77028169299996 meters Centerline goodness [0,1] 0.9994911696737125 Centerline is valid? [True, True] Translation: X:330.25, Y:-20.89, Z:-1.66 [[ 9.98357651e-01 5.71634036e-02 -3.78758740e-03 3.30246828e+02] [-5.71627228e-02 9.98364833e-01 2.87857740e-04 -2.08914660e+01] [ 3.79784899e-03 -7.08761684e-05 9.99992786e-01 -1.66182872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.800281693 meters Centerline goodness [0,1] 0.9997444143894699 Centerline is valid? [True, True] Translation: X:330.28, Y:-20.89, Z:-1.66 [[ 9.98137147e-01 6.08807300e-02 -3.97158508e-03 3.30276639e+02] [-6.08800111e-02 9.98145046e-01 3.01769088e-04 -2.08913814e+01] [ 3.98258990e-03 -5.94167926e-05 9.99992068e-01 -1.66245762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83028169299996 meters Centerline goodness [0,1] 0.9998932536293766 Centerline is valid? [True, True] Translation: X:330.31, Y:-20.89, Z:-1.66 [[ 9.97886836e-01 6.48521536e-02 -4.00750159e-03 3.30306256e+02] [-6.48514540e-02 9.97894882e-01 3.04413153e-04 -2.08911177e+01] [ 4.01880717e-03 -4.38775733e-05 9.99991924e-01 -1.66237427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.860281693 meters Centerline goodness [0,1] 0.99993674489215 Centerline is valid? [True, True] Translation: X:330.34, Y:-20.89, Z:-1.66 [[ 9.97331481e-01 7.29449894e-02 -2.99101858e-03 3.30335601e+02] [-7.29446363e-02 9.97335966e-01 2.27130390e-04 -2.08856352e+01] [ 2.99961843e-03 -8.34552495e-06 9.99995501e-01 -1.65960630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89028169299996 meters Centerline goodness [0,1] 0.99993674489215 Centerline is valid? [True, True] Translation: X:330.36, Y:-20.89, Z:-1.66 [[ 9.97334565e-01 7.29028130e-02 -2.99103171e-03 3.30363857e+02] [-7.29024602e-02 9.97339050e-01 2.26957498e-04 -2.08876841e+01] [ 2.99961856e-03 -8.29898743e-06 9.99995501e-01 -1.65966593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92028169299994 meters Centerline goodness [0,1] 0.9999573951387853 Centerline is valid? [True, True] Translation: X:330.39, Y:-20.89, Z:-1.66 [[ 9.97106900e-01 7.59707098e-02 -2.50610239e-03 3.30393346e+02] [-7.59704720e-02 9.97110050e-01 1.90089696e-04 -2.08864455e+01] [ 2.51330113e-03 8.50034181e-07 9.99996842e-01 -1.65927534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95028169299997 meters Centerline goodness [0,1] 0.9998947545676518 Centerline is valid? [True, True] Translation: X:330.42, Y:-20.88, Z:-1.66 [[ 9.96717828e-01 8.09412110e-02 -1.44632772e-03 3.30421264e+02] [-8.09411372e-02 9.96718877e-01 1.09556269e-04 -2.08844512e+01] [ 1.45044976e-03 7.87072415e-06 9.99998948e-01 -1.65794653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98028169299994 meters Centerline goodness [0,1] 0.9999147521418524 Centerline is valid? [True, True] Translation: X:330.45, Y:-20.88, Z:-1.66 [[ 9.96560240e-01 8.28587499e-02 -1.45463052e-03 3.30449933e+02] [-8.28586774e-02 9.96561301e-01 1.10146735e-04 -2.08846832e+01] [ 1.45875510e-03 1.07609041e-05 9.99998936e-01 -1.65744856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01028169299997 meters Centerline goodness [0,1] 0.9999573987688244 Centerline is valid? [True, True] Translation: X:330.48, Y:-20.89, Z:-1.66 [[ 9.96408324e-01 8.46590737e-02 -1.81490869e-03 3.30478205e+02] [-8.46589640e-02 9.96409976e-01 1.37286426e-04 -2.08869782e+01] [ 1.82001567e-03 1.68549521e-05 9.99998344e-01 -1.65701184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04028169299994 meters Centerline goodness [0,1] 0.9999145573000107 Centerline is valid? [True, True] Translation: X:330.51, Y:-20.88, Z:-1.66 [[ 9.96258038e-01 8.63978625e-02 -2.30894295e-03 3.30505964e+02] [-8.63976898e-02 9.96260713e-01 1.74622751e-04 -2.08827781e+01] [ 2.31539618e-03 2.55180174e-05 9.99997319e-01 -1.65961742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07028169299997 meters Centerline goodness [0,1] 0.9998935196030411 Centerline is valid? [True, True] Translation: X:330.54, Y:-20.88, Z:-1.66 [[ 9.95988276e-01 8.94534923e-02 -2.32973116e-03 3.30535490e+02] [-8.94533250e-02 9.95991000e-01 1.76107832e-04 -2.08798274e+01] [ 2.33614472e-03 3.30008628e-05 9.99997271e-01 -1.66037457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10028169299994 meters Centerline goodness [0,1] 0.9999144018831586 Centerline is valid? [True, True] Translation: X:330.56, Y:-20.89, Z:-1.66 [[ 9.95891753e-01 9.05337843e-02 -1.80268416e-03 3.30563831e+02] [-9.05336861e-02 9.95893384e-01 1.36151286e-04 -2.08864375e+01] [ 1.80760752e-03 2.76116993e-05 9.99998366e-01 -1.65779138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.130281693 meters Centerline goodness [0,1] 0.9996816097809476 Centerline is valid? [True, True] Translation: X:330.59, Y:-20.88, Z:-1.66 [[ 9.95721931e-01 9.23845936e-02 -1.70970017e-03 3.30592256e+02] [-9.23845083e-02 9.95723398e-01 1.28972862e-04 -2.08780096e+01] [ 1.71430357e-03 2.95287022e-05 9.99998530e-01 -1.65928902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16028169299994 meters Centerline goodness [0,1] 0.9998521022607226 Centerline is valid? [True, True] Translation: X:330.62, Y:-20.88, Z:-1.66 [[ 9.95719827e-01 9.24051994e-02 -1.81807165e-03 3.30621154e+02] [-9.24051030e-02 9.95721486e-01 1.37130522e-04 -2.08796581e+01] [ 1.82296458e-03 3.14555177e-05 9.99998338e-01 -1.65976626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.190281693 meters Centerline goodness [0,1] 0.9999150869297556 Centerline is valid? [True, True] Translation: X:330.65, Y:-20.89, Z:-1.66 [[ 9.95776699e-01 9.17824587e-02 -2.17846847e-03 3.30649899e+02] [-9.17823189e-02 9.95779081e-01 1.64274440e-04 -2.08886520e+01] [ 2.18435085e-03 3.63642283e-05 9.99997614e-01 -1.65945912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22028169299995 meters Centerline goodness [0,1] 0.9997879019258505 Centerline is valid? [True, True] Translation: X:330.68, Y:-20.90, Z:-1.66 [[ 9.96009242e-01 8.92176134e-02 -2.40967766e-03 3.30677747e+02] [-8.92174351e-02 9.96012157e-01 1.81635879e-04 -2.08970877e+01] [ 2.41627337e-03 3.40742465e-05 9.99997080e-01 -1.66061087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.250281693 meters Centerline goodness [0,1] 0.9999363854195381 Centerline is valid? [True, True] Translation: X:330.71, Y:-20.90, Z:-1.66 [[ 9.96124726e-01 8.79170444e-02 -2.47440641e-03 3.30706322e+02] [-8.79168526e-02 9.96127799e-01 1.86383436e-04 -2.09025322e+01] [ 2.48121130e-03 3.18808751e-05 9.99996921e-01 -1.66087951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28028169299995 meters Centerline goodness [0,1] 0.999956903982072 Centerline is valid? [True, True] Translation: X:330.74, Y:-20.91, Z:-1.66 [[ 9.96159821e-01 8.74958477e-02 -3.17619470e-03 3.30735027e+02] [-8.74955300e-02 9.96164883e-01 2.39119045e-04 -2.09078377e+01] [ 3.18493554e-03 3.97020534e-05 9.99994927e-01 -1.66148607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.310281693 meters Centerline goodness [0,1] 0.9998733215100076 Centerline is valid? [True, True] Translation: X:330.76, Y:-20.91, Z:-1.66 [[ 9.96083482e-01 8.83392811e-02 -3.72401322e-03 3.30762595e+02] [-8.83388510e-02 9.96090442e-01 2.80136621e-04 -2.09064657e+01] [ 3.73420105e-03 4.99355884e-05 9.99993027e-01 -1.66281188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34028169299995 meters Centerline goodness [0,1] 0.9998512726809161 Centerline is valid? [True, True] Translation: X:330.79, Y:-20.90, Z:-1.66 [[ 9.95860212e-01 9.08218361e-02 -3.71904445e-03 3.30792032e+02] [-9.08214247e-02 9.95867155e-01 2.79693901e-04 -2.09026053e+01] [ 3.72907653e-03 5.92328887e-05 9.99993045e-01 -1.66147616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.370281693 meters Centerline goodness [0,1] 0.9999143432266907 Centerline is valid? [True, True] Translation: X:330.82, Y:-20.90, Z:-1.66 [[ 9.95694149e-01 9.26480744e-02 -3.08168426e-03 3.30820818e+02] [-9.26478013e-02 9.95698916e-01 2.31577063e-04 -2.09028690e+01] [ 3.08988484e-03 5.49313441e-05 9.99995225e-01 -1.65969146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40028169299995 meters Centerline goodness [0,1] 0.9996209009919758 Centerline is valid? [True, True] Translation: X:330.85, Y:-20.89, Z:-1.66 [[ 9.95527200e-01 9.44477216e-02 -2.28525007e-03 3.30849498e+02] [-9.44475766e-02 9.95529822e-01 1.71546958e-04 -2.08902924e+01] [ 2.29123681e-03 4.50566683e-05 9.99997374e-01 -1.66095709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.430281693 meters Centerline goodness [0,1] 0.9998707843390618 Centerline is valid? [True, True] Translation: X:330.88, Y:-20.90, Z:-1.66 [[ 9.95346790e-01 9.63519432e-02 -1.03483295e-03 3.30877446e+02] [-9.63519146e-02 9.95347328e-01 7.75552897e-05 -2.08968435e+01] [ 1.03749082e-03 2.25137279e-05 9.99999462e-01 -1.65738281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46028169299996 meters Centerline goodness [0,1] 0.9998082086689681 Centerline is valid? [True, True] Translation: X:330.91, Y:-20.90, Z:-1.66 [[ 9.95361313e-01 9.61934756e-02 -1.63436636e-03 3.30906758e+02] [-9.61934040e-02 9.95362655e-01 1.22505577e-04 -2.08975253e+01] [ 1.63857148e-03 3.52779518e-05 9.99998657e-01 -1.65833813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.490281693 meters Centerline goodness [0,1] 0.999766340251078 Centerline is valid? [True, True] Translation: X:330.93, Y:-20.90, Z:-1.66 [[ 9.95501608e-01 9.47080221e-02 -2.63415263e-03 3.30934353e+02] [-9.47078314e-02 9.95505092e-01 1.97310148e-04 -2.08957534e+01] [ 2.64099921e-03 5.30523134e-05 9.99996511e-01 -1.65952664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52028169299996 meters Centerline goodness [0,1] 0.9998519239312081 Centerline is valid? [True, True] Translation: X:330.96, Y:-20.90, Z:-1.66 [[ 9.95629444e-01 9.33563563e-02 -2.56939620e-03 3.30963367e+02] [-9.33561706e-02 9.95632758e-01 1.92374521e-04 -2.08979531e+01] [ 2.57613441e-03 4.83352532e-05 9.99996681e-01 -1.65958524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.550281693 meters Centerline goodness [0,1] 0.9998506985176495 Centerline is valid? [True, True] Translation: X:330.99, Y:-20.90, Z:-1.66 [[ 9.95774099e-01 9.18170429e-02 -1.89037887e-03 3.30992120e+02] [-9.18169399e-02 9.95775893e-01 1.41420896e-04 -2.09021309e+01] [ 1.89537856e-03 3.27455372e-05 9.99998203e-01 -1.65828502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58028169299996 meters Centerline goodness [0,1] 0.999872144561882 Centerline is valid? [True, True] Translation: X:331.02, Y:-20.91, Z:-1.66 [[ 9.96098102e-01 8.82507390e-02 -6.14530230e-04 3.31019498e+02] [-8.82507275e-02 9.96098292e-01 4.58617606e-05 -2.09061277e+01] [ 6.16179847e-04 8.54992724e-06 9.99999810e-01 -1.65701371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.610281693 meters Centerline goodness [0,1] 0.9999149298170991 Centerline is valid? [True, True] Translation: X:331.05, Y:-20.91, Z:-1.66 [[ 9.96312718e-01 8.57946682e-02 -4.93603725e-04 3.31047833e+02] [-8.57946604e-02 9.96312840e-01 3.68374544e-05 -2.09102781e+01] [ 4.94944186e-04 5.64693965e-06 9.99999877e-01 -1.65696443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.08, Y:-20.92, Z:-1.66 [[ 9.96772455e-01 8.02711972e-02 -1.09860292e-03 3.31076453e+02] [-8.02711555e-02 9.96773061e-01 8.20747992e-05 -2.09244296e+01] [ 1.10164604e-03 6.37622659e-06 9.99999393e-01 -1.65829335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67028169299994 meters Centerline goodness [0,1] 0.9999369774379228 Centerline is valid? [True, True] Translation: X:331.10, Y:-20.93, Z:-1.66 [[ 9.96949362e-01 7.80396792e-02 -1.33370974e-03 3.31104532e+02] [-7.80396158e-02 9.96950254e-01 9.95800749e-05 -2.09320392e+01] [ 1.33741346e-03 4.80590332e-06 9.99999106e-01 -1.65925390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70028169299997 meters Centerline goodness [0,1] 0.9999575866822182 Centerline is valid? [True, True] Translation: X:331.13, Y:-20.94, Z:-1.66 [[ 9.97077000e-01 7.63838001e-02 -1.72386789e-03 3.31132717e+02] [-7.63836917e-02 9.97078490e-01 1.28674843e-04 -2.09380318e+01] [ 1.72866027e-03 3.37666709e-06 9.99998506e-01 -1.65978074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73028169299994 meters Centerline goodness [0,1] 0.9999786621145844 Centerline is valid? [True, True] Translation: X:331.16, Y:-20.94, Z:-1.66 [[ 9.97147808e-01 7.54387658e-02 -2.28938925e-03 3.31162064e+02] [-7.54385723e-02 9.97150436e-01 1.70880119e-04 -2.09428794e+01] [ 2.29575647e-03 2.31552042e-06 9.99997365e-01 -1.65970578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76028169299997 meters Centerline goodness [0,1] 0.999978855221703 Centerline is valid? [True, True] Translation: X:331.19, Y:-20.94, Z:-1.66 [[ 9.97041314e-01 7.68346999e-02 -2.24653449e-03 3.31191201e+02] [-7.68345173e-02 9.97043845e-01 1.67608137e-04 -2.09431508e+01] [ 2.25277151e-03 5.49915650e-06 9.99997462e-01 -1.65943196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79028169299994 meters Centerline goodness [0,1] 0.9999575605822688 Centerline is valid? [True, True] Translation: X:331.22, Y:-20.94, Z:-1.66 [[ 9.96629257e-01 8.20316034e-02 -9.69905996e-04 3.31220857e+02] [-8.20315719e-02 9.96629729e-01 7.22473959e-05 -2.09360765e+01] [ 9.72563719e-04 7.55904489e-06 9.99999527e-01 -1.65557823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82028169299997 meters Centerline goodness [0,1] 0.9999786539159391 Centerline is valid? [True, True] Translation: X:331.25, Y:-20.93, Z:-1.66 [[ 9.96355341e-01 8.52952942e-02 -8.64292200e-04 3.31249920e+02] [-8.52952705e-02 9.96355716e-01 6.43306066e-05 -2.09306625e+01] [ 8.66629572e-04 9.62389355e-06 9.99999624e-01 -1.65553990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85028169299994 meters Centerline goodness [0,1] 0.9999786128280258 Centerline is valid? [True, True] Translation: X:331.28, Y:-20.92, Z:-1.66 [[ 9.96026095e-01 8.90496105e-02 -1.47820567e-03 3.31280341e+02] [-8.90495451e-02 9.96027192e-01 1.10107349e-04 -2.09242468e+01] [ 1.48213806e-03 2.19637494e-05 9.99998901e-01 -1.65637821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.880281693 meters Centerline goodness [0,1] 0.9999572722611519 Centerline is valid? [True, True] Translation: X:331.31, Y:-20.91, Z:-1.66 [[ 9.95444678e-01 9.53297223e-02 -1.46179695e-03 3.31311681e+02] [-9.53296651e-02 9.95445751e-01 1.08932318e-04 -2.09139988e+01] [ 1.46552405e-03 3.09165172e-05 9.99998926e-01 -1.65657753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91028169299994 meters Centerline goodness [0,1] 0.9998937774850757 Centerline is valid? [True, True] Translation: X:331.34, Y:-20.91, Z:-1.66 [[ 9.95263909e-01 9.71935790e-02 -1.77755450e-03 3.31339602e+02] [-9.71934978e-02 9.95265495e-01 1.32188987e-04 -2.09077559e+01] [ 1.78198658e-03 4.12038112e-05 9.99998411e-01 -1.65791264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.940281693 meters Centerline goodness [0,1] 0.9997899909696117 Centerline is valid? [True, True] Translation: X:331.37, Y:-20.90, Z:-1.66 [[ 9.95163444e-01 9.82111950e-02 -2.06924648e-03 3.31367890e+02] [-9.82110873e-02 9.95165594e-01 1.53820542e-04 -2.09016197e+01] [ 2.07434980e-03 5.01463659e-05 9.99997847e-01 -1.65793876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97028169299995 meters Centerline goodness [0,1] 0.9999144933732365 Centerline is valid? [True, True] Translation: X:331.40, Y:-20.90, Z:-1.66 [[ 9.95219431e-01 9.76435802e-02 -2.00399139e-03 3.31397063e+02] [-9.76434782e-02 9.95221447e-01 1.48897233e-04 -2.09015970e+01] [ 2.00895407e-03 4.74912706e-05 9.99997981e-01 -1.65697605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.000281693 meters Centerline goodness [0,1] 0.999786438868126 Centerline is valid? [True, True] Translation: X:331.43, Y:-20.90, Z:-1.66 [[ 9.95302366e-01 9.68040098e-02 -1.47762998e-03 3.31426025e+02] [-9.68039536e-02 9.95303463e-01 1.09693909e-04 -2.09019596e+01] [ 1.48130904e-03 3.38618162e-05 9.99998902e-01 -1.65590935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03028169299995 meters Centerline goodness [0,1] 0.9999148845621875 Centerline is valid? [True, True] Translation: X:331.45, Y:-20.90, Z:-1.65 [[ 9.95500028e-01 9.47612266e-02 -6.34883689e-05 3.31454202e+02] [-9.47612265e-02 9.95500030e-01 4.61842065e-06 -2.08990865e+01] [ 6.36403204e-05 1.41859782e-06 9.99999998e-01 -1.65362929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.060281693 meters Centerline goodness [0,1] 0.9999787147995999 Centerline is valid? [True, True] Translation: X:331.48, Y:-20.90, Z:-1.65 [[ 9.95618537e-01 9.35069239e-02 4.29970034e-04 3.31482913e+02] [-9.35069188e-02 9.95618629e-01 -3.20046047e-05 -2.09006120e+01] [-4.31078828e-04 -8.34079538e-06 9.99999907e-01 -1.65293005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09028169299995 meters Centerline goodness [0,1] 0.9999573769793065 Centerline is valid? [True, True] Translation: X:331.51, Y:-20.90, Z:-1.66 [[ 9.95942078e-01 8.99933407e-02 -7.59440584e-04 3.31511211e+02] [-8.99933240e-02 9.95942367e-01 5.62277913e-05 -2.09020928e+01] [ 7.61419180e-04 1.23449592e-05 9.99999710e-01 -1.65582988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.120281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.54, Y:-20.91, Z:-1.66 [[ 9.96179090e-01 8.73250111e-02 -1.25019942e-03 3.31539819e+02] [-8.73249637e-02 9.96179874e-01 9.25680466e-05 -2.09075863e+01] [ 1.25350701e-03 1.69592667e-05 9.99999214e-01 -1.65686386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.57, Y:-20.92, Z:-1.66 [[ 9.96466086e-01 8.39908448e-02 -9.36300213e-04 3.31568123e+02] [-8.39908168e-02 9.96466526e-01 6.92571418e-05 -2.09160675e+01] [ 9.38808786e-04 9.62822650e-06 9.99999559e-01 -1.65579327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.180281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.60, Y:-20.93, Z:-1.65 [[ 9.97103902e-01 7.60492490e-02 -5.65341674e-04 3.31595366e+02] [-7.60492375e-02 9.97104063e-01 4.17538945e-05 -2.09317688e+01] [ 5.66879832e-04 1.36083217e-06 9.99999839e-01 -1.65477504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.62, Y:-20.94, Z:-1.66 [[ 9.97361914e-01 7.25810837e-02 -1.09499171e-03 3.31623223e+02] [-7.25810386e-02 9.97362515e-01 8.09115668e-05 -2.09402674e+01] [ 1.09797633e-03 -1.22247964e-06 9.99999397e-01 -1.65526506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.240281693 meters Centerline goodness [0,1] 0.9999785453765286 Centerline is valid? [True, True] Translation: X:331.65, Y:-20.95, Z:-1.66 [[ 9.97552257e-01 6.99140149e-02 -1.23483087e-03 3.31651916e+02] [-6.99139555e-02 9.97553021e-01 9.11986480e-05 -2.09481757e+01] [ 1.23818533e-03 -4.64350690e-06 9.99999233e-01 -1.65541668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27028169299996 meters Centerline goodness [0,1] 0.9999352149782971 Centerline is valid? [True, True] Translation: X:331.68, Y:-20.96, Z:-1.65 [[ 9.97676817e-01 6.81226385e-02 -5.24542057e-04 3.31680961e+02] [-6.81226275e-02 9.97676955e-01 3.87197971e-05 -2.09561856e+01] [ 5.25961217e-04 -2.89666073e-06 9.99999862e-01 -1.65348186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.300281693 meters Centerline goodness [0,1] 0.9999785651512229 Centerline is valid? [True, True] Translation: X:331.71, Y:-20.96, Z:-1.65 [[ 9.97590731e-01 6.93660258e-02 -1.04314435e-03 3.31709237e+02] [-6.93659832e-02 9.97591276e-01 7.69891327e-05 -2.09576422e+01] [ 1.04597213e-03 -4.44491185e-06 9.99999453e-01 -1.65462989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33028169299996 meters Centerline goodness [0,1] 0.9999575965738031 Centerline is valid? [True, True] Translation: X:331.74, Y:-20.95, Z:-1.66 [[ 9.97253734e-01 7.39901449e-02 -3.23238929e-03 3.31737222e+02] [-7.39897606e-02 9.97258973e-01 2.38470290e-04 -2.09523684e+01] [ 3.24117367e-03 1.34832274e-06 9.99994747e-01 -1.65933796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.360281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.77, Y:-20.95, Z:-1.66 [[ 9.97093219e-01 7.61275057e-02 -3.11697544e-03 3.31766485e+02] [-7.61271591e-02 9.97098091e-01 2.29846599e-04 -2.09514676e+01] [ 3.12542791e-03 8.10800027e-06 9.99995116e-01 -1.65998589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.80, Y:-20.95, Z:-1.66 [[ 9.96989763e-01 7.75073754e-02 -2.00481383e-03 3.31795667e+02] [-7.75072350e-02 9.96991779e-01 1.47704796e-04 -2.09523842e+01] [ 2.01023112e-03 8.12740746e-06 9.99997979e-01 -1.65746152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42028169299994 meters Centerline goodness [0,1] 0.9999787482732972 Centerline is valid? [True, True] Translation: X:331.82, Y:-20.95, Z:-1.65 [[ 9.96922244e-01 7.83964717e-02 1.79518664e-04 3.31823797e+02] [-7.83964705e-02 9.96922260e-01 -1.33461032e-05 -2.09532741e+01] [-1.80012439e-04 -7.68602518e-07 9.99999984e-01 -1.65319866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45028169299997 meters Centerline goodness [0,1] 0.9999786748555222 Centerline is valid? [True, True] Translation: X:331.85, Y:-20.96, Z:-1.65 [[ 9.96917873e-01 7.84517187e-02 2.88392180e-04 3.31852283e+02] [-7.84517158e-02 9.96917914e-01 -2.13264170e-05 -2.09553944e+01] [-2.89176425e-04 -1.36417506e-06 9.99999958e-01 -1.65342245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.88, Y:-20.96, Z:-1.66 [[ 9.96880571e-01 7.89222573e-02 -6.36657392e-04 3.31879848e+02] [-7.89222435e-02 9.96880774e-01 4.67172808e-05 -2.09570488e+01] [ 6.38358547e-04 3.67488018e-06 9.99999796e-01 -1.65542346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.91, Y:-20.96, Z:-1.66 [[ 9.96860388e-01 7.91744755e-02 -8.76722112e-04 3.31908655e+02] [-7.91744495e-02 9.96860774e-01 6.43622269e-05 -2.09587591e+01] [ 8.79065728e-04 5.25383607e-06 9.99999614e-01 -1.65633927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.94, Y:-20.96, Z:-1.66 [[ 9.96845378e-01 7.93593667e-02 -1.17637594e-03 3.31937018e+02] [-7.93593200e-02 9.96846072e-01 8.63378212e-05 -2.09606622e+01] [ 1.17951745e-03 7.29093651e-06 9.99999304e-01 -1.65624232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.97, Y:-20.96, Z:-1.66 [[ 9.96846572e-01 7.93496993e-02 -7.32919004e-04 3.31966017e+02] [-7.93496813e-02 9.96846841e-01 5.37225586e-05 -2.09632998e+01] [ 7.34870863e-04 4.60374104e-06 9.99999730e-01 -1.65583878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.99, Y:-20.97, Z:-1.66 [[ 9.96863648e-01 7.91365728e-02 -5.20528787e-04 3.31994482e+02] [-7.91365637e-02 9.96863783e-01 3.81042493e-05 -2.09660681e+01] [ 5.21911736e-04 3.20811850e-06 9.99999864e-01 -1.65549581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.630281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.02, Y:-20.97, Z:-1.66 [[ 9.96915873e-01 7.84770259e-02 -3.15240671e-04 3.32023337e+02] [-7.84770225e-02 9.96915922e-01 2.30251698e-05 -2.09698581e+01] [ 3.16075391e-04 1.78499201e-06 9.99999950e-01 -1.65532369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.05, Y:-20.98, Z:-1.65 [[ 9.97062193e-01 7.65958315e-02 2.49482926e-04 3.32051633e+02] [-7.65958293e-02 9.97062224e-01 -1.83807106e-05 -2.09768910e+01] [-2.50157887e-04 -7.82639939e-07 9.99999969e-01 -1.65437466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.690281693 meters Centerline goodness [0,1] 0.9999788587979113 Centerline is valid? [True, True] Translation: X:332.08, Y:-20.98, Z:-1.65 [[ 9.97151951e-01 7.54181697e-02 2.94005346e-04 3.32079617e+02] [-7.54181666e-02 9.97151994e-01 -2.16346371e-05 -2.09828792e+01] [-2.94799662e-04 -6.00323576e-07 9.99999957e-01 -1.65423157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72028169299995 meters Centerline goodness [0,1] 0.9999785172613804 Centerline is valid? [True, True] Translation: X:332.11, Y:-20.99, Z:-1.66 [[ 9.97308744e-01 7.33094243e-02 -9.98715386e-04 3.32108862e+02] [-7.33093879e-02 9.97309244e-01 7.30764809e-05 -2.09919379e+01] [ 1.00138528e-03 3.35400233e-07 9.99999499e-01 -1.65666916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.750281693 meters Centerline goodness [0,1] 0.9999578432612453 Centerline is valid? [True, True] Translation: X:332.14, Y:-21.00, Z:-1.66 [[ 9.97346332e-01 7.27765456e-02 -1.96674341e-03 3.32137337e+02] [-7.27764034e-02 9.97348271e-01 1.43860265e-04 -2.09957668e+01] [ 1.97199780e-03 -3.45995319e-07 9.99998056e-01 -1.65922817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78028169299995 meters Centerline goodness [0,1] 0.9999578432612453 Centerline is valid? [True, True] Translation: X:332.17, Y:-21.00, Z:-1.66 [[ 9.97349484e-01 7.27333459e-02 -1.96675073e-03 3.32165598e+02] [-7.27332039e-02 9.97351423e-01 1.43760256e-04 -2.09977397e+01] [ 1.97199780e-03 -3.31135672e-07 9.99998056e-01 -1.65928780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.810281693 meters Centerline goodness [0,1] 0.9999572868614386 Centerline is valid? [True, True] Translation: X:332.19, Y:-21.00, Z:-1.66 [[ 9.97367253e-01 7.24790844e-02 -2.31191560e-03 3.32194542e+02] [-7.24788876e-02 9.97369933e-01 1.68904920e-04 -2.10011714e+01] [ 2.31807718e-03 -8.95165397e-07 9.99997313e-01 -1.66033076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.22, Y:-21.00, Z:-1.66 [[ 9.97244698e-01 7.41547286e-02 -2.02188388e-03 3.32223361e+02] [-7.41545817e-02 9.97246748e-01 1.47608283e-04 -2.10022340e+01] [ 2.02726297e-03 2.73037559e-06 9.99997945e-01 -1.65843313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.870281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.25, Y:-21.00, Z:-1.65 [[ 9.96957042e-01 7.79515541e-02 4.60121544e-04 3.32252876e+02] [-7.79515468e-02 9.96957148e-01 -3.36707945e-05 -2.09990265e+01] [-4.61346153e-04 -2.29885035e-06 9.99999894e-01 -1.65364343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.28, Y:-21.00, Z:-1.65 [[ 9.96837961e-01 7.94575865e-02 7.55530381e-04 3.32281768e+02] [-7.94575674e-02 9.96838248e-01 -5.52307181e-05 -2.09983378e+01] [-7.57530080e-04 -4.97652973e-06 9.99999713e-01 -1.65399227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.930281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.31, Y:-21.00, Z:-1.66 [[ 9.96748494e-01 8.05756702e-02 -3.47223293e-05 3.32309914e+02] [-8.05756701e-02 9.96748495e-01 2.40810214e-06 -2.09980426e+01] [ 3.48034639e-05 3.97502773e-07 9.99999999e-01 -1.65648693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96028169299996 meters Centerline goodness [0,1] 0.9999788292579654 Centerline is valid? [True, True] Translation: X:332.34, Y:-21.00, Z:-1.66 [[ 9.96708263e-01 8.10678758e-02 -7.98626094e-04 3.32338119e+02] [-8.10678553e-02 9.96708583e-01 5.80461870e-05 -2.09971625e+01] [ 8.00703163e-04 6.88779032e-06 9.99999679e-01 -1.65995966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.990281693 meters Centerline goodness [0,1] 0.9999142514148517 Centerline is valid? [True, True] Translation: X:332.37, Y:-21.00, Z:-1.66 [[ 9.96753237e-01 8.05050035e-02 -1.38918780e-03 3.32366615e+02] [-8.05049409e-02 9.96754205e-01 1.01033735e-04 -2.10045600e+01] [ 1.39281250e-03 1.11307794e-05 9.99999030e-01 -1.66061164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02028169299996 meters Centerline goodness [0,1] 0.9999157610984752 Centerline is valid? [True, True] Translation: X:332.39, Y:-21.01, Z:-1.66 [[ 9.96804997e-01 7.98635436e-02 -1.27013783e-03 3.32394687e+02] [-7.98634908e-02 9.96805806e-01 9.22674689e-05 -2.10065826e+01] [ 1.27344957e-03 9.46496726e-06 9.99999189e-01 -1.66057301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.050281693 meters Centerline goodness [0,1] 0.9998731259647713 Centerline is valid? [True, True] Translation: X:332.42, Y:-21.01, Z:-1.66 [[ 9.96839521e-01 7.94414066e-02 -1.80027460e-04 3.32423638e+02] [-7.94414055e-02 9.96839537e-01 1.29927993e-05 -2.10077186e+01] [ 1.80490656e-04 1.34989867e-06 9.99999984e-01 -1.65721192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08028169299996 meters Centerline goodness [0,1] 0.9998502032955275 Centerline is valid? [True, True] Translation: X:332.45, Y:-21.01, Z:-1.66 [[ 9.96764268e-01 8.03802153e-02 1.19376418e-04 3.32452151e+02] [-8.03802148e-02 9.96764276e-01 -8.77335442e-06 -2.10074976e+01] [-1.19695353e-04 -8.50535890e-07 9.99999993e-01 -1.65537602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.110281693 meters Centerline goodness [0,1] 0.9998932650229481 Centerline is valid? [True, True] Translation: X:332.48, Y:-21.00, Z:-1.66 [[ 9.96637689e-01 8.19347514e-02 -1.17310812e-04 3.32479898e+02] [-8.19347510e-02 9.96637696e-01 8.38962521e-06 -2.10049066e+01] [ 1.17603779e-04 1.25041546e-06 9.99999993e-01 -1.65571294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14028169299996 meters Centerline goodness [0,1] 0.9999571257074258 Centerline is valid? [True, True] Translation: X:332.51, Y:-21.00, Z:-1.66 [[ 9.96439673e-01 8.43087579e-02 1.04669954e-04 3.32509006e+02] [-8.43087576e-02 9.96439679e-01 -7.69418182e-06 -2.10006035e+01] [-1.04945982e-04 -1.15780575e-06 9.99999994e-01 -1.65564301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17028169299994 meters Centerline goodness [0,1] 0.9999786511816571 Centerline is valid? [True, True] Translation: X:332.54, Y:-21.00, Z:-1.65 [[ 9.96406236e-01 8.46995017e-02 7.79882233e-04 3.32536953e+02] [-8.46994833e-02 9.96406541e-01 -5.66519003e-05 -2.09992895e+01] [-7.81878146e-04 -9.60731542e-06 9.99999694e-01 -1.65482755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20028169299997 meters Centerline goodness [0,1] 0.9999363557290452 Centerline is valid? [True, True] Translation: X:332.57, Y:-21.00, Z:-1.65 [[ 9.96543974e-01 8.30533546e-02 1.49930481e-03 3.32565247e+02] [-8.30532851e-02 9.96545102e-01 -1.08698003e-04 -2.10000372e+01] [-1.50315260e-03 -1.61998505e-05 9.99998870e-01 -1.65437343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23028169299994 meters Centerline goodness [0,1] 0.9998716604992407 Centerline is valid? [True, True] Translation: X:332.59, Y:-21.01, Z:-1.65 [[ 9.96736288e-01 8.07156567e-02 1.32481175e-03 3.32593287e+02] [-8.07156004e-02 9.96737168e-01 -9.59970541e-05 -2.10072307e+01] [-1.32823757e-03 -1.12492282e-05 9.99999118e-01 -1.65489081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26028169299997 meters Centerline goodness [0,1] 0.9995482705214249 Centerline is valid? [True, True] Translation: X:332.62, Y:-21.01, Z:-1.66 [[ 9.96985788e-01 7.75761440e-02 1.13145156e-03 3.32621648e+02] [-7.75761010e-02 9.96986430e-01 -8.19344837e-05 -2.10135929e+01] [-1.13439801e-03 -6.08608455e-06 9.99999357e-01 -1.65556675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29028169299994 meters Centerline goodness [0,1] 0.9990824317691995 Centerline is valid? [True, True] Translation: X:332.65, Y:-21.03, Z:-1.65 [[ 9.97502953e-01 7.06206550e-02 7.62601150e-04 3.32649097e+02] [-7.06206334e-02 9.97503245e-01 -5.52203675e-05 -2.10269747e+01] [-7.64596820e-04 1.22710337e-06 9.99999708e-01 -1.65490496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32028169299997 meters Centerline goodness [0,1] 0.9989014239236067 Centerline is valid? [True, True] Translation: X:332.68, Y:-21.03, Z:-1.65 [[ 9.97713315e-01 6.75814534e-02 9.42091792e-04 3.32678108e+02] [-6.75814191e-02 9.97713760e-01 -6.81394709e-05 -2.10345887e+01] [-9.44542908e-04 4.31575716e-06 9.99999554e-01 -1.65414337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35028169299994 meters Centerline goodness [0,1] 0.9986143679386058 Centerline is valid? [True, True] Translation: X:332.71, Y:-21.05, Z:-1.66 [[ 9.98060889e-01 6.22446381e-02 2.58120775e-04 3.32707626e+02] [-6.22446353e-02 9.98060923e-01 -1.86626604e-05 -2.10477687e+01] [-2.58781910e-04 2.55983787e-06 9.99999967e-01 -1.65552011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.380281693 meters Centerline goodness [0,1] 0.9984405120318829 Centerline is valid? [True, True] Translation: X:332.74, Y:-21.05, Z:-1.66 [[ 9.98174857e-01 6.03894221e-02 -2.69154244e-04 3.32737469e+02] [-6.03894190e-02 9.98174893e-01 1.94604027e-05 -2.10546574e+01] [ 2.69838211e-04 -3.17081629e-06 9.99999964e-01 -1.65673768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41028169299994 meters Centerline goodness [0,1] 0.9981482269805457 Centerline is valid? [True, True] Translation: X:332.77, Y:-21.06, Z:-1.66 [[ 9.98295802e-01 5.83561089e-02 -2.37858758e-04 3.32767679e+02] [-5.83561064e-02 9.98295830e-01 1.71976750e-05 -2.10641064e+01] [ 2.38456996e-04 -3.28785581e-06 9.99999972e-01 -1.65800896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.440281693 meters Centerline goodness [0,1] 0.9979642039189075 Centerline is valid? [True, True] Translation: X:332.80, Y:-21.07, Z:-1.66 [[ 9.98312066e-01 5.80776801e-02 -3.16649649e-05 3.32796399e+02] [-5.80776801e-02 9.98312067e-01 2.26440132e-06 -2.10705694e+01] [ 3.17430278e-05 -4.21551462e-07 9.99999999e-01 -1.65729276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47028169299995 meters Centerline goodness [0,1] 0.9980770874284249 Centerline is valid? [True, True] Translation: X:332.83, Y:-21.07, Z:-1.66 [[ 9.98303613e-01 5.82222998e-02 2.43537580e-04 3.32826417e+02] [-5.82222973e-02 9.98303643e-01 -1.76054038e-05 -2.10744370e+01] [-2.44149481e-04 3.39622080e-06 9.99999970e-01 -1.65588644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.500281693 meters Centerline goodness [0,1] 0.9981559201322651 Centerline is valid? [True, True] Translation: X:332.86, Y:-21.08, Z:-1.66 [[ 9.98247897e-01 5.91657904e-02 7.38256610e-04 3.32857105e+02] [-5.91657671e-02 9.98248170e-01 -5.33687888e-05 -2.10758817e+01] [-7.40120916e-04 9.59576258e-06 9.99999726e-01 -1.65544404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53028169299995 meters Centerline goodness [0,1] 0.9984656693517453 Centerline is valid? [True, True] Translation: X:332.89, Y:-21.07, Z:-1.66 [[ 9.98026855e-01 6.27854651e-02 6.17515360e-04 3.32887322e+02] [-6.27854495e-02 9.98027046e-01 -4.46403681e-05 -2.10743606e+01] [-6.19099797e-04 5.78130683e-06 9.99999808e-01 -1.65506262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.560281693 meters Centerline goodness [0,1] 0.998966484571091 Centerline is valid? [True, True] Translation: X:332.92, Y:-21.07, Z:-1.66 [[ 9.97711472e-01 6.76067676e-02 -1.06951047e-03 3.32917104e+02] [-6.76067236e-02 9.97712045e-01 7.72793198e-05 -2.10676786e+01] [ 1.07228808e-03 -4.79636516e-06 9.99999425e-01 -1.65796045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59028169299995 meters Centerline goodness [0,1] 0.9990124390653892 Centerline is valid? [True, True] Translation: X:332.95, Y:-21.06, Z:-1.66 [[ 9.97530171e-01 7.02241198e-02 -1.45974259e-03 3.32945608e+02] [-7.02240407e-02 9.97531239e-01 1.05388991e-04 -2.10649025e+01] [ 1.46353968e-03 -2.61967532e-06 9.99998929e-01 -1.65943702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.620281693 meters Centerline goodness [0,1] 0.9993236960013526 Centerline is valid? [True, True] Translation: X:332.98, Y:-21.06, Z:-1.66 [[ 9.97373426e-01 7.24207516e-02 -1.21831068e-03 3.32975331e+02] [-7.24206982e-02 9.97374170e-01 8.79431377e-05 -2.10627839e+01] [ 1.22148051e-03 5.18761784e-07 9.99999254e-01 -1.65930798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65028169299995 meters Centerline goodness [0,1] 0.9994739389348316 Centerline is valid? [True, True] Translation: X:333.01, Y:-21.06, Z:-1.66 [[ 9.97249442e-01 7.41182268e-02 -1.96232727e-04 3.33005513e+02] [-7.41182254e-02 9.97249461e-01 1.41212395e-05 -2.10621218e+01] [ 1.96739622e-04 4.62023254e-07 9.99999981e-01 -1.65748938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.680281693 meters Centerline goodness [0,1] 0.9994907053730583 Centerline is valid? [True, True] Translation: X:333.03, Y:-21.06, Z:-1.65 [[ 9.97125330e-01 7.57457950e-02 1.91051621e-03 3.33034902e+02] [-7.57456698e-02 9.97127161e-01 -1.37945000e-04 -2.10609088e+01] [-1.91547635e-03 -7.16487623e-06 9.99998165e-01 -1.65281025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71028169299996 meters Centerline goodness [0,1] 0.9994291392688754 Centerline is valid? [True, True] Translation: X:333.06, Y:-21.06, Z:-1.65 [[ 9.97083973e-01 7.62841931e-02 2.06726129e-03 3.33063599e+02] [-7.62840476e-02 9.97086116e-01 -1.49209331e-04 -2.10603893e+01] [-2.07261985e-03 -8.92482669e-06 9.99997852e-01 -1.65254235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.740281693 meters Centerline goodness [0,1] 0.9995548867080692 Centerline is valid? [True, True] Translation: X:333.09, Y:-21.06, Z:-1.65 [[ 9.96989891e-01 7.74999518e-02 2.21711558e-03 3.33092803e+02] [-7.74997877e-02 9.96992356e-01 -1.59968264e-04 -2.10589825e+01] [-2.22284481e-03 -1.23392441e-05 9.99997529e-01 -1.65317407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77028169299996 meters Centerline goodness [0,1] 0.9995791511478652 Centerline is valid? [True, True] Translation: X:333.12, Y:-21.06, Z:-1.65 [[ 9.96931324e-01 7.82409025e-02 2.50929451e-03 3.33122436e+02] [-7.82406948e-02 9.96934482e-01 -1.80960728e-04 -2.10610509e+01] [-2.51576075e-03 -1.59235283e-05 9.99996835e-01 -1.65298423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.800281693 meters Centerline goodness [0,1] 0.9994195171242448 Centerline is valid? [True, True] Translation: X:333.15, Y:-21.06, Z:-1.65 [[ 9.96894660e-01 7.86952881e-02 2.84388492e-03 3.33152287e+02] [-7.86950234e-02 9.96898717e-01 -2.05017545e-04 -2.10614517e+01] [-2.85119914e-03 -1.94186941e-05 9.99995935e-01 -1.65319686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83028169299996 meters Centerline goodness [0,1] 0.9995110544217687 Centerline is valid? [True, True] Translation: X:333.18, Y:-21.06, Z:-1.65 [[ 9.96860556e-01 7.91459551e-02 2.22461623e-03 3.33181361e+02] [-7.91457943e-02 9.96863039e-01 -1.60331005e-04 -2.10578740e+01] [-2.23032725e-03 -1.62413639e-05 9.99997513e-01 -1.65458324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.860281693 meters Centerline goodness [0,1] 0.9996203652929514 Centerline is valid? [True, True] Translation: X:333.21, Y:-21.06, Z:-1.66 [[ 9.96884183e-01 7.88609289e-02 1.69708927e-03 3.33210055e+02] [-7.88608350e-02 9.96885627e-01 -1.22273517e-04 -2.10593221e+01] [-1.70144650e-03 -1.19413415e-05 9.99998552e-01 -1.65599252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89028169299996 meters Centerline goodness [0,1] 0.9993662061097731 Centerline is valid? [True, True] Translation: X:333.24, Y:-21.06, Z:-1.66 [[ 9.97075506e-01 7.63940820e-02 2.09277635e-03 3.33239405e+02] [-7.63939340e-02 9.97077702e-01 -1.50664248e-04 -2.10648173e+01] [-2.09817049e-03 -9.65178704e-06 9.99997799e-01 -1.65501733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92028169299994 meters Centerline goodness [0,1] 0.9990878428544154 Centerline is valid? [True, True] Translation: X:333.27, Y:-21.07, Z:-1.66 [[ 9.97201162e-01 7.47324180e-02 2.21547198e-03 3.33268320e+02] [-7.47322482e-02 9.97203623e-01 -1.59442944e-04 -2.10686719e+01] [-2.22119224e-03 -6.57051291e-06 9.99997533e-01 -1.65501795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95028169299997 meters Centerline goodness [0,1] 0.9989554688665772 Centerline is valid? [True, True] Translation: X:333.30, Y:-21.08, Z:-1.66 [[ 9.97459430e-01 7.12317747e-02 8.48185653e-04 3.33297805e+02] [-7.12317485e-02 9.97459791e-01 -6.10438840e-05 -2.10753604e+01] [-8.50379348e-04 4.71050614e-07 9.99999638e-01 -1.65872123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98028169299994 meters Centerline goodness [0,1] 0.9989113729508197 Centerline is valid? [True, True] Translation: X:333.33, Y:-21.08, Z:-1.66 [[ 9.97587587e-01 6.94188797e-02 1.62193127e-04 3.33327417e+02] [-6.94188787e-02 9.97587600e-01 -1.16860102e-05 -2.10806939e+01] [-1.62613082e-04 3.98553655e-07 9.99999987e-01 -1.66012353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01028169299997 meters Centerline goodness [0,1] 0.9987643800596506 Centerline is valid? [True, True] Translation: X:333.36, Y:-21.09, Z:-1.66 [[ 9.97717501e-01 6.75252578e-02 -3.58497213e-04 3.33357043e+02] [-6.75252529e-02 9.97717565e-01 2.57193691e-05 -2.10862219e+01] [ 3.59415674e-04 -1.45304963e-06 9.99999935e-01 -1.66086372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04028169299994 meters Centerline goodness [0,1] 0.9986643487109905 Centerline is valid? [True, True] Translation: X:333.39, Y:-21.09, Z:-1.66 [[ 9.97845608e-01 6.56001089e-02 -8.76918548e-04 3.33385409e+02] [-6.56000790e-02 9.97845993e-01 6.29285706e-05 -2.10924130e+01] [ 8.79157780e-04 -5.26707175e-06 9.99999614e-01 -1.66196953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07028169299997 meters Centerline goodness [0,1] 0.9986395136261214 Centerline is valid? [True, True] Translation: X:333.41, Y:-21.10, Z:-1.66 [[ 9.97935717e-01 6.42189031e-02 -4.87943195e-04 3.33413642e+02] [-6.42188937e-02 9.97935836e-01 3.49680613e-05 -2.10999049e+01] [ 4.89181611e-04 -3.56070513e-06 9.99999880e-01 -1.66172416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10028169299994 meters Centerline goodness [0,1] 0.998762508267725 Centerline is valid? [True, True] Translation: X:333.44, Y:-21.10, Z:-1.66 [[ 9.97828344e-01 6.58676915e-02 2.06734509e-04 3.33441983e+02] [-6.58676898e-02 9.97828366e-01 -1.49077255e-05 -2.11014540e+01] [-2.07267495e-04 1.25822658e-06 9.99999979e-01 -1.65939928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.130281693 meters Centerline goodness [0,1] 0.9987997771014617 Centerline is valid? [True, True] Translation: X:333.47, Y:-21.10, Z:-1.66 [[ 9.97754353e-01 6.69793623e-02 1.28080007e-04 3.33472128e+02] [-6.69793616e-02 9.97754361e-01 -9.23611772e-06 -2.11017128e+01] [-1.28411014e-04 6.36659581e-07 9.99999992e-01 -1.65950869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16028169299994 meters Centerline goodness [0,1] 0.9988087387521538 Centerline is valid? [True, True] Translation: X:333.50, Y:-21.10, Z:-1.66 [[ 9.97702218e-01 6.77515100e-02 -1.30324869e-04 3.33501726e+02] [-6.77515093e-02 9.97702227e-01 9.29849199e-06 -2.11011720e+01] [ 1.30655399e-04 -4.47419496e-07 9.99999991e-01 -1.66007629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.190281693 meters Centerline goodness [0,1] 0.9987550641458474 Centerline is valid? [True, True] Translation: X:333.53, Y:-21.10, Z:-1.66 [[ 9.97613843e-01 6.90397020e-02 3.73437653e-04 3.33530861e+02] [-6.90396967e-02 9.97613913e-01 -2.68483816e-05 -2.11019710e+01] [-3.74400203e-04 1.00229484e-06 9.99999930e-01 -1.66077469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22028169299995 meters Centerline goodness [0,1] 0.9988416739955812 Centerline is valid? [True, True] Translation: X:333.56, Y:-21.10, Z:-1.66 [[ 9.97602692e-01 6.91905874e-02 1.23757889e-03 3.33560272e+02] [-6.91905306e-02 9.97603460e-01 -8.87496908e-05 -2.11032642e+01] [-1.24075363e-03 2.90819016e-06 9.99999230e-01 -1.65923536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.250281693 meters Centerline goodness [0,1] 0.998838780508403 Centerline is valid? [True, True] Translation: X:333.59, Y:-21.11, Z:-1.66 [[ 9.97603818e-01 6.91552633e-02 2.04243330e-03 3.33588743e+02] [-6.91551085e-02 9.97605909e-01 -1.46387674e-04 -2.11072446e+01] [-2.04766701e-03 4.79220551e-06 9.99997904e-01 -1.65687539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28028169299995 meters Centerline goodness [0,1] 0.9988925331175192 Centerline is valid? [True, True] Translation: X:333.62, Y:-21.11, Z:-1.66 [[ 9.97610976e-01 6.90480231e-02 2.17070803e-03 3.33618407e+02] [-6.90478482e-02 9.97613337e-01 -1.55501129e-04 -2.11099310e+01] [-2.17626432e-03 5.24691422e-06 9.99997632e-01 -1.65667764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.310281693 meters Centerline goodness [0,1] 0.999068408460545 Centerline is valid? [True, True] Translation: X:333.65, Y:-21.11, Z:-1.66 [[ 9.97616990e-01 6.89726369e-02 1.76549919e-03 3.33647809e+02] [-6.89725211e-02 9.97618552e-01 -1.26441580e-04 -2.11131545e+01] [-1.77001575e-03 4.36933864e-06 9.99998434e-01 -1.65752934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34028169299995 meters Centerline goodness [0,1] 0.9990121760044667 Centerline is valid? [True, True] Translation: X:333.68, Y:-21.12, Z:-1.66 [[ 9.97574011e-01 6.96025725e-02 1.25461305e-03 3.33676932e+02] [-6.96025146e-02 9.97574800e-01 -8.98278703e-05 -2.11163109e+01] [-1.25782262e-03 2.28572546e-06 9.99999209e-01 -1.65927999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.370281693 meters Centerline goodness [0,1] 0.9991278265863983 Centerline is valid? [True, True] Translation: X:333.71, Y:-21.12, Z:-1.66 [[ 9.97503164e-01 7.06100304e-02 1.28885162e-03 3.33705496e+02] [-7.06099701e-02 9.97503997e-01 -9.22823021e-05 -2.11184503e+01] [-1.29215070e-03 1.04611422e-06 9.99999165e-01 -1.65992798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40028169299995 meters Centerline goodness [0,1] 0.9992781622861026 Centerline is valid? [True, True] Translation: X:333.73, Y:-21.12, Z:-1.66 [[ 9.97346614e-01 7.27916298e-02 1.05339464e-03 3.33734891e+02] [-7.27915908e-02 9.97347171e-01 -7.53882522e-05 -2.11210397e+01] [-1.05608780e-03 -1.49005343e-06 9.99999442e-01 -1.66014944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.430281693 meters Centerline goodness [0,1] 0.999348109517601 Centerline is valid? [True, True] Translation: X:333.76, Y:-21.12, Z:-1.66 [[ 9.97292723e-01 7.35296205e-02 7.87027503e-04 3.33763166e+02] [-7.35295990e-02 9.97293034e-01 -5.63341698e-05 -2.11230094e+01] [-7.89039276e-04 -1.68815907e-06 9.99999689e-01 -1.66079712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46028169299996 meters Centerline goodness [0,1] 0.9994283899650682 Centerline is valid? [True, True] Translation: X:333.79, Y:-21.13, Z:-1.66 [[ 9.97218858e-01 7.45263057e-02 6.15123854e-04 3.33792591e+02] [-7.45262927e-02 9.97219048e-01 -4.40068294e-05 -2.11256800e+01] [-6.16692890e-04 -1.95846022e-06 9.99999810e-01 -1.66110605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.490281693 meters Centerline goodness [0,1] 0.9995749925623698 Centerline is valid? [True, True] Translation: X:333.82, Y:-21.13, Z:-1.66 [[ 9.96983452e-01 7.76127629e-02 5.04521362e-04 3.33821437e+02] [-7.76127545e-02 9.96983580e-01 -3.61090471e-05 -2.11253670e+01] [-5.05802037e-04 -3.15717024e-06 9.99999872e-01 -1.66081711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52028169299996 meters Centerline goodness [0,1] 0.9995767374925929 Centerline is valid? [True, True] Translation: X:333.85, Y:-21.13, Z:-1.66 [[ 9.96854015e-01 7.92594656e-02 1.01392354e-04 3.33851141e+02] [-7.92594653e-02 9.96854020e-01 -7.28780102e-06 -2.11254698e+01] [-1.01651002e-04 -7.71430018e-07 9.99999995e-01 -1.66152301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.550281693 meters Centerline goodness [0,1] 0.9995941818492492 Centerline is valid? [True, True] Translation: X:333.88, Y:-21.12, Z:-1.66 [[ 9.96574353e-01 8.26938453e-02 1.13399961e-03 3.33881053e+02] [-8.26938067e-02 9.96574999e-01 -8.09997178e-05 -2.11233902e+01] [-1.13681383e-03 -1.30525028e-05 9.99999354e-01 -1.66008599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58028169299996 meters Centerline goodness [0,1] 0.9996604558380374 Centerline is valid? [True, True] Translation: X:333.91, Y:-21.12, Z:-1.66 [[ 9.96460522e-01 8.40351916e-02 2.12489556e-03 3.33909876e+02] [-8.40350592e-02 9.96462787e-01 -1.51679668e-04 -2.11189664e+01] [-2.13012578e-03 -2.74229227e-05 9.99997731e-01 -1.65880486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.610281693 meters Centerline goodness [0,1] 0.9996184338830711 Centerline is valid? [True, True] Translation: X:333.94, Y:-21.12, Z:-1.66 [[ 9.96350502e-01 8.53174601e-02 2.57057187e-03 3.33938336e+02] [-8.53172708e-02 9.96353818e-01 -1.83401593e-04 -2.11160659e+01] [-2.57684645e-03 -3.65819074e-05 9.99996679e-01 -1.65785726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64028169299996 meters Centerline goodness [0,1] 0.9997648919571676 Centerline is valid? [True, True] Translation: X:333.97, Y:-21.11, Z:-1.66 [[ 9.96083806e-01 8.84047061e-02 1.28828360e-03 3.33968439e+02] [-8.84046612e-02 9.96084639e-01 -9.19379714e-05 -2.11114368e+01] [-1.29136725e-03 -2.23123508e-05 9.99999166e-01 -1.66004909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67028169299994 meters Centerline goodness [0,1] 0.9997458865383394 Centerline is valid? [True, True] Translation: X:334.00, Y:-21.11, Z:-1.66 [[ 9.96000277e-01 8.93500520e-02 1.27880547e-04 3.33996384e+02] [-8.93500515e-02 9.96000285e-01 -9.24888848e-06 -2.11082482e+01] [-1.28195450e-04 -2.21423797e-06 9.99999992e-01 -1.66168579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70028169299997 meters Centerline goodness [0,1] 0.9997458865383394 Centerline is valid? [True, True] Translation: X:334.02, Y:-21.11, Z:-1.66 [[ 9.96004477e-01 8.93032177e-02 1.27883585e-04 3.34024652e+02] [-8.93032173e-02 9.96004486e-01 -9.20629248e-06 -2.11101716e+01] [-1.28194775e-04 -2.25090701e-06 9.99999992e-01 -1.66174543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73028169299994 meters Centerline goodness [0,1] 0.9997667267522002 Centerline is valid? [True, True] Translation: X:334.05, Y:-21.10, Z:-1.66 [[ 9.96044892e-01 8.88514028e-02 -2.83388211e-05 3.34052592e+02] [-8.88514027e-02 9.96044893e-01 1.89304591e-06 -2.11041034e+01] [ 2.83949378e-05 6.32385296e-07 1.00000000e+00 -1.66307722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76028169299997 meters Centerline goodness [0,1] 0.9996167358671351 Centerline is valid? [True, True] Translation: X:334.08, Y:-21.11, Z:-1.66 [[ 9.96181842e-01 8.72969090e-02 9.93964508e-04 3.34081806e+02] [-8.72968818e-02 9.96182337e-01 -7.07644632e-05 -2.11072548e+01] [-9.96347406e-04 -1.62757289e-05 9.99999504e-01 -1.66087098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79028169299994 meters Centerline goodness [0,1] 0.9995353454284326 Centerline is valid? [True, True] Translation: X:334.11, Y:-21.11, Z:-1.66 [[ 9.96372461e-01 8.50706267e-02 2.21537715e-03 3.34110446e+02] [-8.50704866e-02 9.96374923e-01 -1.57551648e-04 -2.11100174e+01] [-2.22074925e-03 -3.14830890e-05 9.99997534e-01 -1.65909565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82028169299997 meters Centerline goodness [0,1] 0.9992631578947369 Centerline is valid? [True, True] Translation: X:334.14, Y:-21.12, Z:-1.66 [[ 9.96866104e-01 7.90916390e-02 1.57585746e-03 3.34139264e+02] [-7.90915607e-02 9.96867349e-01 -1.12012962e-04 -2.11172629e+01] [-1.57978014e-03 -1.29751010e-05 9.99998752e-01 -1.66132565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85028169299994 meters Centerline goodness [0,1] 0.9989897904352498 Centerline is valid? [True, True] Translation: X:334.17, Y:-21.12, Z:-1.66 [[ 9.97127527e-01 7.57399537e-02 3.92223282e-04 3.34168523e+02] [-7.57399486e-02 9.97127604e-01 -2.79076923e-05 -2.11235574e+01] [-3.93210389e-04 -1.87944297e-06 9.99999923e-01 -1.66439171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.880281693 meters Centerline goodness [0,1] 0.9990349560368861 Centerline is valid? [True, True] Translation: X:334.20, Y:-21.13, Z:-1.67 [[ 9.97361912e-01 7.25848151e-02 -8.12617117e-04 3.34197231e+02] [-7.25847923e-02 9.97362243e-01 5.76137612e-05 -2.11300172e+01] [ 8.14655515e-04 1.52187357e-06 9.99999668e-01 -1.66679521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91028169299994 meters Centerline goodness [0,1] 0.9986573462341759 Centerline is valid? [True, True] Translation: X:334.23, Y:-21.14, Z:-1.67 [[ 9.97725575e-01 6.74066317e-02 -1.54360936e-04 3.34226443e+02] [-6.74066308e-02 9.97725587e-01 1.09050140e-05 -2.11395096e+01] [ 1.54744925e-04 -4.75260792e-07 9.99999988e-01 -1.66530609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.940281693 meters Centerline goodness [0,1] 0.9984681243966929 Centerline is valid? [True, True] Translation: X:334.26, Y:-21.15, Z:-1.66 [[ 9.97949227e-01 6.40055327e-02 7.94608253e-04 3.34255068e+02] [-6.40055081e-02 9.97949544e-01 -5.63450902e-05 -2.11466322e+01] [-7.96585341e-04 5.37023424e-06 9.99999683e-01 -1.66340470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97028169299995 meters Centerline goodness [0,1] 0.9983717832145651 Centerline is valid? [True, True] Translation: X:334.28, Y:-21.15, Z:-1.66 [[ 9.98043648e-01 6.25121288e-02 1.05352092e-03 3.34284671e+02] [-6.25120847e-02 9.98044204e-01 -7.48262053e-05 -2.11506500e+01] [-1.05613799e-03 8.82202999e-06 9.99999442e-01 -1.66338523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.000281693 meters Centerline goodness [0,1] 0.9984105455007841 Centerline is valid? [True, True] Translation: X:334.31, Y:-21.16, Z:-1.66 [[ 9.98141290e-01 6.09409112e-02 4.12222593e-04 3.34314368e+02] [-6.09409043e-02 9.98141375e-01 -2.92786064e-05 -2.11554681e+01] [-4.13240691e-04 4.10296838e-06 9.99999915e-01 -1.66477662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03028169299995 meters Centerline goodness [0,1] 0.9984732824427481 Centerline is valid? [True, True] Translation: X:334.34, Y:-21.16, Z:-1.67 [[ 9.98237193e-01 5.93460301e-02 -7.45740146e-04 3.34343086e+02] [-5.93460072e-02 9.98237471e-01 5.28901946e-05 -2.11616936e+01] [ 7.47564581e-04 -8.54025929e-06 9.99999721e-01 -1.66741511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.060281693 meters Centerline goodness [0,1] 0.998121103424716 Centerline is valid? [True, True] Translation: X:334.37, Y:-21.17, Z:-1.67 [[ 9.98395142e-01 5.66207024e-02 -1.11217380e-03 3.34372733e+02] [-5.66206497e-02 9.98395761e-01 7.88775901e-05 -2.11681493e+01] [ 1.11485571e-03 -1.57789997e-05 9.99999378e-01 -1.66778339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09028169299995 meters Centerline goodness [0,1] 0.9981807797262708 Centerline is valid? [True, True] Translation: X:334.40, Y:-21.17, Z:-1.67 [[ 9.98459994e-01 5.54759794e-02 -2.36959603e-04 3.34401839e+02] [-5.54759770e-02 9.98460022e-01 1.67838165e-05 -2.11740543e+01] [ 2.37525789e-04 -3.61240379e-06 9.99999972e-01 -1.66558838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.120281693 meters Centerline goodness [0,1] 0.997906799729364 Centerline is valid? [True, True] Translation: X:334.43, Y:-21.18, Z:-1.66 [[ 9.98579969e-01 5.32550571e-02 1.39436636e-03 3.34430990e+02] [-5.32549709e-02 9.98580942e-01 -9.89024982e-05 -2.11824814e+01] [-1.39765473e-03 2.45051136e-05 9.99999023e-01 -1.66249731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15028169299995 meters Centerline goodness [0,1] 0.9977406617538377 Centerline is valid? [True, True] Translation: X:334.46, Y:-21.19, Z:-1.66 [[ 9.98608250e-01 5.27097020e-02 1.80279569e-03 3.34461732e+02] [-5.27095570e-02 9.98609877e-01 -1.27884615e-04 -2.11857359e+01] [-1.80703034e-03 3.26820690e-05 9.99998367e-01 -1.66146368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.180281693 meters Centerline goodness [0,1] 0.9978959328381762 Centerline is valid? [True, True] Translation: X:334.49, Y:-21.19, Z:-1.66 [[ 9.98577559e-01 5.32447119e-02 2.80327359e-03 3.34491799e+02] [-5.32443634e-02 9.98581493e-01 -1.98863347e-04 -2.11893918e+01] [-2.80988555e-03 4.93219584e-05 9.99996051e-01 -1.65965418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21028169299996 meters Centerline goodness [0,1] 0.9980935434672089 Centerline is valid? [True, True] Translation: X:334.52, Y:-21.19, Z:-1.66 [[ 9.98400235e-01 5.64081026e-02 3.88554553e-03 3.34523001e+02] [-5.64074567e-02 9.98407794e-01 -2.75712962e-04 -2.11875002e+01] [-3.89491138e-03 5.60981445e-05 9.99992413e-01 -1.65761186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.240281693 meters Centerline goodness [0,1] 0.9984914479974504 Centerline is valid? [True, True] Translation: X:334.55, Y:-21.18, Z:-1.66 [[ 9.98085780e-01 6.17355453e-02 3.67388324e-03 3.34554681e+02] [-6.17350037e-02 9.98092541e-01 -2.60756438e-04 -2.11797393e+01] [-3.68297340e-03 3.34500974e-05 9.99993217e-01 -1.65751526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27028169299996 meters Centerline goodness [0,1] 0.9985880842870896 Centerline is valid? [True, True] Translation: X:334.59, Y:-21.18, Z:-1.66 [[ 9.97890941e-01 6.48322251e-02 3.23296129e-03 3.34585597e+02] [-6.48318219e-02 9.97896178e-01 -2.29482494e-04 -2.11751848e+01] [-3.24103757e-03 1.93997320e-05 9.99994748e-01 -1.65854427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.300281693 meters Centerline goodness [0,1] 0.9987339101076177 Centerline is valid? [True, True] Translation: X:334.62, Y:-21.17, Z:-1.66 [[ 9.97728298e-01 6.73233384e-02 2.41053147e-03 3.34616123e+02] [-6.73231215e-02 9.97731210e-01 -1.71104670e-04 -2.11726326e+01] [-2.41658182e-03 8.43146819e-06 9.99997080e-01 -1.66011842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33028169299996 meters Centerline goodness [0,1] 0.9988355352303523 Centerline is valid? [True, True] Translation: X:334.65, Y:-21.17, Z:-1.66 [[ 9.97643358e-01 6.85995616e-02 1.35260909e-03 3.34646225e+02] [-6.85994945e-02 9.97644275e-01 -9.60288356e-05 -2.11716375e+01] [-1.35601025e-03 3.01423042e-06 9.99999081e-01 -1.66235568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.360281693 meters Centerline goodness [0,1] 0.9987777379723094 Centerline is valid? [True, True] Translation: X:334.67, Y:-21.17, Z:-1.66 [[ 9.97692520e-01 6.78907851e-02 6.90511961e-04 3.34674283e+02] [-6.78907674e-02 9.97692759e-01 -4.90476442e-05 -2.11742164e+01] [-6.92248667e-04 2.05508078e-06 9.99999760e-01 -1.66393464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39028169299996 meters Centerline goodness [0,1] 0.9987157894736842 Centerline is valid? [True, True] Translation: X:334.70, Y:-21.18, Z:-1.66 [[ 9.97871454e-01 6.52007068e-02 1.19576937e-03 3.34704402e+02] [-6.52006520e-02 9.97872170e-01 -8.48073649e-05 -2.11824694e+01] [-1.19875447e-03 6.66190608e-06 9.99999281e-01 -1.66355729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42028169299994 meters Centerline goodness [0,1] 0.9989015631601182 Centerline is valid? [True, True] Translation: X:334.73, Y:-21.19, Z:-1.66 [[ 9.97951954e-01 6.39514856e-02 1.45083170e-03 3.34733384e+02] [-6.39514036e-02 9.97953009e-01 -1.02904538e-04 -2.11885482e+01] [-1.45444276e-03 9.91106075e-06 9.99998942e-01 -1.66329238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45028169299997 meters Centerline goodness [0,1] 0.9988993914282015 Centerline is valid? [True, True] Translation: X:334.76, Y:-21.19, Z:-1.66 [[ 9.97978140e-01 6.35428385e-02 1.39284109e-03 3.34764094e+02] [-6.35427625e-02 9.97979112e-01 -9.87683058e-05 -2.11917201e+01] [-1.39630233e-03 1.00636394e-05 9.99999025e-01 -1.66317530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48028169299994 meters Centerline goodness [0,1] 0.9988592673961723 Centerline is valid? [True, True] Translation: X:334.79, Y:-21.19, Z:-1.66 [[ 9.97884580e-01 6.50035648e-02 9.49679793e-04 3.34793318e+02] [-6.50035301e-02 9.97885032e-01 -6.73698635e-05 -2.11918210e+01] [-9.52050531e-04 5.49480893e-06 9.99999547e-01 -1.66404716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51028169299997 meters Centerline goodness [0,1] 0.9988914234549214 Centerline is valid? [True, True] Translation: X:334.82, Y:-21.19, Z:-1.66 [[ 9.97762574e-01 6.68553434e-02 4.57824048e-04 3.34823170e+02] [-6.68553355e-02 9.97762679e-01 -3.24927415e-05 -2.11899706e+01] [-4.58972061e-04 1.81206112e-06 9.99999895e-01 -1.66491698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54028169299994 meters Centerline goodness [0,1] 0.9991685675911911 Centerline is valid? [True, True] Translation: X:334.85, Y:-21.18, Z:-1.67 [[ 9.97413641e-01 7.18495480e-02 -1.91582539e-03 3.34851580e+02] [-7.18494202e-02 9.97415481e-01 1.35530512e-04 -2.11845641e+01] [ 1.92061171e-03 2.47096147e-06 9.99998156e-01 -1.66940996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57028169299997 meters Centerline goodness [0,1] 0.9993467082525499 Centerline is valid? [True, True] Translation: X:334.88, Y:-21.18, Z:-1.67 [[ 9.97219560e-01 7.44769392e-02 -2.51697867e-03 3.34879500e+02] [-7.44767273e-02 9.97222736e-01 1.77952792e-04 -2.11822421e+01] [ 2.52324174e-03 9.99832967e-06 9.99996817e-01 -1.67065859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60028169299994 meters Centerline goodness [0,1] 0.9994480181729402 Centerline is valid? [True, True] Translation: X:334.91, Y:-21.18, Z:-1.67 [[ 9.97025792e-01 7.70304135e-02 -2.42601374e-03 3.34908747e+02] [-7.70302244e-02 9.97028743e-01 1.71423317e-04 -2.11809201e+01] [ 2.43201024e-03 1.59629138e-05 9.99997043e-01 -1.66989166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.630281693 meters Centerline goodness [0,1] 0.9994950557542605 Centerline is valid? [True, True] Translation: X:334.94, Y:-21.17, Z:-1.67 [[ 9.96752821e-01 8.05188241e-02 -7.29290431e-04 3.34936820e+02] [-8.05188081e-02 9.96753088e-01 5.13732974e-05 -2.11743426e+01] [ 7.31059007e-04 7.51511708e-06 9.99999733e-01 -1.66733520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66028169299994 meters Centerline goodness [0,1] 0.999554650718921 Centerline is valid? [True, True] Translation: X:334.97, Y:-21.17, Z:-1.67 [[ 9.96643813e-01 8.18599962e-02 -2.27702973e-04 3.34965973e+02] [-8.18599947e-02 9.96643839e-01 1.59751498e-05 -2.11734321e+01] [ 2.28246491e-04 2.71823003e-06 9.99999974e-01 -1.66607585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.690281693 meters Centerline goodness [0,1] 0.9994943642684083 Centerline is valid? [True, True] Translation: X:334.99, Y:-21.17, Z:-1.67 [[ 9.96386999e-01 8.49287881e-02 -2.23052875e-04 3.34994149e+02] [-8.49287867e-02 9.96387024e-01 1.56101925e-05 -2.11655789e+01] [ 2.23572745e-04 3.38981719e-06 9.99999975e-01 -1.66601292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72028169299995 meters Centerline goodness [0,1] 0.9995562599049128 Centerline is valid? [True, True] Translation: X:335.02, Y:-21.16, Z:-1.67 [[ 9.96245517e-01 8.65708553e-02 -5.97428248e-04 3.35022996e+02] [-8.65708457e-02 9.96245696e-01 4.20136133e-05 -2.11613546e+01] [ 5.98822476e-04 9.86399479e-06 9.99999821e-01 -1.66641120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.750281693 meters Centerline goodness [0,1] 0.9996118933137843 Centerline is valid? [True, True] Translation: X:335.05, Y:-21.15, Z:-1.67 [[ 9.95930389e-01 9.01185266e-02 -1.14502003e-03 3.35053673e+02] [-9.01184935e-02 9.95931047e-01 8.06295283e-05 -2.11523678e+01] [ 1.14762721e-03 2.28860828e-05 9.99999341e-01 -1.66757546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78028169299995 meters Centerline goodness [0,1] 0.9996376425450283 Centerline is valid? [True, True] Translation: X:335.08, Y:-21.15, Z:-1.67 [[ 9.95803751e-01 9.15077261e-02 -1.10679592e-03 3.35082234e+02] [-9.15076962e-02 9.95804366e-01 7.77575876e-05 -2.11468262e+01] [ 1.10926763e-03 2.38490477e-05 9.99999384e-01 -1.66814042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.810281693 meters Centerline goodness [0,1] 0.9993389628113272 Centerline is valid? [True, True] Translation: X:335.11, Y:-21.15, Z:-1.67 [[ 9.95741251e-01 9.21913888e-02 -3.30364418e-04 3.35110833e+02] [-9.21913862e-02 9.95741306e-01 2.31443638e-05 -2.11450044e+01] [ 3.31091208e-04 7.41095588e-06 9.99999945e-01 -1.66720974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84028169299995 meters Centerline goodness [0,1] 0.9993599180695129 Centerline is valid? [True, True] Translation: X:335.14, Y:-21.15, Z:-1.66 [[ 9.95873629e-01 9.07374319e-02 1.55984730e-03 3.35139349e+02] [-9.07373712e-02 9.95874850e-01 -1.09751007e-04 -2.11452144e+01] [-1.56337122e-03 -3.22383099e-05 9.99998777e-01 -1.66401416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.870281693 meters Centerline goodness [0,1] 0.9995964916006541 Centerline is valid? [True, True] Translation: X:335.17, Y:-21.15, Z:-1.66 [[ 9.96038978e-01 8.88991685e-02 1.81458147e-03 3.35168012e+02] [-8.88990836e-02 9.96040630e-01 -1.27576833e-04 -2.11477622e+01] [-1.81873835e-03 -3.42431314e-05 9.99998346e-01 -1.66353660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90028169299995 meters Centerline goodness [0,1] 0.9994715258106794 Centerline is valid? [True, True] Translation: X:335.20, Y:-21.15, Z:-1.66 [[ 9.96193778e-01 8.71499907e-02 1.68378494e-03 3.35196624e+02] [-8.71499152e-02 9.96195201e-01 -1.18312079e-04 -2.11511806e+01] [-1.68768937e-03 -2.88799572e-05 9.99998575e-01 -1.66350095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.930281693 meters Centerline goodness [0,1] 0.9995540359744314 Centerline is valid? [True, True] Translation: X:335.22, Y:-21.15, Z:-1.66 [[ 9.96437197e-01 8.43192740e-02 1.78130036e-03 3.35224090e+02] [-8.43191851e-02 9.96438789e-01 -1.25080361e-04 -2.11529744e+01] [-1.78550346e-03 -2.55630710e-05 9.99998406e-01 -1.66383455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96028169299996 meters Centerline goodness [0,1] 0.9995330276787231 Centerline is valid? [True, True] Translation: X:335.25, Y:-21.16, Z:-1.66 [[ 9.96527688e-01 8.32364692e-02 2.06344371e-03 3.35252805e+02] [-8.32363479e-02 9.96529824e-01 -1.44750632e-04 -2.11557507e+01] [-2.06833173e-03 -2.75055058e-05 9.99997861e-01 -1.66374529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.990281693 meters Centerline goodness [0,1] 0.9995326010750175 Centerline is valid? [True, True] Translation: X:335.28, Y:-21.16, Z:-1.67 [[ 9.96651357e-01 8.17563716e-02 1.40328687e-03 3.35280261e+02] [-8.17563141e-02 9.96652344e-01 -9.84142200e-05 -2.11578472e+01] [-1.40663514e-03 -1.66428963e-05 9.99999011e-01 -1.66515061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02028169299996 meters Centerline goodness [0,1] 0.9995118638312323 Centerline is valid? [True, True] Translation: X:335.31, Y:-21.16, Z:-1.67 [[ 9.96712336e-01 8.10179679e-02 7.79208496e-04 3.35308085e+02] [-8.10179499e-02 9.96712641e-01 -5.46542114e-05 -2.11601090e+01] [-7.81074931e-04 -8.65534822e-06 9.99999695e-01 -1.66663509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.050281693 meters Centerline goodness [0,1] 0.9994697773064687 Centerline is valid? [True, True] Translation: X:335.34, Y:-21.17, Z:-1.67 [[ 9.96813746e-01 7.97636274e-02 3.45028936e-04 3.35336654e+02] [-7.97636238e-02 9.96813806e-01 -2.42285601e-05 -2.11652916e+01] [-3.45862164e-04 -3.36939646e-06 9.99999940e-01 -1.66721732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08028169299996 meters Centerline goodness [0,1] 0.9994529885758768 Centerline is valid? [True, True] Translation: X:335.36, Y:-21.18, Z:-1.67 [[ 9.97125172e-01 7.57719420e-02 -6.68377588e-05 3.35363672e+02] [-7.57719419e-02 9.97125174e-01 4.55361433e-06 -2.11751124e+01] [ 6.69906481e-05 5.23903305e-07 9.99999998e-01 -1.66766399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.110281693 meters Centerline goodness [0,1] 0.9992182217714672 Centerline is valid? [True, True] Translation: X:335.39, Y:-21.19, Z:-1.67 [[ 9.97493943e-01 7.07500577e-02 -5.13376376e-04 3.35391031e+02] [-7.07500486e-02 9.97494075e-01 3.57358690e-05 -2.11884416e+01] [ 5.14618208e-04 6.75090685e-07 9.99999868e-01 -1.66938819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14028169299996 meters Centerline goodness [0,1] 0.9993273071263401 Centerline is valid? [True, True] Translation: X:335.42, Y:-21.20, Z:-1.67 [[ 9.97666837e-01 6.82679477e-02 -6.08599323e-04 3.35418372e+02] [-6.82679346e-02 9.97667022e-01 4.23559006e-05 -2.11960690e+01] [ 6.10071025e-04 -7.09258581e-07 9.99999814e-01 -1.67004629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17028169299994 meters Centerline goodness [0,1] 0.9990123032658407 Centerline is valid? [True, True] Translation: X:335.45, Y:-21.20, Z:-1.67 [[ 9.97805322e-01 6.62150162e-02 -3.32141117e-04 3.35446761e+02] [-6.62150122e-02 9.97805378e-01 2.30599752e-05 -2.12019350e+01] [ 3.32939109e-04 -1.01663792e-06 9.99999945e-01 -1.66826881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20028169299997 meters Centerline goodness [0,1] 0.9990658570761326 Centerline is valid? [True, True] Translation: X:335.47, Y:-21.21, Z:-1.67 [[ 9.97909018e-01 6.46325357e-02 4.76547169e-04 3.35474924e+02] [-6.46325272e-02 9.97909132e-01 -3.32898040e-05 -2.12088237e+01] [-4.77702376e-04 2.41974777e-06 9.99999886e-01 -1.66701550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23028169299994 meters Centerline goodness [0,1] 0.9991075792023458 Centerline is valid? [True, True] Translation: X:335.50, Y:-21.22, Z:-1.67 [[ 9.98123925e-01 6.12246456e-02 4.16857723e-04 3.35502825e+02] [-6.12246387e-02 9.98124012e-01 -2.91123342e-05 -2.12229573e+01] [-4.17858095e-04 3.53575381e-06 9.99999913e-01 -1.66706847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26028169299997 meters Centerline goodness [0,1] 0.9991452991452991 Centerline is valid? [True, True] Translation: X:335.53, Y:-21.23, Z:-1.67 [[ 9.98210552e-01 5.97936530e-02 -6.42099785e-04 3.35531693e+02] [-5.97936366e-02 9.98210759e-01 4.46664223e-05 -2.12289653e+01] [ 6.43621682e-04 -6.19301290e-06 9.99999793e-01 -1.66893648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29028169299994 meters Centerline goodness [0,1] 0.9990609927867173 Centerline is valid? [True, True] Translation: X:335.56, Y:-21.24, Z:-1.67 [[ 9.98309570e-01 5.81118571e-02 -1.00713288e-03 3.35560761e+02] [-5.81118160e-02 9.98310078e-01 7.00631628e-05 -2.12397240e+01] [ 1.00950240e-03 -1.14184056e-05 9.99999490e-01 -1.66935733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32028169299997 meters Centerline goodness [0,1] 0.9989440560917404 Centerline is valid? [True, True] Translation: X:335.59, Y:-21.25, Z:-1.67 [[ 9.98318017e-01 5.79750517e-02 1.75733097e-04 3.35588612e+02] [-5.79750505e-02 9.98318032e-01 -1.22787952e-05 -2.12487633e+01] [-1.76149383e-04 2.07000734e-06 9.99999984e-01 -1.66766549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35028169299994 meters Centerline goodness [0,1] 0.9991151374697145 Centerline is valid? [True, True] Translation: X:335.62, Y:-21.25, Z:-1.66 [[ 9.98309592e-01 5.80936630e-02 1.75658596e-03 3.35619381e+02] [-5.80935378e-02 9.98311137e-01 -1.22245322e-04 -2.12514263e+01] [-1.76072100e-03 1.99923851e-05 9.99998450e-01 -1.66427184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.380281693 meters Centerline goodness [0,1] 0.9992443216167199 Centerline is valid? [True, True] Translation: X:335.65, Y:-21.26, Z:-1.66 [[ 9.98231950e-01 5.93938280e-02 2.31225694e-03 3.35650035e+02] [-5.93936146e-02 9.98234628e-01 -1.60915891e-04 -2.12562275e+01] [-2.31773235e-03 2.32980865e-05 9.99997314e-01 -1.66351414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41028169299994 meters Centerline goodness [0,1] 0.9992106835054185 Centerline is valid? [True, True] Translation: X:335.68, Y:-21.26, Z:-1.66 [[ 9.98147454e-01 6.08177447e-02 1.69153022e-03 3.35679684e+02] [-6.08176325e-02 9.98148888e-01 -1.17722801e-04 -2.12601934e+01] [-1.69555864e-03 1.46298507e-05 9.99998562e-01 -1.66486658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.440281693 meters Centerline goodness [0,1] 0.9992781929347826 Centerline is valid? [True, True] Translation: X:335.71, Y:-21.26, Z:-1.67 [[ 9.97838753e-01 6.57085634e-02 4.55296541e-04 3.35708927e+02] [-6.57085558e-02 9.97838857e-01 -3.16990245e-05 -2.12608375e+01] [-4.56395477e-04 1.71363697e-06 9.99999896e-01 -1.66693174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47028169299995 meters Centerline goodness [0,1] 0.9992260061919505 Centerline is valid? [True, True] Translation: X:335.74, Y:-21.26, Z:-1.67 [[ 9.97614796e-01 6.90269104e-02 6.73824303e-05 3.35738445e+02] [-6.90269102e-02 9.97614798e-01 -4.73553809e-06 -2.12601350e+01] [-6.75485892e-05 7.30418991e-08 9.99999998e-01 -1.66705631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.500281693 meters Centerline goodness [0,1] 0.9995104403907963 Centerline is valid? [True, True] Translation: X:335.77, Y:-21.26, Z:-1.67 [[ 9.97335748e-01 7.29479121e-02 9.09544818e-05 3.35767453e+02] [-7.29479118e-02 9.97335752e-01 -6.39635973e-06 -2.12578440e+01] [-9.11787576e-05 -2.55621301e-07 9.99999996e-01 -1.66688329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53028169299995 meters Centerline goodness [0,1] 0.9996822101226669 Centerline is valid? [True, True] Translation: X:335.80, Y:-21.25, Z:-1.67 [[ 9.96676410e-01 8.14623117e-02 1.61157703e-04 3.35796993e+02] [-8.14623109e-02 9.96676423e-01 -1.12700997e-05 -2.12476152e+01] [-1.61540171e-04 -1.89563641e-06 9.99999987e-01 -1.66641505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.560281693 meters Centerline goodness [0,1] 0.9997219370294319 Centerline is valid? [True, True] Translation: X:335.83, Y:-21.24, Z:-1.67 [[ 9.96345976e-01 8.54084393e-02 3.06759717e-04 3.35827320e+02] [-8.54084367e-02 9.96346023e-01 -2.13541384e-05 -2.12430031e+01] [-3.07462648e-04 -4.92375799e-06 9.99999953e-01 -1.66610695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59028169299995 meters Centerline goodness [0,1] 0.9997219370294319 Centerline is valid? [True, True] Translation: X:335.86, Y:-21.24, Z:-1.67 [[ 9.96349945e-01 8.53621266e-02 3.06757330e-04 3.35855591e+02] [-8.53621241e-02 9.96349992e-01 -2.13885372e-05 -2.12448748e+01] [-3.07463434e-04 -4.87498937e-06 9.99999953e-01 -1.66616659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.620281693 meters Centerline goodness [0,1] 0.9997243134344184 Centerline is valid? [True, True] Translation: X:335.89, Y:-21.23, Z:-1.67 [[ 9.95764256e-01 9.19350193e-02 1.22431290e-03 3.35885693e+02] [-9.19349842e-02 9.95765008e-01 -8.49936794e-05 -2.12322295e+01] [-1.22694184e-03 -2.79235189e-05 9.99999247e-01 -1.66502852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65028169299995 meters Centerline goodness [0,1] 0.9996830628803245 Centerline is valid? [True, True] Translation: X:335.91, Y:-21.23, Z:-1.66 [[ 9.95572070e-01 9.39872207e-02 1.62981104e-03 3.35914212e+02] [-9.39871614e-02 9.95573403e-01 -1.13086222e-04 -2.12283392e+01] [-1.63322518e-03 -4.05958293e-05 9.99998665e-01 -1.66447843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.680281693 meters Centerline goodness [0,1] 0.9995506098865825 Centerline is valid? [True, True] Translation: X:335.94, Y:-21.22, Z:-1.66 [[ 9.95344312e-01 9.63654187e-02 1.84546986e-03 3.35943630e+02] [-9.63653469e-02 9.95346022e-01 -1.28022416e-04 -2.12245491e+01] [-1.84921802e-03 -5.04129596e-05 9.99998289e-01 -1.66462539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71028169299996 meters Centerline goodness [0,1] 0.9992136526895203 Centerline is valid? [True, True] Translation: X:335.97, Y:-21.22, Z:-1.66 [[ 9.95298174e-01 9.68396021e-02 1.90678997e-03 3.35971317e+02] [-9.68395264e-02 9.95299999e-01 -1.32213476e-04 -2.12204950e+01] [-1.91063156e-03 -5.30608066e-05 9.99998173e-01 -1.66489672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.740281693 meters Centerline goodness [0,1] 0.9994223239692762 Centerline is valid? [True, True] Translation: X:336.00, Y:-21.22, Z:-1.67 [[ 9.95311994e-01 9.67044542e-02 1.51133094e-03 3.35999713e+02] [-9.67044066e-02 9.95313140e-01 -1.04704669e-04 -2.12221651e+01] [-1.51437295e-03 -4.19385494e-05 9.99998852e-01 -1.66534414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77028169299996 meters Centerline goodness [0,1] 0.9993836082298929 Centerline is valid? [True, True] Translation: X:336.03, Y:-21.22, Z:-1.67 [[ 9.95433944e-01 9.54517626e-02 4.74128668e-04 3.36028041e+02] [-9.54517577e-02 9.95434057e-01 -3.29114710e-05 -2.12160051e+01] [-4.75105282e-04 -1.24952194e-05 9.99999887e-01 -1.66759512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.800281693 meters Centerline goodness [0,1] 0.9996821764556318 Centerline is valid? [True, True] Translation: X:336.06, Y:-21.22, Z:-1.67 [[ 9.95536296e-01 9.43786594e-02 3.89780886e-04 3.36057184e+02] [-9.43786560e-02 9.95536372e-01 -2.70162195e-05 -2.12199804e+01] [-3.90590803e-04 -9.89136908e-06 9.99999924e-01 -1.66757840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83028169299996 meters Centerline goodness [0,1] 0.9996778973136636 Centerline is valid? [True, True] Translation: X:336.09, Y:-21.22, Z:-1.67 [[ 9.95833009e-01 9.11889620e-02 1.09159271e-03 3.36086344e+02] [-9.11889341e-02 9.95833607e-01 -7.54874411e-05 -2.12218988e+01] [-1.09392832e-03 -2.43682896e-05 9.99999401e-01 -1.66663536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.860281693 meters Centerline goodness [0,1] 0.9996605494855203 Centerline is valid? [True, True] Translation: X:336.11, Y:-21.23, Z:-1.67 [[ 9.96040092e-01 8.88995120e-02 1.00624689e-03 3.36114160e+02] [-8.88994870e-02 9.96040600e-01 -6.95821214e-05 -2.12250862e+01] [-1.00844857e-03 -2.01482496e-05 9.99999491e-01 -1.66699807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89028169299996 meters Centerline goodness [0,1] 0.9998062557854175 Centerline is valid? [True, True] Translation: X:336.14, Y:-21.23, Z:-1.67 [[ 9.96275678e-01 8.62245043e-02 3.29731706e-04 3.36143189e+02] [-8.62245015e-02 9.96275732e-01 -2.28712812e-05 -2.12300066e+01] [-3.30475761e-04 -5.64485079e-06 9.99999945e-01 -1.66846880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92028169299994 meters Centerline goodness [0,1] 0.999702380952381 Centerline is valid? [True, True] Translation: X:336.17, Y:-21.24, Z:-1.67 [[ 9.96578026e-01 8.26526256e-02 -8.83911976e-04 3.36170896e+02] [-8.26526042e-02 9.96578418e-01 6.07837720e-05 -2.12359818e+01] [ 8.85911537e-04 1.24818552e-05 9.99999608e-01 -1.67085596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95028169299997 meters Centerline goodness [0,1] 0.9997022733555919 Centerline is valid? [True, True] Translation: X:336.20, Y:-21.24, Z:-1.67 [[ 9.96661510e-01 8.16417933e-02 -6.72255644e-04 3.36199632e+02] [-8.16417807e-02 9.96661737e-01 4.61930251e-05 -2.12390287e+01] [ 6.73782760e-04 8.84533775e-06 9.99999773e-01 -1.67076326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98028169299994 meters Centerline goodness [0,1] 0.9996177938210001 Centerline is valid? [True, True] Translation: X:336.23, Y:-21.24, Z:-1.67 [[ 9.96749454e-01 8.05629693e-02 -3.66991543e-04 3.36227134e+02] [-8.05629655e-02 9.96749521e-01 2.51273640e-05 -2.12401193e+01] [ 3.67822980e-04 4.52024067e-06 9.99999932e-01 -1.67004083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01028169299997 meters Centerline goodness [0,1] 0.9997008291306949 Centerline is valid? [True, True] Translation: X:336.25, Y:-21.24, Z:-1.67 [[ 9.96750304e-01 8.05522684e-02 -4.03247786e-04 3.36254589e+02] [-8.05522638e-02 9.96750386e-01 2.76007904e-05 -2.12402412e+01] [ 4.04160693e-04 4.97142585e-06 9.99999918e-01 -1.66976933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04028169299994 meters Centerline goodness [0,1] 0.9997671464860288 Centerline is valid? [True, True] Translation: X:336.28, Y:-21.24, Z:-1.67 [[ 9.96698048e-01 8.11957645e-02 -4.99662670e-04 3.36282087e+02] [-8.11957575e-02 9.96698173e-01 3.42006889e-05 -2.12398534e+01] [ 5.00789821e-04 6.48272917e-06 9.99999875e-01 -1.67002314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07028169299997 meters Centerline goodness [0,1] 0.9997665782493369 Centerline is valid? [True, True] Translation: X:336.31, Y:-21.24, Z:-1.67 [[ 9.96543614e-01 8.30585795e-02 -1.44809351e-03 3.36310606e+02] [-8.30585229e-02 9.96544666e-01 9.92373365e-05 -2.12370171e+01] [ 1.45133238e-03 2.13821741e-05 9.99998947e-01 -1.67125943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10028169299994 meters Centerline goodness [0,1] 0.99982924226254 Centerline is valid? [True, True] Translation: X:336.34, Y:-21.24, Z:-1.67 [[ 9.96500279e-01 8.35724456e-02 -1.68513958e-03 3.36339281e+02] [-8.35723698e-02 9.96501704e-01 1.15468896e-04 -2.12361520e+01] [ 1.68889448e-03 2.57663209e-05 9.99998573e-01 -1.67212200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.130281693 meters Centerline goodness [0,1] 0.9997877173243892 Centerline is valid? [True, True] Translation: X:336.37, Y:-21.24, Z:-1.67 [[ 9.96564992e-01 8.28142101e-02 1.52625572e-04 3.36368482e+02] [-8.28142094e-02 9.96565004e-01 -1.05580044e-05 -2.12378824e+01] [-1.52975656e-04 -2.11782852e-06 9.99999988e-01 -1.66911754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16028169299994 meters Centerline goodness [0,1] 0.9998527060011784 Centerline is valid? [True, True] Translation: X:336.40, Y:-21.24, Z:-1.67 [[ 9.96671989e-01 8.15074594e-02 1.21698058e-03 3.36396490e+02] [-8.15074183e-02 9.96672732e-01 -8.34536266e-05 -2.12394039e+01] [-1.21973345e-03 -1.60170531e-05 9.99999256e-01 -1.66771015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.190281693 meters Centerline goodness [0,1] 0.9997684161771827 Centerline is valid? [True, True] Translation: X:336.43, Y:-21.25, Z:-1.67 [[ 9.96850844e-01 7.92817827e-02 1.67116409e-03 3.36425125e+02] [-7.92817022e-02 9.96852245e-01 -1.14446132e-04 -2.12463863e+01] [-1.67497717e-03 -1.84070112e-05 9.99998597e-01 -1.66715259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22028169299995 meters Centerline goodness [0,1] 0.9997031634297345 Centerline is valid? [True, True] Translation: X:336.45, Y:-21.26, Z:-1.67 [[ 9.97370664e-01 7.24591895e-02 1.19317098e-03 3.36453822e+02] [-7.24591437e-02 9.97371378e-01 -8.16649930e-05 -2.12633814e+01] [-1.19595196e-03 -5.00587889e-06 9.99999285e-01 -1.66897186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.250281693 meters Centerline goodness [0,1] 0.9996815827460304 Centerline is valid? [True, True] Translation: X:336.48, Y:-21.27, Z:-1.67 [[ 9.97638514e-01 6.86808890e-02 5.74427455e-04 3.36482526e+02] [-6.86808778e-02 9.97638680e-01 -3.93290613e-05 -2.12735912e+01] [-5.75772203e-04 -2.15995546e-07 9.99999834e-01 -1.67020352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28028169299995 meters Centerline goodness [0,1] 0.9996158360900651 Centerline is valid? [True, True] Translation: X:336.51, Y:-21.29, Z:-1.67 [[ 9.98032990e-01 6.26908455e-02 9.04176972e-05 3.36511384e+02] [-6.26908452e-02 9.98032994e-01 -6.20654930e-06 -2.12908098e+01] [-9.06289389e-05 5.25979102e-07 9.99999996e-01 -1.67047930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.310281693 meters Centerline goodness [0,1] 0.99961591806252 Centerline is valid? [True, True] Translation: X:336.54, Y:-21.30, Z:-1.67 [[ 9.98145181e-01 6.08774427e-02 3.66663515e-04 3.36540592e+02] [-6.08774376e-02 9.98145248e-01 -2.51092429e-05 -2.12990783e+01] [-3.67512031e-04 2.74113459e-06 9.99999932e-01 -1.66993428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34028169299995 meters Centerline goodness [0,1] 0.9996409714889124 Centerline is valid? [True, True] Translation: X:336.57, Y:-21.31, Z:-1.67 [[ 9.98187706e-01 6.01764416e-02 3.14589043e-04 3.36569920e+02] [-6.01764378e-02 9.98187756e-01 -2.14819732e-05 -2.13054842e+01] [-3.15311639e-04 2.51219361e-06 9.99999950e-01 -1.66979514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.370281693 meters Centerline goodness [0,1] 0.9998263888888889 Centerline is valid? [True, True] Translation: X:336.60, Y:-21.31, Z:-1.67 [[ 9.98118697e-01 6.13107563e-02 -2.41414770e-04 3.36599449e+02] [-6.13107541e-02 9.98118726e-01 1.64442861e-05 -2.13099316e+01] [ 2.41968814e-04 -1.61202787e-06 9.99999971e-01 -1.67128977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40028169299995 meters Centerline goodness [0,1] 0.9996615260942227 Centerline is valid? [True, True] Translation: X:336.63, Y:-21.31, Z:-1.67 [[ 9.98014985e-01 6.29766722e-02 -1.69358396e-04 3.36628855e+02] [-6.29766711e-02 9.98014999e-01 1.15445501e-05 -2.13135032e+01] [ 1.69749257e-04 -8.56006054e-07 9.99999986e-01 -1.67118459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.430281693 meters Centerline goodness [0,1] 0.9996576148595151 Centerline is valid? [True, True] Translation: X:336.66, Y:-21.32, Z:-1.67 [[ 9.97839827e-01 6.56937949e-02 7.09617370e-05 3.36658902e+02] [-6.56937948e-02 9.97839829e-01 -4.89555983e-06 -2.13157529e+01] [-7.11300555e-05 2.23238788e-07 9.99999997e-01 -1.66991032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46028169299996 meters Centerline goodness [0,1] 0.9996008906440365 Centerline is valid? [True, True] Translation: X:336.69, Y:-21.32, Z:-1.67 [[ 9.97763087e-01 6.68475533e-02 -4.76505016e-04 3.36688647e+02] [-6.68475454e-02 9.97763201e-01 3.24828375e-05 -2.13178051e+01] [ 4.77610568e-04 -5.56985586e-07 9.99999886e-01 -1.67166425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.490281693 meters Centerline goodness [0,1] 0.9996135680549592 Centerline is valid? [True, True] Translation: X:336.72, Y:-21.32, Z:-1.67 [[ 9.97730465e-01 6.73052441e-02 -1.98096207e-03 3.36718062e+02] [-6.73051085e-02 9.97732431e-01 1.35147699e-04 -2.13206417e+01] [ 1.98556625e-03 -1.51210955e-06 9.99998029e-01 -1.67447821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52028169299996 meters Centerline goodness [0,1] 0.9995988853234251 Centerline is valid? [True, True] Translation: X:336.75, Y:-21.33, Z:-1.68 [[ 9.97758559e-01 6.68407120e-02 -3.19026525e-03 3.36746065e+02] [-6.68403581e-02 9.97763659e-01 2.17543140e-04 -2.13259161e+01] [ 3.19767146e-03 -3.81705849e-06 9.99994887e-01 -1.67789053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.550281693 meters Centerline goodness [0,1] 0.9995963029852332 Centerline is valid? [True, True] Translation: X:336.78, Y:-21.33, Z:-1.68 [[ 9.97808092e-01 6.61066870e-02 -2.98626405e-03 3.36775242e+02] [-6.61063738e-02 9.97812561e-01 2.03583102e-04 -2.13291870e+01] [ 2.99318998e-03 -5.72577946e-06 9.99995520e-01 -1.67703304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58028169299996 meters Centerline goodness [0,1] 0.9994682435019356 Centerline is valid? [True, True] Translation: X:336.80, Y:-21.33, Z:-1.68 [[ 9.97932741e-01 6.42478491e-02 -1.56799367e-03 3.36803264e+02] [-6.42477606e-02 9.97933973e-01 1.06793247e-04 -2.13349081e+01] [ 1.57161539e-03 -5.83239623e-06 9.99998765e-01 -1.67541409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.610281693 meters Centerline goodness [0,1] 0.999552925146896 Centerline is valid? [True, True] Translation: X:336.83, Y:-21.34, Z:-1.67 [[ 9.97995255e-01 6.32828941e-02 -8.63903601e-04 3.36832703e+02] [-6.32828669e-02 9.97995629e-01 5.88090023e-05 -2.13392515e+01] [ 8.65893622e-04 -4.02080859e-06 9.99999625e-01 -1.67399264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64028169299996 meters Centerline goodness [0,1] 0.9997242608068553 Centerline is valid? [True, True] Translation: X:336.86, Y:-21.34, Z:-1.67 [[ 9.98033758e-01 6.26782376e-02 -2.35926287e-04 3.36862707e+02] [-6.26782355e-02 9.98033786e-01 1.60739225e-05 -2.13440638e+01] [ 2.36469890e-04 -1.25487394e-06 9.99999972e-01 -1.67284805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67028169299994 meters Centerline goodness [0,1] 0.9996821697213688 Centerline is valid? [True, True] Translation: X:336.89, Y:-21.35, Z:-1.67 [[ 9.98059095e-01 6.22699104e-02 7.08439537e-04 3.36891490e+02] [-6.22698918e-02 9.98059346e-01 -4.82508144e-05 -2.13493687e+01] [-7.10069275e-04 4.04271079e-06 9.99999748e-01 -1.67133731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70028169299997 meters Centerline goodness [0,1] 0.99978427819484 Centerline is valid? [True, True] Translation: X:336.92, Y:-21.35, Z:-1.67 [[ 9.98045387e-01 6.24887716e-02 7.48054158e-04 3.36921783e+02] [-6.24887510e-02 9.98045667e-01 -5.09743520e-05 -2.13512712e+01] [-7.49777536e-04 4.12974683e-06 9.99999719e-01 -1.67061995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73028169299994 meters Centerline goodness [0,1] 0.9997884582839736 Centerline is valid? [True, True] Translation: X:336.95, Y:-21.35, Z:-1.67 [[ 9.97890410e-01 6.49168017e-02 7.33965033e-04 3.36951691e+02] [-6.49167824e-02 9.97890680e-01 -5.00310847e-05 -2.13512838e+01] [-7.35664724e-04 2.27889124e-06 9.99999729e-01 -1.67033263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76028169299997 meters Centerline goodness [0,1] 0.9997430351827662 Centerline is valid? [True, True] Translation: X:336.98, Y:-21.35, Z:-1.67 [[ 9.97774505e-01 6.66784816e-02 1.28907905e-04 3.36982444e+02] [-6.66784810e-02 9.97774514e-01 -8.78253357e-06 -2.13502261e+01] [-1.29206628e-04 1.67604789e-07 9.99999992e-01 -1.67159872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79028169299994 meters Centerline goodness [0,1] 0.9998724679575743 Centerline is valid? [True, True] Translation: X:337.01, Y:-21.35, Z:-1.67 [[ 9.97623112e-01 6.89059426e-02 -3.11508438e-04 3.37011835e+02] [-6.89059393e-02 9.97623161e-01 2.11661856e-05 -2.13487974e+01] [ 3.12226508e-04 3.48905563e-07 9.99999951e-01 -1.67254388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82028169299997 meters Centerline goodness [0,1] 0.9997474534893509 Centerline is valid? [True, True] Translation: X:337.04, Y:-21.34, Z:-1.67 [[ 9.97317102e-01 7.32018194e-02 3.02916462e-04 3.37041062e+02] [-7.32018165e-02 9.97317148e-01 -2.06940900e-05 -2.13429361e+01] [-3.03618627e-04 -1.53546542e-06 9.99999954e-01 -1.67090887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85028169299994 meters Centerline goodness [0,1] 0.999808429118774 Centerline is valid? [True, True] Translation: X:337.07, Y:-21.34, Z:-1.67 [[ 9.97188100e-01 7.49391506e-02 1.31347585e-04 3.37070013e+02] [-7.49391501e-02 9.97188108e-01 -9.00845431e-06 -2.13412936e+01] [-1.31653335e-04 -8.59952927e-07 9.99999991e-01 -1.67123052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.880281693 meters Centerline goodness [0,1] 0.9997856790758481 Centerline is valid? [True, True] Translation: X:337.10, Y:-21.34, Z:-1.67 [[ 9.96942914e-01 7.81302474e-02 -7.00850716e-04 3.37100213e+02] [-7.81302332e-02 9.96943160e-01 4.76173109e-05 -2.13388621e+01] [ 7.02428680e-04 7.28588923e-06 9.99999753e-01 -1.67206529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91028169299994 meters Centerline goodness [0,1] 0.999850209706411 Centerline is valid? [True, True] Translation: X:337.13, Y:-21.34, Z:-1.67 [[ 9.96860026e-01 7.91822834e-02 -5.04698387e-04 3.37129554e+02] [-7.91822762e-02 9.96860154e-01 3.42000862e-05 -2.13389412e+01] [ 5.05821752e-04 5.87046826e-06 9.99999872e-01 -1.67167768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.940281693 meters Centerline goodness [0,1] 0.9997869530018322 Centerline is valid? [True, True] Translation: X:337.16, Y:-21.34, Z:-1.67 [[ 9.96818650e-01 7.97028863e-02 1.72449857e-04 3.37158576e+02] [-7.97028854e-02 9.96818665e-01 -1.17900796e-05 -2.13377470e+01] [-1.72840939e-04 -1.99217994e-06 9.99999985e-01 -1.67083602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97028169299995 meters Centerline goodness [0,1] 0.9997683088653453 Centerline is valid? [True, True] Translation: X:337.19, Y:-21.34, Z:-1.67 [[ 9.96813154e-01 7.97618056e-02 1.26137388e-03 3.37187855e+02] [-7.97617610e-02 9.96813952e-01 -8.57229475e-05 -2.13382384e+01] [-1.26419250e-03 -1.51596400e-05 9.99999201e-01 -1.66902797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.000281693 meters Centerline goodness [0,1] 0.9997481954003693 Centerline is valid? [True, True] Translation: X:337.22, Y:-21.34, Z:-1.67 [[ 9.96894610e-01 7.87360285e-02 1.33240327e-03 3.37216882e+02] [-7.87359779e-02 9.96895500e-01 -9.04730152e-05 -2.13405788e+01] [-1.33539031e-03 -1.47160130e-05 9.99999108e-01 -1.66831701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03028169299995 meters Centerline goodness [0,1] 0.9998507494509712 Centerline is valid? [True, True] Translation: X:337.25, Y:-21.34, Z:-1.67 [[ 9.96941108e-01 7.81512025e-02 9.04061315e-04 3.37246747e+02] [-7.81511790e-02 9.96941518e-01 -6.13655769e-05 -2.13435752e+01] [-9.06092053e-04 -9.47559145e-06 9.99999589e-01 -1.66898681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.060281693 meters Centerline goodness [0,1] 0.9998716055723181 Centerline is valid? [True, True] Translation: X:337.28, Y:-21.35, Z:-1.67 [[ 9.96941967e-01 7.81446105e-02 3.67697053e-04 3.37275856e+02] [-7.81446066e-02 9.96942034e-01 -2.49808838e-05 -2.13463530e+01] [-3.68524770e-04 -3.82905020e-06 9.99999932e-01 -1.66965213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09028169299995 meters Centerline goodness [0,1] 0.9998285359110102 Centerline is valid? [True, True] Translation: X:337.30, Y:-21.35, Z:-1.67 [[ 9.96916447e-01 7.84703092e-02 -9.26400560e-05 3.37304885e+02] [-7.84703089e-02 9.96916451e-01 6.20115433e-06 -2.13467725e+01] [ 9.28410024e-05 1.08746108e-06 9.99999996e-01 -1.67106788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.120281693 meters Centerline goodness [0,1] 0.9998092492899835 Centerline is valid? [True, True] Translation: X:337.33, Y:-21.35, Z:-1.67 [[ 9.96793319e-01 8.00189906e-02 -2.01454694e-04 3.37333999e+02] [-8.00189895e-02 9.96793339e-01 1.35424496e-05 -2.13461894e+01] [ 2.01892350e-04 2.62117772e-06 9.99999980e-01 -1.67158826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15028169299995 meters Centerline goodness [0,1] 0.9997679373852872 Centerline is valid? [True, True] Translation: X:337.36, Y:-21.34, Z:-1.67 [[ 9.96688213e-01 8.13052781e-02 1.43467528e-03 3.37361897e+02] [-8.13052224e-02 9.96689245e-01 -9.71892922e-05 -2.13436005e+01] [-1.43782743e-03 -1.97791710e-05 9.99998966e-01 -1.66849655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.180281693 meters Centerline goodness [0,1] 0.999830058417419 Centerline is valid? [True, True] Translation: X:337.39, Y:-21.35, Z:-1.67 [[ 9.96689643e-01 8.12761715e-02 1.98503136e-03 3.37390286e+02] [-8.12760651e-02 9.96691619e-01 -1.34306374e-04 -2.13481150e+01] [-1.98938002e-03 -2.74737656e-05 9.99998021e-01 -1.66736558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21028169299996 meters Centerline goodness [0,1] 0.999768206338503 Centerline is valid? [True, True] Translation: X:337.42, Y:-21.35, Z:-1.67 [[ 9.96697922e-01 8.11737431e-02 2.01898836e-03 3.37418592e+02] [-8.11736331e-02 9.96699966e-01 -1.36505057e-04 -2.13513264e+01] [-2.02340626e-03 -2.78343138e-05 9.99997953e-01 -1.66706041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.240281693 meters Centerline goodness [0,1] 0.9998306842472856 Centerline is valid? [True, True] Translation: X:337.45, Y:-21.36, Z:-1.67 [[ 9.96765067e-01 8.03520536e-02 1.71708964e-03 3.37446461e+02] [-8.03519729e-02 9.96766546e-01 -1.16058571e-04 -2.13575413e+01] [-1.72086306e-03 -2.22884110e-05 9.99998519e-01 -1.66853109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27028169299996 meters Centerline goodness [0,1] 0.999978427354115 Centerline is valid? [True, True] Translation: X:337.48, Y:-21.36, Z:-1.67 [[ 9.96816715e-01 7.97077392e-02 1.76465397e-03 3.37475733e+02] [-7.97076530e-02 9.96818276e-01 -1.19206889e-04 -2.13645617e+01] [-1.76854104e-03 -2.18290076e-05 9.99998436e-01 -1.66873599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.300281693 meters Centerline goodness [0,1] 0.9998305012924277 Centerline is valid? [True, True] Translation: X:337.50, Y:-21.37, Z:-1.67 [[ 9.96856159e-01 7.92058328e-02 2.05784610e-03 3.37504019e+02] [-7.92057147e-02 9.96858283e-01 -1.38954191e-04 -2.13689881e+01] [-2.06238691e-03 -2.44758301e-05 9.99997873e-01 -1.66780077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33028169299996 meters Centerline goodness [0,1] 0.9998082045817794 Centerline is valid? [True, True] Translation: X:337.53, Y:-21.37, Z:-1.67 [[ 9.96879039e-01 7.89177046e-02 2.04392006e-03 3.37532831e+02] [-7.89175877e-02 9.96881134e-01 -1.37939314e-04 -2.13721403e+01] [-2.04843120e-03 -2.37924293e-05 9.99997902e-01 -1.66778141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.360281693 meters Centerline goodness [0,1] 0.9998729109741373 Centerline is valid? [True, True] Translation: X:337.56, Y:-21.38, Z:-1.67 [[ 9.96886904e-01 7.88312689e-02 1.45977705e-03 3.37561841e+02] [-7.88312092e-02 9.96887973e-01 -9.84556448e-05 -2.13754760e+01] [-1.46299557e-03 -1.69268474e-05 9.99998930e-01 -1.66869252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39028169299996 meters Centerline goodness [0,1] 0.9999151985414149 Centerline is valid? [True, True] Translation: X:337.59, Y:-21.38, Z:-1.67 [[ 9.96915193e-01 7.84801568e-02 9.81189341e-04 3.37591040e+02] [-7.84801296e-02 9.96915676e-01 -6.62221589e-05 -2.13829406e+01] [-9.83360160e-04 -1.09859904e-05 9.99999516e-01 -1.67062309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42028169299994 meters Centerline goodness [0,1] 0.999936225845539 Centerline is valid? [True, True] Translation: X:337.62, Y:-21.39, Z:-1.67 [[ 9.97036297e-01 7.69162432e-02 1.58570476e-03 3.37620321e+02] [-7.69161704e-02 9.97037558e-01 -1.06947507e-04 -2.13919969e+01] [-1.58923320e-03 -1.53357915e-05 9.99998737e-01 -1.67008309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45028169299997 meters Centerline goodness [0,1] 0.999871857847639 Centerline is valid? [True, True] Translation: X:337.65, Y:-21.40, Z:-1.67 [[ 9.97142566e-01 7.55233067e-02 1.71267596e-03 3.37650685e+02] [-7.55232197e-02 9.97144037e-01 -1.15484233e-04 -2.13988802e+01] [-1.71650637e-03 -1.41925590e-05 9.99998527e-01 -1.67039052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48028169299994 meters Centerline goodness [0,1] 0.9998094108678158 Centerline is valid? [True, True] Translation: X:337.68, Y:-21.40, Z:-1.67 [[ 9.97211017e-01 7.46222794e-02 1.30473630e-03 3.37680478e+02] [-7.46222282e-02 9.97211871e-01 -8.79678378e-05 -2.14040056e+01] [-1.30766288e-03 -9.63983265e-06 9.99999145e-01 -1.67127659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51028169299997 meters Centerline goodness [0,1] 0.9998094108678158 Centerline is valid? [True, True] Translation: X:337.71, Y:-21.41, Z:-1.67 [[ 9.97211017e-01 7.46222794e-02 1.30473463e-03 3.37710411e+02] [-7.46222282e-02 9.97211871e-01 -8.79925003e-05 -2.14060242e+01] [-1.30766307e-03 -9.61511486e-06 9.99999145e-01 -1.67133974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54028169299994 meters Centerline goodness [0,1] 0.9998308346196951 Centerline is valid? [True, True] Translation: X:337.74, Y:-21.41, Z:-1.67 [[ 9.97184899e-01 7.49818415e-02 -1.17096426e-06 3.37739491e+02] [-7.49818415e-02 9.97184899e-01 5.52174292e-08 -2.14121751e+01] [ 1.17180819e-06 3.27390718e-08 1.00000000e+00 -1.67386464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57028169299997 meters Centerline goodness [0,1] 0.9998293988441772 Centerline is valid? [True, True] Translation: X:337.77, Y:-21.42, Z:-1.67 [[ 9.97107715e-01 7.59985427e-02 -6.52971492e-04 3.37769782e+02] [-7.59985301e-02 9.97107929e-01 4.40296145e-05 -2.14156528e+01] [ 6.54429239e-04 5.72260528e-06 9.99999786e-01 -1.67476131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60028169299994 meters Centerline goodness [0,1] 0.999894436820437 Centerline is valid? [True, True] Translation: X:337.80, Y:-21.42, Z:-1.68 [[ 9.96908195e-01 7.85660372e-02 -1.19537398e-03 3.37798814e+02] [-7.85659969e-02 9.96908911e-01 8.07186063e-05 -2.14161727e+01] [ 1.19802071e-03 1.34467084e-05 9.99999282e-01 -1.67645944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.630281693 meters Centerline goodness [0,1] 0.9999145901394316 Centerline is valid? [True, True] Translation: X:337.83, Y:-21.42, Z:-1.68 [[ 9.96784338e-01 8.01270994e-02 -7.94362571e-04 3.37828399e+02] [-8.01270822e-02 9.96784655e-01 5.35239892e-05 -2.14175625e+01] [ 7.96097143e-04 1.02980808e-05 9.99999683e-01 -1.67584083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66028169299994 meters Centerline goodness [0,1] 0.9998731474238356 Centerline is valid? [True, True] Translation: X:337.86, Y:-21.42, Z:-1.68 [[ 9.96630789e-01 8.20181230e-02 -3.12571198e-04 3.37857556e+02] [-8.20181204e-02 9.96630838e-01 2.09967240e-05 -2.14168481e+01] [ 3.13240207e-04 4.71052054e-06 9.99999951e-01 -1.67519231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.690281693 meters Centerline goodness [0,1] 0.9998938225987981 Centerline is valid? [True, True] Translation: X:337.89, Y:-21.41, Z:-1.68 [[ 9.96336550e-01 8.55155438e-02 -7.55635444e-04 3.37887919e+02] [-8.55155297e-02 9.96336836e-01 5.09021590e-05 -2.14142652e+01] [ 7.57220353e-04 1.39028838e-05 9.99999713e-01 -1.67589194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72028169299995 meters Centerline goodness [0,1] 0.9998499271074522 Centerline is valid? [True, True] Translation: X:337.92, Y:-21.41, Z:-1.68 [[ 9.96195630e-01 8.71369121e-02 -1.19381445e-03 3.37916538e+02] [-8.71368783e-02 9.96196345e-01 8.03452154e-05 -2.14121906e+01] [ 1.19627462e-03 2.39857116e-05 9.99999284e-01 -1.67674654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.750281693 meters Centerline goodness [0,1] 0.9998730104977989 Centerline is valid? [True, True] Translation: X:337.95, Y:-21.41, Z:-1.68 [[ 9.96015193e-01 8.91681082e-02 -1.66844044e-03 3.37945537e+02] [-8.91680451e-02 9.96016590e-01 1.12263571e-04 -2.14071585e+01] [ 1.67180469e-03 3.69553502e-05 9.99998602e-01 -1.67733607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78028169299995 meters Centerline goodness [0,1] 0.9998098939630772 Centerline is valid? [True, True] Translation: X:337.97, Y:-21.41, Z:-1.68 [[ 9.95967034e-01 8.97099252e-02 -1.34031684e-03 3.37974521e+02] [-8.97098851e-02 9.95967935e-01 9.00869060e-05 -2.14064473e+01] [ 1.34299429e-03 3.05160812e-05 9.99999098e-01 -1.67674601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.810281693 meters Centerline goodness [0,1] 0.9996187894447033 Centerline is valid? [True, True] Translation: X:338.00, Y:-21.41, Z:-1.68 [[ 9.95986184e-01 8.94996797e-02 -1.15256699e-03 3.38003137e+02] [-8.94996500e-02 9.95986851e-01 7.73991956e-05 -2.14083477e+01] [ 1.15486877e-03 2.60658130e-05 9.99999333e-01 -1.67572205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84028169299995 meters Centerline goodness [0,1] 0.9998297727466168 Centerline is valid? [True, True] Translation: X:338.03, Y:-21.41, Z:-1.67 [[ 9.96238837e-01 8.66497156e-02 -7.48482739e-05 3.38031999e+02] [-8.66497155e-02 9.96238840e-01 4.98274901e-06 -2.14112474e+01] [ 7.49985113e-05 1.52157356e-06 9.99999997e-01 -1.67372350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.870281693 meters Centerline goodness [0,1] 0.9997658976760024 Centerline is valid? [True, True] Translation: X:338.06, Y:-21.41, Z:-1.67 [[ 9.96369602e-01 8.51291280e-02 8.04979985e-04 3.38060431e+02] [-8.51291120e-02 9.96369927e-01 -5.41307627e-05 -2.14132378e+01] [-8.06665954e-04 -1.45929848e-05 9.99999675e-01 -1.67193257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90028169299995 meters Centerline goodness [0,1] 0.9996176639265915 Centerline is valid? [True, True] Translation: X:338.09, Y:-21.41, Z:-1.67 [[ 9.96467181e-01 8.39728900e-02 1.30766826e-03 3.38088920e+02] [-8.39728470e-02 9.96468039e-01 -8.78963939e-05 -2.14125156e+01] [-1.31043054e-03 -2.22227549e-05 9.99999141e-01 -1.67122859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.930281693 meters Centerline goodness [0,1] 0.9998509179196661 Centerline is valid? [True, True] Translation: X:338.12, Y:-21.41, Z:-1.67 [[ 9.96393685e-01 8.48403675e-02 1.31792204e-03 3.38118710e+02] [-8.48403245e-02 9.96394556e-01 -8.85322285e-05 -2.14145619e+01] [-1.32068146e-03 -2.35999807e-05 9.99999128e-01 -1.67169984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96028169299996 meters Centerline goodness [0,1] 0.9998083801737353 Centerline is valid? [True, True] Translation: X:338.15, Y:-21.41, Z:-1.67 [[ 9.96255892e-01 8.64470307e-02 1.05333390e-03 3.38147353e+02] [-8.64470042e-02 9.96256448e-01 -7.07677833e-05 -2.14098193e+01] [-1.05550835e-03 -2.05547387e-05 9.99999443e-01 -1.67166643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.990281693 meters Centerline goodness [0,1] 0.9992847375617966 Centerline is valid? [True, True] Translation: X:338.18, Y:-21.39, Z:-1.67 [[ 9.95829744e-01 9.12243554e-02 1.11232482e-03 3.38177333e+02] [-9.12243289e-02 9.95830365e-01 -7.46502901e-05 -2.13945577e+01] [-1.11449676e-03 -2.71321061e-05 9.99999379e-01 -1.67149881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02028169299996 meters Centerline goodness [0,1] 0.9992078444806028 Centerline is valid? [True, True] Translation: X:338.21, Y:-21.38, Z:-1.67 [[ 9.95558591e-01 9.41403931e-02 8.23502133e-04 3.38206824e+02] [-9.41403795e-02 9.95558931e-01 -5.52730234e-05 -2.13844806e+01] [-8.25048328e-04 -2.24972700e-05 9.99999659e-01 -1.67234006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.050281693 meters Centerline goodness [0,1] 0.9991539942048603 Centerline is valid? [True, True] Translation: X:338.24, Y:-21.39, Z:-1.67 [[ 9.95588066e-01 9.38311443e-02 3.44890509e-04 3.38236168e+02] [-9.38311419e-02 9.95588126e-01 -2.31769692e-05 -2.13851446e+01] [-3.45543617e-04 -9.28675626e-06 9.99999940e-01 -1.67334942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08028169299996 meters Centerline goodness [0,1] 0.9992147208014093 Centerline is valid? [True, True] Translation: X:338.26, Y:-21.39, Z:-1.67 [[ 9.95776702e-01 9.18081637e-02 -1.43501326e-04 3.38263621e+02] [-9.18081633e-02 9.95776712e-01 9.49517360e-06 -2.13888302e+01] [ 1.43767013e-04 3.71952050e-06 9.99999990e-01 -1.67480647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.110281693 meters Centerline goodness [0,1] 0.9996382593892967 Centerline is valid? [True, True] Translation: X:338.29, Y:-21.40, Z:-1.68 [[ 9.96114887e-01 8.80629893e-02 -2.02531721e-04 3.38292665e+02] [-8.80629884e-02 9.96114908e-01 1.35106702e-05 -2.13963856e+01] [ 2.02934657e-04 4.37736893e-06 9.99999979e-01 -1.67549822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14028169299996 meters Centerline goodness [0,1] 0.9999577327866773 Centerline is valid? [True, True] Translation: X:338.32, Y:-21.42, Z:-1.67 [[ 9.96968934e-01 7.77709915e-02 2.14892463e-03 3.38321670e+02] [-7.77708621e-02 9.96971249e-01 -1.43827896e-04 -2.14191160e+01] [-2.15360171e-03 -2.37317773e-05 9.99997681e-01 -1.67153949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17028169299994 meters Centerline goodness [0,1] 0.9999362624288264 Centerline is valid? [True, True] Translation: X:338.35, Y:-21.43, Z:-1.67 [[ 9.97597497e-01 6.92561139e-02 1.68047705e-03 3.38350249e+02] [-6.92560226e-02 9.97598913e-01 -1.12494791e-04 -2.14338313e+01] [-1.68423303e-03 -4.15863465e-06 9.99998582e-01 -1.67293740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.38, Y:-21.44, Z:-1.68 [[ 9.97728623e-01 6.73616695e-02 -7.56471847e-06 3.38380902e+02] [-6.73616695e-02 9.97728623e-01 5.06288530e-07 -2.14394895e+01] [ 7.58164059e-06 4.43350879e-09 1.00000000e+00 -1.67621616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23028169299994 meters Centerline goodness [0,1] 0.9999785449162178 Centerline is valid? [True, True] Translation: X:338.41, Y:-21.44, Z:-1.68 [[ 9.97773229e-01 6.66724401e-02 -1.83530546e-03 3.38410452e+02] [-6.66723271e-02 9.97774917e-01 1.22786536e-04 -2.14433335e+01] [ 1.83940823e-03 -1.49032413e-07 9.99998308e-01 -1.67944203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26028169299997 meters Centerline goodness [0,1] 0.9999575551782682 Centerline is valid? [True, True] Translation: X:338.44, Y:-21.45, Z:-1.68 [[ 9.97702236e-01 6.76764741e-02 -3.18498250e-03 3.38439349e+02] [-6.76761392e-02 9.97707319e-01 2.12944885e-04 -2.14456989e+01] [ 3.19209171e-03 3.09173062e-06 9.99994905e-01 -1.68125310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29028169299994 meters Centerline goodness [0,1] 0.9999788027810751 Centerline is valid? [True, True] Translation: X:338.47, Y:-21.45, Z:-1.68 [[ 9.97627469e-01 6.87692929e-02 -3.19633991e-03 3.38468306e+02] [-6.87689615e-02 9.97632590e-01 2.13595484e-04 -2.14464242e+01] [ 3.20346167e-03 6.72025360e-06 9.99994869e-01 -1.68166824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32028169299997 meters Centerline goodness [0,1] 0.9999360245665664 Centerline is valid? [True, True] Translation: X:338.50, Y:-21.45, Z:-1.68 [[ 9.97423765e-01 7.16364026e-02 -3.74953078e-03 3.38497236e+02] [-7.16359673e-02 9.97430812e-01 2.50448789e-04 -2.14450043e+01] [ 3.75783878e-03 1.87976904e-05 9.99992939e-01 -1.68266869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35028169299994 meters Centerline goodness [0,1] 0.9999786073376832 Centerline is valid? [True, True] Translation: X:338.53, Y:-21.45, Z:-1.68 [[ 9.97351846e-01 7.26277527e-02 -3.80854662e-03 3.38526249e+02] [-7.26273115e-02 9.97359117e-01 2.54194116e-04 -2.14458237e+01] [ 3.81695025e-03 2.30835315e-05 9.99992715e-01 -1.68299983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.380281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.55, Y:-21.45, Z:-1.68 [[ 9.97285772e-01 7.35462535e-02 -3.46954717e-03 3.38554694e+02] [-7.35458933e-02 9.97291807e-01 2.31466239e-04 -2.14466435e+01] [ 3.47717444e-03 2.43329599e-05 9.99993954e-01 -1.68261701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41028169299994 meters Centerline goodness [0,1] 0.9999362244897959 Centerline is valid? [True, True] Translation: X:338.58, Y:-21.45, Z:-1.68 [[ 9.97184620e-01 7.49712148e-02 -1.46660991e-03 3.38583953e+02] [-7.49711521e-02 9.97185698e-01 9.77120250e-05 -2.14477500e+01] [ 1.46980801e-03 1.25165061e-05 9.99998920e-01 -1.67762783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.440281693 meters Centerline goodness [0,1] 0.9999570714117066 Centerline is valid? [True, True] Translation: X:338.61, Y:-21.45, Z:-1.68 [[ 9.97139694e-01 7.55796098e-02 -3.91379228e-04 3.38613806e+02] [-7.55796054e-02 9.97139771e-01 2.60414162e-05 -2.14507307e+01] [ 3.92227994e-04 3.61335786e-06 9.99999923e-01 -1.67541638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47028169299995 meters Centerline goodness [0,1] 0.9999785061794734 Centerline is valid? [True, True] Translation: X:338.64, Y:-21.45, Z:-1.68 [[ 9.97106315e-01 7.60197049e-02 -3.73743581e-05 3.38643403e+02] [-7.60197049e-02 9.97106316e-01 2.44089549e-06 -2.14536221e+01] [ 3.74517647e-05 4.07355371e-07 9.99999999e-01 -1.67600065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.500281693 meters Centerline goodness [0,1] 0.9999358618035661 Centerline is valid? [True, True] Translation: X:338.67, Y:-21.46, Z:-1.68 [[ 9.97124679e-01 7.57776414e-02 -3.52049662e-04 3.38672623e+02] [-7.57776379e-02 9.97124741e-01 2.34321905e-05 -2.14565075e+01] [ 3.52813065e-04 3.31267637e-06 9.99999938e-01 -1.67705223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53028169299995 meters Centerline goodness [0,1] 0.9999576459626014 Centerline is valid? [True, True] Translation: X:338.70, Y:-21.46, Z:-1.68 [[ 9.97142888e-01 7.55377880e-02 -3.20666616e-04 3.38702594e+02] [-7.55377851e-02 9.97142940e-01 2.13089758e-05 -2.14597918e+01] [ 3.21360085e-04 2.97435230e-06 9.99999948e-01 -1.67720060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.560281693 meters Centerline goodness [0,1] 0.9999362204222209 Centerline is valid? [True, True] Translation: X:338.73, Y:-21.46, Z:-1.68 [[ 9.97125038e-01 7.57734335e-02 2.15229156e-04 3.38731704e+02] [-7.57734322e-02 9.97125061e-01 -1.43575952e-05 -2.14633224e+01] [-2.15698309e-04 -1.99233422e-06 9.99999977e-01 -1.67505438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59028169299995 meters Centerline goodness [0,1] 0.9999149099108682 Centerline is valid? [True, True] Translation: X:338.76, Y:-21.47, Z:-1.67 [[ 9.97042237e-01 7.68553665e-02 1.73637851e-04 3.38761420e+02] [-7.68553657e-02 9.97042252e-01 -1.16085166e-05 -2.14652415e+01] [-1.74016451e-04 -1.77081919e-06 9.99999985e-01 -1.67493963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.620281693 meters Centerline goodness [0,1] 0.9998734097094752 Centerline is valid? [True, True] Translation: X:338.79, Y:-21.46, Z:-1.68 [[ 9.96739586e-01 8.06750652e-02 -1.31572297e-03 3.38790404e+02] [-8.06750200e-02 9.96740454e-01 8.74691692e-05 -2.14624715e+01] [ 1.31849089e-03 1.89619933e-05 9.99999131e-01 -1.67772907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65028169299995 meters Centerline goodness [0,1] 0.9998715313463515 Centerline is valid? [True, True] Translation: X:338.82, Y:-21.46, Z:-1.68 [[ 9.96548322e-01 8.29874087e-02 -2.12865272e-03 3.38820486e+02] [-8.29872956e-02 9.96550595e-01 1.41532915e-04 -2.14624230e+01] [ 2.13305558e-03 3.56067432e-05 9.99997724e-01 -1.67917777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.680281693 meters Centerline goodness [0,1] 0.9998933469849193 Centerline is valid? [True, True] Translation: X:338.85, Y:-21.46, Z:-1.68 [[ 9.96347039e-01 8.53628559e-02 -2.40002908e-03 3.38849124e+02] [-8.53627193e-02 9.96349929e-01 1.59474809e-04 -2.14594556e+01] [ 2.40488203e-03 4.59807544e-05 9.99997107e-01 -1.67997273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71028169299996 meters Centerline goodness [0,1] 0.9997444416049067 Centerline is valid? [True, True] Translation: X:338.88, Y:-21.46, Z:-1.68 [[ 9.96186242e-01 8.72340349e-02 -1.78710918e-03 3.38878089e+02] [-8.72339624e-02 9.96187845e-01 1.18623968e-04 -2.14583415e+01] [ 1.79064449e-03 3.77250500e-05 9.99998396e-01 -1.67934092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.740281693 meters Centerline goodness [0,1] 0.9995743141136155 Centerline is valid? [True, True] Translation: X:338.91, Y:-21.46, Z:-1.68 [[ 9.96003771e-01 8.93092071e-02 -5.94772782e-04 3.38906580e+02] [-8.93091994e-02 9.96003948e-01 3.94193012e-05 -2.14570190e+01] [ 5.95916546e-04 1.38569084e-05 9.99999822e-01 -1.67702146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77028169299996 meters Centerline goodness [0,1] 0.9995935481110684 Centerline is valid? [True, True] Translation: X:338.94, Y:-21.46, Z:-1.68 [[ 9.96033799e-01 8.89701172e-02 -9.94832613e-04 3.38935391e+02] [-8.89700957e-02 9.96034295e-01 6.59109217e-05 -2.14604374e+01] [ 9.96751503e-04 2.28608471e-05 9.99999503e-01 -1.67764821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.800281693 meters Centerline goodness [0,1] 0.9998289574959377 Centerline is valid? [True, True] Translation: X:338.96, Y:-21.47, Z:-1.68 [[ 9.96292549e-01 8.60173773e-02 -1.47257818e-03 3.38963608e+02] [-8.60173269e-02 9.96293636e-01 9.76626740e-05 -2.14653953e+01] [ 1.47552096e-03 2.93666446e-05 9.99998911e-01 -1.67925675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83028169299996 meters Centerline goodness [0,1] 0.9999144330117441 Centerline is valid? [True, True] Translation: X:338.99, Y:-21.47, Z:-1.68 [[ 9.96434297e-01 8.43605312e-02 -1.41142273e-03 3.38991649e+02] [-8.43604834e-02 9.96435296e-01 9.34641957e-05 -2.14731041e+01] [ 1.41427611e-03 2.59373734e-05 9.99999000e-01 -1.67792837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.860281693 meters Centerline goodness [0,1] 0.9997671119767959 Centerline is valid? [True, True] Translation: X:339.02, Y:-21.47, Z:-1.68 [[ 9.96577999e-01 8.26563365e-02 -4.71480798e-04 3.39020359e+02] [-8.26563310e-02 9.96578110e-01 3.12023790e-05 -2.14746229e+01] [ 4.72446517e-04 7.87526844e-06 9.99999888e-01 -1.67582207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89028169299996 meters Centerline goodness [0,1] 0.9996589140676629 Centerline is valid? [True, True] Translation: X:339.05, Y:-21.48, Z:-1.68 [[ 9.96618137e-01 8.21723140e-02 -2.42534849e-05 3.39049898e+02] [-8.21723140e-02 9.96618137e-01 1.55970158e-06 -2.14775450e+01] [ 2.42996272e-05 4.38538101e-07 1.00000000e+00 -1.67535300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92028169299994 meters Centerline goodness [0,1] 0.9995576339737108 Centerline is valid? [True, True] Translation: X:339.08, Y:-21.48, Z:-1.68 [[ 9.96644224e-01 8.18553067e-02 1.33787982e-05 3.39079224e+02] [-8.18553067e-02 9.96644224e-01 -9.33751195e-07 -2.14801737e+01] [-1.34103344e-05 -1.64507894e-07 1.00000000e+00 -1.67544463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95028169299997 meters Centerline goodness [0,1] 0.9995298040137639 Centerline is valid? [True, True] Translation: X:339.11, Y:-21.48, Z:-1.68 [[ 9.96606229e-01 8.23111899e-02 -9.44178847e-04 3.39107936e+02] [-8.23111677e-02 9.96606677e-01 6.24248409e-05 -2.14773510e+01] [ 9.46113205e-04 1.55034781e-05 9.99999552e-01 -1.67733347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98028169299994 meters Centerline goodness [0,1] 0.999427213712928 Centerline is valid? [True, True] Translation: X:339.14, Y:-21.48, Z:-1.68 [[ 9.96526713e-01 8.32654921e-02 -1.16955113e-03 3.39136021e+02] [-8.32654588e-02 9.96527399e-01 7.72349114e-05 -2.14766115e+01] [ 1.17192075e-03 2.04165594e-05 9.99999313e-01 -1.67757533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01028169299997 meters Centerline goodness [0,1] 0.9992516090405628 Centerline is valid? [True, True] Translation: X:339.16, Y:-21.48, Z:-1.68 [[ 9.96442094e-01 8.42766853e-02 -7.69972587e-04 3.39164475e+02] [-8.42766712e-02 9.96442392e-01 5.07860767e-05 -2.14811301e+01] [ 7.71513408e-04 1.42853419e-05 9.99999702e-01 -1.67689408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04028169299994 meters Centerline goodness [0,1] 0.9990240590656426 Centerline is valid? [True, True] Translation: X:339.19, Y:-21.48, Z:-1.68 [[ 9.96497562e-01 8.36175923e-02 -8.41230139e-04 3.39192921e+02] [-8.36175752e-02 9.96497917e-01 5.54910844e-05 -2.14795926e+01] [ 8.42924111e-04 1.50448941e-05 9.99999645e-01 -1.67834899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07028169299997 meters Centerline goodness [0,1] 0.9991900417767926 Centerline is valid? [True, True] Translation: X:339.22, Y:-21.48, Z:-1.68 [[ 9.96601437e-01 8.23622206e-02 -1.42808352e-03 3.39221154e+02] [-8.23621701e-02 9.96602460e-01 9.42598296e-05 -2.14837487e+01] [ 1.43099500e-03 2.36805765e-05 9.99998976e-01 -1.68034360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10028169299994 meters Centerline goodness [0,1] 0.9994504333121962 Centerline is valid? [True, True] Translation: X:339.25, Y:-21.49, Z:-1.68 [[ 9.96836148e-01 7.94378777e-02 -2.70503213e-03 3.39249516e+02] [-7.94376859e-02 9.96839818e-01 1.78467599e-04 -2.14914154e+01] [ 2.71066083e-03 3.69785391e-05 9.99996325e-01 -1.68272884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.130281693 meters Centerline goodness [0,1] 0.9994637839692856 Centerline is valid? [True, True] Translation: X:339.28, Y:-21.50, Z:-1.68 [[ 9.96916951e-01 7.84439493e-02 -1.77166286e-03 3.39278312e+02] [-7.84438655e-02 9.96918525e-01 1.16837765e-04 -2.15000676e+01] [ 1.77536874e-03 2.24985338e-05 9.99998424e-01 -1.67908958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16028169299994 meters Centerline goodness [0,1] 0.9992161515157935 Centerline is valid? [True, True] Translation: X:339.31, Y:-21.50, Z:-1.67 [[ 9.97012643e-01 7.72290378e-02 1.21087157e-03 3.39307287e+02] [-7.72289976e-02 9.97013378e-01 -7.99217667e-05 -2.14994192e+01] [-1.21342743e-03 -1.38313857e-05 9.99999264e-01 -1.67383844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.190281693 meters Centerline goodness [0,1] 0.9992498124531133 Centerline is valid? [True, True] Translation: X:339.34, Y:-21.51, Z:-1.67 [[ 9.97042533e-01 7.68418748e-02 1.23006510e-03 3.39336815e+02] [-7.68418332e-02 9.97043292e-01 -8.11319855e-05 -2.15060836e+01] [-1.23266250e-03 -1.36284172e-05 9.99999240e-01 -1.67363325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22028169299995 meters Centerline goodness [0,1] 0.9993365010059501 Centerline is valid? [True, True] Translation: X:339.37, Y:-21.51, Z:-1.68 [[ 9.97076569e-01 7.64086269e-02 1.91000533e-04 3.39366310e+02] [-7.64086259e-02 9.97076588e-01 -1.26356064e-05 -2.15090138e+01] [-1.91407629e-04 -1.99542124e-06 9.99999982e-01 -1.67557128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.250281693 meters Centerline goodness [0,1] 0.9994237418363426 Centerline is valid? [True, True] Translation: X:339.40, Y:-21.51, Z:-1.68 [[ 9.97117032e-01 7.58767686e-02 -5.83909550e-04 3.39395868e+02] [-7.58767591e-02 9.97117203e-01 3.84436167e-05 -2.15087370e+01] [ 5.85143235e-04 5.97237929e-06 9.99999829e-01 -1.67862781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28028169299995 meters Centerline goodness [0,1] 0.9994449781193298 Centerline is valid? [True, True] Translation: X:339.42, Y:-21.51, Z:-1.68 [[ 9.97128209e-01 7.57315961e-02 -2.43339057e-04 3.39424789e+02] [-7.57315944e-02 9.97128239e-01 1.59760191e-05 -2.15147164e+01] [ 2.43850135e-04 2.49831543e-06 9.99999970e-01 -1.67620162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.310281693 meters Centerline goodness [0,1] 0.9994488255744933 Centerline is valid? [True, True] Translation: X:339.45, Y:-21.52, Z:-1.68 [[ 9.97126555e-01 7.57536795e-02 -1.12576513e-04 3.39454063e+02] [-7.57536792e-02 9.97126562e-01 7.36157698e-06 -2.15171690e+01] [ 1.12810698e-04 1.18766116e-06 9.99999994e-01 -1.67555452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34028169299995 meters Centerline goodness [0,1] 0.9992126654466528 Centerline is valid? [True, True] Translation: X:339.48, Y:-21.52, Z:-1.68 [[ 9.97125470e-01 7.57616967e-02 -9.81375928e-04 3.39483397e+02] [-7.57616697e-02 9.97125953e-01 6.46447359e-05 -2.15153758e+01] [ 9.83453002e-04 9.89176629e-06 9.99999516e-01 -1.67829441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.370281693 meters Centerline goodness [0,1] 0.9992781776107679 Centerline is valid? [True, True] Translation: X:339.51, Y:-21.52, Z:-1.68 [[ 9.97108398e-01 7.59767565e-02 -1.54124614e-03 3.39512755e+02] [-7.59766905e-02 9.97109589e-01 1.01399152e-04 -2.15208555e+01] [ 1.54449528e-03 1.59928356e-05 9.99998807e-01 -1.67816983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40028169299995 meters Centerline goodness [0,1] 0.9992781776107679 Centerline is valid? [True, True] Translation: X:339.54, Y:-21.52, Z:-1.68 [[ 9.97110176e-01 7.59534124e-02 -1.54124852e-03 3.39541861e+02] [-7.59533464e-02 9.97111367e-01 1.01362940e-04 -2.15227254e+01] [ 1.54449528e-03 1.59929642e-05 9.99998807e-01 -1.67823122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.430281693 meters Centerline goodness [0,1] 0.9992199523538465 Centerline is valid? [True, True] Translation: X:339.57, Y:-21.52, Z:-1.68 [[ 9.97096207e-01 7.61404365e-02 -1.33724634e-03 3.39570813e+02] [-7.61403870e-02 9.97097103e-01 8.78927619e-05 -2.15230632e+01] [ 1.34005665e-03 1.41809147e-05 9.99999102e-01 -1.67815209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46028169299996 meters Centerline goodness [0,1] 0.999383175582261 Centerline is valid? [True, True] Translation: X:339.60, Y:-21.52, Z:-1.68 [[ 9.97070272e-01 7.64910037e-02 -5.19576272e-06 3.39600315e+02] [-7.64910037e-02 9.97070272e-01 2.93303557e-07 -2.15225241e+01] [ 5.20297563e-06 1.04984849e-07 1.00000000e+00 -1.67613899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.490281693 meters Centerline goodness [0,1] 0.9992947361672117 Centerline is valid? [True, True] Translation: X:339.63, Y:-21.52, Z:-1.68 [[ 9.97143030e-01 7.55365683e-02 6.72587780e-05 3.39629827e+02] [-7.55365682e-02 9.97143032e-01 -4.39167487e-06 -2.15243443e+01] [-6.73983539e-05 -7.01369280e-07 9.99999998e-01 -1.67697904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52028169299996 meters Centerline goodness [0,1] 0.9993849938499385 Centerline is valid? [True, True] Translation: X:339.66, Y:-21.53, Z:-1.68 [[ 9.97219113e-01 7.45208535e-02 -8.26625843e-04 3.39658901e+02] [-7.45208340e-02 9.97219455e-01 5.44032446e-05 -2.15277924e+01] [ 8.28381549e-04 7.34889187e-06 9.99999657e-01 -1.67851737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.550281693 meters Centerline goodness [0,1] 0.999425324053381 Centerline is valid? [True, True] Translation: X:339.69, Y:-21.53, Z:-1.68 [[ 9.97320083e-01 7.31383253e-02 -1.85412898e-03 3.39689286e+02] [-7.31382249e-02 9.97321806e-01 1.21959227e-04 -2.15332258e+01] [ 1.85808316e-03 1.39753159e-05 9.99998274e-01 -1.67954067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58028169299996 meters Centerline goodness [0,1] 0.9995769076177783 Centerline is valid? [True, True] Translation: X:339.72, Y:-21.54, Z:-1.68 [[ 9.97415417e-01 7.17911779e-02 -2.91765171e-03 3.39718829e+02] [-7.17909238e-02 9.97419684e-01 1.91855987e-04 -2.15373718e+01] [ 2.92389681e-03 1.81007926e-05 9.99995725e-01 -1.68115757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.610281693 meters Centerline goodness [0,1] 0.9994219776926205 Centerline is valid? [True, True] Translation: X:339.75, Y:-21.54, Z:-1.68 [[ 9.97417162e-01 7.17915649e-02 -2.23052242e-03 3.39748453e+02] [-7.17914166e-02 9.97419656e-01 1.46590642e-04 -2.15390342e+01] [ 2.23529088e-03 1.39203425e-05 9.99997502e-01 -1.68036907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64028169299996 meters Centerline goodness [0,1] 0.9994224228292725 Centerline is valid? [True, True] Translation: X:339.78, Y:-21.54, Z:-1.68 [[ 9.97373726e-01 7.24267269e-02 1.43039236e-04 3.39778272e+02] [-7.24267263e-02 9.97373736e-01 -9.45088658e-06 -2.15409306e+01] [-1.43348074e-04 -9.33797632e-07 9.99999990e-01 -1.67623349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67028169299994 meters Centerline goodness [0,1] 0.9993671286627429 Centerline is valid? [True, True] Translation: X:339.81, Y:-21.54, Z:-1.68 [[ 9.97345493e-01 7.28141518e-02 2.59488052e-04 3.39807491e+02] [-7.28141498e-02 9.97345527e-01 -1.70751144e-05 -2.15430713e+01] [-2.60042558e-04 -1.86461353e-06 9.99999966e-01 -1.67583017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70028169299997 meters Centerline goodness [0,1] 0.9993848894922157 Centerline is valid? [True, True] Translation: X:339.84, Y:-21.54, Z:-1.68 [[ 9.97315293e-01 7.32249041e-02 -5.64660798e-04 3.39836745e+02] [-7.32248949e-02 9.97315453e-01 3.70701086e-05 -2.15448233e+01] [ 5.65859395e-04 4.37664140e-06 9.99999840e-01 -1.67731724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73028169299994 meters Centerline goodness [0,1] 0.9994076456028264 Centerline is valid? [True, True] Translation: X:339.87, Y:-21.55, Z:-1.68 [[ 9.97303023e-01 7.33659145e-02 -2.03051471e-03 3.39866425e+02] [-7.33657950e-02 9.97305090e-01 1.33344792e-04 -2.15468675e+01] [ 2.03482562e-03 1.59851615e-05 9.99997930e-01 -1.68098340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76028169299997 meters Centerline goodness [0,1] 0.9993349209414086 Centerline is valid? [True, True] Translation: X:339.90, Y:-21.55, Z:-1.68 [[ 9.97345606e-01 7.28005919e-02 -1.34745687e-03 3.39895601e+02] [-7.28005389e-02 9.97346516e-01 8.84226802e-05 -2.15526916e+01] [ 1.35031864e-03 9.90761472e-06 9.99999088e-01 -1.67917580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79028169299994 meters Centerline goodness [0,1] 0.999295579225991 Centerline is valid? [True, True] Translation: X:339.93, Y:-21.56, Z:-1.68 [[ 9.97417027e-01 7.18279762e-02 -1.25382104e-04 3.39925051e+02] [-7.18279757e-02 9.97417035e-01 8.26637519e-06 -2.15581931e+01] [ 1.25652003e-04 7.60919362e-07 9.99999992e-01 -1.67732958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82028169299997 meters Centerline goodness [0,1] 0.9994024754588134 Centerline is valid? [True, True] Translation: X:339.95, Y:-21.57, Z:-1.67 [[ 9.97552904e-01 6.98810166e-02 2.20165790e-03 3.39954549e+02] [-6.98808676e-02 9.97555334e-01 -1.44593057e-04 -2.15654459e+01] [-2.20637989e-03 -9.61454045e-06 9.99997566e-01 -1.67234875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85028169299994 meters Centerline goodness [0,1] 0.9994696423267851 Centerline is valid? [True, True] Translation: X:339.99, Y:-21.57, Z:-1.67 [[ 9.97565387e-01 6.96912014e-02 2.53682875e-03 3.39985881e+02] [-6.96910029e-02 9.97568612e-01 -1.66643655e-04 -2.15683990e+01] [-2.54227434e-03 -1.05561980e-05 9.99996768e-01 -1.67209561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.880281693 meters Centerline goodness [0,1] 0.9994932646425404 Centerline is valid? [True, True] Translation: X:340.02, Y:-21.57, Z:-1.67 [[ 9.97437693e-01 7.15342088e-02 9.51633597e-04 3.40016837e+02] [-7.15341817e-02 9.97438147e-01 -6.25177480e-05 -2.15668116e+01] [-9.53667810e-04 -5.71677230e-06 9.99999545e-01 -1.67449652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91028169299994 meters Centerline goodness [0,1] 0.9994072066731592 Centerline is valid? [True, True] Translation: X:340.05, Y:-21.57, Z:-1.68 [[ 9.97313500e-01 7.32514692e-02 6.33376766e-05 3.40046929e+02] [-7.32514690e-02 9.97313502e-01 -4.18664632e-06 -2.15665195e+01] [-6.34741981e-05 -4.64178954e-07 9.99999998e-01 -1.67623646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.940281693 meters Centerline goodness [0,1] 0.9993212573707208 Centerline is valid? [True, True] Translation: X:340.08, Y:-21.56, Z:-1.68 [[ 9.97168526e-01 7.51933891e-02 -9.40446643e-04 3.40076964e+02] [-7.51933643e-02 9.97168970e-01 6.17605271e-05 -2.15642610e+01] [ 9.42428194e-04 9.12969327e-06 9.99999556e-01 -1.67811816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97028169299995 meters Centerline goodness [0,1] 0.9992966452107933 Centerline is valid? [True, True] Translation: X:340.11, Y:-21.56, Z:-1.68 [[ 9.96912292e-01 7.85182127e-02 -8.79248281e-04 3.40105725e+02] [-7.85181924e-02 9.96912679e-01 5.76627329e-05 -2.15581393e+01] [ 8.81061334e-04 1.15522986e-05 9.99999612e-01 -1.67907407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.000281693 meters Centerline goodness [0,1] 0.9993653882766061 Centerline is valid? [True, True] Translation: X:340.14, Y:-21.56, Z:-1.68 [[ 9.96847666e-01 7.93392263e-02 1.32462527e-04 3.40135592e+02] [-7.93392258e-02 9.96847675e-01 -8.74276610e-06 -2.15579172e+01] [-1.32738607e-04 -1.79426839e-06 9.99999991e-01 -1.67747946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03028169299995 meters Centerline goodness [0,1] 0.9993379322128014 Centerline is valid? [True, True] Translation: X:340.16, Y:-21.56, Z:-1.68 [[ 9.96918654e-01 7.84344679e-02 1.11019307e-03 3.40164875e+02] [-7.84344353e-02 9.96919272e-01 -7.28968939e-05 -2.15596591e+01] [-1.11249050e-03 -1.44050934e-05 9.99999381e-01 -1.67613262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.060281693 meters Centerline goodness [0,1] 0.9993679287023576 Centerline is valid? [True, True] Translation: X:340.19, Y:-21.56, Z:-1.68 [[ 9.97058788e-01 7.66404789e-02 1.05713670e-04 3.40194407e+02] [-7.66404786e-02 9.97058793e-01 -6.90206963e-06 -2.15624965e+01] [-1.05931722e-04 -1.22017709e-06 9.99999994e-01 -1.67841268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09028169299995 meters Centerline goodness [0,1] 0.9993424680778857 Centerline is valid? [True, True] Translation: X:340.22, Y:-21.57, Z:-1.68 [[ 9.97237103e-01 7.42748607e-02 -1.18524563e-03 3.40224236e+02] [-7.42748206e-02 9.97237808e-01 7.77933301e-05 -2.15693357e+01] [ 1.18774984e-03 1.04555115e-05 9.99999295e-01 -1.68059925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.120281693 meters Centerline goodness [0,1] 0.999403836736432 Centerline is valid? [True, True] Translation: X:340.25, Y:-21.58, Z:-1.68 [[ 9.97631525e-01 6.87721914e-02 -1.31410705e-03 3.40253220e+02] [-6.87721376e-02 9.97632390e-01 8.62117043e-05 -2.15803518e+01] [ 1.31692472e-03 4.36643655e-06 9.99999133e-01 -1.68209806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15028169299995 meters Centerline goodness [0,1] 0.9995065860042047 Centerline is valid? [True, True] Translation: X:340.28, Y:-21.59, Z:-1.68 [[ 9.97823149e-01 6.59437781e-02 -6.17755541e-04 3.40283230e+02] [-6.59437657e-02 9.97823340e-01 4.05391144e-05 -2.15881937e+01] [ 6.19084200e-04 2.86259862e-07 9.99999808e-01 -1.68008009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.180281693 meters Centerline goodness [0,1] 0.9995959080371765 Centerline is valid? [True, True] Translation: X:340.31, Y:-21.60, Z:-1.68 [[ 9.97981720e-01 6.35016958e-02 -1.45612347e-04 3.40312806e+02] [-6.35016951e-02 9.97981731e-01 9.67775827e-06 -2.15956145e+01] [ 1.45933016e-04 -4.11595002e-07 9.99999989e-01 -1.67964173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21028169299996 meters Centerline goodness [0,1] 0.9996367133240731 Centerline is valid? [True, True] Translation: X:340.34, Y:-21.61, Z:-1.68 [[ 9.98199168e-01 5.99733413e-02 -1.27226560e-03 3.40342807e+02] [-5.99732832e-02 9.98199979e-01 8.38571864e-05 -2.16077348e+01] [ 1.27500469e-03 -7.40422868e-06 9.99999187e-01 -1.68125472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.240281693 meters Centerline goodness [0,1] 0.9996363869698202 Centerline is valid? [True, True] Translation: X:340.37, Y:-21.61, Z:-1.68 [[ 9.98268785e-01 5.87902662e-02 -1.77105506e-03 3.40373418e+02] [-5.87901519e-02 9.98270356e-01 1.16566710e-04 -2.16135226e+01] [ 1.77484476e-03 -1.22443122e-05 9.99998425e-01 -1.68207887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27028169299996 meters Centerline goodness [0,1] 0.9997259292054055 Centerline is valid? [True, True] Translation: X:340.40, Y:-21.63, Z:-1.68 [[ 9.98355593e-01 5.73191715e-02 -7.88928362e-04 3.40403910e+02] [-5.73191481e-02 9.98355905e-01 5.23460113e-05 -2.16263459e+01] [ 7.90631719e-04 -7.03923149e-06 9.99999687e-01 -1.68104642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.300281693 meters Centerline goodness [0,1] 0.999744702578504 Centerline is valid? [True, True] Translation: X:340.44, Y:-21.63, Z:-1.68 [[ 9.98398160e-01 5.65774386e-02 3.27296683e-04 3.40436214e+02] [-5.65774346e-02 9.98398214e-01 -2.12875639e-05 -2.16323409e+01] [-3.27976819e-04 2.73585801e-06 9.99999946e-01 -1.67897627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33028169299996 meters Centerline goodness [0,1] 0.9997890962775493 Centerline is valid? [True, True] Translation: X:340.47, Y:-21.64, Z:-1.68 [[ 9.98425101e-01 5.60992522e-02 4.38276041e-04 3.40467378e+02] [-5.60992450e-02 9.98425197e-01 -2.86794465e-05 -2.16408991e+01] [-4.39194738e-04 4.04732427e-06 9.99999904e-01 -1.67866715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.360281693 meters Centerline goodness [0,1] 0.9997639687580465 Centerline is valid? [True, True] Translation: X:340.50, Y:-21.65, Z:-1.68 [[ 9.98435628e-01 5.59130504e-02 -1.67846896e-04 3.40500051e+02] [-5.59130492e-02 9.98435642e-01 1.15540339e-05 -2.16503392e+01] [ 1.68230345e-04 -2.15112736e-06 9.99999986e-01 -1.68024584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39028169299996 meters Centerline goodness [0,1] 0.9996583751467919 Centerline is valid? [True, True] Translation: X:340.53, Y:-21.66, Z:-1.68 [[ 9.98399345e-01 5.65574615e-02 -4.67945377e-05 3.40531850e+02] [-5.65574614e-02 9.98399346e-01 3.48928014e-06 -2.16568902e+01] [ 4.69169806e-05 -8.37114739e-07 9.99999999e-01 -1.68083029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42028169299994 meters Centerline goodness [0,1] 0.9996788627459376 Centerline is valid? [True, True] Translation: X:340.56, Y:-21.66, Z:-1.68 [[ 9.98236760e-01 5.93579534e-02 -6.96291771e-05 3.40563851e+02] [-5.93579532e-02 9.98236762e-01 5.00240524e-06 -2.16610457e+01] [ 6.98033369e-05 -8.60539357e-07 9.99999998e-01 -1.68108887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45028169299997 meters Centerline goodness [0,1] 0.9994826917273786 Centerline is valid? [True, True] Translation: X:340.60, Y:-21.66, Z:-1.68 [[ 9.98111333e-01 6.14283241e-02 -5.72711977e-04 3.40596144e+02] [-6.14283120e-02 9.98111497e-01 3.87130208e-05 -2.16632125e+01] [ 5.74008485e-04 -3.45917474e-06 9.99999835e-01 -1.67623156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48028169299994 meters Centerline goodness [0,1] 0.9995554991109982 Centerline is valid? [True, True] Translation: X:340.63, Y:-21.66, Z:-1.68 [[ 9.97942661e-01 6.41055957e-02 -9.58417765e-04 3.40627458e+02] [-6.41055631e-02 9.97943121e-01 6.46707840e-05 -2.16649099e+01] [ 9.60592174e-04 -3.09782368e-06 9.99999539e-01 -1.68153778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51028169299997 meters Centerline goodness [0,1] 0.9995324023889987 Centerline is valid? [True, True] Translation: X:340.66, Y:-21.67, Z:-1.68 [[ 9.97577188e-01 6.95622616e-02 -9.19654684e-04 3.40659851e+02] [-6.95622338e-02 9.97577612e-01 6.22725794e-05 -2.16650064e+01] [ 9.21758745e-04 1.85152949e-06 9.99999575e-01 -1.68165439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54028169299994 meters Centerline goodness [0,1] 0.9995345885339538 Centerline is valid? [True, True] Translation: X:340.69, Y:-21.67, Z:-1.68 [[ 9.97350461e-01 7.27457932e-02 -3.27252758e-04 3.40691529e+02] [-7.27457898e-02 9.97350515e-01 2.23904622e-05 -2.16653772e+01] [ 3.28014519e-04 1.47512261e-06 9.99999946e-01 -1.68086317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57028169299997 meters Centerline goodness [0,1] 0.9993847720474361 Centerline is valid? [True, True] Translation: X:340.72, Y:-21.67, Z:-1.68 [[ 9.97089659e-01 7.62370585e-02 3.50937364e-04 3.40724067e+02] [-7.62370550e-02 9.97089721e-01 -2.33924404e-05 -2.16668669e+01] [-3.51699409e-04 -3.43007065e-06 9.99999938e-01 -1.67879767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60028169299994 meters Centerline goodness [0,1] 0.9993021337788398 Centerline is valid? [True, True] Translation: X:340.76, Y:-21.66, Z:-1.68 [[ 9.96572161e-01 8.27235495e-02 8.61419137e-04 3.40755162e+02] [-8.27235302e-02 9.96572533e-01 -5.81542650e-05 -2.16632802e+01] [-8.63277378e-04 -1.33047104e-05 9.99999627e-01 -1.67772574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.630281693 meters Centerline goodness [0,1] 0.999408496524917 Centerline is valid? [True, True] Translation: X:340.79, Y:-21.66, Z:-1.68 [[ 9.96327463e-01 8.56225894e-02 5.98507043e-04 3.40785969e+02] [-8.56225805e-02 9.96327643e-01 -4.04874921e-05 -2.16619217e+01] [-5.99775756e-04 -1.09069172e-05 9.99999820e-01 -1.67856040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66028169299994 meters Centerline goodness [0,1] 0.9993762904335857 Centerline is valid? [True, True] Translation: X:340.82, Y:-21.66, Z:-1.68 [[ 9.95831589e-01 9.12099487e-02 -4.38563470e-04 3.40817000e+02] [-9.12099445e-02 9.95831685e-01 2.97327783e-05 -2.16611272e+01] [ 4.39447325e-04 1.03925100e-05 9.99999903e-01 -1.68031887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.690281693 meters Centerline goodness [0,1] 0.999109339214522 Centerline is valid? [True, True] Translation: X:340.85, Y:-21.66, Z:-1.68 [[ 9.95559814e-01 9.41310574e-02 -1.45490322e-05 3.40847994e+02] [-9.41310574e-02 9.95559814e-01 1.01042559e-06 -2.16564298e+01] [ 1.45795442e-05 3.63576672e-07 1.00000000e+00 -1.68012804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72028169299995 meters Centerline goodness [0,1] 0.9989019110970331 Centerline is valid? [True, True] Translation: X:340.88, Y:-21.66, Z:-1.68 [[ 9.95331050e-01 9.65159363e-02 8.79974705e-04 3.40879365e+02] [-9.65159213e-02 9.95331439e-01 -5.95913456e-05 -2.16566128e+01] [-8.81618004e-04 -2.56184528e-05 9.99999611e-01 -1.67822859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.750281693 meters Centerline goodness [0,1] 0.9985637646263676 Centerline is valid? [True, True] Translation: X:340.91, Y:-21.65, Z:-1.68 [[ 9.95113760e-01 9.87147973e-02 1.99816866e-03 3.40909359e+02] [-9.87147242e-02 9.95115765e-01 -1.35417060e-04 -2.16533081e+01] [-2.00177680e-03 -6.24932879e-05 9.99997994e-01 -1.67619129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78028169299995 meters Centerline goodness [0,1] 0.9985500756945777 Centerline is valid? [True, True] Translation: X:340.94, Y:-21.65, Z:-1.67 [[ 9.94746358e-01 1.02341146e-01 2.44403688e-03 3.40940305e+02] [-1.02341047e-01 9.94749357e-01 -1.65782368e-04 -2.16520137e+01] [-2.44817047e-03 -8.52138861e-05 9.99997000e-01 -1.67468764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.810281693 meters Centerline goodness [0,1] 0.9976873661670236 Centerline is valid? [True, True] Translation: X:340.97, Y:-21.65, Z:-1.68 [[ 9.94517084e-01 1.04562695e-01 1.55295322e-03 3.40971140e+02] [-1.04562658e-01 9.94518295e-01 -1.05348181e-04 -2.16472880e+01] [-1.55545587e-03 -5.76103493e-05 9.99998789e-01 -1.67654264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84028169299995 meters Centerline goodness [0,1] 0.9948504529499548 Centerline is valid? [True, True] Translation: X:341.00, Y:-21.64, Z:-1.68 [[ 9.94414104e-01 1.05536866e-01 1.60000122e-03 3.41001256e+02] [-1.05536828e-01 9.94415389e-01 -1.08570537e-04 -2.16394363e+01] [-1.60252403e-03 -6.08949796e-05 9.99998714e-01 -1.67628973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.870281693 meters Centerline goodness [0,1] 0.9981819362379066 Centerline is valid? [True, True] Translation: X:341.03, Y:-21.65, Z:-1.68 [[ 9.94377013e-01 1.05871111e-01 2.37968801e-03 3.41031674e+02] [-1.05871028e-01 9.94379857e-01 -1.61448563e-04 -2.16493247e+01] [-2.38340656e-03 -9.13992749e-05 9.99997156e-01 -1.67532887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90028169299995 meters Centerline goodness [0,1] 0.9954310018107551 Centerline is valid? [True, True] Translation: X:341.06, Y:-21.64, Z:-1.67 [[ 9.94318431e-01 1.06407716e-01 2.87344410e-03 3.41062240e+02] [-1.06407596e-01 9.94322576e-01 -1.94998558e-04 -2.16405534e+01] [-2.87787970e-03 -1.11865618e-04 9.99995853e-01 -1.67424589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.930281693 meters Centerline goodness [0,1] 0.9965318896971748 Centerline is valid? [True, True] Translation: X:341.09, Y:-21.64, Z:-1.67 [[ 9.94350147e-01 1.06115066e-01 2.71608109e-03 3.41091754e+02] [-1.06114958e-01 9.94353851e-01 -1.84281750e-04 -2.16402873e+01] [-2.72030076e-03 -1.04976245e-04 9.99996294e-01 -1.67488803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96028169299996 meters Centerline goodness [0,1] 0.9968136065331618 Centerline is valid? [True, True] Translation: X:341.12, Y:-21.64, Z:-1.68 [[ 9.94425621e-01 1.05422560e-01 1.94138673e-03 3.41121816e+02] [-1.05422503e-01 9.94427513e-01 -1.31685578e-04 -2.16403786e+01] [-1.94445101e-03 -7.37143365e-05 9.99998107e-01 -1.67667393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.990281693 meters Centerline goodness [0,1] 0.9975428934547765 Centerline is valid? [True, True] Translation: X:341.15, Y:-21.64, Z:-1.68 [[ 9.94734314e-01 1.02486540e-01 3.91328157e-04 3.41151369e+02] [-1.02486538e-01 9.94734391e-01 -2.65634324e-05 -2.16384232e+01] [-3.91989970e-04 -1.36823103e-05 9.99999923e-01 -1.67985980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02028169299996 meters Centerline goodness [0,1] 0.9986843780503332 Centerline is valid? [True, True] Translation: X:341.18, Y:-21.64, Z:-1.68 [[ 9.94898285e-01 1.00882653e-01 -3.06033676e-04 3.41180455e+02] [-1.00882652e-01 9.94898332e-01 2.06990295e-05 -2.16427369e+01] [ 3.06560566e-04 1.02800597e-05 9.99999953e-01 -1.68083212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.050281693 meters Centerline goodness [0,1] 0.9989709949192874 Centerline is valid? [True, True] Translation: X:341.21, Y:-21.65, Z:-1.68 [[ 9.95043461e-01 9.94372843e-02 -8.58776458e-04 3.41210221e+02] [-9.94372711e-02 9.95043831e-01 5.81512655e-05 -2.16457192e+01] [ 8.60302621e-04 2.75313510e-05 9.99999630e-01 -1.68114972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08028169299996 meters Centerline goodness [0,1] 0.9991342539803201 Centerline is valid? [True, True] Translation: X:341.24, Y:-21.64, Z:-1.68 [[ 9.95346575e-01 9.63597114e-02 -4.72793373e-05 3.41239016e+02] [-9.63597113e-02 9.95346576e-01 3.12783074e-06 -2.16412349e+01] [ 4.73607234e-05 1.44254769e-06 9.99999999e-01 -1.68039099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.110281693 meters Centerline goodness [0,1] 0.9989037861539759 Centerline is valid? [True, True] Translation: X:341.27, Y:-21.64, Z:-1.68 [[ 9.95555506e-01 9.41759283e-02 3.58946595e-04 3.41268122e+02] [-9.41759256e-02 9.95555571e-01 -2.43348271e-05 -2.16360895e+01] [-3.59643037e-04 -9.57745667e-06 9.99999935e-01 -1.67972578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14028169299996 meters Centerline goodness [0,1] 0.9993655359106675 Centerline is valid? [True, True] Translation: X:341.30, Y:-21.65, Z:-1.68 [[ 9.96029718e-01 8.90212935e-02 -9.72362056e-05 3.41298526e+02] [-8.90212933e-02 9.96029723e-01 6.61102149e-06 -2.16497165e+01] [ 9.74386726e-05 2.07131890e-06 9.99999995e-01 -1.67944713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17028169299994 meters Centerline goodness [0,1] 0.9994264349747206 Centerline is valid? [True, True] Translation: X:341.33, Y:-21.65, Z:-1.68 [[ 9.96245253e-01 8.65731454e-02 -6.97594791e-04 3.41328820e+02] [-8.65731335e-02 9.96245497e-01 4.72525351e-05 -2.16529873e+01] [ 6.99066470e-04 1.33178532e-05 9.99999756e-01 -1.68048528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20028169299997 meters Centerline goodness [0,1] 0.9995513108134094 Centerline is valid? [True, True] Translation: X:341.36, Y:-21.66, Z:-1.68 [[ 9.96667979e-01 8.15606824e-02 8.91677821e-04 3.41359035e+02] [-8.15606610e-02 9.96668378e-01 -6.03990140e-05 -2.16597832e+01] [-8.93633272e-04 -1.25280693e-05 9.99999601e-01 -1.67889902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23028169299994 meters Centerline goodness [0,1] 0.9996186521472002 Centerline is valid? [True, True] Translation: X:341.39, Y:-21.66, Z:-1.68 [[ 9.96849376e-01 7.93009187e-02 1.63862944e-03 3.41389531e+02] [-7.93008434e-02 9.96850723e-01 -1.10964631e-04 -2.16628646e+01] [-1.64226853e-03 -1.93296726e-05 9.99998651e-01 -1.67746494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26028169299997 meters Centerline goodness [0,1] 0.9997215916391827 Centerline is valid? [True, True] Translation: X:341.42, Y:-21.67, Z:-1.68 [[ 9.97031843e-01 7.69639008e-02 2.01525678e-03 3.41421093e+02] [-7.69637818e-02 9.97033880e-01 -1.36634874e-04 -2.16677564e+01] [-2.01979524e-03 -1.88724628e-05 9.99997960e-01 -1.67712349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29028169299994 meters Centerline goodness [0,1] 0.9997433649137064 Centerline is valid? [True, True] Translation: X:341.45, Y:-21.67, Z:-1.68 [[ 9.97284672e-01 7.36215967e-02 1.77308144e-03 3.41450869e+02] [-7.36214993e-02 9.97286248e-01 -1.20278623e-04 -2.16716421e+01] [-1.77712485e-03 -1.05848875e-05 9.99998421e-01 -1.67700501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32028169299997 meters Centerline goodness [0,1] 0.9997433649137064 Centerline is valid? [True, True] Translation: X:341.48, Y:-21.67, Z:-1.68 [[ 9.97284672e-01 7.36215968e-02 1.77307974e-03 3.41480801e+02] [-7.36214993e-02 9.97286248e-01 -1.20303751e-04 -2.16736729e+01] [-1.77712499e-03 -1.05597019e-05 9.99998421e-01 -1.67706815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35028169299994 meters Centerline goodness [0,1] 0.9997860688002739 Centerline is valid? [True, True] Translation: X:341.51, Y:-21.68, Z:-1.68 [[ 9.97353295e-01 7.26837028e-02 1.86643337e-03 3.41511951e+02] [-7.26835931e-02 9.97355042e-01 -1.26632058e-04 -2.16768199e+01] [-1.87070082e-03 -9.36218321e-06 9.99998250e-01 -1.67669974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.380281693 meters Centerline goodness [0,1] 0.9997018612377018 Centerline is valid? [True, True] Translation: X:341.54, Y:-21.68, Z:-1.67 [[ 9.97414405e-01 7.17991074e-02 3.06477804e-03 3.41542545e+02] [-7.17988069e-02 9.97419114e-01 -2.08082457e-04 -2.16777463e+01] [-3.07180833e-03 -1.25029668e-05 9.99995282e-01 -1.67487189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41028169299994 meters Centerline goodness [0,1] 0.9997858718228732 Centerline is valid? [True, True] Translation: X:341.57, Y:-21.68, Z:-1.67 [[ 9.97462221e-01 7.11221199e-02 3.28062278e-03 3.41573803e+02] [-7.11217715e-02 9.97467615e-01 -2.22908108e-04 -2.16797168e+01] [-3.28816868e-03 -1.09812875e-05 9.99994594e-01 -1.67434588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.440281693 meters Centerline goodness [0,1] 0.9997443762781186 Centerline is valid? [True, True] Translation: X:341.60, Y:-21.68, Z:-1.68 [[ 9.97478842e-01 7.09099059e-02 2.78284336e-03 3.41604538e+02] [-7.09096540e-02 9.97482724e-01 -1.89191653e-04 -2.16807416e+01] [-2.78925373e-03 -8.61578828e-06 9.99996110e-01 -1.67537841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47028169299995 meters Centerline goodness [0,1] 0.9997008994381182 Centerline is valid? [True, True] Translation: X:341.63, Y:-21.68, Z:-1.68 [[ 9.97484416e-01 7.08512091e-02 2.22375211e-03 3.41634968e+02] [-7.08510478e-02 9.97486895e-01 -1.51339579e-04 -2.16813246e+01] [-2.22888618e-03 -6.59629546e-06 9.99997516e-01 -1.67589394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.500281693 meters Centerline goodness [0,1] 0.9996997512224415 Centerline is valid? [True, True] Translation: X:341.67, Y:-21.68, Z:-1.68 [[ 9.97438155e-01 7.15172062e-02 1.55425998e-03 3.41665959e+02] [-7.15171282e-02 9.97439366e-01 -1.05793727e-04 -2.16810315e+01] [-1.55784616e-03 -5.63351004e-06 9.99998787e-01 -1.67727435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53028169299995 meters Centerline goodness [0,1] 0.9997210958786552 Centerline is valid? [True, True] Translation: X:341.70, Y:-21.68, Z:-1.68 [[ 9.97393661e-01 7.21477355e-02 7.67455792e-04 3.41695445e+02] [-7.21477167e-02 9.97393956e-01 -5.22543279e-05 -2.16807959e+01] [-7.69225801e-04 -3.25204760e-06 9.99999704e-01 -1.67792275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.560281693 meters Centerline goodness [0,1] 0.9998302062993463 Centerline is valid? [True, True] Translation: X:341.73, Y:-21.68, Z:-1.68 [[ 9.97434430e-01 7.15829803e-02 6.58824121e-04 3.41725046e+02] [-7.15829662e-02 9.97434648e-01 -4.48533978e-05 -2.16805961e+01] [-6.60344746e-04 -2.42226158e-06 9.99999782e-01 -1.67862353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59028169299995 meters Centerline goodness [0,1] 0.9998307021627799 Centerline is valid? [True, True] Translation: X:341.76, Y:-21.68, Z:-1.68 [[ 9.97488666e-01 7.08148377e-02 1.27305885e-03 3.41755766e+02] [-7.08147848e-02 9.97489478e-01 -8.66228358e-05 -2.16825455e+01] [-1.27599699e-03 -3.74609174e-06 9.99999186e-01 -1.67788274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.620281693 meters Centerline goodness [0,1] 0.9997647511708976 Centerline is valid? [True, True] Translation: X:341.79, Y:-21.68, Z:-1.68 [[ 9.97507616e-01 7.05372138e-02 1.74884927e-03 3.41786406e+02] [-7.05371136e-02 9.97509149e-01 -1.18997078e-04 -2.16840000e+01] [-1.75288687e-03 -4.65828830e-06 9.99998464e-01 -1.67711386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65028169299995 meters Centerline goodness [0,1] 0.9997027474627372 Centerline is valid? [True, True] Translation: X:341.82, Y:-21.68, Z:-1.68 [[ 9.97373433e-01 7.24167684e-02 1.43080082e-03 3.41815746e+02] [-7.24167032e-02 9.97374459e-01 -9.73493075e-05 -2.16812303e+01] [-1.43409392e-03 -6.52026539e-06 9.99998972e-01 -1.67842208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.680281693 meters Centerline goodness [0,1] 0.999700265479147 Centerline is valid? [True, True] Translation: X:341.85, Y:-21.68, Z:-1.68 [[ 9.97264344e-01 7.39120234e-02 9.16997169e-04 3.41846651e+02] [-7.39119973e-02 9.97264766e-01 -6.24045918e-05 -2.16820323e+01] [-9.19101417e-04 -5.54321801e-06 9.99999578e-01 -1.67918829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71028169299996 meters Centerline goodness [0,1] 0.9997888959256913 Centerline is valid? [True, True] Translation: X:341.88, Y:-21.68, Z:-1.68 [[ 9.97025636e-01 7.70648626e-02 -9.42525500e-04 3.41876389e+02] [-7.70648365e-02 9.97026081e-01 6.41045114e-05 -2.16750334e+01] [ 9.44662711e-04 8.72173227e-06 9.99999554e-01 -1.68243260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.740281693 meters Centerline goodness [0,1] 0.9997660122099084 Centerline is valid? [True, True] Translation: X:341.91, Y:-21.67, Z:-1.68 [[ 9.96948245e-01 7.80484959e-02 -1.62167486e-03 3.41905048e+02] [-7.80484198e-02 9.96949563e-01 1.10212407e-04 -2.16735273e+01] [ 1.62532995e-03 1.66930945e-05 9.99998679e-01 -1.68423865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77028169299996 meters Centerline goodness [0,1] 0.9997662061636556 Centerline is valid? [True, True] Translation: X:341.93, Y:-21.67, Z:-1.69 [[ 9.96872572e-01 7.90030765e-02 -1.89427120e-03 3.41934375e+02] [-7.90029745e-02 9.96874372e-01 1.28731309e-04 -2.16735517e+01] [ 1.89852059e-03 2.13243489e-05 9.99998198e-01 -1.68525236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.800281693 meters Centerline goodness [0,1] 0.9996982368409708 Centerline is valid? [True, True] Translation: X:341.96, Y:-21.67, Z:-1.68 [[ 9.96733964e-01 8.07453092e-02 -1.26470388e-03 3.41963385e+02] [-8.07452653e-02 9.96734767e-01 8.58254675e-05 -2.16708203e+01] [ 1.26750433e-03 1.65736922e-05 9.99999197e-01 -1.68462352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83028169299996 meters Centerline goodness [0,1] 0.9997007587902106 Centerline is valid? [True, True] Translation: X:341.99, Y:-21.67, Z:-1.68 [[ 9.96630065e-01 8.20189523e-02 -1.18548617e-03 3.41992415e+02] [-8.20189147e-02 9.96630770e-01 8.03831755e-05 -2.16705524e+01] [ 1.18808494e-03 1.71199995e-05 9.99999294e-01 -1.68369507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.860281693 meters Centerline goodness [0,1] 0.9996801091893966 Centerline is valid? [True, True] Translation: X:342.02, Y:-21.67, Z:-1.69 [[ 9.96419650e-01 8.44899488e-02 -3.05436356e-03 3.42022067e+02] [-8.44897105e-02 9.96424330e-01 2.07178608e-04 -2.16652444e+01] [ 3.06094667e-03 5.16254573e-05 9.99995314e-01 -1.68776512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89028169299996 meters Centerline goodness [0,1] 0.9997030689940402 Centerline is valid? [True, True] Translation: X:342.05, Y:-21.66, Z:-1.69 [[ 9.96368926e-01 8.50561044e-02 -3.79768537e-03 3.42050209e+02] [-8.50557412e-02 9.96376161e-01 2.57342765e-04 -2.16645841e+01] [ 3.80581175e-03 6.66066100e-05 9.99992756e-01 -1.68981051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92028169299994 meters Centerline goodness [0,1] 0.9996805520061334 Centerline is valid? [True, True] Translation: X:342.08, Y:-21.66, Z:-1.69 [[ 9.96324056e-01 8.55902279e-02 -3.56217338e-03 3.42078744e+02] [-8.55899122e-02 9.96330421e-01 2.41233792e-04 -2.16645385e+01] [ 3.56974896e-03 6.45390767e-05 9.99993626e-01 -1.68942822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95028169299997 meters Centerline goodness [0,1] 0.99970367234628 Centerline is valid? [True, True] Translation: X:342.11, Y:-21.66, Z:-1.69 [[ 9.96263582e-01 8.63062820e-02 -3.17828158e-03 3.42107691e+02] [-8.63060349e-02 9.96268650e-01 2.15078020e-04 -2.16633357e+01] [ 3.18498488e-03 6.00304820e-05 9.99994926e-01 -1.68872768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98028169299994 meters Centerline goodness [0,1] 0.9995957962813258 Centerline is valid? [True, True] Translation: X:342.14, Y:-21.66, Z:-1.69 [[ 9.96085408e-01 8.83785328e-02 -1.75950430e-03 3.42135999e+02] [-8.83784606e-02 9.96086961e-01 1.18865473e-04 -2.16571847e+01] [ 1.76312445e-03 3.71021180e-05 9.99998445e-01 -1.68625955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01028169299997 meters Centerline goodness [0,1] 0.9995983171603138 Centerline is valid? [True, True] Translation: X:342.16, Y:-21.66, Z:-1.69 [[ 9.95991512e-01 8.94314390e-02 -1.71064593e-03 3.42164703e+02] [-8.94313724e-02 9.95992980e-01 1.15523959e-04 -2.16574185e+01] [ 1.71412281e-03 3.79245298e-05 9.99998530e-01 -1.68554035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04028169299994 meters Centerline goodness [0,1] 0.999491590052112 Centerline is valid? [True, True] Translation: X:342.19, Y:-21.65, Z:-1.69 [[ 9.95851165e-01 9.09905393e-02 -1.08552045e-03 3.42192725e+02] [-9.09905136e-02 9.95851757e-01 7.31862726e-05 -2.16525178e+01] [ 1.08767671e-03 2.58894288e-05 9.99999408e-01 -1.68502404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07028169299997 meters Centerline goodness [0,1] 0.9994889920367925 Centerline is valid? [True, True] Translation: X:342.22, Y:-21.65, Z:-1.68 [[ 9.95795812e-01 9.16003706e-02 -2.68694052e-04 3.42221572e+02] [-9.16003691e-02 9.95795849e-01 1.80349607e-05 -2.16541796e+01] [ 2.69216431e-04 6.65333603e-06 9.99999964e-01 -1.68358565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10028169299994 meters Centerline goodness [0,1] 0.9994473376554363 Centerline is valid? [True, True] Translation: X:342.25, Y:-21.65, Z:-1.68 [[ 9.95714099e-01 9.24847463e-02 6.29464658e-05 3.42249916e+02] [-9.24847462e-02 9.95714101e-01 -4.36594186e-06 -2.16515592e+01] [-6.30804666e-05 -1.47435804e-06 9.99999998e-01 -1.68331151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.130281693 meters Centerline goodness [0,1] 0.9981581454429977 Centerline is valid? [True, True] Translation: X:342.28, Y:-21.64, Z:-1.68 [[ 9.95479409e-01 9.49773120e-02 2.38376610e-04 3.42279064e+02] [-9.49773109e-02 9.95479437e-01 -1.61579296e-05 -2.16411165e+01] [-2.38833650e-04 -6.55548316e-06 9.99999971e-01 -1.68309657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16028169299994 meters Centerline goodness [0,1] 0.9984780908495212 Centerline is valid? [True, True] Translation: X:342.31, Y:-21.64, Z:-1.68 [[ 9.95375918e-01 9.60559183e-02 -2.06047020e-04 3.42307682e+02] [-9.60559175e-02 9.95375939e-01 1.37797692e-05 -2.16434741e+01] [ 2.06417875e-04 6.07598511e-06 9.99999979e-01 -1.68327175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.190281693 meters Centerline goodness [0,1] 0.9985442089488332 Centerline is valid? [True, True] Translation: X:342.34, Y:-21.64, Z:-1.68 [[ 9.95237740e-01 9.74747895e-02 -7.11058057e-04 3.42336796e+02] [-9.74747802e-02 9.95237994e-01 4.77531433e-05 -2.16384243e+01] [ 7.12326722e-04 2.17844974e-05 9.99999746e-01 -1.68409996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22028169299995 meters Centerline goodness [0,1] 0.9983988728064558 Centerline is valid? [True, True] Translation: X:342.37, Y:-21.64, Z:-1.68 [[ 9.95209958e-01 9.77605437e-02 -1.26240410e-04 3.42365664e+02] [-9.77605434e-02 9.95209966e-01 8.39351970e-06 -2.16386037e+01] [ 1.26456269e-04 3.98801671e-06 9.99999992e-01 -1.68388533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.250281693 meters Centerline goodness [0,1] 0.9980059820538385 Centerline is valid? [True, True] Translation: X:342.39, Y:-21.64, Z:-1.68 [[ 9.95188276e-01 9.79775879e-02 8.29576730e-04 3.42393494e+02] [-9.79775753e-02 9.95188621e-01 -5.58571565e-05 -2.16373957e+01] [-8.31058071e-04 -2.56915293e-05 9.99999654e-01 -1.68218400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28028169299995 meters Centerline goodness [0,1] 0.9985805841111446 Centerline is valid? [True, True] Translation: X:342.42, Y:-21.64, Z:-1.68 [[ 9.95127044e-01 9.85944889e-02 1.13709228e-03 3.42422343e+02] [-9.85944659e-02 9.95127693e-01 -7.64461142e-05 -2.16382860e+01] [-1.13908919e-03 -3.60374106e-05 9.99999351e-01 -1.68079534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.310281693 meters Centerline goodness [0,1] 0.9975905669630483 Centerline is valid? [True, True] Translation: X:342.45, Y:-21.63, Z:-1.68 [[ 9.95066629e-01 9.92084804e-02 2.84514954e-04 3.42450538e+02] [-9.92084790e-02 9.95066670e-01 -1.92096736e-05 -2.16304852e+01] [-2.85017111e-04 -9.11139069e-06 9.99999959e-01 -1.68240633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34028169299995 meters Centerline goodness [0,1] 0.9988494268843349 Centerline is valid? [True, True] Translation: X:342.48, Y:-21.63, Z:-1.69 [[ 9.94970206e-01 1.00155631e-01 -1.77153346e-03 3.42479548e+02] [-1.00155579e-01 9.94971781e-01 1.18657288e-04 -2.16289739e+01] [ 1.77451000e-03 5.93684934e-05 9.99998424e-01 -1.68603192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.370281693 meters Centerline goodness [0,1] 0.9986643112585635 Centerline is valid? [True, True] Translation: X:342.51, Y:-21.63, Z:-1.69 [[ 9.95005299e-01 9.97975740e-02 -2.21349621e-03 3.42507292e+02] [-9.97974912e-02 9.95007758e-01 1.48130253e-04 -2.16277975e+01] [ 2.21722894e-03 7.35109816e-05 9.99997539e-01 -1.68719176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40028169299995 meters Centerline goodness [0,1] 0.9975922953451043 Centerline is valid? [True, True] Translation: X:342.54, Y:-21.62, Z:-1.69 [[ 9.95065691e-01 9.92019740e-02 -1.79984035e-03 3.42535425e+02] [-9.92019186e-02 9.95067317e-01 1.20258783e-04 -2.16237223e+01] [ 1.80289222e-03 5.88822266e-05 9.99998373e-01 -1.68750391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.430281693 meters Centerline goodness [0,1] 0.9987160557231816 Centerline is valid? [True, True] Translation: X:342.56, Y:-21.63, Z:-1.69 [[ 9.95235717e-01 9.74944182e-02 -8.40699196e-04 3.42563701e+02] [-9.74944055e-02 9.95236071e-01 5.61071553e-05 -2.16294953e+01] [ 8.42164299e-04 2.61236234e-05 9.99999645e-01 -1.68533050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46028169299996 meters Centerline goodness [0,1] 0.9987290828214361 Centerline is valid? [True, True] Translation: X:342.59, Y:-21.63, Z:-1.69 [[ 9.95339811e-01 9.64223744e-02 -1.17727919e-03 3.42591663e+02] [-9.64223489e-02 9.95340507e-01 7.85175338e-05 -2.16281204e+01] [ 1.17936451e-03 3.53643974e-05 9.99999304e-01 -1.68652743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.490281693 meters Centerline goodness [0,1] 0.998877451603338 Centerline is valid? [True, True] Translation: X:342.62, Y:-21.63, Z:-1.69 [[ 9.95438483e-01 9.53979091e-02 -1.21020640e-03 3.42619723e+02] [-9.53978816e-02 9.95439218e-01 8.06006754e-05 -2.16279276e+01] [ 1.21237605e-03 3.52181126e-05 9.99999264e-01 -1.68700554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52028169299996 meters Centerline goodness [0,1] 0.9990687633600711 Centerline is valid? [True, True] Translation: X:342.65, Y:-21.63, Z:-1.68 [[ 9.95740852e-01 9.21962646e-02 -6.54724445e-05 3.42648196e+02] [-9.21962645e-02 9.95740854e-01 4.29464615e-06 -2.16305792e+01] [ 6.55895382e-05 1.75996020e-06 9.99999998e-01 -1.68446841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.550281693 meters Centerline goodness [0,1] 0.9984711752840004 Centerline is valid? [True, True] Translation: X:342.68, Y:-21.63, Z:-1.68 [[ 9.95959561e-01 8.97928451e-02 1.34062309e-03 3.42676394e+02] [-8.97928060e-02 9.95960463e-01 -8.94513622e-05 -2.16303979e+01] [-1.34323968e-03 -3.12883695e-05 9.99999097e-01 -1.68176549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58028169299996 meters Centerline goodness [0,1] 0.9995071463775259 Centerline is valid? [True, True] Translation: X:342.71, Y:-21.64, Z:-1.68 [[ 9.96439273e-01 8.42595439e-02 3.01730814e-03 3.42705333e+02] [-8.42593213e-02 9.96443840e-01 -2.01037248e-04 -2.16435266e+01] [-3.02351742e-03 -5.39149272e-05 9.99995428e-01 -1.67957084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.610281693 meters Centerline goodness [0,1] 0.9994667576733571 Centerline is valid? [True, True] Translation: X:342.73, Y:-21.65, Z:-1.68 [[ 9.96638608e-01 8.18759489e-02 2.79537722e-03 3.42733977e+02] [-8.18757487e-02 9.96642527e-01 -1.86174370e-04 -2.16502724e+01] [-2.80123502e-03 -4.33250373e-05 9.99996076e-01 -1.68082581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64028169299996 meters Centerline goodness [0,1] 0.9996555139301555 Centerline is valid? [True, True] Translation: X:342.76, Y:-21.66, Z:-1.68 [[ 9.96810570e-01 7.97601119e-02 2.64813877e-03 3.42761380e+02] [-7.97599251e-02 9.96814087e-01 -1.76244796e-04 -2.16555365e+01] [-2.65375933e-03 -3.55326745e-05 9.99996478e-01 -1.68185572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67028169299994 meters Centerline goodness [0,1] 0.9996776204087773 Centerline is valid? [True, True] Translation: X:342.79, Y:-21.67, Z:-1.68 [[ 9.96981547e-01 7.76053905e-02 2.28010899e-03 3.42789602e+02] [-7.76052467e-02 9.96984154e-01 -1.51638301e-04 -2.16657654e+01] [-2.28500049e-03 -2.57678332e-05 9.99997389e-01 -1.68166066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70028169299997 meters Centerline goodness [0,1] 0.9996804907661831 Centerline is valid? [True, True] Translation: X:342.82, Y:-21.67, Z:-1.68 [[ 9.97000092e-01 7.73766411e-02 1.91639935e-03 3.42817391e+02] [-7.73765392e-02 9.97001933e-01 -1.27375444e-04 -2.16655470e+01] [-1.92050974e-03 -2.12910204e-05 9.99998156e-01 -1.68208843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73028169299994 meters Centerline goodness [0,1] 0.9996606286853603 Centerline is valid? [True, True] Translation: X:342.85, Y:-21.67, Z:-1.68 [[ 9.96982421e-01 7.76124633e-02 1.53518356e-03 3.42845687e+02] [-7.76123983e-02 9.96983603e-01 -1.01961538e-04 -2.16666578e+01] [-1.53846632e-03 -1.74954164e-05 9.99998816e-01 -1.68274660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76028169299997 meters Centerline goodness [0,1] 0.9996593062623768 Centerline is valid? [True, True] Translation: X:342.87, Y:-21.67, Z:-1.68 [[ 9.96879821e-01 7.89276811e-02 1.02152489e-03 3.42874253e+02] [-7.89276530e-02 9.96880344e-01 -6.78112678e-05 -2.16676702e+01] [-1.02369027e-03 -1.30268778e-05 9.99999476e-01 -1.68399629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79028169299994 meters Centerline goodness [0,1] 0.9996788489947973 Centerline is valid? [True, True] Translation: X:342.90, Y:-21.67, Z:-1.68 [[ 9.96813357e-01 7.97666329e-02 6.45177073e-04 3.42902952e+02] [-7.97666219e-02 9.96813565e-01 -4.28342233e-05 -2.16676649e+01] [-6.46538001e-04 -8.76586972e-06 9.99999791e-01 -1.68474822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82028169299997 meters Centerline goodness [0,1] 0.999597338193532 Centerline is valid? [True, True] Translation: X:342.93, Y:-21.66, Z:-1.69 [[ 9.96552222e-01 8.29670818e-02 -3.63652088e-04 3.42931197e+02] [-8.29670785e-02 9.96552288e-01 2.39496399e-05 -2.16607035e+01] [ 3.64385353e-04 6.30408453e-06 9.99999934e-01 -1.68640465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85028169299994 meters Centerline goodness [0,1] 0.9996370390930247 Centerline is valid? [True, True] Translation: X:342.96, Y:-21.66, Z:-1.69 [[ 9.96422438e-01 8.45113997e-02 -3.84326170e-04 3.42959853e+02] [-8.45113963e-02 9.96422512e-01 2.52675319e-05 -2.16576439e+01] [ 3.85086642e-04 7.30280543e-06 9.99999926e-01 -1.68681659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.880281693 meters Centerline goodness [0,1] 0.9994421678216654 Centerline is valid? [True, True] Translation: X:342.99, Y:-21.65, Z:-1.69 [[ 9.96323210e-01 8.56740255e-02 -1.49928218e-04 3.42989257e+02] [-8.56740250e-02 9.96323221e-01 9.81189599e-06 -2.16545449e+01] [ 1.50217590e-04 3.06913418e-06 9.99999989e-01 -1.68603597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91028169299994 meters Centerline goodness [0,1] 0.9994466672341874 Centerline is valid? [True, True] Translation: X:343.02, Y:-21.65, Z:-1.68 [[ 9.96302216e-01 8.59067673e-02 1.38615847e-03 3.43018241e+02] [-8.59067230e-02 9.96303180e-01 -9.16194508e-05 -2.16506745e+01] [-1.38890483e-03 -2.77996701e-05 9.99999035e-01 -1.68370939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.940281693 meters Centerline goodness [0,1] 0.9994914284503401 Centerline is valid? [True, True] Translation: X:343.05, Y:-21.65, Z:-1.68 [[ 9.96414501e-01 8.45911124e-02 1.57687052e-03 3.43045770e+02] [-8.45910535e-02 9.96415748e-01 -1.04146717e-04 -2.16517573e+01] [-1.58002851e-03 -2.96158401e-05 9.99998751e-01 -1.68349765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97028169299995 meters Centerline goodness [0,1] 0.9997439563018755 Centerline is valid? [True, True] Translation: X:343.07, Y:-21.66, Z:-1.69 [[ 9.96732624e-01 8.07714952e-02 2.05280521e-04 3.43074564e+02] [-8.07714941e-02 9.96732645e-01 -1.36605033e-05 -2.16590770e+01] [-2.05713176e-04 -2.96494514e-06 9.99999979e-01 -1.68649385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.000281693 meters Centerline goodness [0,1] 0.999744555846478 Centerline is valid? [True, True] Translation: X:343.10, Y:-21.66, Z:-1.69 [[ 9.96847867e-01 7.93336866e-02 -7.03965849e-04 3.43102495e+02] [-7.93336738e-02 9.96848116e-01 4.62319323e-05 -2.16607375e+01] [ 7.05414780e-04 9.76199387e-06 9.99999751e-01 -1.68828650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03028169299995 meters Centerline goodness [0,1] 0.9996840908133608 Centerline is valid? [True, True] Translation: X:343.13, Y:-21.66, Z:-1.69 [[ 9.96917820e-01 7.84466238e-02 -9.93639676e-04 3.43130371e+02] [-7.84465978e-02 9.96918315e-01 6.52495406e-05 -2.16590507e+01] [ 9.95696198e-04 1.28992223e-05 9.99999504e-01 -1.68928884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.060281693 meters Centerline goodness [0,1] 0.9996993579144029 Centerline is valid? [True, True] Translation: X:343.16, Y:-21.66, Z:-1.69 [[ 9.96985312e-01 7.75843407e-02 -9.78237472e-04 3.43158940e+02] [-7.75843151e-02 9.96985792e-01 6.42149704e-05 -2.16594891e+01] [ 9.80270937e-04 1.18745019e-05 9.99999519e-01 -1.68784071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09028169299995 meters Centerline goodness [0,1] 0.999702741151241 Centerline is valid? [True, True] Translation: X:343.19, Y:-21.66, Z:-1.69 [[ 9.97033408e-01 7.69656923e-02 -8.15658866e-04 3.43188318e+02] [-7.69656742e-02 9.97033742e-01 5.35228176e-05 -2.16596464e+01] [ 8.17358832e-04 9.41369725e-06 9.99999666e-01 -1.68753271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.120281693 meters Centerline goodness [0,1] 0.9996566302551666 Centerline is valid? [True, True] Translation: X:343.22, Y:-21.67, Z:-1.69 [[ 9.97382869e-01 7.22995585e-02 -4.32953167e-04 3.43216933e+02] [-7.22995530e-02 9.97382962e-01 2.83248215e-05 -2.16659686e+01] [ 4.33867984e-04 3.05162876e-06 9.99999906e-01 -1.68807385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15028169299995 meters Centerline goodness [0,1] 0.9997031067755275 Centerline is valid? [True, True] Translation: X:343.24, Y:-21.67, Z:-1.69 [[ 9.97615802e-01 6.90104454e-02 -5.19120260e-04 3.43244338e+02] [-6.90104371e-02 9.97615937e-01 3.39267792e-05 -2.16717357e+01] [ 5.20223947e-04 1.97882509e-06 9.99999865e-01 -1.68926942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.180281693 meters Centerline goodness [0,1] 0.9998512189419542 Centerline is valid? [True, True] Translation: X:343.27, Y:-21.69, Z:-1.69 [[ 9.98090642e-01 6.17661365e-02 1.23029265e-04 3.43272693e+02] [-6.17661360e-02 9.98090649e-01 -8.16599525e-06 -2.16850373e+01] [-1.23298741e-04 5.51361106e-07 9.99999992e-01 -1.68798361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21028169299996 meters Centerline goodness [0,1] 0.9998512189419542 Centerline is valid? [True, True] Translation: X:343.30, Y:-21.69, Z:-1.69 [[ 9.98093587e-01 6.17185198e-02 1.23029693e-04 3.43300964e+02] [-6.17185193e-02 9.98093595e-01 -8.15951097e-06 -2.16868020e+01] [-1.23298741e-04 5.50745108e-07 9.99999992e-01 -1.68804324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.240281693 meters Centerline goodness [0,1] 0.9999786666666667 Centerline is valid? [True, True] Translation: X:343.33, Y:-21.70, Z:-1.69 [[ 9.98315821e-01 5.80045432e-02 9.97710882e-04 3.43327888e+02] [-5.80045067e-02 9.98316319e-01 -6.54193002e-05 -2.16957396e+01] [-9.99825672e-04 7.43739473e-06 9.99999500e-01 -1.68607750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27028169299996 meters Centerline goodness [0,1] 0.9998728678885476 Centerline is valid? [True, True] Translation: X:343.36, Y:-21.70, Z:-1.68 [[ 9.98499811e-01 5.47169771e-02 2.04461904e-03 3.43357166e+02] [-5.47168178e-02 9.98501904e-01 -1.33809259e-04 -2.17033369e+01] [-2.04887764e-03 2.17334721e-05 9.99997901e-01 -1.68404676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.300281693 meters Centerline goodness [0,1] 0.9999145134748135 Centerline is valid? [True, True] Translation: X:343.39, Y:-21.71, Z:-1.68 [[ 9.98670015e-01 5.15095869e-02 2.22813273e-03 3.43386764e+02] [-5.15093899e-02 9.98672500e-01 -1.45763553e-04 -2.17103618e+01] [-2.23268310e-03 3.07999316e-05 9.99997507e-01 -1.68335296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33028169299996 meters Centerline goodness [0,1] 0.9999153116531165 Centerline is valid? [True, True] Translation: X:343.42, Y:-21.72, Z:-1.69 [[ 9.98886708e-01 4.71695796e-02 -6.12880823e-04 3.43415244e+02] [-4.71695640e-02 9.98886896e-01 4.00174001e-05 -2.17222407e+01] [ 6.14086227e-04 -1.10635279e-05 9.99999811e-01 -1.68928421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.360281693 meters Centerline goodness [0,1] 0.9998719344304284 Centerline is valid? [True, True] Translation: X:343.44, Y:-21.73, Z:-1.69 [[ 9.98919471e-01 4.64512992e-02 -1.47190054e-03 3.43443525e+02] [-4.64512080e-02 9.98920555e-01 9.60548372e-05 -2.17259972e+01] [ 1.47477357e-03 -2.75794891e-05 9.99998912e-01 -1.69041122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39028169299996 meters Centerline goodness [0,1] 0.9998306734961689 Centerline is valid? [True, True] Translation: X:343.47, Y:-21.73, Z:-1.69 [[ 9.98909112e-01 4.66935605e-02 -5.44466921e-04 3.43472432e+02] [-4.66935481e-02 9.98909261e-01 3.55053193e-05 -2.17302923e+01] [ 5.45530919e-04 -1.00434947e-05 9.99999851e-01 -1.68886654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42028169299994 meters Centerline goodness [0,1] 0.9998711672249421 Centerline is valid? [True, True] Translation: X:343.50, Y:-21.73, Z:-1.69 [[ 9.98882333e-01 4.72641029e-02 4.34860526e-04 3.43502247e+02] [-4.72640950e-02 9.98882428e-01 -2.84372640e-05 -2.17323373e+01] [-4.35718600e-04 7.85219139e-06 9.99999905e-01 -1.68686653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45028169299997 meters Centerline goodness [0,1] 0.999872201750836 Centerline is valid? [True, True] Translation: X:343.53, Y:-21.74, Z:-1.69 [[ 9.98853153e-01 4.78723548e-02 7.85372907e-04 3.43530286e+02] [-4.78723292e-02 9.98853461e-01 -5.12991369e-05 -2.17361545e+01] [-7.86928258e-04 1.36426742e-05 9.99999690e-01 -1.68619981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48028169299994 meters Centerline goodness [0,1] 0.9997852602645594 Centerline is valid? [True, True] Translation: X:343.56, Y:-21.74, Z:-1.69 [[ 9.98876532e-01 4.73790618e-02 9.47760354e-04 3.43559359e+02] [-4.73790244e-02 9.98876982e-01 -6.18740814e-05 -2.17415942e+01] [-9.49627537e-04 1.69006070e-05 9.99999549e-01 -1.68701030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51028169299997 meters Centerline goodness [0,1] 0.9997466376707557 Centerline is valid? [True, True] Translation: X:343.59, Y:-21.75, Z:-1.69 [[ 9.98902924e-01 4.68152101e-02 1.13379456e-03 3.43587285e+02] [-4.68151563e-02 9.98903567e-01 -7.39939286e-05 -2.17486423e+01] [-1.13601547e-03 2.08339821e-05 9.99999355e-01 -1.68622673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54028169299994 meters Centerline goodness [0,1] 0.999784445594068 Centerline is valid? [True, True] Translation: X:343.62, Y:-21.75, Z:-1.69 [[ 9.98958524e-01 4.55971537e-02 1.66338279e-03 3.43617320e+02] [-4.55970364e-02 9.98959908e-01 -1.08447405e-04 -2.17532065e+01] [-1.66659761e-03 3.24891345e-05 9.99998611e-01 -1.68507067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57028169299997 meters Centerline goodness [0,1] 0.9996431794807212 Centerline is valid? [True, True] Translation: X:343.65, Y:-21.76, Z:-1.69 [[ 9.98951621e-01 4.57638315e-02 1.15345984e-03 3.43645894e+02] [-4.57637752e-02 9.98952287e-01 -7.52134268e-05 -2.17625688e+01] [-1.15569340e-03 2.23478979e-05 9.99999332e-01 -1.68585210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60028169299994 meters Centerline goodness [0,1] 0.9997642116093629 Centerline is valid? [True, True] Translation: X:343.68, Y:-21.76, Z:-1.69 [[ 9.98948286e-01 4.58493196e-02 4.02207781e-04 3.43675734e+02] [-4.58493128e-02 9.98948367e-01 -2.62578364e-05 -2.17625593e+01] [-4.02988710e-04 7.78927033e-06 9.99999919e-01 -1.68692034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.630281693 meters Centerline goodness [0,1] 0.9998508448573438 Centerline is valid? [True, True] Translation: X:343.70, Y:-21.77, Z:-1.69 [[ 9.98888675e-01 4.71184606e-02 -1.12481801e-03 3.43704471e+02] [-4.71184080e-02 9.98889308e-01 7.32255544e-05 -2.17684589e+01] [ 1.12701896e-03 -2.01445433e-05 9.99999365e-01 -1.68952867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66028169299994 meters Centerline goodness [0,1] 0.999830608960786 Centerline is valid? [True, True] Translation: X:343.73, Y:-21.77, Z:-1.69 [[ 9.98825608e-01 4.84449397e-02 -7.01250230e-04 3.43732938e+02] [-4.84449196e-02 9.98825855e-01 4.55828774e-05 -2.17713057e+01] [ 7.02635120e-04 -1.15573343e-05 9.99999753e-01 -1.68910886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.690281693 meters Centerline goodness [0,1] 0.9998511461744567 Centerline is valid? [True, True] Translation: X:343.76, Y:-21.77, Z:-1.69 [[ 9.98649602e-01 5.19472593e-02 6.73972732e-04 3.43762613e+02] [-5.19472415e-02 9.98649830e-01 -4.39185579e-05 -2.17698924e+01] [-6.75344203e-04 8.84822609e-06 9.99999772e-01 -1.68699436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72028169299995 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:343.79, Y:-21.77, Z:-1.69 [[ 9.98564274e-01 5.35592009e-02 8.95414369e-04 3.43792453e+02] [-5.35591702e-02 9.98564676e-01 -5.83001130e-05 -2.17699584e+01] [-8.97251666e-04 1.02587595e-05 9.99999597e-01 -1.68700011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.750281693 meters Centerline goodness [0,1] 0.999936400254399 Centerline is valid? [True, True] Translation: X:343.82, Y:-21.78, Z:-1.69 [[ 9.98490347e-01 5.49267637e-02 -2.79018725e-04 3.43822085e+02] [-5.49267608e-02 9.98490386e-01 1.81234673e-05 -2.17754211e+01] [ 2.79592978e-04 -2.77051242e-06 9.99999961e-01 -1.68920120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78028169299995 meters Centerline goodness [0,1] 0.9999361294443262 Centerline is valid? [True, True] Translation: X:343.85, Y:-21.78, Z:-1.69 [[ 9.98486856e-01 5.49895862e-02 -3.79700770e-04 3.43851761e+02] [-5.49895808e-02 9.98486928e-01 2.46389570e-05 -2.17784341e+01] [ 3.80481141e-04 -3.72208849e-06 9.99999928e-01 -1.68898657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.810281693 meters Centerline goodness [0,1] 0.9999787784898774 Centerline is valid? [True, True] Translation: X:343.88, Y:-21.78, Z:-1.69 [[ 9.98467895e-01 5.53339883e-02 -1.09313263e-04 3.43879742e+02] [-5.53339878e-02 9.98467901e-01 7.03046063e-06 -2.17825032e+01] [ 1.09534807e-04 -9.70950485e-07 9.99999994e-01 -1.68809093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84028169299995 meters Centerline goodness [0,1] 0.9999787982869016 Centerline is valid? [True, True] Translation: X:343.91, Y:-21.78, Z:-1.69 [[ 9.98327813e-01 5.77935304e-02 1.21874699e-03 3.43909104e+02] [-5.77934768e-02 9.98328557e-01 -7.92200061e-05 -2.17836701e+01] [-1.22128833e-03 8.65190953e-06 9.99999254e-01 -1.68581952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.870281693 meters Centerline goodness [0,1] 0.9999360545667697 Centerline is valid? [True, True] Translation: X:343.94, Y:-21.78, Z:-1.69 [[ 9.98209055e-01 5.98119360e-02 1.10187244e-03 3.43938866e+02] [-5.98118934e-02 9.98209663e-01 -7.16022064e-05 -2.17845517e+01] [-1.10418239e-03 5.56889355e-06 9.99999390e-01 -1.68590736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90028169299995 meters Centerline goodness [0,1] 0.9998733535967579 Centerline is valid? [True, True] Translation: X:343.97, Y:-21.78, Z:-1.69 [[ 9.98039166e-01 6.25905397e-02 4.98102382e-04 3.43968199e+02] [-6.25905313e-02 9.98039290e-01 -3.23830512e-05 -2.17841200e+01] [-4.99152620e-04 1.14306061e-06 9.99999875e-01 -1.68711168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.930281693 meters Centerline goodness [0,1] 0.9998301486199576 Centerline is valid? [True, True] Translation: X:344.00, Y:-21.78, Z:-1.69 [[ 9.97538985e-01 7.01109359e-02 -6.56056398e-04 3.43997592e+02] [-7.01109231e-02 9.97539201e-01 4.24923378e-05 -2.17760618e+01] [ 6.57421153e-04 3.60895617e-06 9.99999784e-01 -1.68843355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96028169299996 meters Centerline goodness [0,1] 0.9997229385562968 Centerline is valid? [True, True] Translation: X:344.03, Y:-21.77, Z:-1.69 [[ 9.97238093e-01 7.42656187e-02 -8.96389745e-04 3.44026548e+02] [-7.42655966e-02 9.97238496e-01 5.80204892e-05 -2.17713825e+01] [ 8.98223289e-04 8.71067713e-06 9.99999597e-01 -1.68885777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.990281693 meters Centerline goodness [0,1] 0.9997238683914271 Centerline is valid? [True, True] Translation: X:344.06, Y:-21.77, Z:-1.69 [[ 9.96904780e-01 7.86127396e-02 -9.46509619e-04 3.44056026e+02] [-7.86127169e-02 9.96905230e-01 6.12599214e-05 -2.17669485e+01] [ 9.48396199e-04 1.33373842e-05 9.99999550e-01 -1.68874822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02028169299996 meters Centerline goodness [0,1] 0.9996135929416311 Centerline is valid? [True, True] Translation: X:344.09, Y:-21.76, Z:-1.69 [[ 9.96318009e-01 8.57236950e-02 -1.36842356e-03 3.44087115e+02] [-8.57236541e-02 9.96318949e-01 8.86731458e-05 -2.17580181e+01] [ 1.37098771e-03 2.89596154e-05 9.99999060e-01 -1.68951393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.050281693 meters Centerline goodness [0,1] 0.9994254463430724 Centerline is valid? [True, True] Translation: X:344.12, Y:-21.75, Z:-1.69 [[ 9.96129476e-01 8.78815409e-02 -1.70365951e-03 3.44115066e+02] [-8.78814810e-02 9.96130932e-01 1.10173585e-04 -2.17543141e+01] [ 1.70675016e-03 3.99729655e-05 9.99998543e-01 -1.69069141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08028169299996 meters Centerline goodness [0,1] 0.9993417001125481 Centerline is valid? [True, True] Translation: X:344.14, Y:-21.75, Z:-1.69 [[ 9.96108650e-01 8.81291596e-02 -8.99356310e-04 3.44142632e+02] [-8.81291431e-02 9.96109056e-01 5.80537093e-05 -2.17536392e+01] [ 9.00973189e-04 2.14316990e-05 9.99999594e-01 -1.68976178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.110281693 meters Centerline goodness [0,1] 0.9995719727774687 Centerline is valid? [True, True] Translation: X:344.17, Y:-21.76, Z:-1.69 [[ 9.96252135e-01 8.64964975e-02 -1.96209696e-04 3.44171599e+02] [-8.64964967e-02 9.96252155e-01 1.25869605e-05 -2.17579253e+01] [ 1.96563060e-04 4.43166505e-06 9.99999981e-01 -1.68913570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14028169299996 meters Centerline goodness [0,1] 0.9997432825603286 Centerline is valid? [True, True] Translation: X:344.20, Y:-21.77, Z:-1.69 [[ 9.96442641e-01 8.42737085e-02 6.94931590e-05 3.44199793e+02] [-8.42737084e-02 9.96442644e-01 -4.58989574e-06 -2.17663071e+01] [-6.96327546e-05 -1.28287839e-06 9.99999998e-01 -1.68839990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17028169299994 meters Centerline goodness [0,1] 0.9996998670839944 Centerline is valid? [True, True] Translation: X:344.23, Y:-21.77, Z:-1.69 [[ 9.96806086e-01 7.98596597e-02 -2.48549347e-04 3.44228354e+02] [-7.98596582e-02 9.96806117e-01 1.59974483e-05 -2.17731872e+01] [ 2.49033060e-04 3.90271205e-06 9.99999969e-01 -1.68829974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20028169299997 meters Centerline goodness [0,1] 0.999724529581285 Centerline is valid? [True, True] Translation: X:344.26, Y:-21.77, Z:-1.69 [[ 9.96925686e-01 7.83495924e-02 -7.19166121e-04 3.44255830e+02] [-7.83495794e-02 9.96925946e-01 4.62664998e-05 -2.17734170e+01] [ 7.20580327e-04 1.02221011e-05 9.99999740e-01 -1.68979191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23028169299994 meters Centerline goodness [0,1] 0.9997842828483293 Centerline is valid? [True, True] Translation: X:344.28, Y:-21.78, Z:-1.69 [[ 9.97132632e-01 7.56609230e-02 -1.39228284e-03 3.44284912e+02] [-7.56608717e-02 9.97133604e-01 8.95737421e-05 -2.17769054e+01] [ 1.39506924e-03 1.60244320e-05 9.99999027e-01 -1.69105445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26028169299997 meters Centerline goodness [0,1] 0.9997649723308335 Centerline is valid? [True, True] Translation: X:344.31, Y:-21.78, Z:-1.69 [[ 9.97206636e-01 7.46792338e-02 -1.39215187e-03 3.44313250e+02] [-7.46791815e-02 9.97207607e-01 8.95526079e-05 -2.17795495e+01] [ 1.39495215e-03 1.46623073e-05 9.99999027e-01 -1.69142897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29028169299994 meters Centerline goodness [0,1] 0.9997876091158168 Centerline is valid? [True, True] Translation: X:344.34, Y:-21.78, Z:-1.69 [[ 9.97275411e-01 7.37584671e-02 -1.20154365e-03 3.44342121e+02] [-7.37584276e-02 9.97276134e-01 7.72256563e-05 -2.17825150e+01] [ 1.20396685e-03 1.16087220e-05 9.99999275e-01 -1.69116074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32028169299997 meters Centerline goodness [0,1] 0.9998514494291414 Centerline is valid? [True, True] Translation: X:344.37, Y:-21.79, Z:-1.69 [[ 9.97444742e-01 7.14421687e-02 5.64445900e-05 3.44370737e+02] [-7.14421686e-02 9.97444744e-01 -3.72497488e-06 -2.17910242e+01] [-5.65664799e-05 -3.17067306e-07 9.99999998e-01 -1.68860060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35028169299994 meters Centerline goodness [0,1] 0.9998085350806281 Centerline is valid? [True, True] Translation: X:344.40, Y:-21.80, Z:-1.69 [[ 9.97596346e-01 6.92883261e-02 8.11395079e-04 3.44399693e+02] [-6.92883066e-02 9.97596676e-01 -5.22071412e-05 -2.17987675e+01] [-8.13062379e-04 -4.13853764e-06 9.99999669e-01 -1.68725262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.380281693 meters Centerline goodness [0,1] 0.9998928992181643 Centerline is valid? [True, True] Translation: X:344.43, Y:-21.80, Z:-1.69 [[ 9.97762919e-01 6.68398336e-02 1.26234259e-03 3.44427814e+02] [-6.68397844e-02 9.97763718e-01 -8.11622699e-05 -2.18048330e+01] [-1.26494451e-03 -3.39400325e-06 9.99999200e-01 -1.68689581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41028169299994 meters Centerline goodness [0,1] 0.9998921600345088 Centerline is valid? [True, True] Translation: X:344.46, Y:-21.81, Z:-1.69 [[ 9.97968567e-01 6.37043263e-02 7.06023262e-04 3.44456736e+02] [-6.37043101e-02 9.97968817e-01 -4.54009714e-05 -2.18149825e+01] [-7.07481437e-04 3.32017495e-07 9.99999750e-01 -1.68728756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.440281693 meters Centerline goodness [0,1] 0.9998726493186738 Centerline is valid? [True, True] Translation: X:344.49, Y:-21.82, Z:-1.69 [[ 9.97967208e-01 6.37294002e-02 1.24167190e-04 3.44485345e+02] [-6.37293997e-02 9.97967216e-01 -8.04631298e-06 -2.18179236e+01] [-1.24427572e-04 1.16856008e-07 9.99999992e-01 -1.68905952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47028169299995 meters Centerline goodness [0,1] 0.9998295878155288 Centerline is valid? [True, True] Translation: X:344.51, Y:-21.82, Z:-1.69 [[ 9.97851774e-01 6.55012903e-02 -1.19117877e-03 3.44514431e+02] [-6.55012458e-02 9.97852485e-01 7.64012819e-05 -2.18192049e+01] [ 1.19362508e-03 1.78653873e-06 9.99999288e-01 -1.69100019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.500281693 meters Centerline goodness [0,1] 0.9998716824568532 Centerline is valid? [True, True] Translation: X:344.54, Y:-21.82, Z:-1.69 [[ 9.97830402e-01 6.58228003e-02 -1.35905312e-03 3.44544018e+02] [-6.58227427e-02 9.97831328e-01 8.71421801e-05 -2.18219136e+01] [ 1.36184172e-03 2.50348705e-06 9.99999073e-01 -1.69061012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53028169299995 meters Centerline goodness [0,1] 0.9998281380910439 Centerline is valid? [True, True] Translation: X:344.57, Y:-21.83, Z:-1.69 [[ 9.97845210e-01 6.56052529e-02 -9.42002592e-04 3.44573217e+02] [-6.56052251e-02 9.97845655e-01 6.03615536e-05 -2.18255653e+01] [ 9.43933228e-04 1.56880493e-06 9.99999554e-01 -1.68925043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.560281693 meters Centerline goodness [0,1] 0.9998718468997629 Centerline is valid? [True, True] Translation: X:344.60, Y:-21.83, Z:-1.69 [[ 9.97889879e-01 6.49271587e-02 -5.03309523e-04 3.44601682e+02] [-6.49271507e-02 9.97890006e-01 3.21856360e-05 -2.18310142e+01] [ 5.04337265e-04 5.60732827e-07 9.99999873e-01 -1.68849897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59028169299995 meters Centerline goodness [0,1] 0.9998071814208587 Centerline is valid? [True, True] Translation: X:344.63, Y:-21.83, Z:-1.69 [[ 9.97879636e-01 6.50829226e-02 -6.66604300e-04 3.44630913e+02] [-6.50829086e-02 9.97879859e-01 4.26617793e-05 -2.18345086e+01] [ 6.67967558e-04 8.13225856e-07 9.99999777e-01 -1.68909862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.620281693 meters Centerline goodness [0,1] 0.9999149696016326 Centerline is valid? [True, True] Translation: X:344.66, Y:-21.84, Z:-1.69 [[ 9.97843051e-01 6.56447406e-02 1.16860938e-04 3.44659617e+02] [-6.56447402e-02 9.97843058e-01 -7.55673516e-06 -2.18392577e+01] [-1.17104936e-04 -1.30870282e-07 9.99999993e-01 -1.68777007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65028169299995 meters Centerline goodness [0,1] 0.9998486028203132 Centerline is valid? [True, True] Translation: X:344.69, Y:-21.84, Z:-1.69 [[ 9.97836590e-01 6.57347430e-02 1.04121278e-03 3.44689366e+02] [-6.57347092e-02 9.97837133e-01 -6.67021573e-05 -2.18424460e+01] [-1.04334543e-03 -1.88596639e-06 9.99999456e-01 -1.68566191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.680281693 meters Centerline goodness [0,1] 0.9999362746139304 Centerline is valid? [True, True] Translation: X:344.72, Y:-21.84, Z:-1.68 [[ 9.97793348e-01 6.63868221e-02 1.10622864e-03 3.44719089e+02] [-6.63867844e-02 9.97793962e-01 -7.08249466e-05 -2.18437204e+01] [-1.10849010e-03 -2.77030164e-06 9.99999386e-01 -1.68446906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71028169299996 meters Centerline goodness [0,1] 0.9999364460638929 Centerline is valid? [True, True] Translation: X:344.75, Y:-21.84, Z:-1.69 [[ 9.97524956e-01 7.03132523e-02 -9.50381132e-05 3.44749008e+02] [-7.03132520e-02 9.97524960e-01 6.03040165e-06 -2.18396843e+01] [ 9.52269072e-05 6.66962665e-07 9.99999995e-01 -1.68667465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.740281693 meters Centerline goodness [0,1] 0.9998096527219661 Centerline is valid? [True, True] Translation: X:344.78, Y:-21.84, Z:-1.69 [[ 9.97352936e-01 7.27123637e-02 -1.79812361e-04 3.44777634e+02] [-7.27123628e-02 9.97352953e-01 1.14227522e-05 -2.18369992e+01] [ 1.80166965e-04 1.68206621e-06 9.99999984e-01 -1.68745021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77028169299996 meters Centerline goodness [0,1] 0.9998517671473647 Centerline is valid? [True, True] Translation: X:344.81, Y:-21.84, Z:-1.68 [[ 9.97147171e-01 7.54729117e-02 1.16546097e-03 3.44807354e+02] [-7.54728761e-02 9.97147852e-01 -7.45434070e-05 -2.18356447e+01] [-1.16776291e-03 -1.36299443e-05 9.99999318e-01 -1.68484053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.800281693 meters Centerline goodness [0,1] 0.9998513326961878 Centerline is valid? [True, True] Translation: X:344.84, Y:-21.83, Z:-1.68 [[ 9.97115858e-01 7.58749215e-02 1.72095410e-03 3.44836171e+02] [-7.58748446e-02 9.97117343e-01 -1.10013036e-04 -2.18343959e+01] [-1.72434041e-03 -2.08813823e-05 9.99998513e-01 -1.68334314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83028169299996 meters Centerline goodness [0,1] 0.9998943207997801 Centerline is valid? [True, True] Translation: X:344.87, Y:-21.83, Z:-1.68 [[ 9.97077856e-01 7.63599288e-02 2.21586208e-03 3.44865571e+02] [-7.63598027e-02 9.97080318e-01 -1.41552535e-04 -2.18332757e+01] [-2.22020141e-03 -2.80638927e-05 9.99997535e-01 -1.68145737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.860281693 meters Centerline goodness [0,1] 0.9997867303631982 Centerline is valid? [True, True] Translation: X:344.90, Y:-21.83, Z:-1.68 [[ 9.97067599e-01 7.64916566e-02 2.28668111e-03 3.44895010e+02] [-7.64915229e-02 9.97070221e-01 -1.46021373e-04 -2.18332845e+01] [-2.29115106e-03 -2.93185403e-05 9.99997375e-01 -1.68129528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89028169299996 meters Centerline goodness [0,1] 0.9998073135223088 Centerline is valid? [True, True] Translation: X:344.93, Y:-21.83, Z:-1.68 [[ 9.97047894e-01 7.67411789e-02 2.50772918e-03 3.44925011e+02] [-7.67410190e-02 9.97051047e-01 -1.60073176e-04 -2.18333352e+01] [-2.51261821e-03 -3.28450698e-05 9.99996843e-01 -1.68183614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92028169299994 meters Centerline goodness [0,1] 0.9998312948123155 Centerline is valid? [True, True] Translation: X:344.95, Y:-21.83, Z:-1.68 [[ 9.97096110e-01 7.61242739e-02 2.10773310e-03 3.44953572e+02] [-7.61241596e-02 9.97098337e-01 -1.34498996e-04 -2.18308127e+01] [-2.11185581e-03 -2.63409857e-05 9.99997770e-01 -1.68376073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95028169299997 meters Centerline goodness [0,1] 0.9998311416932266 Centerline is valid? [True, True] Translation: X:344.98, Y:-21.83, Z:-1.68 [[ 9.97163918e-01 7.52221976e-02 2.39625524e-03 3.44982143e+02] [-7.52220475e-02 9.97166797e-01 -1.52840893e-04 -2.18344001e+01] [-2.40096319e-03 -2.78438023e-05 9.99997117e-01 -1.68302988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98028169299994 meters Centerline goodness [0,1] 0.9999357381543998 Centerline is valid? [True, True] Translation: X:345.01, Y:-21.84, Z:-1.68 [[ 9.97291864e-01 7.35253006e-02 1.72309055e-03 3.45011850e+02] [-7.35252205e-02 9.97293352e-01 -1.09844131e-04 -2.18382359e+01] [-1.72650308e-03 -1.71439549e-05 9.99998509e-01 -1.68329689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01028169299997 meters Centerline goodness [0,1] 0.9998944167581721 Centerline is valid? [True, True] Translation: X:345.04, Y:-21.84, Z:-1.69 [[ 9.97331593e-01 7.30035450e-02 4.20470423e-04 3.45040190e+02] [-7.30035402e-02 9.97331681e-01 -2.68373830e-05 -2.18398457e+01] [-4.21307698e-04 -3.93005946e-06 9.99999911e-01 -1.68570946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04028169299994 meters Centerline goodness [0,1] 0.9998718715298539 Centerline is valid? [True, True] Translation: X:345.07, Y:-21.84, Z:-1.69 [[ 9.97361547e-01 7.25874339e-02 -1.00493954e-03 3.45068888e+02] [-7.25874063e-02 9.97362053e-01 6.38615103e-05 -2.18421136e+01] [ 1.00692411e-03 9.25294044e-06 9.99999493e-01 -1.68833301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07028169299997 meters Centerline goodness [0,1] 0.9999148791283623 Centerline is valid? [True, True] Translation: X:345.10, Y:-21.84, Z:-1.69 [[ 9.97378007e-01 7.23478358e-02 -1.70372998e-03 3.45097217e+02] [-7.23477565e-02 9.97379462e-01 1.08213006e-04 -2.18421121e+01] [ 1.70709427e-03 1.53317698e-05 9.99998543e-01 -1.68999506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10028169299994 meters Centerline goodness [0,1] 0.9999144018831586 Centerline is valid? [True, True] Translation: X:345.13, Y:-21.84, Z:-1.69 [[ 9.97332410e-01 7.29853418e-02 -1.09676386e-03 3.45125243e+02] [-7.29853094e-02 9.97333013e-01 6.95430485e-05 -2.18404075e+01] [ 1.09891443e-03 1.06901133e-05 9.99999396e-01 -1.68884234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.130281693 meters Centerline goodness [0,1] 0.9999144018831586 Centerline is valid? [True, True] Translation: X:345.15, Y:-21.84, Z:-1.69 [[ 9.97335703e-01 7.29403294e-02 -1.09676481e-03 3.45153521e+02] [-7.29402971e-02 9.97336306e-01 6.95280118e-05 -2.18421097e+01] [ 1.09891476e-03 1.06555825e-05 9.99999396e-01 -1.68890197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16028169299994 meters Centerline goodness [0,1] 0.9998507971694092 Centerline is valid? [True, True] Translation: X:345.18, Y:-21.84, Z:-1.69 [[ 9.97303634e-01 7.33792565e-02 -9.72490792e-04 3.45182289e+02] [-7.33792314e-02 9.97304108e-01 6.15884711e-05 -2.18432810e+01] [ 9.74388379e-04 9.93822076e-06 9.99999525e-01 -1.68826819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.190281693 meters Centerline goodness [0,1] 0.9998721799706014 Centerline is valid? [True, True] Translation: X:345.21, Y:-21.84, Z:-1.69 [[ 9.97238279e-01 7.42436472e-02 -1.92219961e-03 3.45211350e+02] [-7.42435504e-02 9.97240132e-01 1.21737843e-04 -2.18408621e+01] [ 1.92593285e-03 2.13092864e-05 9.99998145e-01 -1.68987574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22028169299995 meters Centerline goodness [0,1] 0.9998724354204316 Centerline is valid? [True, True] Translation: X:345.24, Y:-21.84, Z:-1.69 [[ 9.97232459e-01 7.43130146e-02 -2.23576133e-03 3.45239173e+02] [-7.43128843e-02 9.97234965e-01 1.41433034e-04 -2.18400785e+01] [ 2.24008969e-03 2.51042611e-05 9.99997491e-01 -1.69130374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.250281693 meters Centerline goodness [0,1] 0.9998724354204316 Centerline is valid? [True, True] Translation: X:345.27, Y:-21.84, Z:-1.69 [[ 9.97270159e-01 7.37841470e-02 -2.85124509e-03 3.45267626e+02] [-7.37839330e-02 9.97274234e-01 1.80306427e-04 -2.18403432e+01] [ 2.85677702e-03 3.05618573e-05 9.99995919e-01 -1.69233297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28028169299995 meters Centerline goodness [0,1] 0.9996766544513904 Centerline is valid? [True, True] Translation: X:345.30, Y:-21.84, Z:-1.69 [[ 9.97323030e-01 7.30208485e-02 -3.83793674e-03 3.45296646e+02] [-7.30204557e-02 9.97330414e-01 2.42554055e-04 -2.18390989e+01] [ 3.84540254e-03 3.83431446e-05 9.99992606e-01 -1.68740325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.310281693 meters Centerline goodness [0,1] 0.9997886237291002 Centerline is valid? [True, True] Translation: X:345.33, Y:-21.84, Z:-1.69 [[ 9.97353591e-01 7.26406794e-02 -3.02426469e-03 3.45325044e+02] [-7.26404345e-02 9.97358176e-01 1.90906135e-04 -2.18377548e+01] [ 3.03014267e-03 2.92829818e-05 9.99995409e-01 -1.69228531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34028169299995 meters Centerline goodness [0,1] 0.9998516949152543 Centerline is valid? [True, True] Translation: X:345.35, Y:-21.83, Z:-1.69 [[ 9.97371624e-01 7.24410438e-02 -1.46273293e-03 3.45353239e+02] [-7.24409865e-02 9.97372696e-01 9.21930706e-05 -2.18324878e+01] [ 1.46556844e-03 1.40110636e-05 9.99998926e-01 -1.68980452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.370281693 meters Centerline goodness [0,1] 0.9998715863367862 Centerline is valid? [True, True] Translation: X:345.38, Y:-21.83, Z:-1.69 [[ 9.97364608e-01 7.25487127e-02 -7.23607632e-04 3.45381711e+02] [-7.25486988e-02 9.97364870e-01 4.55333900e-05 -2.18327862e+01] [ 7.25004221e-04 7.08340047e-06 9.99999737e-01 -1.68798968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40028169299995 meters Centerline goodness [0,1] 0.9998507271719197 Centerline is valid? [True, True] Translation: X:345.41, Y:-21.83, Z:-1.69 [[ 9.97368034e-01 7.25029880e-02 -5.66739510e-04 3.45410826e+02] [-7.25029795e-02 9.97368195e-01 3.56124725e-05 -2.18298219e+01] [ 5.67829973e-04 5.57156137e-06 9.99999839e-01 -1.68770920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.430281693 meters Centerline goodness [0,1] 0.9998929244474901 Centerline is valid? [True, True] Translation: X:345.44, Y:-21.83, Z:-1.69 [[ 9.97377819e-01 7.23672875e-02 -6.78987629e-04 3.45438779e+02] [-7.23672753e-02 9.97378051e-01 4.26208158e-05 -2.18291854e+01] [ 6.80291710e-04 6.62742829e-06 9.99999769e-01 -1.68796077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46028169299996 meters Centerline goodness [0,1] 0.9999147557752962 Centerline is valid? [True, True] Translation: X:345.47, Y:-21.83, Z:-1.69 [[ 9.97387208e-01 7.22354831e-02 -8.90586190e-04 3.45467258e+02] [-7.22354620e-02 9.97387605e-01 5.59251896e-05 -2.18286324e+01] [ 8.92299410e-04 8.55283610e-06 9.99999602e-01 -1.68780381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.490281693 meters Centerline goodness [0,1] 0.9999150165717685 Centerline is valid? [True, True] Translation: X:345.50, Y:-21.83, Z:-1.69 [[ 9.97424042e-01 7.17253887e-02 -8.65733937e-04 3.45496201e+02] [-7.17253685e-02 9.97424417e-01 5.43215817e-05 -2.18282695e+01] [ 8.67400404e-04 7.91343414e-06 9.99999624e-01 -1.68797997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52028169299996 meters Centerline goodness [0,1] 0.999936448756514 Centerline is valid? [True, True] Translation: X:345.52, Y:-21.83, Z:-1.69 [[ 9.97587747e-01 6.94166315e-02 -1.35045466e-04 3.45524133e+02] [-6.94166310e-02 9.97587756e-01 8.35382164e-06 -2.18269841e+01] [ 1.35299597e-04 1.04073115e-06 9.99999991e-01 -1.68845730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.550281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.55, Y:-21.84, Z:-1.69 [[ 9.97933788e-01 6.42421161e-02 1.05171637e-03 3.45552667e+02] [-6.42420822e-02 9.97934342e-01 -6.60978024e-05 -2.18376384e+01] [-1.05379015e-03 -1.60321922e-06 9.99999445e-01 -1.68651320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58028169299996 meters Centerline goodness [0,1] 0.9999788301543282 Centerline is valid? [True, True] Translation: X:345.58, Y:-21.85, Z:-1.69 [[ 9.98156470e-01 6.06682598e-02 1.73873260e-03 3.45581000e+02] [-6.06681618e-02 9.98157985e-01 -1.09122596e-04 -2.18450344e+01] [-1.74215010e-03 3.43571448e-06 9.99998482e-01 -1.68515907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.610281693 meters Centerline goodness [0,1] 0.9999574341293151 Centerline is valid? [True, True] Translation: X:345.61, Y:-21.85, Z:-1.68 [[ 9.98408771e-01 5.63461760e-02 2.24392083e-03 3.45608961e+02] [-5.63460020e-02 9.98411292e-01 -1.40727050e-04 -2.18538160e+01] [-2.24828532e-03 1.40671533e-05 9.99997473e-01 -1.68404946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64028169299996 meters Centerline goodness [0,1] 0.9999788027810751 Centerline is valid? [True, True] Translation: X:345.64, Y:-21.86, Z:-1.68 [[ 9.98660214e-01 5.17165780e-02 1.78115477e-03 3.45637255e+02] [-5.17164611e-02 9.98661802e-01 -1.11654121e-04 -2.18647969e+01] [-1.78454560e-03 1.93895073e-05 9.99998408e-01 -1.68482948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67028169299994 meters Centerline goodness [0,1] 0.9998523487101605 Centerline is valid? [True, True] Translation: X:345.67, Y:-21.89, Z:-1.69 [[ 9.99128986e-01 4.17242210e-02 -5.99729620e-04 3.45665361e+02] [-4.17242059e-02 9.99129165e-01 3.76153929e-05 -2.18880079e+01] [ 6.00776828e-04 -1.25593872e-05 9.99999819e-01 -1.69011604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70028169299997 meters Centerline goodness [0,1] 0.9998300945099289 Centerline is valid? [True, True] Translation: X:345.69, Y:-21.89, Z:-1.69 [[ 9.99311167e-01 3.70790288e-02 -1.52876890e-03 3.45694841e+02] [-3.70789256e-02 9.99312336e-01 9.57697580e-05 -2.18945168e+01] [ 1.53126867e-03 -3.90186803e-05 9.99998827e-01 -1.69123343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73028169299994 meters Centerline goodness [0,1] 0.999550830962719 Centerline is valid? [True, True] Translation: X:345.72, Y:-21.91, Z:-1.69 [[ 9.99538815e-01 3.03221155e-02 -1.65110720e-03 3.45723245e+02] [-3.03219859e-02 9.99540178e-01 1.03488338e-04 -2.19130157e+01] [ 1.65348597e-03 -5.33757611e-05 9.99998632e-01 -1.69121611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76028169299997 meters Centerline goodness [0,1] 0.9992732092088669 Centerline is valid? [True, True] Translation: X:345.75, Y:-21.92, Z:-1.69 [[ 9.99600539e-01 2.81988911e-02 -1.89342877e-03 3.45753390e+02] [-2.81987169e-02 9.99602330e-01 1.18658689e-04 -2.19188267e+01] [ 1.89602186e-03 -6.52190278e-05 9.99998200e-01 -1.69090629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79028169299994 meters Centerline goodness [0,1] 0.9992058552080874 Centerline is valid? [True, True] Translation: X:345.78, Y:-21.93, Z:-1.69 [[ 9.99625562e-01 2.72859681e-02 -2.05224196e-03 3.45782964e+02] [-2.72857615e-02 9.99627666e-01 1.28562202e-04 -2.19269638e+01] [ 2.05498578e-03 -7.25170783e-05 9.99997886e-01 -1.69082436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82028169299997 meters Centerline goodness [0,1] 0.9995490659222676 Centerline is valid? [True, True] Translation: X:345.81, Y:-21.94, Z:-1.69 [[ 9.99591865e-01 2.84332528e-02 -2.76652046e-03 3.45812663e+02] [-2.84328819e-02 9.99595689e-01 1.73341486e-04 -2.19362545e+01] [ 2.77033058e-03 -9.46105903e-05 9.99996158e-01 -1.69205213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85028169299994 meters Centerline goodness [0,1] 0.9996996030468834 Centerline is valid? [True, True] Translation: X:345.84, Y:-21.94, Z:-1.69 [[ 9.99456189e-01 3.28514074e-02 -2.84787810e-03 3.45843123e+02] [-3.28510323e-02 9.99460243e-01 1.78391385e-04 -2.19375843e+01] [ 2.85220134e-03 -8.47386381e-05 9.99995929e-01 -1.69161485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.880281693 meters Centerline goodness [0,1] 0.999765188063015 Centerline is valid? [True, True] Translation: X:345.87, Y:-21.94, Z:-1.69 [[ 9.99341107e-01 3.61936062e-02 -2.71567182e-03 3.45872384e+02] [-3.61932776e-02 9.99344794e-01 1.70072529e-04 -2.19412308e+01] [ 2.72004804e-03 -7.16714049e-05 9.99996298e-01 -1.69199162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91028169299994 meters Centerline goodness [0,1] 0.9998940790170533 Centerline is valid? [True, True] Translation: X:345.90, Y:-21.94, Z:-1.69 [[ 9.99212833e-01 3.95976404e-02 -2.39624884e-03 3.45901920e+02] [-3.95973945e-02 9.99215704e-01 1.49989030e-04 -2.19401804e+01] [ 2.40030869e-03 -5.49857525e-05 9.99997118e-01 -1.69161667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.940281693 meters Centerline goodness [0,1] 0.9999160104986876 Centerline is valid? [True, True] Translation: X:345.93, Y:-21.94, Z:-1.69 [[ 9.99069202e-01 4.30674076e-02 -2.43480438e-03 3.45931163e+02] [-4.30671641e-02 9.99072168e-01 1.52348732e-04 -2.19392332e+01] [ 2.43910656e-03 -4.73468059e-05 9.99997024e-01 -1.69137975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.96, Y:-21.93, Z:-1.69 [[ 9.98830849e-01 4.82706653e-02 -2.62265116e-03 3.45961624e+02] [-4.82704008e-02 9.98834291e-01 1.64097977e-04 -2.19318871e+01] [ 2.62751503e-03 -3.73096993e-05 9.99996547e-01 -1.69131863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.000281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.99, Y:-21.93, Z:-1.69 [[ 9.98671742e-01 5.14940308e-02 -1.76522298e-03 3.45990835e+02] [-5.14939161e-02 9.98673302e-01 1.10375331e-04 -2.19298090e+01] [ 1.76856473e-03 -1.93304805e-05 9.99998436e-01 -1.68995524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03028169299995 meters Centerline goodness [0,1] 0.9999786406937503 Centerline is valid? [True, True] Translation: X:346.02, Y:-21.93, Z:-1.69 [[ 9.98626029e-01 5.23870089e-02 -1.28632642e-03 3.46020893e+02] [-5.23869488e-02 9.98626858e-01 8.03880590e-05 -2.19316428e+01] [ 1.28877140e-03 -1.28908917e-05 9.99999169e-01 -1.68963659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.060281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.05, Y:-21.93, Z:-1.69 [[ 9.98606563e-01 5.27681666e-02 -6.73030112e-04 3.46050977e+02] [-5.27681503e-02 9.98606790e-01 4.20538831e-05 -2.19340492e+01] [ 6.74311546e-04 -6.48072953e-06 9.99999773e-01 -1.68884224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.08, Y:-21.94, Z:-1.69 [[ 9.98638998e-01 5.21547918e-02 -1.70522359e-04 3.46081200e+02] [-5.21547907e-02 9.98639013e-01 1.06611678e-05 -2.19379287e+01] [ 1.70846311e-04 -1.75309999e-06 9.99999985e-01 -1.68786549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.120281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.11, Y:-21.95, Z:-1.69 [[ 9.98812532e-01 4.87146018e-02 6.42929518e-04 3.46110762e+02] [-4.87145860e-02 9.98812739e-01 -4.01796114e-05 -2.19486508e+01] [-6.44123526e-04 8.81185413e-06 9.99999793e-01 -1.68665073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15028169299995 meters Centerline goodness [0,1] 0.9999788668399586 Centerline is valid? [True, True] Translation: X:346.14, Y:-21.96, Z:-1.69 [[ 9.98997727e-01 4.47608715e-02 -7.42689983e-05 3.46141364e+02] [-4.47608713e-02 9.98997730e-01 4.96580731e-06 -2.19639639e+01] [ 7.44168346e-05 -1.63648514e-06 9.99999997e-01 -1.68901737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.180281693 meters Centerline goodness [0,1] 0.9999357051007287 Centerline is valid? [True, True] Translation: X:346.17, Y:-21.97, Z:-1.69 [[ 9.99049186e-01 4.35904622e-02 -7.72096921e-04 3.46172432e+02] [-4.35904378e-02 9.99049484e-01 4.84597727e-05 -2.19720285e+01] [ 7.73475414e-04 -1.47576537e-05 9.99999701e-01 -1.68993268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21028169299996 meters Centerline goodness [0,1] 0.9999574549554341 Centerline is valid? [True, True] Translation: X:346.20, Y:-21.98, Z:-1.69 [[ 9.99045407e-01 4.36583528e-02 -1.49073723e-03 3.46203576e+02] [-4.36582618e-02 9.99046519e-01 9.35536604e-05 -2.19776446e+01] [ 1.49340024e-03 -2.83813585e-05 9.99998884e-01 -1.69149156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.240281693 meters Centerline goodness [0,1] 0.9999576459626014 Centerline is valid? [True, True] Translation: X:346.23, Y:-21.98, Z:-1.69 [[ 9.98863247e-01 4.75783633e-02 -2.91778912e-03 3.46233597e+02] [-4.75780315e-02 9.98867507e-01 1.83074365e-04 -2.19796103e+01] [ 2.92319513e-03 -4.40435922e-05 9.99995726e-01 -1.69289836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.26, Y:-21.98, Z:-1.69 [[ 9.98700072e-01 5.08860423e-02 -2.96254377e-03 3.46264125e+02] [-5.08857148e-02 9.98704466e-01 1.85858639e-04 -2.19778750e+01] [ 2.96816330e-03 -3.48658785e-05 9.99995594e-01 -1.69254020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.300281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.29, Y:-21.97, Z:-1.69 [[ 9.98225923e-01 5.95069407e-02 -1.98279889e-03 3.46293252e+02] [-5.95068111e-02 9.98227892e-01 1.24352216e-04 -2.19674116e+01] [ 1.98668498e-03 -6.14156647e-06 9.99998027e-01 -1.69060168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.32, Y:-21.96, Z:-1.69 [[ 9.97922392e-01 6.44004606e-02 -1.86566676e-03 3.46322460e+02] [-6.44003546e-02 9.97924136e-01 1.16894006e-04 -2.19604318e+01] [ 1.86932192e-03 3.49845458e-06 9.99998253e-01 -1.68992500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.360281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.35, Y:-21.95, Z:-1.69 [[ 9.97581856e-01 6.94776638e-02 -1.81536723e-03 3.46353006e+02] [-6.94775719e-02 9.97583507e-01 1.13722542e-04 -2.19522948e+01] [ 1.81888158e-03 1.26797627e-05 9.99998346e-01 -1.68911010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39028169299996 meters Centerline goodness [0,1] 0.9999786004707897 Centerline is valid? [True, True] Translation: X:346.38, Y:-21.95, Z:-1.69 [[ 9.97209127e-01 7.46388037e-02 -1.73401210e-03 3.46383128e+02] [-7.46387277e-02 9.97210634e-01 1.08579991e-04 -2.19453312e+01] [ 1.73727959e-03 2.11474986e-05 9.99998491e-01 -1.68830927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42028169299994 meters Centerline goodness [0,1] 0.9999147866470676 Centerline is valid? [True, True] Translation: X:346.41, Y:-21.93, Z:-1.69 [[ 9.96590572e-01 8.25052677e-02 -3.35072109e-04 3.46413584e+02] [-8.25052653e-02 9.96590628e-01 2.09336321e-05 -2.19290232e+01] [ 3.35656858e-04 6.78295281e-06 9.99999944e-01 -1.68700260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45028169299997 meters Centerline goodness [0,1] 0.99953354253244 Centerline is valid? [True, True] Translation: X:346.44, Y:-21.91, Z:-1.69 [[ 9.96240113e-01 8.66343214e-02 3.62936253e-04 3.46443091e+02] [-8.66343188e-02 9.96240179e-01 -2.27874095e-05 -2.19145760e+01] [-3.63545849e-04 -8.74100364e-06 9.99999934e-01 -1.68581052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48028169299994 meters Centerline goodness [0,1] 0.9996993579144029 Centerline is valid? [True, True] Translation: X:346.47, Y:-21.91, Z:-1.69 [[ 9.96175644e-01 8.73732208e-02 -8.05592639e-05 3.46472201e+02] [-8.73732207e-02 9.96175647e-01 4.94337627e-06 -2.19146054e+01] [ 8.06830955e-05 2.11425130e-06 9.99999997e-01 -1.68683289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51028169299997 meters Centerline goodness [0,1] 0.9995757048603008 Centerline is valid? [True, True] Translation: X:346.50, Y:-21.91, Z:-1.69 [[ 9.96129744e-01 8.78937402e-02 -4.72584375e-04 3.46500161e+02] [-8.78937362e-02 9.96129856e-01 2.94019413e-05 -2.19080824e+01] [ 4.73339652e-04 1.22490580e-05 9.99999888e-01 -1.68768014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54028169299994 meters Centerline goodness [0,1] 0.9997011675809516 Centerline is valid? [True, True] Translation: X:346.53, Y:-21.91, Z:-1.69 [[ 9.96144205e-01 8.77303824e-02 -3.19173160e-04 3.46528787e+02] [-8.77303806e-02 9.96144257e-01 1.98310454e-05 -2.19114119e+01] [ 3.19682295e-04 8.24660176e-06 9.99999949e-01 -1.68716316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57028169299997 meters Centerline goodness [0,1] 0.9994924716630011 Centerline is valid? [True, True] Translation: X:346.56, Y:-21.91, Z:-1.69 [[ 9.96302366e-01 8.59136769e-02 6.59884154e-04 3.46556865e+02] [-8.59136684e-02 9.96302585e-01 -4.12841519e-05 -2.19070039e+01] [-6.60991162e-04 -1.55615702e-05 9.99999781e-01 -1.68559718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60028169299994 meters Centerline goodness [0,1] 0.9997872385693921 Centerline is valid? [True, True] Translation: X:346.59, Y:-21.91, Z:-1.68 [[ 9.96454387e-01 8.41231499e-02 1.39637355e-03 3.46585130e+02] [-8.41231103e-02 9.96455365e-01 -8.71373696e-05 -2.19107376e+01] [-1.39875419e-03 -3.06388721e-05 9.99999021e-01 -1.68415396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.630281693 meters Centerline goodness [0,1] 0.9997878119164828 Centerline is valid? [True, True] Translation: X:346.61, Y:-21.91, Z:-1.68 [[ 9.96782310e-01 8.01330933e-02 1.92712070e-03 3.46613425e+02] [-8.01330108e-02 9.96784172e-01 -1.20130340e-04 -2.19144788e+01] [-1.93054982e-03 -3.46821854e-05 9.99998136e-01 -1.68352227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66028169299994 meters Centerline goodness [0,1] 0.9997223527401649 Centerline is valid? [True, True] Translation: X:346.64, Y:-21.92, Z:-1.68 [[ 9.96919710e-01 7.84110351e-02 1.67344828e-03 3.46642507e+02] [-7.84109705e-02 9.96921115e-01 -1.04269304e-04 -2.19178288e+01] [-1.67647179e-03 -2.72685792e-05 9.99998594e-01 -1.68439776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.690281693 meters Centerline goodness [0,1] 0.9999155012886054 Centerline is valid? [True, True] Translation: X:346.67, Y:-21.92, Z:-1.69 [[ 9.97153436e-01 7.53873702e-02 1.33043422e-03 3.46671077e+02] [-7.53873268e-02 9.97154323e-01 -8.28519354e-05 -2.19206028e+01] [-1.33289423e-03 -1.76817876e-05 9.99999112e-01 -1.68548853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72028169299995 meters Centerline goodness [0,1] 0.9999368141704754 Centerline is valid? [True, True] Translation: X:346.70, Y:-21.92, Z:-1.68 [[ 9.97245093e-01 7.41577358e-02 1.68986456e-03 3.46699602e+02] [-7.41576639e-02 9.97246524e-01 -1.05211147e-04 -2.19223028e+01] [-1.69301377e-03 -2.03951082e-05 9.99998567e-01 -1.68470755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.750281693 meters Centerline goodness [0,1] 0.9999578032364917 Centerline is valid? [True, True] Translation: X:346.73, Y:-21.92, Z:-1.68 [[ 9.97409181e-01 7.19138943e-02 1.82129853e-03 3.46727300e+02] [-7.19138072e-02 9.97410844e-01 -1.13307151e-04 -2.19244482e+01] [-1.82473126e-03 -1.79629191e-05 9.99998335e-01 -1.68426059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78028169299995 meters Centerline goodness [0,1] 0.9999365897994124 Centerline is valid? [True, True] Translation: X:346.76, Y:-21.93, Z:-1.69 [[ 9.97488040e-01 7.08212270e-02 1.40129656e-03 3.46755272e+02] [-7.08211744e-02 9.97489024e-01 -8.71257700e-05 -2.19260090e+01] [-1.40394830e-03 -1.23345549e-05 9.99999014e-01 -1.68576534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.810281693 meters Centerline goodness [0,1] 0.999978747369987 Centerline is valid? [True, True] Translation: X:346.78, Y:-21.93, Z:-1.69 [[ 9.97557946e-01 6.98342335e-02 1.15043009e-03 3.46783624e+02] [-6.98341975e-02 9.97558610e-01 -7.14758636e-05 -2.19298081e+01] [-1.15261291e-03 -9.03804660e-06 9.99999336e-01 -1.68618044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84028169299995 meters Centerline goodness [0,1] 0.9999579345882847 Centerline is valid? [True, True] Translation: X:346.81, Y:-21.93, Z:-1.69 [[ 9.97662165e-01 6.83377185e-02 4.01708007e-04 3.46811037e+02] [-6.83377140e-02 9.97662246e-01 -2.50224512e-05 -2.19299432e+01] [-4.02478890e-04 -2.48785410e-06 9.99999919e-01 -1.68829241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.870281693 meters Centerline goodness [0,1] 0.9999788158034106 Centerline is valid? [True, True] Translation: X:346.84, Y:-21.93, Z:-1.69 [[ 9.97729304e-01 6.73455724e-02 -9.00388372e-04 3.46839876e+02] [-6.73455496e-02 9.97729710e-01 5.56712252e-05 -2.19329149e+01] [ 9.02093439e-04 5.09233695e-06 9.99999593e-01 -1.69031061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90028169299995 meters Centerline goodness [0,1] 0.9999367302176481 Centerline is valid? [True, True] Translation: X:346.87, Y:-21.93, Z:-1.70 [[ 9.97872390e-01 6.51282402e-02 -3.00086460e-03 3.46867943e+02] [-6.51279767e-02 9.97876902e-01 1.85552396e-04 -2.19328803e+01] [ 3.00657817e-03 1.02826266e-05 9.99995480e-01 -1.69508331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.930281693 meters Centerline goodness [0,1] 0.9999785426143679 Centerline is valid? [True, True] Translation: X:346.90, Y:-21.93, Z:-1.69 [[ 9.97931455e-01 6.42408071e-02 -2.43495593e-03 3.46897213e+02] [-6.42406311e-02 9.97934426e-01 1.50506732e-04 -2.19347152e+01] [ 2.43959503e-03 6.22770416e-06 9.99997024e-01 -1.69262890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96028169299996 meters Centerline goodness [0,1] 0.9999786206011887 Centerline is valid? [True, True] Translation: X:346.93, Y:-21.94, Z:-1.69 [[ 9.97983253e-01 6.34576614e-02 -1.59756585e-03 3.46926365e+02] [-6.34575848e-02 9.97984532e-01 9.86206800e-05 -2.19354169e+01] [ 1.60060425e-03 2.95588345e-06 9.99998719e-01 -1.69040306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.990281693 meters Centerline goodness [0,1] 0.9999147466911059 Centerline is valid? [True, True] Translation: X:346.95, Y:-21.94, Z:-1.69 [[ 9.98111004e-01 6.14363291e-02 -3.53369714e-05 3.46954663e+02] [-6.14363291e-02 9.98111005e-01 2.05847388e-06 -2.19357828e+01] [ 3.53966851e-05 1.16388376e-07 9.99999999e-01 -1.68882202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02028169299996 meters Centerline goodness [0,1] 0.9999147466911059 Centerline is valid? [True, True] Translation: X:346.98, Y:-21.94, Z:-1.69 [[ 9.98113865e-01 6.13898262e-02 -3.53355441e-05 3.46982942e+02] [-6.13898262e-02 9.98113866e-01 2.08155497e-06 -2.19374378e+01] [ 3.53966828e-05 9.16140380e-08 9.99999999e-01 -1.68888165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.050281693 meters Centerline goodness [0,1] 0.9998935468074688 Centerline is valid? [True, True] Translation: X:347.01, Y:-21.94, Z:-1.69 [[ 9.98198717e-01 5.99939740e-02 -2.13034159e-04 3.47011425e+02] [-5.99939726e-02 9.98198739e-01 1.30610528e-05 -2.19391644e+01] [ 2.13434013e-04 -2.56760692e-07 9.99999977e-01 -1.68972917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08028169299996 meters Centerline goodness [0,1] 0.9999788072733438 Centerline is valid? [True, True] Translation: X:347.04, Y:-21.94, Z:-1.69 [[ 9.98389924e-01 5.66998325e-02 -1.63994743e-03 3.47039345e+02] [-5.66997432e-02 9.98391270e-01 1.00979626e-04 -2.19448403e+01] [ 1.64303473e-03 -7.83244247e-06 9.99998650e-01 -1.69327062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.110281693 meters Centerline goodness [0,1] 0.9999574649085495 Centerline is valid? [True, True] Translation: X:347.07, Y:-21.95, Z:-1.69 [[ 9.98501532e-01 5.46774911e-02 -2.24980768e-03 3.47068564e+02] [-5.46773178e-02 9.98504067e-01 1.38532022e-04 -2.19497013e+01] [ 2.25401670e-03 -1.53109868e-05 9.99997460e-01 -1.69388481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14028169299996 meters Centerline goodness [0,1] 0.9999145992570135 Centerline is valid? [True, True] Translation: X:347.10, Y:-21.96, Z:-1.69 [[ 9.98632005e-01 5.22201563e-02 -2.67845399e-03 3.47096423e+02] [-5.22199016e-02 9.98635597e-01 1.64977269e-04 -2.19557575e+01] [ 2.68341464e-03 -2.48829769e-05 9.99996399e-01 -1.69484204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17028169299994 meters Centerline goodness [0,1] 0.999914323044959 Centerline is valid? [True, True] Translation: X:347.13, Y:-21.96, Z:-1.69 [[ 9.98829893e-01 4.83384380e-02 -1.49671895e-03 3.47126260e+02] [-4.83383542e-02 9.98831014e-01 9.21034792e-05 -2.19605125e+01] [ 1.49942144e-03 -1.96467775e-05 9.99998876e-01 -1.69144545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20028169299997 meters Centerline goodness [0,1] 0.999850212911647 Centerline is valid? [True, True] Translation: X:347.16, Y:-21.96, Z:-1.69 [[ 9.98864820e-01 4.76340191e-02 -2.66925758e-04 3.47155085e+02] [-4.76340164e-02 9.98864856e-01 1.63492803e-05 -2.19648400e+01] [ 2.67401541e-04 -3.61597496e-06 9.99999964e-01 -1.68908168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23028169299994 meters Centerline goodness [0,1] 0.9996573875802998 Centerline is valid? [True, True] Translation: X:347.19, Y:-21.97, Z:-1.69 [[ 9.98871366e-01 4.74788547e-02 1.32416476e-03 3.47185162e+02] [-4.74787884e-02 9.98872243e-01 -8.15004817e-05 -2.19671669e+01] [-1.32654098e-03 1.85387589e-05 9.99999120e-01 -1.68553961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26028169299997 meters Centerline goodness [0,1] 0.9996834574883406 Centerline is valid? [True, True] Translation: X:347.21, Y:-21.97, Z:-1.69 [[ 9.98854680e-01 4.78332559e-02 1.14343353e-03 3.47213264e+02] [-4.78332067e-02 9.98855335e-01 -7.03677699e-05 -2.19696816e+01] [-1.14549060e-03 1.55930841e-05 9.99999344e-01 -1.68643625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29028169299994 meters Centerline goodness [0,1] 0.9996583824408575 Centerline is valid? [True, True] Translation: X:347.24, Y:-21.97, Z:-1.69 [[ 9.98864095e-01 4.76329699e-02 1.27312885e-03 3.47243910e+02] [-4.76329088e-02 9.98864906e-01 -7.82668599e-05 -2.19730128e+01] [-1.27541181e-03 1.75351257e-05 9.99999187e-01 -1.68769604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32028169299997 meters Centerline goodness [0,1] 0.9995332060258858 Centerline is valid? [True, True] Translation: X:347.27, Y:-21.98, Z:-1.69 [[ 9.98951537e-01 4.57748259e-02 7.00747548e-04 3.47272604e+02] [-4.57748069e-02 9.98951783e-01 -4.30950761e-05 -2.19814500e+01] [-7.01985683e-04 1.09733089e-05 9.99999754e-01 -1.68950221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35028169299994 meters Centerline goodness [0,1] 0.9995505040775702 Centerline is valid? [True, True] Translation: X:347.30, Y:-21.99, Z:-1.69 [[ 9.99019152e-01 4.42796101e-02 2.24431061e-04 3.47302516e+02] [-4.42796082e-02 9.99019177e-01 -1.37945695e-05 -2.19862516e+01] [-2.24821752e-04 3.84331968e-06 9.99999975e-01 -1.69019553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.380281693 meters Centerline goodness [0,1] 0.9990195451542085 Centerline is valid? [True, True] Translation: X:347.33, Y:-22.00, Z:-1.69 [[ 9.99194695e-01 4.01177579e-02 -7.25878866e-04 3.47331479e+02] [-4.01177361e-02 9.99194959e-01 4.46158675e-05 -2.20014938e+01] [ 7.27084392e-04 -1.54593213e-05 9.99999736e-01 -1.69096165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41028169299994 meters Centerline goodness [0,1] 0.9992746047662734 Centerline is valid? [True, True] Translation: X:347.36, Y:-22.01, Z:-1.69 [[ 9.99280057e-01 3.79206380e-02 -1.18032524e-03 3.47362002e+02] [-3.79205788e-02 9.99280754e-01 7.25482405e-05 -2.20078390e+01] [ 1.18222737e-03 -2.77373936e-05 9.99999301e-01 -1.69133431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.440281693 meters Centerline goodness [0,1] 0.9989342427794948 Centerline is valid? [True, True] Translation: X:347.39, Y:-22.02, Z:-1.69 [[ 9.99348684e-01 3.60575082e-02 -1.43688475e-03 3.47391280e+02] [-3.60574182e-02 9.99349716e-01 8.85211945e-05 -2.20167372e+01] [ 1.43914223e-03 -3.66531848e-05 9.99998964e-01 -1.69185163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47028169299995 meters Centerline goodness [0,1] 0.9984998626634832 Centerline is valid? [True, True] Translation: X:347.42, Y:-22.03, Z:-1.69 [[ 9.99487777e-01 3.19669743e-02 -1.51554023e-03 3.47420067e+02] [-3.19668693e-02 9.99488925e-01 9.34413602e-05 -2.20349622e+01] [ 1.51775271e-03 -4.49464210e-05 9.99998847e-01 -1.69289352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.500281693 meters Centerline goodness [0,1] 0.9982460643394935 Centerline is valid? [True, True] Translation: X:347.45, Y:-22.04, Z:-1.69 [[ 9.99552808e-01 2.98834734e-02 -1.07758994e-03 3.47450722e+02] [-2.98834192e-02 9.99553389e-01 6.64298768e-05 -2.20422984e+01] [ 1.07909383e-03 -3.41980982e-05 9.99999417e-01 -1.69223644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53028169299995 meters Centerline goodness [0,1] 0.9970561450325095 Centerline is valid? [True, True] Translation: X:347.48, Y:-22.06, Z:-1.69 [[ 9.99592043e-01 2.85443912e-02 -9.82976284e-04 3.47480445e+02] [-2.85443454e-02 9.99592525e-01 6.05883643e-05 -2.20553851e+01] [ 9.84305204e-04 -3.25052322e-05 9.99999515e-01 -1.69196686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.560281693 meters Centerline goodness [0,1] 0.9961339375845701 Centerline is valid? [True, True] Translation: X:347.51, Y:-22.07, Z:-1.69 [[ 9.99646406e-01 2.65795938e-02 -7.66779340e-04 3.47510331e+02] [-2.65795653e-02 9.99646700e-01 4.73453577e-05 -2.20720645e+01] [ 7.67766857e-04 -2.69479551e-05 9.99999705e-01 -1.69080409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59028169299995 meters Centerline goodness [0,1] 0.9966790846194784 Centerline is valid? [True, True] Translation: X:347.54, Y:-22.08, Z:-1.69 [[ 9.99671882e-01 2.55991053e-02 -9.01944750e-04 3.47541137e+02] [-2.55990655e-02 9.99672289e-01 5.56722878e-05 -2.20801164e+01] [ 9.03074334e-04 -3.25650780e-05 9.99999592e-01 -1.69075113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.620281693 meters Centerline goodness [0,1] 0.9959921548563145 Centerline is valid? [True, True] Translation: X:347.57, Y:-22.10, Z:-1.69 [[ 9.99690671e-01 2.48539663e-02 -9.18357118e-04 3.47571509e+02] [-2.48539247e-02 9.99691092e-01 5.67053029e-05 -2.20955259e+01] [ 9.19482782e-04 -3.38629837e-05 9.99999577e-01 -1.69115405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65028169299995 meters Centerline goodness [0,1] 0.9952187833511206 Centerline is valid? [True, True] Translation: X:347.60, Y:-22.10, Z:-1.69 [[ 9.99680542e-01 2.52612828e-02 -8.25754034e-04 3.47602430e+02] [-2.52612490e-02 9.99680882e-01 5.13765548e-05 -2.21044525e+01] [ 8.26788359e-04 -3.05005639e-05 9.99999658e-01 -1.69078826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.680281693 meters Centerline goodness [0,1] 0.9960233918128655 Centerline is valid? [True, True] Translation: X:347.63, Y:-22.11, Z:-1.69 [[ 9.99608897e-01 2.79631806e-02 3.37234818e-04 3.47633541e+02] [-2.79631752e-02 9.99608954e-01 -2.07956866e-05 -2.21142087e+01] [-3.37684457e-04 1.13573971e-05 9.99999943e-01 -1.68809234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71028169299996 meters Centerline goodness [0,1] 0.9959577245357699 Centerline is valid? [True, True] Translation: X:347.66, Y:-22.12, Z:-1.69 [[ 9.99544415e-01 3.01690940e-02 8.88259867e-04 3.47663579e+02] [-3.01690571e-02 9.99544809e-01 -5.49480068e-05 -2.21193279e+01] [-8.89513270e-04 2.81250107e-05 9.99999604e-01 -1.68697745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.740281693 meters Centerline goodness [0,1] 0.997385290148448 Centerline is valid? [True, True] Translation: X:347.70, Y:-22.12, Z:-1.69 [[ 9.99454721e-01 3.30152038e-02 5.07701684e-04 3.47695310e+02] [-3.30151921e-02 9.99454849e-01 -3.13664448e-05 -2.21199052e+01] [-5.08460480e-04 1.45874727e-05 9.99999871e-01 -1.68745612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77028169299996 meters Centerline goodness [0,1] 0.9986028789161727 Centerline is valid? [True, True] Translation: X:347.73, Y:-22.12, Z:-1.69 [[ 9.99328314e-01 3.66419445e-02 -5.37452132e-04 3.47727276e+02] [-3.66419319e-02 9.99328458e-01 3.33694788e-05 -2.21175144e+01] [ 5.38313933e-04 -1.36537806e-05 9.99999855e-01 -1.68904916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.800281693 meters Centerline goodness [0,1] 0.9995510518214469 Centerline is valid? [True, True] Translation: X:347.76, Y:-22.11, Z:-1.69 [[ 9.98935683e-01 4.60824071e-02 -1.97797890e-03 3.47757187e+02] [-4.60822549e-02 9.98937641e-01 1.22501307e-04 -2.21083311e+01] [ 1.98152273e-03 -3.12211987e-05 9.99998036e-01 -1.69209996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83028169299996 meters Centerline goodness [0,1] 0.9998507144380465 Centerline is valid? [True, True] Translation: X:347.79, Y:-22.09, Z:-1.69 [[ 9.98414772e-01 5.62735990e-02 -1.10715027e-03 3.47789038e+02] [-5.62735575e-02 9.98415386e-01 6.86169240e-05 -2.20939575e+01] [ 1.10925719e-03 -6.20486591e-06 9.99999385e-01 -1.68976973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.860281693 meters Centerline goodness [0,1] 0.9998073506432348 Centerline is valid? [True, True] Translation: X:347.82, Y:-22.09, Z:-1.69 [[ 9.98163779e-01 6.05727403e-02 -1.12278732e-04 3.47820684e+02] [-6.05727399e-02 9.98163786e-01 7.00875993e-06 -2.20873557e+01] [ 1.12497104e-04 -1.94859850e-07 9.99999994e-01 -1.68771808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89028169299996 meters Centerline goodness [0,1] 0.9998945058654739 Centerline is valid? [True, True] Translation: X:347.85, Y:-22.08, Z:-1.69 [[ 9.97949461e-01 6.40047227e-02 5.19000605e-04 3.47851227e+02] [-6.40047147e-02 9.97949596e-01 -3.21483578e-05 -2.20822076e+01] [-5.19994090e-04 -1.13604933e-06 9.99999865e-01 -1.68613448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92028169299994 meters Centerline goodness [0,1] 0.9999569475836831 Centerline is valid? [True, True] Translation: X:347.88, Y:-22.08, Z:-1.69 [[ 9.97779958e-01 6.65920247e-02 8.10412835e-04 3.47881809e+02] [-6.65920059e-02 9.97780288e-01 -5.02229076e-05 -2.20767597e+01] [-8.11958397e-04 -3.85560556e-06 9.99999670e-01 -1.68630159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95028169299997 meters Centerline goodness [0,1] 0.9999575308432251 Centerline is valid? [True, True] Translation: X:347.91, Y:-22.07, Z:-1.69 [[ 9.97645274e-01 6.85850258e-02 4.46367854e-05 3.47912760e+02] [-6.85850258e-02 9.97645275e-01 -2.76758783e-06 -2.20729591e+01] [-4.47214931e-05 -3.00344157e-07 9.99999999e-01 -1.68810185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98028169299994 meters Centerline goodness [0,1] 0.9999788583509513 Centerline is valid? [True, True] Translation: X:347.94, Y:-22.07, Z:-1.69 [[ 9.97679564e-01 6.80775300e-02 -9.67736192e-04 3.47942383e+02] [-6.80775039e-02 9.97680034e-01 5.99659272e-05 -2.20719039e+01] [ 9.69573409e-04 6.05428419e-06 9.99999530e-01 -1.69060397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01028169299997 meters Centerline goodness [0,1] 0.9999573933235338 Centerline is valid? [True, True] Translation: X:347.97, Y:-22.07, Z:-1.69 [[ 9.97715748e-01 6.75458301e-02 -9.20595746e-04 3.47972446e+02] [-6.75458062e-02 9.97716172e-01 5.70683335e-05 -2.20749705e+01] [ 9.22347992e-04 5.24440687e-06 9.99999575e-01 -1.69006801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04028169299994 meters Centerline goodness [0,1] 0.9999150580790385 Centerline is valid? [True, True] Translation: X:348.00, Y:-22.07, Z:-1.69 [[ 9.97713703e-01 6.75782186e-02 -7.41968132e-04 3.48002016e+02] [-6.75782032e-02 9.97713979e-01 4.59611663e-05 -2.20737069e+01] [ 7.43377951e-04 4.28478768e-06 9.99999724e-01 -1.69068863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07028169299997 meters Centerline goodness [0,1] 0.9999148573861217 Centerline is valid? [True, True] Translation: X:348.03, Y:-22.07, Z:-1.69 [[ 9.97672197e-01 6.81901769e-02 -5.35996785e-04 3.48032704e+02] [-6.81901689e-02 9.97672341e-01 3.32203954e-05 -2.20732912e+01] [ 5.37014472e-04 3.40664644e-06 9.99999856e-01 -1.69042020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10028169299994 meters Centerline goodness [0,1] 0.9999786593824025 Centerline is valid? [True, True] Translation: X:348.06, Y:-22.07, Z:-1.69 [[ 9.97482789e-01 7.08887685e-02 -1.69331476e-03 3.48063674e+02] [-7.08886925e-02 9.97484227e-01 1.04949484e-04 -2.20720329e+01] [ 1.69649451e-03 1.53515656e-05 9.99998561e-01 -1.69077728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.130281693 meters Centerline goodness [0,1] 0.9999570649607145 Centerline is valid? [True, True] Translation: X:348.09, Y:-22.07, Z:-1.69 [[ 9.97260104e-01 7.39018650e-02 -3.28623495e-03 3.48093478e+02] [-7.39015955e-02 9.97265518e-01 2.03548816e-04 -2.20671502e+01] [ 3.29229144e-03 3.98668928e-05 9.99994580e-01 -1.69339462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16028169299994 meters Centerline goodness [0,1] 0.9999575091886379 Centerline is valid? [True, True] Translation: X:348.12, Y:-22.06, Z:-1.69 [[ 9.97174273e-01 7.50806058e-02 -2.52445705e-03 3.48122623e+02] [-7.50804508e-02 9.97177467e-01 1.56239075e-04 -2.20646113e+01] [ 2.52906222e-03 3.37397876e-05 9.99996801e-01 -1.69319818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.190281693 meters Centerline goodness [0,1] 0.9999156865224906 Centerline is valid? [True, True] Translation: X:348.15, Y:-22.06, Z:-1.69 [[ 9.97097622e-01 7.61282276e-02 -9.08170955e-04 3.48151523e+02] [-7.61282080e-02 9.97098036e-01 5.61319362e-05 -2.20638103e+01] [ 9.09808701e-04 1.31684073e-05 9.99999586e-01 -1.69051171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22028169299995 meters Centerline goodness [0,1] 0.9998935468074688 Centerline is valid? [True, True] Translation: X:348.18, Y:-22.07, Z:-1.68 [[ 9.97021835e-01 7.70694202e-02 2.78659025e-03 3.48181179e+02] [-7.70692392e-02 9.97025728e-01 -1.72434615e-04 -2.20654102e+01] [-2.79159161e-03 -4.28393143e-05 9.99996103e-01 -1.68370897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.250281693 meters Centerline goodness [0,1] 0.9998937142614204 Centerline is valid? [True, True] Translation: X:348.21, Y:-22.07, Z:-1.68 [[ 9.97022348e-01 7.70437874e-02 3.26991447e-03 3.48211334e+02] [-7.70435382e-02 9.97027709e-01 -2.02285904e-04 -2.20681927e+01] [-3.27578021e-03 -5.02422136e-05 9.99994633e-01 -1.68255844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28028169299995 meters Centerline goodness [0,1] 0.999936440677966 Centerline is valid? [True, True] Translation: X:348.24, Y:-22.07, Z:-1.68 [[ 9.97078444e-01 7.63435700e-02 2.49716269e-03 3.48241456e+02] [-7.63434225e-02 9.97081570e-01 -1.54481353e-04 -2.20701967e+01] [-2.50166856e-03 -3.66119190e-05 9.99996870e-01 -1.68422429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.310281693 meters Centerline goodness [0,1] 0.9999785835135888 Centerline is valid? [True, True] Translation: X:348.27, Y:-22.08, Z:-1.69 [[ 9.97241702e-01 7.42217370e-02 -3.47784457e-04 3.48271348e+02] [-7.42217340e-02 9.97241763e-01 2.15149032e-05 -2.20760553e+01] [ 3.48422059e-04 4.35760678e-06 9.99999939e-01 -1.68940869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34028169299995 meters Centerline goodness [0,1] 0.9999364218200314 Centerline is valid? [True, True] Translation: X:348.30, Y:-22.08, Z:-1.69 [[ 9.97356540e-01 7.26578894e-02 -8.73324398e-04 3.48300287e+02] [-7.26578700e-02 9.97356923e-01 5.39552756e-05 -2.20805744e+01] [ 8.74936410e-04 9.64124354e-06 9.99999617e-01 -1.69058335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.370281693 meters Centerline goodness [0,1] 0.999871139555861 Centerline is valid? [True, True] Translation: X:348.33, Y:-22.09, Z:-1.69 [[ 9.97601258e-01 6.92203166e-02 -5.27988131e-04 3.48330249e+02] [-6.92203090e-02 9.97601397e-01 3.26501982e-05 -2.20892858e+01] [ 5.28981755e-04 3.97562282e-06 9.99999860e-01 -1.69013640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40028169299995 meters Centerline goodness [0,1] 0.9999360913467683 Centerline is valid? [True, True] Translation: X:348.36, Y:-22.09, Z:-1.69 [[ 9.97680899e-01 6.80624905e-02 -5.67235717e-04 3.48359510e+02] [-6.80624815e-02 9.97681060e-01 3.50458425e-05 -2.20932744e+01] [ 5.68305639e-04 3.64290287e-06 9.99999839e-01 -1.69072416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.430281693 meters Centerline goodness [0,1] 0.9999364339442738 Centerline is valid? [True, True] Translation: X:348.39, Y:-22.10, Z:-1.69 [[ 9.97741117e-01 6.71710008e-02 -8.48071589e-04 3.48389112e+02] [-6.71709805e-02 9.97741478e-01 5.23993785e-05 -2.20967930e+01] [ 8.49675919e-04 4.68478571e-06 9.99999639e-01 -1.69139412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46028169299996 meters Centerline goodness [0,1] 0.9999360532037345 Centerline is valid? [True, True] Translation: X:348.42, Y:-22.10, Z:-1.69 [[ 9.97762149e-01 6.68632240e-02 5.78949281e-05 3.48419595e+02] [-6.68632239e-02 9.97762151e-01 -3.57880056e-06 -2.21027173e+01] [-5.80046581e-05 -3.00249804e-07 9.99999998e-01 -1.68867615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.490281693 meters Centerline goodness [0,1] 0.9999569864722455 Centerline is valid? [True, True] Translation: X:348.45, Y:-22.11, Z:-1.69 [[ 9.97755404e-01 6.69604472e-02 6.72789678e-04 3.48449689e+02] [-6.69604344e-02 9.97755631e-01 -4.15887912e-05 -2.21051536e+01] [-6.74064493e-04 -3.55484796e-06 9.99999773e-01 -1.68723204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.48, Y:-22.11, Z:-1.69 [[ 9.97752615e-01 6.70021344e-02 6.57775595e-04 3.48479028e+02] [-6.70021222e-02 9.97752832e-01 -4.06776007e-05 -2.21062117e+01] [-6.59022949e-04 -3.48617829e-06 9.99999783e-01 -1.68745442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.550281693 meters Centerline goodness [0,1] 0.9999572174210661 Centerline is valid? [True, True] Translation: X:348.51, Y:-22.11, Z:-1.69 [[ 9.97754301e-01 6.69787605e-02 4.47327136e-04 3.48509374e+02] [-6.69787548e-02 9.97754401e-01 -2.76464820e-05 -2.21084973e+01] [-4.48174346e-04 -2.37701831e-06 9.99999900e-01 -1.68816905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58028169299996 meters Centerline goodness [0,1] 0.9999355766959435 Centerline is valid? [True, True] Translation: X:348.54, Y:-22.11, Z:-1.69 [[ 9.97769013e-01 6.67603796e-02 2.21910152e-04 3.48539672e+02] [-6.67603782e-02 9.97769037e-01 -1.37148733e-05 -2.21114804e+01] [-2.22330689e-04 -1.13053004e-06 9.99999975e-01 -1.68775779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.610281693 meters Centerline goodness [0,1] 0.9998944813759628 Centerline is valid? [True, True] Translation: X:348.57, Y:-22.11, Z:-1.69 [[ 9.97824200e-01 6.59297366e-02 3.67418261e-04 3.48570458e+02] [-6.59297327e-02 9.97824268e-01 -2.26870770e-05 -2.21128170e+01] [-3.68114610e-04 -1.58607330e-06 9.99999932e-01 -1.68722160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64028169299996 meters Centerline goodness [0,1] 0.99993658711873 Centerline is valid? [True, True] Translation: X:348.60, Y:-22.11, Z:-1.69 [[ 9.97838238e-01 6.57146219e-02 6.63207209e-04 3.48599921e+02] [-6.57146091e-02 9.97838458e-01 -4.10131050e-05 -2.21145010e+01] [-6.64468819e-04 -2.65795810e-06 9.99999779e-01 -1.68705784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67028169299994 meters Centerline goodness [0,1] 0.9999788962751925 Centerline is valid? [True, True] Translation: X:348.63, Y:-22.12, Z:-1.69 [[ 9.97797037e-01 6.63392571e-02 4.18851380e-04 3.48630297e+02] [-6.63392521e-02 9.97797125e-01 -2.58867793e-05 -2.21174179e+01] [-4.19646012e-04 -1.95653554e-06 9.99999912e-01 -1.68710714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70028169299997 meters Centerline goodness [0,1] 0.999936550907322 Centerline is valid? [True, True] Translation: X:348.66, Y:-22.12, Z:-1.69 [[ 9.97781252e-01 6.65756198e-02 5.09388919e-04 3.48660244e+02] [-6.65756124e-02 9.97781382e-01 -3.14823806e-05 -2.21200776e+01] [-5.10354739e-04 -2.50035010e-06 9.99999870e-01 -1.68667800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73028169299994 meters Centerline goodness [0,1] 0.9999361253646177 Centerline is valid? [True, True] Translation: X:348.69, Y:-22.12, Z:-1.69 [[ 9.97771914e-01 6.67134777e-02 7.21416883e-04 3.48690846e+02] [-6.67134629e-02 9.97772174e-01 -4.45866017e-05 -2.21212689e+01] [-7.22784219e-04 -3.64095947e-06 9.99999739e-01 -1.68598087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76028169299997 meters Centerline goodness [0,1] 0.9998104145601617 Centerline is valid? [True, True] Translation: X:348.72, Y:-22.12, Z:-1.69 [[ 9.97773101e-01 6.66919536e-02 1.01057715e-03 3.48720621e+02] [-6.66919245e-02 9.97773613e-01 -6.24706374e-05 -2.21207275e+01] [-1.01249350e-03 -5.06581347e-06 9.99999487e-01 -1.68545550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79028169299994 meters Centerline goodness [0,1] 0.999936358429326 Centerline is valid? [True, True] Translation: X:348.75, Y:-22.12, Z:-1.69 [[ 9.97795490e-01 6.63507950e-02 1.31642948e-03 3.48750900e+02] [-6.63507454e-02 9.97796358e-01 -8.13455349e-05 -2.21234407e+01] [-1.31892588e-03 -6.17986952e-06 9.99999130e-01 -1.68527141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82028169299997 meters Centerline goodness [0,1] 0.9999149930931889 Centerline is valid? [True, True] Translation: X:348.78, Y:-22.13, Z:-1.69 [[ 9.97868781e-01 6.52391483e-02 1.32234993e-03 3.48781143e+02] [-6.52390974e-02 9.97869658e-01 -8.16644427e-05 -2.21260829e+01] [-1.32486059e-03 -4.77851814e-06 9.99999122e-01 -1.68626024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85028169299994 meters Centerline goodness [0,1] 0.9998925724598758 Centerline is valid? [True, True] Translation: X:348.81, Y:-22.13, Z:-1.69 [[ 9.97911009e-01 6.45965529e-02 9.50189581e-04 3.48812653e+02] [-6.45965263e-02 9.97911462e-01 -5.87436346e-05 -2.21286613e+01] [-9.51999710e-04 -2.75802655e-06 9.99999547e-01 -1.68645592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.880281693 meters Centerline goodness [0,1] 0.9998731581506458 Centerline is valid? [True, True] Translation: X:348.84, Y:-22.13, Z:-1.69 [[ 9.97934717e-01 6.42305800e-02 8.56757437e-04 3.48843252e+02] [-6.42305582e-02 9.97935084e-01 -5.29987225e-05 -2.21302574e+01] [-8.58392444e-04 -2.14074334e-06 9.99999632e-01 -1.68675018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91028169299994 meters Centerline goodness [0,1] 0.9999570870703343 Centerline is valid? [True, True] Translation: X:348.87, Y:-22.13, Z:-1.69 [[ 9.97997618e-01 6.32436953e-02 9.94760872e-04 3.48874473e+02] [-6.32436654e-02 9.97998114e-01 -6.15381239e-05 -2.21335071e+01] [-9.96661372e-04 -1.49742264e-06 9.99999503e-01 -1.68585952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.940281693 meters Centerline goodness [0,1] 0.9999570870703343 Centerline is valid? [True, True] Translation: X:348.91, Y:-22.14, Z:-1.69 [[ 9.97996059e-01 6.32682877e-02 9.94759362e-04 3.48905246e+02] [-6.32682578e-02 9.97996555e-01 -6.15625207e-05 -2.21354572e+01] [-9.96661371e-04 -1.49753870e-06 9.99999503e-01 -1.68592443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97028169299995 meters Centerline goodness [0,1] 0.9999570492859444 Centerline is valid? [True, True] Translation: X:348.94, Y:-22.14, Z:-1.69 [[ 9.98042453e-01 6.25375086e-02 5.66662834e-04 3.48935420e+02] [-6.25374988e-02 9.98042614e-01 -3.50797018e-05 -2.21382708e+01] [-5.67747454e-04 -4.26644692e-07 9.99999839e-01 -1.68621319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.000281693 meters Centerline goodness [0,1] 0.9999575632837531 Centerline is valid? [True, True] Translation: X:348.97, Y:-22.14, Z:-1.69 [[ 9.98070058e-01 6.20962350e-02 -4.66785696e-04 3.48965985e+02] [-6.20962282e-02 9.98070167e-01 2.89489491e-05 -2.21394332e+01] [ 4.67682499e-04 9.25517968e-08 9.99999891e-01 -1.68861198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03028169299995 meters Centerline goodness [0,1] 0.9998516163222045 Centerline is valid? [True, True] Translation: X:349.00, Y:-22.14, Z:-1.69 [[ 9.98057112e-01 6.23029385e-02 -5.87556659e-04 3.48996646e+02] [-6.23029278e-02 9.98057285e-01 3.64070292e-05 -2.21400983e+01] [ 5.88683469e-04 2.70205724e-07 9.99999827e-01 -1.68926745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.060281693 meters Centerline goodness [0,1] 0.999852186582765 Centerline is valid? [True, True] Translation: X:349.03, Y:-22.14, Z:-1.69 [[ 9.98012893e-01 6.30079773e-02 -5.09119596e-04 3.49025921e+02] [-6.30079694e-02 9.98013023e-01 3.15770402e-05 -2.21402408e+01] [ 5.10097593e-04 5.64298690e-07 9.99999870e-01 -1.68960437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09028169299995 meters Centerline goodness [0,1] 0.9998733429029807 Centerline is valid? [True, True] Translation: X:349.06, Y:-22.14, Z:-1.69 [[ 9.97887431e-01 6.49610146e-02 -8.61580220e-04 3.49056642e+02] [-6.49609928e-02 9.97887803e-01 5.33964537e-05 -2.21373041e+01] [ 8.63229080e-04 2.68545643e-06 9.99999627e-01 -1.69003025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.120281693 meters Centerline goodness [0,1] 0.9999576316068213 Centerline is valid? [True, True] Translation: X:349.09, Y:-22.14, Z:-1.69 [[ 9.97809747e-01 6.61417964e-02 -9.85864373e-04 3.49087273e+02] [-6.61417684e-02 9.97810234e-01 6.10989669e-05 -2.21368066e+01] [ 9.87746756e-04 4.24166827e-06 9.99999512e-01 -1.68947403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15028169299995 meters Centerline goodness [0,1] 0.9999145828439642 Centerline is valid? [True, True] Translation: X:349.12, Y:-22.13, Z:-1.69 [[ 9.97686372e-01 6.79813347e-02 -6.63788170e-04 3.49117461e+02] [-6.79813225e-02 9.97686593e-01 4.10730963e-05 -2.21344765e+01] [ 6.65044761e-04 4.14712919e-06 9.99999779e-01 -1.69010460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.180281693 meters Centerline goodness [0,1] 0.9999365052488994 Centerline is valid? [True, True] Translation: X:349.15, Y:-22.14, Z:-1.69 [[ 9.97668302e-01 6.82465160e-02 -6.09859369e-04 3.49147055e+02] [-6.82465057e-02 9.97668489e-01 3.77498682e-05 -2.21361923e+01] [ 6.11013771e-04 3.95892397e-06 9.99999813e-01 -1.69010910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21028169299996 meters Centerline goodness [0,1] 0.9999149533306402 Centerline is valid? [True, True] Translation: X:349.18, Y:-22.14, Z:-1.69 [[ 9.97688577e-01 6.79489099e-02 -6.69926260e-04 3.49176853e+02] [-6.79488973e-02 9.97688802e-01 4.14628511e-05 -2.21381378e+01] [ 6.71195283e-04 4.15373774e-06 9.99999775e-01 -1.68989057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.240281693 meters Centerline goodness [0,1] 0.9997876857749469 Centerline is valid? [True, True] Translation: X:349.21, Y:-22.14, Z:-1.69 [[ 9.97821592e-01 6.59426536e-02 -1.90689669e-03 3.49207549e+02] [-6.59425484e-02 9.97823414e-01 1.18090476e-04 -2.21424315e+01] [ 1.91053336e-03 7.91240051e-06 9.99998175e-01 -1.69172598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27028169299996 meters Centerline goodness [0,1] 0.9999151301691032 Centerline is valid? [True, True] Translation: X:349.24, Y:-22.15, Z:-1.69 [[ 9.97895584e-01 6.48092506e-02 -2.04063191e-03 3.49236749e+02] [-6.48091278e-02 9.97897671e-01 1.26323350e-04 -2.21463009e+01] [ 2.04452875e-03 6.19406070e-06 9.99997910e-01 -1.69300010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.300281693 meters Centerline goodness [0,1] 0.9999149117209104 Centerline is valid? [True, True] Translation: X:349.27, Y:-22.15, Z:-1.69 [[ 9.98017096e-01 6.29416586e-02 -4.72477955e-04 3.49266969e+02] [-6.29416518e-02 9.98017208e-01 2.92540580e-05 -2.21534623e+01] [ 4.73382429e-04 5.42492918e-07 9.99999888e-01 -1.68944078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33028169299996 meters Centerline goodness [0,1] 0.9998293406148004 Centerline is valid? [True, True] Translation: X:349.30, Y:-22.16, Z:-1.69 [[ 9.98029754e-01 6.27402918e-02 5.15422564e-04 3.49296355e+02] [-6.27402837e-02 9.98029887e-01 -3.19317857e-05 -2.21553746e+01] [-5.16410533e-04 -4.68885693e-07 9.99999867e-01 -1.68706060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.360281693 meters Centerline goodness [0,1] 0.9999145773715458 Centerline is valid? [True, True] Translation: X:349.33, Y:-22.15, Z:-1.69 [[ 9.97891965e-01 6.48962576e-02 3.19934844e-04 3.49325752e+02] [-6.48962545e-02 9.97892016e-01 -1.97870542e-05 -2.21520875e+01] [-3.20544532e-04 -1.01723067e-06 9.99999949e-01 -1.68736390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39028169299996 meters Centerline goodness [0,1] 0.9999364110390436 Centerline is valid? [True, True] Translation: X:349.36, Y:-22.15, Z:-1.69 [[ 9.97789603e-01 6.64499578e-02 -5.57525361e-04 3.49356777e+02] [-6.64499489e-02 9.97789759e-01 3.45190126e-05 -2.21515993e+01] [ 5.58586883e-04 2.60481988e-06 9.99999844e-01 -1.68897548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42028169299994 meters Centerline goodness [0,1] 0.9999786402375206 Centerline is valid? [True, True] Translation: X:349.39, Y:-22.15, Z:-1.69 [[ 9.97691278e-01 6.79098885e-02 -6.01211647e-04 3.49386347e+02] [-6.79098785e-02 9.97691459e-01 3.71609671e-05 -2.21508952e+01] [ 6.02347322e-04 3.75303711e-06 9.99999819e-01 -1.68990375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45028169299997 meters Centerline goodness [0,1] 0.9999573933235338 Centerline is valid? [True, True] Translation: X:349.42, Y:-22.15, Z:-1.69 [[ 9.97601735e-01 6.92152757e-02 1.51747803e-04 3.49415845e+02] [-6.92152751e-02 9.97601747e-01 -9.41442880e-06 -2.21492433e+01] [-1.52035495e-04 -1.11141539e-06 9.99999988e-01 -1.68855363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48028169299994 meters Centerline goodness [0,1] 0.9999576450656501 Centerline is valid? [True, True] Translation: X:349.45, Y:-22.15, Z:-1.69 [[ 9.97622453e-01 6.89066889e-02 1.14475335e-03 3.49445263e+02] [-6.89066530e-02 9.97623109e-01 -7.08591687e-05 -2.21511347e+01] [-1.14691507e-03 -8.19042416e-06 9.99999342e-01 -1.68698570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51028169299997 meters Centerline goodness [0,1] 0.9999357340245496 Centerline is valid? [True, True] Translation: X:349.48, Y:-22.16, Z:-1.68 [[ 9.97706144e-01 6.76584076e-02 2.18867791e-03 3.49475726e+02] [-6.76582734e-02 9.97708544e-01 -1.35384744e-04 -2.21554091e+01] [-2.19282257e-03 -1.30079774e-05 9.99997596e-01 -1.68453669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54028169299994 meters Centerline goodness [0,1] 0.9998939981767686 Centerline is valid? [True, True] Translation: X:349.51, Y:-22.16, Z:-1.68 [[ 9.97711434e-01 6.75871273e-02 1.96821951e-03 3.49505424e+02] [-6.75870187e-02 9.97713376e-01 -1.21749435e-04 -2.21561609e+01] [-1.97194763e-03 -1.15552848e-05 9.99998056e-01 -1.68491430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57028169299997 meters Centerline goodness [0,1] 0.9998944635582667 Centerline is valid? [True, True] Translation: X:349.54, Y:-22.16, Z:-1.69 [[ 9.97677003e-01 6.81021213e-02 1.64301880e-03 3.49535738e+02] [-6.81020463e-02 9.97678355e-01 -1.01612699e-04 -2.21563956e+01] [-1.64612433e-03 -1.05162888e-05 9.99998645e-01 -1.68529335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60028169299994 meters Centerline goodness [0,1] 0.9998713136729223 Centerline is valid? [True, True] Translation: X:349.57, Y:-22.16, Z:-1.69 [[ 9.97622203e-01 6.89193757e-02 2.43950367e-04 3.49566085e+02] [-6.89193741e-02 9.97622233e-01 -1.50871404e-05 -2.21557203e+01] [-2.44410106e-04 -1.76164033e-06 9.99999970e-01 -1.68844290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.630281693 meters Centerline goodness [0,1] 0.9999572027732603 Centerline is valid? [True, True] Translation: X:349.60, Y:-22.16, Z:-1.69 [[ 9.97644424e-01 6.85961214e-02 -4.18081678e-04 3.49595385e+02] [-6.85961166e-02 9.97644512e-01 2.57974125e-05 -2.21575715e+01] [ 4.18866494e-04 2.94213472e-06 9.99999912e-01 -1.68961772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66028169299994 meters Centerline goodness [0,1] 0.9999158089705542 Centerline is valid? [True, True] Translation: X:349.63, Y:-22.16, Z:-1.69 [[ 9.97808920e-01 6.61490961e-02 -1.28664544e-03 3.49625095e+02] [-6.61490485e-02 9.97809750e-01 7.95426585e-05 -2.21630816e+01] [ 1.28908904e-03 5.74199726e-06 9.99999169e-01 -1.69243264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.690281693 meters Centerline goodness [0,1] 0.9998940273833241 Centerline is valid? [True, True] Translation: X:349.66, Y:-22.17, Z:-1.69 [[ 9.97931882e-01 6.42572130e-02 -1.72322446e-03 3.49655355e+02] [-6.42571248e-02 9.97933370e-01 1.06532733e-04 -2.21698917e+01] [ 1.72650869e-03 4.41703852e-06 9.99998510e-01 -1.69313564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72028169299995 meters Centerline goodness [0,1] 0.9998723485734953 Centerline is valid? [True, True] Translation: X:349.68, Y:-22.18, Z:-1.69 [[ 9.98028739e-01 6.27100809e-02 -2.46607100e-03 3.49684941e+02] [-6.27098958e-02 9.98031786e-01 1.52404379e-04 -2.21759530e+01] [ 2.47077453e-03 2.54310454e-06 9.99996948e-01 -1.69481839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.750281693 meters Centerline goodness [0,1] 0.9998074207215304 Centerline is valid? [True, True] Translation: X:349.72, Y:-22.18, Z:-1.70 [[ 9.98059193e-01 6.21846813e-02 -3.30350577e-03 3.49715467e+02] [-6.21843461e-02 9.98064660e-01 2.04190554e-04 -2.21833429e+01] [ 3.30980989e-03 1.63208669e-06 9.99994523e-01 -1.69519518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78028169299995 meters Centerline goodness [0,1] 0.9998086043000234 Centerline is valid? [True, True] Translation: X:349.74, Y:-22.18, Z:-1.69 [[ 9.97981879e-01 6.34263588e-02 -3.04419577e-03 3.49744794e+02] [-6.34260797e-02 9.97986521e-01 1.88223561e-04 -2.21838675e+01] [ 3.05000469e-03 5.23770081e-06 9.99995349e-01 -1.69461074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.810281693 meters Centerline goodness [0,1] 0.9998718961504793 Centerline is valid? [True, True] Translation: X:349.77, Y:-22.18, Z:-1.69 [[ 9.97670028e-01 6.82116166e-02 -1.30059485e-03 3.49774666e+02] [-6.82115699e-02 9.97670875e-01 8.03287969e-05 -2.21762455e+01] [ 1.30304496e-03 8.57398324e-06 9.99999151e-01 -1.69015934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84028169299995 meters Centerline goodness [0,1] 0.9999569947963703 Centerline is valid? [True, True] Translation: X:349.80, Y:-22.17, Z:-1.69 [[ 9.97460399e-01 7.12213549e-02 -5.19777499e-04 3.49804494e+02] [-7.12213479e-02 9.97460535e-01 3.20628497e-05 -2.21715942e+01] [ 5.20741101e-04 5.03783116e-06 9.99999864e-01 -1.68906448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.870281693 meters Centerline goodness [0,1] 0.9998933060196744 Centerline is valid? [True, True] Translation: X:349.83, Y:-22.17, Z:-1.69 [[ 9.97257193e-01 7.40139531e-02 1.58588610e-04 3.49834334e+02] [-7.40139525e-02 9.97257206e-01 -9.84289194e-06 -2.21688123e+01] [-1.58882146e-04 -1.92187508e-06 9.99999987e-01 -1.68766079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90028169299995 meters Centerline goodness [0,1] 0.9999363881173003 Centerline is valid? [True, True] Translation: X:349.86, Y:-22.16, Z:-1.69 [[ 9.97003106e-01 7.73542317e-02 1.06298062e-03 3.49864022e+02] [-7.73542056e-02 9.97003672e-01 -6.56790769e-05 -2.21588917e+01] [-1.06487614e-03 -1.67437781e-05 9.99999433e-01 -1.68726180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.930281693 meters Centerline goodness [0,1] 0.9999572530831213 Centerline is valid? [True, True] Translation: X:349.89, Y:-22.16, Z:-1.69 [[ 9.96965847e-01 7.78350020e-02 9.01387582e-04 3.49893802e+02] [-7.78349835e-02 9.96966254e-01 -5.56591152e-05 -2.21583326e+01] [-9.02985229e-04 -1.46692507e-05 9.99999592e-01 -1.68749486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.92, Y:-22.16, Z:-1.69 [[ 9.97045714e-01 7.68102743e-02 1.61453794e-04 3.49923642e+02] [-7.68102737e-02 9.97045727e-01 -1.00063160e-05 -2.21603838e+01] [-1.61745403e-04 -2.42455563e-06 9.99999987e-01 -1.68836800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.990281693 meters Centerline goodness [0,1] 0.9999361702127659 Centerline is valid? [True, True] Translation: X:349.95, Y:-22.16, Z:-1.69 [[ 9.97118072e-01 7.58647384e-02 3.04033564e-04 3.49952784e+02] [-7.58647362e-02 9.97118118e-01 -1.88131903e-05 -2.21606814e+01] [-3.04584633e-04 -4.30645407e-06 9.99999954e-01 -1.68758572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02028169299996 meters Centerline goodness [0,1] 0.9999150255985384 Centerline is valid? [True, True] Translation: X:349.98, Y:-22.16, Z:-1.69 [[ 9.97163315e-01 7.52624447e-02 9.41655289e-04 3.49981353e+02] [-7.52624234e-02 9.97163760e-01 -5.80815258e-05 -2.21558881e+01] [-9.43355886e-04 -1.29544922e-05 9.99999555e-01 -1.68607884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.050281693 meters Centerline goodness [0,1] 0.9999360504774898 Centerline is valid? [True, True] Translation: X:350.01, Y:-22.15, Z:-1.69 [[ 9.97142796e-01 7.55351799e-02 8.25014926e-04 3.50010843e+02] [-7.55351637e-02 9.97143137e-01 -5.08536701e-05 -2.21547867e+01] [-8.26499213e-04 -1.16092667e-05 9.99999658e-01 -1.68657617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08028169299996 meters Centerline goodness [0,1] 0.9998524483042094 Centerline is valid? [True, True] Translation: X:350.04, Y:-22.15, Z:-1.69 [[ 9.97119631e-01 7.58425538e-02 5.89895527e-04 3.50040087e+02] [-7.58425455e-02 9.97119806e-01 -3.63788460e-05 -2.21517973e+01] [-5.90955578e-04 -8.46511688e-06 9.99999825e-01 -1.68726593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.110281693 meters Centerline goodness [0,1] 0.999978688943824 Centerline is valid? [True, True] Translation: X:350.07, Y:-22.15, Z:-1.69 [[ 9.97071316e-01 7.64762671e-02 -4.14711700e-04 3.50068992e+02] [-7.64762632e-02 9.97071402e-01 2.54047580e-05 -2.21482958e+01] [ 4.15440037e-04 6.38524558e-06 9.99999914e-01 -1.68872314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14028169299996 meters Centerline goodness [0,1] 0.9999357395308985 Centerline is valid? [True, True] Translation: X:350.10, Y:-22.15, Z:-1.69 [[ 9.97061303e-01 7.66077976e-02 -6.05224184e-05 3.50098246e+02] [-7.66077975e-02 9.97061305e-01 3.62071243e-06 -2.21464057e+01] [ 6.06219362e-05 1.02641692e-06 9.99999998e-01 -1.68863183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17028169299994 meters Centerline goodness [0,1] 0.9999366219499314 Centerline is valid? [True, True] Translation: X:350.13, Y:-22.14, Z:-1.69 [[ 9.97185288e-01 7.49693651e-02 1.04692106e-03 3.50127471e+02] [-7.49693388e-02 9.97185837e-01 -6.43830294e-05 -2.21438666e+01] [-1.04880161e-03 -1.42851703e-05 9.99999450e-01 -1.68705760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20028169299997 meters Centerline goodness [0,1] 0.9999573760709262 Centerline is valid? [True, True] Translation: X:350.16, Y:-22.15, Z:-1.69 [[ 9.97305327e-01 7.33522996e-02 1.23494080e-03 3.50155911e+02] [-7.33522619e-02 9.97306091e-01 -7.58706712e-05 -2.21460504e+01] [-1.23717927e-03 -1.49194767e-05 9.99999235e-01 -1.68719882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23028169299994 meters Centerline goodness [0,1] 0.9998266709998916 Centerline is valid? [True, True] Translation: X:350.19, Y:-22.15, Z:-1.69 [[ 9.97465800e-01 7.11397678e-02 1.05381144e-03 3.50185115e+02] [-7.11397392e-02 9.97466357e-01 -6.46827367e-05 -2.21502874e+01] [-1.05574297e-03 -1.04490531e-05 9.99999443e-01 -1.68800279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26028169299997 meters Centerline goodness [0,1] 0.9996154339187283 Centerline is valid? [True, True] Translation: X:350.21, Y:-22.16, Z:-1.69 [[ 9.97821532e-01 6.59626457e-02 1.05835655e-03 3.50213215e+02] [-6.59626139e-02 9.97822093e-01 -6.49480143e-05 -2.21552829e+01] [-1.06033569e-03 -5.00543720e-06 9.99999438e-01 -1.68736711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29028169299994 meters Centerline goodness [0,1] 0.9996409714889124 Centerline is valid? [True, True] Translation: X:350.24, Y:-22.16, Z:-1.69 [[ 9.97976789e-01 6.35746054e-02 7.73821458e-04 3.50242654e+02] [-6.35745877e-02 9.97977089e-01 -4.74609011e-05 -2.21588438e+01] [-7.75273394e-04 -1.83050251e-06 9.99999699e-01 -1.68762353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32028169299997 meters Centerline goodness [0,1] 0.9995514641491702 Centerline is valid? [True, True] Translation: X:350.27, Y:-22.16, Z:-1.69 [[ 9.98202579e-01 5.99280130e-02 -4.95461464e-04 3.50272102e+02] [-5.99280053e-02 9.98202701e-01 3.02942678e-05 -2.21640679e+01] [ 4.96386447e-04 -5.47799019e-07 9.99999877e-01 -1.69020920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35028169299994 meters Centerline goodness [0,1] 0.9994897959183674 Centerline is valid? [True, True] Translation: X:350.30, Y:-22.17, Z:-1.69 [[ 9.98280627e-01 5.86076845e-02 -9.64174604e-04 3.50301648e+02] [-5.86076549e-02 9.98281092e-01 5.89774875e-05 -2.21678368e+01] [ 9.65973811e-04 -2.36807077e-06 9.99999533e-01 -1.69156516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.380281693 meters Centerline goodness [0,1] 0.9994066665253968 Centerline is valid? [True, True] Translation: X:350.33, Y:-22.17, Z:-1.69 [[ 9.98360295e-01 5.72422606e-02 -2.12797750e-04 3.50330045e+02] [-5.72422591e-02 9.98360318e-01 1.29693332e-05 -2.21716826e+01] [ 2.13191223e-04 -7.67043382e-07 9.99999977e-01 -1.68983949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41028169299994 meters Centerline goodness [0,1] 0.999409095705392 Centerline is valid? [True, True] Translation: X:350.36, Y:-22.17, Z:-1.69 [[ 9.98337000e-01 5.76453540e-02 4.97173813e-04 3.50359011e+02] [-5.76453460e-02 9.98337124e-01 -3.04810832e-05 -2.21724049e+01] [-4.98104167e-04 1.77063665e-06 9.99999876e-01 -1.68799557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.440281693 meters Centerline goodness [0,1] 0.9995316358681768 Centerline is valid? [True, True] Translation: X:350.39, Y:-22.17, Z:-1.69 [[ 9.98273726e-01 5.87251941e-02 9.59386136e-04 3.50389162e+02] [-5.87251648e-02 9.98274187e-01 -5.87035748e-05 -2.21720493e+01] [-9.61177794e-04 2.26212733e-06 9.99999538e-01 -1.68719150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47028169299995 meters Centerline goodness [0,1] 0.9995118120264046 Centerline is valid? [True, True] Translation: X:350.42, Y:-22.17, Z:-1.69 [[ 9.98065219e-01 6.21737320e-02 4.96387017e-04 3.50418507e+02] [-6.21737246e-02 9.98065342e-01 -3.04246850e-05 -2.21673295e+01] [-4.97318295e-04 -4.96409869e-07 9.99999876e-01 -1.68787566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.500281693 meters Centerline goodness [0,1] 0.9995571768972862 Centerline is valid? [True, True] Translation: X:350.45, Y:-22.16, Z:-1.69 [[ 9.97920308e-01 6.44596975e-02 7.45395002e-05 3.50447110e+02] [-6.44596974e-02 9.97920311e-01 -4.62595234e-06 -2.21637117e+01] [-7.46826688e-05 -1.88461838e-07 9.99999997e-01 -1.68873036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53028169299995 meters Centerline goodness [0,1] 0.9994874423372629 Centerline is valid? [True, True] Translation: X:350.48, Y:-22.16, Z:-1.69 [[ 9.97626687e-01 6.88548682e-02 -3.61932175e-05 3.50476058e+02] [-6.88548682e-02 9.97626687e-01 2.08158125e-06 -2.21554592e+01] [ 3.62506466e-05 4.15438214e-07 9.99999999e-01 -1.68859823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.560281693 meters Centerline goodness [0,1] 0.9994076581341231 Centerline is valid? [True, True] Translation: X:350.50, Y:-22.15, Z:-1.69 [[ 9.97521234e-01 7.03657149e-02 -2.33826808e-04 3.50503556e+02] [-7.03657136e-02 9.97521261e-01 1.40948212e-05 -2.21529198e+01] [ 2.34239005e-04 2.39350678e-06 9.99999973e-01 -1.68937129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59028169299995 meters Centerline goodness [0,1] 0.9995769165679472 Centerline is valid? [True, True] Translation: X:350.53, Y:-22.15, Z:-1.69 [[ 9.97476284e-01 7.09983501e-02 -5.45350897e-04 3.50531504e+02] [-7.09983427e-02 9.97476433e-01 3.30693712e-05 -2.21518661e+01] [ 5.46322538e-04 5.73309635e-06 9.99999851e-01 -1.69062820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.620281693 meters Centerline goodness [0,1] 0.9995764955002647 Centerline is valid? [True, True] Translation: X:350.56, Y:-22.15, Z:-1.69 [[ 9.97519638e-01 7.03845669e-02 -7.64182350e-04 3.50560359e+02] [-7.03845520e-02 9.97519931e-01 4.63766146e-05 -2.21514308e+01] [ 7.65551323e-04 7.52504856e-06 9.99999707e-01 -1.69158645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65028169299995 meters Centerline goodness [0,1] 0.9994465965688988 Centerline is valid? [True, True] Translation: X:350.59, Y:-22.15, Z:-1.69 [[ 9.97578543e-01 6.95465764e-02 -5.68943446e-04 3.50589134e+02] [-6.95465680e-02 9.97578706e-01 3.44752808e-05 -2.21528273e+01] [ 5.69963505e-04 5.17626367e-06 9.99999838e-01 -1.69125799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.680281693 meters Centerline goodness [0,1] 0.9994446580375069 Centerline is valid? [True, True] Translation: X:350.62, Y:-22.15, Z:-1.69 [[ 9.97627926e-01 6.88368983e-02 4.13406275e-05 3.50617640e+02] [-6.88368983e-02 9.97627927e-01 -2.60990545e-06 -2.21522615e+01] [-4.14222223e-05 -2.42046008e-07 9.99999999e-01 -1.68979242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71028169299996 meters Centerline goodness [0,1] 0.9994631045442831 Centerline is valid? [True, True] Translation: X:350.65, Y:-22.15, Z:-1.69 [[ 9.97634360e-01 6.87436009e-02 4.53147964e-05 3.50646606e+02] [-6.87436008e-02 9.97634361e-01 -2.84907092e-06 -2.21520025e+01] [-4.54034533e-05 -2.72771236e-07 9.99999999e-01 -1.68971800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.740281693 meters Centerline goodness [0,1] 0.999334835318099 Centerline is valid? [True, True] Translation: X:350.68, Y:-22.15, Z:-1.69 [[ 9.97645239e-01 6.85838208e-02 -4.86365208e-04 3.50675776e+02] [-6.85838146e-02 9.97645358e-01 2.93853519e-05 -2.21513248e+01] [ 4.87235352e-04 4.04062490e-06 9.99999881e-01 -1.69056423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77028169299996 meters Centerline goodness [0,1] 0.9995718261614215 Centerline is valid? [True, True] Translation: X:350.70, Y:-22.15, Z:-1.69 [[ 9.97649642e-01 6.85175546e-02 -7.32220189e-04 3.50704381e+02] [-6.85175406e-02 9.97649911e-01 4.42085161e-05 -2.21464112e+01] [ 7.33528466e-04 6.06531631e-06 9.99999731e-01 -1.69142893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.800281693 meters Centerline goodness [0,1] 0.999450177634918 Centerline is valid? [True, True] Translation: X:350.73, Y:-22.15, Z:-1.69 [[ 9.97752999e-01 6.69994455e-02 -1.63577983e-04 3.50732903e+02] [-6.69994448e-02 9.97753013e-01 9.80193617e-06 -2.21477175e+01] [ 1.63867149e-04 1.17972280e-06 9.99999987e-01 -1.69115098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83028169299996 meters Centerline goodness [0,1] 0.999450177634918 Centerline is valid? [True, True] Translation: X:350.76, Y:-22.15, Z:-1.69 [[ 9.97756067e-01 6.69537475e-02 -1.63578402e-04 3.50761184e+02] [-6.69537468e-02 9.97756080e-01 9.79495830e-06 -2.21493363e+01] [ 1.63867155e-04 1.17920788e-06 9.99999987e-01 -1.69121061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.860281693 meters Centerline goodness [0,1] 0.9995951589533794 Centerline is valid? [True, True] Translation: X:350.79, Y:-22.15, Z:-1.69 [[ 9.97876935e-01 6.51276764e-02 8.77723650e-05 3.50789563e+02] [-6.51276762e-02 9.97876939e-01 -5.40057218e-06 -2.21528465e+01] [-8.79377456e-05 -3.27303747e-07 9.99999996e-01 -1.69093048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89028169299996 meters Centerline goodness [0,1] 0.9994302715705514 Centerline is valid? [True, True] Translation: X:350.82, Y:-22.16, Z:-1.69 [[ 9.98030438e-01 6.27314695e-02 9.08624247e-05 3.50817111e+02] [-6.27314692e-02 9.98030442e-01 -5.60559747e-06 -2.21572319e+01] [-9.10351132e-05 -1.05376497e-07 9.99999996e-01 -1.69096190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92028169299994 meters Centerline goodness [0,1] 0.9993988578298768 Centerline is valid? [True, True] Translation: X:350.85, Y:-22.16, Z:-1.69 [[ 9.98205239e-01 5.98852773e-02 2.31732759e-04 3.50845246e+02] [-5.98852757e-02 9.98205266e-01 -1.40744021e-05 -2.21631594e+01] [-2.32159710e-04 1.71761770e-07 9.99999973e-01 -1.69056872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95028169299997 meters Centerline goodness [0,1] 0.999362908534902 Centerline is valid? [True, True] Translation: X:350.87, Y:-22.18, Z:-1.69 [[ 9.98563557e-01 5.35785388e-02 -4.03035519e-04 3.50872790e+02] [-5.35785334e-02 9.98563639e-01 2.42256422e-05 -2.21768600e+01] [ 4.03754589e-04 -2.59679141e-06 9.99999918e-01 -1.69148369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98028169299994 meters Centerline goodness [0,1] 0.9992523124906539 Centerline is valid? [True, True] Translation: X:350.90, Y:-22.19, Z:-1.69 [[ 9.98844221e-01 4.80627501e-02 -4.40321189e-04 3.50901495e+02] [-4.80627431e-02 9.98844318e-01 2.64883732e-05 -2.21903448e+01] [ 4.41085421e-04 -5.29471437e-06 9.99999903e-01 -1.69170570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01028169299997 meters Centerline goodness [0,1] 0.9992750223890144 Centerline is valid? [True, True] Translation: X:350.93, Y:-22.20, Z:-1.69 [[ 9.98918458e-01 4.64934053e-02 -5.26519864e-04 3.50930351e+02] [-4.64933950e-02 9.98918597e-01 3.16422343e-05 -2.21961099e+01] [ 5.27421639e-04 -7.12831586e-06 9.99999861e-01 -1.69171925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04028169299994 meters Centerline goodness [0,1] 0.9991263584061368 Centerline is valid? [True, True] Translation: X:350.96, Y:-22.20, Z:-1.69 [[ 9.98942385e-01 4.59766088e-02 -5.13376332e-04 3.50959322e+02] [-4.59765990e-02 9.98942517e-01 3.08628427e-05 -2.22007121e+01] [ 5.14252414e-04 -7.22690389e-06 9.99999868e-01 -1.69130898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07028169299997 meters Centerline goodness [0,1] 0.9993232669289007 Centerline is valid? [True, True] Translation: X:350.99, Y:-22.21, Z:-1.69 [[ 9.98913718e-01 4.65948787e-02 -5.49487736e-04 3.50988791e+02] [-4.65948676e-02 9.98913869e-01 3.30249759e-05 -2.22054246e+01] [ 5.50429715e-04 -7.38579319e-06 9.99999848e-01 -1.69090438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10028169299994 meters Centerline goodness [0,1] 0.9993877852604024 Centerline is valid? [True, True] Translation: X:351.02, Y:-22.21, Z:-1.69 [[ 9.98895642e-01 4.69620734e-02 -1.43551543e-03 3.51018035e+02] [-4.69619978e-02 9.98896673e-01 8.63199582e-05 -2.22078766e+01] [ 1.43798535e-03 -1.88099576e-05 9.99998966e-01 -1.69188102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.130281693 meters Centerline goodness [0,1] 0.9993557392891657 Centerline is valid? [True, True] Translation: X:351.05, Y:-22.21, Z:-1.69 [[ 9.98836399e-01 4.81660160e-02 -2.42562277e-03 3.51046283e+02] [-4.81658039e-02 9.98839343e-01 1.45786282e-04 -2.22112805e+01] [ 2.42982940e-03 -2.87845738e-05 9.99997048e-01 -1.69411456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16028169299994 meters Centerline goodness [0,1] 0.9992906429354486 Centerline is valid? [True, True] Translation: X:351.08, Y:-22.21, Z:-1.69 [[ 9.98810539e-01 4.87416378e-02 -1.32635359e-03 3.51076185e+02] [-4.87415750e-02 9.98811420e-01 7.96797379e-05 -2.22140852e+01] [ 1.32866083e-03 -1.49363989e-05 9.99999117e-01 -1.69284847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.190281693 meters Centerline goodness [0,1] 0.9993400323597037 Centerline is valid? [True, True] Translation: X:351.10, Y:-22.22, Z:-1.69 [[ 9.98802176e-01 4.89279847e-02 -5.16127639e-04 3.51104868e+02] [-4.89279752e-02 9.98802309e-01 3.09379074e-05 -2.22176180e+01] [ 5.17023207e-04 -5.64776890e-06 9.99999866e-01 -1.69089848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22028169299995 meters Centerline goodness [0,1] 0.9992822916007008 Centerline is valid? [True, True] Translation: X:351.13, Y:-22.22, Z:-1.69 [[ 9.98854706e-01 4.78391505e-02 8.31777111e-04 3.51133606e+02] [-4.78391254e-02 9.98855052e-01 -4.99837611e-05 -2.22249232e+01] [-8.33215951e-04 1.01350255e-05 9.99999653e-01 -1.68801754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.250281693 meters Centerline goodness [0,1] 0.9993171148100726 Centerline is valid? [True, True] Translation: X:351.16, Y:-22.23, Z:-1.69 [[ 9.98890216e-01 4.70894518e-02 9.59554363e-04 3.51163402e+02] [-4.70894182e-02 9.98890676e-01 -5.76360128e-05 -2.22298466e+01] [-9.61203955e-04 1.23871926e-05 9.99999538e-01 -1.68743654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28028169299995 meters Centerline goodness [0,1] 0.9992113060345746 Centerline is valid? [True, True] Translation: X:351.19, Y:-22.24, Z:-1.69 [[ 9.98944774e-01 4.58802913e-02 2.08283008e-03 3.51192181e+02] [-4.58801302e-02 9.98946945e-01 -1.25106208e-04 -2.22383229e+01] [-2.08637665e-03 2.94136778e-05 9.99997823e-01 -1.68530786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.310281693 meters Centerline goodness [0,1] 0.9993150538324879 Centerline is valid? [True, True] Translation: X:351.22, Y:-22.24, Z:-1.68 [[ 9.98980122e-01 4.50877371e-02 2.41096390e-03 3.51222314e+02] [-4.50875189e-02 9.98983030e-01 -1.44789641e-04 -2.22379010e+01] [-2.41504026e-03 3.59375931e-05 9.99997083e-01 -1.68490702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34028169299995 meters Centerline goodness [0,1] 0.9989749503491575 Centerline is valid? [True, True] Translation: X:351.25, Y:-22.25, Z:-1.68 [[ 9.99008685e-01 4.44449928e-02 2.50801133e-03 3.51252046e+02] [-4.44447546e-02 9.99011832e-01 -1.50640952e-04 -2.22495873e+01] [-2.51222823e-03 3.90236710e-05 9.99996844e-01 -1.68492791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.370281693 meters Centerline goodness [0,1] 0.999204489260605 Centerline is valid? [True, True] Translation: X:351.28, Y:-22.25, Z:-1.69 [[ 9.99039344e-01 4.37721607e-02 2.09443522e-03 3.51283487e+02] [-4.37719929e-02 9.99041539e-01 -1.25899630e-04 -2.22523786e+01] [-2.09793869e-03 3.41010799e-05 9.99997799e-01 -1.68612567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40028169299995 meters Centerline goodness [0,1] 0.9990842490842491 Centerline is valid? [True, True] Translation: X:351.31, Y:-22.26, Z:-1.69 [[ 9.99054255e-01 4.34558914e-02 1.47714528e-03 3.51312950e+02] [-4.34558076e-02 9.99055346e-01 -8.88218079e-05 -2.22642972e+01] [-1.47960972e-03 2.45472641e-05 9.99998905e-01 -1.68771252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.430281693 meters Centerline goodness [0,1] 0.9988745195472596 Centerline is valid? [True, True] Translation: X:351.34, Y:-22.28, Z:-1.69 [[ 9.99093586e-01 4.25619812e-02 6.95525190e-04 3.51343262e+02] [-4.25619624e-02 9.99093828e-01 -4.18047740e-05 -2.22759880e+01] [-6.96674219e-04 1.21639646e-05 9.99999757e-01 -1.68945026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46028169299996 meters Centerline goodness [0,1] 0.9991916957372585 Centerline is valid? [True, True] Translation: X:351.37, Y:-22.28, Z:-1.69 [[ 9.99106776e-01 4.22531234e-02 5.68826498e-04 3.51374927e+02] [-4.22531108e-02 9.99106938e-01 -3.41898664e-05 -2.22769684e+01] [-5.69763130e-04 1.01246381e-05 9.99999838e-01 -1.68882870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.490281693 meters Centerline goodness [0,1] 0.9990406549129128 Centerline is valid? [True, True] Translation: X:351.41, Y:-22.28, Z:-1.69 [[ 9.99097825e-01 4.24664180e-02 3.72287081e-04 3.51406401e+02] [-4.24664126e-02 9.99097895e-01 -2.23680575e-05 -2.22820110e+01] [-3.72901130e-04 6.53818084e-06 9.99999930e-01 -1.68917605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52028169299996 meters Centerline goodness [0,1] 0.9992968700061791 Centerline is valid? [True, True] Translation: X:351.44, Y:-22.29, Z:-1.69 [[ 9.99017904e-01 4.42939213e-02 -1.13004561e-03 3.51436099e+02] [-4.42938726e-02 9.99018542e-01 6.80847126e-05 -2.22880781e+01] [ 1.13195226e-03 -1.79637505e-05 9.99999359e-01 -1.69163361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.550281693 meters Centerline goodness [0,1] 0.9993854499989404 Centerline is valid? [True, True] Translation: X:351.47, Y:-22.29, Z:-1.69 [[ 9.98928479e-01 4.62443840e-02 -1.83027302e-03 3.51466787e+02] [-4.62442596e-02 9.98930156e-01 1.10233033e-04 -2.22897448e+01] [ 1.83341257e-03 -2.54752950e-05 9.99998319e-01 -1.69295514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58028169299996 meters Centerline goodness [0,1] 0.9995696240666222 Centerline is valid? [True, True] Translation: X:351.50, Y:-22.29, Z:-1.69 [[ 9.98728931e-01 5.03865398e-02 -1.31087872e-03 3.51497011e+02] [-5.03864796e-02 9.98729792e-01 7.89108533e-05 -2.22880471e+01] [ 1.31318968e-03 -1.27599882e-05 9.99999138e-01 -1.69071418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.610281693 meters Centerline goodness [0,1] 0.9994237418363426 Centerline is valid? [True, True] Translation: X:351.53, Y:-22.29, Z:-1.69 [[ 9.98616438e-01 5.25838335e-02 -3.87509087e-04 3.51526428e+02] [-5.25838285e-02 9.98616513e-01 2.33049188e-05 -2.22876725e+01] [ 3.88198435e-04 -2.89596366e-06 9.99999925e-01 -1.68936420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64028169299996 meters Centerline goodness [0,1] 0.9995560629122273 Centerline is valid? [True, True] Translation: X:351.56, Y:-22.29, Z:-1.69 [[ 9.98502524e-01 5.47056635e-02 1.98443885e-05 3.51557191e+02] [-5.47056635e-02 9.98502524e-01 -1.19471309e-06 -2.22875839e+01] [-1.98800295e-05 1.07323602e-07 1.00000000e+00 -1.68859860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67028169299994 meters Centerline goodness [0,1] 0.9994476429223939 Centerline is valid? [True, True] Translation: X:351.59, Y:-22.28, Z:-1.69 [[ 9.98257008e-01 5.90129171e-02 -6.49315827e-04 3.51588161e+02] [-5.90129042e-02 9.98257219e-01 3.90914600e-05 -2.22849053e+01] [ 6.50491113e-04 -7.05311220e-07 9.99999788e-01 -1.69012704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70028169299997 meters Centerline goodness [0,1] 0.99968156922685 Centerline is valid? [True, True] Translation: X:351.62, Y:-22.28, Z:-1.69 [[ 9.98128537e-01 6.11411932e-02 -1.08524286e-03 3.51618777e+02] [-6.11411583e-02 9.98129127e-01 6.53360445e-05 -2.22833271e+01] [ 1.08720723e-03 1.13923482e-06 9.99999409e-01 -1.69107547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73028169299994 meters Centerline goodness [0,1] 0.9996147754997218 Centerline is valid? [True, True] Translation: X:351.65, Y:-22.28, Z:-1.69 [[ 9.97951231e-01 6.39553144e-02 -1.74883823e-03 3.51648479e+02] [-6.39552283e-02 9.97952763e-01 1.05195222e-04 -2.22782560e+01] [ 1.75198574e-03 6.86764682e-06 9.99998465e-01 -1.69130369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76028169299997 meters Centerline goodness [0,1] 0.9996594585390771 Centerline is valid? [True, True] Translation: X:351.68, Y:-22.28, Z:-1.69 [[ 9.97875013e-01 6.51465933e-02 -1.17494047e-03 3.51676945e+02] [-6.51465553e-02 9.97875704e-01 7.05913063e-05 -2.22765614e+01] [ 1.17704333e-03 6.10202344e-06 9.99999307e-01 -1.69075848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79028169299994 meters Centerline goodness [0,1] 0.9996790963352802 Centerline is valid? [True, True] Translation: X:351.71, Y:-22.28, Z:-1.69 [[ 9.97831464e-01 6.58181505e-02 -5.84104871e-04 3.51706235e+02] [-6.58181413e-02 9.97831635e-01 3.50664481e-05 -2.22760834e+01] [ 5.85146327e-04 3.45429176e-06 9.99999829e-01 -1.68908828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82028169299997 meters Centerline goodness [0,1] 0.999701288725783 Centerline is valid? [True, True] Translation: X:351.74, Y:-22.28, Z:-1.69 [[ 9.97878780e-01 6.50988431e-02 2.84398894e-04 3.51735094e+02] [-6.50988409e-02 9.97878821e-01 -1.71631512e-05 -2.22773797e+01] [-2.84912934e-04 -1.38729401e-06 9.99999959e-01 -1.68895025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85028169299994 meters Centerline goodness [0,1] 0.9997884985512151 Centerline is valid? [True, True] Translation: X:351.76, Y:-22.28, Z:-1.69 [[ 9.97964713e-01 6.37676883e-02 -3.36270076e-04 3.51764484e+02] [-6.37676851e-02 9.97964770e-01 2.01763047e-05 -2.22813174e+01] [ 3.36872285e-04 1.30792420e-06 9.99999943e-01 -1.69128266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.880281693 meters Centerline goodness [0,1] 0.9996781737432685 Centerline is valid? [True, True] Translation: X:351.79, Y:-22.29, Z:-1.69 [[ 9.98221550e-01 5.95921428e-02 -1.58522480e-03 3.51794727e+02] [-5.95920668e-02 9.98222809e-01 9.52295055e-05 -2.22925558e+01] [ 1.58808248e-03 -5.93322499e-07 9.99998739e-01 -1.69339549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91028169299994 meters Centerline goodness [0,1] 0.99959940121023 Centerline is valid? [True, True] Translation: X:351.82, Y:-22.30, Z:-1.69 [[ 9.98316346e-01 5.79814806e-02 -1.61907549e-03 3.51824112e+02] [-5.79813992e-02 9.98317659e-01 9.72194708e-05 -2.22987041e+01] [ 1.62198858e-03 -3.17952470e-06 9.99998685e-01 -1.69345546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.940281693 meters Centerline goodness [0,1] 0.9996837444655281 Centerline is valid? [True, True] Translation: X:351.85, Y:-22.31, Z:-1.69 [[ 9.98405368e-01 5.64354276e-02 -1.32769777e-03 3.51854217e+02] [-5.64353715e-02 9.98406251e-01 7.97434916e-05 -2.23060000e+01] [ 1.33008211e-03 -4.68721349e-06 9.99999115e-01 -1.69205761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97028169299995 meters Centerline goodness [0,1] 0.999614907363827 Centerline is valid? [True, True] Translation: X:351.88, Y:-22.31, Z:-1.69 [[ 9.98377497e-01 5.69260704e-02 -1.33993459e-03 3.51884953e+02] [-5.69260136e-02 9.98378396e-01 8.05203556e-05 -2.23077817e+01] [ 1.34234545e-03 -4.11257646e-06 9.99999099e-01 -1.69105887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.000281693 meters Centerline goodness [0,1] 0.9996574535956668 Centerline is valid? [True, True] Translation: X:351.91, Y:-22.30, Z:-1.69 [[ 9.98164500e-01 6.05481527e-02 -1.24561386e-03 3.51914058e+02] [-6.05481066e-02 9.98165278e-01 7.47062391e-05 -2.23031229e+01] [ 1.24785182e-03 8.50444680e-07 9.99999221e-01 -1.69140390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03028169299995 meters Centerline goodness [0,1] 0.9996171760352198 Centerline is valid? [True, True] Translation: X:351.94, Y:-22.30, Z:-1.69 [[ 9.97997966e-01 6.32279327e-02 -1.51300529e-03 3.51944283e+02] [-6.32278678e-02 9.97999112e-01 9.07503211e-05 -2.22996702e+01] [ 1.51571589e-03 5.09546278e-06 9.99998851e-01 -1.69149861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.060281693 meters Centerline goodness [0,1] 0.9996804090763822 Centerline is valid? [True, True] Translation: X:351.97, Y:-22.30, Z:-1.69 [[ 9.97805396e-01 6.61778887e-02 -2.20861696e-03 3.51974458e+02] [-6.61777577e-02 9.97807841e-01 1.32443593e-04 -2.22955371e+01] [ 2.21254016e-03 1.40083863e-05 9.99997552e-01 -1.69251426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09028169299995 meters Centerline goodness [0,1] 0.999681812396589 Centerline is valid? [True, True] Translation: X:352.00, Y:-22.29, Z:-1.69 [[ 9.97512141e-01 7.04669088e-02 -1.98585345e-03 3.52004683e+02] [-7.04668114e-02 9.97514117e-01 1.19032915e-04 -2.22867590e+01] [ 1.98930473e-03 2.11999824e-05 9.99998021e-01 -1.69348733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.120281693 meters Centerline goodness [0,1] 0.9996203973174744 Centerline is valid? [True, True] Translation: X:352.03, Y:-22.28, Z:-1.69 [[ 9.97452027e-01 7.13289965e-02 -1.27629805e-03 3.52033554e+02] [-7.13289571e-02 9.97452843e-01 7.64142876e-05 -2.22846082e+01] [ 1.27849768e-03 1.48174231e-05 9.99999183e-01 -1.69253910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15028169299995 meters Centerline goodness [0,1] 0.9995726130438499 Centerline is valid? [True, True] Translation: X:352.06, Y:-22.29, Z:-1.69 [[ 9.97556495e-01 6.98638444e-02 -2.88438849e-04 3.52063687e+02] [-6.98638423e-02 9.97556536e-01 1.72574461e-05 -2.22856503e+01] [ 2.88939730e-04 2.93616877e-06 9.99999958e-01 -1.69078634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.180281693 meters Centerline goodness [0,1] 0.9995761813943632 Centerline is valid? [True, True] Translation: X:352.09, Y:-22.29, Z:-1.69 [[ 9.97691205e-01 6.79125460e-02 -3.82052929e-04 3.52093804e+02] [-6.79125422e-02 9.97691278e-01 2.28619774e-05 -2.22877467e+01] [ 3.82723491e-04 3.13699193e-06 9.99999927e-01 -1.69118922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21028169299996 meters Centerline goodness [0,1] 0.9997219727105522 Centerline is valid? [True, True] Translation: X:352.12, Y:-22.29, Z:-1.69 [[ 9.97993773e-01 6.33110233e-02 -3.79596508e-04 3.52121907e+02] [-6.33110193e-02 9.97993845e-01 2.26509833e-05 -2.22912309e+01] [ 3.80269035e-04 1.42710157e-06 9.99999928e-01 -1.69190686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.240281693 meters Centerline goodness [0,1] 0.9997203459105968 Centerline is valid? [True, True] Translation: X:352.15, Y:-22.29, Z:-1.69 [[ 9.98094601e-01 6.17017563e-02 2.45883321e-04 3.52151593e+02] [-6.17017546e-02 9.98094631e-01 -1.47659017e-05 -2.22945477e+01] [-2.46325905e-04 -4.33665584e-07 9.99999970e-01 -1.69075644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27028169299996 meters Centerline goodness [0,1] 0.9997463645586744 Centerline is valid? [True, True] Translation: X:352.18, Y:-22.30, Z:-1.69 [[ 9.98161692e-01 6.06035823e-02 6.65323511e-04 3.52180697e+02] [-6.06035692e-02 9.98161914e-01 -3.98341568e-05 -2.22976330e+01] [-6.66514682e-04 -5.60050070e-07 9.99999778e-01 -1.69018251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.300281693 meters Centerline goodness [0,1] 0.9997432056494757 Centerline is valid? [True, True] Translation: X:352.21, Y:-22.30, Z:-1.69 [[ 9.98186194e-01 6.02022193e-02 1.18609368e-04 3.52211461e+02] [-6.02022188e-02 9.98186201e-01 -7.09687197e-06 -2.22997769e+01] [-1.18821482e-04 -5.65474950e-08 9.99999993e-01 -1.69038690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33028169299996 meters Centerline goodness [0,1] 0.9997877848987734 Centerline is valid? [True, True] Translation: X:352.24, Y:-22.30, Z:-1.69 [[ 9.98120048e-01 6.12857295e-02 -6.55139215e-04 3.52241339e+02] [-6.12857170e-02 9.98120263e-01 3.91344429e-05 -2.22991247e+01] [ 6.56306108e-04 1.08980446e-06 9.99999785e-01 -1.69224166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.360281693 meters Centerline goodness [0,1] 0.999533878554176 Centerline is valid? [True, True] Translation: X:352.27, Y:-22.30, Z:-1.70 [[ 9.97961197e-01 6.37779294e-02 -2.41343186e-03 3.52269883e+02] [-6.37777672e-02 9.97964115e-01 1.44188672e-04 -2.22951389e+01] [ 2.41771445e-03 1.00285956e-05 9.99997077e-01 -1.69566652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39028169299996 meters Centerline goodness [0,1] 0.9997451580020388 Centerline is valid? [True, True] Translation: X:352.30, Y:-22.29, Z:-1.70 [[ 9.97884015e-01 6.49509607e-02 -2.97736455e-03 3.52299539e+02] [-6.49507191e-02 9.97888457e-01 1.77853430e-04 -2.22944618e+01] [ 2.98262946e-03 1.59048739e-05 9.99995552e-01 -1.69623533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42028169299994 meters Centerline goodness [0,1] 0.999747171480943 Centerline is valid? [True, True] Translation: X:352.33, Y:-22.29, Z:-1.70 [[ 9.97794770e-01 6.63338591e-02 -2.32730156e-03 3.52328717e+02] [-6.63337155e-02 9.97797484e-01 1.38905628e-04 -2.22934702e+01] [ 2.33138979e-03 1.57792504e-05 9.99997282e-01 -1.69507271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45028169299997 meters Centerline goodness [0,1] 0.9997678247287771 Centerline is valid? [True, True] Translation: X:352.36, Y:-22.30, Z:-1.69 [[ 9.97833188e-01 6.57874376e-02 -9.70884809e-04 3.52357938e+02] [-6.57874124e-02 9.97833660e-01 5.78712179e-05 -2.22959146e+01] [ 9.72588741e-04 6.12617745e-06 9.99999527e-01 -1.69301904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48028169299994 meters Centerline goodness [0,1] 0.9997200508215431 Centerline is valid? [True, True] Translation: X:352.39, Y:-22.30, Z:-1.69 [[ 9.97908291e-01 6.46455090e-02 -2.73136432e-05 3.52387469e+02] [-6.46455090e-02 9.97908291e-01 1.57971714e-06 -2.23006321e+01] [ 2.73586326e-05 1.89291538e-07 1.00000000e+00 -1.69137229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51028169299997 meters Centerline goodness [0,1] 0.9995733424353613 Centerline is valid? [True, True] Translation: X:352.42, Y:-22.31, Z:-1.69 [[ 9.98156099e-01 6.06981468e-02 3.69452355e-04 3.52416715e+02] [-6.06981428e-02 9.98156168e-01 -2.20816662e-05 -2.23113239e+01] [-3.70111463e-04 -3.84122011e-07 9.99999932e-01 -1.69099222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54028169299994 meters Centerline goodness [0,1] 0.9995060986084865 Centerline is valid? [True, True] Translation: X:352.45, Y:-22.32, Z:-1.69 [[ 9.98303816e-01 5.82181419e-02 -3.73524233e-04 3.52447219e+02] [-5.82181377e-02 9.98303886e-01 2.22750220e-05 -2.23184944e+01] [ 3.74187504e-04 -4.91354232e-07 9.99999930e-01 -1.69263146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57028169299997 meters Centerline goodness [0,1] 0.9996378432500372 Centerline is valid? [True, True] Translation: X:352.48, Y:-22.33, Z:-1.70 [[ 9.98537751e-01 5.40219009e-02 -1.99850379e-03 3.52476449e+02] [-5.40217707e-02 9.98539751e-01 1.19132497e-04 -2.23295496e+01] [ 2.00202124e-03 -1.09955825e-05 9.99997996e-01 -1.69553963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60028169299994 meters Centerline goodness [0,1] 0.9995958478686293 Centerline is valid? [True, True] Translation: X:352.51, Y:-22.33, Z:-1.69 [[ 9.98606550e-01 5.27527839e-02 -1.45013504e-03 3.52506771e+02] [-5.27527140e-02 9.98607602e-01 8.64615362e-05 -2.23344918e+01] [ 1.45267697e-03 -9.84249719e-06 9.99998945e-01 -1.69460178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.630281693 meters Centerline goodness [0,1] 0.9996600301723222 Centerline is valid? [True, True] Translation: X:352.54, Y:-22.34, Z:-1.69 [[ 9.98697426e-01 5.10216596e-02 -4.91976616e-04 3.52535476e+02] [-5.10216513e-02 9.98697547e-01 2.93026117e-05 -2.23434465e+01] [ 4.92830907e-04 -4.16298349e-06 9.99999879e-01 -1.69307269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66028169299994 meters Centerline goodness [0,1] 0.9996799863460841 Centerline is valid? [True, True] Translation: X:352.57, Y:-22.35, Z:-1.69 [[ 9.98735254e-01 5.02733519e-02 -6.93969015e-04 3.52565583e+02] [-5.02733353e-02 9.98735496e-01 4.13684013e-05 -2.23477697e+01] [ 6.95171216e-04 -6.42794387e-06 9.99999758e-01 -1.69365164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.690281693 meters Centerline goodness [0,1] 0.9996805179868373 Centerline is valid? [True, True] Translation: X:352.60, Y:-22.35, Z:-1.70 [[ 9.98784375e-01 4.92730075e-02 -1.39365950e-03 3.52595124e+02] [-4.92729393e-02 9.98785348e-01 8.32603368e-05 -2.23549528e+01] [ 1.39606917e-03 -1.44894236e-05 9.99999025e-01 -1.69566067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72028169299995 meters Centerline goodness [0,1] 0.9993985479228423 Centerline is valid? [True, True] Translation: X:352.63, Y:-22.36, Z:-1.70 [[ 9.98918598e-01 4.64721030e-02 -1.40639570e-03 3.52626198e+02] [-4.64720308e-02 9.98919588e-01 8.39940062e-05 -2.23630715e+01] [ 1.40877959e-03 -1.85451106e-05 9.99999007e-01 -1.69564254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.750281693 meters Centerline goodness [0,1] 0.9993985479228423 Centerline is valid? [True, True] Translation: X:352.66, Y:-22.36, Z:-1.70 [[ 9.98917492e-01 4.64958747e-02 -1.40639369e-03 3.52656978e+02] [-4.64958025e-02 9.98918482e-01 8.40276421e-05 -2.23649536e+01] [ 1.40877959e-03 -1.85452781e-05 9.99999007e-01 -1.69570745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78028169299995 meters Centerline goodness [0,1] 0.9993045017703591 Centerline is valid? [True, True] Translation: X:352.69, Y:-22.38, Z:-1.70 [[ 9.98991931e-01 4.48849628e-02 -6.79905106e-04 3.52687245e+02] [-4.48849453e-02 9.98992162e-01 4.10275656e-05 -2.23750326e+01] [ 6.81061392e-04 -1.04687034e-05 9.99999768e-01 -1.69507308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.810281693 meters Centerline goodness [0,1] 0.9991262280757838 Centerline is valid? [True, True] Translation: X:352.72, Y:-22.39, Z:-1.69 [[ 9.99167828e-01 4.07878702e-02 1.58332841e-05 3.52718081e+02] [-4.07878702e-02 9.99167829e-01 -6.29284358e-07 -2.23878428e+01] [-1.58457752e-05 -1.70452483e-08 1.00000000e+00 -1.69275769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84028169299995 meters Centerline goodness [0,1] 0.9990772928200506 Centerline is valid? [True, True] Translation: X:352.75, Y:-22.40, Z:-1.69 [[ 9.99229657e-01 3.92374194e-02 7.19442224e-04 3.52750201e+02] [-3.92373987e-02 9.99229916e-01 -4.29529902e-05 -2.23954271e+01] [-7.20573557e-04 1.46908603e-05 9.99999740e-01 -1.69085817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.870281693 meters Centerline goodness [0,1] 0.998817742310047 Centerline is valid? [True, True] Translation: X:352.78, Y:-22.40, Z:-1.69 [[ 9.99260760e-01 3.84185773e-02 1.39496107e-03 3.52781609e+02] [-3.84184977e-02 9.99261733e-01 -8.38454639e-05 -2.24016424e+01] [-1.39715244e-03 3.01911733e-05 9.99999024e-01 -1.68936235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90028169299995 meters Centerline goodness [0,1] 0.9985741950586282 Centerline is valid? [True, True] Translation: X:352.81, Y:-22.41, Z:-1.69 [[ 9.99255293e-01 3.85797194e-02 6.81954495e-04 3.52813389e+02] [-3.85797005e-02 9.99255525e-01 -4.09141364e-05 -2.24082540e+01] [-6.83025253e-04 1.45740671e-05 9.99999767e-01 -1.69118753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.930281693 meters Centerline goodness [0,1] 0.9982542854138184 Centerline is valid? [True, True] Translation: X:352.84, Y:-22.42, Z:-1.69 [[ 9.99219145e-01 3.95090931e-02 -3.63417918e-04 3.52844303e+02] [-3.95090876e-02 9.99219211e-01 2.22138292e-05 -2.24165299e+01] [ 3.64011814e-04 -7.83817309e-06 9.99999934e-01 -1.69474534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96028169299996 meters Centerline goodness [0,1] 0.99902285665732 Centerline is valid? [True, True] Translation: X:352.88, Y:-22.41, Z:-1.70 [[ 9.99083415e-01 4.27248144e-02 -2.63043446e-03 3.52876240e+02] [-4.27245423e-02 9.99086877e-01 1.59541059e-04 -2.24137661e+01] [ 2.63484891e-03 -4.70107175e-05 9.99996528e-01 -1.69769265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.990281693 meters Centerline goodness [0,1] 0.9989788320391447 Centerline is valid? [True, True] Translation: X:352.91, Y:-22.41, Z:-1.70 [[ 9.98957008e-01 4.55203269e-02 -3.57706251e-03 3.52908227e+02] [-4.55198414e-02 9.98963411e-01 2.17054221e-04 -2.24129936e+01] [ 3.58323494e-03 -5.40005172e-05 9.99993579e-01 -1.69820002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02028169299996 meters Centerline goodness [0,1] 0.9994248956292068 Centerline is valid? [True, True] Translation: X:352.94, Y:-22.41, Z:-1.70 [[ 9.98624015e-01 5.22909383e-02 -3.96674533e-03 3.52938463e+02] [-5.22903951e-02 9.98631892e-01 2.40619001e-04 -2.24070898e+01] [ 3.97390059e-03 -3.28652323e-05 9.99992103e-01 -1.69860073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.050281693 meters Centerline goodness [0,1] 0.9991671471586905 Centerline is valid? [True, True] Translation: X:352.97, Y:-22.41, Z:-1.70 [[ 9.98475553e-01 5.51089024e-02 -3.09502324e-03 3.52968858e+02] [-5.51085852e-02 9.98480350e-01 1.87741167e-04 -2.24058885e+01] [ 3.10066609e-03 -1.68926141e-05 9.99995193e-01 -1.69673978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08028169299996 meters Centerline goodness [0,1] 0.9993597268167752 Centerline is valid? [True, True] Translation: X:353.00, Y:-22.41, Z:-1.69 [[ 9.98303842e-01 5.82046180e-02 -1.28917571e-03 3.52998941e+02] [-5.82045655e-02 9.98304674e-01 7.82395323e-05 -2.24076288e+01] [ 1.29154404e-03 -3.07091364e-06 9.99999166e-01 -1.69371569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.110281693 meters Centerline goodness [0,1] 0.9991755628369094 Centerline is valid? [True, True] Translation: X:353.03, Y:-22.41, Z:-1.69 [[ 9.98281316e-01 5.85933234e-02 -1.11222529e-03 3.53030367e+02] [-5.85932845e-02 9.98281935e-01 6.75530430e-05 -2.24114731e+01] [ 1.11427257e-03 -2.26800789e-06 9.99999379e-01 -1.69405581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14028169299996 meters Centerline goodness [0,1] 0.9992614163923356 Centerline is valid? [True, True] Translation: X:353.06, Y:-22.42, Z:-1.69 [[ 9.98292010e-01 5.84078718e-02 -1.25828484e-03 3.53060823e+02] [-5.84078213e-02 9.98292803e-01 7.68679950e-05 -2.24168907e+01] [ 1.26062640e-03 -3.24302899e-06 9.99999205e-01 -1.69490202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17028169299994 meters Centerline goodness [0,1] 0.9992821703789718 Centerline is valid? [True, True] Translation: X:353.09, Y:-22.43, Z:-1.69 [[ 9.98383466e-01 5.68357641e-02 -3.88127005e-04 3.53092476e+02] [-5.68357590e-02 9.98383541e-01 2.40286322e-05 -2.24281277e+01] [ 3.88865300e-04 -1.93029617e-06 9.99999924e-01 -1.69298238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20028169299997 meters Centerline goodness [0,1] 0.9993115318416523 Centerline is valid? [True, True] Translation: X:353.13, Y:-22.44, Z:-1.69 [[ 9.98424257e-01 5.61154051e-02 2.54049916e-04 3.53125471e+02] [-5.61154031e-02 9.98424289e-01 -1.51434078e-05 -2.24353224e+01] [-2.54499385e-04 8.63432294e-07 9.99999968e-01 -1.69160020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23028169299994 meters Centerline goodness [0,1] 0.9993542415567084 Centerline is valid? [True, True] Translation: X:353.16, Y:-22.45, Z:-1.69 [[ 9.98430372e-01 5.60067956e-02 -1.76352616e-04 3.53156583e+02] [-5.60067945e-02 9.98430388e-01 1.12022251e-05 -2.24450706e+01] [ 1.76703212e-04 -1.30769701e-06 9.99999984e-01 -1.69286630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26028169299997 meters Centerline goodness [0,1] 0.9993412384716732 Centerline is valid? [True, True] Translation: X:353.19, Y:-22.45, Z:-1.69 [[ 9.98380790e-01 5.68782371e-02 -8.15251226e-04 3.53189197e+02] [-5.68782148e-02 9.98381123e-01 5.05931053e-05 -2.24488173e+01] [ 8.16809081e-04 -4.14115006e-06 9.99999666e-01 -1.69364060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29028169299994 meters Centerline goodness [0,1] 0.99915365409843 Centerline is valid? [True, True] Translation: X:353.22, Y:-22.45, Z:-1.69 [[ 9.98288120e-01 5.84814740e-02 -8.63885629e-04 3.53221066e+02] [-5.84814494e-02 9.98288494e-01 5.37123831e-05 -2.24520778e+01] [ 8.65548263e-04 -3.09915021e-06 9.99999625e-01 -1.69465905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32028169299997 meters Centerline goodness [0,1] 0.999151157608811 Centerline is valid? [True, True] Translation: X:353.25, Y:-22.45, Z:-1.69 [[ 9.97999181e-01 6.32219469e-02 -7.87900186e-04 3.53253380e+02] [-6.32219278e-02 9.97999492e-01 4.91336983e-05 -2.24514308e+01] [ 7.89430314e-04 7.77178053e-07 9.99999688e-01 -1.69499432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35028169299994 meters Centerline goodness [0,1] 0.9992932862190813 Centerline is valid? [True, True] Translation: X:353.29, Y:-22.45, Z:-1.69 [[ 9.97835041e-01 6.57606685e-02 -8.74336237e-04 3.53286053e+02] [-6.57606458e-02 9.97835425e-01 5.47067115e-05 -2.24533049e+01] [ 8.76041220e-04 2.90864183e-06 9.99999616e-01 -1.69440630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.380281693 meters Centerline goodness [0,1] 0.9993602183787934 Centerline is valid? [True, True] Translation: X:353.32, Y:-22.45, Z:-1.70 [[ 9.97609591e-01 6.90935420e-02 -1.08939563e-03 3.53317107e+02] [-6.90935088e-02 9.97610186e-01 6.81534284e-05 -2.24549339e+01] [ 1.09150114e-03 7.27965274e-06 9.99999404e-01 -1.69531710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41028169299994 meters Centerline goodness [0,1] 0.9993553793592471 Centerline is valid? [True, True] Translation: X:353.35, Y:-22.46, Z:-1.70 [[ 9.97548291e-01 6.99657358e-02 -1.48456133e-03 3.53348662e+02] [-6.99656752e-02 9.97549395e-01 9.27619125e-05 -2.24576546e+01] [ 1.48741342e-03 1.13338489e-05 9.99998894e-01 -1.69606744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.440281693 meters Centerline goodness [0,1] 0.9993133489260349 Centerline is valid? [True, True] Translation: X:353.38, Y:-22.46, Z:-1.70 [[ 9.97462912e-01 7.11690406e-02 -1.64504736e-03 3.53380962e+02] [-7.11689671e-02 9.97464269e-01 1.03197036e-04 -2.24598650e+01] [ 1.64822040e-03 1.41411052e-05 9.99998642e-01 -1.69618928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47028169299995 meters Centerline goodness [0,1] 0.9993842233782779 Centerline is valid? [True, True] Translation: X:353.41, Y:-22.46, Z:-1.70 [[ 9.97328390e-01 7.30421826e-02 -9.60685961e-04 3.53411586e+02] [-7.30421582e-02 9.97328852e-01 6.05309328e-05 -2.24632466e+01] [ 9.62541138e-04 9.80135824e-06 9.99999537e-01 -1.69554046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.500281693 meters Centerline goodness [0,1] 0.9994936281542747 Centerline is valid? [True, True] Translation: X:353.44, Y:-22.47, Z:-1.69 [[ 9.97268997e-01 7.38546030e-02 -2.11515160e-04 3.53443632e+02] [-7.38546018e-02 9.97269020e-01 1.36588011e-05 -2.24656939e+01] [ 2.11946282e-04 1.99986905e-06 9.99999978e-01 -1.69429494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53028169299995 meters Centerline goodness [0,1] 0.9993636247931781 Centerline is valid? [True, True] Translation: X:353.48, Y:-22.47, Z:-1.69 [[ 9.97122323e-01 7.58093394e-02 -1.28346711e-04 3.53475308e+02] [-7.58093389e-02 9.97122332e-01 8.27224631e-06 -2.24672516e+01] [ 1.28604486e-04 1.48143789e-06 9.99999992e-01 -1.69443013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.560281693 meters Centerline goodness [0,1] 0.9993179444551016 Centerline is valid? [True, True] Translation: X:353.51, Y:-22.47, Z:-1.70 [[ 9.97025547e-01 7.70664026e-02 -9.10501131e-04 3.53507276e+02] [-7.70663819e-02 9.97025962e-01 5.77926834e-05 -2.24682874e+01] [ 9.12247140e-04 1.25482461e-05 9.99999584e-01 -1.69617152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59028169299995 meters Centerline goodness [0,1] 0.9992851285717289 Centerline is valid? [True, True] Translation: X:353.54, Y:-22.47, Z:-1.70 [[ 9.96821057e-01 7.96324438e-02 -2.54033145e-03 3.53538250e+02] [-7.96322920e-02 9.96824294e-01 1.60989239e-04 -2.24675783e+01] [ 2.54508407e-03 4.18149521e-05 9.99996760e-01 -1.69938328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.620281693 meters Centerline goodness [0,1] 0.9993795198767598 Centerline is valid? [True, True] Translation: X:353.57, Y:-22.47, Z:-1.70 [[ 9.96724767e-01 8.08249183e-02 -2.65920924e-03 3.53569365e+02] [-8.08247569e-02 9.96728313e-01 1.68303468e-04 -2.24682041e+01] [ 2.66411225e-03 4.71777049e-05 9.99996450e-01 -1.69946722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65028169299995 meters Centerline goodness [0,1] 0.9991154356479434 Centerline is valid? [True, True] Translation: X:353.60, Y:-22.47, Z:-1.70 [[ 9.96639101e-01 8.18832437e-02 -2.37399067e-03 3.53599549e+02] [-8.18831180e-02 9.96641928e-01 1.50259742e-04 -2.24660104e+01] [ 2.37832239e-03 4.46350238e-05 9.99997171e-01 -1.69936622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.680281693 meters Centerline goodness [0,1] 0.9992791264709 Centerline is valid? [True, True] Translation: X:353.63, Y:-22.46, Z:-1.70 [[ 9.96489919e-01 8.37099643e-02 -6.95597556e-04 3.53631113e+02] [-8.37099539e-02 9.96490161e-01 4.40804653e-05 -2.24646146e+01] [ 6.96846095e-04 1.43027001e-05 9.99999757e-01 -1.69667375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71028169299996 meters Centerline goodness [0,1] 0.9992536358595983 Centerline is valid? [True, True] Translation: X:353.66, Y:-22.47, Z:-1.70 [[ 9.96438718e-01 8.43199365e-02 1.69163407e-04 3.53662411e+02] [-8.43199359e-02 9.96438733e-01 -1.06656526e-05 -2.24682561e+01] [-1.69460298e-04 -3.63617841e-06 9.99999986e-01 -1.69506264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.740281693 meters Centerline goodness [0,1] 0.999174096270727 Centerline is valid? [True, True] Translation: X:353.69, Y:-22.47, Z:-1.70 [[ 9.96502666e-01 8.35609279e-02 -8.57813550e-05 3.53693662e+02] [-8.35609277e-02 9.96502670e-01 5.74953028e-06 -2.24704206e+01] [ 8.59617854e-05 1.43854735e-06 9.99999996e-01 -1.69547919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77028169299996 meters Centerline goodness [0,1] 0.9993603275123137 Centerline is valid? [True, True] Translation: X:353.73, Y:-22.47, Z:-1.70 [[ 9.96582132e-01 8.26052166e-02 -6.57880114e-04 3.53725989e+02] [-8.26052068e-02 9.96582349e-01 4.21854388e-05 -2.24742636e+01] [ 6.59116447e-04 1.23030684e-05 9.99999783e-01 -1.69671786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.800281693 meters Centerline goodness [0,1] 0.9993200458969019 Centerline is valid? [True, True] Translation: X:353.76, Y:-22.48, Z:-1.70 [[ 9.96669406e-01 8.15405358e-02 -1.11173669e-03 3.53757618e+02] [-8.15405070e-02 9.96670026e-01 7.12345854e-05 -2.24783348e+01] [ 1.11384315e-03 1.96542418e-05 9.99999379e-01 -1.69729290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83028169299996 meters Centerline goodness [0,1] 0.9994927612807778 Centerline is valid? [True, True] Translation: X:353.79, Y:-22.48, Z:-1.70 [[ 9.96810042e-01 7.98102958e-02 -2.39306506e-04 3.53788209e+02] [-7.98102944e-02 9.96810071e-01 1.55983093e-05 -2.24839255e+01] [ 2.39788041e-04 3.55057137e-06 9.99999971e-01 -1.69557788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.860281693 meters Centerline goodness [0,1] 0.9995129698253044 Centerline is valid? [True, True] Translation: X:353.82, Y:-22.49, Z:-1.69 [[ 9.96823185e-01 7.96458894e-02 2.64405293e-04 3.53820243e+02] [-7.96458878e-02 9.96823220e-01 -1.66201343e-05 -2.24876682e+01] [-2.64889060e-04 -4.49145900e-06 9.99999965e-01 -1.69456291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89028169299996 meters Centerline goodness [0,1] 0.9994095567458142 Centerline is valid? [True, True] Translation: X:353.85, Y:-22.49, Z:-1.69 [[ 9.96826920e-01 7.95931465e-02 1.01078073e-03 3.53852562e+02] [-7.95931219e-02 9.96827433e-01 -6.45918666e-05 -2.24910234e+01] [-1.01271503e-03 -1.60642826e-05 9.99999487e-01 -1.69345476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92028169299994 meters Centerline goodness [0,1] 0.9993617971791435 Centerline is valid? [True, True] Translation: X:353.89, Y:-22.49, Z:-1.69 [[ 9.96790313e-01 8.00208789e-02 2.39371512e-03 3.53885463e+02] [-8.00207402e-02 9.96793187e-01 -1.53832172e-04 -2.24935383e+01] [-2.39834871e-03 -3.82084366e-05 9.99997123e-01 -1.69174080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95028169299997 meters Centerline goodness [0,1] 0.999385032974956 Centerline is valid? [True, True] Translation: X:353.92, Y:-22.50, Z:-1.69 [[ 9.96783352e-01 8.01230625e-02 1.80122363e-03 3.53917560e+02] [-8.01229837e-02 9.96784979e-01 -1.15984754e-04 -2.24957187e+01] [-1.80472571e-03 -2.87077401e-05 9.99998371e-01 -1.69275498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98028169299994 meters Centerline goodness [0,1] 0.9994463726763623 Centerline is valid? [True, True] Translation: X:353.95, Y:-22.50, Z:-1.70 [[ 9.96841609e-01 7.94146055e-02 -3.55402387e-04 3.53948354e+02] [-7.94146022e-02 9.96841673e-01 2.33008940e-05 -2.25000714e+01] [ 3.56130341e-04 4.99683849e-06 9.99999937e-01 -1.69767844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01028169299997 meters Centerline goodness [0,1] 0.999471268743523 Centerline is valid? [True, True] Translation: X:353.98, Y:-22.50, Z:-1.70 [[ 9.96850542e-01 7.92966165e-02 -1.02112186e-03 3.53980692e+02] [-7.92965898e-02 9.96851065e-01 6.66366686e-05 -2.25037705e+01] [ 1.02319048e-03 1.45446821e-05 9.99999476e-01 -1.69887526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04028169299994 meters Centerline goodness [0,1] 0.9994434812388964 Centerline is valid? [True, True] Translation: X:354.01, Y:-22.51, Z:-1.70 [[ 9.96868755e-01 7.90739165e-02 2.39561504e-05 3.54012121e+02] [-7.90739165e-02 9.96868756e-01 -1.22029509e-06 -2.25110514e+01] [-2.39776313e-05 -6.77832584e-07 1.00000000e+00 -1.69695105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07028169299997 meters Centerline goodness [0,1] 0.9995148600476703 Centerline is valid? [True, True] Translation: X:354.04, Y:-22.51, Z:-1.70 [[ 9.96844416e-01 7.93787164e-02 4.79478407e-04 3.54043687e+02] [-7.93787107e-02 9.96844531e-01 -3.09353089e-05 -2.25111402e+01] [-4.80421033e-04 -7.22268782e-06 9.99999885e-01 -1.69596000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10028169299994 meters Centerline goodness [0,1] 0.9995099710243737 Centerline is valid? [True, True] Translation: X:354.08, Y:-22.51, Z:-1.70 [[ 9.96795574e-01 7.99884810e-02 6.53163030e-04 3.54076824e+02] [-7.99884704e-02 9.96795788e-01 -4.23533962e-05 -2.25139574e+01] [-6.54457941e-04 -1.00278338e-05 9.99999786e-01 -1.69536896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.130281693 meters Centerline goodness [0,1] 0.9996114325187807 Centerline is valid? [True, True] Translation: X:354.11, Y:-22.52, Z:-1.70 [[ 9.96635734e-01 8.19585876e-02 -6.74109740e-05 3.54108205e+02] [-8.19585874e-02 9.96635736e-01 4.73355045e-06 -2.25190800e+01] [ 6.75721408e-05 8.07282680e-07 9.99999998e-01 -1.69593082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16028169299994 meters Centerline goodness [0,1] 0.9993385396662826 Centerline is valid? [True, True] Translation: X:354.14, Y:-22.52, Z:-1.70 [[ 9.96530754e-01 8.32244344e-02 3.87231059e-04 3.54139810e+02] [-8.32244309e-02 9.96530829e-01 -2.51239531e-05 -2.25151801e+01] [-3.87978615e-04 -7.19029263e-06 9.99999925e-01 -1.69570340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.190281693 meters Centerline goodness [0,1] 0.9994538388824703 Centerline is valid? [True, True] Translation: X:354.17, Y:-22.52, Z:-1.69 [[ 9.96405821e-01 8.47012153e-02 1.06990293e-03 3.54171907e+02] [-8.47011888e-02 9.96406395e-01 -7.01325507e-05 -2.25158840e+01] [-1.07199843e-03 -2.07415679e-05 9.99999425e-01 -1.69430863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22028169299995 meters Centerline goodness [0,1] 0.9991956480325127 Centerline is valid? [True, True] Translation: X:354.20, Y:-22.51, Z:-1.69 [[ 9.96135284e-01 8.78172323e-02 1.62142304e-03 3.54203739e+02] [-8.78171749e-02 9.96136603e-01 -1.06687579e-04 -2.25114900e+01] [-1.62452785e-03 -3.61135286e-05 9.99998680e-01 -1.69339434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.250281693 meters Centerline goodness [0,1] 0.9992988420269839 Centerline is valid? [True, True] Translation: X:354.24, Y:-22.52, Z:-1.69 [[ 9.96000095e-01 8.93474642e-02 9.17343601e-04 3.54235605e+02] [-8.93474465e-02 9.96000517e-01 -6.03344149e-05 -2.25161722e+01] [-9.19065428e-04 -2.18692254e-05 9.99999577e-01 -1.69459188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28028169299995 meters Centerline goodness [0,1] 0.9991480661100699 Centerline is valid? [True, True] Translation: X:354.27, Y:-22.51, Z:-1.69 [[ 9.95789834e-01 9.16624680e-02 7.73517284e-04 3.54266919e+02] [-9.16624560e-02 9.95790134e-01 -5.09598009e-05 -2.25135443e+01] [-7.74931981e-04 -2.01572424e-05 9.99999700e-01 -1.69447654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.310281693 meters Centerline goodness [0,1] 0.9982872005244127 Centerline is valid? [True, True] Translation: X:354.30, Y:-22.51, Z:-1.69 [[ 9.95735660e-01 9.22406497e-02 1.46879106e-03 3.54298784e+02] [-9.22406065e-02 9.95736743e-01 -9.72932096e-05 -2.25067089e+01] [-1.47150361e-03 -3.86038595e-05 9.99998917e-01 -1.69305052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34028169299995 meters Centerline goodness [0,1] 0.9980259806418746 Centerline is valid? [True, True] Translation: X:354.33, Y:-22.51, Z:-1.69 [[ 9.95734195e-01 9.22303993e-02 2.63924710e-03 3.54330049e+02] [-9.22302587e-02 9.95737691e-01 -1.75157512e-04 -2.25065416e+01] [-2.64415266e-03 -6.90081184e-05 9.99996502e-01 -1.69076723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.370281693 meters Centerline goodness [0,1] 0.9975452333086446 Centerline is valid? [True, True] Translation: X:354.36, Y:-22.50, Z:-1.69 [[ 9.95716132e-01 9.23652181e-02 4.24852805e-03 3.54361550e+02] [-9.23648547e-02 9.95725190e-01 -2.82073937e-04 -2.25042179e+01] [-4.25642022e-03 -1.11549107e-04 9.99990935e-01 -1.68822469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40028169299995 meters Centerline goodness [0,1] 0.998825413774693 Centerline is valid? [True, True] Translation: X:354.39, Y:-22.51, Z:-1.69 [[ 9.95713930e-01 9.24165423e-02 3.59898266e-03 3.54393824e+02] [-9.24162809e-02 9.95720430e-01 -2.39248453e-04 -2.25118589e+01] [-3.60569108e-03 -9.43815757e-05 9.99993495e-01 -1.68964680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.430281693 meters Centerline goodness [0,1] 0.9987178391315497 Centerline is valid? [True, True] Translation: X:354.43, Y:-22.50, Z:-1.69 [[ 9.95714360e-01 9.24693744e-02 1.52566050e-03 3.54425740e+02] [-9.24693273e-02 9.95715528e-01 -1.01495751e-04 -2.25017660e+01] [-1.52850910e-03 -4.00160233e-05 9.99998831e-01 -1.69293377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46028169299996 meters Centerline goodness [0,1] 0.9987450012762699 Centerline is valid? [True, True] Translation: X:354.46, Y:-22.51, Z:-1.69 [[ 9.95692339e-01 9.27133205e-02 1.00343392e-03 3.54457262e+02] [-9.27133001e-02 9.95692844e-01 -6.69263671e-05 -2.25063600e+01] [-1.00531694e-03 -2.63935994e-05 9.99999494e-01 -1.69323393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.490281693 meters Centerline goodness [0,1] 0.9988922972051807 Centerline is valid? [True, True] Translation: X:354.49, Y:-22.50, Z:-1.69 [[ 9.95652924e-01 9.31323533e-02 1.27268303e-03 3.54488753e+02] [-9.31323208e-02 9.95653737e-01 -8.49244389e-05 -2.25042357e+01] [-1.27506083e-03 -3.39726586e-05 9.99999187e-01 -1.69210563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52028169299996 meters Centerline goodness [0,1] 0.9984297360665964 Centerline is valid? [True, True] Translation: X:354.52, Y:-22.50, Z:-1.69 [[ 9.95618556e-01 9.34733929e-02 2.53279867e-03 3.54519390e+02] [-9.34732649e-02 9.95621776e-01 -1.69105729e-04 -2.24969641e+01] [-2.53751639e-03 -6.83841589e-05 9.99996778e-01 -1.69026089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.550281693 meters Centerline goodness [0,1] 0.9986438196925991 Centerline is valid? [True, True] Translation: X:354.55, Y:-22.50, Z:-1.69 [[ 9.95679656e-01 9.28190944e-02 2.57638825e-03 3.54550298e+02] [-9.28189597e-02 9.95682987e-01 -1.72049340e-04 -2.24963346e+01] [-2.58123541e-03 -6.78316499e-05 9.99996666e-01 -1.69091743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58028169299996 meters Centerline goodness [0,1] 0.9989074550128535 Centerline is valid? [True, True] Translation: X:354.58, Y:-22.50, Z:-1.69 [[ 9.95880379e-01 9.06704907e-02 1.06407249e-03 3.54581353e+02] [-9.06704665e-02 9.95880947e-01 -7.10544471e-05 -2.24950858e+01] [-1.06613206e-03 -2.57182194e-05 9.99999431e-01 -1.69418199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.610281693 meters Centerline goodness [0,1] 0.9991294192589447 Centerline is valid? [True, True] Translation: X:354.61, Y:-22.49, Z:-1.70 [[ 9.95946672e-01 8.99452108e-02 2.92971045e-04 3.54611532e+02] [-8.99452089e-02 9.95946715e-01 -1.95758317e-05 -2.24945803e+01] [-2.93544302e-04 -6.85485744e-06 9.99999957e-01 -1.69557004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64028169299996 meters Centerline goodness [0,1] 0.9991294192589447 Centerline is valid? [True, True] Translation: X:354.64, Y:-22.50, Z:-1.70 [[ 9.95948581e-01 8.99240725e-02 2.92968482e-04 3.54640644e+02] [-8.99240706e-02 9.95948624e-01 -1.96141869e-05 -2.24964782e+01] [-2.93545344e-04 -6.81019689e-06 9.99999957e-01 -1.69563144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67028169299994 meters Centerline goodness [0,1] 0.9992515770341067 Centerline is valid? [True, True] Translation: X:354.67, Y:-22.49, Z:-1.70 [[ 9.95955837e-01 8.98440493e-02 -1.33995765e-04 3.54670807e+02] [-8.98440489e-02 9.95955846e-01 8.90300132e-06 -2.24938639e+01] [ 1.34253747e-04 3.17172594e-06 9.99999991e-01 -1.69638054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70028169299997 meters Centerline goodness [0,1] 0.9987749757107253 Centerline is valid? [True, True] Translation: X:354.70, Y:-22.48, Z:-1.70 [[ 9.95883904e-01 9.06347723e-02 -7.66766656e-04 3.54700091e+02] [-9.06347598e-02 9.95884199e-01 5.10800184e-05 -2.24773338e+01] [ 7.68240423e-04 1.86259436e-05 9.99999705e-01 -1.69799537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73028169299994 meters Centerline goodness [0,1] 0.999218089602705 Centerline is valid? [True, True] Translation: X:354.73, Y:-22.48, Z:-1.70 [[ 9.95854039e-01 9.09602103e-02 -9.86495802e-04 3.54729148e+02] [-9.09601897e-02 9.95854527e-01 6.57670064e-05 -2.24806315e+01] [ 9.88388492e-04 2.42375064e-05 9.99999511e-01 -1.69772207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76028169299997 meters Centerline goodness [0,1] 0.9992582231264836 Centerline is valid? [True, True] Translation: X:354.76, Y:-22.47, Z:-1.70 [[ 9.95897276e-01 9.04732933e-02 -1.78871761e-03 3.54757342e+02] [-9.04732252e-02 9.95898881e-01 1.19125006e-04 -2.24747844e+01] [ 1.79215950e-03 4.31947822e-05 9.99998393e-01 -1.69998675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79028169299994 meters Centerline goodness [0,1] 0.9993628273474503 Centerline is valid? [True, True] Translation: X:354.79, Y:-22.48, Z:-1.70 [[ 9.96025566e-01 8.90384072e-02 -2.28758944e-03 3.54786632e+02] [-8.90382919e-02 9.96028192e-01 1.52392379e-04 -2.24800966e+01] [ 2.29207235e-03 5.18963509e-05 9.99997372e-01 -1.70078106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82028169299997 meters Centerline goodness [0,1] 0.9996409790711918 Centerline is valid? [True, True] Translation: X:354.82, Y:-22.48, Z:-1.70 [[ 9.96456765e-01 8.40803840e-02 -2.09889172e-03 3.54816648e+02] [-8.40802759e-02 9.96458974e-01 1.39818133e-04 -2.24841668e+01] [ 2.10321545e-03 3.71526710e-05 9.99997788e-01 -1.70088246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85028169299994 meters Centerline goodness [0,1] 0.9997019945081845 Centerline is valid? [True, True] Translation: X:354.85, Y:-22.49, Z:-1.70 [[ 9.96758237e-01 8.04394538e-02 -1.58444889e-03 3.54845362e+02] [-8.04393878e-02 9.96759496e-01 1.05443875e-04 -2.24864018e+01] [ 1.58779633e-03 2.23500481e-05 9.99998739e-01 -1.70106502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.880281693 meters Centerline goodness [0,1] 0.9998090388287715 Centerline is valid? [True, True] Translation: X:354.88, Y:-22.50, Z:-1.70 [[ 9.97072811e-01 7.64488072e-02 -1.17858243e-03 3.54875109e+02] [-7.64487678e-02 9.97073508e-01 7.84855576e-05 -2.24963908e+01] [ 1.18113345e-03 1.18453592e-05 9.99999302e-01 -1.69958436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91028169299994 meters Centerline goodness [0,1] 0.9999147121535181 Centerline is valid? [True, True] Translation: X:354.90, Y:-22.51, Z:-1.70 [[ 9.97605046e-01 6.91639239e-02 -7.24413544e-04 3.54904893e+02] [-6.91639071e-02 9.97605309e-01 4.82720511e-05 -2.25104587e+01] [ 7.26017482e-04 1.94682933e-06 9.99999736e-01 -1.69837412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.940281693 meters Centerline goodness [0,1] 0.9999149948996939 Centerline is valid? [True, True] Translation: X:354.94, Y:-22.52, Z:-1.70 [[ 9.97790745e-01 6.64275345e-02 -1.00618207e-03 3.54935034e+02] [-6.64275007e-02 9.97791252e-01 6.70500876e-05 -2.25169953e+01] [ 1.00841364e-03 -6.37966038e-08 9.99999492e-01 -1.69835170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97028169299995 meters Centerline goodness [0,1] 0.999936 Centerline is valid? [True, True] Translation: X:354.97, Y:-22.52, Z:-1.70 [[ 9.98023474e-01 6.28324624e-02 -1.10736211e-03 3.54965925e+02] [-6.28324192e-02 9.98024089e-01 7.38374754e-05 -2.25231224e+01] [ 1.10981345e-03 -4.11329323e-06 9.99999384e-01 -1.69779658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.000281693 meters Centerline goodness [0,1] 0.9999362800280368 Centerline is valid? [True, True] Translation: X:355.00, Y:-22.53, Z:-1.70 [[ 9.98071198e-01 6.20767107e-02 -6.04043821e-04 3.54995590e+02] [-6.20766977e-02 9.98071381e-01 4.02222302e-05 -2.25256377e+01] [ 6.05375715e-04 -2.64760386e-06 9.99999817e-01 -1.69699800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03028169299995 meters Centerline goodness [0,1] 0.9999785880992655 Centerline is valid? [True, True] Translation: X:355.03, Y:-22.53, Z:-1.70 [[ 9.98112191e-01 6.14155408e-02 -4.31830997e-04 3.55026178e+02] [-6.14155341e-02 9.98112284e-01 2.87712575e-05 -2.25288497e+01] [ 4.32782825e-04 -2.19581149e-06 9.99999906e-01 -1.69659726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.060281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.06, Y:-22.54, Z:-1.70 [[ 9.98210771e-01 5.97880526e-02 -8.03898788e-04 3.55057105e+02] [-5.97880288e-02 9.98211094e-01 5.36230205e-05 -2.25350132e+01] [ 8.05666705e-04 -5.46355265e-06 9.99999675e-01 -1.69859580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09028169299995 meters Centerline goodness [0,1] 0.9999362366894089 Centerline is valid? [True, True] Translation: X:355.09, Y:-22.54, Z:-1.70 [[ 9.98279273e-01 5.86301036e-02 -1.00242681e-03 3.55088605e+02] [-5.86300660e-02 9.98279776e-01 6.68755334e-05 -2.25396837e+01] [ 1.00462333e-03 -7.98810860e-06 9.99999495e-01 -1.69913505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.120281693 meters Centerline goodness [0,1] 0.9999577515367879 Centerline is valid? [True, True] Translation: X:355.12, Y:-22.54, Z:-1.70 [[ 9.98348974e-01 5.74287383e-02 -1.12535545e-03 3.55118793e+02] [-5.74286901e-02 9.98349608e-01 7.50633303e-05 -2.25418558e+01] [ 1.12780896e-03 -1.03117096e-05 9.99999364e-01 -1.69811722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.15, Y:-22.55, Z:-1.70 [[ 9.98448721e-01 5.56678451e-02 -1.11437034e-03 3.55149479e+02] [-5.56677968e-02 9.98449343e-01 7.43836968e-05 -2.25467538e+01] [ 1.11678312e-03 -1.22337652e-05 9.99999376e-01 -1.69723176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.180281693 meters Centerline goodness [0,1] 0.9998515974474761 Centerline is valid? [True, True] Translation: X:355.18, Y:-22.55, Z:-1.70 [[ 9.98478987e-01 5.51188687e-02 -1.27412315e-03 3.55180009e+02] [-5.51188044e-02 9.98479800e-01 8.55108010e-05 -2.25520229e+01] [ 1.27689948e-03 -1.51525934e-05 9.99999185e-01 -1.69802076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21028169299996 meters Centerline goodness [0,1] 0.9999144641176974 Centerline is valid? [True, True] Translation: X:355.21, Y:-22.56, Z:-1.70 [[ 9.98500325e-01 5.47411761e-02 -7.09666098e-04 3.55210967e+02] [-5.47411561e-02 9.98500578e-01 4.75140621e-05 -2.25563144e+01] [ 7.11202984e-04 -8.59486379e-06 9.99999747e-01 -1.69726768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.240281693 meters Centerline goodness [0,1] 0.9998712888278702 Centerline is valid? [True, True] Translation: X:355.24, Y:-22.56, Z:-1.70 [[ 9.98492412e-01 5.48881894e-02 -4.36326264e-04 3.55241967e+02] [-5.48881817e-02 9.98492507e-01 2.95709980e-05 -2.25602534e+01] [ 4.37291604e-04 -5.57726189e-06 9.99999904e-01 -1.69763503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27028169299996 meters Centerline goodness [0,1] 0.9999155048584706 Centerline is valid? [True, True] Translation: X:355.27, Y:-22.56, Z:-1.70 [[ 9.98475011e-01 5.51999114e-02 -7.89252831e-04 3.55273226e+02] [-5.51998866e-02 9.98475323e-01 5.31741524e-05 -2.25641366e+01] [ 7.90984683e-04 -9.52639566e-06 9.99999687e-01 -1.69854772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.300281693 meters Centerline goodness [0,1] 0.9999786862185089 Centerline is valid? [True, True] Translation: X:355.30, Y:-22.57, Z:-1.70 [[ 9.98449783e-01 5.56397978e-02 -1.49766884e-03 3.55304733e+02] [-5.56397087e-02 9.98450906e-01 1.01125079e-04 -2.25684084e+01] [ 1.50097539e-03 -1.76384554e-05 9.99998873e-01 -1.70004960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33028169299996 meters Centerline goodness [0,1] 0.9999361049582552 Centerline is valid? [True, True] Translation: X:355.33, Y:-22.58, Z:-1.70 [[ 9.98434559e-01 5.58926363e-02 -2.10813826e-03 3.55334951e+02] [-5.58924600e-02 9.98436784e-01 1.42499258e-04 -2.25765946e+01] [ 2.11280745e-03 -2.44471504e-05 9.99997768e-01 -1.70167855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.360281693 meters Centerline goodness [0,1] 0.9999153421236429 Centerline is valid? [True, True] Translation: X:355.37, Y:-22.58, Z:-1.70 [[ 9.98436856e-01 5.58697066e-02 -1.55567153e-03 3.55366423e+02] [-5.58696100e-02 9.98438068e-01 1.05506699e-04 -2.25809342e+01] [ 1.55913631e-03 -1.84270150e-05 9.99998784e-01 -1.70058028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39028169299996 meters Centerline goodness [0,1] 0.9998943096305065 Centerline is valid? [True, True] Translation: X:355.40, Y:-22.59, Z:-1.70 [[ 9.98417651e-01 5.62241202e-02 -1.02125526e-03 3.55397310e+02] [-5.62240785e-02 9.98418173e-01 6.95039740e-05 -2.25851673e+01] [ 1.02354761e-03 -1.19748587e-05 9.99999476e-01 -1.69943716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42028169299994 meters Centerline goodness [0,1] 0.9999141465089825 Centerline is valid? [True, True] Translation: X:355.43, Y:-22.59, Z:-1.70 [[ 9.98347578e-01 5.74607483e-02 -6.12921323e-04 3.55429271e+02] [-5.74607333e-02 9.98347766e-01 4.19879768e-05 -2.25902456e+01] [ 6.14321294e-04 -6.69968627e-06 9.99999811e-01 -1.69941429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45028169299997 meters Centerline goodness [0,1] 0.9998940610632032 Centerline is valid? [True, True] Translation: X:355.46, Y:-22.60, Z:-1.70 [[ 9.98296073e-01 5.83373531e-02 -1.30556904e-03 3.55460135e+02] [-5.83372863e-02 9.98296926e-01 8.92132514e-05 -2.25965784e+01] [ 1.30855003e-03 -1.28978834e-05 9.99999144e-01 -1.70055014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48028169299994 meters Centerline goodness [0,1] 0.9999370237420493 Centerline is valid? [True, True] Translation: X:355.49, Y:-22.60, Z:-1.70 [[ 9.98157875e-01 6.06433328e-02 -1.80061840e-03 3.55491264e+02] [-6.06432092e-02 9.98159499e-01 1.23165219e-04 -2.26025011e+01] [ 1.80477351e-03 -1.37430548e-05 9.99998371e-01 -1.70147351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51028169299997 meters Centerline goodness [0,1] 0.9999571981937638 Centerline is valid? [True, True] Translation: X:355.52, Y:-22.60, Z:-1.70 [[ 9.98035236e-01 6.26384833e-02 -1.44469542e-03 3.55523893e+02] [-6.26384059e-02 9.98036282e-01 9.87735295e-05 -2.26029645e+01] [ 1.44804547e-03 -8.08604477e-06 9.99998952e-01 -1.69965680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54028169299994 meters Centerline goodness [0,1] 0.9999356236990623 Centerline is valid? [True, True] Translation: X:355.56, Y:-22.60, Z:-1.70 [[ 9.97860203e-01 6.53821106e-02 -4.42524224e-04 3.55555982e+02] [-6.53821035e-02 9.97860301e-01 3.06307979e-05 -2.26025459e+01] [ 4.43580061e-04 -1.63208960e-06 9.99999902e-01 -1.69800733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.57028169299997 meters Centerline goodness [0,1] 0.9999145481734673 Centerline is valid? [True, True] Translation: X:355.59, Y:-22.60, Z:-1.69 [[ 9.97390408e-01 7.21893099e-02 1.03844050e-03 3.55588960e+02] [-7.21892752e-02 9.97390948e-01 -7.09031033e-05 -2.25967943e+01] [-1.04084960e-03 -4.24619203e-06 9.99999458e-01 -1.69435525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60028169299994 meters Centerline goodness [0,1] 0.9999359713151492 Centerline is valid? [True, True] Translation: X:355.62, Y:-22.59, Z:-1.69 [[ 9.97125128e-01 7.57660804e-02 9.90527061e-04 3.55621166e+02] [-7.57660504e-02 9.97125619e-01 -6.77807308e-05 -2.25946028e+01] [-9.92815390e-04 -7.46245337e-06 9.99999507e-01 -1.69460101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.630281693 meters Centerline goodness [0,1] 0.9998497886311453 Centerline is valid? [True, True] Translation: X:355.65, Y:-22.59, Z:-1.70 [[ 9.96876538e-01 7.89704741e-02 9.12740494e-04 3.55652563e+02] [-7.89704498e-02 9.96876955e-01 -6.26738207e-05 -2.25917506e+01] [-9.14839346e-04 -9.60146603e-06 9.99999581e-01 -1.69561968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66028169299994 meters Centerline goodness [0,1] 0.999764907031417 Centerline is valid? [True, True] Translation: X:355.68, Y:-22.59, Z:-1.70 [[ 9.96679057e-01 8.14218152e-02 1.16027801e-03 3.55684290e+02] [-8.14217774e-02 9.96679732e-01 -7.98840134e-05 -2.25902711e+01] [-1.16292988e-03 -1.48531747e-05 9.99999324e-01 -1.69602277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.690281693 meters Centerline goodness [0,1] 0.9998075195688438 Centerline is valid? [True, True] Translation: X:355.72, Y:-22.59, Z:-1.70 [[ 9.96434018e-01 8.43634706e-02 1.43303062e-03 3.55716101e+02] [-8.43634158e-02 9.96435048e-01 -9.87081222e-05 -2.25874535e+01] [-1.43624929e-03 -2.25392273e-05 9.99998968e-01 -1.69642648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72028169299995 meters Centerline goodness [0,1] 0.9997653583617747 Centerline is valid? [True, True] Translation: X:355.75, Y:-22.59, Z:-1.70 [[ 9.96385299e-01 8.49420156e-02 1.09055096e-03 3.55746726e+02] [-8.49419842e-02 9.96385896e-01 -7.51433981e-05 -2.25875426e+01] [-1.09299243e-03 -1.77617851e-05 9.99999403e-01 -1.69714857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.750281693 meters Centerline goodness [0,1] 0.9997223349494864 Centerline is valid? [True, True] Translation: X:355.78, Y:-22.59, Z:-1.70 [[ 9.96366000e-01 8.51749101e-02 1.71895005e-04 3.55778453e+02] [-8.51749093e-02 9.96366014e-01 -1.18035318e-05 -2.25884959e+01] [-1.72275706e-04 -2.88050371e-06 9.99999985e-01 -1.69866027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78028169299995 meters Centerline goodness [0,1] 0.9998081555219236 Centerline is valid? [True, True] Translation: X:355.81, Y:-22.59, Z:-1.70 [[ 9.96361448e-01 8.52252616e-02 -7.21476238e-04 3.55809210e+02] [-8.52252479e-02 9.96361709e-01 4.97778482e-05 -2.25880831e+01] [ 7.23093627e-04 1.18912623e-05 9.99999738e-01 -1.70053854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.810281693 meters Centerline goodness [0,1] 0.9998300511970769 Centerline is valid? [True, True] Translation: X:355.84, Y:-22.59, Z:-1.70 [[ 9.96362736e-01 8.52059900e-02 -1.11282156e-03 3.55840350e+02] [-8.52059574e-02 9.96363357e-01 7.67412840e-05 -2.25870974e+01] [ 1.11531344e-03 1.83568706e-05 9.99999378e-01 -1.70017607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84028169299995 meters Centerline goodness [0,1] 0.9997245062303975 Centerline is valid? [True, True] Translation: X:355.87, Y:-22.59, Z:-1.70 [[ 9.96358173e-01 8.52630048e-02 -7.81306422e-04 3.55870838e+02] [-8.52629888e-02 9.96358480e-01 5.38796697e-05 -2.25878326e+01] [ 7.83055221e-04 1.29330714e-05 9.99999693e-01 -1.69900499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.870281693 meters Centerline goodness [0,1] 0.9997677266776469 Centerline is valid? [True, True] Translation: X:355.90, Y:-22.59, Z:-1.70 [[ 9.96375913e-01 8.50573501e-02 -5.35133328e-04 3.55901756e+02] [-8.50573426e-02 9.96376057e-01 3.69033277e-05 -2.25886955e+01] [ 5.36332934e-04 8.74743189e-06 9.99999856e-01 -1.69870989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90028169299995 meters Centerline goodness [0,1] 0.9996597554492291 Centerline is valid? [True, True] Translation: X:355.93, Y:-22.59, Z:-1.70 [[ 9.96417047e-01 8.45738851e-02 5.71882169e-04 3.55932205e+02] [-8.45738764e-02 9.96417211e-01 -3.94375644e-05 -2.25889556e+01] [-5.73168623e-04 -9.07003037e-06 9.99999836e-01 -1.69716175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.930281693 meters Centerline goodness [0,1] 0.9996775164466613 Centerline is valid? [True, True] Translation: X:355.96, Y:-22.59, Z:-1.70 [[ 9.96382337e-01 8.49761371e-02 1.13743934e-03 3.55962564e+02] [-8.49761029e-02 9.96382986e-01 -7.84389511e-05 -2.25886796e+01] [-1.13999065e-03 -1.84999774e-05 9.99999350e-01 -1.69588398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96028169299996 meters Centerline goodness [0,1] 0.9996581342677663 Centerline is valid? [True, True] Translation: X:355.99, Y:-22.58, Z:-1.70 [[ 9.96233601e-01 8.67090929e-02 3.80233415e-04 3.55992388e+02] [-8.67090892e-02 9.96233674e-01 -2.62405757e-05 -2.25828933e+01] [-3.81076629e-04 -6.82794993e-06 9.99999927e-01 -1.69690889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.990281693 meters Centerline goodness [0,1] 0.9997019691325173 Centerline is valid? [True, True] Translation: X:356.02, Y:-22.58, Z:-1.70 [[ 9.96135986e-01 8.78228845e-02 -4.88477578e-04 3.56021871e+02] [-8.78228785e-02 9.96136106e-01 3.35939533e-05 -2.25782015e+01] [ 4.89540470e-04 9.43536119e-06 9.99999880e-01 -1.69890656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02028169299996 meters Centerline goodness [0,1] 0.9997643025498179 Centerline is valid? [True, True] Translation: X:356.05, Y:-22.58, Z:-1.70 [[ 9.96020492e-01 8.91104128e-02 -1.58550057e-03 3.56051684e+02] [-8.91103518e-02 9.96021753e-01 1.09185166e-04 -2.25750791e+01] [ 1.58892259e-03 3.25338503e-05 9.99998737e-01 -1.70060303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.050281693 meters Centerline goodness [0,1] 0.9997649622871306 Centerline is valid? [True, True] Translation: X:356.08, Y:-22.57, Z:-1.70 [[ 9.95936218e-01 9.00275372e-02 -2.46819290e-03 3.56081563e+02] [-9.00273924e-02 9.95939275e-01 1.69935820e-04 -2.25724931e+01] [ 2.47346915e-03 5.29597334e-05 9.99996940e-01 -1.70197242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08028169299996 meters Centerline goodness [0,1] 0.9995987921532191 Centerline is valid? [True, True] Translation: X:356.11, Y:-22.57, Z:-1.70 [[ 9.95973278e-01 8.96309067e-02 -1.87873216e-03 3.56110083e+02] [-8.96308224e-02 9.95975049e-01 1.29154261e-04 -2.25674475e+01] [ 1.88274657e-03 3.97581153e-05 9.99998227e-01 -1.70163428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.110281693 meters Centerline goodness [0,1] 0.9996405919661734 Centerline is valid? [True, True] Translation: X:356.14, Y:-22.57, Z:-1.70 [[ 9.96076953e-01 8.84888904e-02 -6.48100411e-04 3.56138517e+02] [-8.84888802e-02 9.96077164e-01 4.45066765e-05 -2.25675671e+01] [ 6.49496365e-04 1.30176048e-05 9.99999789e-01 -1.69900821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14028169299996 meters Centerline goodness [0,1] 0.9998296930216716 Centerline is valid? [True, True] Translation: X:356.17, Y:-22.57, Z:-1.70 [[ 9.96332252e-01 8.55668249e-02 6.01072882e-04 3.56168214e+02] [-8.55668155e-02 9.96332434e-01 -4.13736177e-05 -2.25698453e+01] [-6.02408616e-04 -1.02100227e-05 9.99999819e-01 -1.69727210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17028169299994 meters Centerline goodness [0,1] 0.9998722099165105 Centerline is valid? [True, True] Translation: X:356.20, Y:-22.57, Z:-1.70 [[ 9.96436833e-01 8.43412979e-02 4.27087787e-04 3.56197830e+02] [-8.43412930e-02 9.96436925e-01 -2.94042601e-05 -2.25747269e+01] [-4.28046035e-04 -6.72164837e-06 9.99999908e-01 -1.69740309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20028169299997 meters Centerline goodness [0,1] 0.9999364729798408 Centerline is valid? [True, True] Translation: X:356.23, Y:-22.57, Z:-1.70 [[ 9.96526031e-01 8.32818340e-02 8.12259740e-05 3.56226804e+02] [-8.32818338e-02 9.96526034e-01 -5.65319586e-06 -2.25724949e+01] [-8.14146063e-05 -1.13109124e-06 9.99999997e-01 -1.69868700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23028169299994 meters Centerline goodness [0,1] 0.999957179865973 Centerline is valid? [True, True] Translation: X:356.26, Y:-22.57, Z:-1.70 [[ 9.96593559e-01 8.24679049e-02 -5.68893747e-04 3.56256165e+02] [-8.24678961e-02 9.96593721e-01 3.90188942e-05 -2.25749299e+01] [ 5.70173743e-04 8.02949180e-06 9.99999837e-01 -1.69826117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26028169299997 meters Centerline goodness [0,1] 0.9999576351966786 Centerline is valid? [True, True] Translation: X:356.29, Y:-22.57, Z:-1.70 [[ 9.96578137e-01 8.26527503e-02 -7.34611695e-04 3.56285010e+02] [-8.26527356e-02 9.96578408e-01 5.03487229e-05 -2.25741534e+01] [ 7.36259614e-04 1.05412298e-05 9.99999729e-01 -1.69888354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29028169299994 meters Centerline goodness [0,1] 0.9999360491142802 Centerline is valid? [True, True] Translation: X:356.31, Y:-22.57, Z:-1.70 [[ 9.96564484e-01 8.28173967e-02 -7.13285986e-04 3.56314339e+02] [-8.28173829e-02 9.96564739e-01 4.88273752e-05 -2.25736139e+01] [ 7.14879418e-04 1.04128507e-05 9.99999744e-01 -1.69895665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32028169299997 meters Centerline goodness [0,1] 0.999893426549578 Centerline is valid? [True, True] Translation: X:356.34, Y:-22.57, Z:-1.70 [[ 9.96501470e-01 8.35671105e-02 -1.16548419e-03 3.56343748e+02] [-8.35670744e-02 9.96502151e-01 7.97900431e-05 -2.25698731e+01] [ 1.16807533e-03 1.78852087e-05 9.99999318e-01 -1.69962739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35028169299994 meters Centerline goodness [0,1] 0.9998934310925445 Centerline is valid? [True, True] Translation: X:356.37, Y:-22.57, Z:-1.70 [[ 9.96504862e-01 8.35216687e-02 -1.48027216e-03 3.56372541e+02] [-8.35216104e-02 9.96505961e-01 1.01297744e-04 -2.25698004e+01] [ 1.48356059e-03 2.26910202e-05 9.99998899e-01 -1.70051648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.380281693 meters Centerline goodness [0,1] 0.9999157664202835 Centerline is valid? [True, True] Translation: X:356.40, Y:-22.57, Z:-1.70 [[ 9.96540327e-01 8.30883721e-02 -1.92352312e-03 3.56400616e+02] [-8.30882730e-02 9.96542183e-01 1.31522812e-04 -2.25662488e+01] [ 1.92779995e-03 2.87544280e-05 9.99998141e-01 -1.70249924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41028169299994 meters Centerline goodness [0,1] 0.9999150977437226 Centerline is valid? [True, True] Translation: X:356.43, Y:-22.57, Z:-1.70 [[ 9.96683262e-01 8.13505956e-02 -2.13460905e-03 3.56429469e+02] [-8.13504697e-02 9.96685547e-01 1.45894113e-04 -2.25715096e+01] [ 2.13940256e-03 2.82412287e-05 9.99997711e-01 -1.70192609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.440281693 meters Centerline goodness [0,1] 0.9999786557384047 Centerline is valid? [True, True] Translation: X:356.46, Y:-22.57, Z:-1.70 [[ 9.96731259e-01 8.07708004e-02 -1.69563156e-03 3.56458604e+02] [-8.07707203e-02 9.96732701e-01 1.15788701e-04 -2.25731377e+01] [ 1.69944377e-03 2.15471648e-05 9.99998556e-01 -1.70085697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47028169299995 meters Centerline goodness [0,1] 0.9999155012886054 Centerline is valid? [True, True] Translation: X:356.49, Y:-22.57, Z:-1.70 [[ 9.96716409e-01 8.09584457e-02 -1.45962719e-03 3.56486589e+02] [-8.09583867e-02 9.96717477e-01 9.95473486e-05 -2.25712543e+01] [ 1.46289513e-03 1.89485866e-05 9.99998930e-01 -1.70081566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.500281693 meters Centerline goodness [0,1] 0.9999139229610502 Centerline is valid? [True, True] Translation: X:356.52, Y:-22.57, Z:-1.70 [[ 9.96554858e-01 8.29231566e-02 -1.47132753e-03 3.56515303e+02] [-8.29230990e-02 9.96555944e-01 1.00258688e-04 -2.25670564e+01] [ 1.47457396e-03 2.20937552e-05 9.99998913e-01 -1.70037721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53028169299995 meters Centerline goodness [0,1] 0.9998084495051612 Centerline is valid? [True, True] Translation: X:356.54, Y:-22.56, Z:-1.70 [[ 9.96489010e-01 8.37096854e-02 -1.53045009e-03 3.56543879e+02] [-8.37096240e-02 9.96490185e-01 1.04201714e-04 -2.25632270e+01] [ 1.53380119e-03 2.42775393e-05 9.99998823e-01 -1.70074107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.560281693 meters Centerline goodness [0,1] 0.9998084495051612 Centerline is valid? [True, True] Translation: X:356.57, Y:-22.57, Z:-1.70 [[ 9.96492769e-01 8.36649160e-02 -1.53045274e-03 3.56572152e+02] [-8.36648546e-02 9.96493944e-01 1.04162750e-04 -2.25650607e+01] [ 1.53380166e-03 2.42476790e-05 9.99998823e-01 -1.70080071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59028169299995 meters Centerline goodness [0,1] 0.9998312521093486 Centerline is valid? [True, True] Translation: X:356.60, Y:-22.56, Z:-1.70 [[ 9.96449894e-01 8.41749037e-02 -1.48134592e-03 3.56600138e+02] [-8.41748470e-02 9.96450995e-01 1.00711196e-04 -2.25587571e+01] [ 1.48456597e-03 2.43384058e-05 9.99998898e-01 -1.70151414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.620281693 meters Centerline goodness [0,1] 0.9998940026711327 Centerline is valid? [True, True] Translation: X:356.63, Y:-22.57, Z:-1.70 [[ 9.96497966e-01 8.36125642e-02 -8.61582904e-04 3.56628773e+02] [-8.36125449e-02 9.96498339e-01 5.85038105e-05 -2.25662725e+01] [ 8.63457586e-04 1.37402111e-05 9.99999627e-01 -1.69983811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65028169299995 meters Centerline goodness [0,1] 0.9999573942311789 Centerline is valid? [True, True] Translation: X:356.66, Y:-22.57, Z:-1.70 [[ 9.96593162e-01 8.24721243e-02 -6.46173593e-04 3.56657505e+02] [-8.24721132e-02 9.96593372e-01 4.38217372e-05 -2.25696998e+01] [ 6.47586391e-04 9.61885808e-06 9.99999790e-01 -1.69975651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.680281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.68, Y:-22.57, Z:-1.70 [[ 9.96750568e-01 8.05472841e-02 -6.63484227e-04 3.56684799e+02] [-8.05472720e-02 9.96750789e-01 4.49350809e-05 -2.25731696e+01] [ 6.64947825e-04 8.65277704e-06 9.99999779e-01 -1.70035156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71028169299996 meters Centerline goodness [0,1] 0.999935957646657 Centerline is valid? [True, True] Translation: X:356.71, Y:-22.59, Z:-1.70 [[ 9.97155605e-01 7.53602313e-02 -1.23924204e-03 3.56714060e+02] [-7.53601849e-02 9.97156375e-01 8.41204685e-05 -2.25872498e+01] [ 1.24205744e-03 9.50831248e-06 9.99999229e-01 -1.70149811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.740281693 meters Centerline goodness [0,1] 0.9999357505407663 Centerline is valid? [True, True] Translation: X:356.74, Y:-22.60, Z:-1.70 [[ 9.97367590e-01 7.25009440e-02 -1.22654774e-03 3.56742870e+02] [-7.25008965e-02 9.97368344e-01 8.32044880e-05 -2.25954967e+01] [ 1.22935230e-03 5.94035154e-06 9.99999244e-01 -1.70162907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77028169299996 meters Centerline goodness [0,1] 0.9999358892165662 Centerline is valid? [True, True] Translation: X:356.77, Y:-22.61, Z:-1.70 [[ 9.97702357e-01 6.77495274e-02 -8.77173486e-05 3.56771232e+02] [-6.77495272e-02 9.97702361e-01 5.90271930e-06 -2.26087136e+01] [ 8.79157122e-05 5.36519286e-08 9.99999996e-01 -1.69935356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.800281693 meters Centerline goodness [0,1] 0.9999362705527467 Centerline is valid? [True, True] Translation: X:356.80, Y:-22.62, Z:-1.70 [[ 9.97788604e-01 6.64657138e-02 4.58002955e-04 3.56800649e+02] [-6.64657066e-02 9.97788710e-01 -3.10568955e-05 -2.26150040e+01] [-4.59054396e-04 5.46726465e-07 9.99999895e-01 -1.69800488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83028169299996 meters Centerline goodness [0,1] 0.9999147321523737 Centerline is valid? [True, True] Translation: X:356.83, Y:-22.62, Z:-1.70 [[ 9.97830772e-01 6.58253698e-02 8.77804834e-04 3.56830997e+02] [-6.58253428e-02 9.97831158e-01 -5.95728117e-05 -2.26203425e+01] [-8.79822417e-04 1.66178061e-06 9.99999613e-01 -1.69689235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.860281693 meters Centerline goodness [0,1] 0.9998732894069944 Centerline is valid? [True, True] Translation: X:356.86, Y:-22.62, Z:-1.70 [[ 9.97832022e-01 6.58003203e-02 1.25441149e-03 3.56861118e+02] [-6.58002653e-02 9.97832811e-01 -8.51314738e-05 -2.26246927e+01] [-1.25729462e-03 2.40630213e-06 9.99999210e-01 -1.69593352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89028169299996 meters Centerline goodness [0,1] 0.9999360804534027 Centerline is valid? [True, True] Translation: X:356.89, Y:-22.63, Z:-1.70 [[ 9.97742635e-01 6.71404417e-02 1.34007837e-03 3.56890942e+02] [-6.71403801e-02 9.97743535e-01 -9.09453145e-05 -2.26289821e+01] [-1.34316064e-03 7.66646297e-07 9.99999098e-01 -1.69630085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92028169299994 meters Centerline goodness [0,1] 0.99995782103465 Centerline is valid? [True, True] Translation: X:356.92, Y:-22.63, Z:-1.70 [[ 9.97687019e-01 6.79563426e-02 1.59643845e-03 3.56920262e+02] [-6.79562562e-02 9.97688296e-01 -1.08349219e-04 -2.26313442e+01] [-1.60011097e-03 -3.89370617e-07 9.99998720e-01 -1.69657322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95028169299997 meters Centerline goodness [0,1] 0.9999149569469544 Centerline is valid? [True, True] Translation: X:356.95, Y:-22.63, Z:-1.70 [[ 9.97677907e-01 6.80827018e-02 1.88137549e-03 3.56951092e+02] [-6.80825821e-02 9.97679681e-01 -1.27658920e-04 -2.26342206e+01] [-1.88570146e-03 -7.26417160e-07 9.99998222e-01 -1.69679201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98028169299994 meters Centerline goodness [0,1] 0.9999156651908075 Centerline is valid? [True, True] Translation: X:356.98, Y:-22.64, Z:-1.70 [[ 9.97664109e-01 6.83062905e-02 7.59626925e-04 3.56980355e+02] [-6.83062710e-02 9.97664398e-01 -5.15593619e-05 -2.26382029e+01] [-7.61374567e-04 -4.48357795e-07 9.99999710e-01 -1.69923373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01028169299997 meters Centerline goodness [0,1] 0.9999146830475215 Centerline is valid? [True, True] Translation: X:357.01, Y:-22.64, Z:-1.70 [[ 9.97641644e-01 6.86364496e-02 -4.33066996e-04 3.57010452e+02] [-6.86364433e-02 9.97641738e-01 2.93803000e-05 -2.26410287e+01] [ 4.34062270e-04 4.13167491e-07 9.99999906e-01 -1.70109334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04028169299994 meters Centerline goodness [0,1] 0.9999146138410964 Centerline is valid? [True, True] Translation: X:357.04, Y:-22.64, Z:-1.70 [[ 9.97502538e-01 7.06170840e-02 -1.38384987e-03 3.57040631e+02] [-7.06170219e-02 9.97503497e-01 9.38040892e-05 -2.26402029e+01] [ 1.38701925e-03 4.15353937e-06 9.99999038e-01 -1.70231077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.07028169299997 meters Centerline goodness [0,1] 0.9999367608929361 Centerline is valid? [True, True] Translation: X:357.07, Y:-22.64, Z:-1.70 [[ 9.97378864e-01 7.23435587e-02 -1.34557481e-03 3.57069026e+02] [-7.23435016e-02 9.97379772e-01 9.11386644e-05 -2.26384069e+01] [ 1.34864240e-03 6.44381613e-06 9.99999091e-01 -1.70243889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.10, Y:-22.64, Z:-1.70 [[ 9.97248893e-01 7.41168845e-02 -1.15463562e-03 3.57099081e+02] [-7.41168437e-02 9.97249561e-01 7.81902078e-05 -2.26372119e+01] [ 1.15725508e-03 7.60284941e-06 9.99999330e-01 -1.70201473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.130281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.13, Y:-22.63, Z:-1.70 [[ 9.96917483e-01 7.84443872e-02 -1.41801422e-03 3.57128827e+02] [-7.84443300e-02 9.96918491e-01 9.59576174e-05 -2.26307999e+01] [ 1.42117194e-03 1.55733493e-05 9.99998990e-01 -1.70171216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16028169299994 meters Centerline goodness [0,1] 0.9999788319468258 Centerline is valid? [True, True] Translation: X:357.16, Y:-22.62, Z:-1.70 [[ 9.96755588e-01 8.04731802e-02 -1.53778477e-03 3.57158028e+02] [-8.04731154e-02 9.96756774e-01 1.04041946e-04 -2.26237492e+01] [ 1.54116997e-03 2.00459405e-05 9.99998812e-01 -1.70297093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.190281693 meters Centerline goodness [0,1] 0.9999787978373794 Centerline is valid? [True, True] Translation: X:357.19, Y:-22.62, Z:-1.70 [[ 9.96628323e-01 8.20324209e-02 -1.63335302e-03 3.57186572e+02] [-8.20323502e-02 9.96629661e-01 1.10333056e-04 -2.26210454e+01] [ 1.63689895e-03 2.40267380e-05 9.99998660e-01 -1.70343345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22028169299995 meters Centerline goodness [0,1] 0.9999578610256626 Centerline is valid? [True, True] Translation: X:357.22, Y:-22.61, Z:-1.71 [[ 9.96515363e-01 8.33704187e-02 -2.55033708e-03 3.57216104e+02] [-8.33702506e-02 9.96518626e-01 1.72325591e-04 -2.26144517e+01] [ 2.55582526e-03 4.08971424e-05 9.99996733e-01 -1.70515112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.250281693 meters Centerline goodness [0,1] 0.9999157841547888 Centerline is valid? [True, True] Translation: X:357.24, Y:-22.61, Z:-1.71 [[ 9.96572004e-01 8.26919801e-02 -2.50544471e-03 3.57243984e+02] [-8.26918162e-02 9.96575153e-01 1.69104416e-04 -2.26141744e+01] [ 2.51084752e-03 3.86550461e-05 9.99996847e-01 -1.70554812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28028169299995 meters Centerline goodness [0,1] 0.9999356278431036 Centerline is valid? [True, True] Translation: X:357.27, Y:-22.62, Z:-1.70 [[ 9.96788322e-01 8.00344268e-02 -2.74443414e-03 3.57272673e+02] [-8.00342204e-02 9.96792099e-01 1.85133329e-04 -2.26181186e+01] [ 2.75044731e-03 3.51099065e-05 9.99996217e-01 -1.70427987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.310281693 meters Centerline goodness [0,1] 0.999957658515931 Centerline is valid? [True, True] Translation: X:357.30, Y:-22.62, Z:-1.71 [[ 9.96900703e-01 7.86170469e-02 -2.88929615e-03 3.57301071e+02] [-7.86168126e-02 9.96904890e-01 1.94775031e-04 -2.26180095e+01] [ 2.89566610e-03 3.29758891e-05 9.99995807e-01 -1.70582399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.33, Y:-22.62, Z:-1.71 [[ 9.97043923e-01 7.67812030e-02 -2.83942483e-03 3.57328910e+02] [-7.67809698e-02 9.97047966e-01 1.91231596e-04 -2.26197213e+01] [ 2.84572574e-03 2.73474911e-05 9.99995951e-01 -1.70591353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.370281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.36, Y:-22.62, Z:-1.70 [[ 9.97187059e-01 7.49163768e-02 -2.34642603e-03 3.57357392e+02] [-7.49162126e-02 9.97189820e-01 1.57923606e-04 -2.26235697e+01] [ 2.35166321e-03 1.83059751e-05 9.99997235e-01 -1.70454843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40028169299995 meters Centerline goodness [0,1] 0.9999788953844205 Centerline is valid? [True, True] Translation: X:357.39, Y:-22.63, Z:-1.70 [[ 9.97412089e-01 7.18841108e-02 -1.34139638e-03 3.57385039e+02] [-7.18840546e-02 9.97412991e-01 9.01408578e-05 -2.26259032e+01] [ 1.34440587e-03 6.51742960e-06 9.99999096e-01 -1.70327649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.430281693 meters Centerline goodness [0,1] 0.9999577568909072 Centerline is valid? [True, True] Translation: X:357.41, Y:-22.63, Z:-1.70 [[ 9.97465232e-01 7.11412538e-02 -1.42558253e-03 3.57413989e+02] [-7.11411896e-02 9.97466251e-01 9.57606203e-05 -2.26288103e+01] [ 1.42878299e-03 5.89974768e-06 9.99998979e-01 -1.70215567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46028169299996 meters Centerline goodness [0,1] 0.9999788971658894 Centerline is valid? [True, True] Translation: X:357.44, Y:-22.63, Z:-1.70 [[ 9.97479762e-01 7.09349914e-02 -1.53314622e-03 3.57443046e+02] [-7.09349169e-02 9.97480941e-01 1.02964621e-04 -2.26303323e+01] [ 1.53658793e-03 6.04847418e-06 9.99998819e-01 -1.70211103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.490281693 meters Centerline goodness [0,1] 0.9999573478919196 Centerline is valid? [True, True] Translation: X:357.47, Y:-22.63, Z:-1.70 [[ 9.97462649e-01 7.11852003e-02 -9.64687389e-04 3.57472298e+02] [-7.11851710e-02 9.97463116e-01 6.46921784e-05 -2.26299177e+01] [ 9.66845214e-04 4.14340508e-06 9.99999533e-01 -1.69986403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.50, Y:-22.63, Z:-1.70 [[ 9.97446494e-01 7.14173165e-02 -2.40581956e-04 3.57500362e+02] [-7.14173147e-02 9.97446523e-01 1.60237210e-05 -2.26295631e+01] [ 2.41112006e-04 1.19891287e-06 9.99999971e-01 -1.69849409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.550281693 meters Centerline goodness [0,1] 0.9999574893191915 Centerline is valid? [True, True] Translation: X:357.53, Y:-22.63, Z:-1.70 [[ 9.97402799e-01 7.20087492e-02 1.54795914e-03 3.57529678e+02] [-7.20086747e-02 9.97404000e-01 -1.03898276e-04 -2.26285934e+01] [-1.55142223e-03 -7.83805492e-06 9.99998797e-01 -1.69596678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58028169299996 meters Centerline goodness [0,1] 0.9999788032303877 Centerline is valid? [True, True] Translation: X:357.56, Y:-22.63, Z:-1.69 [[ 9.97393018e-01 7.21264688e-02 2.22245389e-03 3.57558497e+02] [-7.21263157e-02 9.97395494e-01 -1.49029658e-04 -2.26286070e+01] [-2.22741448e-03 -1.16562705e-05 9.99997519e-01 -1.69482446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.610281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.59, Y:-22.63, Z:-1.69 [[ 9.97416824e-01 7.17773407e-02 2.77368367e-03 3.57588306e+02] [-7.17771013e-02 9.97420680e-01 -1.85889658e-04 -2.26319805e+01] [-2.77987212e-03 -1.36775011e-05 9.99996136e-01 -1.69402391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64028169299996 meters Centerline goodness [0,1] 0.9999575137018312 Centerline is valid? [True, True] Translation: X:357.62, Y:-22.64, Z:-1.70 [[ 9.97633023e-01 6.87431429e-02 1.65257372e-03 3.57616898e+02] [-6.87430538e-02 9.97634392e-01 -1.10736052e-04 -2.26383201e+01] [-1.65627672e-03 -3.12902151e-06 9.99998628e-01 -1.69578556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67028169299994 meters Centerline goodness [0,1] 0.9999572302296736 Centerline is valid? [True, True] Translation: X:357.65, Y:-22.64, Z:-1.70 [[ 9.97770280e-01 6.67406240e-02 3.96594237e-04 3.57646208e+02] [-6.67406187e-02 9.97770359e-01 -2.66013373e-05 -2.26438132e+01] [-3.97485364e-04 7.30790398e-08 9.99999921e-01 -1.69812409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70028169299997 meters Centerline goodness [0,1] 0.9999144439928989 Centerline is valid? [True, True] Translation: X:357.68, Y:-22.65, Z:-1.70 [[ 9.97899653e-01 6.47728122e-02 -8.74823902e-04 3.57675139e+02] [-6.47727858e-02 9.97900036e-01 5.85093413e-05 -2.26493455e+01] [ 8.76776618e-04 -1.72167013e-06 9.99999616e-01 -1.70027789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.73028169299994 meters Centerline goodness [0,1] 0.9999574540503744 Centerline is valid? [True, True] Translation: X:357.70, Y:-22.65, Z:-1.70 [[ 9.98007484e-01 6.30814701e-02 -1.33816355e-03 3.57703443e+02] [-6.30814068e-02 9.98008381e-01 8.94908359e-05 -2.26547571e+01] [ 1.34114365e-03 -4.89928491e-06 9.99999101e-01 -1.70152424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76028169299997 meters Centerline goodness [0,1] 0.9999149280078267 Centerline is valid? [True, True] Translation: X:357.73, Y:-22.66, Z:-1.70 [[ 9.98217805e-01 5.96702889e-02 -8.18936549e-04 3.57732436e+02] [-5.96702641e-02 9.98218141e-01 5.47320987e-05 -2.26648816e+01] [ 8.20743199e-04 -5.76839531e-06 9.99999663e-01 -1.70111451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.79028169299994 meters Centerline goodness [0,1] 0.9999153600372416 Centerline is valid? [True, True] Translation: X:357.76, Y:-22.67, Z:-1.70 [[ 9.98323713e-01 5.78700227e-02 -9.07716979e-04 3.57760734e+02] [-5.78699916e-02 9.98324126e-01 6.06180294e-05 -2.26719109e+01] [ 9.09703727e-04 -7.98684226e-06 9.99999586e-01 -1.70143037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82028169299997 meters Centerline goodness [0,1] 0.9998511525048907 Centerline is valid? [True, True] Translation: X:357.79, Y:-22.68, Z:-1.70 [[ 9.98529496e-01 5.41828797e-02 -1.74954762e-03 3.57790802e+02] [-5.41827579e-02 9.98531029e-01 1.16969195e-04 -2.26811625e+01] [ 1.75331531e-03 -2.20018764e-05 9.99998463e-01 -1.70182981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.85028169299994 meters Centerline goodness [0,1] 0.9999138933138159 Centerline is valid? [True, True] Translation: X:357.82, Y:-22.69, Z:-1.70 [[ 9.98614507e-01 5.25980430e-02 -1.58515335e-03 3.57820803e+02] [-5.25979410e-02 9.98615765e-01 1.05978316e-04 -2.26858130e+01] [ 1.58853337e-03 -2.24556819e-05 9.99998738e-01 -1.70157040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.880281693 meters Centerline goodness [0,1] 0.9998506284275441 Centerline is valid? [True, True] Translation: X:357.85, Y:-22.69, Z:-1.70 [[ 9.98669694e-01 5.15352702e-02 -1.72014816e-03 3.57850860e+02] [-5.15351486e-02 9.98671175e-01 1.15003641e-04 -2.26905422e+01] [ 1.72378913e-03 -2.62025598e-05 9.99998514e-01 -1.70143782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.91028169299994 meters Centerline goodness [0,1] 0.9997442618758391 Centerline is valid? [True, True] Translation: X:357.88, Y:-22.70, Z:-1.70 [[ 9.98772961e-01 4.94844995e-02 -1.96374001e-03 3.57879888e+02] [-4.94843370e-02 9.98774891e-01 1.31305738e-04 -2.27043518e+01] [ 1.96783181e-03 -3.39702483e-05 9.99998063e-01 -1.70424698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.940281693 meters Centerline goodness [0,1] 0.9998060219410738 Centerline is valid? [True, True] Translation: X:357.91, Y:-22.71, Z:-1.70 [[ 9.98860160e-01 4.76950075e-02 -1.88890875e-03 3.57909775e+02] [-4.76948540e-02 9.98861945e-01 1.26246290e-04 -2.27061837e+01] [ 1.89278038e-03 -3.60111621e-05 9.99998208e-01 -1.70235302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.97028169299995 meters Centerline goodness [0,1] 0.9997649974363356 Centerline is valid? [True, True] Translation: X:357.94, Y:-22.72, Z:-1.70 [[ 9.98996314e-01 4.47889442e-02 -5.61977496e-04 3.57939398e+02] [-4.47889301e-02 9.98996472e-01 3.75675619e-05 -2.27172521e+01] [ 5.63096147e-04 -1.23594851e-05 9.99999841e-01 -1.69863637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.000281693 meters Centerline goodness [0,1] 0.9995278362020861 Centerline is valid? [True, True] Translation: X:357.97, Y:-22.72, Z:-1.70 [[ 9.99023054e-01 4.41917984e-02 1.48759985e-04 3.57970410e+02] [-4.41917974e-02 9.99023065e-01 -9.89687158e-06 -2.27227768e+01] [-1.49052016e-04 3.31323177e-06 9.99999989e-01 -1.69704284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03028169299995 meters Centerline goodness [0,1] 0.9995513203999659 Centerline is valid? [True, True] Translation: X:358.00, Y:-22.73, Z:-1.70 [[ 9.99031354e-01 4.40016005e-02 4.60346222e-04 3.58000678e+02] [-4.40015911e-02 9.99031460e-01 -3.06905776e-05 -2.27302449e+01] [-4.61250793e-04 1.04048831e-05 9.99999894e-01 -1.69659552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.060281693 meters Centerline goodness [0,1] 0.9994008516465881 Centerline is valid? [True, True] Translation: X:358.03, Y:-22.74, Z:-1.70 [[ 9.99024679e-01 4.41478232e-02 8.12836727e-04 3.58031782e+02] [-4.41477937e-02 9.99025009e-01 -5.42072662e-05 -2.27369197e+01] [-8.14437351e-04 1.82694486e-05 9.99999668e-01 -1.69697344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09028169299995 meters Centerline goodness [0,1] 0.9995345392996933 Centerline is valid? [True, True] Translation: X:358.06, Y:-22.74, Z:-1.70 [[ 9.98986372e-01 4.49948663e-02 1.30019016e-03 3.58062550e+02] [-4.49947909e-02 9.98987218e-01 -8.72024887e-05 -2.27448601e+01] [-1.30279702e-03 2.86123132e-05 9.99999151e-01 -1.69698618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.120281693 meters Centerline goodness [0,1] 0.9991156405289312 Centerline is valid? [True, True] Translation: X:358.09, Y:-22.75, Z:-1.70 [[ 9.98949506e-01 4.58063185e-02 1.29085911e-03 3.58093270e+02] [-4.58062449e-02 9.98950339e-01 -8.65029961e-05 -2.27532733e+01] [-1.29346653e-03 2.72827167e-05 9.99999163e-01 -1.69757813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15028169299995 meters Centerline goodness [0,1] 0.9994454752916586 Centerline is valid? [True, True] Translation: X:358.13, Y:-22.76, Z:-1.70 [[ 9.98926338e-01 4.63154253e-02 1.02563098e-03 3.58125609e+02] [-4.63153790e-02 9.98926865e-01 -6.88039167e-05 -2.27560368e+01] [-1.02771702e-03 2.12275572e-05 9.99999472e-01 -1.69805741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.180281693 meters Centerline goodness [0,1] 0.999723938756875 Centerline is valid? [True, True] Translation: X:358.16, Y:-22.76, Z:-1.70 [[ 9.98907221e-01 4.67346820e-02 4.82471785e-04 3.58157380e+02] [-4.67346718e-02 9.98907338e-01 -3.22631086e-05 -2.27631859e+01] [-4.83452413e-04 9.67969161e-06 9.99999883e-01 -1.69907137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21028169299996 meters Centerline goodness [0,1] 0.9998290415642697 Centerline is valid? [True, True] Translation: X:358.19, Y:-22.77, Z:-1.70 [[ 9.98876029e-01 4.73541273e-02 -2.06529256e-03 3.58189175e+02] [-4.73539384e-02 9.98878163e-01 1.40276513e-04 -2.27733848e+01] [ 2.06961831e-03 -4.23191095e-05 9.99997857e-01 -1.70295280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.240281693 meters Centerline goodness [0,1] 0.9998940475938208 Centerline is valid? [True, True] Translation: X:358.22, Y:-22.78, Z:-1.70 [[ 9.98827736e-01 4.83268883e-02 -2.76879436e-03 3.58219570e+02] [-4.83265526e-02 9.98831572e-01 1.88052042e-04 -2.27789842e+01] [ 2.77464720e-03 -5.40253088e-05 9.99996149e-01 -1.70434777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27028169299996 meters Centerline goodness [0,1] 0.9998713605763047 Centerline is valid? [True, True] Translation: X:358.25, Y:-22.78, Z:-1.70 [[ 9.98660789e-01 5.17183676e-02 -1.35616067e-03 3.58251194e+02] [-5.17182901e-02 9.98661709e-01 9.21309423e-05 -2.27828278e+01] [ 1.35911060e-03 -2.18692485e-05 9.99999076e-01 -1.70193594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.300281693 meters Centerline goodness [0,1] 0.9999146302422367 Centerline is valid? [True, True] Translation: X:358.28, Y:-22.78, Z:-1.70 [[ 9.98517166e-01 5.44372881e-02 -2.23761301e-04 3.58283634e+02] [-5.44372860e-02 9.98517191e-01 1.55733175e-05 -2.27825514e+01] [ 2.24277275e-04 -3.36926688e-06 9.99999975e-01 -1.69974775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33028169299996 meters Centerline goodness [0,1] 0.9999364622161979 Centerline is valid? [True, True] Translation: X:358.31, Y:-22.78, Z:-1.70 [[ 9.98354296e-01 5.73471836e-02 -8.63044232e-06 3.58314472e+02] [-5.73471836e-02 9.98354296e-01 7.85180611e-07 -2.27833804e+01] [ 8.66126707e-06 -2.88956874e-07 1.00000000e+00 -1.69953928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.360281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.35, Y:-22.78, Z:-1.70 [[ 9.97968183e-01 6.36880763e-02 -1.82608401e-03 3.58346178e+02] [-6.36879542e-02 9.97969854e-01 1.25013075e-04 -2.27785087e+01] [ 1.83033864e-03 -8.45951668e-06 9.99998325e-01 -1.70306464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.38, Y:-22.78, Z:-1.71 [[ 9.97770927e-01 6.66651979e-02 -2.98808559e-03 3.58377247e+02] [-6.66648854e-02 9.97775401e-01 2.04169200e-04 -2.27769702e+01] [ 2.99504928e-03 -4.51370884e-06 9.99995515e-01 -1.70581051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.41, Y:-22.78, Z:-1.71 [[ 9.97604759e-01 6.91002268e-02 -3.14709183e-03 3.58407928e+02] [-6.90998925e-02 9.97609723e-01 2.14983540e-04 -2.27760896e+01] [ 3.15442482e-03 2.99510468e-06 9.99995025e-01 -1.70637091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.44, Y:-22.78, Z:-1.71 [[ 9.97603205e-01 6.91226561e-02 -3.14708377e-03 3.58438687e+02] [-6.91223214e-02 9.97608169e-01 2.15101507e-04 -2.27782380e+01] [ 3.15442486e-03 2.94778285e-06 9.99995025e-01 -1.70643581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.47, Y:-22.78, Z:-1.71 [[ 9.97482476e-01 7.08595381e-02 -2.76333684e-03 3.58469343e+02] [-7.08592869e-02 9.97486304e-01 1.88830960e-04 -2.27783635e+01] [ 2.76977112e-03 7.45250436e-06 9.99996164e-01 -1.70518363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.50, Y:-22.78, Z:-1.70 [[ 9.97398431e-01 7.20662447e-02 -1.68124813e-03 3.58499711e+02] [-7.20661534e-02 9.97399848e-01 1.14887079e-04 -2.27780113e+01] [ 1.68515610e-03 6.57289305e-06 9.99998580e-01 -1.70299653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.53, Y:-22.78, Z:-1.70 [[ 9.97388063e-01 7.22046561e-02 -1.88145096e-03 3.58531424e+02] [-7.22045419e-02 9.97389837e-01 1.28663207e-04 -2.27800425e+01] [ 1.88583015e-03 7.52215768e-06 9.99998222e-01 -1.70298031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.57028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.56, Y:-22.78, Z:-1.70 [[ 9.97375473e-01 7.23813416e-02 -1.76299385e-03 3.58562955e+02] [-7.23812414e-02 9.97377031e-01 1.20611170e-04 -2.27822812e+01] [ 1.76709957e-03 7.31306130e-06 9.99998439e-01 -1.70250909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.59, Y:-22.78, Z:-1.70 [[ 9.97280253e-01 7.36992879e-02 -7.15308780e-04 3.58593566e+02] [-7.36992717e-02 9.97280510e-01 4.89150741e-05 -2.27815998e+01] [ 7.16968511e-04 3.93569868e-06 9.99999743e-01 -1.70048946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.630281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.62, Y:-22.78, Z:-1.70 [[ 9.97184953e-01 7.49810805e-02 8.70176394e-05 3.58623915e+02] [-7.49810802e-02 9.97184957e-01 -5.83772532e-06 -2.27792437e+01] [-8.72103999e-05 -7.03384746e-07 9.99999996e-01 -1.69951181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.65, Y:-22.77, Z:-1.70 [[ 9.96931946e-01 7.82652613e-02 1.11531528e-03 3.58654574e+02] [-7.82652249e-02 9.96932570e-01 -7.63201912e-05 -2.27730333e+01] [-1.11786735e-03 -1.12043645e-05 9.99999375e-01 -1.69681065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.690281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.69, Y:-22.77, Z:-1.70 [[ 9.96789358e-01 8.00510527e-02 1.67478950e-03 3.58685587e+02] [-8.00509730e-02 9.96790765e-01 -1.14640150e-04 -2.27710315e+01] [-1.67859177e-03 -1.97964479e-05 9.99998591e-01 -1.69638319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.72, Y:-22.77, Z:-1.70 [[ 9.96635581e-01 8.19350402e-02 2.04160859e-03 3.58716250e+02] [-8.19349258e-02 9.96637672e-01 -1.39746418e-04 -2.27688555e+01] [-2.04619416e-03 -2.80027966e-05 9.99997906e-01 -1.69578546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.750281693 meters Centerline goodness [0,1] 0.9999786091681105 Centerline is valid? [True, True] Translation: X:358.75, Y:-22.77, Z:-1.70 [[ 9.96421689e-01 8.45063689e-02 1.57851845e-03 3.58746427e+02] [-8.45063037e-02 9.96422939e-01 -1.08122861e-04 -2.27692064e+01] [-1.58200906e-03 -2.56587958e-05 9.99998748e-01 -1.69716560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.78, Y:-22.77, Z:-1.70 [[ 9.96347996e-01 8.53815252e-02 8.16681766e-04 3.58777435e+02] [-8.53815080e-02 9.96348330e-01 -5.59397763e-05 -2.27689107e+01] [-8.18475737e-04 -1.39940368e-05 9.99999665e-01 -1.69901250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.810281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.81, Y:-22.77, Z:-1.70 [[ 9.96329106e-01 8.56051890e-02 -2.54945445e-04 3.58808082e+02] [-8.56051874e-02 9.96329138e-01 1.74628500e-05 -2.27694021e+01] [ 2.55504486e-04 4.42590689e-06 9.99999967e-01 -1.70083823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.84, Y:-22.77, Z:-1.70 [[ 9.96321345e-01 8.56860219e-02 -1.29742154e-03 3.58838929e+02] [-8.56859788e-02 9.96322189e-01 8.88687289e-05 -2.27695231e+01] [ 1.30026467e-03 2.26290227e-05 9.99999154e-01 -1.70263146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.870281693 meters Centerline goodness [0,1] 0.9999574820893301 Centerline is valid? [True, True] Translation: X:358.87, Y:-22.77, Z:-1.70 [[ 9.96363796e-01 8.51941000e-02 -1.07338594e-03 3.58868910e+02] [-8.51940702e-02 9.96364374e-01 7.35716856e-05 -2.27701794e+01] [ 1.07575139e-03 1.81419534e-05 9.99999421e-01 -1.70199306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90028169299995 meters Centerline goodness [0,1] 0.9999787640688044 Centerline is valid? [True, True] Translation: X:358.90, Y:-22.77, Z:-1.70 [[ 9.96401801e-01 8.47532086e-02 -5.87122544e-04 3.58898581e+02] [-8.47531997e-02 9.96401974e-01 4.01613711e-05 -2.27718432e+01] [ 5.88413867e-04 9.74365174e-06 9.99999827e-01 -1.70072172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.930281693 meters Centerline goodness [0,1] 0.9999788036796812 Centerline is valid? [True, True] Translation: X:358.93, Y:-22.77, Z:-1.70 [[ 9.96453174e-01 8.41456861e-02 -7.58423581e-04 3.58928186e+02] [-8.41456710e-02 9.96453463e-01 5.19095447e-05 -2.27711301e+01] [ 7.60101768e-04 1.20926306e-05 9.99999711e-01 -1.70127603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.96, Y:-22.77, Z:-1.70 [[ 9.96440376e-01 8.42940147e-02 -1.04701683e-03 3.58958336e+02] [-8.42939859e-02 9.96440926e-01 7.16224282e-05 -2.27710749e+01] [ 1.04932776e-03 1.68897423e-05 9.99999449e-01 -1.70253355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.990281693 meters Centerline goodness [0,1] 0.9998949094119131 Centerline is valid? [True, True] Translation: X:358.99, Y:-22.76, Z:-1.70 [[ 9.96383881e-01 8.49615580e-02 -8.34066690e-04 3.58987966e+02] [-8.49615400e-02 9.96384230e-01 5.69920809e-05 -2.27643507e+01] [ 8.35893033e-04 1.40775997e-05 9.99999651e-01 -1.70345619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.02, Y:-22.76, Z:-1.70 [[ 9.96243055e-01 8.66000368e-02 -4.57001670e-04 3.59017484e+02] [-8.66000316e-02 9.96243160e-01 3.12075191e-05 -2.27645948e+01] [ 4.57987360e-04 8.48608486e-06 9.99999895e-01 -1.70125867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.050281693 meters Centerline goodness [0,1] 0.9999365643237756 Centerline is valid? [True, True] Translation: X:359.05, Y:-22.76, Z:-1.70 [[ 9.96148125e-01 8.76776764e-02 -1.24033901e-03 3.59046806e+02] [-8.76776388e-02 9.96148897e-01 8.47306989e-05 -2.27607275e+01] [ 1.24299133e-03 2.43456693e-05 9.99999227e-01 -1.70196387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08028169299996 meters Centerline goodness [0,1] 0.99995739241585 Centerline is valid? [True, True] Translation: X:359.08, Y:-22.76, Z:-1.70 [[ 9.96049398e-01 8.87724926e-02 -2.24529218e-03 3.59076319e+02] [-8.87723723e-02 9.96051928e-01 1.53396898e-04 -2.27584992e+01] [ 2.25004503e-03 4.65290254e-05 9.99997468e-01 -1.70373015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.110281693 meters Centerline goodness [0,1] 0.9998727357570102 Centerline is valid? [True, True] Translation: X:359.11, Y:-22.75, Z:-1.71 [[ 9.95897179e-01 9.04421164e-02 -3.00530014e-03 3.59105093e+02] [-9.04419090e-02 9.95901712e-01 2.05099553e-04 -2.27500798e+01] [ 3.01153319e-03 6.75470158e-05 9.99995463e-01 -1.70591197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14028169299996 meters Centerline goodness [0,1] 0.9997883239490284 Centerline is valid? [True, True] Translation: X:359.13, Y:-22.75, Z:-1.71 [[ 9.95906961e-01 9.03512273e-02 -2.44561627e-03 3.59133248e+02] [-9.03510902e-02 9.95909962e-01 1.66742023e-04 -2.27482816e+01] [ 2.45067895e-03 5.49045543e-05 9.99996996e-01 -1.70560841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17028169299994 meters Centerline goodness [0,1] 0.9998082331884428 Centerline is valid? [True, True] Translation: X:359.16, Y:-22.75, Z:-1.70 [[ 9.95997687e-01 8.93601272e-02 -1.83716483e-03 3.59162451e+02] [-8.93600483e-02 9.95999381e-01 1.25168065e-04 -2.27485161e+01] [ 1.84100007e-03 3.95020350e-05 9.99998305e-01 -1.70413240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20028169299997 meters Centerline goodness [0,1] 0.9999357821731313 Centerline is valid? [True, True] Translation: X:359.19, Y:-22.75, Z:-1.70 [[ 9.96303185e-01 8.59040034e-02 -6.83132447e-04 3.59191999e+02] [-8.59039917e-02 9.96303419e-01 4.65144744e-05 -2.27489726e+01] [ 6.84602972e-04 1.23412851e-05 9.99999766e-01 -1.70118405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23028169299994 meters Centerline goodness [0,1] 0.9999363260108246 Centerline is valid? [True, True] Translation: X:359.22, Y:-22.75, Z:-1.70 [[ 9.96500503e-01 8.35839885e-02 -6.80972829e-04 3.59220170e+02] [-8.35839763e-02 9.96500736e-01 4.63202784e-05 -2.27514261e+01] [ 6.82461559e-04 1.07602360e-05 9.99999767e-01 -1.70146007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.25, Y:-22.76, Z:-1.70 [[ 9.96722145e-01 8.08952500e-02 -9.61127753e-04 3.59249988e+02] [-8.08952245e-02 9.96722609e-01 6.54432260e-05 -2.27558153e+01] [ 9.63271808e-04 1.25219328e-05 9.99999536e-01 -1.70199793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29028169299994 meters Centerline goodness [0,1] 0.999978793790822 Centerline is valid? [True, True] Translation: X:359.28, Y:-22.76, Z:-1.70 [[ 9.96914809e-01 7.84807141e-02 -1.28088495e-03 3.59277904e+02] [-7.84806670e-02 9.96915632e-01 8.70566334e-05 -2.27598970e+01] [ 1.28376650e-03 1.37366581e-05 9.99999176e-01 -1.70319997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.31, Y:-22.77, Z:-1.70 [[ 9.97281135e-01 7.36753040e-02 -1.51245258e-03 3.59305942e+02] [-7.36752327e-02 9.97282282e-01 1.02874674e-04 -2.27659556e+01] [ 1.51592148e-03 8.83532407e-06 9.99998851e-01 -1.70409897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.34, Y:-22.77, Z:-1.70 [[ 9.97458786e-01 7.12426237e-02 -6.77934771e-04 3.59335354e+02] [-7.12426088e-02 9.97459016e-01 4.60650718e-05 -2.27718783e+01] [ 6.79493946e-04 2.34983114e-06 9.99999769e-01 -1.70227218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.380281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.36, Y:-22.78, Z:-1.70 [[ 9.97784009e-01 6.65223772e-02 1.35835902e-03 3.59364161e+02] [-6.65223131e-02 9.97784933e-01 -9.24109778e-05 -2.27831056e+01] [-1.36149756e-03 1.84501169e-06 9.99999073e-01 -1.69793383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.39, Y:-22.79, Z:-1.70 [[ 9.97912580e-01 6.45660800e-02 1.30559786e-03 3.59394505e+02] [-6.45660191e-02 9.97913434e-01 -8.87762656e-05 -2.27892817e+01] [-1.30860558e-03 4.29369592e-06 9.99999144e-01 -1.69847680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.440281693 meters Centerline goodness [0,1] 0.9999786643908684 Centerline is valid? [True, True] Translation: X:359.42, Y:-22.79, Z:-1.70 [[ 9.97996523e-01 6.32660147e-02 5.92738104e-04 3.59424098e+02] [-6.32660019e-02 9.97996699e-01 -4.02882464e-05 -2.27948780e+01] [-5.94099548e-04 2.70735981e-06 9.99999824e-01 -1.70011247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.45, Y:-22.80, Z:-1.70 [[ 9.98053205e-01 6.23639032e-02 -7.37069639e-04 3.59453994e+02] [-6.23638832e-02 9.98053477e-01 5.01260589e-05 -2.28004287e+01] [ 7.38760973e-04 -4.06194891e-06 9.99999727e-01 -1.70282461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.500281693 meters Centerline goodness [0,1] 0.9999787161586923 Centerline is valid? [True, True] Translation: X:359.48, Y:-22.80, Z:-1.70 [[ 9.98017165e-01 6.29300291e-02 -1.24491426e-03 3.59484715e+02] [-6.29299725e-02 9.98017941e-01 8.46631608e-05 -2.28029097e+01] [ 1.24777462e-03 -6.15286785e-06 9.99999222e-01 -1.70374827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.51, Y:-22.80, Z:-1.70 [[ 9.97954163e-01 6.39044848e-02 -1.92498039e-03 3.59514596e+02] [-6.39043513e-02 9.97956019e-01 1.30818345e-04 -2.28043718e+01] [ 1.92940564e-03 -7.53608900e-06 9.99998139e-01 -1.70487999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.560281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.54, Y:-22.80, Z:-1.71 [[ 9.97756311e-01 6.68862676e-02 -2.92746813e-03 3.59543341e+02] [-6.68859721e-02 9.97760606e-01 1.98844424e-04 -2.28019620e+01] [ 2.93421234e-03 -2.59172780e-06 9.99995695e-01 -1.70626522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.57, Y:-22.80, Z:-1.71 [[ 9.97636918e-01 6.86343063e-02 -3.14836211e-03 3.59573066e+02] [-6.86339733e-02 9.97641886e-01 2.13803349e-04 -2.28010300e+01] [ 3.15561216e-03 2.78648687e-06 9.99995021e-01 -1.70634552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.620281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.60, Y:-22.80, Z:-1.71 [[ 9.97547035e-01 6.99245555e-02 -3.23551142e-03 3.59601467e+02] [-6.99242111e-02 9.97552283e-01 2.19584150e-04 -2.28003477e+01] [ 3.24294613e-03 7.19506585e-06 9.99994742e-01 -1.70750365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.63, Y:-22.80, Z:-1.71 [[ 9.97485519e-01 7.08242117e-02 -2.56346561e-03 3.59629983e+02] [-7.08239986e-02 9.97488812e-01 1.73918231e-04 -2.28002550e+01] [ 2.56934588e-03 8.07396748e-06 9.99996699e-01 -1.70710564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.680281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.66, Y:-22.80, Z:-1.70 [[ 9.97396108e-01 7.20989908e-02 -1.65523410e-03 3.59660142e+02] [-7.20989038e-02 9.97397481e-01 1.12246067e-04 -2.27996787e+01] [ 1.65901915e-03 7.38677387e-06 9.99998624e-01 -1.70489564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.69, Y:-22.80, Z:-1.70 [[ 9.97339370e-01 7.28866811e-02 -1.30894815e-03 3.59688857e+02] [-7.28866274e-02 9.97340229e-01 8.86847100e-05 -2.27992207e+01] [ 1.31193058e-03 6.95606304e-06 9.99999139e-01 -1.70480238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.740281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.72, Y:-22.80, Z:-1.70 [[ 9.97237873e-01 7.42699998e-02 -7.69837765e-04 3.59717565e+02] [-7.42699817e-02 9.97238170e-01 5.21033742e-05 -2.27950854e+01] [ 7.71581322e-04 5.21637876e-06 9.99999702e-01 -1.70398200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.75, Y:-22.80, Z:-1.70 [[ 9.97208962e-01 7.46538664e-02 -1.04221769e-03 3.59746067e+02] [-7.46538335e-02 9.97209507e-01 7.04964311e-05 -2.27950043e+01] [ 1.04457222e-03 7.50587334e-06 9.99999454e-01 -1.70428355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.800281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.78, Y:-22.80, Z:-1.71 [[ 9.97216877e-01 7.45172003e-02 -2.38456528e-03 3.59776147e+02] [-7.45170274e-02 9.97219728e-01 1.61399200e-04 -2.27967811e+01] [ 2.38996256e-03 1.67407106e-05 9.99997144e-01 -1.70572244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.80, Y:-22.80, Z:-1.71 [[ 9.97221721e-01 7.44313203e-02 -2.96962227e-03 3.59804595e+02] [-7.44310523e-02 9.97226142e-01 2.00820476e-04 -2.27978016e+01] [ 2.97633230e-03 2.07695703e-05 9.99995570e-01 -1.70704329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.860281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.83, Y:-22.80, Z:-1.71 [[ 9.97251815e-01 7.40254179e-02 -3.00902143e-03 3.59833403e+02] [-7.40251413e-02 9.97256355e-01 2.03342518e-04 -2.27992525e+01] [ 3.01581825e-03 1.99595415e-05 9.99995452e-01 -1.70729155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.86, Y:-22.80, Z:-1.71 [[ 9.97313570e-01 7.32097977e-02 -2.44315509e-03 3.59861736e+02] [-7.32096133e-02 9.97316562e-01 1.64967424e-04 -2.28012964e+01] [ 2.44867626e-03 1.43381887e-05 9.99997002e-01 -1.70624609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.89, Y:-22.81, Z:-1.70 [[ 9.97466487e-01 7.11343215e-02 -7.18421837e-04 3.59890590e+02] [-7.11343050e-02 9.97466745e-01 4.84384679e-05 -2.28056257e+01] [ 7.20047529e-04 2.78868968e-06 9.99999741e-01 -1.70374210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.92, Y:-22.81, Z:-1.70 [[ 9.97509940e-01 7.05256194e-02 -2.36808554e-04 3.59920072e+02] [-7.05256176e-02 9.97509968e-01 1.59362175e-05 -2.28087841e+01] [ 2.37342805e-04 8.04534216e-07 9.99999972e-01 -1.70307343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.95, Y:-22.81, Z:-1.70 [[ 9.97530707e-01 7.02310859e-02 -2.88590271e-04 3.59948467e+02] [-7.02310832e-02 9.97530749e-01 1.94250083e-05 -2.28111551e+01] [ 2.89241909e-04 8.90965055e-07 9.99999958e-01 -1.70276997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.98, Y:-22.81, Z:-1.70 [[ 9.97463413e-01 7.11716011e-02 -1.15858715e-03 3.59977164e+02] [-7.11715585e-02 9.97464086e-01 7.80687033e-05 -2.28113192e+01] [ 1.16120535e-03 4.58777814e-06 9.99999326e-01 -1.70476582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.01, Y:-22.81, Z:-1.71 [[ 9.97442856e-01 7.14455467e-02 -1.81201065e-03 3.60006390e+02] [-7.14454428e-02 9.97444502e-01 1.22121982e-04 -2.28127652e+01] [ 1.81610513e-03 7.65020500e-06 9.99998351e-01 -1.70639502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.07028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.04, Y:-22.82, Z:-1.71 [[ 9.97521243e-01 7.03481674e-02 -1.58280454e-03 3.60035017e+02] [-7.03480868e-02 9.97522499e-01 1.06589742e-04 -2.28164716e+01] [ 1.58638153e-03 5.02173959e-06 9.99998742e-01 -1.70602934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.06, Y:-22.82, Z:-1.71 [[ 9.97623288e-01 6.88955597e-02 -1.08450491e-03 3.60063752e+02] [-6.88955211e-02 9.97623878e-01 7.29739833e-05 -2.28211013e+01] [ 1.08695558e-03 1.91698590e-06 9.99999409e-01 -1.70579834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.130281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.09, Y:-22.83, Z:-1.71 [[ 9.97746415e-01 6.70912299e-02 -9.26628741e-04 3.60092759e+02] [-6.70912009e-02 9.97746845e-01 6.23435467e-05 -2.28269941e+01] [ 9.28723608e-04 -3.44151411e-08 9.99999569e-01 -1.70571605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.12, Y:-22.83, Z:-1.71 [[ 9.97889935e-01 6.49239230e-02 -7.49209374e-04 3.60122506e+02] [-6.49239035e-02 9.97890217e-01 5.03808943e-05 -2.28339419e+01] [ 7.50899630e-04 -1.63299018e-06 9.99999718e-01 -1.70613831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.190281693 meters Centerline goodness [0,1] 0.9999356595963712 Centerline is valid? [True, True] Translation: X:360.15, Y:-22.85, Z:-1.71 [[ 9.98187984e-01 6.01579364e-02 -1.33091702e-03 3.60151486e+02] [-6.01578704e-02 9.98188871e-01 8.95823331e-05 -2.28482265e+01] [ 1.33389565e-03 -9.35487477e-06 9.99999110e-01 -1.70744746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.18, Y:-22.86, Z:-1.71 [[ 9.98334502e-01 5.76742263e-02 -1.38084045e-03 3.60181820e+02] [-5.76741529e-02 9.98335456e-01 9.29426157e-05 -2.28567901e+01] [ 1.38390238e-03 -1.31490166e-05 9.99999042e-01 -1.70793561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.250281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.21, Y:-22.87, Z:-1.71 [[ 9.98575040e-01 5.33426573e-02 -1.56512175e-03 3.60211171e+02] [-5.33425576e-02 9.98576267e-01 1.05387132e-04 -2.28718439e+01] [ 1.56851507e-03 -2.17493620e-05 9.99998770e-01 -1.70862803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28028169299995 meters Centerline goodness [0,1] 0.9998938924493866 Centerline is valid? [True, True] Translation: X:360.24, Y:-22.88, Z:-1.71 [[ 9.98632356e-01 5.22540897e-02 -1.71097708e-03 3.60241633e+02] [-5.22539690e-02 9.98633822e-01 1.15182728e-04 -2.28783043e+01] [ 1.71465835e-03 -2.56198554e-05 9.99998530e-01 -1.70855300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.310281693 meters Centerline goodness [0,1] 0.9998723078232741 Centerline is valid? [True, True] Translation: X:360.27, Y:-22.88, Z:-1.71 [[ 9.98677172e-01 5.13933021e-02 -1.62320409e-03 3.60271526e+02] [-5.13931924e-02 9.98678491e-01 1.09273863e-04 -2.28839707e+01] [ 1.62667495e-03 -2.57076722e-05 9.99998677e-01 -1.70820956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34028169299995 meters Centerline goodness [0,1] 0.9998279495892296 Centerline is valid? [True, True] Translation: X:360.30, Y:-22.89, Z:-1.71 [[ 9.98698258e-01 5.09986407e-02 -9.63530268e-04 3.60301432e+02] [-5.09986018e-02 9.98698723e-01 6.48983818e-05 -2.28927798e+01] [ 9.65586177e-04 -1.56752044e-05 9.99999534e-01 -1.70673271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.370281693 meters Centerline goodness [0,1] 0.9998279495892296 Centerline is valid? [True, True] Translation: X:360.33, Y:-22.89, Z:-1.71 [[ 9.98697154e-01 5.10202576e-02 -9.63527350e-04 3.60332198e+02] [-5.10202187e-02 9.98697618e-01 6.49417203e-05 -2.28948988e+01] [ 9.65585813e-04 -1.56977352e-05 9.99999534e-01 -1.70679762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40028169299995 meters Centerline goodness [0,1] 0.9998711063372717 Centerline is valid? [True, True] Translation: X:360.36, Y:-22.90, Z:-1.71 [[ 9.98682336e-01 5.13127263e-02 -7.71664596e-04 3.60363717e+02] [-5.13127014e-02 9.98682634e-01 5.20402331e-05 -2.28966495e+01] [ 7.73318358e-04 -1.23754666e-05 9.99999701e-01 -1.70598050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.430281693 meters Centerline goodness [0,1] 0.9997438579265299 Centerline is valid? [True, True] Translation: X:360.39, Y:-22.90, Z:-1.71 [[ 9.98657776e-01 5.17847419e-02 -9.93214921e-04 3.60394772e+02] [-5.17847007e-02 9.98658270e-01 6.72004517e-05 -2.29049846e+01] [ 9.95362253e-04 -1.56769162e-05 9.99999505e-01 -1.70695417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46028169299996 meters Centerline goodness [0,1] 0.9998938834415723 Centerline is valid? [True, True] Translation: X:360.43, Y:-22.91, Z:-1.71 [[ 9.98627859e-01 5.23502229e-02 -1.36155898e-03 3.60425267e+02] [-5.23501459e-02 9.98628787e-01 9.21549246e-05 -2.29129451e+01] [ 1.36451632e-03 -2.07506638e-05 9.99999069e-01 -1.70864148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.490281693 meters Centerline goodness [0,1] 0.9998729540305333 Centerline is valid? [True, True] Translation: X:360.46, Y:-22.92, Z:-1.71 [[ 9.98602494e-01 5.28223665e-02 -1.69026988e-03 3.60456519e+02] [-5.28222487e-02 9.98603924e-01 1.14262360e-04 -2.29172686e+01] [ 1.69394574e-03 -2.48188219e-05 9.99998565e-01 -1.70885817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52028169299996 meters Centerline goodness [0,1] 0.9997873200195666 Centerline is valid? [True, True] Translation: X:360.49, Y:-22.92, Z:-1.71 [[ 9.98593074e-01 5.30138836e-02 -1.18371550e-03 3.60487223e+02] [-5.30138260e-02 9.98593775e-01 8.00580972e-05 -2.29218548e+01] [ 1.18629513e-03 -1.71921736e-05 9.99999296e-01 -1.70793184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.550281693 meters Centerline goodness [0,1] 0.9997474960020201 Centerline is valid? [True, True] Translation: X:360.52, Y:-22.93, Z:-1.71 [[ 9.98570772e-01 5.34424491e-02 -5.64566318e-04 3.60517943e+02] [-5.34424359e-02 9.98570931e-01 3.85313762e-05 -2.29268638e+01] [ 5.65818725e-04 -8.30450683e-06 9.99999840e-01 -1.70601178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58028169299996 meters Centerline goodness [0,1] 0.9998943006933875 Centerline is valid? [True, True] Translation: X:360.55, Y:-22.93, Z:-1.70 [[ 9.98505582e-01 5.46478729e-02 4.61387570e-04 3.60550439e+02] [-5.46478643e-02 9.98505688e-01 -3.11577249e-05 -2.29299540e+01] [-4.62400817e-04 5.89731692e-06 9.99999893e-01 -1.70362458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.610281693 meters Centerline goodness [0,1] 0.9998308167322252 Centerline is valid? [True, True] Translation: X:360.58, Y:-22.93, Z:-1.70 [[ 9.98442259e-01 5.57946157e-02 1.26588873e-04 3.60582553e+02] [-5.57946151e-02 9.98442267e-01 -8.26514192e-06 -2.29332287e+01] [-1.26852832e-04 1.18928951e-06 9.99999992e-01 -1.70461197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64028169299996 meters Centerline goodness [0,1] 0.9998709011102505 Centerline is valid? [True, True] Translation: X:360.62, Y:-22.94, Z:-1.71 [[ 9.98364186e-01 5.71738325e-02 -3.24552772e-04 3.60615024e+02] [-5.71738282e-02 9.98364239e-01 2.24541072e-05 -2.29358708e+01] [ 3.25305669e-04 -3.86145203e-06 9.99999947e-01 -1.70598050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67028169299994 meters Centerline goodness [0,1] 0.9999577497517798 Centerline is valid? [True, True] Translation: X:360.65, Y:-22.94, Z:-1.71 [[ 9.98276013e-01 5.86599834e-02 -2.00195905e-03 3.60645825e+02] [-5.86598271e-02 9.98278020e-01 1.36748018e-04 -2.29448207e+01] [ 2.00653336e-03 -1.90776948e-05 9.99997987e-01 -1.70962414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70028169299997 meters Centerline goodness [0,1] 0.9998722588886523 Centerline is valid? [True, True] Translation: X:360.68, Y:-22.95, Z:-1.71 [[ 9.98241236e-01 5.92439628e-02 -2.14193365e-03 3.60677965e+02] [-5.92437842e-02 9.98243534e-01 1.46799389e-04 -2.29484847e+01] [ 2.14686839e-03 -1.96449486e-05 9.99997695e-01 -1.70971081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73028169299994 meters Centerline goodness [0,1] 0.9999574332233692 Centerline is valid? [True, True] Translation: X:360.71, Y:-22.96, Z:-1.71 [[ 9.98227599e-01 5.94759206e-02 -2.06777225e-03 3.60709085e+02] [-5.94757539e-02 9.98229740e-01 1.42065719e-04 -2.29568224e+01] [ 2.07256124e-03 -1.88316082e-05 9.99997852e-01 -1.70991235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.74, Y:-22.96, Z:-1.71 [[ 9.98210393e-01 5.97638090e-02 -2.07341245e-03 3.60740488e+02] [-5.97636412e-02 9.98212546e-01 1.42840091e-04 -2.29621570e+01] [ 2.07824299e-03 -1.86697855e-05 9.99997840e-01 -1.71036829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79028169299994 meters Centerline goodness [0,1] 0.9999353294962168 Centerline is valid? [True, True] Translation: X:360.77, Y:-22.97, Z:-1.71 [[ 9.98185715e-01 6.01726537e-02 -2.12859984e-03 3.60772772e+02] [-6.01724769e-02 9.98187984e-01 1.47044705e-04 -2.29674698e+01] [ 2.13359085e-03 -1.86947989e-05 9.99997724e-01 -1.71060205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82028169299997 meters Centerline goodness [0,1] 0.9999358398562813 Centerline is valid? [True, True] Translation: X:360.80, Y:-22.97, Z:-1.71 [[ 9.98073885e-01 6.20165774e-02 -1.56998554e-03 3.60804023e+02] [-6.20164831e-02 9.98075119e-01 1.08758640e-04 -2.29746441e+01] [ 1.57370835e-03 -1.11841762e-05 9.99998762e-01 -1.70975116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.84, Y:-22.98, Z:-1.71 [[ 9.97989790e-01 6.33654441e-02 -1.09566107e-03 3.60836322e+02] [-6.33653987e-02 9.97990391e-01 7.61755918e-05 -2.29789681e+01] [ 1.09828612e-03 -6.59546256e-06 9.99999397e-01 -1.70839876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.880281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.87, Y:-22.98, Z:-1.71 [[ 9.97895735e-01 6.48388375e-02 -1.63880030e-04 3.60868751e+02] [-6.48388364e-02 9.97895749e-01 1.17249629e-05 -2.29819972e+01] [ 1.64295418e-04 -1.07450009e-06 9.99999987e-01 -1.70624911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91028169299994 meters Centerline goodness [0,1] 0.9998934492605379 Centerline is valid? [True, True] Translation: X:360.90, Y:-22.98, Z:-1.70 [[ 9.97699633e-01 6.77767540e-02 1.32428095e-03 3.60899980e+02] [-6.77766919e-02 9.97700512e-01 -9.17678196e-05 -2.29848764e+01] [-1.32745550e-03 1.80133832e-06 9.99999119e-01 -1.70367811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.940281693 meters Centerline goodness [0,1] 0.9999787982869016 Centerline is valid? [True, True] Translation: X:360.93, Y:-22.99, Z:-1.70 [[ 9.97616858e-01 6.89869246e-02 1.18664881e-03 3.60933195e+02] [-6.89868754e-02 9.97617564e-01 -8.23561978e-05 -2.29880124e+01] [-1.18950320e-03 2.96737293e-07 9.99999293e-01 -1.70418708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97028169299995 meters Centerline goodness [0,1] 0.999978807722466 Centerline is valid? [True, True] Translation: X:360.97, Y:-22.99, Z:-1.71 [[ 9.97553940e-01 6.98994836e-02 4.46568251e-04 3.60965018e+02] [-6.98994768e-02 9.97554040e-01 -3.08560573e-05 -2.29921621e+01] [-4.47632786e-04 -4.34305642e-07 9.99999900e-01 -1.70610256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.000281693 meters Centerline goodness [0,1] 0.9999788735369924 Centerline is valid? [True, True] Translation: X:361.00, Y:-23.00, Z:-1.71 [[ 9.97460187e-01 7.12097867e-02 -1.53021299e-03 3.60996881e+02] [-7.12097055e-02 9.97461361e-01 1.07564965e-04 -2.29992719e+01] [ 1.53398801e-03 1.67424647e-06 9.99998823e-01 -1.71016900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03028169299995 meters Centerline goodness [0,1] 0.9999786114557043 Centerline is valid? [True, True] Translation: X:361.03, Y:-23.00, Z:-1.71 [[ 9.97397317e-01 7.20641512e-02 -2.31304028e-03 3.61030064e+02] [-7.20639672e-02 9.97399999e-01 1.62897938e-04 -2.30035067e+01] [ 2.31876547e-03 4.21289286e-06 9.99997312e-01 -1.71091205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.060281693 meters Centerline goodness [0,1] 0.9999574558604553 Centerline is valid? [True, True] Translation: X:361.06, Y:-23.00, Z:-1.71 [[ 9.97166018e-01 7.52155474e-02 -1.59833776e-03 3.61063304e+02] [-7.52154629e-02 9.97167299e-01 1.12987838e-04 -2.30042904e+01] [ 1.60230859e-03 7.55208213e-06 9.99998716e-01 -1.70991334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.09, Y:-23.00, Z:-1.71 [[ 9.96965439e-01 7.78443698e-02 -4.09076642e-04 3.61094477e+02] [-7.78443643e-02 9.96965523e-01 2.91987106e-05 -2.30035335e+01] [ 4.10108263e-04 2.73420587e-06 9.99999916e-01 -1.70765128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.120281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.13, Y:-23.00, Z:-1.71 [[ 9.96685123e-01 8.13543831e-02 4.79150439e-04 3.61127046e+02] [-8.13543763e-02 9.96685238e-01 -3.35551879e-05 -2.30019064e+01] [-4.80292031e-04 -5.53702857e-06 9.99999885e-01 -1.70545680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.16, Y:-23.00, Z:-1.70 [[ 9.96394445e-01 8.48354224e-02 1.03045986e-03 3.61159338e+02] [-8.48353926e-02 9.96394977e-01 -7.27394141e-05 -2.29987825e+01] [-1.03291591e-03 -1.49423185e-05 9.99999466e-01 -1.70362042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.180281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.19, Y:-22.98, Z:-1.70 [[ 9.95831135e-01 9.11966735e-02 1.87538183e-03 3.61190648e+02] [-9.11965847e-02 9.95832900e-01 -1.33013390e-04 -2.29843584e+01] [-1.87969730e-03 -3.85695427e-05 9.99998233e-01 -1.70342865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21028169299996 meters Centerline goodness [0,1] 0.9999353977346139 Centerline is valid? [True, True] Translation: X:361.22, Y:-22.99, Z:-1.70 [[ 9.95630675e-01 9.33599169e-02 1.86675634e-03 3.61222634e+02] [-9.33598327e-02 9.95632424e-01 -1.32387819e-04 -2.29881263e+01] [-1.87096286e-03 -4.24706858e-05 9.99998249e-01 -1.70382495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.240281693 meters Centerline goodness [0,1] 0.999851234751562 Centerline is valid? [True, True] Translation: X:361.25, Y:-22.99, Z:-1.70 [[ 9.95458989e-01 9.51811127e-02 1.39927007e-03 3.61254080e+02] [-9.51810669e-02 9.95459971e-01 -9.94340396e-05 -2.29856210e+01] [-1.40238159e-03 -3.42015099e-05 9.99999016e-01 -1.70436230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27028169299996 meters Centerline goodness [0,1] 0.9998718140449078 Centerline is valid? [True, True] Translation: X:361.29, Y:-22.99, Z:-1.70 [[ 9.95488085e-01 9.48766268e-02 1.37793576e-03 3.61286377e+02] [-9.48765820e-02 9.95489038e-01 -9.79783517e-05 -2.29880208e+01] [-1.38101580e-03 -3.31975538e-05 9.99999046e-01 -1.70444639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.300281693 meters Centerline goodness [0,1] 0.9999577050775055 Centerline is valid? [True, True] Translation: X:361.32, Y:-22.99, Z:-1.70 [[ 9.95535770e-01 9.43758177e-02 1.31737892e-03 3.61317585e+02] [-9.43757759e-02 9.95536641e-01 -9.39285002e-05 -2.29885669e+01] [-1.32036356e-03 -3.08194758e-05 9.99999128e-01 -1.70473846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33028169299996 meters Centerline goodness [0,1] 0.9999578699022582 Centerline is valid? [True, True] Translation: X:361.35, Y:-22.99, Z:-1.71 [[ 9.95572474e-01 9.39962156e-02 4.01628818e-04 3.61349280e+02] [-9.39962118e-02 9.95572555e-01 -2.84206976e-05 -2.29888693e+01] [-4.02522066e-04 -9.45672319e-06 9.99999919e-01 -1.70595765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.360281693 meters Centerline goodness [0,1] 0.9999789136302294 Centerline is valid? [True, True] Translation: X:361.38, Y:-22.99, Z:-1.71 [[ 9.95601653e-01 9.36871055e-02 -2.72278112e-04 3.61381713e+02] [-9.36871036e-02 9.95601691e-01 1.98805969e-05 -2.29919066e+01] [ 2.72943105e-04 5.71579258e-06 9.99999963e-01 -1.70693043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39028169299996 meters Centerline goodness [0,1] 0.9999150346233909 Centerline is valid? [True, True] Translation: X:361.41, Y:-22.99, Z:-1.71 [[ 9.95605804e-01 9.36433556e-02 -7.02389188e-05 3.61413568e+02] [-9.36433554e-02 9.95605807e-01 5.36530488e-06 -2.29899673e+01] [ 7.04327005e-05 1.23567935e-06 9.99999998e-01 -1.70693434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42028169299994 meters Centerline goodness [0,1] 0.99995783348443 Centerline is valid? [True, True] Translation: X:361.45, Y:-22.99, Z:-1.70 [[ 9.95456876e-01 9.52007619e-02 1.55688508e-03 3.61445280e+02] [-9.52007033e-02 9.95458092e-01 -1.11890190e-04 -2.29903009e+01] [-1.56046588e-03 -3.68346954e-05 9.99998782e-01 -1.70249942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45028169299997 meters Centerline goodness [0,1] 0.9996838311236642 Centerline is valid? [True, True] Translation: X:361.48, Y:-22.98, Z:-1.70 [[ 9.95357001e-01 9.62251903e-02 2.27008972e-03 3.61475901e+02] [-9.62250672e-02 9.95359588e-01 -1.63611153e-04 -2.29817394e+01] [-2.27529908e-03 -5.55880297e-05 9.99997410e-01 -1.70147438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48028169299994 meters Centerline goodness [0,1] 0.999893219434063 Centerline is valid? [True, True] Translation: X:361.51, Y:-22.99, Z:-1.70 [[ 9.95305244e-01 9.67536622e-02 2.48992248e-03 3.61507070e+02] [-9.67535157e-02 9.95308357e-01 -1.79490444e-04 -2.29886951e+01] [-2.49560701e-03 -6.22609744e-05 9.99996884e-01 -1.70102953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.54, Y:-22.99, Z:-1.70 [[ 9.95404707e-01 9.57410593e-02 1.76576356e-03 3.61539109e+02] [-9.57409841e-02 9.95406273e-01 -1.27266533e-04 -2.29940658e+01] [-1.76983676e-03 -4.23742353e-05 9.99998433e-01 -1.70316411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54028169299994 meters Centerline goodness [0,1] 0.9999789681788546 Centerline is valid? [True, True] Translation: X:361.57, Y:-22.99, Z:-1.70 [[ 9.95493589e-01 9.48204324e-02 1.26507448e-03 3.61570229e+02] [-9.48203929e-02 9.95494392e-01 -9.13011408e-05 -2.29940109e+01] [-1.26803177e-03 -2.90651591e-05 9.99999196e-01 -1.70472247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.60, Y:-23.00, Z:-1.70 [[ 9.95762362e-01 9.19431705e-02 1.94224097e-03 3.61601743e+02] [-9.19430710e-02 9.95764255e-01 -1.40661410e-04 -2.30015657e+01] [-1.94694699e-03 -3.85102612e-05 9.99998104e-01 -1.70218595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.63, Y:-23.00, Z:-1.70 [[ 9.95866759e-01 9.07905617e-02 2.54411801e-03 3.61633205e+02] [-9.07903869e-02 9.95870007e-01 -1.84384369e-04 -2.30035816e+01] [-2.55035119e-03 -4.73591944e-05 9.99996747e-01 -1.70061426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.630281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.67, Y:-23.01, Z:-1.70 [[ 9.95883504e-01 9.06102521e-02 2.41430012e-03 3.61665403e+02] [-9.06100935e-02 9.95886429e-01 -1.75206891e-04 -2.30061356e+01] [-2.42024427e-03 -4.42743076e-05 9.99997070e-01 -1.70062951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66028169299994 meters Centerline goodness [0,1] 0.99989457482025 Centerline is valid? [True, True] Translation: X:361.70, Y:-23.00, Z:-1.70 [[ 9.95785765e-01 9.16945624e-02 1.67878202e-03 3.61696903e+02] [-9.16944870e-02 9.95787179e-01 -1.22003632e-04 -2.30020987e+01] [-1.68289668e-03 -3.24455753e-05 9.99998583e-01 -1.70224775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.690281693 meters Centerline goodness [0,1] 0.9998941126641254 Centerline is valid? [True, True] Translation: X:361.73, Y:-23.00, Z:-1.70 [[ 9.95708303e-01 9.25395286e-02 1.18807956e-03 3.61728642e+02] [-9.25394912e-02 9.95709011e-01 -8.65437888e-05 -2.30014313e+01] [-1.19099025e-03 -2.37719093e-05 9.99999290e-01 -1.70336110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72028169299995 meters Centerline goodness [0,1] 0.9998932308349349 Centerline is valid? [True, True] Translation: X:361.76, Y:-23.00, Z:-1.70 [[ 9.95640578e-01 9.32689625e-02 8.60448169e-04 3.61760609e+02] [-9.32689431e-02 9.95640949e-01 -6.26842797e-05 -2.29998070e+01] [-8.62543929e-04 -1.78420789e-05 9.99999628e-01 -1.70332771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.750281693 meters Centerline goodness [0,1] 0.9999577006048813 Centerline is valid? [True, True] Translation: X:361.79, Y:-23.00, Z:-1.70 [[ 9.95612607e-01 9.35668891e-02 8.79960530e-04 3.61792058e+02] [-9.35668690e-02 9.95612996e-01 -6.41264264e-05 -2.29978265e+01] [-8.82100249e-04 -1.84900730e-05 9.99999611e-01 -1.70369840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78028169299995 meters Centerline goodness [0,1] 0.9999576181394363 Centerline is valid? [True, True] Translation: X:361.82, Y:-23.00, Z:-1.70 [[ 9.95666996e-01 9.29842711e-02 1.07654197e-03 3.61823685e+02] [-9.29842405e-02 9.95667577e-01 -7.84856975e-05 -2.29971173e+01] [-1.07917587e-03 -2.19558190e-05 9.99999417e-01 -1.70348611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.810281693 meters Centerline goodness [0,1] 0.9999788971658894 Centerline is valid? [True, True] Translation: X:361.85, Y:-23.00, Z:-1.70 [[ 9.95745444e-01 9.21428570e-02 8.38940052e-04 3.61853858e+02] [-9.21428381e-02 9.95745798e-01 -6.12006982e-05 -2.29990151e+01] [-8.41010238e-04 -1.63620009e-05 9.99999646e-01 -1.70442000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84028169299995 meters Centerline goodness [0,1] 0.9999787320019566 Centerline is valid? [True, True] Translation: X:361.88, Y:-23.00, Z:-1.71 [[ 9.95996010e-01 8.93970213e-02 -3.46109254e-04 3.61884515e+02] [-8.93970179e-02 9.95996071e-01 2.52486790e-05 -2.29997664e+01] [ 3.46980614e-04 5.79355172e-06 9.99999940e-01 -1.70623932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.870281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.92, Y:-23.00, Z:-1.71 [[ 9.96151194e-01 8.76485922e-02 -7.23506896e-04 3.61915282e+02] [-8.76485770e-02 9.96151456e-01 5.27798465e-05 -2.30018894e+01] [ 7.25348527e-04 1.08376427e-05 9.99999737e-01 -1.70706917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.95, Y:-23.00, Z:-1.71 [[ 9.96311343e-01 8.58072883e-02 -9.03546791e-04 3.61945342e+02] [-8.58072638e-02 9.96311753e-01 6.59137615e-05 -2.30048721e+01] [ 9.05870168e-04 1.18602496e-05 9.99999590e-01 -1.70729962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.930281693 meters Centerline goodness [0,1] 0.9999786657564056 Centerline is valid? [True, True] Translation: X:361.98, Y:-23.01, Z:-1.71 [[ 9.96602960e-01 8.23534634e-02 -6.68452511e-04 3.61975197e+02] [-8.23534492e-02 9.96603184e-01 4.87636278e-05 -2.30086382e+01] [ 6.70197755e-04 6.45139414e-06 9.99999775e-01 -1.70742068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96028169299996 meters Centerline goodness [0,1] 0.9999789681788546 Centerline is valid? [True, True] Translation: X:362.01, Y:-23.01, Z:-1.71 [[ 9.96715540e-01 8.09801776e-02 -5.85999174e-04 3.62005527e+02] [-8.09801664e-02 9.96715712e-01 4.27796619e-05 -2.30111239e+01] [ 5.87538889e-04 4.81515685e-06 9.99999827e-01 -1.70750071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.990281693 meters Centerline goodness [0,1] 0.9998948254101809 Centerline is valid? [True, True] Translation: X:362.04, Y:-23.02, Z:-1.71 [[ 9.96821587e-01 7.96654764e-02 -3.68771221e-04 3.62036259e+02] [-7.96654719e-02 9.96821655e-01 2.69053650e-05 -2.30156810e+01] [ 3.69742568e-04 2.55848471e-06 9.99999932e-01 -1.70701617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02028169299996 meters Centerline goodness [0,1] 0.9999785761724189 Centerline is valid? [True, True] Translation: X:362.07, Y:-23.02, Z:-1.71 [[ 9.96984714e-01 7.75978859e-02 -2.17966823e-04 3.62066850e+02] [-7.75978843e-02 9.96984738e-01 1.59579576e-05 -2.30205677e+01] [ 2.18547900e-04 1.00392454e-06 9.99999976e-01 -1.70672884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.050281693 meters Centerline goodness [0,1] 0.9999785986388734 Centerline is valid? [True, True] Translation: X:362.10, Y:-23.02, Z:-1.71 [[ 9.97033729e-01 7.69656814e-02 -1.65912703e-04 3.62097995e+02] [-7.69656805e-02 9.97033743e-01 1.21631542e-05 -2.30235431e+01] [ 1.66356708e-04 6.42509023e-07 9.99999986e-01 -1.70623979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08028169299996 meters Centerline goodness [0,1] 0.9999571981937638 Centerline is valid? [True, True] Translation: X:362.13, Y:-23.03, Z:-1.71 [[ 9.97050644e-01 7.67460881e-02 2.28195376e-04 3.62128327e+02] [-7.67460863e-02 9.97050670e-01 -1.66380878e-05 -2.30253837e+01] [-2.28799261e-04 -9.24085901e-07 9.99999974e-01 -1.70658873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.110281693 meters Centerline goodness [0,1] 0.9999574250681199 Centerline is valid? [True, True] Translation: X:362.16, Y:-23.03, Z:-1.71 [[ 9.97020190e-01 7.71409667e-02 -1.09807381e-04 3.62159952e+02] [-7.71409663e-02 9.97020196e-01 8.07027728e-06 -2.30253680e+01] [ 1.10102725e-04 4.24418077e-07 9.99999994e-01 -1.70697110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14028169299996 meters Centerline goodness [0,1] 0.999914407378084 Centerline is valid? [True, True] Translation: X:362.19, Y:-23.03, Z:-1.71 [[ 9.96982242e-01 7.76299390e-02 2.71420319e-05 3.62190078e+02] [-7.76299389e-02 9.96982243e-01 -1.98256806e-06 -2.30265463e+01] [-2.72140305e-05 -1.30449126e-07 1.00000000e+00 -1.70728978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17028169299994 meters Centerline goodness [0,1] 0.9999574513349644 Centerline is valid? [True, True] Translation: X:362.22, Y:-23.03, Z:-1.71 [[ 9.96927934e-01 7.83143625e-02 1.24722964e-03 3.62220209e+02] [-7.83143098e-02 9.96928714e-01 -9.10927558e-05 -2.30270055e+01] [-1.25053291e-03 -6.86301530e-06 9.99999218e-01 -1.70553634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20028169299997 meters Centerline goodness [0,1] 0.9999573697111798 Centerline is valid? [True, True] Translation: X:362.25, Y:-23.03, Z:-1.70 [[ 9.96915923e-01 7.84548945e-02 1.86341653e-03 3.62251566e+02] [-7.84547771e-02 9.96917664e-01 -1.36128372e-04 -2.30293367e+01] [-1.86835279e-03 -1.04853863e-05 9.99998255e-01 -1.70446089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23028169299994 meters Centerline goodness [0,1] 0.9999788503024407 Centerline is valid? [True, True] Translation: X:362.28, Y:-23.03, Z:-1.70 [[ 9.96921972e-01 7.83856886e-02 1.50528987e-03 3.62281289e+02] [-7.83856119e-02 9.96923108e-01 -1.09999213e-04 -2.30319992e+01] [-1.50928062e-03 -8.33243459e-06 9.99998861e-01 -1.70419299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26028169299997 meters Centerline goodness [0,1] 0.9999788503024407 Centerline is valid? [True, True] Translation: X:362.31, Y:-23.03, Z:-1.70 [[ 9.96920150e-01 7.84088523e-02 1.50528908e-03 3.62312038e+02] [-7.84087756e-02 9.96921287e-01 -1.10009985e-04 -2.30342925e+01] [-1.50928048e-03 -8.35670232e-06 9.99998861e-01 -1.70425790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29028169299994 meters Centerline goodness [0,1] 0.9999789256285432 Centerline is valid? [True, True] Translation: X:362.34, Y:-23.04, Z:-1.71 [[ 9.96969165e-01 7.77964456e-02 -4.44268529e-04 3.62342879e+02] [-7.77964388e-02 9.96969264e-01 3.25423485e-05 -2.30388694e+01] [ 4.45453747e-04 2.11879139e-06 9.99999901e-01 -1.70792063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32028169299997 meters Centerline goodness [0,1] 0.9999785821375027 Centerline is valid? [True, True] Translation: X:362.37, Y:-23.04, Z:-1.71 [[ 9.96995511e-01 7.74543364e-02 -8.80897125e-04 3.62373758e+02] [-7.74543096e-02 9.96995901e-01 6.44980813e-05 -2.30422827e+01] [ 8.83246479e-04 3.92498115e-06 9.99999610e-01 -1.70963044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35028169299994 meters Centerline goodness [0,1] 0.999978602760244 Centerline is valid? [True, True] Translation: X:362.40, Y:-23.04, Z:-1.71 [[ 9.96979776e-01 7.76564972e-02 -8.91293405e-04 3.62403733e+02] [-7.76564699e-02 9.96980175e-01 6.52442002e-05 -2.30447420e+01] [ 8.93668490e-04 4.16755135e-06 9.99999601e-01 -1.70958844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.380281693 meters Centerline goodness [0,1] 0.9999362122855138 Centerline is valid? [True, True] Translation: X:362.43, Y:-23.05, Z:-1.71 [[ 9.96879891e-01 7.89316639e-02 -5.24253374e-04 3.62434434e+02] [-7.89316546e-02 9.96880029e-01 3.83923313e-05 -2.30467352e+01] [ 5.25648090e-04 3.10764322e-06 9.99999862e-01 -1.70959408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41028169299994 meters Centerline goodness [0,1] 0.9999787582046434 Centerline is valid? [True, True] Translation: X:362.47, Y:-23.05, Z:-1.71 [[ 9.96820391e-01 7.96758004e-02 -9.35172686e-04 3.62465437e+02] [-7.96757712e-02 9.96820830e-01 6.85115399e-05 -2.30495177e+01] [ 9.37658325e-04 6.21690502e-06 9.99999560e-01 -1.71031972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.440281693 meters Centerline goodness [0,1] 0.9999788895925691 Centerline is valid? [True, True] Translation: X:362.50, Y:-23.05, Z:-1.71 [[ 9.96736973e-01 8.07048881e-02 -1.45836064e-03 3.62495876e+02] [-8.07048182e-02 9.96738040e-01 1.06805871e-04 -2.30510778e+01] [ 1.46222328e-03 1.12393693e-05 9.99998931e-01 -1.71131601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47028169299995 meters Centerline goodness [0,1] 0.9999786388687145 Centerline is valid? [True, True] Translation: X:362.53, Y:-23.05, Z:-1.71 [[ 9.96512667e-01 8.34399959e-02 -5.20434228e-04 3.62525528e+02] [-8.34399874e-02 9.96512803e-01 3.80766202e-05 -2.30498626e+01] [ 5.21796484e-04 5.48119104e-06 9.99999864e-01 -1.70917945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.500281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.56, Y:-23.05, Z:-1.71 [[ 9.96362766e-01 8.52127237e-02 1.75997791e-04 3.62556255e+02] [-8.52127228e-02 9.96362781e-01 -1.28846169e-05 -2.30494918e+01] [-1.76455582e-04 -2.15949845e-06 9.99999984e-01 -1.70780423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.59, Y:-23.05, Z:-1.71 [[ 9.96213291e-01 8.69428353e-02 1.47025035e-04 3.62586736e+02] [-8.69428347e-02 9.96213302e-01 -1.07635513e-05 -2.30500613e+01] [-1.47404109e-04 -2.05998046e-06 9.99999989e-01 -1.70710320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.560281693 meters Centerline goodness [0,1] 0.9998933629073536 Centerline is valid? [True, True] Translation: X:362.62, Y:-23.04, Z:-1.71 [[ 9.95910080e-01 9.03434886e-02 -1.08023203e-03 3.62616467e+02] [-9.03434560e-02 9.95910666e-01 7.90464630e-05 -2.30449250e+01] [ 1.08295594e-03 1.88687259e-05 9.99999413e-01 -1.71043397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59028169299995 meters Centerline goodness [0,1] 0.9998485241928503 Centerline is valid? [True, True] Translation: X:362.65, Y:-23.05, Z:-1.71 [[ 9.95818894e-01 9.13354613e-02 -1.60126557e-03 3.62646673e+02] [-9.13353908e-02 9.95820181e-01 1.17208765e-04 -2.30528742e+01] [ 1.60527788e-03 2.95335140e-05 9.99998711e-01 -1.71012045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.620281693 meters Centerline goodness [0,1] 0.9998513105909342 Centerline is valid? [True, True] Translation: X:362.68, Y:-23.05, Z:-1.71 [[ 9.95698171e-01 9.26540230e-02 -6.20065805e-04 3.62676837e+02] [-9.26540127e-02 9.95698364e-01 4.54041627e-05 -2.30498669e+01] [ 6.21605386e-04 1.22427431e-05 9.99999807e-01 -1.71035572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65028169299995 meters Centerline goodness [0,1] 0.99966089481381 Centerline is valid? [True, True] Translation: X:362.71, Y:-23.05, Z:-1.71 [[ 9.95684789e-01 9.27997167e-02 -1.14730388e-04 3.62705904e+02] [-9.27997163e-02 9.95684796e-01 8.32450652e-06 -2.30523567e+01] [ 1.15007815e-04 2.35836297e-06 9.99999993e-01 -1.70923486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.680281693 meters Centerline goodness [0,1] 0.9998065098679967 Centerline is valid? [True, True] Translation: X:362.74, Y:-23.06, Z:-1.71 [[ 9.95699793e-01 9.26371840e-02 5.24546349e-04 3.62735788e+02] [-9.26371767e-02 9.95699931e-01 -3.83811947e-05 -2.30606671e+01] [-5.25846289e-04 -1.03763452e-05 9.99999862e-01 -1.70807500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71028169299996 meters Centerline goodness [0,1] 0.9999576576195114 Centerline is valid? [True, True] Translation: X:362.77, Y:-23.07, Z:-1.71 [[ 9.95804995e-01 9.14997377e-02 -4.57386188e-04 3.62765339e+02] [-9.14997320e-02 9.95805100e-01 3.34670680e-05 -2.30674702e+01] [ 4.58529727e-04 8.52404013e-06 9.99999895e-01 -1.70928388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.740281693 meters Centerline goodness [0,1] 0.9997249841337 Centerline is valid? [True, True] Translation: X:362.79, Y:-23.07, Z:-1.71 [[ 9.95880699e-01 9.06715950e-02 -5.43463551e-04 3.62794431e+02] [-9.06715868e-02 9.95880847e-01 3.97341105e-05 -2.30713280e+01] [ 5.44827696e-04 9.70626875e-06 9.99999852e-01 -1.70994130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77028169299996 meters Centerline goodness [0,1] 0.9996620051544214 Centerline is valid? [True, True] Translation: X:362.82, Y:-23.08, Z:-1.71 [[ 9.95940534e-01 9.00135125e-02 1.41008600e-04 3.62824256e+02] [-9.00135119e-02 9.95940544e-01 -1.02931620e-05 -2.30764278e+01] [-1.41362706e-04 -2.44130204e-06 9.99999990e-01 -1.70898293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.800281693 meters Centerline goodness [0,1] 0.9997046787326499 Centerline is valid? [True, True] Translation: X:362.86, Y:-23.09, Z:-1.70 [[ 9.95964623e-01 8.96899995e-02 3.18974483e-03 3.62855454e+02] [-8.96897118e-02 9.95969729e-01 -2.33419341e-04 -2.30850291e+01] [-3.19782468e-03 -5.36098888e-05 9.99994886e-01 -1.70377975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83028169299996 meters Centerline goodness [0,1] 0.9994870479610156 Centerline is valid? [True, True] Translation: X:362.89, Y:-23.09, Z:-1.70 [[ 9.95898137e-01 9.03722732e-02 4.44449719e-03 3.62886363e+02] [-9.03717195e-02 9.95908051e-01 -3.25661997e-04 -2.30883252e+01] [-4.45574135e-03 -7.73306772e-05 9.99990070e-01 -1.70108266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.860281693 meters Centerline goodness [0,1] 0.9996605566870332 Centerline is valid? [True, True] Translation: X:362.92, Y:-23.09, Z:-1.70 [[ 9.95661473e-01 9.29810094e-02 3.57246844e-03 3.62918017e+02] [-9.29806674e-02 9.95667880e-01 -2.62054420e-04 -2.30878129e+01] [-3.58135816e-03 -7.12530102e-05 9.99993584e-01 -1.70253012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89028169299996 meters Centerline goodness [0,1] 0.999410960345009 Centerline is valid? [True, True] Translation: X:362.95, Y:-23.09, Z:-1.71 [[ 9.95458095e-01 9.51771747e-02 2.11837281e-03 3.62949439e+02] [-9.51770594e-02 9.95460347e-01 -1.55422407e-04 -2.30870555e+01] [-2.12354880e-03 -4.69040013e-05 9.99997744e-01 -1.70536646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92028169299994 meters Centerline goodness [0,1] 0.9992783001846702 Centerline is valid? [True, True] Translation: X:362.98, Y:-23.09, Z:-1.71 [[ 9.95263303e-01 9.72135087e-02 7.01213385e-04 3.62980435e+02] [-9.72134965e-02 9.95263550e-01 -5.15343923e-05 -2.30880411e+01] [-7.02901962e-04 -1.68771155e-05 9.99999753e-01 -1.70792435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95028169299997 meters Centerline goodness [0,1] 0.999304926596036 Centerline is valid? [True, True] Translation: X:363.01, Y:-23.09, Z:-1.71 [[ 9.95033460e-01 9.95397348e-02 -5.05249593e-04 3.63010543e+02] [-9.95397287e-02 9.95033588e-01 3.73010800e-05 -2.30878421e+01] [ 5.06453255e-04 1.31765848e-05 9.99999872e-01 -1.71105868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98028169299994 meters Centerline goodness [0,1] 0.9992915566432665 Centerline is valid? [True, True] Translation: X:363.04, Y:-23.09, Z:-1.71 [[ 9.95082715e-01 9.90462379e-02 -4.82254820e-04 3.63041008e+02] [-9.90462323e-02 9.95082832e-01 3.54872230e-05 -2.30925420e+01] [ 4.83398368e-04 1.24528007e-05 9.99999883e-01 -1.71154218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01028169299997 meters Centerline goodness [0,1] 0.9996998091643974 Centerline is valid? [True, True] Translation: X:363.07, Y:-23.10, Z:-1.71 [[ 9.95186136e-01 9.80028288e-02 2.66458400e-06 3.63071567e+02] [-9.80028288e-02 9.95186136e-01 -1.89488643e-07 -2.30995191e+01] [-2.67032747e-06 -7.25602968e-08 1.00000000e+00 -1.71097612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04028169299994 meters Centerline goodness [0,1] 0.9993477940712377 Centerline is valid? [True, True] Translation: X:363.10, Y:-23.10, Z:-1.71 [[ 9.95310393e-01 9.67266664e-02 1.08313847e-03 3.63101714e+02] [-9.67266369e-02 9.95310982e-01 -7.96952469e-05 -2.31046179e+01] [-1.08576827e-03 -2.54468339e-05 9.99999410e-01 -1.70848172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07028169299997 meters Centerline goodness [0,1] 0.9994072443211889 Centerline is valid? [True, True] Translation: X:363.13, Y:-23.11, Z:-1.71 [[ 9.95292505e-01 9.69077922e-02 1.30736132e-03 3.63132918e+02] [-9.69077493e-02 9.95293363e-01 -9.62046028e-05 -2.31085385e+01] [-1.31053102e-03 -3.09417232e-05 9.99999141e-01 -1.70726516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10028169299994 meters Centerline goodness [0,1] 0.9989379327923871 Centerline is valid? [True, True] Translation: X:363.16, Y:-23.10, Z:-1.71 [[ 9.95050380e-01 9.93408572e-02 2.47676841e-03 3.63163945e+02] [-9.93407109e-02 9.95053461e-01 -1.82355045e-04 -2.31026754e+01] [-2.48263228e-03 -6.45914777e-05 9.99996916e-01 -1.70510976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.130281693 meters Centerline goodness [0,1] 0.9987219358411792 Centerline is valid? [True, True] Translation: X:363.20, Y:-23.10, Z:-1.70 [[ 9.94885534e-01 1.00974449e-01 2.63335129e-03 3.63195335e+02] [-1.00974289e-01 9.94889017e-01 -1.93921646e-04 -2.31014247e+01] [-2.63947341e-03 -7.29709337e-05 9.99996514e-01 -1.70471731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16028169299994 meters Centerline goodness [0,1] 0.9986427450481401 Centerline is valid? [True, True] Translation: X:363.23, Y:-23.10, Z:-1.71 [[ 9.94707106e-01 1.02725927e-01 2.27075987e-03 3.63225812e+02] [-1.02725813e-01 9.94709696e-01 -1.67260881e-04 -2.30992299e+01] [-2.27592889e-03 -6.68900655e-05 9.99997408e-01 -1.70524506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.190281693 meters Centerline goodness [0,1] 0.9983194349897889 Centerline is valid? [True, True] Translation: X:363.26, Y:-23.09, Z:-1.71 [[ 9.94282539e-01 1.06778122e-01 8.15436412e-04 3.63256100e+02] [-1.06778109e-01 9.94282873e-01 -6.00786825e-05 -2.30948769e+01] [-8.17189548e-04 -2.73355730e-05 9.99999666e-01 -1.70802296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22028169299995 meters Centerline goodness [0,1] 0.9978065038226462 Centerline is valid? [True, True] Translation: X:363.28, Y:-23.09, Z:-1.71 [[ 9.94101335e-01 1.08455159e-01 -1.19760374e-04 3.63284983e+02] [-1.08455158e-01 9.94101342e-01 8.74377478e-06 -2.30909344e+01] [ 1.20002256e-04 4.29643212e-06 9.99999993e-01 -1.70976143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.250281693 meters Centerline goodness [0,1] 0.9980000842069807 Centerline is valid? [True, True] Translation: X:363.31, Y:-23.09, Z:-1.71 [[ 9.93976203e-01 1.09589709e-01 -1.18453144e-03 3.63314442e+02] [-1.09589683e-01 9.93976908e-01 8.71212992e-05 -2.30909096e+01] [ 1.18694449e-03 4.32159265e-05 9.99999295e-01 -1.71181144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28028169299995 meters Centerline goodness [0,1] 0.996917620233923 Centerline is valid? [True, True] Translation: X:363.34, Y:-23.09, Z:-1.71 [[ 9.93914369e-01 1.10142873e-01 -1.66595992e-03 3.63343808e+02] [-1.10142822e-01 9.93915763e-01 1.22468895e-04 -2.30867427e+01] [ 1.66931290e-03 6.17699329e-05 9.99998605e-01 -1.71296555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.310281693 meters Centerline goodness [0,1] 0.9975370504055374 Centerline is valid? [True, True] Translation: X:363.37, Y:-23.09, Z:-1.71 [[ 9.93923564e-01 1.10072089e-01 -2.91288879e-04 3.63372352e+02] [-1.10072087e-01 9.93923606e-01 2.13154605e-05 -2.30884857e+01] [ 2.91865131e-04 1.08768365e-05 9.99999957e-01 -1.71060325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34028169299995 meters Centerline goodness [0,1] 0.9973260302331097 Centerline is valid? [True, True] Translation: X:363.40, Y:-23.09, Z:-1.71 [[ 9.94015693e-01 1.09234062e-01 8.50025453e-04 3.63401702e+02] [-1.09234048e-01 9.94016056e-01 -6.25138015e-05 -2.30895746e+01] [-8.51767585e-04 -3.07120219e-05 9.99999637e-01 -1.70857822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.370281693 meters Centerline goodness [0,1] 0.997553228021978 Centerline is valid? [True, True] Translation: X:363.43, Y:-23.09, Z:-1.71 [[ 9.94135594e-01 1.08124155e-01 1.89412858e-03 3.63431607e+02] [-1.08124086e-01 9.94137396e-01 -1.39197038e-04 -2.30922216e+01] [-1.89807462e-03 -6.64201913e-05 9.99998196e-01 -1.70706407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40028169299995 meters Centerline goodness [0,1] 0.9985363753766681 Centerline is valid? [True, True] Translation: X:363.46, Y:-23.10, Z:-1.71 [[ 9.94558965e-01 1.04137882e-01 2.78689132e-03 3.63461704e+02] [-1.04137717e-01 9.94562866e-01 -2.04728054e-04 -2.30990030e+01] [-2.79305856e-03 -8.66063771e-05 9.99996096e-01 -1.70645642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.430281693 meters Centerline goodness [0,1] 0.9987858649114959 Centerline is valid? [True, True] Translation: X:363.49, Y:-23.10, Z:-1.71 [[ 9.94774295e-01 1.02067244e-01 2.52577507e-03 3.63491344e+02] [-1.02067101e-01 9.94777499e-01 -1.85527509e-04 -2.31012174e+01] [-2.53152048e-03 -7.32405427e-05 9.99996793e-01 -1.70722400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46028169299996 meters Centerline goodness [0,1] 0.9988227991695383 Centerline is valid? [True, True] Translation: X:363.52, Y:-23.11, Z:-1.71 [[ 9.95172902e-01 9.81116186e-02 2.23728997e-03 3.63520337e+02] [-9.81114969e-02 9.95175415e-01 -1.64321506e-04 -2.31062180e+01] [-2.24261783e-03 -5.59755586e-05 9.99997484e-01 -1.70843381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.490281693 meters Centerline goodness [0,1] 0.9989479334406871 Centerline is valid? [True, True] Translation: X:363.55, Y:-23.11, Z:-1.71 [[ 9.95357737e-01 9.62219863e-02 2.07478241e-03 3.63550242e+02] [-9.62218774e-02 9.95359898e-01 -1.52475983e-04 -2.31123606e+01] [-2.07982675e-03 -4.78713088e-05 9.99997836e-01 -1.70863216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52028169299996 meters Centerline goodness [0,1] 0.9993048533872598 Centerline is valid? [True, True] Translation: X:363.58, Y:-23.12, Z:-1.71 [[ 9.95513805e-01 9.46045806e-02 1.49546298e-03 3.63579997e+02] [-9.46045222e-02 9.95514928e-01 -1.09901736e-04 -2.31172542e+01] [-1.49915292e-03 -3.20688652e-05 9.99998876e-01 -1.70938564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.550281693 meters Centerline goodness [0,1] 0.9994471496310787 Centerline is valid? [True, True] Translation: X:363.61, Y:-23.12, Z:-1.71 [[ 9.95666779e-01 9.29863273e-02 1.09874087e-03 3.63609717e+02] [-9.29862948e-02 9.95667385e-01 -8.07465854e-05 -2.31241402e+01] [-1.10148878e-03 -2.17711501e-05 9.99999393e-01 -1.70967203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58028169299996 meters Centerline goodness [0,1] 0.9994894811852545 Centerline is valid? [True, True] Translation: X:363.64, Y:-23.13, Z:-1.71 [[ 9.95884727e-01 9.06138137e-02 1.65743104e-03 3.63639555e+02] [-9.06137365e-02 9.95886106e-01 -1.21804786e-04 -2.31307670e+01] [-1.66164974e-03 -2.88824932e-05 9.99998619e-01 -1.70972960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.610281693 meters Centerline goodness [0,1] 0.9995765313684389 Centerline is valid? [True, True] Translation: X:363.67, Y:-23.13, Z:-1.71 [[ 9.95947311e-01 8.99239841e-02 1.62176289e-03 3.63669367e+02] [-8.99239092e-02 9.95948631e-01 -1.19177987e-04 -2.31330111e+01] [-1.62590949e-03 -2.71402640e-05 9.99998678e-01 -1.70965580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64028169299996 meters Centerline goodness [0,1] 0.9995748570456816 Centerline is valid? [True, True] Translation: X:363.70, Y:-23.14, Z:-1.71 [[ 9.95961870e-01 8.97626669e-02 1.61802778e-03 3.63699045e+02] [-8.97625921e-02 9.95963184e-01 -1.18922468e-04 -2.31365808e+01] [-1.62217090e-03 -2.67961246e-05 9.99998684e-01 -1.70907460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67028169299994 meters Centerline goodness [0,1] 0.9993252930758202 Centerline is valid? [True, True] Translation: X:363.73, Y:-23.14, Z:-1.71 [[ 9.95922392e-01 9.01960450e-02 1.80617036e-03 3.63730508e+02] [-9.01959525e-02 9.95924029e-01 -1.32770257e-04 -2.31380541e+01] [-1.81078381e-03 -3.06803835e-05 9.99998360e-01 -1.70873050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70028169299997 meters Centerline goodness [0,1] 0.9992160684774779 Centerline is valid? [True, True] Translation: X:363.76, Y:-23.14, Z:-1.71 [[ 9.95875653e-01 9.06994419e-02 2.30098083e-03 3.63761696e+02] [-9.06992930e-02 9.95878311e-01 -1.69207156e-04 -2.31385729e+01] [-2.30684389e-03 -4.01880472e-05 9.99997338e-01 -1.70810878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73028169299994 meters Centerline goodness [0,1] 0.9992991398534565 Centerline is valid? [True, True] Translation: X:363.79, Y:-23.14, Z:-1.71 [[ 9.95790672e-01 9.16194233e-02 2.61126077e-03 3.63793446e+02] [-9.16192345e-02 9.95794095e-01 -1.92088239e-04 -2.31391752e+01] [-2.61787707e-03 -4.79620361e-05 9.99996572e-01 -1.70821695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76028169299997 meters Centerline goodness [0,1] 0.9993598087962271 Centerline is valid? [True, True] Translation: X:363.83, Y:-23.14, Z:-1.71 [[ 9.95706509e-01 9.25405124e-02 2.19116917e-03 3.63825084e+02] [-9.25403816e-02 9.95708919e-01 -1.61227354e-04 -2.31397201e+01] [-2.19668675e-03 -4.22365054e-05 9.99997586e-01 -1.70849834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79028169299994 meters Centerline goodness [0,1] 0.999128419889033 Centerline is valid? [True, True] Translation: X:363.85, Y:-23.13, Z:-1.71 [[ 9.95460378e-01 9.51739417e-02 7.46401181e-04 3.63854836e+02] [-9.51739273e-02 9.95460657e-01 -5.49519513e-05 -2.31338387e+01] [-7.48243004e-04 -1.63354415e-05 9.99999720e-01 -1.71075459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82028169299997 meters Centerline goodness [0,1] 0.999350663405554 Centerline is valid? [True, True] Translation: X:363.89, Y:-23.14, Z:-1.71 [[ 9.95345178e-01 9.63727007e-02 5.28358642e-04 3.63885089e+02] [-9.63726936e-02 9.95345318e-01 -3.88823982e-05 -2.31387346e+01] [-5.29646502e-04 -1.22179379e-05 9.99999860e-01 -1.71096468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85028169299994 meters Centerline goodness [0,1] 0.998965349775122 Centerline is valid? [True, True] Translation: X:363.92, Y:-23.13, Z:-1.71 [[ 9.95315414e-01 9.66786181e-02 6.86355069e-04 3.63915670e+02] [-9.66786062e-02 9.95315651e-01 -5.05269560e-05 -2.31303200e+01] [-6.88024819e-04 -1.60655933e-05 9.99999763e-01 -1.71227683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.880281693 meters Centerline goodness [0,1] 0.9991269351163732 Centerline is valid? [True, True] Translation: X:363.95, Y:-23.14, Z:-1.71 [[ 9.95464072e-01 9.51303467e-02 1.22439949e-03 3.63945178e+02] [-9.51303078e-02 9.95464824e-01 -9.01099877e-05 -2.31378545e+01] [-1.22741882e-03 -2.67762450e-05 9.99999246e-01 -1.71153626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91028169299994 meters Centerline goodness [0,1] 0.9992381919756221 Centerline is valid? [True, True] Translation: X:363.97, Y:-23.14, Z:-1.71 [[ 9.95634725e-01 9.33240404e-02 1.45519456e-03 3.63974554e+02] [-9.33239836e-02 9.95635788e-01 -1.07044631e-04 -2.31393301e+01] [-1.45883362e-03 -2.92272015e-05 9.99998935e-01 -1.71151775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.940281693 meters Centerline goodness [0,1] 0.9992997347480106 Centerline is valid? [True, True] Translation: X:364.00, Y:-23.14, Z:-1.71 [[ 9.95810323e-01 9.14288182e-02 1.60350339e-03 3.64004918e+02] [-9.14287468e-02 9.95811614e-01 -1.17927353e-04 -2.31443274e+01] [-1.60756926e-03 -2.91730294e-05 9.99998707e-01 -1.71099529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97028169299995 meters Centerline goodness [0,1] 0.9995773367991716 Centerline is valid? [True, True] Translation: X:364.04, Y:-23.15, Z:-1.71 [[ 9.96197664e-01 8.71165420e-02 9.60723334e-04 3.64035466e+02] [-8.71165144e-02 9.96198127e-01 -7.06292297e-05 -2.31514272e+01] [-9.63223760e-04 -1.33341945e-05 9.99999536e-01 -1.71205225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.000281693 meters Centerline goodness [0,1] 0.9996806812134114 Centerline is valid? [True, True] Translation: X:364.07, Y:-23.16, Z:-1.71 [[ 9.96326920e-01 8.56309895e-02 5.10965925e-05 3.64065336e+02] [-8.56309894e-02 9.96326921e-01 -3.75898299e-06 -2.31558663e+01] [-5.12307961e-05 -6.30275823e-07 9.99999999e-01 -1.71362160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03028169299995 meters Centerline goodness [0,1] 0.9997685380018517 Centerline is valid? [True, True] Translation: X:364.09, Y:-23.16, Z:-1.71 [[ 9.96459196e-01 8.40775577e-02 1.88826537e-04 3.64094659e+02] [-8.40775566e-02 9.96459214e-01 -1.39126780e-05 -2.31570792e+01] [-1.89327687e-04 -2.01265797e-06 9.99999982e-01 -1.71345037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.060281693 meters Centerline goodness [0,1] 0.9998732171156893 Centerline is valid? [True, True] Translation: X:364.12, Y:-23.16, Z:-1.71 [[ 9.96464817e-01 8.40084467e-02 6.71025759e-04 3.64124676e+02] [-8.40084325e-02 9.96465042e-01 -4.93573006e-05 -2.31600593e+01] [-6.72800141e-04 -7.18900864e-06 9.99999774e-01 -1.71200922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09028169299995 meters Centerline goodness [0,1] 0.9997442945726523 Centerline is valid? [True, True] Translation: X:364.15, Y:-23.16, Z:-1.71 [[ 9.96456005e-01 8.41060326e-02 1.26685785e-03 3.64154758e+02] [-8.41059820e-02 9.96456810e-01 -9.31837312e-05 -2.31617961e+01] [-1.27020645e-03 -1.36968353e-05 9.99999193e-01 -1.71129648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.120281693 meters Centerline goodness [0,1] 0.9998075895243186 Centerline is valid? [True, True] Translation: X:364.19, Y:-23.16, Z:-1.71 [[ 9.96498595e-01 8.36055841e-02 8.10212816e-04 3.64185660e+02] [-8.36055633e-02 9.96498924e-01 -5.95799751e-05 -2.31642589e+01] [-8.12357419e-04 -8.36693741e-06 9.99999670e-01 -1.71232139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.15028169299995 meters Centerline goodness [0,1] 0.9998720900486058 Centerline is valid? [True, True] Translation: X:364.22, Y:-23.17, Z:-1.71 [[ 9.96602774e-01 8.23559343e-02 6.40601493e-04 3.64216074e+02] [-8.23559211e-02 9.96602980e-01 -4.71098629e-05 -2.31681130e+01] [-6.42305134e-04 -5.80750594e-06 9.99999794e-01 -1.71317634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.180281693 meters Centerline goodness [0,1] 0.9998720900486058 Centerline is valid? [True, True] Translation: X:364.25, Y:-23.17, Z:-1.71 [[ 9.96602774e-01 8.23559344e-02 6.40599687e-04 3.64245994e+02] [-8.23559211e-02 9.96602980e-01 -4.71344130e-05 -2.31703144e+01] [-6.42305356e-04 -5.78289050e-06 9.99999794e-01 -1.71323949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.21028169299996 meters Centerline goodness [0,1] 0.9999161267325072 Centerline is valid? [True, True] Translation: X:364.28, Y:-23.18, Z:-1.71 [[ 9.96920637e-01 7.83870571e-02 2.17078349e-03 3.64276304e+02] [-7.83868952e-02 9.96923001e-01 -1.59734036e-04 -2.31794050e+01] [-2.17662508e-03 -1.09188209e-05 9.99997631e-01 -1.71102643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.240281693 meters Centerline goodness [0,1] 0.999956964258817 Centerline is valid? [True, True] Translation: X:364.31, Y:-23.19, Z:-1.71 [[ 9.97081633e-01 7.62742895e-02 3.23269771e-03 3.64308140e+02] [-7.62739170e-02 9.97086873e-01 -2.38537712e-04 -2.31873207e+01] [-3.24147474e-03 -8.72894572e-06 9.99994746e-01 -1.70929536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.27028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.34, Y:-23.19, Z:-1.71 [[ 9.97171204e-01 7.50863272e-02 3.41078865e-03 3.64339383e+02] [-7.50859035e-02 9.97177037e-01 -2.52284070e-04 -2.31934247e+01] [-3.42010320e-03 -4.53173757e-06 9.99994151e-01 -1.70844496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.300281693 meters Centerline goodness [0,1] 0.9999784529196294 Centerline is valid? [True, True] Translation: X:364.37, Y:-23.20, Z:-1.71 [[ 9.97205773e-01 7.46663257e-02 2.36369818e-03 3.64370692e+02] [-7.46661203e-02 9.97208574e-01 -1.75137125e-04 -2.32003207e+01] [-2.37017694e-03 -1.84042130e-06 9.99997191e-01 -1.71020857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.33028169299996 meters Centerline goodness [0,1] 0.9999572886857728 Centerline is valid? [True, True] Translation: X:364.40, Y:-23.20, Z:-1.71 [[ 9.97143381e-01 7.55101698e-02 1.81449862e-03 3.64401710e+02] [-7.55100497e-02 9.97145032e-01 -1.34662781e-04 -2.32035265e+01] [-1.81948670e-03 -2.73478061e-06 9.99998345e-01 -1.71137890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.360281693 meters Centerline goodness [0,1] 0.9999360600183295 Centerline is valid? [True, True] Translation: X:364.43, Y:-23.20, Z:-1.71 [[ 9.96877071e-01 7.89517258e-02 1.65246424e-03 3.64432564e+02] [-7.89516306e-02 9.96878440e-01 -1.22884255e-04 -2.32039406e+01] [-1.65700790e-03 -7.96424957e-06 9.99998627e-01 -1.71147445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.39028169299996 meters Centerline goodness [0,1] 0.9998301414072784 Centerline is valid? [True, True] Translation: X:364.46, Y:-23.20, Z:-1.71 [[ 9.96689680e-01 8.12895242e-02 1.30218284e-03 3.64462919e+02] [-8.12894669e-02 9.96690530e-01 -9.69417177e-05 -2.32037273e+01] [-1.30575365e-03 -9.23293942e-06 9.99999147e-01 -1.71203523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42028169299994 meters Centerline goodness [0,1] 0.9997429636293536 Centerline is valid? [True, True] Translation: X:364.49, Y:-23.20, Z:-1.71 [[ 9.96489790e-01 8.37071795e-02 1.09857870e-03 3.64494201e+02] [-8.37071402e-02 9.96490395e-01 -8.18505348e-05 -2.32036100e+01] [-1.10157460e-03 -1.03956590e-05 9.99999393e-01 -1.71222723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.45028169299997 meters Centerline goodness [0,1] 0.9995786546442792 Centerline is valid? [True, True] Translation: X:364.53, Y:-23.19, Z:-1.71 [[ 9.95998855e-01 8.93604618e-02 9.94212416e-04 3.64525020e+02] [-8.93604323e-02 9.95999351e-01 -7.41177297e-05 -2.31944212e+01] [-9.96858116e-04 -1.50220774e-05 9.99999503e-01 -1.71229462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48028169299994 meters Centerline goodness [0,1] 0.9993690719047719 Centerline is valid? [True, True] Translation: X:364.56, Y:-23.19, Z:-1.71 [[ 9.95713275e-01 9.24824679e-02 1.43775083e-03 3.64555249e+02] [-9.24824095e-02 9.95714313e-01 -1.07190490e-04 -2.31935676e+01] [-1.44150232e-03 -2.62356668e-05 9.99998961e-01 -1.71155726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.51028169299997 meters Centerline goodness [0,1] 0.9991512656750621 Centerline is valid? [True, True] Translation: X:364.59, Y:-23.18, Z:-1.71 [[ 9.95242867e-01 9.74168466e-02 1.26278946e-03 3.64586683e+02] [-9.74168055e-02 9.95243667e-01 -9.41259290e-05 -2.31844544e+01] [-1.26595267e-03 -2.93387563e-05 9.99999198e-01 -1.71275371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54028169299994 meters Centerline goodness [0,1] 0.9990198167483486 Centerline is valid? [True, True] Translation: X:364.62, Y:-23.19, Z:-1.71 [[ 9.95136768e-01 9.85008129e-02 6.34421070e-04 3.64616011e+02] [-9.85008027e-02 9.95136970e-01 -4.73226142e-05 -2.31856201e+01] [-6.35997177e-04 -1.53985113e-05 9.99999798e-01 -1.71388307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.57028169299997 meters Centerline goodness [0,1] 0.9989350145903001 Centerline is valid? [True, True] Translation: X:364.65, Y:-23.19, Z:-1.71 [[ 9.95107862e-01 9.87942514e-02 1.99207913e-04 3.64645293e+02] [-9.87942504e-02 9.95107882e-01 -1.48882085e-05 -2.31858012e+01] [-1.99704234e-04 -4.86522306e-06 9.99999980e-01 -1.71473675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60028169299994 meters Centerline goodness [0,1] 0.9990027371681979 Centerline is valid? [True, True] Translation: X:364.67, Y:-23.18, Z:-1.72 [[ 9.95132594e-01 9.85426080e-02 -6.88544461e-04 3.64674470e+02] [-9.85425961e-02 9.95132832e-01 5.11937703e-05 -2.31821804e+01] [ 6.90237967e-04 1.69063693e-05 9.99999762e-01 -1.71631023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.630281693 meters Centerline goodness [0,1] 0.9993005659057671 Centerline is valid? [True, True] Translation: X:364.70, Y:-23.19, Z:-1.72 [[ 9.95394407e-01 9.58589859e-02 -1.01467031e-03 3.64703425e+02] [-9.58589587e-02 9.95394924e-01 7.54775025e-05 -2.31895587e+01] [ 1.01723287e-03 2.21353553e-05 9.99999482e-01 -1.71677294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66028169299994 meters Centerline goodness [0,1] 0.9995073364035557 Centerline is valid? [True, True] Translation: X:364.73, Y:-23.19, Z:-1.72 [[ 9.95584139e-01 9.38732101e-02 -2.04347571e-04 3.64732612e+02] [-9.38732089e-02 9.95584160e-01 1.51577370e-05 -2.31931203e+01] [ 2.04868111e-04 4.09195967e-06 9.99999979e-01 -1.71550734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.690281693 meters Centerline goodness [0,1] 0.9996386208069384 Centerline is valid? [True, True] Translation: X:364.76, Y:-23.20, Z:-1.71 [[ 9.95833615e-01 9.11764032e-02 1.50806567e-03 3.64762235e+02] [-9.11763377e-02 9.95834757e-01 -1.12230601e-04 -2.31991977e+01] [-1.51201699e-03 -2.57368993e-05 9.99998857e-01 -1.71211313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72028169299995 meters Centerline goodness [0,1] 0.99957710443406 Centerline is valid? [True, True] Translation: X:364.79, Y:-23.20, Z:-1.71 [[ 9.95878927e-01 9.06634347e-02 2.30303075e-03 3.64791466e+02] [-9.06632808e-02 9.95881589e-01 -1.71319018e-04 -2.31998817e+01] [-2.30907829e-03 -3.81873238e-05 9.99997333e-01 -1.71127052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.750281693 meters Centerline goodness [0,1] 0.9995766120496211 Centerline is valid? [True, True] Translation: X:364.82, Y:-23.20, Z:-1.71 [[ 9.95861742e-01 9.08492992e-02 2.40756216e-03 3.64821151e+02] [-9.08491315e-02 9.95864651e-01 -1.79124671e-04 -2.31983914e+01] [-2.41387940e-03 -4.03415240e-05 9.99997086e-01 -1.71071525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78028169299995 meters Centerline goodness [0,1] 0.9997221391014406 Centerline is valid? [True, True] Translation: X:364.85, Y:-23.20, Z:-1.71 [[ 9.95826752e-01 9.12459124e-02 1.80659371e-03 3.64851430e+02] [-9.12458187e-02 9.95828390e-01 -1.34393855e-04 -2.32012014e+01] [-1.81132020e-03 -3.10111258e-05 9.99998359e-01 -1.71067400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.810281693 meters Centerline goodness [0,1] 0.9996814813241883 Centerline is valid? [True, True] Translation: X:364.88, Y:-23.20, Z:-1.71 [[ 9.95692737e-01 9.27141038e-02 2.60571401e-04 3.64880735e+02] [-9.27141019e-02 9.95692771e-01 -1.94493951e-05 -2.31966757e+01] [-2.61252293e-04 -4.79302198e-06 9.99999966e-01 -1.71375489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84028169299995 meters Centerline goodness [0,1] 0.9995523915082275 Centerline is valid? [True, True] Translation: X:364.91, Y:-23.20, Z:-1.71 [[ 9.95652006e-01 9.31506749e-02 -1.86330560e-04 3.64910203e+02] [-9.31506740e-02 9.95652023e-01 1.38018445e-05 -2.31989989e+01] [ 1.86806050e-04 3.61498308e-06 9.99999983e-01 -1.71487096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.870281693 meters Centerline goodness [0,1] 0.9995115632100915 Centerline is valid? [True, True] Translation: X:364.94, Y:-23.20, Z:-1.71 [[ 9.95788511e-01 9.16764353e-02 8.19631514e-04 3.64938871e+02] [-9.16764161e-02 9.95788849e-01 -6.09691291e-05 -2.32009967e+01] [-8.21769354e-04 -1.44285215e-05 9.99999662e-01 -1.71371598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90028169299995 meters Centerline goodness [0,1] 0.9996189024390244 Centerline is valid? [True, True] Translation: X:364.97, Y:-23.21, Z:-1.71 [[ 9.95908985e-01 9.03489611e-02 1.53588437e-03 3.64968602e+02] [-9.03488925e-02 9.95910169e-01 -1.14125809e-04 -2.32059403e+01] [-1.53991401e-03 -2.51065336e-05 9.99998814e-01 -1.71264257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.930281693 meters Centerline goodness [0,1] 0.9996404095101108 Centerline is valid? [True, True] Translation: X:365.00, Y:-23.21, Z:-1.71 [[ 9.96138835e-01 8.77841426e-02 1.16882723e-03 3.64998317e+02] [-8.77841012e-02 9.96139520e-01 -8.68134409e-05 -2.32096574e+01] [-1.17193584e-03 -1.61262079e-05 9.99999313e-01 -1.71278703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96028169299996 meters Centerline goodness [0,1] 0.9997659922990193 Centerline is valid? [True, True] Translation: X:365.03, Y:-23.21, Z:-1.71 [[ 9.96176390e-01 8.73647393e-02 -4.19957477e-05 3.65028307e+02] [-8.73647392e-02 9.96176391e-01 3.07075294e-06 -2.32118431e+01] [ 4.21034479e-05 6.09935970e-07 9.99999999e-01 -1.71464868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.990281693 meters Centerline goodness [0,1] 0.9998071111682634 Centerline is valid? [True, True] Translation: X:365.06, Y:-23.22, Z:-1.72 [[ 9.96149106e-01 8.76686069e-02 -1.08395291e-03 3.65057475e+02] [-8.76685713e-02 9.96149695e-01 8.04076087e-05 -2.32150665e+01] [ 1.08682858e-03 1.49306351e-05 9.99999409e-01 -1.71627796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02028169299996 meters Centerline goodness [0,1] 0.9998520710059171 Centerline is valid? [True, True] Translation: X:365.09, Y:-23.21, Z:-1.72 [[ 9.96090826e-01 8.83093820e-02 -2.12607538e-03 3.65085936e+02] [-8.83092463e-02 9.96093094e-01 1.57833807e-04 -2.32118308e+01] [ 2.13170721e-03 3.05353078e-05 9.99997727e-01 -1.71885229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.050281693 meters Centerline goodness [0,1] 0.9997884045704613 Centerline is valid? [True, True] Translation: X:365.11, Y:-23.21, Z:-1.72 [[ 9.96116873e-01 8.80274257e-02 -1.53218050e-03 3.65114922e+02] [-8.80273551e-02 9.96118051e-01 1.13609594e-04 -2.32118345e+01] [ 1.53623341e-03 2.17053634e-05 9.99998820e-01 -1.71843928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08028169299996 meters Centerline goodness [0,1] 0.9998493360022385 Centerline is valid? [True, True] Translation: X:365.14, Y:-23.22, Z:-1.71 [[ 9.96299137e-01 8.59492481e-02 8.69974304e-04 3.65144583e+02] [-8.59492245e-02 9.96299517e-01 -6.45787307e-05 -2.32182851e+01] [-8.72305472e-04 -1.04338831e-05 9.99999619e-01 -1.71332045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.110281693 meters Centerline goodness [0,1] 0.9999357312710212 Centerline is valid? [True, True] Translation: X:365.18, Y:-23.22, Z:-1.71 [[ 9.96401373e-01 8.47397982e-02 1.86277177e-03 3.65175342e+02] [-8.47396880e-02 9.96403114e-01 -1.38167879e-04 -2.32216056e+01] [-1.86777991e-03 -2.01800339e-05 9.99998255e-01 -1.71120212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14028169299996 meters Centerline goodness [0,1] 0.9997856239415183 Centerline is valid? [True, True] Translation: X:365.21, Y:-23.22, Z:-1.71 [[ 9.96497260e-01 8.36062415e-02 1.79069277e-03 3.65205363e+02] [-8.36061378e-02 9.96498869e-01 -1.32821544e-04 -2.32249125e+01] [-1.79552803e-03 -1.73566019e-05 9.99998388e-01 -1.71142896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17028169299994 meters Centerline goodness [0,1] 0.9999140524280189 Centerline is valid? [True, True] Translation: X:365.24, Y:-23.23, Z:-1.71 [[ 9.96652148e-01 8.17579145e-02 3.74071879e-04 3.65235727e+02] [-8.17579098e-02 9.96652218e-01 -2.77461357e-05 -2.32283179e+01] [-3.75088034e-04 -2.93008927e-06 9.99999930e-01 -1.71396414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20028169299997 meters Centerline goodness [0,1] 0.999915011154786 Centerline is valid? [True, True] Translation: X:365.27, Y:-23.23, Z:-1.71 [[ 9.96685120e-01 8.13556548e-02 1.68560787e-04 3.65265107e+02] [-8.13556538e-02 9.96685135e-01 -1.25259139e-05 -2.32289706e+01] [-1.69021085e-04 -1.22898102e-06 9.99999986e-01 -1.71453232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.23028169299994 meters Centerline goodness [0,1] 0.9999148392591015 Centerline is valid? [True, True] Translation: X:365.29, Y:-23.23, Z:-1.71 [[ 9.96740840e-01 8.06686844e-02 5.10592572e-04 3.65294670e+02] [-8.06686755e-02 9.96740971e-01 -3.78847153e-05 -2.32290695e+01] [-5.11984646e-04 -3.42758363e-06 9.99999869e-01 -1.71402794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26028169299997 meters Centerline goodness [0,1] 0.9999147666737694 Centerline is valid? [True, True] Translation: X:365.32, Y:-23.23, Z:-1.71 [[ 9.96792527e-01 8.00275367e-02 5.01909370e-04 3.65324827e+02] [-8.00275281e-02 9.96792653e-01 -3.72163711e-05 -2.32317529e+01] [-5.03277908e-04 -3.06956568e-06 9.99999873e-01 -1.71437899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.29028169299994 meters Centerline goodness [0,1] 0.9999159080875397 Centerline is valid? [True, True] Translation: X:365.36, Y:-23.24, Z:-1.72 [[ 9.96867448e-01 7.90903716e-02 7.01998401e-05 3.65355603e+02] [-7.90903715e-02 9.96867450e-01 -5.20528895e-06 -2.32350950e+01] [-7.03916238e-05 -3.63148321e-07 9.99999998e-01 -1.71515915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32028169299997 meters Centerline goodness [0,1] 0.9999361552703824 Centerline is valid? [True, True] Translation: X:365.39, Y:-23.24, Z:-1.72 [[ 9.97077273e-01 7.63996800e-02 3.65169197e-05 3.65386101e+02] [-7.63996800e-02 9.97077273e-01 -2.70771440e-06 -2.32404176e+01] [-3.66170593e-05 -9.00804860e-08 9.99999999e-01 -1.71551878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.35028169299994 meters Centerline goodness [0,1] 0.9999577658114244 Centerline is valid? [True, True] Translation: X:365.42, Y:-23.24, Z:-1.71 [[ 9.97156594e-01 7.53558664e-02 4.69549955e-04 3.65415172e+02] [-7.53558584e-02 9.97156705e-01 -3.48363927e-05 -2.32431756e+01] [-4.70840013e-04 -6.46001258e-07 9.99999889e-01 -1.71462276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.380281693 meters Centerline goodness [0,1] 0.9999788238781949 Centerline is valid? [True, True] Translation: X:365.45, Y:-23.25, Z:-1.71 [[ 9.97222283e-01 7.44722179e-02 1.26732338e-03 3.65445954e+02] [-7.44721587e-02 9.97223089e-01 -9.39563671e-05 -2.32465595e+01] [-1.27080127e-03 -6.84924539e-07 9.99999193e-01 -1.71249596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.41028169299994 meters Centerline goodness [0,1] 0.999829765501979 Centerline is valid? [True, True] Translation: X:365.48, Y:-23.25, Z:-1.71 [[ 9.97305982e-01 7.32633202e-02 3.64193953e-03 3.65475716e+02] [-7.32628227e-02 9.97312632e-01 -2.70022954e-04 -2.32507264e+01] [-3.65193508e-03 2.47673704e-06 9.99993332e-01 -1.70846155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.440281693 meters Centerline goodness [0,1] 0.9998947102425876 Centerline is valid? [True, True] Translation: X:365.51, Y:-23.25, Z:-1.71 [[ 9.97337415e-01 7.28245045e-02 3.83031979e-03 3.65507377e+02] [-7.28239507e-02 9.97344771e-01 -2.84055227e-04 -2.32536390e+01] [-3.84083559e-03 4.35988685e-06 9.99992624e-01 -1.70812823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.47028169299995 meters Centerline goodness [0,1] 0.9998298343011508 Centerline is valid? [True, True] Translation: X:365.54, Y:-23.26, Z:-1.71 [[ 9.97450613e-01 7.13183200e-02 2.44370553e-03 3.65538788e+02] [-7.13180899e-02 9.97453607e-01 -1.81262658e-04 -2.32584871e+01] [-2.45041024e-03 6.52013875e-06 9.99996998e-01 -1.71181828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.500281693 meters Centerline goodness [0,1] 0.9997666574743853 Centerline is valid? [True, True] Translation: X:365.57, Y:-23.26, Z:-1.71 [[ 9.97546825e-01 6.99952891e-02 9.95896540e-04 3.65570208e+02] [-6.99952503e-02 9.97547322e-01 -7.38646667e-05 -2.32630424e+01] [-9.98624105e-04 3.97543617e-06 9.99999501e-01 -1.71405466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.53028169299995 meters Centerline goodness [0,1] 0.9998713302309622 Centerline is valid? [True, True] Translation: X:365.60, Y:-23.27, Z:-1.72 [[ 9.97668940e-01 6.82398280e-02 1.10617493e-04 3.65600168e+02] [-6.82398275e-02 9.97668946e-01 -8.18663299e-06 -2.32687132e+01] [-1.10918292e-04 6.19030803e-07 9.99999994e-01 -1.71555289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.560281693 meters Centerline goodness [0,1] 0.9997045416174236 Centerline is valid? [True, True] Translation: X:365.63, Y:-23.28, Z:-1.72 [[ 9.97914127e-01 6.45552063e-02 -1.41682011e-04 3.65630171e+02] [-6.45552055e-02 9.97914137e-01 1.05429781e-05 -2.32800887e+01] [ 1.42067086e-04 -1.37467545e-06 9.99999990e-01 -1.71638204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.59028169299995 meters Centerline goodness [0,1] 0.9996818731310047 Centerline is valid? [True, True] Translation: X:365.66, Y:-23.29, Z:-1.72 [[ 9.98023723e-01 6.28382249e-02 7.41184525e-05 3.65661520e+02] [-6.28382246e-02 9.98023726e-01 -5.45608345e-06 -2.32859968e+01] [-7.43148248e-05 7.87828754e-07 9.99999997e-01 -1.71541823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.620281693 meters Centerline goodness [0,1] 0.999490662139219 Centerline is valid? [True, True] Translation: X:365.69, Y:-23.29, Z:-1.71 [[ 9.98121221e-01 6.12676754e-02 5.47769434e-04 3.65692277e+02] [-6.12676624e-02 9.98121371e-01 -4.04484268e-05 -2.32927380e+01] [-5.49218560e-04 6.81188039e-06 9.99999849e-01 -1.71486824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.65028169299995 meters Centerline goodness [0,1] 0.998979396568221 Centerline is valid? [True, True] Translation: X:365.72, Y:-23.30, Z:-1.71 [[ 9.98249255e-01 5.91033929e-02 2.28329288e-03 3.65723776e+02] [-5.91031588e-02 9.98251866e-01 -1.69937906e-04 -2.33009378e+01] [-2.28934528e-03 3.46905666e-05 9.99997379e-01 -1.71105620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.680281693 meters Centerline goodness [0,1] 0.9988799898565119 Centerline is valid? [True, True] Translation: X:365.75, Y:-23.31, Z:-1.71 [[ 9.98297848e-01 5.82594704e-02 2.69098967e-03 3.65754568e+02] [-5.82591408e-02 9.98301474e-01 -2.00762753e-04 -2.33060803e+01] [-2.69811529e-03 4.36462782e-05 9.99996359e-01 -1.71069470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.71028169299996 meters Centerline goodness [0,1] 0.9992328510239308 Centerline is valid? [True, True] Translation: X:365.79, Y:-23.31, Z:-1.72 [[ 9.98367213e-01 5.71210687e-02 3.03377255e-04 3.65786483e+02] [-5.71210645e-02 9.98367259e-01 -2.23856391e-05 -2.33148930e+01] [-3.04160610e-04 5.01985637e-06 9.99999954e-01 -1.71593030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.740281693 meters Centerline goodness [0,1] 0.9992943893260349 Centerline is valid? [True, True] Translation: X:365.82, Y:-23.32, Z:-1.72 [[ 9.98353588e-01 5.73428811e-02 -1.38089980e-03 3.65817904e+02] [-5.73427921e-02 9.98354543e-01 1.03984231e-04 -2.33200796e+01] [ 1.38459035e-03 -2.46283800e-05 9.99999041e-01 -1.71928127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.77028169299996 meters Centerline goodness [0,1] 0.9993626378295694 Centerline is valid? [True, True] Translation: X:365.85, Y:-23.32, Z:-1.72 [[ 9.98325326e-01 5.78043733e-02 -2.27972216e-03 3.65848890e+02] [-5.78041325e-02 9.98327929e-01 1.71468103e-04 -2.33247184e+01] [ 2.28582191e-03 -3.94035884e-05 9.99997387e-01 -1.72124018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.800281693 meters Centerline goodness [0,1] 0.999448615175807 Centerline is valid? [True, True] Translation: X:365.88, Y:-23.33, Z:-1.72 [[ 9.98252017e-01 5.90483924e-02 -2.48940741e-03 3.65880230e+02] [-5.90481092e-02 9.98255121e-01 1.87140588e-04 -2.33271545e+01] [ 2.49611404e-03 -3.98186685e-05 9.99996884e-01 -1.72153471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.83028169299996 meters Centerline goodness [0,1] 0.999556550384323 Centerline is valid? [True, True] Translation: X:365.91, Y:-23.33, Z:-1.72 [[ 9.98052824e-01 6.23570140e-02 -1.47067591e-03 3.65911600e+02] [-6.23569187e-02 9.98053908e-01 1.10610446e-04 -2.33267298e+01] [ 1.47471118e-03 -1.86882497e-05 9.99998912e-01 -1.71932365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.860281693 meters Centerline goodness [0,1] 0.999723709937941 Centerline is valid? [True, True] Translation: X:365.94, Y:-23.33, Z:-1.72 [[ 9.97922553e-01 6.44218184e-02 -6.37893709e-04 3.65942740e+02] [-6.44218007e-02 9.97922757e-01 4.83533717e-05 -2.33273838e+01] [ 6.39683661e-04 -7.15865873e-06 9.99999795e-01 -1.71819942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.89028169299996 meters Centerline goodness [0,1] 0.9997034652207066 Centerline is valid? [True, True] Translation: X:365.97, Y:-23.33, Z:-1.72 [[ 9.97785121e-01 6.65193677e-02 1.63663321e-04 3.65973899e+02] [-6.65193666e-02 9.97785134e-01 -1.22826909e-05 -2.33256845e+01] [-1.64117865e-04 1.36870582e-06 9.99999987e-01 -1.71598366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92028169299994 meters Centerline goodness [0,1] 0.9998515596836101 Centerline is valid? [True, True] Translation: X:366.00, Y:-23.32, Z:-1.71 [[ 9.97478917e-01 7.09554441e-02 1.06497836e-03 3.66004329e+02] [-7.09553989e-02 9.97479486e-01 -8.01767925e-05 -2.33235928e+01] [-1.06798304e-03 4.40869613e-06 9.99999430e-01 -1.71450676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.95028169299997 meters Centerline goodness [0,1] 0.9999153528727119 Centerline is valid? [True, True] Translation: X:366.03, Y:-23.32, Z:-1.71 [[ 9.97341817e-01 7.28537049e-02 1.27980743e-03 3.66034691e+02] [-7.28536410e-02 9.97342638e-01 -9.65026146e-05 -2.33233453e+01] [-1.28343709e-03 3.00746190e-06 9.99999176e-01 -1.71424777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98028169299994 meters Centerline goodness [0,1] 0.9999574775694179 Centerline is valid? [True, True] Translation: X:366.07, Y:-23.32, Z:-1.72 [[ 9.97130409e-01 7.56960843e-02 1.02459885e-03 3.66066308e+02] [-7.56960449e-02 9.97130936e-01 -7.72539726e-05 -2.33207128e+01] [-1.02750703e-03 -5.25795108e-07 9.99999472e-01 -1.71549763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.01028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.10, Y:-23.32, Z:-1.72 [[ 9.97076011e-01 7.64146751e-02 4.75322062e-04 3.66097840e+02] [-7.64146667e-02 9.97076124e-01 -3.58210829e-05 -2.33215656e+01] [-4.76669536e-04 -6.05234582e-07 9.99999886e-01 -1.71698573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.13, Y:-23.32, Z:-1.72 [[ 9.97052026e-01 7.67284592e-02 2.54157679e-05 3.66128626e+02] [-7.67284591e-02 9.97052027e-01 -1.89323837e-06 -2.33224504e+01] [-2.54861081e-05 -6.24555517e-08 1.00000000e+00 -1.71832177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.07028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.16, Y:-23.32, Z:-1.72 [[ 9.97052026e-01 7.67284592e-02 2.54138815e-05 3.66158541e+02] [-7.67284592e-02 9.97052027e-01 -1.91822996e-06 -2.33247084e+01] [-2.54861449e-05 -3.73929067e-08 1.00000000e+00 -1.71838491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10028169299994 meters Centerline goodness [0,1] 0.9999787847929396 Centerline is valid? [True, True] Translation: X:366.19, Y:-23.33, Z:-1.72 [[ 9.97146998e-01 7.54841674e-02 6.66600025e-05 3.66190050e+02] [-7.54841672e-02 9.97147000e-01 -4.98802479e-06 -2.33297747e+01] [-6.68463385e-05 -5.79808274e-08 9.99999998e-01 -1.71749601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.130281693 meters Centerline goodness [0,1] 0.9999366554054054 Centerline is valid? [True, True] Translation: X:366.22, Y:-23.33, Z:-1.72 [[ 9.97239391e-01 7.42529577e-02 3.07191658e-04 3.66220777e+02] [-7.42529540e-02 9.97239439e-01 -2.31548850e-05 -2.33347499e+01] [-3.08062955e-04 2.81075363e-07 9.99999953e-01 -1.71681449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16028169299994 meters Centerline goodness [0,1] 0.999871690689021 Centerline is valid? [True, True] Translation: X:366.25, Y:-23.34, Z:-1.72 [[ 9.97326307e-01 7.30764529e-02 -2.64409887e-04 3.66251473e+02] [-7.30764502e-02 9.97326342e-01 2.00222608e-05 -2.33391176e+01] [ 2.65166101e-04 -6.46591509e-07 9.99999965e-01 -1.71709022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.190281693 meters Centerline goodness [0,1] 0.9999355407060442 Centerline is valid? [True, True] Translation: X:366.28, Y:-23.34, Z:-1.72 [[ 9.97396427e-01 7.21094870e-02 -7.68278513e-04 3.66282477e+02] [-7.21094636e-02 9.97396722e-01 5.81074870e-05 -2.33419866e+01] [ 7.70468572e-04 -2.55604840e-06 9.99999703e-01 -1.71845687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22028169299995 meters Centerline goodness [0,1] 0.9998716000770399 Centerline is valid? [True, True] Translation: X:366.31, Y:-23.34, Z:-1.72 [[ 9.97382223e-01 7.23062159e-02 -7.16438025e-04 3.66313421e+02] [-7.23061956e-02 9.97382480e-01 5.42075173e-05 -2.33432306e+01] [ 7.18482275e-04 -2.26270602e-06 9.99999742e-01 -1.71872946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.250281693 meters Centerline goodness [0,1] 0.9999360463876868 Centerline is valid? [True, True] Translation: X:366.34, Y:-23.34, Z:-1.72 [[ 9.97375745e-01 7.23987510e-02 -2.12271037e-04 3.66344089e+02] [-7.23987492e-02 9.97375767e-01 1.60461132e-05 -2.33432689e+01] [ 2.12875707e-04 -6.35846489e-07 9.99999977e-01 -1.71809382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28028169299995 meters Centerline goodness [0,1] 0.9999363016752659 Centerline is valid? [True, True] Translation: X:366.37, Y:-23.34, Z:-1.72 [[ 9.97391371e-01 7.21834701e-02 3.76111848e-06 3.66373961e+02] [-7.21834701e-02 9.97391371e-01 -2.59380549e-07 -2.33448123e+01] [-3.77003010e-06 -1.27866608e-08 1.00000000e+00 -1.71710793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.310281693 meters Centerline goodness [0,1] 0.9998939239646979 Centerline is valid? [True, True] Translation: X:366.41, Y:-23.35, Z:-1.72 [[ 9.97424248e-01 7.17276578e-02 -1.15294862e-04 3.66405383e+02] [-7.17276573e-02 9.97424254e-01 8.76919679e-06 -2.33471701e+01] [ 1.15626886e-04 -4.76779131e-07 9.99999993e-01 -1.71751684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34028169299995 meters Centerline goodness [0,1] 0.9999140542747255 Centerline is valid? [True, True] Translation: X:366.44, Y:-23.35, Z:-1.72 [[ 9.97610185e-01 6.90522110e-02 -2.38965396e-03 3.66436032e+02] [-6.90519760e-02 9.97613047e-01 1.80830536e-04 -2.33542911e+01] [ 2.39643672e-03 -1.53880566e-05 9.99997128e-01 -1.72179327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.370281693 meters Centerline goodness [0,1] 0.9999143945554937 Centerline is valid? [True, True] Translation: X:366.47, Y:-23.36, Z:-1.72 [[ 9.97772504e-01 6.66433899e-02 -2.94780139e-03 3.66466533e+02] [-6.66430216e-02 9.97776858e-01 2.23067293e-04 -2.33603263e+01] [ 2.95611397e-03 -2.61200197e-05 9.99995630e-01 -1.72250419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40028169299995 meters Centerline goodness [0,1] 0.9997848027717403 Centerline is valid? [True, True] Translation: X:366.50, Y:-23.37, Z:-1.72 [[ 9.97937372e-01 6.41381745e-02 -2.70115137e-03 3.66496974e+02] [-6.41378550e-02 9.97941027e-01 2.04814970e-04 -2.33690472e+01] [ 2.70872623e-03 -3.11464583e-05 9.99996331e-01 -1.72254586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.430281693 meters Centerline goodness [0,1] 0.9994029850746269 Centerline is valid? [True, True] Translation: X:366.53, Y:-23.38, Z:-1.72 [[ 9.98218624e-01 5.96621140e-02 1.03734321e-04 3.66527734e+02] [-5.96621136e-02 9.98218629e-01 -7.55626699e-06 -2.33815770e+01] [-1.04000354e-04 1.35379761e-06 9.99999995e-01 -1.71678439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46028169299996 meters Centerline goodness [0,1] 0.999315742205876 Centerline is valid? [True, True] Translation: X:366.56, Y:-23.39, Z:-1.71 [[ 9.98335560e-01 5.76558913e-02 1.38144582e-03 3.66558333e+02] [-5.76558015e-02 9.98336515e-01 -1.04752148e-04 -2.33916543e+01] [-1.38518739e-03 2.49294282e-05 9.99999040e-01 -1.71467147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.490281693 meters Centerline goodness [0,1] 0.9990726690271455 Centerline is valid? [True, True] Translation: X:366.59, Y:-23.40, Z:-1.71 [[ 9.98455896e-01 5.55170809e-02 1.91744554e-03 3.66588831e+02] [-5.55169032e-02 9.98457737e-01 -1.45818732e-04 -2.34025101e+01] [-1.92258376e-03 3.91429347e-05 9.99998151e-01 -1.71383441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52028169299996 meters Centerline goodness [0,1] 0.9990342933173098 Centerline is valid? [True, True] Translation: X:366.62, Y:-23.42, Z:-1.72 [[ 9.98684782e-01 5.12665203e-02 -6.70394602e-04 3.66619268e+02] [-5.12664975e-02 9.98685007e-01 5.11085928e-05 -2.34157768e+01] [ 6.72133198e-04 -1.66725906e-05 9.99999774e-01 -1.71920725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.550281693 meters Centerline goodness [0,1] 0.9985738005023628 Centerline is valid? [True, True] Translation: X:366.65, Y:-23.43, Z:-1.72 [[ 9.98749129e-01 4.99369995e-02 -2.54436276e-03 3.66649781e+02] [-4.99366660e-02 9.98752367e-01 1.94493023e-04 -2.34273252e+01] [ 2.55090073e-03 -6.71927444e-05 9.99996744e-01 -1.72398170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58028169299996 meters Centerline goodness [0,1] 0.9988736345475411 Centerline is valid? [True, True] Translation: X:366.68, Y:-23.43, Z:-1.73 [[ 9.98781657e-01 4.91843093e-02 -4.01312213e-03 3.66681792e+02] [-4.91834713e-02 9.98789713e-01 3.07302351e-04 -2.34305355e+01] [ 4.02337956e-03 -1.09548675e-04 9.99991900e-01 -1.72605166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.610281693 meters Centerline goodness [0,1] 0.999055307454483 Centerline is valid? [True, True] Translation: X:366.71, Y:-23.44, Z:-1.73 [[ 9.98731887e-01 5.01365383e-02 -4.57653527e-03 3.66712334e+02] [-5.01354555e-02 9.98742366e-01 3.51084420e-04 -2.34430960e+01] [ 4.58838182e-03 -1.21192525e-04 9.99989466e-01 -1.72567551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64028169299996 meters Centerline goodness [0,1] 0.9989657865298972 Centerline is valid? [True, True] Translation: X:366.74, Y:-23.45, Z:-1.73 [[ 9.98630219e-01 5.21742465e-02 -3.94140652e-03 3.66742510e+02] [-5.21734564e-02 9.98637992e-01 3.03077383e-04 -2.34535776e+01] [ 3.95185112e-03 -9.70254322e-05 9.99992187e-01 -1.72533434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67028169299994 meters Centerline goodness [0,1] 0.9997657979901209 Centerline is valid? [True, True] Translation: X:366.77, Y:-23.45, Z:-1.72 [[ 9.98338158e-01 5.75253115e-02 -3.42946606e-03 3.66773757e+02] [-5.75247457e-02 9.98344046e-01 2.63471920e-04 -2.34510422e+01] [ 3.43894333e-03 -6.57549084e-05 9.99994085e-01 -1.72348272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70028169299997 meters Centerline goodness [0,1] 0.9997441473711143 Centerline is valid? [True, True] Translation: X:366.81, Y:-23.45, Z:-1.72 [[ 9.98136251e-01 6.09444631e-02 -3.12983774e-03 3.66805716e+02] [-6.09440080e-02 9.98141157e-01 2.40677717e-04 -2.34485459e+01] [ 3.13868784e-03 -4.94842982e-05 9.99995073e-01 -1.72367709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.84, Y:-23.44, Z:-1.72 [[ 9.97654296e-01 6.83784872e-02 -3.20748901e-03 3.66837723e+02] [-6.83780475e-02 9.97659452e-01 2.46674001e-04 -2.34431898e+01] [ 3.21684892e-03 -2.67735413e-05 9.99994826e-01 -1.72428870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.87, Y:-23.44, Z:-1.73 [[ 9.97358121e-01 7.25644207e-02 -3.34401901e-03 3.66869317e+02] [-7.25639637e-02 9.97363727e-01 2.57957690e-04 -2.34419636e+01] [ 3.35392181e-03 -1.46209236e-05 9.99994375e-01 -1.72571433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.79028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.90, Y:-23.44, Z:-1.72 [[ 9.97056266e-01 7.65950101e-02 -3.46501028e-03 3.66902213e+02] [-7.65945416e-02 9.97062287e-01 2.67888081e-04 -2.34380013e+01] [ 3.47534996e-03 -1.69861562e-06 9.99993961e-01 -1.72321489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82028169299997 meters Centerline goodness [0,1] 0.9999787568509155 Centerline is valid? [True, True] Translation: X:366.93, Y:-23.43, Z:-1.72 [[ 9.96771595e-01 8.02300309e-02 -3.08705029e-03 3.66933478e+02] [-8.02296750e-02 9.96776375e-01 2.39154811e-04 -2.34346259e+01] [ 3.09628619e-03 9.29031839e-06 9.99995206e-01 -1.72270231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.85028169299994 meters Centerline goodness [0,1] 0.9999785738772712 Centerline is valid? [True, True] Translation: X:366.97, Y:-23.43, Z:-1.72 [[ 9.96353247e-01 8.52740571e-02 -2.92274814e-03 3.66965711e+02] [-8.52737603e-02 9.96357534e-01 2.26235779e-04 -2.34273070e+01] [ 2.93139417e-03 2.38229707e-05 9.99995703e-01 -1.72237445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.880281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.00, Y:-23.43, Z:-1.72 [[ 9.96242998e-01 8.65617229e-02 -2.63748658e-03 3.66996947e+02] [-8.65614856e-02 9.96246489e-01 2.04221162e-04 -2.34266468e+01] [ 2.64526448e-03 2.48508537e-05 9.99996501e-01 -1.72169166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.91028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.03, Y:-23.43, Z:-1.72 [[ 9.96152841e-01 8.76105699e-02 -1.97640233e-03 3.67028863e+02] [-8.76104386e-02 9.96154801e-01 1.53092624e-04 -2.34254747e+01] [ 1.98221520e-03 2.06498231e-05 9.99998035e-01 -1.72022705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.940281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.06, Y:-23.43, Z:-1.72 [[ 9.96162217e-01 8.75076476e-02 -1.80242475e-03 3.67059990e+02] [-8.75075382e-02 9.96163848e-01 1.39663666e-04 -2.34266242e+01] [ 1.80773201e-03 1.85980849e-05 9.99998366e-01 -1.71943997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.97028169299995 meters Centerline goodness [0,1] 0.9999789269608463 Centerline is valid? [True, True] Translation: X:367.09, Y:-23.43, Z:-1.72 [[ 9.96146709e-01 8.76913460e-02 -1.40049122e-03 3.67091387e+02] [-8.76912797e-02 9.96147694e-01 1.08811225e-04 -2.34266212e+01] [ 1.40463790e-03 1.44189237e-05 9.99999013e-01 -1.71856006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.000281693 meters Centerline goodness [0,1] 0.9999788601386775 Centerline is valid? [True, True] Translation: X:367.12, Y:-23.43, Z:-1.72 [[ 9.96199868e-01 8.70957484e-02 3.92593787e-04 3.67122716e+02] [-8.70957432e-02 9.96199945e-01 -3.01911617e-05 -2.34268095e+01] [-3.93731431e-04 -4.11681641e-06 9.99999922e-01 -1.71525089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.15, Y:-23.43, Z:-1.71 [[ 9.96269436e-01 8.62926430e-02 8.89482649e-04 3.67154842e+02] [-8.62926159e-02 9.96269833e-01 -6.89258642e-05 -2.34303347e+01] [-8.92112525e-04 -8.08705269e-06 9.99999602e-01 -1.71439936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.060281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.19, Y:-23.44, Z:-1.71 [[ 9.96333925e-01 8.55455931e-02 8.13260321e-04 3.67187193e+02] [-8.55455701e-02 9.96334257e-01 -6.31062347e-05 -2.34352812e+01] [-8.15677578e-04 -6.69593533e-06 9.99999667e-01 -1.71432200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.22, Y:-23.44, Z:-1.72 [[ 9.96354892e-01 8.53047787e-02 1.56103526e-04 3.67219416e+02] [-8.53047779e-02 9.96354904e-01 -1.18342740e-05 -2.34351547e+01] [-1.56544034e-04 -1.52523979e-06 9.99999988e-01 -1.71574161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.120281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.25, Y:-23.44, Z:-1.72 [[ 9.96322933e-01 8.56750846e-02 -6.27703923e-04 3.67251119e+02] [-8.56750704e-02 9.96323130e-01 4.95380894e-05 -2.34373005e+01] [ 6.29640118e-04 4.42264330e-06 9.99999802e-01 -1.71637292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15028169299995 meters Centerline goodness [0,1] 0.9999788735369924 Centerline is valid? [True, True] Translation: X:367.28, Y:-23.44, Z:-1.72 [[ 9.96252877e-01 8.64427105e-02 -2.80407911e-03 3.67281989e+02] [-8.64424337e-02 9.96256823e-01 2.20008830e-04 -2.34360767e+01] [ 2.81260111e-03 2.32069932e-05 9.99996044e-01 -1.72002556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.180281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.31, Y:-23.44, Z:-1.72 [[ 9.96238310e-01 8.65903859e-02 -3.36666317e-03 3.67311944e+02] [-8.65899879e-02 9.96243998e-01 2.64081696e-04 -2.34373608e+01] [ 3.37688491e-03 2.84310204e-05 9.99994298e-01 -1.72076943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.34, Y:-23.44, Z:-1.72 [[ 9.96238369e-01 8.65957503e-02 -3.20743764e-03 3.67342902e+02] [-8.65953887e-02 9.96243532e-01 2.51693178e-04 -2.34398457e+01] [ 3.21718456e-03 2.70029074e-05 9.99994824e-01 -1.72064361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.240281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.37, Y:-23.44, Z:-1.72 [[ 9.96314207e-01 8.57334919e-02 -2.78748695e-03 3.67374252e+02] [-8.57332152e-02 9.96318106e-01 2.18812965e-04 -2.34442791e+01] [ 2.79598332e-03 2.09737531e-05 9.99996091e-01 -1.71964844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.27028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.40, Y:-23.45, Z:-1.72 [[ 9.96361184e-01 8.51937495e-02 -2.53316949e-03 3.67404188e+02] [-8.51935186e-02 9.96364404e-01 1.99089781e-04 -2.34479244e+01] [ 2.54092111e-03 1.74442920e-05 9.99996772e-01 -1.71985333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.300281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.44, Y:-23.45, Z:-1.72 [[ 9.96421750e-01 8.44786063e-02 -2.65732297e-03 3.67435164e+02] [-8.44783481e-02 9.96425293e-01 2.09433559e-04 -2.34518724e+01] [ 2.66551648e-03 1.58021018e-05 9.99996447e-01 -1.72016649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.33028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.47, Y:-23.46, Z:-1.72 [[ 9.96475537e-01 8.38437965e-02 -2.59261870e-03 3.67465903e+02] [-8.38435492e-02 9.96478910e-01 2.04132991e-04 -2.34560971e+01] [ 2.60060514e-03 1.39608212e-05 9.99996618e-01 -1.71905155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.360281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.50, Y:-23.46, Z:-1.72 [[ 9.96515229e-01 8.33916067e-02 -1.79958887e-03 3.67495888e+02] [-8.33914868e-02 9.96516854e-01 1.41704143e-04 -2.34581718e+01] [ 1.80513757e-03 8.86005525e-06 9.99998371e-01 -1.71719650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.39028169299996 meters Centerline goodness [0,1] 0.9999786907603136 Centerline is valid? [True, True] Translation: X:367.53, Y:-23.46, Z:-1.72 [[ 9.96441992e-01 8.42528027e-02 -2.19563852e-03 3.67527700e+02] [-8.42526261e-02 9.96444411e-01 1.72960403e-04 -2.34587477e+01] [ 2.20240413e-03 1.26433022e-05 9.99997575e-01 -1.71739168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.56, Y:-23.46, Z:-1.72 [[ 9.96300181e-01 8.58696881e-02 -3.51376430e-03 3.67559301e+02] [-8.58692457e-02 9.96306377e-01 2.76850967e-04 -2.34585744e+01] [ 3.52455889e-03 2.58976222e-05 9.99993788e-01 -1.72010550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.45028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.59, Y:-23.46, Z:-1.72 [[ 9.96300635e-01 8.58573395e-02 -3.68275014e-03 3.67589588e+02] [-8.58568534e-02 9.96307441e-01 2.90181675e-04 -2.34609046e+01] [ 3.69406560e-03 2.70811518e-05 9.99993177e-01 -1.72128985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48028169299994 meters Centerline goodness [0,1] 0.99997891496405 Centerline is valid? [True, True] Translation: X:367.62, Y:-23.46, Z:-1.72 [[ 9.96379212e-01 8.49563587e-02 -3.29908558e-03 3.67619716e+02] [-8.49559635e-02 9.96384673e-01 2.59991268e-04 -2.34647290e+01] [ 3.30924622e-03 2.12270999e-05 9.99994524e-01 -1.72099278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.51028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.65, Y:-23.47, Z:-1.72 [[ 9.96635297e-01 8.19018165e-02 -3.19023227e-03 3.67651520e+02] [-8.19014287e-02 9.96640403e-01 2.52244813e-04 -2.34734772e+01] [ 3.20017368e-03 9.88849711e-06 9.99994879e-01 -1.71995140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.68, Y:-23.48, Z:-1.72 [[ 9.96709450e-01 8.09800056e-02 -3.53697442e-03 3.67683802e+02] [-8.09795211e-02 9.96715726e-01 2.80199232e-04 -2.34786128e+01] [ 3.54804856e-03 7.14527190e-06 9.99993706e-01 -1.72031231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.57028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.71, Y:-23.49, Z:-1.72 [[ 9.96826716e-01 7.95053844e-02 -3.92320175e-03 3.67714843e+02] [-7.95047779e-02 9.96834437e-01 3.10563212e-04 -2.34856554e+01] [ 3.93547406e-03 2.33557700e-06 9.99992256e-01 -1.72031535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.75, Y:-23.49, Z:-1.72 [[ 9.96839732e-01 7.93282727e-02 -4.19204526e-03 3.67745416e+02] [-7.93275747e-02 9.96848547e-01 3.32766103e-04 -2.34891282e+01] [ 4.20523198e-03 8.30310323e-07 9.99991158e-01 -1.72123608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.630281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.78, Y:-23.49, Z:-1.72 [[ 9.96756252e-01 8.03907579e-02 -3.78149024e-03 3.67776405e+02] [-8.03901983e-02 9.96763425e-01 3.00015486e-04 -2.34908005e+01] [ 3.79336964e-03 4.95243905e-06 9.99992805e-01 -1.72073195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.81, Y:-23.49, Z:-1.72 [[ 9.96657728e-01 8.16107661e-02 -3.61325941e-03 3.67807323e+02] [-8.16102629e-02 9.96664278e-01 2.86751334e-04 -2.34923317e+01] [ 3.62460858e-03 9.08611771e-06 9.99993431e-01 -1.72066797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.690281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.84, Y:-23.49, Z:-1.72 [[ 9.96532438e-01 8.31200154e-02 -3.76338153e-03 3.67837902e+02] [-8.31194792e-02 9.96539544e-01 2.98914359e-04 -2.34924555e+01] [ 3.77520428e-03 1.49324579e-05 9.99992874e-01 -1.72253288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.87, Y:-23.49, Z:-1.72 [[ 9.96289694e-01 8.60189209e-02 -2.75501835e-03 3.67868902e+02] [-8.60186446e-02 9.96293503e-01 2.18852821e-04 -2.34930325e+01] [ 2.76363237e-03 1.89421342e-05 9.99996181e-01 -1.71941682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.750281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.90, Y:-23.49, Z:-1.72 [[ 9.96199674e-01 8.70728932e-02 -2.12643240e-03 3.67899609e+02] [-8.70727310e-02 9.96201943e-01 1.68929939e-04 -2.34942673e+01] [ 2.13306530e-03 1.68663255e-05 9.99997725e-01 -1.71824950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.93, Y:-23.50, Z:-1.72 [[ 9.96026957e-01 8.90416996e-02 -1.37014327e-03 3.67930995e+02] [-8.90416340e-02 9.96027899e-01 1.08914464e-04 -2.34982277e+01] [ 1.37439886e-03 1.35180539e-05 9.99999055e-01 -1.71567035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.810281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.96, Y:-23.50, Z:-1.71 [[ 9.95928035e-01 9.01465106e-02 -9.77695204e-04 3.67962232e+02] [-9.01464775e-02 9.95928515e-01 7.79691494e-05 -2.34994944e+01] [ 9.80743179e-04 1.04841169e-05 9.99999519e-01 -1.71470149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.99, Y:-23.50, Z:-1.71 [[ 9.95797334e-01 9.15817706e-02 -6.70445412e-04 3.67994247e+02] [-9.15817552e-02 9.95797559e-01 5.37839615e-05 -2.35019269e+01] [ 6.72553535e-04 7.84264208e-06 9.99999774e-01 -1.71370997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.870281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.03, Y:-23.50, Z:-1.71 [[ 9.95651321e-01 9.31534571e-02 -9.38716999e-04 3.68025348e+02] [-9.31534275e-02 9.95651763e-01 7.52824501e-05 -2.35008180e+01] [ 9.41648056e-04 1.24896351e-05 9.99999557e-01 -1.71441424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90028169299995 meters Centerline goodness [0,1] 0.9999363422242027 Centerline is valid? [True, True] Translation: X:368.06, Y:-23.50, Z:-1.72 [[ 9.95279801e-01 9.70117678e-02 -2.61424144e-03 3.68056540e+02] [-9.70115538e-02 9.95283233e-01 2.08829597e-04 -2.34967341e+01] [ 2.62216961e-03 4.57677449e-05 9.99996561e-01 -1.71703200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.930281693 meters Centerline goodness [0,1] 0.999957457670382 Centerline is valid? [True, True] Translation: X:368.09, Y:-23.50, Z:-1.72 [[ 9.95085035e-01 9.89678879e-02 -3.33610776e-03 3.68087393e+02] [-9.89675497e-02 9.95090626e-01 2.66713423e-04 -2.34972732e+01] [ 3.34612562e-03 6.47638743e-05 9.99994400e-01 -1.71865884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96028169299996 meters Centerline goodness [0,1] 0.9999787261200698 Centerline is valid? [True, True] Translation: X:368.12, Y:-23.50, Z:-1.72 [[ 9.94882662e-01 1.00975787e-01 -3.51834784e-03 3.68118132e+02] [-1.00975424e-01 9.94888881e-01 2.81181355e-04 -2.34961991e+01] [ 3.52875765e-03 7.55242098e-05 9.99993771e-01 -1.71878807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.990281693 meters Centerline goodness [0,1] 0.9999787261200698 Centerline is valid? [True, True] Translation: X:368.15, Y:-23.50, Z:-1.72 [[ 9.94882662e-01 1.00975787e-01 -3.51834784e-03 3.68148044e+02] [-1.00975424e-01 9.94888881e-01 2.81181355e-04 -2.34985896e+01] [ 3.52875765e-03 7.55242098e-05 9.99993771e-01 -1.71885123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02028169299996 meters Centerline goodness [0,1] 0.9999359001752062 Centerline is valid? [True, True] Translation: X:368.18, Y:-23.50, Z:-1.71 [[ 9.94517632e-01 1.04556738e-01 -1.60249064e-03 3.68178586e+02] [-1.04556667e-01 9.94518922e-01 1.28068773e-04 -2.34972367e+01] [ 1.60709772e-03 4.01844279e-05 9.99998708e-01 -1.71494083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.050281693 meters Centerline goodness [0,1] 0.9998089496476182 Centerline is valid? [True, True] Translation: X:368.21, Y:-23.49, Z:-1.71 [[ 9.94390446e-01 1.05768764e-01 -7.80772892e-04 3.68208663e+02] [-1.05768748e-01 9.94390752e-01 6.24112302e-05 -2.34938306e+01] [ 7.82994502e-04 2.05202403e-05 9.99999693e-01 -1.71404711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08028169299996 meters Centerline goodness [0,1] 0.9998941866124902 Centerline is valid? [True, True] Translation: X:368.24, Y:-23.49, Z:-1.72 [[ 9.94162785e-01 1.07880312e-01 -1.48159897e-03 3.68238407e+02] [-1.07880256e-01 9.94163888e-01 1.18374146e-04 -2.34914841e+01] [ 1.48572243e-03 4.21521053e-05 9.99998895e-01 -1.71525853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.110281693 meters Centerline goodness [0,1] 0.9997036409822184 Centerline is valid? [True, True] Translation: X:368.27, Y:-23.49, Z:-1.72 [[ 9.94057185e-01 1.08829826e-01 -2.52615524e-03 3.68268142e+02] [-1.08829664e-01 9.94060392e-01 2.01767765e-04 -2.34915254e+01] [ 2.53310922e-03 7.43519284e-05 9.99996789e-01 -1.71721523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14028169299996 meters Centerline goodness [0,1] 0.9998305300173707 Centerline is valid? [True, True] Translation: X:368.30, Y:-23.49, Z:-1.72 [[ 9.93977761e-01 1.09546862e-01 -2.77423234e-03 3.68298259e+02] [-1.09546670e-01 9.93981629e-01 2.21525081e-04 -2.34924218e+01] [ 2.78180336e-03 8.37169100e-05 9.99996127e-01 -1.71857972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17028169299994 meters Centerline goodness [0,1] 0.9996383671211896 Centerline is valid? [True, True] Translation: X:368.33, Y:-23.50, Z:-1.71 [[ 9.93858642e-01 1.10648133e-01 -1.41081677e-03 3.68327153e+02] [-1.10648084e-01 9.93859642e-01 1.12556843e-04 -2.34968696e+01] [ 1.41460805e-03 4.42385813e-05 9.99998998e-01 -1.71497955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20028169299997 meters Centerline goodness [0,1] 0.9997647763236678 Centerline is valid? [True, True] Translation: X:368.36, Y:-23.50, Z:-1.71 [[ 9.93792517e-01 1.11243666e-01 -1.13087168e-03 3.68356718e+02] [-1.11243636e-01 9.93793160e-01 9.02046776e-05 -2.35003132e+01] [ 1.13388724e-03 3.61575433e-05 9.99999356e-01 -1.71417527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23028169299994 meters Centerline goodness [0,1] 0.9996791306579961 Centerline is valid? [True, True] Translation: X:368.39, Y:-23.50, Z:-1.72 [[ 9.93562926e-01 1.13267280e-01 -1.79876180e-03 3.68387284e+02] [-1.13267205e-01 9.93564552e-01 1.43558071e-04 -2.35011133e+01] [ 1.80344640e-03 6.11067446e-05 9.99998372e-01 -1.71515299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26028169299997 meters Centerline goodness [0,1] 0.9980111292131265 Centerline is valid? [True, True] Translation: X:368.42, Y:-23.49, Z:-1.72 [[ 9.93413649e-01 1.14572084e-01 -1.60003223e-03 3.68417120e+02] [-1.14572027e-01 9.93414936e-01 1.27565584e-04 -2.34882308e+01] [ 1.60411137e-03 5.65935434e-05 9.99998712e-01 -1.71685074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29028169299994 meters Centerline goodness [0,1] 0.9975665495789072 Centerline is valid? [True, True] Translation: X:368.45, Y:-23.49, Z:-1.72 [[ 9.93241563e-01 1.16060790e-01 -1.04469523e-03 3.68446849e+02] [-1.16060767e-01 9.93242111e-01 8.32718502e-05 -2.34880747e+01] [ 1.04729990e-03 3.85390671e-05 9.99999451e-01 -1.71576047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32028169299997 meters Centerline goodness [0,1] 0.9988917542251871 Centerline is valid? [True, True] Translation: X:368.48, Y:-23.49, Z:-1.71 [[ 9.92914609e-01 1.18829522e-01 -3.53317610e-04 3.68476583e+02] [-1.18829520e-01 9.92914671e-01 2.81484805e-05 -2.34917302e+01] [ 3.54159109e-04 1.40355243e-05 9.99999937e-01 -1.71402666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35028169299994 meters Centerline goodness [0,1] 0.9989965198454214 Centerline is valid? [True, True] Translation: X:368.51, Y:-23.49, Z:-1.71 [[ 9.92803948e-01 1.19749977e-01 -5.13216266e-04 3.68506398e+02] [-1.19749972e-01 9.92804081e-01 4.08629494e-05 -2.34903489e+01] [ 5.14416540e-04 2.08887357e-05 9.99999867e-01 -1.71389019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.380281693 meters Centerline goodness [0,1] 0.9989576907532279 Centerline is valid? [True, True] Translation: X:368.54, Y:-23.49, Z:-1.71 [[ 9.92732199e-01 1.20343066e-01 -5.72052072e-04 3.68536422e+02] [-1.20343060e-01 9.92732364e-01 4.55392796e-05 -2.34896764e+01] [ 5.73374943e-04 2.36341877e-05 9.99999835e-01 -1.71455962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41028169299994 meters Centerline goodness [0,1] 0.9976056609017252 Centerline is valid? [True, True] Translation: X:368.57, Y:-23.48, Z:-1.72 [[ 9.92750303e-01 1.20190204e-01 -1.07304331e-03 3.68565204e+02] [-1.20190182e-01 9.92750882e-01 8.53289637e-05 -2.34785337e+01] [ 1.07552040e-03 4.42589160e-05 9.99999421e-01 -1.71569744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.440281693 meters Centerline goodness [0,1] 0.9982168633777703 Centerline is valid? [True, True] Translation: X:368.59, Y:-23.48, Z:-1.72 [[ 9.92837148e-01 1.19473350e-01 -7.18345624e-04 3.68594412e+02] [-1.19473340e-01 9.92837408e-01 5.70780162e-05 -2.34789374e+01] [ 7.20019709e-04 2.91539758e-05 9.99999740e-01 -1.71555681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.47028169299995 meters Centerline goodness [0,1] 0.9990857677424841 Centerline is valid? [True, True] Translation: X:368.62, Y:-23.48, Z:-1.72 [[ 9.92990711e-01 1.18191287e-01 -5.17500750e-04 3.68623467e+02] [-1.18191281e-01 9.92990846e-01 4.10139498e-05 -2.34832682e+01] [ 5.18720999e-04 2.04376057e-05 9.99999865e-01 -1.71504225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.500281693 meters Centerline goodness [0,1] 0.9994307880423325 Centerline is valid? [True, True] Translation: X:368.65, Y:-23.48, Z:-1.71 [[ 9.93424139e-01 1.14491696e-01 -3.62283512e-04 3.68652818e+02] [-1.14491693e-01 9.93424205e-01 2.87525428e-05 -2.34816379e+01] [ 3.63193137e-04 1.29149827e-05 9.99999934e-01 -1.71463355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.53028169299995 meters Centerline goodness [0,1] 0.9993862953400771 Centerline is valid? [True, True] Translation: X:368.68, Y:-23.48, Z:-1.72 [[ 9.93653875e-01 1.12478208e-01 -7.93885610e-04 3.68681261e+02] [-1.12478194e-01 9.93654191e-01 6.29819295e-05 -2.34797486e+01] [ 7.95931859e-04 2.67125813e-05 9.99999683e-01 -1.71561276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.560281693 meters Centerline goodness [0,1] 0.9997020325635841 Centerline is valid? [True, True] Translation: X:368.71, Y:-23.48, Z:-1.72 [[ 9.94038408e-01 1.09021315e-01 -1.41308704e-03 3.68711416e+02] [-1.09021266e-01 9.94039411e-01 1.12236662e-04 -2.34819438e+01] [ 1.41690040e-03 4.24889851e-05 9.99998995e-01 -1.71657284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.59028169299995 meters Centerline goodness [0,1] 0.9998283556470993 Centerline is valid? [True, True] Translation: X:368.74, Y:-23.49, Z:-1.72 [[ 9.94172443e-01 1.07796132e-01 -1.07106886e-03 3.68740334e+02] [-1.07796103e-01 9.94173020e-01 8.49766615e-05 -2.34886371e+01] [ 1.07398792e-03 3.09755947e-05 9.99999423e-01 -1.71557070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.620281693 meters Centerline goodness [0,1] 0.9999146174863388 Centerline is valid? [True, True] Translation: X:368.77, Y:-23.48, Z:-1.72 [[ 9.94291436e-01 1.06694084e-01 -9.55100384e-04 3.68768418e+02] [-1.06694060e-01 9.94291895e-01 7.56627529e-05 -2.34836664e+01] [ 9.57721338e-04 2.66727107e-05 9.99999541e-01 -1.71631322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.65028169299995 meters Centerline goodness [0,1] 0.9998932946348542 Centerline is valid? [True, True] Translation: X:368.80, Y:-23.49, Z:-1.72 [[ 9.94386325e-01 1.05804069e-01 -1.15560962e-03 3.68796915e+02] [-1.05804034e-01 9.94386996e-01 9.15435794e-05 -2.34853843e+01] [ 1.15880886e-03 3.12384761e-05 9.99999328e-01 -1.71633244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.680281693 meters Centerline goodness [0,1] 0.9998303575215234 Centerline is valid? [True, True] Translation: X:368.83, Y:-23.49, Z:-1.72 [[ 9.94429272e-01 1.05398355e-01 -1.26848946e-03 3.68825807e+02] [-1.05398312e-01 9.94430081e-01 1.00434778e-04 -2.34860860e+01] [ 1.27200973e-03 3.38213643e-05 9.99999190e-01 -1.71627497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.71028169299996 meters Centerline goodness [0,1] 0.999935379644588 Centerline is valid? [True, True] Translation: X:368.85, Y:-23.49, Z:-1.72 [[ 9.94512498e-01 1.04606789e-01 -1.51999255e-03 3.68854835e+02] [-1.04606727e-01 9.94513659e-01 1.20294317e-04 -2.34859360e+01] [ 1.52423696e-03 3.93672437e-05 9.99998838e-01 -1.71667008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.740281693 meters Centerline goodness [0,1] 0.9999359904412393 Centerline is valid? [True, True] Translation: X:368.88, Y:-23.49, Z:-1.72 [[ 9.94567495e-01 1.04088570e-01 -1.03299819e-03 3.68883268e+02] [-1.04088541e-01 9.94568031e-01 8.16726074e-05 -2.34856133e+01] [ 1.03588816e-03 2.62943541e-05 9.99999463e-01 -1.71624600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.77028169299996 meters Centerline goodness [0,1] 0.9998308739588178 Centerline is valid? [True, True] Translation: X:368.91, Y:-23.49, Z:-1.72 [[ 9.94631421e-01 1.03479673e-01 -5.41738894e-04 3.68911958e+02] [-1.03479665e-01 9.94631569e-01 4.27603112e-05 -2.34866275e+01] [ 5.43255429e-04 1.35282099e-05 9.99999852e-01 -1.71557153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.800281693 meters Centerline goodness [0,1] 0.9999151409720601 Centerline is valid? [True, True] Translation: X:368.94, Y:-23.49, Z:-1.71 [[ 9.94735688e-01 1.02472258e-01 5.88576692e-04 3.68940979e+02] [-1.02472249e-01 9.94735862e-01 -4.66352816e-05 -2.34892278e+01] [-5.90257166e-04 -1.39229982e-05 9.99999826e-01 -1.71431060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.83028169299996 meters Centerline goodness [0,1] 0.9999570465186204 Centerline is valid? [True, True] Translation: X:368.97, Y:-23.49, Z:-1.71 [[ 9.95053037e-01 9.93250312e-02 1.99810834e-03 3.68970223e+02] [-9.93249141e-02 9.95055042e-01 -1.57984329e-04 -2.34933610e+01] [-2.00391958e-03 -4.12591533e-05 9.99997991e-01 -1.71145562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.860281693 meters Centerline goodness [0,1] 0.9999786484466745 Centerline is valid? [True, True] Translation: X:369.00, Y:-23.50, Z:-1.71 [[ 9.95188250e-01 9.79529523e-02 2.35940104e-03 3.68999699e+02] [-9.79527854e-02 9.95191046e-01 -1.86486155e-04 -2.34960299e+01] [-2.36632166e-03 -4.55210737e-05 9.99997199e-01 -1.71114172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.89028169299996 meters Centerline goodness [0,1] 0.9999788449333615 Centerline is valid? [True, True] Translation: X:369.03, Y:-23.50, Z:-1.71 [[ 9.95444304e-01 9.53131217e-02 2.45894041e-03 3.69028650e+02] [-9.53129325e-02 9.95447340e-01 -1.94293789e-04 -2.34983094e+01] [-2.46626444e-03 -4.09601758e-05 9.99996958e-01 -1.71156640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.06, Y:-23.50, Z:-1.71 [[ 9.95604282e-01 9.36415375e-02 1.83756943e-03 3.69057808e+02] [-9.36414290e-02 9.95605977e-01 -1.45168460e-04 -2.35023727e+01] [-1.84308890e-03 -2.75422864e-05 9.99998301e-01 -1.71274821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.95028169299997 meters Centerline goodness [0,1] 0.9999787883930087 Centerline is valid? [True, True] Translation: X:369.09, Y:-23.51, Z:-1.71 [[ 9.95780946e-01 9.17449573e-02 1.78082612e-03 3.69087466e+02] [-9.17448525e-02 9.95782538e-01 -1.40622034e-04 -2.35070354e+01] [-1.78621691e-03 -2.33528872e-05 9.99998404e-01 -1.71383034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98028169299994 meters Centerline goodness [0,1] 0.9999787116277089 Centerline is valid? [True, True] Translation: X:369.12, Y:-23.52, Z:-1.71 [[ 9.96222559e-01 8.68003501e-02 2.51256470e-03 3.69116075e+02] [-8.68001259e-02 9.96225727e-01 -1.98329747e-04 -2.35162814e+01] [-2.52029668e-03 -2.05103640e-05 9.99996824e-01 -1.71288708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.01028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.15, Y:-23.52, Z:-1.71 [[ 9.96443285e-01 8.42213286e-02 2.74716863e-03 3.69145383e+02] [-8.42210509e-02 9.96447072e-01 -2.16806845e-04 -2.35224064e+01] [-2.75566790e-03 -1.53337038e-05 9.99996203e-01 -1.71263203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04028169299994 meters Centerline goodness [0,1] 0.9997862197233683 Centerline is valid? [True, True] Translation: X:369.18, Y:-23.53, Z:-1.72 [[ 9.96793306e-01 7.99963957e-02 1.91858682e-03 3.69175405e+02] [-7.99962525e-02 9.96795153e-01 -1.51379428e-04 -2.35320126e+01] [-1.92454785e-03 -2.58575513e-06 9.99998148e-01 -1.71520909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.07028169299997 meters Centerline goodness [0,1] 0.999848612643007 Centerline is valid? [True, True] Translation: X:369.21, Y:-23.54, Z:-1.72 [[ 9.96914528e-01 7.84900433e-02 8.58413817e-04 3.69205841e+02] [-7.84900141e-02 9.96914898e-01 -6.77408733e-05 -2.35370888e+01] [-8.61082507e-04 1.54948090e-07 9.99999629e-01 -1.71704408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10028169299994 meters Centerline goodness [0,1] 0.9998713909073371 Centerline is valid? [True, True] Translation: X:369.23, Y:-23.54, Z:-1.72 [[ 9.97004152e-01 7.73467074e-02 -4.56041740e-04 3.69234839e+02] [-7.73466990e-02 9.97004256e-01 3.59563947e-05 -2.35419904e+01] [ 4.57456665e-04 -5.75351569e-07 9.99999895e-01 -1.71978728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.130281693 meters Centerline goodness [0,1] 0.999659407795304 Centerline is valid? [True, True] Translation: X:369.26, Y:-23.55, Z:-1.72 [[ 9.97126831e-01 7.57422150e-02 -1.09513564e-03 3.69263849e+02] [-7.57421658e-02 9.97127433e-01 8.63706825e-05 -2.35496700e+01] [ 1.09853169e-03 -3.17458006e-06 9.99999397e-01 -1.72110847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16028169299994 meters Centerline goodness [0,1] 0.9997019056744384 Centerline is valid? [True, True] Translation: X:369.29, Y:-23.55, Z:-1.72 [[ 9.97179601e-01 7.50522509e-02 -5.05522953e-05 3.69294027e+02] [-7.50522507e-02 9.97179603e-01 3.98806701e-06 -2.35540233e+01] [ 5.07090311e-05 -1.82755526e-07 9.99999999e-01 -1.71988223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.190281693 meters Centerline goodness [0,1] 0.9996137587708945 Centerline is valid? [True, True] Translation: X:369.32, Y:-23.56, Z:-1.72 [[ 9.97227123e-01 7.44113387e-02 1.00877199e-03 3.69323865e+02] [-7.44112963e-02 9.97227633e-01 -7.95819511e-05 -2.35584907e+01] [-1.01189711e-03 4.29724862e-06 9.99999488e-01 -1.71802363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22028169299995 meters Centerline goodness [0,1] 0.9995268206650321 Centerline is valid? [True, True] Translation: X:369.35, Y:-23.57, Z:-1.72 [[ 9.97279488e-01 7.37091424e-02 7.65316299e-04 3.69353561e+02] [-7.37091178e-02 9.97279781e-01 -6.03757487e-05 -2.35651699e+01] [-7.67684716e-04 3.80070655e-06 9.99999705e-01 -1.71896714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.250281693 meters Centerline goodness [0,1] 0.9995935394159803 Centerline is valid? [True, True] Translation: X:369.38, Y:-23.57, Z:-1.72 [[ 9.97300132e-01 7.34329493e-02 2.19001576e-04 3.69383058e+02] [-7.34329473e-02 9.97300156e-01 -1.71648476e-05 -2.35705698e+01] [-2.19670772e-04 1.03657359e-06 9.99999976e-01 -1.72071357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28028169299995 meters Centerline goodness [0,1] 0.9995749112627261 Centerline is valid? [True, True] Translation: X:369.41, Y:-23.58, Z:-1.72 [[ 9.97306883e-01 7.33388986e-02 -6.21518704e-04 3.69414094e+02] [-7.33388822e-02 9.97307077e-01 4.91304967e-05 -2.35754193e+01] [ 6.23448179e-04 -3.41669551e-06 9.99999806e-01 -1.72177932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.310281693 meters Centerline goodness [0,1] 0.9997467446130469 Centerline is valid? [True, True] Translation: X:369.44, Y:-23.58, Z:-1.72 [[ 9.97300937e-01 7.34217129e-02 -3.03940420e-04 3.69444334e+02] [-7.34217089e-02 9.97300984e-01 2.41299882e-05 -2.35783454e+01] [ 3.04891745e-04 -1.74903480e-06 9.99999954e-01 -1.72143472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34028169299995 meters Centerline goodness [0,1] 0.9996998027275067 Centerline is valid? [True, True] Translation: X:369.47, Y:-23.58, Z:-1.72 [[ 9.97299053e-01 7.34479282e-02 -2.39807768e-05 3.69474871e+02] [-7.34479282e-02 9.97299053e-01 1.89508718e-06 -2.35818485e+01] [ 2.40551962e-05 -1.28630276e-07 1.00000000e+00 -1.72116912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.370281693 meters Centerline goodness [0,1] 0.999746096229529 Centerline is valid? [True, True] Translation: X:369.51, Y:-23.59, Z:-1.72 [[ 9.97286198e-01 7.36222643e-02 2.24960064e-05 3.69505428e+02] [-7.36222643e-02 9.97286199e-01 -1.77775280e-06 -2.35868945e+01] [-2.25658389e-05 1.16721410e-07 1.00000000e+00 -1.72167062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40028169299995 meters Centerline goodness [0,1] 0.9994897308330144 Centerline is valid? [True, True] Translation: X:369.54, Y:-23.59, Z:-1.72 [[ 9.97273789e-01 7.37894365e-02 3.30611100e-04 3.69535179e+02] [-7.37894319e-02 9.97273844e-01 -2.61058650e-05 -2.35917991e+01] [-3.31636139e-04 1.63908966e-06 9.99999945e-01 -1.72123269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.430281693 meters Centerline goodness [0,1] 0.9996802864633288 Centerline is valid? [True, True] Translation: X:369.57, Y:-23.60, Z:-1.72 [[ 9.97247094e-01 7.41436993e-02 9.71871372e-04 3.69566273e+02] [-7.41436597e-02 9.97247568e-01 -7.67888194e-05 -2.35952433e+01] [-9.74889769e-04 4.51932680e-06 9.99999525e-01 -1.72017433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46028169299996 meters Centerline goodness [0,1] 0.99976633528762 Centerline is valid? [True, True] Translation: X:369.60, Y:-23.60, Z:-1.72 [[ 9.97176960e-01 7.50639964e-02 1.87250883e-03 3.69597465e+02] [-7.50638507e-02 9.97178718e-01 -1.48034047e-04 -2.35984994e+01] [-1.87833798e-03 7.05841735e-06 9.99998236e-01 -1.71841625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.490281693 meters Centerline goodness [0,1] 0.9998514368182011 Centerline is valid? [True, True] Translation: X:369.63, Y:-23.60, Z:-1.72 [[ 9.97136896e-01 7.55895480e-02 2.05673583e-03 3.69628228e+02] [-7.55893733e-02 9.97139017e-01 -1.62648359e-04 -2.36010688e+01] [-2.06314607e-03 6.71530753e-06 9.99997872e-01 -1.71847282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52028169299996 meters Centerline goodness [0,1] 0.9997667415920947 Centerline is valid? [True, True] Translation: X:369.66, Y:-23.60, Z:-1.72 [[ 9.97055623e-01 7.66620554e-02 1.73599086e-03 3.69659819e+02] [-7.66619325e-02 9.97057134e-01 -1.37317189e-04 -2.36048334e+01] [-1.74140909e-03 3.82846155e-06 9.99998484e-01 -1.71936707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.550281693 meters Centerline goodness [0,1] 0.999892507793185 Centerline is valid? [True, True] Translation: X:369.69, Y:-23.61, Z:-1.72 [[ 9.97037062e-01 7.69111432e-02 1.33170685e-03 3.69691136e+02] [-7.69110710e-02 9.97037951e-01 -1.05357980e-04 -2.36076536e+01] [-1.33586548e-03 2.62281053e-06 9.99999108e-01 -1.72086178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58028169299996 meters Centerline goodness [0,1] 0.99987320907823 Centerline is valid? [True, True] Translation: X:369.72, Y:-23.61, Z:-1.72 [[ 9.97052187e-01 7.67253353e-02 3.98790008e-04 3.69722318e+02] [-7.67253289e-02 9.97052267e-01 -3.12979997e-05 -2.36122628e+01] [-4.00015831e-04 6.08444480e-07 9.99999920e-01 -1.72281141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.610281693 meters Centerline goodness [0,1] 0.9995965687107186 Centerline is valid? [True, True] Translation: X:369.75, Y:-23.62, Z:-1.72 [[ 9.97238431e-01 7.42613964e-02 8.70473573e-04 3.69753359e+02] [-7.42613644e-02 9.97238810e-01 -6.90099286e-05 -2.36212432e+01] [-8.73194804e-04 4.17679770e-06 9.99999619e-01 -1.72220008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64028169299996 meters Centerline goodness [0,1] 0.9997430351827662 Centerline is valid? [True, True] Translation: X:369.78, Y:-23.63, Z:-1.72 [[ 9.97305356e-01 7.33257970e-02 2.31381062e-03 3.69784965e+02] [-7.33255683e-02 9.97308040e-01 -1.83599294e-04 -2.36274830e+01] [-2.32104449e-03 1.34430810e-05 9.99997306e-01 -1.71982552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67028169299994 meters Centerline goodness [0,1] 0.9993251650182416 Centerline is valid? [True, True] Translation: X:369.82, Y:-23.64, Z:-1.72 [[ 9.97335169e-01 7.27896596e-02 4.92199300e-03 3.69816007e+02] [-7.27886126e-02 9.97347314e-01 -3.91748810e-04 -2.36365064e+01] [-4.93745176e-03 3.24398245e-05 9.99987810e-01 -1.71553550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70028169299997 meters Centerline goodness [0,1] 0.9994406316559454 Centerline is valid? [True, True] Translation: X:369.85, Y:-23.64, Z:-1.72 [[ 9.97316809e-01 7.30237985e-02 5.16789277e-03 3.69848803e+02] [-7.30226425e-02 9.97330198e-01 -4.12274516e-04 -2.36394707e+01] [-5.18420137e-03 3.37951185e-05 9.99986561e-01 -1.71608136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73028169299994 meters Centerline goodness [0,1] 0.9995289684408856 Centerline is valid? [True, True] Translation: X:369.88, Y:-23.64, Z:-1.72 [[ 9.97226040e-01 7.43591107e-02 3.30884938e-03 3.69879511e+02] [-7.43586427e-02 9.97231529e-01 -2.64430016e-04 -2.36422667e+01] [-3.31935171e-03 1.76549491e-05 9.99994491e-01 -1.71973624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76028169299997 meters Centerline goodness [0,1] 0.9997055297309804 Centerline is valid? [True, True] Translation: X:369.91, Y:-23.64, Z:-1.72 [[ 9.97076393e-01 7.63811486e-02 2.14174997e-03 3.69910760e+02] [-7.63809567e-02 9.97078693e-01 -1.71385780e-04 -2.36442063e+01] [-2.14858390e-03 7.29580364e-06 9.99997692e-01 -1.72144257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79028169299994 meters Centerline goodness [0,1] 0.9998704775062602 Centerline is valid? [True, True] Translation: X:369.94, Y:-23.64, Z:-1.72 [[ 9.96860272e-01 7.91586667e-02 1.87167064e-03 3.69943588e+02] [-7.91585246e-02 9.96862029e-01 -1.50015929e-04 -2.36432437e+01] [-1.87767245e-03 1.38623306e-06 9.99998237e-01 -1.72170373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82028169299997 meters Centerline goodness [0,1] 0.999957163357536 Centerline is valid? [True, True] Translation: X:369.97, Y:-23.64, Z:-1.72 [[ 9.96556849e-01 8.28838908e-02 2.16950122e-03 3.69974600e+02] [-8.28837076e-02 9.96559211e-01 -1.74383060e-04 -2.36412566e+01] [-2.17648997e-03 -6.03367159e-06 9.99997631e-01 -1.72149788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85028169299994 meters Centerline goodness [0,1] 0.9999786580160491 Centerline is valid? [True, True] Translation: X:370.01, Y:-23.63, Z:-1.72 [[ 9.96025748e-01 8.90181462e-02 2.91195206e-03 3.70005311e+02] [-8.90178410e-02 9.96030004e-01 -2.34513361e-04 -2.36315669e+01] [-2.92126756e-03 -2.56343390e-05 9.99995733e-01 -1.71942838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.880281693 meters Centerline goodness [0,1] 0.9999786580160491 Centerline is valid? [True, True] Translation: X:370.04, Y:-23.63, Z:-1.72 [[ 9.96023709e-01 8.90409497e-02 2.91195056e-03 3.70036043e+02] [-8.90406445e-02 9.96027966e-01 -2.34531997e-04 -2.36340883e+01] [-2.92126714e-03 -2.56825250e-05 9.99995733e-01 -1.71949329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.91028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.07, Y:-23.63, Z:-1.72 [[ 9.95805748e-01 9.14379315e-02 3.16479831e-03 3.70067261e+02] [-9.14375829e-02 9.95810777e-01 -2.54961527e-04 -2.36307816e+01] [-3.17485342e-03 -3.54893535e-05 9.99994960e-01 -1.71915770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.940281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.10, Y:-23.62, Z:-1.72 [[ 9.95446553e-01 9.52280156e-02 4.21722274e-03 3.70098286e+02] [-9.52274305e-02 9.95455484e-01 -3.39778930e-04 -2.36228170e+01] [-4.23041398e-03 -6.33635216e-05 9.99991050e-01 -1.71763622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.97028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.13, Y:-23.62, Z:-1.72 [[ 9.95254587e-01 9.71852570e-02 4.83042068e-03 3.70128761e+02] [-9.71845124e-02 9.95266306e-01 -3.89183893e-04 -2.36202804e+01] [-4.84537788e-03 -8.21050229e-05 9.99988258e-01 -1.71702762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.000281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.16, Y:-23.61, Z:-1.72 [[ 9.95052387e-01 9.92043264e-02 5.40813364e-03 3.70158698e+02] [-9.92034231e-02 9.95067079e-01 -4.35690393e-04 -2.36146192e+01] [-5.42467812e-03 -1.02970605e-04 9.99985281e-01 -1.71634426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.03028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.19, Y:-23.61, Z:-1.72 [[ 9.94866931e-01 1.01042995e-01 5.48668672e-03 3.70188584e+02] [-1.01042094e-01 9.94882053e-01 -4.41912766e-04 -2.36117474e+01] [-5.50325834e-03 -1.14741916e-04 9.99984850e-01 -1.71683628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.060281693 meters Centerline goodness [0,1] 0.9999787775891341 Centerline is valid? [True, True] Translation: X:370.22, Y:-23.60, Z:-1.72 [[ 9.94752552e-01 1.02153660e-01 5.65592840e-03 3.70217894e+02] [-1.02152721e-01 9.94768623e-01 -4.55366599e-04 -2.36034809e+01] [-5.67285748e-03 -1.24791391e-04 9.99983901e-01 -1.71708644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.09028169299995 meters Centerline goodness [0,1] 0.9999577658114244 Centerline is valid? [True, True] Translation: X:370.25, Y:-23.60, Z:-1.72 [[ 9.94777180e-01 1.01920053e-01 5.53753877e-03 3.70247999e+02] [-1.01919151e-01 9.94792585e-01 -4.45681474e-04 -2.36025074e+01] [-5.55412639e-03 -1.21027489e-04 9.99984568e-01 -1.71741680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.120281693 meters Centerline goodness [0,1] 0.9998301558320242 Centerline is valid? [True, True] Translation: X:370.28, Y:-23.60, Z:-1.72 [[ 9.94854133e-01 1.01198277e-01 4.91548355e-03 3.70277606e+02] [-1.01197558e-01 9.94866271e-01 -3.95510806e-04 -2.35967343e+01] [-4.93027380e-03 -1.03959370e-04 9.99987841e-01 -1.71946750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.15028169299995 meters Centerline goodness [0,1] 0.9997868212922894 Centerline is valid? [True, True] Translation: X:370.31, Y:-23.60, Z:-1.72 [[ 9.94904860e-01 1.00726295e-01 4.30500169e-03 3.70306265e+02] [-1.00725740e-01 9.94914170e-01 -3.46246886e-04 -2.35980394e+01] [-4.31798335e-03 -8.91417691e-05 9.99990673e-01 -1.72116842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.180281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.34, Y:-23.60, Z:-1.72 [[ 9.94952125e-01 1.00252839e-01 4.43132008e-03 3.70335403e+02] [-1.00252246e-01 9.94961989e-01 -3.56195660e-04 -2.35982570e+01] [-4.44470467e-03 -8.98521636e-05 9.99990118e-01 -1.72088896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.21028169299996 meters Centerline goodness [0,1] 0.9999785825962176 Centerline is valid? [True, True] Translation: X:370.36, Y:-23.60, Z:-1.72 [[ 9.95068694e-01 9.89642877e-02 6.66056335e-03 3.70363435e+02] [-9.89629231e-02 9.95090978e-01 -5.34969847e-04 -2.35950360e+01] [-6.68080941e-03 -1.26817071e-04 9.99977675e-01 -1.71704592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.240281693 meters Centerline goodness [0,1] 0.9998514588859416 Centerline is valid? [True, True] Translation: X:370.39, Y:-23.60, Z:-1.72 [[ 9.95125679e-01 9.83527526e-02 7.18461845e-03 3.70391780e+02] [-9.83511510e-02 9.95151606e-01 -5.76754529e-04 -2.35956357e+01] [-7.20650999e-03 -1.32672252e-04 9.99974024e-01 -1.71630415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.27028169299996 meters Centerline goodness [0,1] 0.9998945236688886 Centerline is valid? [True, True] Translation: X:370.42, Y:-23.60, Z:-1.72 [[ 9.95177430e-01 9.78673687e-02 6.62277554e-03 3.70421668e+02] [-9.78659982e-02 9.95199459e-01 -5.31482138e-04 -2.35970433e+01] [-6.64299740e-03 -1.19225511e-04 9.99977928e-01 -1.71740038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.300281693 meters Centerline goodness [0,1] 0.9999785706632379 Centerline is valid? [True, True] Translation: X:370.45, Y:-23.60, Z:-1.72 [[ 9.95280816e-01 9.68738070e-02 5.61812487e-03 3.70450918e+02] [-9.68728056e-02 9.95296668e-01 -4.50737626e-04 -2.35969036e+01] [-5.63536563e-03 -9.56330070e-05 9.99984117e-01 -1.72052412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.33028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.48, Y:-23.60, Z:-1.72 [[ 9.95350486e-01 9.61469136e-02 5.76024718e-03 3.70479721e+02] [-9.61458500e-02 9.95367149e-01 -4.61916634e-04 -2.36010798e+01] [-5.77797267e-03 -9.40549146e-05 9.99983303e-01 -1.72188772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.360281693 meters Centerline goodness [0,1] 0.9999367862109655 Centerline is valid? [True, True] Translation: X:370.51, Y:-23.60, Z:-1.72 [[ 9.95655718e-01 9.29210570e-02 5.94714795e-03 3.70508611e+02] [-9.29198669e-02 9.95673476e-01 -4.76709517e-04 -2.36042958e+01] [-5.96571383e-03 -7.79696403e-05 9.99982202e-01 -1.72110356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.39028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.54, Y:-23.61, Z:-1.72 [[ 9.95915318e-01 9.00896588e-02 6.04428919e-03 3.70537318e+02] [-9.00883782e-02 9.95933657e-01 -4.84356011e-04 -2.36101383e+01] [-6.06334651e-03 -6.21426400e-05 9.99981616e-01 -1.72152706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.57, Y:-23.62, Z:-1.72 [[ 9.96550186e-01 8.27894141e-02 5.79990132e-03 3.70567139e+02] [-8.27881112e-02 9.96567064e-01 -4.64768377e-04 -2.36244883e+01] [-5.81846853e-03 -1.69978629e-05 9.99983072e-01 -1.72219964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.45028169299997 meters Centerline goodness [0,1] 0.9998084576585012 Centerline is valid? [True, True] Translation: X:370.60, Y:-23.63, Z:-1.72 [[ 9.96875671e-01 7.87551781e-02 6.04302952e-03 3.70597007e+02] [-7.87536895e-02 9.96893987e-01 -4.84275896e-04 -2.36341175e+01] [-6.06239903e-03 6.85198830e-06 9.99981623e-01 -1.72284029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48028169299994 meters Centerline goodness [0,1] 0.9994901427600272 Centerline is valid? [True, True] Translation: X:370.63, Y:-23.65, Z:-1.72 [[ 9.97218312e-01 7.42854055e-02 6.10877823e-03 3.70627271e+02] [-7.42837966e-02 9.97237022e-01 -4.90156644e-04 -2.36451286e+01] [-6.12831130e-03 3.50099411e-05 9.99981221e-01 -1.72217604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.51028169299997 meters Centerline goodness [0,1] 0.9979603977224442 Centerline is valid? [True, True] Translation: X:370.66, Y:-23.66, Z:-1.72 [[ 9.97835028e-01 6.53266093e-02 7.59548053e-03 3.70656853e+02] [-6.53238588e-02 9.97863929e-01 -6.09909575e-04 -2.36629570e+01] [-7.61909937e-03 1.12423040e-04 9.99970968e-01 -1.71990743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54028169299994 meters Centerline goodness [0,1] 0.9960712752254186 Centerline is valid? [True, True] Translation: X:370.69, Y:-23.68, Z:-1.72 [[ 9.98090932e-01 6.11317747e-02 8.79758613e-03 3.70685841e+02] [-6.11279215e-02 9.98129690e-01 -7.06466144e-04 -2.36765712e+01] [-8.82431944e-03 1.67339298e-04 9.99961051e-01 -1.71699947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.57028169299997 meters Centerline goodness [0,1] 0.9915549456349625 Centerline is valid? [True, True] Translation: X:370.71, Y:-23.70, Z:-1.72 [[ 9.98499844e-01 5.38955974e-02 9.66053209e-03 3.70714164e+02] [-5.38906132e-02 9.98546544e-01 -7.75694251e-04 -2.36973927e+01] [-9.68829743e-03 2.53918590e-04 9.99953035e-01 -1.71522641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60028169299994 meters Centerline goodness [0,1] 0.9932138805043564 Centerline is valid? [True, True] Translation: X:370.75, Y:-23.70, Z:-1.72 [[ 9.98624112e-01 5.15738069e-02 9.48817850e-03 3.70745800e+02] [-5.15688836e-02 9.98669148e-01 -7.62970276e-04 -2.37010836e+01] [-9.51490043e-03 2.72625741e-04 9.99954695e-01 -1.71820048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.630281693 meters Centerline goodness [0,1] 0.9887322745923423 Centerline is valid? [True, True] Translation: X:370.78, Y:-23.72, Z:-1.72 [[ 9.98723701e-01 4.98327064e-02 8.22625988e-03 3.70775954e+02] [-4.98289366e-02 9.98757547e-01 -6.62710954e-04 -2.37189921e+01] [-8.24906382e-03 2.51959354e-04 9.99965944e-01 -1.71831032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66028169299994 meters Centerline goodness [0,1] 0.9908793264733395 Centerline is valid? [True, True] Translation: X:370.81, Y:-23.72, Z:-1.72 [[ 9.98787353e-01 4.86606644e-02 7.48083154e-03 3.70807256e+02] [-4.86575059e-02 9.98815340e-01 -6.03742728e-04 -2.37237229e+01] [-7.50134782e-03 2.39011996e-04 9.99971836e-01 -1.72125743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.690281693 meters Centerline goodness [0,1] 0.9925201380897584 Centerline is valid? [True, True] Translation: X:370.84, Y:-23.73, Z:-1.72 [[ 9.98810933e-01 4.83186986e-02 6.48248577e-03 3.70838369e+02] [-4.83163133e-02 9.98831947e-01 -5.24156174e-04 -2.37327017e+01] [-6.50024043e-03 2.10323104e-04 9.99978851e-01 -1.72330566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72028169299995 meters Centerline goodness [0,1] 0.9937184837419579 Centerline is valid? [True, True] Translation: X:370.87, Y:-23.73, Z:-1.72 [[ 9.98768378e-01 4.91013677e-02 7.12624501e-03 3.70870096e+02] [-4.90984962e-02 9.98793775e-01 -5.77443623e-04 -2.37347422e+01] [-7.14600242e-03 2.26844517e-04 9.99974441e-01 -1.72285024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.750281693 meters Centerline goodness [0,1] 0.9926175642229239 Centerline is valid? [True, True] Translation: X:370.90, Y:-23.75, Z:-1.72 [[ 9.98579910e-01 5.27056086e-02 7.76415593e-03 3.70899309e+02] [-5.27023052e-02 9.98610069e-01 -6.29592843e-04 -2.37478739e+01] [-7.78654736e-03 2.19509849e-04 9.99969660e-01 -1.72015144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78028169299995 meters Centerline goodness [0,1] 0.9936821197650341 Centerline is valid? [True, True] Translation: X:370.93, Y:-23.75, Z:-1.72 [[ 9.98453704e-01 5.50242764e-02 7.90762886e-03 3.70930442e+02] [-5.50209212e-02 9.98484996e-01 -6.41383934e-04 -2.37501677e+01] [-7.93094046e-03 2.05307139e-04 9.99968529e-01 -1.72006921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.810281693 meters Centerline goodness [0,1] 0.9945721583652618 Centerline is valid? [True, True] Translation: X:370.96, Y:-23.75, Z:-1.72 [[ 9.98321155e-01 5.73853730e-02 7.86073172e-03 3.70961039e+02] [-5.73821293e-02 9.98352084e-01 -6.37756712e-04 -2.37528374e+01] [-7.88437581e-03 1.85620493e-04 9.99968901e-01 -1.72099634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84028169299995 meters Centerline goodness [0,1] 0.9975991940151336 Centerline is valid? [True, True] Translation: X:370.99, Y:-23.75, Z:-1.73 [[ 9.98077349e-01 6.16212346e-02 6.66542964e-03 3.70993044e+02] [-6.16189954e-02 9.98099598e-01 -5.40980628e-04 -2.37531997e+01] [-6.68609854e-03 1.29223433e-04 9.99977639e-01 -1.72524597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.870281693 meters Centerline goodness [0,1] 0.9985730715168036 Centerline is valid? [True, True] Translation: X:371.03, Y:-23.76, Z:-1.73 [[ 9.97932185e-01 6.39817670e-02 6.13903960e-03 3.71025628e+02] [-6.39799103e-02 9.97951062e-01 -4.98564967e-04 -2.37556483e+01] [-6.15836016e-03 1.04758824e-04 9.99981032e-01 -1.72617231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90028169299995 meters Centerline goodness [0,1] 0.999280225247158 Centerline is valid? [True, True] Translation: X:371.06, Y:-23.75, Z:-1.72 [[ 9.97432762e-01 7.12825815e-02 6.83221800e-03 3.71056867e+02] [-7.12804512e-02 9.97456159e-01 -5.55109640e-04 -2.37539644e+01] [-6.85440757e-03 6.66809597e-05 9.99976506e-01 -1.72345980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.930281693 meters Centerline goodness [0,1] 0.9996596613630563 Centerline is valid? [True, True] Translation: X:371.09, Y:-23.75, Z:-1.72 [[ 9.97102406e-01 7.57512582e-02 6.96691588e-03 3.71089265e+02] [-7.57491464e-02 9.97126745e-01 -5.66878803e-04 -2.37494401e+01] [-6.98983993e-03 3.74982879e-05 9.99975570e-01 -1.72301785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.12, Y:-23.74, Z:-1.72 [[ 9.96361333e-01 8.48969413e-02 7.52346997e-03 3.71123257e+02] [-8.48947287e-02 9.96389737e-01 -6.13539368e-04 -2.37381896e+01] [-7.54839588e-03 -2.73960388e-05 9.99971510e-01 -1.72332782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.990281693 meters Centerline goodness [0,1] 0.9999789002827362 Centerline is valid? [True, True] Translation: X:371.16, Y:-23.73, Z:-1.72 [[ 9.95970066e-01 8.93411112e-02 7.86086408e-03 3.71156235e+02] [-8.93388233e-02 9.96001085e-01 -6.42412445e-04 -2.37342833e+01] [-7.88682300e-03 -6.24567821e-05 9.99968897e-01 -1.72308038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.19, Y:-23.73, Z:-1.72 [[ 9.95621181e-01 9.30523086e-02 8.92924708e-03 3.71187635e+02] [-9.30494929e-02 9.95661216e-01 -7.31153192e-04 -2.37302223e+01] [-8.95854050e-03 -1.02910308e-04 9.99959866e-01 -1.72157582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.050281693 meters Centerline goodness [0,1] 0.9999570925941818 Centerline is valid? [True, True] Translation: X:371.22, Y:-23.73, Z:-1.72 [[ 9.95310487e-01 9.62732903e-02 9.40682107e-03 3.71219654e+02] [-9.62703001e-02 9.95354929e-01 -7.71220350e-04 -2.37281216e+01] [-9.43737364e-03 -1.37993786e-04 9.99955457e-01 -1.72104410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08028169299996 meters Centerline goodness [0,1] 0.9999357422837193 Centerline is valid? [True, True] Translation: X:371.25, Y:-23.72, Z:-1.72 [[ 9.94926558e-01 1.00108088e-01 9.97567561e-03 3.71251746e+02] [-1.00104914e-01 9.94976551e-01 -8.18234164e-04 -2.37235222e+01] [-1.00074752e-02 -1.84531253e-04 9.99949907e-01 -1.72129012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.110281693 meters Centerline goodness [0,1] 0.9999367608929361 Centerline is valid? [True, True] Translation: X:371.28, Y:-23.72, Z:-1.72 [[ 9.94831368e-01 1.01097376e-01 9.48001406e-03 3.71282686e+02] [-1.01094544e-01 9.94876518e-01 -7.78744389e-04 -2.37233942e+01] [-9.51017240e-03 -1.83658352e-04 9.99954760e-01 -1.72175078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14028169299996 meters Centerline goodness [0,1] 0.9998931920620341 Centerline is valid? [True, True] Translation: X:371.31, Y:-23.72, Z:-1.72 [[ 9.94855088e-01 1.00906680e-01 9.01086105e-03 3.71314408e+02] [-1.00904104e-01 9.94895880e-01 -7.41143425e-04 -2.37218692e+01] [-9.03965486e-03 -1.71902555e-04 9.99959127e-01 -1.72285915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.17028169299994 meters Centerline goodness [0,1] 0.9999574513349644 Centerline is valid? [True, True] Translation: X:371.35, Y:-23.72, Z:-1.72 [[ 9.94899542e-01 1.00453321e-01 9.16690154e-03 3.71346023e+02] [-1.00450633e-01 9.94941758e-01 -7.54337070e-04 -2.37232472e+01] [-9.19630879e-03 -1.70331460e-04 9.99957699e-01 -1.72364085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20028169299997 meters Centerline goodness [0,1] 0.9999788216358169 Centerline is valid? [True, True] Translation: X:371.38, Y:-23.73, Z:-1.72 [[ 9.94955247e-01 9.99011562e-02 9.15509768e-03 3.71376866e+02] [-9.98984499e-02 9.94997353e-01 -7.53577696e-04 -2.37262931e+01] [-9.18458123e-03 -1.64803983e-04 9.99957807e-01 -1.72411206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.23028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.41, Y:-23.73, Z:-1.72 [[ 9.95216325e-01 9.72147951e-02 9.68244619e-03 3.71407958e+02] [-9.72116293e-02 9.95263413e-01 -7.98173853e-04 -2.37328973e+01] [-9.71417875e-03 -1.46890721e-04 9.99952805e-01 -1.72295061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26028169299997 meters Centerline goodness [0,1] 0.9999787933411091 Centerline is valid? [True, True] Translation: X:371.44, Y:-23.74, Z:-1.72 [[ 9.95371261e-01 9.55507518e-02 1.03007831e-02 3.71439203e+02] [-9.55470637e-02 9.95424550e-01 -8.50699798e-04 -2.37383929e+01] [-1.03349373e-02 -1.37447444e-04 9.99946584e-01 -1.72169422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29028169299994 meters Centerline goodness [0,1] 0.9999785550384938 Centerline is valid? [True, True] Translation: X:371.47, Y:-23.75, Z:-1.72 [[ 9.95574776e-01 9.33524589e-02 1.07788240e-02 3.71470915e+02] [-9.33482725e-02 9.95633117e-01 -8.91955991e-04 -2.37462908e+01] [-1.08150204e-02 -1.18175711e-04 9.99941509e-01 -1.72226883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32028169299997 meters Centerline goodness [0,1] 0.99997883373902 Centerline is valid? [True, True] Translation: X:371.50, Y:-23.76, Z:-1.72 [[ 9.95987407e-01 8.88423249e-02 1.07761814e-02 3.71501241e+02] [-8.88378636e-02 9.96045700e-01 -8.92916681e-04 -2.37584328e+01] [-1.08128979e-02 -6.79991636e-05 9.99941537e-01 -1.72306801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35028169299994 meters Centerline goodness [0,1] 0.9999787220460881 Centerline is valid? [True, True] Translation: X:371.53, Y:-23.77, Z:-1.72 [[ 9.96117543e-01 8.74014038e-02 1.05278146e-02 3.71532853e+02] [-8.73970484e-02 9.96173174e-01 -8.73933440e-04 -2.37660717e+01] [-1.05639095e-02 -4.95594918e-05 9.99944199e-01 -1.72354354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.380281693 meters Centerline goodness [0,1] 0.9999785839722448 Centerline is valid? [True, True] Translation: X:371.56, Y:-23.78, Z:-1.72 [[ 9.96307555e-01 8.52389082e-02 1.02753968e-02 3.71564064e+02] [-8.52346267e-02 9.96360541e-01 -8.54677365e-04 -2.37767572e+01] [-1.03108517e-02 -2.42980965e-05 9.99946841e-01 -1.72432865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.41028169299994 meters Centerline goodness [0,1] 0.9999141815061146 Centerline is valid? [True, True] Translation: X:371.60, Y:-23.78, Z:-1.73 [[ 9.96377132e-01 8.44513983e-02 1.00285937e-02 3.71596704e+02] [-8.44472615e-02 9.96427600e-01 -8.36000651e-04 -2.37841853e+01] [-1.00633690e-02 -1.39153451e-05 9.99949363e-01 -1.72525421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.440281693 meters Centerline goodness [0,1] 0.9998506188647034 Centerline is valid? [True, True] Translation: X:371.63, Y:-23.79, Z:-1.73 [[ 9.96464199e-01 8.34606876e-02 9.66510482e-03 3.71628053e+02] [-8.34567818e-02 9.96511070e-01 -8.07431427e-04 -2.37926515e+01] [-9.69877273e-03 -2.04203403e-06 9.99952966e-01 -1.72594477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.47028169299995 meters Centerline goodness [0,1] 0.9998719180275376 Centerline is valid? [True, True] Translation: X:371.66, Y:-23.80, Z:-1.73 [[ 9.96547890e-01 8.24786888e-02 9.46408095e-03 3.71658970e+02] [-8.24748837e-02 9.96592828e-01 -7.92298762e-04 -2.38013824e+01] [-9.49718297e-03 9.01468291e-06 9.99954901e-01 -1.72700872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.500281693 meters Centerline goodness [0,1] 0.9997662757096719 Centerline is valid? [True, True] Translation: X:371.69, Y:-23.81, Z:-1.73 [[ 9.96662104e-01 8.11643901e-02 8.77452380e-03 3.71689926e+02] [-8.11610551e-02 9.96700728e-01 -7.36080456e-04 -2.38140348e+01] [-8.80531778e-03 2.14738867e-05 9.99961232e-01 -1.72878569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.53028169299995 meters Centerline goodness [0,1] 0.9997251876123031 Centerline is valid? [True, True] Translation: X:371.72, Y:-23.82, Z:-1.73 [[ 9.96638499e-01 8.15078386e-02 8.25682753e-03 3.71720983e+02] [-8.15048898e-02 9.96672700e-01 -6.93560444e-04 -2.38203472e+01] [-8.28588520e-03 1.82572217e-05 9.99965671e-01 -1.73029134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.560281693 meters Centerline goodness [0,1] 0.9999785329412018 Centerline is valid? [True, True] Translation: X:371.75, Y:-23.83, Z:-1.73 [[ 9.96542825e-01 8.26749240e-02 8.20090469e-03 3.71753348e+02] [-8.26720435e-02 9.96576568e-01 -6.90197475e-04 -2.38304236e+01] [-8.22989148e-03 9.82579238e-06 9.99966134e-01 -1.73089712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.59028169299995 meters Centerline goodness [0,1] 0.9998091926729986 Centerline is valid? [True, True] Translation: X:371.79, Y:-23.84, Z:-1.73 [[ 9.96508852e-01 8.30698477e-02 8.33716635e-03 3.71786024e+02] [-8.30668714e-02 9.96543727e-01 -7.03227316e-04 -2.38368883e+01] [-8.36676782e-03 8.22991963e-06 9.99964998e-01 -1.73054432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.620281693 meters Centerline goodness [0,1] 0.9998301810694347 Centerline is valid? [True, True] Translation: X:371.82, Y:-23.84, Z:-1.73 [[ 9.96378277e-01 8.46357176e-02 8.19289341e-03 3.71817538e+02] [-8.46328846e-02 9.96411961e-01 -6.92502593e-04 -2.38438213e+01] [-8.22210744e-03 -3.39366182e-06 9.99966198e-01 -1.73097780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.65028169299995 meters Centerline goodness [0,1] 0.999957856585962 Centerline is valid? [True, True] Translation: X:371.85, Y:-23.85, Z:-1.73 [[ 9.96169119e-01 8.70567920e-02 8.25837021e-03 3.71850064e+02] [-8.70539844e-02 9.96203350e-01 -6.99519101e-04 -2.38465439e+01] [-8.28791396e-03 -2.20847049e-05 9.99965654e-01 -1.73147765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.680281693 meters Centerline goodness [0,1] 0.9999570068144199 Centerline is valid? [True, True] Translation: X:371.88, Y:-23.85, Z:-1.73 [[ 9.95932294e-01 8.97128887e-02 8.39425773e-03 3.71881727e+02] [-8.97100705e-02 9.95967668e-01 -7.12426304e-04 -2.38484232e+01] [-8.42432311e-03 -4.35210891e-05 9.99964514e-01 -1.73182625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.71028169299996 meters Centerline goodness [0,1] 0.9999360095559063 Centerline is valid? [True, True] Translation: X:371.91, Y:-23.85, Z:-1.73 [[ 9.95719430e-01 9.20527070e-02 8.31359481e-03 3.71912966e+02] [-9.20500137e-02 9.95754134e-01 -7.06832690e-04 -2.38488642e+01] [-8.34336227e-03 -6.14594734e-05 9.99965192e-01 -1.73203915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.740281693 meters Centerline goodness [0,1] 0.9999158850990453 Centerline is valid? [True, True] Translation: X:371.94, Y:-23.85, Z:-1.73 [[ 9.95397172e-01 9.54541061e-02 8.54303954e-03 3.71944527e+02] [-9.54513766e-02 9.95433828e-01 -7.27597058e-04 -2.38456732e+01] [-8.57348268e-03 -9.11968302e-05 9.99963243e-01 -1.73164545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.77028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.98, Y:-23.84, Z:-1.73 [[ 9.95156968e-01 9.79694541e-02 8.03705822e-03 3.71976901e+02] [-9.79671106e-02 9.95189417e-01 -6.85709788e-04 -2.38436149e+01] [-8.06557389e-03 -1.04978497e-04 9.99967467e-01 -1.73315726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.800281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.01, Y:-23.85, Z:-1.73 [[ 9.95139805e-01 9.81436496e-02 8.03694188e-03 3.72009271e+02] [-9.81413008e-02 9.95172253e-01 -6.87071680e-04 -2.38465826e+01] [-8.06557328e-03 -1.05023553e-04 9.99967467e-01 -1.73322571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.83028169299996 meters Centerline goodness [0,1] 0.9999786338482576 Centerline is valid? [True, True] Translation: X:372.04, Y:-23.85, Z:-1.73 [[ 9.95049833e-01 9.90785787e-02 7.69831822e-03 3.72040977e+02] [-9.90764452e-02 9.95079607e-01 -6.58956730e-04 -2.38475911e+01] [-7.72572796e-03 -1.07027219e-04 9.99970150e-01 -1.73432827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.860281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.07, Y:-23.85, Z:-1.73 [[ 9.94918171e-01 1.00421197e-01 7.30869224e-03 3.72073055e+02] [-1.00419303e-01 9.94945009e-01 -6.26585207e-04 -2.38471451e+01] [-7.33466931e-03 -1.10532770e-04 9.99973095e-01 -1.73495362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.89028169299996 meters Centerline goodness [0,1] 0.9999155583702766 Centerline is valid? [True, True] Translation: X:372.11, Y:-23.85, Z:-1.74 [[ 9.94813930e-01 1.01440853e-01 7.41600978e-03 3.72105443e+02] [-1.01438922e-01 9.94841565e-01 -6.36941165e-04 -2.38467766e+01] [-7.44236663e-03 -1.18634096e-04 9.99972298e-01 -1.73508477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92028169299994 meters Centerline goodness [0,1] 0.99995783526237 Centerline is valid? [True, True] Translation: X:372.14, Y:-23.85, Z:-1.73 [[ 9.94853689e-01 1.00951812e-01 8.65272138e-03 3.72137998e+02] [-1.00949153e-01 9.94891308e-01 -7.44622272e-04 -2.38459229e+01] [-8.68368825e-03 -1.32694680e-04 9.99962287e-01 -1.73333827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.95028169299997 meters Centerline goodness [0,1] 0.9998946392447741 Centerline is valid? [True, True] Translation: X:372.17, Y:-23.85, Z:-1.73 [[ 9.94943533e-01 9.99476653e-02 9.89087898e-03 3.72169865e+02] [-9.99441255e-02 9.94992686e-01 -8.52764533e-04 -2.38487655e+01] [-9.92658407e-03 -1.40082692e-04 9.99950720e-01 -1.73061901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98028169299994 meters Centerline goodness [0,1] 0.9999354949686076 Centerline is valid? [True, True] Translation: X:372.20, Y:-23.85, Z:-1.73 [[ 9.95127685e-01 9.79014839e-02 1.16700567e-02 3.72201410e+02] [-9.78963950e-02 9.95196101e-01 -1.00789524e-03 -2.38505195e+01] [-1.17126694e-02 -1.39472020e-04 9.99931395e-01 -1.72668108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.01028169299997 meters Centerline goodness [0,1] 0.9998528948197961 Centerline is valid? [True, True] Translation: X:372.23, Y:-23.86, Z:-1.73 [[ 9.95124127e-01 9.79436586e-02 1.16194346e-02 3.72234468e+02] [-9.79385923e-02 9.95191952e-01 -1.00560439e-03 -2.38559037e+01] [-1.16620604e-02 -1.37289876e-04 9.99931986e-01 -1.72850278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04028169299994 meters Centerline goodness [0,1] 0.9998527183975762 Centerline is valid? [True, True] Translation: X:372.27, Y:-23.86, Z:-1.73 [[ 9.95119229e-01 9.79664826e-02 1.18443096e-02 3.72266579e+02] [-9.79611949e-02 9.95189705e-01 -1.02717257e-03 -2.38551727e+01] [-1.18879635e-02 -1.38123552e-04 9.99929326e-01 -1.72597971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.07028169299997 meters Centerline goodness [0,1] 0.9999146320641967 Centerline is valid? [True, True] Translation: X:372.30, Y:-23.86, Z:-1.73 [[ 9.95122082e-01 9.79436197e-02 1.17935783e-02 3.72299269e+02] [-9.79383492e-02 9.95191956e-01 -1.02500178e-03 -2.38592212e+01] [-1.18372667e-02 -1.35041689e-04 9.99929928e-01 -1.72981686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10028169299994 meters Centerline goodness [0,1] 0.999893025246042 Centerline is valid? [True, True] Translation: X:372.33, Y:-23.86, Z:-1.73 [[ 9.95120281e-01 9.80083491e-02 1.14012697e-02 3.72330964e+02] [-9.80034041e-02 9.95185584e-01 -9.92964835e-04 -2.38592225e+01] [-1.14436981e-02 -1.29243797e-04 9.99934510e-01 -1.72988316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.130281693 meters Centerline goodness [0,1] 0.9999157451290153 Centerline is valid? [True, True] Translation: X:372.36, Y:-23.86, Z:-1.73 [[ 9.95144192e-01 9.77615594e-02 1.14330241e-02 3.72363877e+02] [-9.77565463e-02 9.95209858e-01 -9.97845346e-04 -2.38607656e+01] [-1.14758092e-02 -1.24652947e-04 9.99934143e-01 -1.73035144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16028169299994 meters Centerline goodness [0,1] 0.9998315363881402 Centerline is valid? [True, True] Translation: X:372.40, Y:-23.86, Z:-1.73 [[ 9.95135060e-01 9.78698737e-02 1.13004719e-02 3.72397489e+02] [-9.78649646e-02 9.95199213e-01 -9.87907802e-04 -2.38609223e+01] [-1.13429071e-02 -1.22818593e-04 9.99935660e-01 -1.73083666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.190281693 meters Centerline goodness [0,1] 0.999810110557853 Centerline is valid? [True, True] Translation: X:372.43, Y:-23.86, Z:-1.73 [[ 9.95119484e-01 9.81350339e-02 1.03308853e-02 3.72429118e+02] [-9.81309298e-02 9.95173102e-01 -9.04655038e-04 -2.38616532e+01] [-1.03697975e-02 -1.13539525e-04 9.99946226e-01 -1.73229718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22028169299995 meters Centerline goodness [0,1] 0.9999575821845175 Centerline is valid? [True, True] Translation: X:372.46, Y:-23.86, Z:-1.74 [[ 9.95153437e-01 9.80480976e-02 7.49721079e-03 3.72461518e+02] [-9.80459253e-02 9.95181674e-01 -6.57635140e-04 -2.38629241e+01] [-7.52556665e-03 -8.06230992e-05 9.99971679e-01 -1.73928709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.250281693 meters Centerline goodness [0,1] 0.9999363435749449 Centerline is valid? [True, True] Translation: X:372.49, Y:-23.86, Z:-1.74 [[ 9.95160287e-01 9.80209778e-02 6.92040135e-03 3.72493587e+02] [-9.80191181e-02 9.95184346e-01 -6.08204121e-04 -2.38599796e+01] [-6.94669185e-03 -7.30710500e-05 9.99975869e-01 -1.73929772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28028169299995 meters Centerline goodness [0,1] 0.9998731715566077 Centerline is valid? [True, True] Translation: X:372.53, Y:-23.86, Z:-1.74 [[ 9.95158294e-01 9.80109220e-02 7.33683122e-03 3.72526806e+02] [-9.80088214e-02 9.95185336e-01 -6.46175241e-04 -2.38645338e+01] [-7.36483907e-03 -7.60275300e-05 9.99972876e-01 -1.74008807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.310281693 meters Centerline goodness [0,1] 0.9999365857783039 Centerline is valid? [True, True] Translation: X:372.56, Y:-23.86, Z:-1.74 [[ 9.95115921e-01 9.84068095e-02 7.77196364e-03 3.72559911e+02] [-9.84044528e-02 9.95146267e-01 -6.85985493e-04 -2.38635491e+01] [-7.80174625e-03 -8.21607435e-05 9.99969563e-01 -1.73980054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34028169299995 meters Centerline goodness [0,1] 0.9999360259308228 Centerline is valid? [True, True] Translation: X:372.59, Y:-23.87, Z:-1.74 [[ 9.95112474e-01 9.84974406e-02 7.02987136e-03 3.72592589e+02] [-9.84955056e-02 9.95137301e-01 -6.21779883e-04 -2.38655943e+01] [-7.05693094e-03 -7.36698163e-05 9.99975097e-01 -1.74168554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.370281693 meters Centerline goodness [0,1] 0.9998927245810895 Centerline is valid? [True, True] Translation: X:372.63, Y:-23.87, Z:-1.75 [[ 9.95306497e-01 9.66167521e-02 5.49372417e-03 3.72625028e+02] [-9.66155369e-02 9.95321657e-01 -4.86784959e-04 -2.38673928e+01] [-5.51505423e-03 -4.62788784e-05 9.99984791e-01 -1.74520759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40028169299995 meters Centerline goodness [0,1] 0.9998524700725004 Centerline is valid? [True, True] Translation: X:372.66, Y:-23.87, Z:-1.75 [[ 9.95451110e-01 9.51382244e-02 5.08002589e-03 3.72656287e+02] [-9.51371620e-02 9.95464071e-01 -4.50909323e-04 -2.38697062e+01] [-5.09988197e-03 -3.44410609e-05 9.99986995e-01 -1.74571553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.430281693 meters Centerline goodness [0,1] 0.999829187573396 Centerline is valid? [True, True] Translation: X:372.69, Y:-23.87, Z:-1.75 [[ 9.95761764e-01 9.18207083e-02 5.24088197e-03 3.72688520e+02] [-9.18195284e-02 9.95775556e-01 -4.65810085e-04 -2.38745409e+01] [-5.26151317e-03 -1.73794390e-05 9.99986158e-01 -1.74569247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46028169299996 meters Centerline goodness [0,1] 0.9997879558948262 Centerline is valid? [True, True] Translation: X:372.72, Y:-23.88, Z:-1.75 [[ 9.95907461e-01 9.02038191e-02 5.62132125e-03 3.72721056e+02] [-9.02024310e-02 9.95923326e-01 -5.00499768e-04 -2.38790594e+01] [-5.64355194e-03 -8.60538883e-06 9.99984075e-01 -1.74539535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.490281693 meters Centerline goodness [0,1] 0.9997651228834369 Centerline is valid? [True, True] Translation: X:372.75, Y:-23.88, Z:-1.74 [[ 9.96057336e-01 8.85364949e-02 5.57431615e-03 3.72752728e+02] [-8.85350981e-02 9.96072934e-01 -4.97322959e-04 -2.38828033e+01] [-5.59645667e-03 1.83955428e-06 9.99984340e-01 -1.74495076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52028169299996 meters Centerline goodness [0,1] 0.9996795967190704 Centerline is valid? [True, True] Translation: X:372.79, Y:-23.89, Z:-1.74 [[ 9.96155576e-01 8.74153493e-02 5.71189328e-03 3.72786070e+02] [-8.74138582e-02 9.96171951e-01 -5.10658788e-04 -2.38859483e+01] [-5.73466729e-03 9.39696942e-06 9.99983557e-01 -1.74497426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.550281693 meters Centerline goodness [0,1] 0.9994873218977635 Centerline is valid? [True, True] Translation: X:372.82, Y:-23.89, Z:-1.74 [[ 9.96337743e-01 8.52404581e-02 6.72062129e-03 3.72816775e+02] [-8.52383365e-02 9.96360408e-01 -6.02010793e-04 -2.38896028e+01] [-6.74747665e-03 2.69514955e-05 9.99977235e-01 -1.74371647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58028169299996 meters Centerline goodness [0,1] 0.999421072944809 Centerline is valid? [True, True] Translation: X:372.85, Y:-23.89, Z:-1.74 [[ 9.96441308e-01 8.39005311e-02 8.08825535e-03 3.72848460e+02] [-8.38974029e-02 9.96474134e-01 -7.25872025e-04 -2.38943561e+01] [-8.12063829e-03 4.47052524e-05 9.99967026e-01 -1.74141472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.610281693 meters Centerline goodness [0,1] 0.9985797863320333 Centerline is valid? [True, True] Translation: X:372.88, Y:-23.90, Z:-1.74 [[ 9.96725717e-01 8.03307576e-02 9.20949000e-03 3.72879734e+02] [-8.03265404e-02 9.96768259e-01 -8.27499892e-04 -2.38997295e+01] [-9.24620101e-03 8.50239526e-05 9.99957249e-01 -1.73935955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64028169299996 meters Centerline goodness [0,1] 0.9981017063550652 Centerline is valid? [True, True] Translation: X:372.91, Y:-23.90, Z:-1.74 [[ 9.96782803e-01 7.96325795e-02 9.09372576e-03 3.72910447e+02] [-7.96284313e-02 9.96824279e-01 -8.17898101e-04 -2.39032887e+01] [-9.12997797e-03 9.11476449e-05 9.99958317e-01 -1.73930245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.67028169299994 meters Centerline goodness [0,1] 0.9982158786797503 Centerline is valid? [True, True] Translation: X:372.94, Y:-23.91, Z:-1.74 [[ 9.96789966e-01 7.96144912e-02 8.44368268e-03 3.72943861e+02] [-7.96109031e-02 9.96825725e-01 -7.60748312e-04 -2.39052461e+01] [-8.47744670e-03 8.60970810e-05 9.99964062e-01 -1.74037797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70028169299997 meters Centerline goodness [0,1] 0.998545267841862 Centerline is valid? [True, True] Translation: X:372.98, Y:-23.91, Z:-1.74 [[ 9.96788637e-01 7.97115862e-02 7.64697037e-03 3.72976692e+02] [-7.97086357e-02 9.96817966e-01 -6.90311160e-04 -2.39073844e+01] [-7.67766324e-03 7.85647444e-05 9.99970523e-01 -1.74303305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.73028169299994 meters Centerline goodness [0,1] 0.9986762759229298 Centerline is valid? [True, True] Translation: X:373.01, Y:-23.91, Z:-1.75 [[ 9.96801202e-01 7.96493813e-02 6.58325564e-03 3.73008783e+02] [-7.96471861e-02 9.96822939e-01 -5.95367812e-04 -2.39083810e+01] [-6.60976091e-03 6.91255632e-05 9.99978153e-01 -1.74536705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76028169299997 meters Centerline goodness [0,1] 0.9985165405726153 Centerline is valid? [True, True] Translation: X:373.04, Y:-23.91, Z:-1.74 [[ 9.96790702e-01 7.97146590e-02 7.33965482e-03 3.73041731e+02] [-7.97119220e-02 9.96817720e-01 -6.65149993e-04 -2.39061825e+01] [-7.36932019e-03 7.79573349e-05 9.99972843e-01 -1.74482616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.79028169299994 meters Centerline goodness [0,1] 0.9984206594813787 Centerline is valid? [True, True] Translation: X:373.07, Y:-23.91, Z:-1.74 [[ 9.96733571e-01 8.04243947e-02 7.35568737e-03 3.73073319e+02] [-8.04216563e-02 9.96760709e-01 -6.67792058e-04 -2.39069880e+01] [-7.38556693e-03 7.40542008e-05 9.99972724e-01 -1.74446361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82028169299997 meters Centerline goodness [0,1] 0.9987208186760473 Centerline is valid? [True, True] Translation: X:373.11, Y:-23.91, Z:-1.75 [[ 9.96671035e-01 8.12314992e-02 6.94926673e-03 3.73105692e+02] [-8.12290672e-02 9.96695259e-01 -6.31964811e-04 -2.39077420e+01] [-6.97763665e-03 6.53785679e-05 9.99975654e-01 -1.74550133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.85028169299994 meters Centerline goodness [0,1] 0.9990788740842295 Centerline is valid? [True, True] Translation: X:373.14, Y:-23.91, Z:-1.75 [[ 9.96596288e-01 8.22059200e-02 6.16646189e-03 3.73138029e+02] [-8.22040178e-02 9.96615364e-01 -5.61723178e-04 -2.39068976e+01] [-6.19176763e-03 5.29032911e-05 9.99980829e-01 -1.74798732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.880281693 meters Centerline goodness [0,1] 0.9987072436739711 Centerline is valid? [True, True] Translation: X:373.17, Y:-23.91, Z:-1.75 [[ 9.96576976e-01 8.24172164e-02 6.46010675e-03 3.73170131e+02] [-8.24151261e-02 9.96597913e-01 -5.89568768e-04 -2.39098172e+01] [-6.48671952e-03 5.51401470e-05 9.99978959e-01 -1.74663916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.91028169299994 meters Centerline goodness [0,1] 0.9986082409008477 Centerline is valid? [True, True] Translation: X:373.20, Y:-23.91, Z:-1.75 [[ 9.96577890e-01 8.23547687e-02 7.08530320e-03 3.73202656e+02] [-8.23522445e-02 9.96603075e-01 -6.47778183e-04 -2.39119174e+01] [-7.11458257e-03 6.20707939e-05 9.99974689e-01 -1.74541728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.940281693 meters Centerline goodness [0,1] 0.9981803948120094 Centerline is valid? [True, True] Translation: X:373.24, Y:-23.91, Z:-1.74 [[ 9.96605340e-01 8.18158028e-02 9.16353292e-03 3.73235231e+02] [-8.18115436e-02 9.96647464e-01 -8.39315505e-04 -2.39135401e+01] [-9.20148112e-03 8.67835410e-05 9.99957662e-01 -1.74164037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.97028169299995 meters Centerline goodness [0,1] 0.9984956033478123 Centerline is valid? [True, True] Translation: X:373.27, Y:-23.92, Z:-1.74 [[ 9.96601253e-01 8.18239524e-02 9.52801162e-03 3.73267278e+02] [-8.18193326e-02 9.96646794e-01 -8.74305855e-04 -2.39170633e+01] [-9.56760139e-03 9.17587589e-05 9.99954225e-01 -1.74096323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.000281693 meters Centerline goodness [0,1] 0.9986749588596098 Centerline is valid? [True, True] Translation: X:373.30, Y:-23.92, Z:-1.74 [[ 9.96550281e-01 8.25533764e-02 8.51341455e-03 3.73299848e+02] [-8.25497030e-02 9.96586642e-01 -7.82580626e-04 -2.39179716e+01] [-8.54895989e-03 7.71010998e-05 9.99963454e-01 -1.74452067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03028169299995 meters Centerline goodness [0,1] 0.9986805141738316 Centerline is valid? [True, True] Translation: X:373.33, Y:-23.92, Z:-1.75 [[ 9.96509611e-01 8.30797631e-02 8.14540729e-03 3.73331179e+02] [-8.30764078e-02 9.96542898e-01 -7.50006658e-04 -2.39216465e+01] [-8.17955816e-03 7.06976663e-05 9.99966544e-01 -1.74548979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.060281693 meters Centerline goodness [0,1] 0.998828541001065 Centerline is valid? [True, True] Translation: X:373.36, Y:-23.92, Z:-1.75 [[ 9.96460896e-01 8.36830431e-02 7.92666304e-03 3.73364455e+02] [-8.36798733e-02 9.96492420e-01 -7.31282415e-04 -2.39238727e+01] [-7.96005557e-03 6.53921711e-05 9.99968316e-01 -1.74662159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09028169299995 meters Centerline goodness [0,1] 0.9990888286150195 Centerline is valid? [True, True] Translation: X:373.40, Y:-23.93, Z:-1.75 [[ 9.96451603e-01 8.39129974e-02 6.54311854e-03 3.73396083e+02] [-8.39108356e-02 9.96473083e-01 -6.04706123e-04 -2.39284958e+01] [-6.57078421e-03 5.35218413e-05 9.99978411e-01 -1.74942727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.120281693 meters Centerline goodness [0,1] 0.9990092331042624 Centerline is valid? [True, True] Translation: X:373.43, Y:-23.93, Z:-1.75 [[ 9.96467223e-01 8.38212319e-02 5.20327349e-03 3.73427339e+02] [-8.38198593e-02 9.96480807e-01 -4.81703945e-04 -2.39344736e+01] [-5.22533919e-03 4.38645404e-05 9.99986347e-01 -1.75183793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15028169299995 meters Centerline goodness [0,1] 0.9992138364779874 Centerline is valid? [True, True] Translation: X:373.46, Y:-23.94, Z:-1.76 [[ 9.96618991e-01 8.20888708e-02 3.46459687e-03 3.73458384e+02] [-8.20882502e-02 9.96625013e-01 -3.21196838e-04 -2.39428289e+01] [-3.47927058e-03 3.57081746e-05 9.99993947e-01 -1.75627764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.180281693 meters Centerline goodness [0,1] 0.9983663250800925 Centerline is valid? [True, True] Translation: X:373.49, Y:-23.95, Z:-1.75 [[ 9.96726243e-01 8.07553665e-02 3.92010940e-03 3.73488719e+02] [-8.07545591e-02 9.96733951e-01 -3.64062510e-04 -2.39521922e+01] [-3.93670614e-03 4.63039515e-05 9.99992250e-01 -1.75497867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.21028169299996 meters Centerline goodness [0,1] 0.9984204572136012 Centerline is valid? [True, True] Translation: X:373.52, Y:-23.95, Z:-1.75 [[ 9.96810470e-01 7.96432395e-02 5.08346411e-03 3.73521316e+02] [-7.96418627e-02 9.96823430e-01 -4.73020800e-04 -2.39539025e+01] [-5.10498904e-03 6.66555352e-05 9.99986967e-01 -1.75384498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.240281693 meters Centerline goodness [0,1] 0.9974919231423227 Centerline is valid? [True, True] Translation: X:373.55, Y:-23.96, Z:-1.75 [[ 9.96903764e-01 7.83094917e-02 7.10699322e-03 3.73551855e+02] [-7.83067576e-02 9.96929091e-01 -6.62593366e-04 -2.39625711e+01] [-7.13705565e-03 1.04016225e-04 9.99974525e-01 -1.74986846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.27028169299996 meters Centerline goodness [0,1] 0.9975416552854411 Centerline is valid? [True, True] Translation: X:373.58, Y:-23.97, Z:-1.75 [[ 9.96893572e-01 7.84541929e-02 6.93867540e-03 3.73583797e+02] [-7.84515840e-02 9.96917714e-01 -6.47799457e-04 -2.39683336e+01] [-6.96811101e-03 1.01437038e-04 9.99975717e-01 -1.74994418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.300281693 meters Centerline goodness [0,1] 0.9976667023440009 Centerline is valid? [True, True] Translation: X:373.61, Y:-23.97, Z:-1.75 [[ 9.96837823e-01 7.92436471e-02 5.89899136e-03 3.73614842e+02] [-7.92417706e-02 9.96855274e-01 -5.51520053e-04 -2.39744399e+01] [-5.92414511e-03 8.23295291e-05 9.99982449e-01 -1.75125115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33028169299996 meters Centerline goodness [0,1] 0.9983108108108109 Centerline is valid? [True, True] Translation: X:373.65, Y:-23.98, Z:-1.75 [[ 9.96774039e-01 8.00150096e-02 6.25399775e-03 3.73647015e+02] [-8.00129092e-02 9.96793655e-01 -5.85728709e-04 -2.39776071e+01] [-6.28081237e-03 8.34386173e-05 9.99980272e-01 -1.75154210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.360281693 meters Centerline goodness [0,1] 0.9984396374829001 Centerline is valid? [True, True] Translation: X:373.68, Y:-23.98, Z:-1.75 [[ 9.96745014e-01 8.03619213e-02 6.42948709e-03 3.73679539e+02] [-8.03597010e-02 9.96765747e-01 -6.03347530e-04 -2.39819486e+01] [-6.45717867e-03 8.47119816e-05 9.99979149e-01 -1.75199962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39028169299996 meters Centerline goodness [0,1] 0.9983538052424972 Centerline is valid? [True, True] Translation: X:373.71, Y:-23.99, Z:-1.75 [[ 9.96763852e-01 8.02098025e-02 5.31138509e-03 3.73710754e+02] [-8.02082803e-02 9.96778001e-01 -4.99330481e-04 -2.39909838e+01] [-5.33432301e-03 7.16975095e-05 9.99985770e-01 -1.75412728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42028169299994 meters Centerline goodness [0,1] 0.9987880334247624 Centerline is valid? [True, True] Translation: X:373.74, Y:-23.99, Z:-1.76 [[ 9.96732745e-01 8.06496025e-02 4.41328004e-03 3.73742501e+02] [-8.06485528e-02 9.96742513e-01 -4.15596563e-04 -2.39926924e+01] [-4.43242154e-03 5.83140546e-05 9.99990175e-01 -1.75638121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45028169299997 meters Centerline goodness [0,1] 0.9989135760390261 Centerline is valid? [True, True] Translation: X:373.77, Y:-24.00, Z:-1.76 [[ 9.96568737e-01 8.26931445e-02 3.54901526e-03 3.73774382e+02] [-8.26924767e-02 9.96575056e-01 -3.34734010e-04 -2.39975929e+01] [-3.56454029e-03 4.01085875e-05 9.99993646e-01 -1.75832070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48028169299994 meters Centerline goodness [0,1] 0.9990294539623596 Centerline is valid? [True, True] Translation: X:373.81, Y:-24.00, Z:-1.76 [[ 9.96457659e-01 8.40188302e-02 3.60137199e-03 3.73805054e+02] [-8.40181491e-02 9.96464166e-01 -3.40261688e-04 -2.40024039e+01] [-3.61722653e-03 3.64757554e-05 9.99993457e-01 -1.75779681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51028169299997 meters Centerline goodness [0,1] 0.9991546021346296 Centerline is valid? [True, True] Translation: X:373.84, Y:-24.00, Z:-1.76 [[ 9.96316977e-01 8.56421867e-02 4.23059478e-03 3.73837103e+02] [-8.56412584e-02 9.96325958e-01 -4.00444623e-04 -2.40049469e+01] [-4.24934635e-03 3.66563158e-05 9.99990971e-01 -1.75758319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54028169299994 meters Centerline goodness [0,1] 0.9996384286534657 Centerline is valid? [True, True] Translation: X:373.87, Y:-24.00, Z:-1.76 [[ 9.95924594e-01 9.00524023e-02 4.97673566e-03 3.73869242e+02] [-9.00511682e-02 9.95937028e-01 -4.71953619e-04 -2.40048147e+01] [-4.99901588e-03 2.18693568e-05 9.99987505e-01 -1.75635105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.57028169299997 meters Centerline goodness [0,1] 0.9998094754223295 Centerline is valid? [True, True] Translation: X:373.90, Y:-24.00, Z:-1.76 [[ 9.95642121e-01 9.31295948e-02 4.86272985e-03 3.73901101e+02] [-9.31284494e-02 9.95653995e-01 -4.61940082e-04 -2.40047601e+01] [-4.88461670e-03 7.06851264e-06 9.99988070e-01 -1.75674466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60028169299994 meters Centerline goodness [0,1] 0.9998093785741518 Centerline is valid? [True, True] Translation: X:373.93, Y:-24.00, Z:-1.76 [[ 9.95074616e-01 9.90808594e-02 3.08101161e-03 3.73932622e+02] [-9.90804270e-02 9.95079385e-01 -2.93055205e-04 -2.40003418e+01] [-3.09488731e-03 -1.36561507e-05 9.99995211e-01 -1.76041481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.630281693 meters Centerline goodness [0,1] 0.9998518299007261 Centerline is valid? [True, True] Translation: X:373.96, Y:-24.00, Z:-1.76 [[ 9.94867670e-01 1.01153479e-01 2.50868883e-03 3.73964461e+02] [-1.01153199e-01 9.94870832e-01 -2.38916154e-04 -2.39992669e+01] [-2.51998854e-03 -1.60719418e-05 9.99996825e-01 -1.76231104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66028169299994 meters Centerline goodness [0,1] 0.999827923684154 Centerline is valid? [True, True] Translation: X:374.00, Y:-24.00, Z:-1.76 [[ 9.94666464e-01 1.03103572e-01 2.87732203e-03 3.73995727e+02] [-1.03103210e-01 9.94670625e-01 -2.74256592e-04 -2.40006952e+01] [-2.89026454e-03 -2.38673037e-05 9.99995823e-01 -1.76159703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.690281693 meters Centerline goodness [0,1] 0.999827923684154 Centerline is valid? [True, True] Translation: X:374.03, Y:-24.00, Z:-1.76 [[ 9.94649113e-01 1.03270825e-01 2.87730468e-03 3.74027244e+02] [-1.03270463e-01 9.94653274e-01 -2.74438475e-04 -2.40038455e+01] [-2.89026201e-03 -2.41706014e-05 9.99995823e-01 -1.76166370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72028169299995 meters Centerline goodness [0,1] 0.9998710814120882 Centerline is valid? [True, True] Translation: X:374.06, Y:-24.00, Z:-1.76 [[ 9.94409517e-01 1.05446547e-01 5.54417389e-03 3.74057599e+02] [-1.05445233e-01 9.94424971e-01 -5.29532174e-04 -2.40025420e+01] [-5.56910230e-03 -5.80348754e-05 9.99984491e-01 -1.75789323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.750281693 meters Centerline goodness [0,1] 0.999936816831996 Centerline is valid? [True, True] Translation: X:374.09, Y:-24.00, Z:-1.76 [[ 9.94327162e-01 1.06193729e-01 6.03212974e-03 3.74088600e+02] [-1.06192183e-01 9.94345457e-01 -5.76765280e-04 -2.40043239e+01] [-6.05926966e-03 -6.70716436e-05 9.99981640e-01 -1.75681244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78028169299995 meters Centerline goodness [0,1] 0.9999145518243185 Centerline is valid? [True, True] Translation: X:374.12, Y:-24.01, Z:-1.76 [[ 9.94301974e-01 1.06421554e-01 6.16743960e-03 3.74120646e+02] [-1.06419937e-01 9.94321099e-01 -5.90706166e-04 -2.40100956e+01] [-6.19527919e-03 -6.89982264e-05 9.99980807e-01 -1.75700426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.810281693 meters Centerline goodness [0,1] 0.9999361308041131 Centerline is valid? [True, True] Translation: X:374.15, Y:-24.01, Z:-1.76 [[ 9.94313052e-01 1.06307814e-01 6.34061782e-03 3.74153300e+02] [-1.06306095e-01 9.94333266e-01 -6.08459493e-04 -2.40142536e+01] [-6.36937123e-03 -6.90471078e-05 9.99979713e-01 -1.75716738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84028169299995 meters Centerline goodness [0,1] 0.999872897513028 Centerline is valid? [True, True] Translation: X:374.18, Y:-24.02, Z:-1.75 [[ 9.94262255e-01 1.06669372e-01 8.01326378e-03 3.74183977e+02] [-1.06666634e-01 9.94294542e-01 -7.69615575e-04 -2.40160022e+01] [-8.04963885e-03 -8.95481536e-05 9.99967597e-01 -1.75403870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.870281693 meters Centerline goodness [0,1] 0.999829293274155 Centerline is valid? [True, True] Translation: X:374.22, Y:-24.02, Z:-1.75 [[ 9.94162967e-01 1.07541246e-01 8.65308110e-03 3.74216222e+02] [-1.07538075e-01 9.94200618e-01 -8.32208339e-04 -2.40177075e+01] [-8.69239531e-03 -1.03184975e-04 9.99962215e-01 -1.75286185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90028169299995 meters Centerline goodness [0,1] 0.9998724462679904 Centerline is valid? [True, True] Translation: X:374.25, Y:-24.02, Z:-1.75 [[ 9.93995908e-01 1.09085270e-01 8.51703019e-03 3.74248007e+02] [-1.09082243e-01 9.94032389e-01 -8.20466438e-04 -2.40185637e+01] [-8.55570467e-03 -1.13516477e-04 9.99963393e-01 -1.75296710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.930281693 meters Centerline goodness [0,1] 0.9998080368569234 Centerline is valid? [True, True] Translation: X:374.28, Y:-24.02, Z:-1.76 [[ 9.93550355e-01 1.13209596e-01 6.42485740e-03 3.74280566e+02] [-1.13207954e-01 9.93571122e-01 -6.19902764e-04 -2.40160690e+01] [-6.45373172e-03 -1.11440347e-04 9.99979168e-01 -1.75711177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96028169299996 meters Centerline goodness [0,1] 0.999786734911495 Centerline is valid? [True, True] Translation: X:374.31, Y:-24.02, Z:-1.76 [[ 9.93331623e-01 1.15162746e-01 5.46153843e-03 3.74311309e+02] [-1.15161586e-01 9.93346632e-01 -5.27433220e-04 -2.40150023e+01] [-5.48594146e-03 -1.05043332e-04 9.99984947e-01 -1.75919147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.990281693 meters Centerline goodness [0,1] 0.999893166958677 Centerline is valid? [True, True] Translation: X:374.34, Y:-24.02, Z:-1.76 [[ 9.93174788e-01 1.16541145e-01 4.69073601e-03 3.74342313e+02] [-1.16540304e-01 9.93185860e-01 -4.53119038e-04 -2.40153771e+01] [-4.71157969e-03 -9.66333969e-05 9.99988896e-01 -1.76020575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02028169299996 meters Centerline goodness [0,1] 0.99957547970793 Centerline is valid? [True, True] Translation: X:374.37, Y:-24.01, Z:-1.76 [[ 9.93118420e-01 1.17026879e-01 4.52919411e-03 3.74372499e+02] [-1.17026100e-01 9.93128743e-01 -4.37509588e-04 -2.40134536e+01] [-4.54927324e-03 -9.55350910e-05 9.99989647e-01 -1.76034730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.050281693 meters Centerline goodness [0,1] 0.9996417054819061 Centerline is valid? [True, True] Translation: X:374.40, Y:-24.02, Z:-1.76 [[ 9.93176634e-01 1.16537543e-01 4.37882300e-03 3.74403330e+02] [-1.16536810e-01 9.93186283e-01 -4.22986789e-04 -2.40166337e+01] [-4.39828078e-03 -9.01934688e-05 9.99990323e-01 -1.76119309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08028169299996 meters Centerline goodness [0,1] 0.999894794428313 Centerline is valid? [True, True] Translation: X:374.43, Y:-24.02, Z:-1.76 [[ 9.93452078e-01 1.14174761e-01 4.13436134e-03 3.74432778e+02] [-1.14174087e-01 9.93460678e-01 -3.99371611e-04 -2.40193968e+01] [-4.15292358e-03 -7.52803755e-05 9.99991374e-01 -1.76190729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.110281693 meters Centerline goodness [0,1] 0.9998301197655652 Centerline is valid? [True, True] Translation: X:374.46, Y:-24.02, Z:-1.76 [[ 9.93562966e-01 1.13200861e-01 4.26595229e-03 3.74463156e+02] [-1.13200135e-01 9.93572121e-01 -4.12058002e-04 -2.40243599e+01] [-4.28517658e-03 -7.35008055e-05 9.99990816e-01 -1.76257323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14028169299996 meters Centerline goodness [0,1] 0.999935709234297 Centerline is valid? [True, True] Translation: X:374.49, Y:-24.03, Z:-1.76 [[ 9.93680435e-01 1.12182332e-01 3.78382984e-03 3.74493222e+02] [-1.12181754e-01 9.93687637e-01 -3.65488702e-04 -2.40269880e+01] [-3.80094631e-03 -6.12976949e-05 9.99992774e-01 -1.76307619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17028169299994 meters Centerline goodness [0,1] 0.9998516540572615 Centerline is valid? [True, True] Translation: X:374.52, Y:-24.03, Z:-1.77 [[ 9.93837253e-01 1.10818462e-01 2.60446671e-03 3.74523160e+02] [-1.10818184e-01 9.93840665e-01 -2.51565362e-04 -2.40276964e+01] [-2.61630302e-03 -3.86072428e-05 9.99996577e-01 -1.76592262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20028169299997 meters Centerline goodness [0,1] 0.9998085595167191 Centerline is valid? [True, True] Translation: X:374.55, Y:-24.03, Z:-1.77 [[ 9.93924488e-01 1.10036543e-01 2.46400799e-03 3.74552612e+02] [-1.10036291e-01 9.93927542e-01 -2.37966522e-04 -2.40295549e+01] [-2.47523042e-03 -3.46095455e-05 9.99996936e-01 -1.76678244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23028169299994 meters Centerline goodness [0,1] 0.999871915293314 Centerline is valid? [True, True] Translation: X:374.58, Y:-24.03, Z:-1.77 [[ 9.94085504e-01 1.08572742e-01 2.44345928e-03 3.74583478e+02] [-1.08572490e-01 9.94088506e-01 -2.35933228e-04 -2.40308510e+01] [-2.45463070e-03 -3.07546557e-05 9.99996987e-01 -1.76744538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26028169299997 meters Centerline goodness [0,1] 0.9998509940823365 Centerline is valid? [True, True] Translation: X:374.61, Y:-24.03, Z:-1.77 [[ 9.94194393e-01 1.07563830e-01 2.74436943e-03 3.74612949e+02] [-1.07563508e-01 9.94198180e-01 -2.64973036e-04 -2.40332678e+01] [-2.75694861e-03 -3.17592962e-05 9.99996199e-01 -1.76642362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29028169299994 meters Centerline goodness [0,1] 0.9998511145142079 Centerline is valid? [True, True] Translation: X:374.64, Y:-24.04, Z:-1.77 [[ 9.94323946e-01 1.06348174e-01 3.15527544e-03 3.74642654e+02] [-1.06347743e-01 9.94328952e-01 -3.04565565e-04 -2.40366144e+01] [-3.16977171e-03 -3.27195872e-05 9.99994976e-01 -1.76591391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32028169299997 meters Centerline goodness [0,1] 0.9998724245710277 Centerline is valid? [True, True] Translation: X:374.67, Y:-24.04, Z:-1.77 [[ 9.94583668e-01 1.03893982e-01 3.06083867e-03 3.74671935e+02] [-1.03893565e-01 9.94588377e-01 -2.95391408e-04 -2.40431527e+01] [-3.07496395e-03 -2.42099698e-05 9.99995272e-01 -1.76640696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.35028169299994 meters Centerline goodness [0,1] 0.99993627326026 Centerline is valid? [True, True] Translation: X:374.70, Y:-24.05, Z:-1.77 [[ 9.94679745e-01 1.02970148e-01 3.05842780e-03 3.74701758e+02] [-1.02969728e-01 9.94684446e-01 -2.95097189e-04 -2.40482815e+01] [-3.07255677e-03 -2.13982819e-05 9.99995279e-01 -1.76694597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.380281693 meters Centerline goodness [0,1] 0.9999786068800274 Centerline is valid? [True, True] Translation: X:374.73, Y:-24.05, Z:-1.77 [[ 9.94704976e-01 1.02707929e-01 3.61815219e-03 3.74732456e+02] [-1.02707339e-01 9.94711557e-01 -3.49007062e-04 -2.40505596e+01] [-3.63486359e-03 -2.44517229e-05 9.99993394e-01 -1.76663245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.41028169299994 meters Centerline goodness [0,1] 0.9998725790010193 Centerline is valid? [True, True] Translation: X:374.76, Y:-24.05, Z:-1.77 [[ 9.94602086e-01 1.03694437e-01 3.76217531e-03 3.74762578e+02] [-1.03693806e-01 9.94609201e-01 -3.62913491e-04 -2.40506566e+01] [-3.77952629e-03 -2.91597604e-05 9.99992857e-01 -1.76636791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.440281693 meters Centerline goodness [0,1] 0.999978653460274 Centerline is valid? [True, True] Translation: X:374.79, Y:-24.05, Z:-1.77 [[ 9.94440987e-01 1.05246192e-01 3.21911918e-03 3.74792479e+02] [-1.05245738e-01 9.94446197e-01 -3.10517626e-04 -2.40496330e+01] [-3.23392162e-03 -3.00071197e-05 9.99994770e-01 -1.76741163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.47028169299995 meters Centerline goodness [0,1] 0.9999150400373824 Centerline is valid? [True, True] Translation: X:374.82, Y:-24.04, Z:-1.77 [[ 9.94056893e-01 1.08861804e-01 -2.23472904e-05 3.74821961e+02] [-1.08861804e-01 9.94056894e-01 2.08977219e-06 -2.40444234e+01] [ 2.24419744e-05 3.55413899e-07 1.00000000e+00 -1.77383572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.500281693 meters Centerline goodness [0,1] 0.9999786707618804 Centerline is valid? [True, True] Translation: X:374.85, Y:-24.04, Z:-1.77 [[ 9.93913778e-01 1.10159860e-01 -4.54983999e-04 3.74850816e+02] [-1.10159852e-01 9.93913882e-01 4.37807172e-05 -2.40437556e+01] [ 4.57037790e-04 6.60671169e-06 9.99999896e-01 -1.77492168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.53028169299995 meters Centerline goodness [0,1] 0.9997027727060422 Centerline is valid? [True, True] Translation: X:374.88, Y:-24.04, Z:-1.77 [[ 9.93705521e-01 1.12013342e-01 1.53247205e-03 3.74878973e+02] [-1.12013248e-01 9.93706702e-01 -1.47732349e-04 -2.40400715e+01] [-1.53937574e-03 -2.48547203e-05 9.99998815e-01 -1.77157412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.560281693 meters Centerline goodness [0,1] 0.9998089131404064 Centerline is valid? [True, True] Translation: X:374.91, Y:-24.04, Z:-1.77 [[ 9.93668582e-01 1.12325805e-01 2.37963122e-03 3.74908282e+02] [-1.12325578e-01 9.93671431e-01 -2.29204615e-04 -2.40399299e+01] [-2.39031716e-03 -3.95400286e-05 9.99997142e-01 -1.77035660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.59028169299995 meters Centerline goodness [0,1] 0.9997226903304252 Centerline is valid? [True, True] Translation: X:374.94, Y:-24.04, Z:-1.77 [[ 9.93676913e-01 1.12248180e-01 2.55702577e-03 3.74937225e+02] [-1.12247918e-01 9.93680202e-01 -2.46170278e-04 -2.40412292e+01] [-2.56849805e-03 -4.24070972e-05 9.99996701e-01 -1.76993495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.620281693 meters Centerline goodness [0,1] 0.9998529133659726 Centerline is valid? [True, True] Translation: X:374.97, Y:-24.04, Z:-1.77 [[ 9.93806815e-01 1.11105741e-01 1.87836610e-03 3.74966406e+02] [-1.11105598e-01 9.93808590e-01 -1.80769558e-04 -2.40414623e+01] [-1.88682090e-03 -2.90469708e-05 9.99998220e-01 -1.77211790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.65028169299995 meters Centerline goodness [0,1] 0.99991480479649 Centerline is valid? [True, True] Translation: X:374.99, Y:-24.05, Z:-1.77 [[ 9.93934735e-01 1.09962404e-01 1.41854616e-03 3.74994981e+02] [-1.09962321e-01 9.93935747e-01 -1.36514950e-04 -2.40455460e+01] [-1.42495525e-03 -2.02996776e-05 9.99998985e-01 -1.77328990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.680281693 meters Centerline goodness [0,1] 0.9998941843731483 Centerline is valid? [True, True] Translation: X:375.02, Y:-24.05, Z:-1.77 [[ 9.94174423e-01 1.07765897e-01 1.93095819e-03 3.75023931e+02] [-1.07765739e-01 9.94176298e-01 -1.85703959e-04 -2.40484060e+01] [-1.93972542e-03 -2.34690110e-05 9.99998118e-01 -1.77196428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.71028169299996 meters Centerline goodness [0,1] 0.9998507271719197 Centerline is valid? [True, True] Translation: X:375.05, Y:-24.05, Z:-1.77 [[ 9.94256689e-01 1.07003366e-01 1.97879899e-03 3.75052121e+02] [-1.07003199e-01 9.94258658e-01 -1.90262428e-04 -2.40510121e+01] [-1.98779675e-03 -2.25681314e-05 9.99998024e-01 -1.77198520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.740281693 meters Centerline goodness [0,1] 0.999871064789943 Centerline is valid? [True, True] Translation: X:375.08, Y:-24.06, Z:-1.77 [[ 9.94336304e-01 1.06269947e-01 1.41894649e-03 3.75081201e+02] [-1.06269861e-01 9.94337316e-01 -1.36383412e-04 -2.40575229e+01] [-1.42540491e-03 -1.51802687e-05 9.99998984e-01 -1.77266107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.77028169299996 meters Centerline goodness [0,1] 0.9998722398483912 Centerline is valid? [True, True] Translation: X:375.11, Y:-24.06, Z:-1.78 [[ 9.94474679e-01 1.04976699e-01 -6.91181497e-05 3.75109696e+02] [-1.04976699e-01 9.94474682e-01 6.58982991e-06 -2.40584715e+01] [ 6.94280285e-05 7.02376196e-07 9.99999998e-01 -1.77610218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.800281693 meters Centerline goodness [0,1] 0.9999786621145844 Centerline is valid? [True, True] Translation: X:375.14, Y:-24.05, Z:-1.78 [[ 9.94635520e-01 1.03436868e-01 -9.98042731e-04 3.75138478e+02] [-1.03436824e-01 9.94636021e-01 9.57234256e-05 -2.40549282e+01] [ 1.00259058e-03 8.02445124e-06 9.99999497e-01 -1.77981077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.83028169299996 meters Centerline goodness [0,1] 0.9999151031496731 Centerline is valid? [True, True] Translation: X:375.17, Y:-24.06, Z:-1.78 [[ 9.94688776e-01 1.02923582e-01 -9.87048318e-04 3.75167670e+02] [-1.02923539e-01 9.94689266e-01 9.46214169e-05 -2.40573336e+01] [ 9.91545143e-04 7.47164495e-06 9.99999508e-01 -1.77883392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.860281693 meters Centerline goodness [0,1] 0.9999786830380935 Centerline is valid? [True, True] Translation: X:375.20, Y:-24.06, Z:-1.78 [[ 9.94766228e-01 1.02175790e-01 -5.10350258e-04 3.75196742e+02] [-1.02175779e-01 9.94766358e-01 4.88522387e-05 -2.40582284e+01] [ 5.12670784e-04 3.54887790e-06 9.99999869e-01 -1.77794345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89028169299996 meters Centerline goodness [0,1] 0.9998939599592807 Centerline is valid? [True, True] Translation: X:375.23, Y:-24.06, Z:-1.78 [[ 9.94872143e-01 1.01140575e-01 4.64594534e-05 3.75225338e+02] [-1.01140575e-01 9.94872145e-01 -4.55230331e-06 -2.40597446e+01] [-4.66816386e-05 -1.69976087e-07 9.99999999e-01 -1.77625212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92028169299994 meters Centerline goodness [0,1] 0.9998728867420872 Centerline is valid? [True, True] Translation: X:375.25, Y:-24.06, Z:-1.78 [[ 9.95241630e-01 9.74375479e-02 -1.47751448e-04 3.75252981e+02] [-9.74375469e-02 9.95241641e-01 1.40340394e-05 -2.40625285e+01] [ 1.48415836e-04 4.29278354e-07 9.99999989e-01 -1.77795541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95028169299997 meters Centerline goodness [0,1] 0.9998101145642129 Centerline is valid? [True, True] Translation: X:375.28, Y:-24.07, Z:-1.78 [[ 9.95854602e-01 9.09590119e-02 2.63955475e-04 3.75282330e+02] [-9.09590083e-02 9.95854637e-01 -2.53310732e-05 -2.40712977e+01] [-2.65165373e-04 1.21693761e-06 9.99999965e-01 -1.77733025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98028169299994 meters Centerline goodness [0,1] 0.999323953183758 Centerline is valid? [True, True] Translation: X:375.31, Y:-24.08, Z:-1.78 [[ 9.96156870e-01 8.75765750e-02 1.35417676e-03 3.75311752e+02] [-8.75764796e-02 9.96157790e-01 -1.29730998e-04 -2.40775026e+01] [-1.36033512e-03 1.06383923e-05 9.99999075e-01 -1.77552709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01028169299997 meters Centerline goodness [0,1] 0.9988943462822394 Centerline is valid? [True, True] Translation: X:375.34, Y:-24.08, Z:-1.77 [[ 9.96442071e-01 8.42530568e-02 2.14955082e-03 3.75340399e+02] [-8.42528088e-02 9.96444390e-01 -2.05852394e-04 -2.40846477e+01] [-2.15925155e-03 2.40142913e-05 9.99997669e-01 -1.77313653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04028169299994 meters Centerline goodness [0,1] 0.9981279383921544 Centerline is valid? [True, True] Translation: X:375.37, Y:-24.09, Z:-1.77 [[ 9.96726514e-01 8.08153963e-02 2.26442244e-03 3.75370393e+02] [-8.08151121e-02 9.96729086e-01 -2.16861343e-04 -2.40925273e+01] [-2.27454145e-03 3.31518966e-05 9.99997413e-01 -1.77309971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.07028169299997 meters Centerline goodness [0,1] 0.9970090803459999 Centerline is valid? [True, True] Translation: X:375.40, Y:-24.11, Z:-1.78 [[ 9.97246174e-01 7.41579989e-02 8.12766873e-04 3.75400537e+02] [-7.41579601e-02 9.97246505e-01 -7.78089838e-05 -2.41066332e+01] [-8.16299082e-04 1.73215781e-05 9.99999667e-01 -1.77691241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10028169299994 meters Centerline goodness [0,1] 0.9951349521956172 Centerline is valid? [True, True] Translation: X:375.43, Y:-24.12, Z:-1.78 [[ 9.97572950e-01 6.96280952e-02 3.72502857e-04 3.75429149e+02] [-6.96280867e-02 9.97573019e-01 -3.56825818e-05 -2.41192189e+01] [-3.74083310e-04 9.65931717e-06 9.99999930e-01 -1.77820090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.130281693 meters Centerline goodness [0,1] 0.9918812930577636 Centerline is valid? [True, True] Translation: X:375.46, Y:-24.14, Z:-1.78 [[ 9.97686280e-01 6.79844823e-02 4.44471771e-04 3.75458439e+02] [-6.79844701e-02 9.97686379e-01 -4.25398979e-05 -2.41354055e+01] [-4.46335485e-04 1.22242946e-05 9.99999900e-01 -1.77856596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16028169299994 meters Centerline goodness [0,1] 0.9936979660659712 Centerline is valid? [True, True] Translation: X:375.49, Y:-24.14, Z:-1.78 [[ 9.97810910e-01 6.61311745e-02 2.37541676e-04 3.75490104e+02] [-6.61311710e-02 9.97810938e-01 -2.27187496e-05 -2.41356178e+01] [-2.38524100e-04 6.96010704e-06 9.99999972e-01 -1.77850405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.190281693 meters Centerline goodness [0,1] 0.9927186030027708 Centerline is valid? [True, True] Translation: X:375.52, Y:-24.14, Z:-1.78 [[ 9.97935106e-01 6.42299343e-02 2.00811456e-04 3.75521308e+02] [-6.42299318e-02 9.97935126e-01 -1.89711757e-05 -2.41440732e+01] [-2.01615323e-04 6.03389610e-06 9.99999980e-01 -1.77830395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22028169299995 meters Centerline goodness [0,1] 0.9925393932897416 Centerline is valid? [True, True] Translation: X:375.55, Y:-24.15, Z:-1.78 [[ 9.98167667e-01 6.05080261e-02 -2.96378104e-04 3.75551663e+02] [-6.05080203e-02 9.98167711e-01 2.85087855e-05 -2.41532754e+01] [ 2.97560064e-04 -1.05232956e-05 9.99999956e-01 -1.77882156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.250281693 meters Centerline goodness [0,1] 0.990105106699225 Centerline is valid? [True, True] Translation: X:375.58, Y:-24.17, Z:-1.78 [[ 9.98112422e-01 6.13995734e-02 -1.29836810e-03 3.75581835e+02] [-6.13994625e-02 9.98113265e-01 1.25160225e-04 -2.41677750e+01] [ 1.30360321e-03 -4.52048723e-05 9.99999149e-01 -1.78124426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28028169299995 meters Centerline goodness [0,1] 0.9916231252512004 Centerline is valid? [True, True] Translation: X:375.61, Y:-24.17, Z:-1.78 [[ 9.97991569e-01 6.33137742e-02 -2.04821419e-03 3.75612759e+02] [-6.33135030e-02 9.97993668e-01 1.97037774e-04 -2.41706357e+01] [ 2.05658000e-03 -6.69624216e-05 9.99997883e-01 -1.78244497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.310281693 meters Centerline goodness [0,1] 0.9935326707913855 Centerline is valid? [True, True] Translation: X:375.64, Y:-24.17, Z:-1.78 [[ 9.97823112e-01 6.58796879e-02 -2.98382083e-03 3.75644210e+02] [-6.58791237e-02 9.97827570e-01 2.87087318e-04 -2.41712500e+01] [ 2.99625191e-03 -8.98908596e-05 9.99995507e-01 -1.78389706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34028169299995 meters Centerline goodness [0,1] 0.9971286208935056 Centerline is valid? [True, True] Translation: X:375.67, Y:-24.17, Z:-1.79 [[ 9.97383595e-01 7.21620557e-02 -4.31313395e-03 3.75674516e+02] [-7.21609360e-02 9.97392915e-01 4.14866394e-04 -2.41666749e+01] [ 4.33182685e-03 -1.02541152e-04 9.99990612e-01 -1.78734802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.370281693 meters Centerline goodness [0,1] 0.9980022103204965 Centerline is valid? [True, True] Translation: X:375.71, Y:-24.17, Z:-1.79 [[ 9.97153105e-01 7.52986619e-02 -3.97449319e-03 3.75705043e+02] [-7.52977359e-02 9.97161023e-01 3.82310103e-04 -2.41653741e+01] [ 3.99199714e-03 -8.19513674e-05 9.99992029e-01 -1.78639515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40028169299995 meters Centerline goodness [0,1] 0.9994221632495827 Centerline is valid? [True, True] Translation: X:375.74, Y:-24.16, Z:-1.78 [[ 9.96701605e-01 8.11285174e-02 -2.01845806e-03 3.75735458e+02] [-8.11282907e-02 9.96703648e-01 1.94069102e-04 -2.41591886e+01] [ 2.02754905e-03 -2.96749327e-05 9.99997944e-01 -1.78237323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.430281693 meters Centerline goodness [0,1] 0.9992757944960382 Centerline is valid? [True, True] Translation: X:375.77, Y:-24.16, Z:-1.78 [[ 9.96539117e-01 8.31118383e-02 -1.48657649e-03 3.75765455e+02] [-8.31117174e-02 9.96540226e-01 1.43029099e-04 -2.41590493e+01] [ 1.49332068e-03 -1.89821670e-05 9.99998885e-01 -1.78207462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46028169299996 meters Centerline goodness [0,1] 0.9995051848027193 Centerline is valid? [True, True] Translation: X:375.80, Y:-24.16, Z:-1.78 [[ 9.96412912e-01 8.46096915e-02 -1.58400831e-03 3.75796075e+02] [-8.46095562e-02 9.96414171e-01 1.52362345e-04 -2.41574641e+01] [ 1.59121966e-03 -1.77935675e-05 9.99998734e-01 -1.78249643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.490281693 meters Centerline goodness [0,1] 0.999659531003958 Centerline is valid? [True, True] Translation: X:375.83, Y:-24.16, Z:-1.79 [[ 9.96179224e-01 8.72687017e-02 -3.33570487e-03 3.75826058e+02] [-8.72681163e-02 9.96184809e-01 3.20943664e-04 -2.41582835e+01] [ 3.35098686e-03 -2.86167292e-05 9.99994385e-01 -1.78745726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52028169299996 meters Centerline goodness [0,1] 0.9999361199241956 Centerline is valid? [True, True] Translation: X:375.86, Y:-24.16, Z:-1.79 [[ 9.96071885e-01 8.84216660e-02 -4.73373239e-03 3.75855641e+02] [-8.84205009e-02 9.96083133e-01 4.55253369e-04 -2.41584631e+01] [ 4.75544525e-03 -3.49060924e-05 9.99988692e-01 -1.79026705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.550281693 meters Centerline goodness [0,1] 0.9998514052814809 Centerline is valid? [True, True] Translation: X:375.88, Y:-24.16, Z:-1.79 [[ 9.96045480e-01 8.87042306e-02 -4.99619696e-03 3.75884670e+02] [-8.87029372e-02 9.96058009e-01 4.80309114e-04 -2.41607407e+01] [ 5.01910745e-03 -3.52323768e-05 9.99987404e-01 -1.79075114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58028169299996 meters Centerline goodness [0,1] 0.9998724272835516 Centerline is valid? [True, True] Translation: X:375.91, Y:-24.16, Z:-1.79 [[ 9.96066106e-01 8.84559171e-02 -5.27853317e-03 3.75914035e+02] [-8.84544704e-02 9.96080092e-01 5.07362507e-04 -2.41639725e+01] [ 5.30272102e-03 -3.84567413e-05 9.99985940e-01 -1.79140898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.610281693 meters Centerline goodness [0,1] 0.9998724272835516 Centerline is valid? [True, True] Translation: X:375.94, Y:-24.17, Z:-1.79 [[ 9.96068042e-01 8.84341178e-02 -5.27854428e-03 3.75943072e+02] [-8.84326714e-02 9.96082027e-01 5.07246862e-04 -2.41667162e+01] [ 5.30272102e-03 -3.84566171e-05 9.99985940e-01 -1.79147037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64028169299996 meters Centerline goodness [0,1] 0.9997874285228409 Centerline is valid? [True, True] Translation: X:375.97, Y:-24.17, Z:-1.79 [[ 9.96167697e-01 8.72859901e-02 -5.57453637e-03 3.75970797e+02] [-8.72843598e-02 9.96183293e-01 5.35545069e-04 -2.41738115e+01] [ 5.60000558e-03 -4.69228600e-05 9.99984319e-01 -1.79351236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.67028169299994 meters Centerline goodness [0,1] 0.99974571422517 Centerline is valid? [True, True] Translation: X:376.00, Y:-24.18, Z:-1.79 [[ 9.96211719e-01 8.67936969e-02 -5.39128782e-03 3.76000017e+02] [-8.67921654e-02 9.96226306e-01 5.17834407e-04 -2.41793960e+01] [ 5.41588751e-03 -4.79511607e-05 9.99985333e-01 -1.79313941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70028169299997 meters Centerline goodness [0,1] 0.9998524793998019 Centerline is valid? [True, True] Translation: X:376.03, Y:-24.18, Z:-1.79 [[ 9.96241492e-01 8.64806547e-02 -4.89761969e-03 3.76029234e+02] [-8.64793875e-02 9.96253529e-01 4.70310624e-04 -2.41845367e+01] [ 4.91994367e-03 -4.49998065e-05 9.99987896e-01 -1.79138757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.73028169299994 meters Centerline goodness [0,1] 0.9997872476224922 Centerline is valid? [True, True] Translation: X:376.06, Y:-24.19, Z:-1.79 [[ 9.96232251e-01 8.66503281e-02 -3.60861333e-03 3.76058658e+02] [-8.66496417e-02 9.96238786e-01 3.46426189e-04 -2.41857120e+01] [ 3.62505851e-03 -3.24358893e-05 9.99993429e-01 -1.78617144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76028169299997 meters Centerline goodness [0,1] 0.9997860001283999 Centerline is valid? [True, True] Translation: X:376.09, Y:-24.19, Z:-1.79 [[ 9.96208631e-01 8.69307205e-02 -3.37849680e-03 3.76087382e+02] [-8.69301205e-02 9.96214359e-01 3.24316629e-04 -2.41909000e+01] [ 3.39390010e-03 -2.93938907e-05 9.99994240e-01 -1.78671398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.79028169299994 meters Centerline goodness [0,1] 0.9998291583915263 Centerline is valid? [True, True] Translation: X:376.12, Y:-24.20, Z:-1.79 [[ 9.96103157e-01 8.81344352e-02 -3.28954206e-03 3.76116212e+02] [-8.81338730e-02 9.96108589e-01 3.15741463e-04 -2.41958238e+01] [ 3.30456879e-03 -2.45909861e-05 9.99994540e-01 -1.78732982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82028169299997 meters Centerline goodness [0,1] 0.9996832636513366 Centerline is valid? [True, True] Translation: X:376.14, Y:-24.20, Z:-1.79 [[ 9.96034162e-01 8.89089448e-02 -3.33888400e-03 3.76144947e+02] [-8.89083706e-02 9.96039758e-01 3.20324917e-04 -2.41978066e+01] [ 3.35414097e-03 -2.21998236e-05 9.99994375e-01 -1.78830422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.85028169299994 meters Centerline goodness [0,1] 0.9997192770303829 Centerline is valid? [True, True] Translation: X:376.18, Y:-24.20, Z:-1.79 [[ 9.95972850e-01 8.95929134e-02 -3.34547475e-03 3.76175211e+02] [-8.95923405e-02 9.95978468e-01 3.21025346e-04 -2.41978202e+01] [ 3.36078241e-03 -2.00036156e-05 9.99994352e-01 -1.78740259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.880281693 meters Centerline goodness [0,1] 0.9996788077343097 Centerline is valid? [True, True] Translation: X:376.20, Y:-24.20, Z:-1.79 [[ 9.95878318e-01 9.06244974e-02 -3.68448246e-03 3.76204278e+02] [-9.06238093e-02 9.95885134e-01 3.53638898e-04 -2.42020720e+01] [ 3.70136966e-03 -1.82794755e-05 9.99993150e-01 -1.78908832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.91028169299994 meters Centerline goodness [0,1] 0.99974679270763 Centerline is valid? [True, True] Translation: X:376.23, Y:-24.21, Z:-1.79 [[ 9.95885935e-01 9.05005519e-02 -4.56670957e-03 3.76233664e+02] [-9.04994934e-02 9.95896405e-01 4.38338854e-04 -2.42091743e+01] [ 4.58763956e-03 -2.32505971e-05 9.99989476e-01 -1.79258885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.940281693 meters Centerline goodness [0,1] 0.999827882960413 Centerline is valid? [True, True] Translation: X:376.26, Y:-24.21, Z:-1.79 [[ 9.95899390e-01 9.03116080e-02 -5.31212317e-03 3.76264007e+02] [-9.03101731e-02 9.95913557e-01 5.09865753e-04 -2.42115995e+01] [ 5.33646227e-03 -2.80362302e-05 9.99985761e-01 -1.79030052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.97028169299995 meters Centerline goodness [0,1] 0.9998934310925445 Centerline is valid? [True, True] Translation: X:376.29, Y:-24.21, Z:-1.79 [[ 9.95823124e-01 9.11466280e-02 -5.34767665e-03 3.76293318e+02] [-9.11451863e-02 9.95837483e-01 5.13186435e-04 -2.42148703e+01] [ 5.37219207e-03 -2.36279339e-05 9.99985569e-01 -1.79012794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.000281693 meters Centerline goodness [0,1] 0.9998300475866757 Centerline is valid? [True, True] Translation: X:376.32, Y:-24.22, Z:-1.79 [[ 9.95749869e-01 9.19891916e-02 -4.49296739e-03 3.76322095e+02] [-9.19881834e-02 9.95760005e-01 4.30953487e-04 -2.42179926e+01] [ 4.51356030e-03 -1.58219699e-05 9.99989814e-01 -1.79166776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.03028169299995 meters Centerline goodness [0,1] 0.9998929198612242 Centerline is valid? [True, True] Translation: X:376.35, Y:-24.22, Z:-1.79 [[ 9.95565328e-01 9.39693750e-02 -4.40850606e-03 3.76352105e+02] [-9.39684242e-02 9.95575088e-01 4.22771777e-04 -2.42185686e+01] [ 4.42872641e-03 -6.63655534e-06 9.99990193e-01 -1.78976844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.060281693 meters Centerline goodness [0,1] 0.9999143432266907 Centerline is valid? [True, True] Translation: X:376.38, Y:-24.22, Z:-1.79 [[ 9.95526248e-01 9.43397907e-02 -5.24338272e-03 3.76381179e+02] [-9.43384520e-02 9.95540056e-01 5.02599147e-04 -2.42215415e+01] [ 5.26741263e-03 -5.69803409e-06 9.99986127e-01 -1.79187041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.09028169299995 meters Centerline goodness [0,1] 0.9999355739289165 Centerline is valid? [True, True] Translation: X:376.41, Y:-24.23, Z:-1.79 [[ 9.95537942e-01 9.41451872e-02 -6.39448927e-03 3.76410953e+02] [-9.41431929e-02 9.95558478e-01 6.12833655e-04 -2.42251418e+01] [ 6.42378335e-03 -8.10151867e-06 9.99979367e-01 -1.79393070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.120281693 meters Centerline goodness [0,1] 0.999892399070328 Centerline is valid? [True, True] Translation: X:376.44, Y:-24.23, Z:-1.80 [[ 9.95653994e-01 9.28322003e-02 -7.43680375e-03 3.76439556e+02] [-9.28294684e-02 9.95681768e-01 7.12440767e-04 -2.42306251e+01] [ 7.47082734e-03 -1.89899575e-05 9.99972093e-01 -1.79623183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.15028169299995 meters Centerline goodness [0,1] 0.9999574956433034 Centerline is valid? [True, True] Translation: X:376.47, Y:-24.24, Z:-1.80 [[ 9.95687420e-01 9.25080695e-02 -6.98698791e-03 3.76468192e+02] [-9.25056518e-02 9.95711935e-01 6.69101995e-04 -2.42359472e+01] [ 7.01892459e-03 -1.98805681e-05 9.99975367e-01 -1.79914994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.180281693 meters Centerline goodness [0,1] 0.9999788036796812 Centerline is valid? [True, True] Translation: X:376.50, Y:-24.24, Z:-1.79 [[ 9.95683048e-01 9.26720965e-02 -5.21063650e-03 3.76497277e+02] [-9.26707547e-02 9.95696682e-01 4.98877864e-04 -2.42407354e+01] [ 5.23444553e-03 -1.38506154e-05 9.99986300e-01 -1.79356698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.21028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.53, Y:-24.25, Z:-1.80 [[ 9.95679780e-01 9.26998973e-02 -5.33893214e-03 3.76525996e+02] [-9.26984902e-02 9.95694094e-01 5.10955438e-04 -2.42451576e+01] [ 5.36330872e-03 -1.38370502e-05 9.99985617e-01 -1.79645731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.240281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.56, Y:-24.25, Z:-1.80 [[ 9.95694133e-01 9.25378984e-02 -5.47098515e-03 3.76555759e+02] [-9.25364188e-02 9.95709163e-01 5.23507505e-04 -2.42484951e+01] [ 5.49595433e-03 -1.49879783e-05 9.99984897e-01 -1.79767763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.27028169299996 meters Centerline goodness [0,1] 0.9998512726809161 Centerline is valid? [True, True] Translation: X:376.59, Y:-24.25, Z:-1.80 [[ 9.95767076e-01 9.16930105e-02 -6.34999982e-03 3.76585897e+02] [-9.16909998e-02 9.95787322e-01 6.07669934e-04 -2.42521837e+01] [ 6.37896840e-03 -2.28598812e-05 9.99979654e-01 -1.79521214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.300281693 meters Centerline goodness [0,1] 0.9999353907781104 Centerline is valid? [True, True] Translation: X:376.62, Y:-24.26, Z:-1.80 [[ 9.95827104e-01 9.10165846e-02 -6.66030386e-03 3.76615546e+02] [-9.10143588e-02 9.95849376e-01 6.37153977e-04 -2.42566858e+01] [ 6.69065103e-03 -2.83119140e-05 9.99977617e-01 -1.79568071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.33028169299996 meters Centerline goodness [0,1] 0.9998081432530377 Centerline is valid? [True, True] Translation: X:376.64, Y:-24.27, Z:-1.80 [[ 9.95904412e-01 9.02107197e-02 -6.03554547e-03 3.76643890e+02] [-9.02088774e-02 9.95922700e-01 5.77335164e-04 -2.42650390e+01] [ 6.06301856e-03 -3.05108555e-05 9.99981619e-01 -1.79925930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.360281693 meters Centerline goodness [0,1] 0.9998087791611779 Centerline is valid? [True, True] Translation: X:376.67, Y:-24.27, Z:-1.79 [[ 9.95928170e-01 8.99558130e-02 -5.91877417e-03 3.76674721e+02] [-8.99540367e-02 9.95945757e-01 5.66189919e-04 -2.42667034e+01] [ 5.94571010e-03 -3.14668605e-05 9.99982324e-01 -1.79447185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.39028169299996 meters Centerline goodness [0,1] 0.9998294206699503 Centerline is valid? [True, True] Translation: X:376.70, Y:-24.27, Z:-1.80 [[ 9.95971594e-01 8.94247513e-02 -6.61796960e-03 3.76703637e+02] [-8.94225194e-02 9.95993580e-01 6.32971088e-04 -2.42746714e+01] [ 6.64805852e-03 -3.86257086e-05 9.99977901e-01 -1.79688765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42028169299994 meters Centerline goodness [0,1] 0.9998073753825739 Centerline is valid? [True, True] Translation: X:376.73, Y:-24.28, Z:-1.80 [[ 9.95980412e-01 8.93023405e-02 -6.93623204e-03 3.76733784e+02] [-8.92998857e-02 9.96004563e-01 6.63437253e-04 -2.42799641e+01] [ 6.96776526e-03 -4.13657802e-05 9.99975724e-01 -1.79771092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.45028169299997 meters Centerline goodness [0,1] 0.999892779791135 Centerline is valid? [True, True] Translation: X:376.76, Y:-24.29, Z:-1.80 [[ 9.96025176e-01 8.87992583e-02 -6.96706115e-03 3.76763428e+02] [-8.87967701e-02 9.96049542e-01 6.66275684e-04 -2.42851609e+01] [ 6.99870285e-03 -4.49748289e-05 9.99975508e-01 -1.79791118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48028169299994 meters Centerline goodness [0,1] 0.9998926232148609 Centerline is valid? [True, True] Translation: X:376.79, Y:-24.29, Z:-1.80 [[ 9.95996448e-01 8.90739845e-02 -7.54324776e-03 3.76792287e+02] [-8.90710762e-02 9.96025011e-01 7.21288626e-04 -2.42914415e+01] [ 7.57751149e-03 -4.65157131e-05 9.99971289e-01 -1.79813647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.51028169299997 meters Centerline goodness [0,1] 0.9998725925296753 Centerline is valid? [True, True] Translation: X:376.82, Y:-24.29, Z:-1.80 [[ 9.95835268e-01 9.08263745e-02 -7.91761108e-03 3.76821334e+02] [-9.08232265e-02 9.95866742e-01 7.56993844e-04 -2.42936782e+01] [ 7.95364056e-03 -3.47381838e-05 9.99968369e-01 -1.79881029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.85, Y:-24.29, Z:-1.80 [[ 9.95335376e-01 9.61702253e-02 -7.66664350e-03 3.76851276e+02] [-9.61674338e-02 9.95364902e-01 7.32790063e-04 -2.42918846e+01] [ 7.70158044e-03 7.90955784e-06 9.99970342e-01 -1.79802103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.57028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.88, Y:-24.29, Z:-1.80 [[ 9.95119856e-01 9.83749408e-02 -7.67097049e-03 3.76880146e+02] [-9.83722139e-02 9.95149421e-01 7.32906107e-04 -2.42922327e+01] [ 7.70586144e-03 2.52809303e-05 9.99970309e-01 -1.79812119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60028169299994 meters Centerline goodness [0,1] 0.999957499256237 Centerline is valid? [True, True] Translation: X:376.91, Y:-24.29, Z:-1.80 [[ 9.94876103e-01 1.00835410e-01 -7.33211213e-03 3.76908652e+02] [-1.00832988e-01 9.94903120e-01 7.00272216e-04 -2.42925985e+01] [ 7.36535347e-03 4.26346791e-05 9.99972875e-01 -1.79815529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.630281693 meters Centerline goodness [0,1] 0.9999577729451259 Centerline is valid? [True, True] Translation: X:376.94, Y:-24.29, Z:-1.80 [[ 9.94377116e-01 1.05710013e-01 -6.28845569e-03 3.76937789e+02] [-1.05708330e-01 9.94396997e-01 6.00366052e-04 -2.42913554e+01] [ 6.31668616e-03 6.77518860e-05 9.99980047e-01 -1.79692686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66028169299994 meters Centerline goodness [0,1] 0.9999147993524751 Centerline is valid? [True, True] Translation: X:376.97, Y:-24.29, Z:-1.80 [[ 9.94136531e-01 1.07963191e-01 -6.04214297e-03 3.76967200e+02] [-1.07961680e-01 9.94154889e-01 5.76731842e-04 -2.42920998e+01] [ 6.06909178e-03 7.89697106e-05 9.99981580e-01 -1.79624572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.690281693 meters Centerline goodness [0,1] 0.999810606060606 Centerline is valid? [True, True] Translation: X:377.00, Y:-24.29, Z:-1.80 [[ 9.93589229e-01 1.12851077e-01 -6.71407577e-03 3.76996272e+02] [-1.12849325e-01 9.93611906e-01 6.40517060e-04 -2.42857554e+01] [ 6.74346866e-03 1.21268064e-04 9.99977255e-01 -1.79738917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72028169299995 meters Centerline goodness [0,1] 0.9995940517904452 Centerline is valid? [True, True] Translation: X:377.03, Y:-24.28, Z:-1.80 [[ 9.93295586e-01 1.15365741e-01 -7.39080069e-03 3.77026200e+02] [-1.15363688e-01 9.93323071e-01 7.04960585e-04 -2.42843117e+01] [ 7.42278113e-03 1.52395784e-04 9.99972439e-01 -1.79746207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.750281693 meters Centerline goodness [0,1] 0.9996765917078114 Centerline is valid? [True, True] Translation: X:377.06, Y:-24.28, Z:-1.80 [[ 9.93043374e-01 1.17473392e-01 -8.05359416e-03 3.77055995e+02] [-1.17471025e-01 9.93076013e-01 7.67989146e-04 -2.42840415e+01] [ 8.08804948e-03 1.83417425e-04 9.99967274e-01 -1.79805467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78028169299995 meters Centerline goodness [0,1] 0.9994674959529692 Centerline is valid? [True, True] Translation: X:377.09, Y:-24.28, Z:-1.80 [[ 9.92597485e-01 1.21167850e-01 -8.28161305e-03 3.77085406e+02] [-1.21165478e-01 9.92632008e-01 7.89484031e-04 -2.42751203e+01] [ 8.31625428e-03 2.19805738e-04 9.99965395e-01 -1.79859581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.810281693 meters Centerline goodness [0,1] 0.9990079365079365 Centerline is valid? [True, True] Translation: X:377.11, Y:-24.27, Z:-1.80 [[ 9.92471734e-01 1.22234512e-01 -7.65382630e-03 3.77114092e+02] [-1.22232521e-01 9.92501224e-01 7.29129003e-04 -2.42699125e+01] [ 7.68555670e-03 2.11906560e-04 9.99970443e-01 -1.79910772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84028169299995 meters Centerline goodness [0,1] 0.9993013211382114 Centerline is valid? [True, True] Translation: X:377.14, Y:-24.27, Z:-1.80 [[ 9.92335203e-01 1.23386287e-01 -6.83143127e-03 3.77143004e+02] [-1.23384731e-01 9.92358698e-01 6.50485721e-04 -2.42669491e+01] [ 6.85949126e-03 1.97394428e-04 9.99976454e-01 -1.79674243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.870281693 meters Centerline goodness [0,1] 0.9991466484618339 Centerline is valid? [True, True] Translation: X:377.17, Y:-24.27, Z:-1.80 [[ 9.92343816e-01 1.23257218e-01 -7.83641427e-03 3.77171477e+02] [-1.23255169e-01 9.92374731e-01 7.45725495e-04 -2.42658439e+01] [ 7.86857555e-03 2.25862485e-04 9.99969017e-01 -1.79858957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90028169299995 meters Centerline goodness [0,1] 0.9993658309728153 Centerline is valid? [True, True] Translation: X:377.20, Y:-24.27, Z:-1.80 [[ 9.92415951e-01 1.22623528e-01 -8.60531348e-03 3.77200686e+02] [-1.22621036e-01 9.92453229e-01 8.18650435e-04 -2.42682753e+01] [ 8.64075695e-03 2.42750702e-04 9.99962638e-01 -1.79938858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.930281693 meters Centerline goodness [0,1] 0.9994489891069385 Centerline is valid? [True, True] Translation: X:377.23, Y:-24.26, Z:-1.80 [[ 9.92612495e-01 1.21077765e-01 -7.78523048e-03 3.77229602e+02] [-1.21075682e-01 9.92643003e-01 7.40126544e-04 -2.42614504e+01] [ 7.81756743e-03 2.07943232e-04 9.99969421e-01 -1.79874439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96028169299996 meters Centerline goodness [0,1] 0.9992804689649334 Centerline is valid? [True, True] Translation: X:377.26, Y:-24.26, Z:-1.80 [[ 9.92712549e-01 1.20314914e-01 -6.79092283e-03 3.77258514e+02] [-1.20313313e-01 9.92735761e-01 6.45291763e-04 -2.42618615e+01] [ 6.81923017e-03 1.76449190e-04 9.99976733e-01 -1.79651236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.990281693 meters Centerline goodness [0,1] 0.9991011235955056 Centerline is valid? [True, True] Translation: X:377.29, Y:-24.26, Z:-1.79 [[ 9.92787437e-01 1.19787231e-01 -4.91169494e-03 3.77287641e+02] [-1.19786388e-01 9.92799579e-01 4.66466742e-04 -2.42570779e+01] [ 4.93220542e-03 1.25251875e-04 9.99987829e-01 -1.79328072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02028169299996 meters Centerline goodness [0,1] 0.9990195869477184 Centerline is valid? [True, True] Translation: X:377.32, Y:-24.25, Z:-1.79 [[ 9.92836196e-01 1.19383105e-01 -4.89501944e-03 3.77315788e+02] [-1.19382264e-01 9.92848256e-01 4.64575033e-04 -2.42538373e+01] [ 4.91547392e-03 1.23131596e-04 9.99987911e-01 -1.79367331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.050281693 meters Centerline goodness [0,1] 0.9992333248147202 Centerline is valid? [True, True] Translation: X:377.34, Y:-24.26, Z:-1.79 [[ 9.92919771e-01 1.18684875e-01 -4.92235288e-03 3.77344591e+02] [-1.18684017e-01 9.92931964e-01 4.66961238e-04 -2.42559942e+01] [ 4.94298275e-03 1.20549570e-04 9.99987776e-01 -1.79267629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08028169299996 meters Centerline goodness [0,1] 0.9995752092094643 Centerline is valid? [True, True] Translation: X:377.37, Y:-24.25, Z:-1.79 [[ 9.93338870e-01 1.15099807e-01 -5.47035961e-03 3.77373470e+02] [-1.15098695e-01 9.93353926e-01 5.18706175e-04 -2.42530363e+01] [ 5.49370617e-03 1.14380244e-04 9.99984903e-01 -1.79480749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.110281693 meters Centerline goodness [0,1] 0.9996569541819429 Centerline is valid? [True, True] Translation: X:377.40, Y:-24.26, Z:-1.79 [[ 9.93685619e-01 1.12055589e-01 -5.69530125e-03 3.77402065e+02] [-1.12054335e-01 9.93701934e-01 5.39767119e-04 -2.42590624e+01] [ 5.71991579e-03 1.01824373e-04 9.99983636e-01 -1.79471680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14028169299996 meters Centerline goodness [0,1] 0.9998523175594421 Centerline is valid? [True, True] Translation: X:377.43, Y:-24.26, Z:-1.80 [[ 9.94093856e-01 1.08355578e-01 -6.03942501e-03 3.77429458e+02] [-1.08354102e-01 9.94112198e-01 5.72004408e-04 -2.42631593e+01] [ 6.06584593e-03 8.57704049e-05 9.99981599e-01 -1.79594121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.17028169299994 meters Centerline goodness [0,1] 0.9998932148730325 Centerline is valid? [True, True] Translation: X:377.46, Y:-24.28, Z:-1.80 [[ 9.94963776e-01 1.00026062e-01 -6.47085945e-03 3.77458551e+02] [-1.00024190e-01 9.94984817e-01 6.12999376e-04 -2.42758374e+01] [ 6.49972281e-03 3.73303028e-05 9.99978876e-01 -1.79640269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20028169299997 meters Centerline goodness [0,1] 0.9998515470913834 Centerline is valid? [True, True] Translation: X:377.49, Y:-24.28, Z:-1.80 [[ 9.95320293e-01 9.63595442e-02 -7.23546598e-03 3.77485538e+02] [-9.63571115e-02 9.95346592e-01 6.84882039e-04 -2.42835396e+01] [ 7.26779133e-03 1.55116104e-05 9.99973589e-01 -1.79740210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.23028169299994 meters Centerline goodness [0,1] 0.9997885388031297 Centerline is valid? [True, True] Translation: X:377.51, Y:-24.29, Z:-1.80 [[ 9.95757527e-01 9.15066253e-02 -9.66871772e-03 3.77513488e+02] [-9.15020561e-02 9.95804467e-01 9.14820390e-04 -2.42946243e+01] [ 9.71186443e-03 -2.62317383e-05 9.99952838e-01 -1.80191572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26028169299997 meters Centerline goodness [0,1] 0.9998509052183173 Centerline is valid? [True, True] Translation: X:377.54, Y:-24.30, Z:-1.80 [[ 9.95803403e-01 9.09108259e-02 -1.05264017e-02 3.77540945e+02] [-9.09053834e-02 9.95859036e-01 9.95346250e-04 -2.42986797e+01] [ 1.05733000e-02 -3.42626014e-05 9.99944101e-01 -1.80408216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.29028169299994 meters Centerline goodness [0,1] 0.999702298679482 Centerline is valid? [True, True] Translation: X:377.57, Y:-24.30, Z:-1.80 [[ 9.95733707e-01 9.16483039e-02 -1.07225463e-02 3.77569172e+02] [-9.16427060e-02 9.95791438e-01 1.01327836e-03 -2.43006320e+01] [ 1.07702851e-02 -2.63122606e-05 9.99941998e-01 -1.80481460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32028169299997 meters Centerline goodness [0,1] 0.9998938586621946 Centerline is valid? [True, True] Translation: X:377.60, Y:-24.30, Z:-1.80 [[ 9.95320439e-01 9.61961190e-02 -9.13954345e-03 3.77598683e+02] [-9.61922474e-02 9.95362399e-01 8.63271511e-04 -2.42961273e+01] [ 9.18020127e-03 1.99214458e-05 9.99957861e-01 -1.80054032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.35028169299994 meters Centerline goodness [0,1] 0.9999361810755616 Centerline is valid? [True, True] Translation: X:377.63, Y:-24.29, Z:-1.80 [[ 9.94998079e-01 9.95263010e-02 -8.56376029e-03 3.77626726e+02] [-9.95230297e-02 9.95034931e-01 8.08364222e-04 -2.42932769e+01] [ 8.60169413e-03 4.79705211e-05 9.99963004e-01 -1.79931102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.380281693 meters Centerline goodness [0,1] 0.9998938586621946 Centerline is valid? [True, True] Translation: X:377.66, Y:-24.28, Z:-1.80 [[ 9.94176364e-01 1.07275793e-01 -1.02597314e-02 3.77656755e+02] [-1.07271513e-01 9.94229292e-01 9.68172004e-04 -2.42841185e+01] [ 1.03043869e-02 1.38043185e-04 9.99946899e-01 -1.80225548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.41028169299994 meters Centerline goodness [0,1] 0.9997889493900637 Centerline is valid? [True, True] Translation: X:377.69, Y:-24.28, Z:-1.81 [[ 9.93711077e-01 1.11336187e-01 -1.19394269e-02 3.77686077e+02] [-1.11330688e-01 9.93782778e-01 1.12628423e-03 -2.42781735e+01] [ 1.19905930e-02 2.10023495e-04 9.99928088e-01 -1.80659263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.440281693 meters Centerline goodness [0,1] 0.999745891919363 Centerline is valid? [True, True] Translation: X:377.72, Y:-24.27, Z:-1.81 [[ 9.93200868e-01 1.15707952e-01 -1.27947739e-02 3.77715621e+02] [-1.15702005e-01 9.93283238e-01 1.20654614e-03 -2.42735879e+01] [ 1.28484414e-02 2.82038317e-04 9.99917416e-01 -1.80744895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.47028169299995 meters Centerline goodness [0,1] 0.9994509671424952 Centerline is valid? [True, True] Translation: X:377.75, Y:-24.27, Z:-1.81 [[ 9.92688487e-01 1.19991302e-01 -1.31017199e-02 3.77746859e+02] [-1.19985438e-01 9.92774883e-01 1.23556349e-03 -2.42682006e+01] [ 1.31553153e-02 3.45485948e-04 9.99913405e-01 -1.80799636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.500281693 meters Centerline goodness [0,1] 0.9994509671424952 Centerline is valid? [True, True] Translation: X:377.77, Y:-24.27, Z:-1.81 [[ 9.92696538e-01 1.19924669e-01 -1.31018160e-02 3.77774255e+02] [-1.19918813e-01 9.92782934e-01 1.23454350e-03 -2.42706425e+01] [ 1.31553116e-02 3.45627167e-04 9.99913405e-01 -1.80805425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.53028169299995 meters Centerline goodness [0,1] 0.9992467610726122 Centerline is valid? [True, True] Translation: X:377.80, Y:-24.27, Z:-1.80 [[ 9.91979564e-01 1.25795948e-01 -1.23257205e-02 3.77804792e+02] [-1.25791218e-01 9.92056057e-01 1.16137432e-03 -2.42679155e+01] [ 1.23739018e-02 3.98407790e-04 9.99923361e-01 -1.80373039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.560281693 meters Centerline goodness [0,1] 0.9987068686825147 Centerline is valid? [True, True] Translation: X:377.84, Y:-24.26, Z:-1.80 [[ 9.91515986e-01 1.29513696e-01 -1.10567716e-02 3.77835400e+02] [-1.29510124e-01 9.91577553e-01 1.04151622e-03 -2.42583828e+01] [ 1.10985372e-02 3.99283884e-04 9.99938330e-01 -1.80121349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.59028169299995 meters Centerline goodness [0,1] 0.9966576408867829 Centerline is valid? [True, True] Translation: X:377.86, Y:-24.25, Z:-1.80 [[ 9.91353769e-01 1.30850531e-01 -9.78997864e-03 3.77864169e+02] [-1.30847802e-01 9.91402039e-01 9.21508352e-04 -2.42513330e+01] [ 9.82638465e-03 3.67456410e-04 9.99951652e-01 -1.80097309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.620281693 meters Centerline goodness [0,1] 0.9958223207434563 Centerline is valid? [True, True] Translation: X:377.89, Y:-24.25, Z:-1.80 [[ 9.91240607e-01 1.31798913e-01 -8.43237671e-03 3.77893695e+02] [-1.31796926e-01 9.91276420e-01 7.93340560e-04 -2.42484570e+01] [ 8.46337762e-03 3.24969954e-04 9.99964132e-01 -1.79827673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.65028169299995 meters Centerline goodness [0,1] 0.9976831301561181 Centerline is valid? [True, True] Translation: X:377.92, Y:-24.25, Z:-1.80 [[ 9.91239267e-01 1.31873154e-01 -7.36111234e-03 3.77922266e+02] [-1.31871645e-01 9.91266559e-01 6.92177349e-04 -2.42484907e+01] [ 7.38810410e-03 2.84608623e-04 9.99972667e-01 -1.79525974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.680281693 meters Centerline goodness [0,1] 0.9977273701813816 Centerline is valid? [True, True] Translation: X:377.95, Y:-24.25, Z:-1.80 [[ 9.91455924e-01 1.30221219e-01 -7.58841961e-03 3.77950311e+02] [-1.30219571e-01 9.91484924e-01 7.13067632e-04 -2.42481184e+01] [ 7.61666018e-03 2.81185614e-04 9.99970953e-01 -1.79653491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.71028169299996 meters Centerline goodness [0,1] 0.9966111028742084 Centerline is valid? [True, True] Translation: X:377.98, Y:-24.24, Z:-1.80 [[ 9.91778123e-01 1.27698985e-01 -8.31403597e-03 3.77979275e+02] [-1.27696920e-01 9.91812929e-01 7.81016940e-04 -2.42443992e+01] [ 8.34570344e-03 2.87081269e-04 9.99965133e-01 -1.80026976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.740281693 meters Centerline goodness [0,1] 0.9994214946863216 Centerline is valid? [True, True] Translation: X:378.01, Y:-24.26, Z:-1.80 [[ 9.92593930e-01 1.21109543e-01 -9.47468769e-03 3.78008329e+02] [-1.21106560e-01 9.92639113e-01 8.90104774e-04 -2.42563509e+01] [ 9.51274577e-03 2.63934234e-04 9.99954718e-01 -1.80120823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.77028169299996 meters Centerline goodness [0,1] 0.9993981988952652 Centerline is valid? [True, True] Translation: X:378.04, Y:-24.26, Z:-1.81 [[ 9.93013973e-01 1.17562556e-01 -1.01141203e-02 3.78037711e+02] [-1.17558976e-01 9.93065448e-01 9.49893664e-04 -2.42568182e+01] [ 1.01556553e-02 2.45747941e-04 9.99948400e-01 -1.80521998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.800281693 meters Centerline goodness [0,1] 0.9997632270007318 Centerline is valid? [True, True] Translation: X:378.07, Y:-24.27, Z:-1.80 [[ 9.93941326e-01 1.09312782e-01 -1.14610853e-02 3.78066834e+02] [-1.09307636e-01 9.94007385e-01 1.07629281e-03 -2.42728989e+01] [ 1.15100560e-02 1.83012244e-04 9.99933740e-01 -1.80393898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.83028169299996 meters Centerline goodness [0,1] 0.9998296168508934 Centerline is valid? [True, True] Translation: X:378.10, Y:-24.28, Z:-1.80 [[ 9.94344058e-01 1.05558690e-01 -1.17156999e-02 3.78095796e+02] [-1.05553058e-01 9.94413064e-01 1.09972923e-03 -2.42791901e+01] [ 1.17663310e-02 1.43118727e-04 9.99930764e-01 -1.80469739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.860281693 meters Centerline goodness [0,1] 0.9997427652733119 Centerline is valid? [True, True] Translation: X:378.12, Y:-24.29, Z:-1.80 [[ 9.94703696e-01 1.02177606e-01 -1.11487099e-02 3.78123017e+02] [-1.02172305e-01 9.94766167e-01 1.04550989e-03 -2.42850013e+01] [ 1.11971871e-02 9.91168387e-05 9.99937305e-01 -1.80459018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.89028169299996 meters Centerline goodness [0,1] 0.9999143963875275 Centerline is valid? [True, True] Translation: X:378.15, Y:-24.30, Z:-1.80 [[ 9.95304273e-01 9.63134010e-02 -9.65058337e-03 3.78151375e+02] [-9.63091557e-02 9.95351058e-01 9.04748173e-04 -2.42963487e+01] [ 9.69285774e-03 2.89398146e-05 9.99953023e-01 -1.80144346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92028169299994 meters Centerline goodness [0,1] 0.9998312876966553 Centerline is valid? [True, True] Translation: X:378.18, Y:-24.30, Z:-1.80 [[ 9.95525701e-01 9.40132538e-02 -9.49142294e-03 3.78179664e+02] [-9.40090473e-02 9.95570946e-01 8.89356157e-04 -2.43021172e+01] [ 9.53299618e-03 6.90271693e-06 9.99954560e-01 -1.80019368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.95028169299997 meters Centerline goodness [0,1] 0.9996361924328026 Centerline is valid? [True, True] Translation: X:378.21, Y:-24.31, Z:-1.80 [[ 9.95875612e-01 9.02238372e-02 -9.56159895e-03 3.78207469e+02] [-9.02193980e-02 9.95921512e-01 8.95475660e-04 -2.43109518e+01] [ 9.60339533e-03 -2.91406704e-05 9.99953886e-01 -1.79924532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98028169299994 meters Centerline goodness [0,1] 0.9997456980588285 Centerline is valid? [True, True] Translation: X:378.24, Y:-24.32, Z:-1.80 [[ 9.95964453e-01 8.92076257e-02 -9.83906480e-03 3.78235043e+02] [-8.92028815e-02 9.96013051e-01 9.20857738e-04 -2.43158671e+01] [ 9.88198449e-03 -3.94686423e-05 9.99951171e-01 -1.80004105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.01028169299997 meters Centerline goodness [0,1] 0.999830033143537 Centerline is valid? [True, True] Translation: X:378.26, Y:-24.32, Z:-1.80 [[ 9.96025569e-01 8.85430435e-02 -9.65375489e-03 3.78262543e+02] [-8.85384505e-02 9.96072351e-01 9.02949068e-04 -2.43199751e+01] [ 9.69578818e-03 -4.46318595e-05 9.99952994e-01 -1.80057288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04028169299994 meters Centerline goodness [0,1] 0.9997865847151973 Centerline is valid? [True, True] Translation: X:378.29, Y:-24.32, Z:-1.80 [[ 9.96014872e-01 8.86761039e-02 -9.53539248e-03 3.78290546e+02] [-8.86716358e-02 9.96060514e-01 8.91172166e-04 -2.43232082e+01] [ 9.57685361e-03 -4.21018811e-05 9.99954140e-01 -1.79930901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.07028169299997 meters Centerline goodness [0,1] 0.9997425334706488 Centerline is valid? [True, True] Translation: X:378.32, Y:-24.33, Z:-1.80 [[ 9.95970225e-01 8.91728372e-02 -9.56642750e-03 3.78318661e+02] [-8.91683697e-02 9.96016166e-01 8.93358213e-04 -2.43259916e+01] [ 9.60797973e-03 -3.67354363e-05 9.99953842e-01 -1.79826644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10028169299994 meters Centerline goodness [0,1] 0.9996812444217774 Centerline is valid? [True, True] Translation: X:378.35, Y:-24.33, Z:-1.80 [[ 9.95953846e-01 8.94517520e-02 -8.62095204e-03 3.78346022e+02] [-8.94481389e-02 9.95991156e-01 8.04544014e-04 -2.43292502e+01] [ 8.65835986e-03 -3.01605898e-05 9.99962515e-01 -1.79884239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.130281693 meters Centerline goodness [0,1] 0.9997644236946931 Centerline is valid? [True, True] Translation: X:378.37, Y:-24.33, Z:-1.80 [[ 9.95930494e-01 8.97825581e-02 -7.84491601e-03 3.78374754e+02] [-8.97795792e-02 9.95961391e-01 7.31773566e-04 -2.43296809e+01] [ 7.87893396e-03 -2.44823509e-05 9.99968960e-01 -1.79645945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16028169299994 meters Centerline goodness [0,1] 0.9997433704020531 Centerline is valid? [True, True] Translation: X:378.40, Y:-24.33, Z:-1.80 [[ 9.95866968e-01 9.04750324e-02 -7.95299276e-03 3.78402451e+02] [-9.04719968e-02 9.95898724e-01 7.41368916e-04 -2.43305820e+01] [ 7.98745071e-03 -1.87816791e-05 9.99968100e-01 -1.79734651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.190281693 meters Centerline goodness [0,1] 0.9999143927233815 Centerline is valid? [True, True] Translation: X:378.43, Y:-24.33, Z:-1.80 [[ 9.95692923e-01 9.22685402e-02 -9.06194098e-03 3.78431579e+02] [-9.22646769e-02 9.95734160e-01 8.44350180e-04 -2.43297144e+01] [ 9.10119115e-03 -4.61644249e-06 9.99958583e-01 -1.79764619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22028169299995 meters Centerline goodness [0,1] 0.9998074536819135 Centerline is valid? [True, True] Translation: X:378.46, Y:-24.33, Z:-1.80 [[ 9.95577284e-01 9.35129140e-02 -9.01143796e-03 3.78458217e+02] [-9.35091508e-02 9.95618067e-01 8.38955223e-04 -2.43298282e+01] [ 9.05040358e-03 7.40714873e-06 9.99959044e-01 -1.79844326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.250281693 meters Centerline goodness [0,1] 0.9999576531368439 Centerline is valid? [True, True] Translation: X:378.49, Y:-24.33, Z:-1.80 [[ 9.95356979e-01 9.57801028e-02 -9.52138351e-03 3.78486616e+02] [-9.57760105e-02 9.95402517e-01 8.85901552e-04 -2.43261400e+01] [ 9.56246085e-03 3.01318341e-05 9.99954278e-01 -1.80089012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28028169299995 meters Centerline goodness [0,1] 0.9998510923440193 Centerline is valid? [True, True] Translation: X:378.52, Y:-24.33, Z:-1.80 [[ 9.95257549e-01 9.66768338e-02 -1.07703426e-02 3.78515495e+02] [-9.66716534e-02 9.95315823e-01 1.00178981e-03 -2.43260998e+01] [ 1.08167423e-02 4.41479633e-05 9.99941496e-01 -1.80077125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.310281693 meters Centerline goodness [0,1] 0.9999567875893957 Centerline is valid? [True, True] Translation: X:378.54, Y:-24.33, Z:-1.80 [[ 9.95231499e-01 9.68633982e-02 -1.14780796e-02 3.78544519e+02] [-9.68575338e-02 9.95297684e-01 1.06702724e-03 -2.43270850e+01] [ 1.15274619e-02 4.97993642e-05 9.99933555e-01 -1.80104503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34028169299995 meters Centerline goodness [0,1] 0.9998730212477779 Centerline is valid? [True, True] Translation: X:378.57, Y:-24.33, Z:-1.80 [[ 9.95310646e-01 9.60315708e-02 -1.16041109e-02 3.78571012e+02] [-9.60255328e-02 9.95378288e-01 1.07767338e-03 -2.43283975e+01] [ 1.16539707e-02 4.16711410e-05 9.99932089e-01 -1.80453453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.370281693 meters Centerline goodness [0,1] 0.9998513105909342 Centerline is valid? [True, True] Translation: X:378.60, Y:-24.33, Z:-1.80 [[ 9.95392935e-01 9.52430243e-02 -1.10304884e-02 3.78600036e+02] [-9.52375251e-02 9.95454050e-01 1.02395087e-03 -2.43324686e+01] [ 1.10778686e-02 3.12829615e-05 9.99938638e-01 -1.80221934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40028169299995 meters Centerline goodness [0,1] 0.9998717236071322 Centerline is valid? [True, True] Translation: X:378.63, Y:-24.34, Z:-1.80 [[ 9.95660173e-01 9.24657302e-02 -1.05312982e-02 3.78628544e+02] [-9.24605675e-02 9.95715867e-01 9.77106353e-04 -2.43394433e+01] [ 1.05765296e-02 8.63927486e-07 9.99944067e-01 -1.80038133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.430281693 meters Centerline goodness [0,1] 0.9997019374068554 Centerline is valid? [True, True] Translation: X:378.66, Y:-24.34, Z:-1.80 [[ 9.95806782e-01 9.08722439e-02 -1.05398026e-02 3.78656396e+02] [-9.08669919e-02 9.95862558e-01 9.77099827e-04 -2.43443853e+01] [ 1.05849861e-02 -1.52824745e-05 9.99943977e-01 -1.80019748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46028169299996 meters Centerline goodness [0,1] 0.9996342198123763 Centerline is valid? [True, True] Translation: X:378.68, Y:-24.35, Z:-1.80 [[ 9.95937828e-01 8.94684888e-02 -1.01602995e-02 3.78684402e+02] [-8.94635428e-02 9.95989653e-01 9.41171937e-04 -2.43486281e+01] [ 1.02037584e-02 -2.83723425e-05 9.99947940e-01 -1.79863453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.490281693 meters Centerline goodness [0,1] 0.9996570497706521 Centerline is valid? [True, True] Translation: X:378.71, Y:-24.35, Z:-1.80 [[ 9.95923484e-01 8.97019430e-02 -9.48554742e-03 3.78712413e+02] [-8.96976480e-02 9.95968655e-01 8.78113393e-04 -2.43501503e+01] [ 9.52607638e-03 -2.37024568e-05 9.99954626e-01 -1.79700576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52028169299996 meters Centerline goodness [0,1] 0.9997215081405313 Centerline is valid? [True, True] Translation: X:378.74, Y:-24.35, Z:-1.80 [[ 9.95783858e-01 9.12176234e-02 -9.68783620e-03 3.78740120e+02] [-9.12132219e-02 9.95830982e-01 8.96125911e-04 -2.43493462e+01] [ 9.72918991e-03 -8.68896352e-06 9.99952670e-01 -1.79719670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.550281693 meters Centerline goodness [0,1] 0.999765403399518 Centerline is valid? [True, True] Translation: X:378.77, Y:-24.35, Z:-1.80 [[ 9.95612383e-01 9.30076832e-02 -1.02739517e-02 3.78768652e+02] [-9.30028342e-02 9.95665391e-01 9.49760410e-04 -2.43485019e+01] [ 1.03177531e-02 9.91339836e-06 9.99946771e-01 -1.79781371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58028169299996 meters Centerline goodness [0,1] 0.9998715588474547 Centerline is valid? [True, True] Translation: X:378.80, Y:-24.35, Z:-1.80 [[ 9.95239230e-01 9.67747714e-02 -1.15549884e-02 3.78798267e+02] [-9.67688977e-02 9.95306305e-01 1.06766637e-03 -2.43453929e+01] [ 1.16040760e-02 5.55800336e-05 9.99932669e-01 -1.79984253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.610281693 meters Centerline goodness [0,1] 0.9998505423178752 Centerline is valid? [True, True] Translation: X:378.83, Y:-24.35, Z:-1.80 [[ 9.95122284e-01 9.80513158e-02 -1.08433943e-02 3.78825221e+02] [-9.80462298e-02 9.95181358e-01 1.00091992e-03 -2.43452344e+01] [ 1.08892853e-02 6.71162098e-05 9.99940708e-01 -1.79952691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64028169299996 meters Centerline goodness [0,1] 0.9998509052183173 Centerline is valid? [True, True] Translation: X:378.85, Y:-24.34, Z:-1.79 [[ 9.95046824e-01 9.90879864e-02 -7.96172368e-03 3.78854421e+02] [-9.90852805e-02 9.95078674e-01 7.34573684e-04 -2.43446924e+01] [ 7.99532887e-03 5.79544130e-05 9.99968035e-01 -1.79413337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.67028169299994 meters Centerline goodness [0,1] 0.9998497434906733 Centerline is valid? [True, True] Translation: X:378.88, Y:-24.35, Z:-1.79 [[ 9.95080916e-01 9.88192358e-02 -6.98063323e-03 3.78883637e+02] [-9.88171515e-02 9.95105400e-01 6.43706880e-04 -2.43466610e+01] [ 7.01007644e-03 4.92658602e-05 9.99975428e-01 -1.79181579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70028169299997 meters Centerline goodness [0,1] 0.9998924083318987 Centerline is valid? [True, True] Translation: X:378.91, Y:-24.35, Z:-1.79 [[ 9.95109102e-01 9.86006477e-02 -5.98223504e-03 3.78912863e+02] [-9.85991142e-02 9.95127083e-01 5.51438421e-04 -2.43493708e+01] [ 6.00745629e-03 4.11016844e-05 9.99981954e-01 -1.79034379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.73028169299994 meters Centerline goodness [0,1] 0.9998289611528018 Centerline is valid? [True, True] Translation: X:378.94, Y:-24.35, Z:-1.79 [[ 9.95280373e-01 9.68818729e-02 -5.55719425e-03 3.78940081e+02] [-9.68805250e-02 9.95295887e-01 5.11873921e-04 -2.43535990e+01] [ 5.58064388e-03 2.89258288e-05 9.99984428e-01 -1.79007299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76028169299997 meters Centerline goodness [0,1] 0.9997866621154584 Centerline is valid? [True, True] Translation: X:378.97, Y:-24.36, Z:-1.79 [[ 9.95366465e-01 9.59816534e-02 -5.75518006e-03 3.78967768e+02] [-9.59801951e-02 9.95383103e-01 5.29685893e-04 -2.43567745e+01] [ 5.77944911e-03 2.51517296e-05 9.99983299e-01 -1.79059447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.79028169299994 meters Centerline goodness [0,1] 0.9999139414802065 Centerline is valid? [True, True] Translation: X:379.00, Y:-24.36, Z:-1.79 [[ 9.95573912e-01 9.37333681e-02 -6.82946657e-03 3.78995770e+02] [-9.37312633e-02 9.95597336e-01 6.28316973e-04 -2.43626979e+01] [ 6.85829299e-03 1.45985428e-05 9.99976482e-01 -1.79187708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82028169299997 meters Centerline goodness [0,1] 0.9998504145653475 Centerline is valid? [True, True] Translation: X:379.02, Y:-24.37, Z:-1.79 [[ 9.95712126e-01 9.21858833e-02 -7.68930209e-03 3.79023926e+02] [-9.21831717e-02 9.95741815e-01 7.07075552e-04 -2.43684166e+01] [ 7.72174201e-03 4.78055393e-06 9.99970187e-01 -1.79308713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.85028169299994 meters Centerline goodness [0,1] 0.9999362719065321 Centerline is valid? [True, True] Translation: X:379.05, Y:-24.37, Z:-1.80 [[ 9.95859434e-01 9.04699554e-02 -8.89804726e-03 3.79051272e+02] [-9.04662605e-02 9.95899185e-01 8.17701898e-04 -2.43741318e+01] [ 8.93553547e-03 -9.34308723e-06 9.99960077e-01 -1.79549151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.880281693 meters Centerline goodness [0,1] 0.999534233814625 Centerline is valid? [True, True] Translation: X:379.08, Y:-24.38, Z:-1.80 [[ 9.96142869e-01 8.73012415e-02 -8.82488820e-03 3.79079124e+02] [-8.72974860e-02 9.96181957e-01 8.10599269e-04 -2.43841312e+01] [ 8.86196073e-03 -3.70821263e-05 9.99960731e-01 -1.79576687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.91028169299994 meters Centerline goodness [0,1] 0.9995922746781116 Centerline is valid? [True, True] Translation: X:379.11, Y:-24.39, Z:-1.79 [[ 9.96251078e-01 8.61395771e-02 -7.98515039e-03 3.79107916e+02] [-8.61364682e-02 9.96283078e-01 7.33078392e-04 -2.43903426e+01] [ 8.01861727e-03 -4.25174864e-05 9.99967849e-01 -1.79302490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.940281693 meters Centerline goodness [0,1] 0.999530966847884 Centerline is valid? [True, True] Translation: X:379.14, Y:-24.40, Z:-1.79 [[ 9.96314405e-01 8.54465682e-02 -7.51606349e-03 3.79135235e+02] [-8.54437976e-02 9.96342753e-01 6.89545964e-04 -2.43967634e+01] [ 7.54749473e-03 -4.48035688e-05 9.99971516e-01 -1.79250729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.97028169299995 meters Centerline goodness [0,1] 0.9997428810181912 Centerline is valid? [True, True] Translation: X:379.16, Y:-24.40, Z:-1.79 [[ 9.96296317e-01 8.54332872e-02 -9.73668680e-03 3.79164050e+02] [-8.54286407e-02 9.96343891e-01 8.92888322e-04 -2.44002712e+01] [ 9.77737080e-03 -5.77894290e-05 9.99952199e-01 -1.79499098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.000281693 meters Centerline goodness [0,1] 0.9998287084618019 Centerline is valid? [True, True] Translation: X:379.19, Y:-24.40, Z:-1.80 [[ 9.96190697e-01 8.63893065e-02 -1.18736439e-02 3.79192278e+02] [-8.63824725e-02 9.96261454e-01 1.08817453e-03 -2.44006376e+01] [ 1.19232604e-02 -5.83546204e-05 9.99928914e-01 -1.79933009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.03028169299995 meters Centerline goodness [0,1] 0.9997657431266904 Centerline is valid? [True, True] Translation: X:379.22, Y:-24.40, Z:-1.80 [[ 9.95844203e-01 9.01833464e-02 -1.26998725e-02 3.79221098e+02] [-9.01758481e-02 9.95925180e-01 1.16298667e-03 -2.43961330e+01] [ 1.27530049e-02 -1.29317555e-05 9.99918677e-01 -1.80046568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.060281693 meters Centerline goodness [0,1] 0.9999138042494505 Centerline is valid? [True, True] Translation: X:379.25, Y:-24.40, Z:-1.80 [[ 9.95659002e-01 9.24084012e-02 -1.11283300e-02 3.79249836e+02] [-9.24027888e-02 9.95721189e-01 1.01854941e-03 -2.43956464e+01] [ 1.11748365e-02 1.41608343e-05 9.99937559e-01 -1.79514769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09028169299995 meters Centerline goodness [0,1] 0.9999148211243611 Centerline is valid? [True, True] Translation: X:379.28, Y:-24.39, Z:-1.79 [[ 9.95529469e-01 9.39878709e-02 -9.34646829e-03 3.79277896e+02] [-9.39839873e-02 9.95573342e-01 8.54843222e-04 -2.43948029e+01] [ 9.38543956e-03 2.73967383e-05 9.99955955e-01 -1.79343558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.120281693 meters Centerline goodness [0,1] 0.999915592226044 Centerline is valid? [True, True] Translation: X:379.31, Y:-24.39, Z:-1.80 [[ 9.95397718e-01 9.53187719e-02 -9.88505016e-03 3.79306657e+02] [-9.53144989e-02 9.95446799e-01 9.03548971e-04 -2.43900950e+01] [ 9.92616672e-03 4.27980185e-05 9.99950733e-01 -1.79570214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.15028169299995 meters Centerline goodness [0,1] 0.9998710980299482 Centerline is valid? [True, True] Translation: X:379.34, Y:-24.39, Z:-1.79 [[ 9.95326743e-01 9.59507031e-02 -1.08691188e-02 3.79335734e+02] [-9.59455800e-02 9.95386086e-01 9.93006045e-04 -2.43910990e+01] [ 1.09142492e-02 5.44784323e-05 9.99940436e-01 -1.79496017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.180281693 meters Centerline goodness [0,1] 0.999978555958227 Centerline is valid? [True, True] Translation: X:379.36, Y:-24.39, Z:-1.80 [[ 9.95203141e-01 9.72142154e-02 -1.09591984e-02 3.79363715e+02] [-9.72090912e-02 9.95263478e-01 1.00055448e-03 -2.43895991e+01] [ 1.10045580e-02 6.95787552e-05 9.99939446e-01 -1.79694160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.21028169299996 meters Centerline goodness [0,1] 0.9999573032748388 Centerline is valid? [True, True] Translation: X:379.39, Y:-24.39, Z:-1.79 [[ 9.95160706e-01 9.77092382e-02 -1.03958495e-02 3.79393114e+02] [-9.77046592e-02 9.95215002e-01 9.48651886e-04 -2.43893802e+01] [ 1.04387974e-02 7.16618506e-05 9.99945512e-01 -1.79395907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.240281693 meters Centerline goodness [0,1] 0.999978728382719 Centerline is valid? [True, True] Translation: X:379.42, Y:-24.39, Z:-1.79 [[ 9.95109734e-01 9.82846766e-02 -9.83560164e-03 3.79420981e+02] [-9.82806133e-02 9.95158338e-01 8.96778830e-04 -2.43865372e+01] [ 9.87612060e-03 7.42556179e-05 9.99951227e-01 -1.79343686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.27028169299996 meters Centerline goodness [0,1] 0.9999567987903661 Centerline is valid? [True, True] Translation: X:379.45, Y:-24.38, Z:-1.80 [[ 9.94890556e-01 1.00285234e-01 -1.16470602e-02 3.79449959e+02] [-1.00279679e-01 9.94958722e-01 1.06145934e-03 -2.43824888e+01] [ 1.16947929e-02 1.11927590e-04 9.99931607e-01 -1.79527652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.300281693 meters Centerline goodness [0,1] 0.9999787771387338 Centerline is valid? [True, True] Translation: X:379.48, Y:-24.38, Z:-1.80 [[ 9.94766998e-01 1.01499500e-01 -1.16820538e-02 3.79478525e+02] [-1.01494003e-01 9.94835582e-01 1.06392784e-03 -2.43806155e+01] [ 1.17297109e-02 1.27298096e-04 9.99931196e-01 -1.79754412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.33028169299996 meters Centerline goodness [0,1] 0.9998728786626835 Centerline is valid? [True, True] Translation: X:379.51, Y:-24.37, Z:-1.79 [[ 9.94492829e-01 1.04337528e-01 -9.88401560e-03 3.79508159e+02] [-1.04333737e-01 9.94541936e-01 8.99742578e-04 -2.43742326e+01] [ 9.92394492e-03 1.36448746e-04 9.99950747e-01 -1.79345043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.360281693 meters Centerline goodness [0,1] 0.9998926186027532 Centerline is valid? [True, True] Translation: X:379.54, Y:-24.38, Z:-1.79 [[ 9.94352631e-01 1.05824722e-01 -7.99831085e-03 3.79535563e+02] [-1.05822298e-01 9.94384791e-01 7.26808628e-04 -2.43765149e+01] [ 8.03031299e-03 1.23695565e-04 9.99967749e-01 -1.78648744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.39028169299996 meters Centerline goodness [0,1] 0.999978608252936 Centerline is valid? [True, True] Translation: X:379.56, Y:-24.37, Z:-1.79 [[ 9.94253964e-01 1.06819851e-01 -6.96955086e-03 3.79563758e+02] [-1.06818038e-01 9.94278385e-01 6.33003839e-04 -2.43725332e+01] [ 6.99729114e-03 1.15107169e-04 9.99975512e-01 -1.78624132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42028169299994 meters Centerline goodness [0,1] 0.999978608252936 Centerline is valid? [True, True] Translation: X:379.59, Y:-24.37, Z:-1.79 [[ 9.94261478e-01 1.06749884e-01 -6.96959699e-03 3.79591151e+02] [-1.06748072e-01 9.94285899e-01 6.32495711e-04 -2.43748820e+01] [ 6.99729086e-03 1.15124922e-04 9.99975512e-01 -1.78629920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.45028169299997 meters Centerline goodness [0,1] 0.9999361090405707 Centerline is valid? [True, True] Translation: X:379.62, Y:-24.37, Z:-1.79 [[ 9.94276697e-01 1.06573595e-01 -7.47788714e-03 3.79619393e+02] [-1.06571507e-01 9.94304809e-01 6.78219757e-04 -2.43740813e+01] [ 7.50757947e-03 1.22591602e-04 9.99971810e-01 -1.78788057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48028169299994 meters Centerline goodness [0,1] 0.9999574422810937 Centerline is valid? [True, True] Translation: X:379.65, Y:-24.38, Z:-1.79 [[ 9.94360579e-01 1.05750180e-01 -7.99610132e-03 3.79647825e+02] [-1.05747769e-01 9.94392721e-01 7.24879697e-04 -2.43756866e+01] [ 8.02792111e-03 1.24778080e-04 9.99967768e-01 -1.78918029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.51028169299997 meters Centerline goodness [0,1] 0.9999784876841992 Centerline is valid? [True, True] Translation: X:379.68, Y:-24.38, Z:-1.79 [[ 9.94655752e-01 1.02843196e-01 -9.12206437e-03 3.79676840e+02] [-1.02839939e-01 9.94697574e-01 8.26663547e-04 -2.43802438e+01] [ 9.15871202e-03 1.15866890e-04 9.99958051e-01 -1.79026628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54028169299994 meters Centerline goodness [0,1] 0.9998932125923711 Centerline is valid? [True, True] Translation: X:379.71, Y:-24.38, Z:-1.79 [[ 9.94827746e-01 1.01117913e-01 -9.63968852e-03 3.79705049e+02] [-1.01114199e-01 9.94874443e-01 8.73090536e-04 -2.43840099e+01] [ 9.67856484e-03 1.06134697e-04 9.99953156e-01 -1.79054426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.57028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.73, Y:-24.39, Z:-1.79 [[ 9.94943896e-01 9.99451211e-02 -9.88015831e-03 3.79734031e+02] [-9.99411667e-02 9.94992946e-01 8.94399635e-04 -2.43870192e+01] [ 9.92007871e-03 9.75570922e-05 9.99950790e-01 -1.79112693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60028169299994 meters Centerline goodness [0,1] 0.9998716385341121 Centerline is valid? [True, True] Translation: X:379.76, Y:-24.39, Z:-1.79 [[ 9.95104189e-01 9.84393516e-02 -8.79473519e-03 3.79762155e+02] [-9.84361669e-02 9.95143049e-01 7.95300197e-04 -2.43883397e+01] [ 8.83030843e-03 7.43134641e-05 9.99961009e-01 -1.79119829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.630281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.79, Y:-24.39, Z:-1.79 [[ 9.95178427e-01 9.77751170e-02 -7.74110654e-03 3.79790780e+02] [-9.77726320e-02 9.95208532e-01 6.99712404e-04 -2.43926872e+01] [ 7.77242974e-03 6.05296717e-05 9.99969792e-01 -1.78751829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66028169299994 meters Centerline goodness [0,1] 0.9999786921224777 Centerline is valid? [True, True] Translation: X:379.82, Y:-24.39, Z:-1.78 [[ 9.95239892e-01 9.72409841e-02 -6.46126958e-03 3.79819913e+02] [-9.72392437e-02 9.95260865e-01 5.83706903e-04 -2.43932334e+01] [ 6.48740898e-03 4.73605722e-05 9.99978955e-01 -1.78292723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.690281693 meters Centerline goodness [0,1] 0.9999787234042553 Centerline is valid? [True, True] Translation: X:379.85, Y:-24.39, Z:-1.78 [[ 9.95249864e-01 9.71386742e-02 -6.46419321e-03 3.79848208e+02] [-9.71369334e-02 9.95270855e-01 5.83460425e-04 -2.43933360e+01] [ 6.49029968e-03 4.72229959e-05 9.99978937e-01 -1.78279726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72028169299995 meters Centerline goodness [0,1] 0.9999362122855138 Centerline is valid? [True, True] Translation: X:379.88, Y:-24.39, Z:-1.79 [[ 9.95315176e-01 9.63904711e-02 -7.52178678e-03 3.79875661e+02] [-9.63880957e-02 9.95343596e-01 6.78526388e-04 -2.43949136e+01] [ 7.55216578e-03 4.96630918e-05 9.99971481e-01 -1.78595981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.750281693 meters Centerline goodness [0,1] 0.9999572813875005 Centerline is valid? [True, True] Translation: X:379.90, Y:-24.40, Z:-1.79 [[ 9.95475003e-01 9.46776888e-02 -8.10273416e-03 3.79904109e+02] [-9.46748784e-02 9.95507978e-01 7.30578584e-04 -2.44006563e+01] [ 8.13550599e-03 3.98526531e-05 9.99966905e-01 -1.78675606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78028169299995 meters Centerline goodness [0,1] 0.9998712252913527 Centerline is valid? [True, True] Translation: X:379.93, Y:-24.41, Z:-1.79 [[ 9.95701424e-01 9.21945906e-02 -8.87868055e-03 3.79930162e+02] [-9.21911275e-02 9.95741009e-01 7.99413263e-04 -2.44074011e+01] [ 8.91456791e-03 2.25586456e-05 9.99960264e-01 -1.78893194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.810281693 meters Centerline goodness [0,1] 0.9998301414072784 Centerline is valid? [True, True] Translation: X:379.96, Y:-24.41, Z:-1.79 [[ 9.95960479e-01 8.92247394e-02 -1.00831388e-02 3.79958271e+02] [-8.92201238e-02 9.96011519e-01 9.07554260e-04 -2.44147930e+01] [ 1.01238987e-02 -4.26928142e-06 9.99948752e-01 -1.79072377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84028169299995 meters Centerline goodness [0,1] 0.9996997834151781 Centerline is valid? [True, True] Translation: X:379.98, Y:-24.43, Z:-1.79 [[ 9.96407688e-01 8.38504884e-02 -1.18665455e-02 3.79984815e+02] [-8.38437260e-02 9.96478344e-01 1.06709106e-03 -2.44257647e+01] [ 1.19142317e-02 -6.83223516e-05 9.99929021e-01 -1.79382110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.870281693 meters Centerline goodness [0,1] 0.9996126699948356 Centerline is valid? [True, True] Translation: X:380.01, Y:-24.43, Z:-1.79 [[ 9.96590454e-01 8.15788854e-02 -1.23431455e-02 3.80012827e+02] [-8.15714066e-02 9.96666883e-01 1.10898430e-03 -2.44306466e+01] [ 1.23924741e-02 -9.83554218e-05 9.99923206e-01 -1.79278728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90028169299995 meters Centerline goodness [0,1] 0.9995739150812757 Centerline is valid? [True, True] Translation: X:380.04, Y:-24.44, Z:-1.79 [[ 9.96818180e-01 7.87458707e-02 -1.23532549e-02 3.80041213e+02] [-7.87381685e-02 9.96894714e-01 1.10937332e-03 -2.44361839e+01] [ 1.24022531e-02 -1.33170824e-04 9.99923080e-01 -1.79236527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.930281693 meters Centerline goodness [0,1] 0.9997225186766275 Centerline is valid? [True, True] Translation: X:380.07, Y:-24.44, Z:-1.79 [[ 9.96891692e-01 7.78679129e-02 -1.19809503e-02 3.80068690e+02] [-7.78606134e-02 9.96963675e-01 1.07520470e-03 -2.44401329e+01] [ 1.20282962e-02 -1.39018500e-04 9.99927648e-01 -1.79301940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96028169299996 meters Centerline goodness [0,1] 0.9995744499765947 Centerline is valid? [True, True] Translation: X:380.10, Y:-24.44, Z:-1.79 [[ 9.96979697e-01 7.68458687e-02 -1.12336834e-02 3.80096581e+02] [-7.68393957e-02 9.97042974e-01 1.00732796e-03 -2.44431778e+01] [ 1.12778741e-02 -1.41096085e-04 9.99936393e-01 -1.79148634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.990281693 meters Centerline goodness [0,1] 0.9995465048480792 Centerline is valid? [True, True] Translation: X:380.12, Y:-24.45, Z:-1.79 [[ 9.97148457e-01 7.48975550e-02 -9.23638451e-03 3.80124379e+02] [-7.48931019e-02 9.97191225e-01 8.27545506e-04 -2.44492518e+01] [ 9.27242272e-03 -1.33444238e-04 9.99957001e-01 -1.78646490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02028169299996 meters Centerline goodness [0,1] 0.9995320244198166 Centerline is valid? [True, True] Translation: X:380.15, Y:-24.45, Z:-1.79 [[ 9.97208549e-01 7.41256530e-02 -8.97200976e-03 3.80152583e+02] [-7.41214234e-02 9.97248900e-01 8.03482943e-04 -2.44544936e+01] [ 9.00688556e-03 -1.36221926e-04 9.99959428e-01 -1.78613902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.050281693 meters Centerline goodness [0,1] 0.9995097516785676 Centerline is valid? [True, True] Translation: X:380.18, Y:-24.46, Z:-1.79 [[ 9.97255509e-01 7.35081796e-02 -8.83162108e-03 3.80180331e+02] [-7.35040628e-02 9.97294605e-01 7.90258194e-04 -2.44599843e+01] [ 8.86581849e-03 -1.38929306e-04 9.99960688e-01 -1.78582227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08028169299996 meters Centerline goodness [0,1] 0.9996563426264015 Centerline is valid? [True, True] Translation: X:380.21, Y:-24.46, Z:-1.79 [[ 9.97245497e-01 7.36633709e-02 -8.66751370e-03 3.80208024e+02] [-7.36594146e-02 9.97283154e-01 7.75232636e-04 -2.44626029e+01] [ 8.70107165e-03 -1.34653270e-04 9.99962136e-01 -1.78611251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.110281693 meters Centerline goodness [0,1] 0.9994684583165012 Centerline is valid? [True, True] Translation: X:380.24, Y:-24.46, Z:-1.78 [[ 9.97204458e-01 7.42346455e-02 -8.51384786e-03 3.80237385e+02] [-7.42308525e-02 9.97240794e-01 7.61086934e-04 -2.44628746e+01] [ 8.54685542e-03 -1.26969100e-04 9.99963467e-01 -1.78444180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14028169299996 meters Centerline goodness [0,1] 0.9996185713377551 Centerline is valid? [True, True] Translation: X:380.27, Y:-24.46, Z:-1.78 [[ 9.97056165e-01 7.62733883e-02 -7.83416823e-03 3.80265175e+02] [-7.62702435e-02 9.97086937e-01 6.99844151e-04 -2.44632115e+01] [ 7.86472629e-03 -1.00270007e-04 9.99969068e-01 -1.78327258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.17028169299994 meters Centerline goodness [0,1] 0.9996346207578395 Centerline is valid? [True, True] Translation: X:380.29, Y:-24.46, Z:-1.78 [[ 9.96963220e-01 7.75085502e-02 -7.53410609e-03 3.80293932e+02] [-7.75056794e-02 9.96991684e-01 6.72707142e-04 -2.44625256e+01] [ 7.56358168e-03 -8.67282671e-05 9.99971392e-01 -1.78249599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20028169299997 meters Centerline goodness [0,1] 0.9997433923530922 Centerline is valid? [True, True] Translation: X:380.32, Y:-24.46, Z:-1.78 [[ 9.96843824e-01 7.90094360e-02 -7.73947453e-03 3.80321654e+02] [-7.90064554e-02 9.96873865e-01 6.90574187e-04 -2.44620273e+01] [ 7.76984177e-03 -7.69261636e-05 9.99969811e-01 -1.78306425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.23028169299994 meters Centerline goodness [0,1] 0.9996174526597666 Centerline is valid? [True, True] Translation: X:380.35, Y:-24.46, Z:-1.78 [[ 9.96643600e-01 8.15208067e-02 -7.47619682e-03 3.80350655e+02] [-8.15180985e-02 9.96671639e-01 6.66761193e-04 -2.44596280e+01] [ 7.50566825e-03 -5.50779266e-05 9.99971831e-01 -1.78381147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26028169299997 meters Centerline goodness [0,1] 0.99968078314535 Centerline is valid? [True, True] Translation: X:380.38, Y:-24.46, Z:-1.78 [[ 9.96642942e-01 8.15589694e-02 -7.14014080e-03 3.80379705e+02] [-8.15565027e-02 9.96668517e-01 6.36445090e-04 -2.44610576e+01] [ 7.16826135e-03 -5.19835942e-05 9.99974306e-01 -1.78234376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.29028169299994 meters Centerline goodness [0,1] 0.9996368762816131 Centerline is valid? [True, True] Translation: X:380.41, Y:-24.46, Z:-1.78 [[ 9.96808272e-01 7.95871004e-02 -6.25796024e-03 3.80408728e+02] [-7.95851686e-02 9.96827914e-01 5.57505084e-04 -2.44645117e+01] [ 6.28247966e-03 -5.76848586e-05 9.99980263e-01 -1.78079679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32028169299997 meters Centerline goodness [0,1] 0.9995933828407558 Centerline is valid? [True, True] Translation: X:380.44, Y:-24.47, Z:-1.78 [[ 9.96935796e-01 7.79373120e-02 -6.69283017e-03 3.80436335e+02] [-7.79350680e-02 9.96958259e-01 5.95836835e-04 -2.44685355e+01] [ 6.71891023e-03 -7.24048951e-05 9.99977425e-01 -1.78093359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.35028169299994 meters Centerline goodness [0,1] 0.9996130613297792 Centerline is valid? [True, True] Translation: X:380.47, Y:-24.47, Z:-1.78 [[ 9.97064647e-01 7.61893320e-02 -7.56798468e-03 3.80465190e+02] [-7.61864149e-02 9.97093364e-01 6.73420099e-04 -2.44721268e+01] [ 7.59729473e-03 -9.48657531e-05 9.99971136e-01 -1.78061823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.380281693 meters Centerline goodness [0,1] 0.99961266165996 Centerline is valid? [True, True] Translation: X:380.49, Y:-24.48, Z:-1.78 [[ 9.97293029e-01 7.30327687e-02 -8.53397159e-03 3.80491861e+02] [-7.30289487e-02 9.97329533e-01 7.58808650e-04 -2.44800482e+01] [ 8.56659980e-03 -1.33527604e-04 9.99963297e-01 -1.78290551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.41028169299994 meters Centerline goodness [0,1] 0.9995914769184459 Centerline is valid? [True, True] Translation: X:380.52, Y:-24.48, Z:-1.78 [[ 9.97312747e-01 7.28429669e-02 -7.82218989e-03 3.80519975e+02] [-7.28397552e-02 9.97343415e-01 6.95063461e-04 -2.44828236e+01] [ 7.85204006e-03 -1.23429253e-04 9.99969165e-01 -1.78232956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.440281693 meters Centerline goodness [0,1] 0.9996129781332646 Centerline is valid? [True, True] Translation: X:380.55, Y:-24.48, Z:-1.78 [[ 9.97140097e-01 7.52736351e-02 -6.74580857e-03 3.80549653e+02] [-7.52713036e-02 9.97162911e-01 5.99201420e-04 -2.44812887e+01] [ 6.77177419e-03 -8.97219570e-05 9.99977067e-01 -1.77981168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47028169299995 meters Centerline goodness [0,1] 0.9997039543243815 Centerline is valid? [True, True] Translation: X:380.58, Y:-24.49, Z:-1.78 [[ 9.97010667e-01 7.69548305e-02 -6.90535866e-03 3.80577515e+02] [-7.69524316e-02 9.97034577e-01 6.12819942e-04 -2.44858129e+01] [ 6.93204081e-03 -7.96038796e-05 9.99975970e-01 -1.78211404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.500281693 meters Centerline goodness [0,1] 0.9997450767956153 Centerline is valid? [True, True] Translation: X:380.61, Y:-24.49, Z:-1.78 [[ 9.96880156e-01 7.85670716e-02 -7.56110577e-03 3.80606823e+02] [-7.85642440e-02 9.96908827e-01 6.70722242e-04 -2.44861408e+01] [ 7.59042977e-03 -7.45971347e-05 9.99971189e-01 -1.78212730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53028169299995 meters Centerline goodness [0,1] 0.9998285065060344 Centerline is valid? [True, True] Translation: X:380.64, Y:-24.49, Z:-1.78 [[ 9.96611127e-01 8.18715618e-02 -7.95673061e-03 3.80636171e+02] [-8.18685389e-02 9.96642887e-01 7.05426756e-04 -2.44854376e+01] [ 7.98777336e-03 -5.16302439e-05 9.99968096e-01 -1.78146945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.560281693 meters Centerline goodness [0,1] 0.9998520366103701 Centerline is valid? [True, True] Translation: X:380.66, Y:-24.49, Z:-1.78 [[ 9.96442466e-01 8.38925696e-02 -8.02804240e-03 3.80663972e+02] [-8.38895637e-02 9.96474804e-01 7.11025330e-04 -2.44868808e+01] [ 8.05939173e-03 -3.50268583e-05 9.99967522e-01 -1.78338457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.59028169299995 meters Centerline goodness [0,1] 0.999914216474726 Centerline is valid? [True, True] Translation: X:380.69, Y:-24.49, Z:-1.78 [[ 9.96261942e-01 8.59744088e-02 -8.39908408e-03 3.80692844e+02] [-8.59711953e-02 9.96297346e-01 7.43577328e-04 -2.44876409e+01] [ 8.43191379e-03 -1.87184957e-05 9.99964451e-01 -1.78401985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.620281693 meters Centerline goodness [0,1] 0.9999785669888762 Centerline is valid? [True, True] Translation: X:380.72, Y:-24.49, Z:-1.78 [[ 9.95879355e-01 9.03039979e-02 -8.33651824e-03 3.80721426e+02] [-9.03009890e-02 9.95914247e-01 7.37405340e-04 -2.44855199e+01] [ 8.36904793e-03 1.84290864e-05 9.99964979e-01 -1.78345422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.65028169299995 meters Centerline goodness [0,1] 0.9999575398594569 Centerline is valid? [True, True] Translation: X:380.75, Y:-24.48, Z:-1.78 [[ 9.95685593e-01 9.24439625e-02 -8.01954807e-03 3.80750618e+02] [-9.24412501e-02 9.95717888e-01 7.09036282e-04 -2.44839842e+01] [ 8.05075359e-03 3.53598376e-05 9.99967592e-01 -1.78243279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.680281693 meters Centerline goodness [0,1] 0.9999354658291565 Centerline is valid? [True, True] Translation: X:380.78, Y:-24.48, Z:-1.78 [[ 9.95379196e-01 9.57413035e-02 -7.33890531e-03 3.80779983e+02] [-9.57391242e-02 9.95406248e-01 6.48507859e-04 -2.44808271e+01] [ 7.36728119e-03 5.71091365e-05 9.99972860e-01 -1.78159723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.71028169299996 meters Centerline goodness [0,1] 0.9999787125340599 Centerline is valid? [True, True] Translation: X:380.81, Y:-24.48, Z:-1.78 [[ 9.95333095e-01 9.62665072e-02 -6.69247657e-03 3.80807227e+02] [-9.62647109e-02 9.95355593e-01 5.90758793e-04 -2.44823911e+01] [ 6.71826427e-03 5.62475447e-05 9.99977431e-01 -1.78112372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.740281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.84, Y:-24.49, Z:-1.78 [[ 9.95385466e-01 9.57818438e-02 -5.79762727e-03 3.80836373e+02] [-9.57804908e-02 9.95402349e-01 5.11214799e-04 -2.44856981e+01] [ 5.81993690e-03 4.64438039e-05 9.99983063e-01 -1.77938270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.77028169299996 meters Centerline goodness [0,1] 0.9999573887847282 Centerline is valid? [True, True] Translation: X:380.86, Y:-24.49, Z:-1.78 [[ 9.95545861e-01 9.41846583e-02 -4.20580155e-03 3.80864625e+02] [-9.41839327e-02 9.95554745e-01 3.70688997e-04 -2.44904844e+01] [ 4.22201890e-03 2.70810331e-05 9.99991087e-01 -1.77513347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.800281693 meters Centerline goodness [0,1] 0.9999575875816439 Centerline is valid? [True, True] Translation: X:380.89, Y:-24.49, Z:-1.77 [[ 9.95602711e-01 9.35973001e-02 -3.84542133e-03 3.80893218e+02] [-9.35966899e-02 9.95610137e-01 3.38735760e-04 -2.44935564e+01] [ 3.86024521e-03 2.26724673e-05 9.99992549e-01 -1.77482210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.83028169299996 meters Centerline goodness [0,1] 0.9999784853700516 Centerline is valid? [True, True] Translation: X:380.92, Y:-24.50, Z:-1.77 [[ 9.95739799e-01 9.21313896e-02 -3.74976024e-03 3.80922292e+02] [-9.21307994e-02 9.95746859e-01 3.30197845e-04 -2.44978503e+01] [ 3.76423356e-03 1.66772721e-05 9.99992915e-01 -1.77415641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.860281693 meters Centerline goodness [0,1] 0.9999149062905525 Centerline is valid? [True, True] Translation: X:380.95, Y:-24.50, Z:-1.77 [[ 9.95855034e-01 9.08904126e-02 -3.41822174e-03 3.80950183e+02] [-9.08899157e-02 9.95860900e-01 3.00746484e-04 -2.45008764e+01] [ 3.43140835e-03 1.11819856e-05 9.99994113e-01 -1.77326391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.89028169299996 meters Centerline goodness [0,1] 0.9999361049582552 Centerline is valid? [True, True] Translation: X:380.98, Y:-24.50, Z:-1.77 [[ 9.95992025e-01 8.93950146e-02 -2.90142946e-03 3.80978981e+02] [-8.93946506e-02 9.95996251e-01 2.55150037e-04 -2.45045984e+01] [ 2.91262201e-03 5.24487105e-06 9.99995758e-01 -1.77264644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92028169299994 meters Centerline goodness [0,1] 0.9999788869183346 Centerline is valid? [True, True] Translation: X:381.01, Y:-24.51, Z:-1.77 [[ 9.96285121e-01 8.60534421e-02 -3.28051941e-03 3.81006450e+02] [-8.60529594e-02 9.96290522e-01 2.88286102e-04 -2.45129649e+01] [ 3.29315841e-03 -4.91675044e-06 9.99994578e-01 -1.77399806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.95028169299997 meters Centerline goodness [0,1] 0.9999363314162015 Centerline is valid? [True, True] Translation: X:381.04, Y:-24.52, Z:-1.78 [[ 9.96419421e-01 8.44559211e-02 -3.94145295e-03 3.81035234e+02] [-8.44552123e-02 9.96427216e-01 3.46235136e-04 -2.45190161e+01] [ 3.95661260e-03 -1.21191677e-05 9.99992173e-01 -1.77528588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98028169299994 meters Centerline goodness [0,1] 0.9999357271402862 Centerline is valid? [True, True] Translation: X:381.06, Y:-24.52, Z:-1.78 [[ 9.96533801e-01 8.30613696e-02 -4.60355997e-03 3.81063701e+02] [-8.30603887e-02 9.96544434e-01 4.04186990e-04 -2.45239671e+01] [ 4.62122439e-03 -2.04125166e-05 9.99989322e-01 -1.77566211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.01028169299997 meters Centerline goodness [0,1] 0.9999786589269708 Centerline is valid? [True, True] Translation: X:381.09, Y:-24.53, Z:-1.78 [[ 9.96548415e-01 8.28767380e-02 -4.76468651e-03 3.81090393e+02] [-8.28756874e-02 9.96559805e-01 4.17863074e-04 -2.45285869e+01] [ 4.78292619e-03 -2.15441147e-05 9.99988562e-01 -1.77560256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04028169299994 meters Centerline goodness [0,1] 0.9999356223175966 Centerline is valid? [True, True] Translation: X:381.12, Y:-24.53, Z:-1.77 [[ 9.96501904e-01 8.34895548e-02 -3.66726558e-03 3.81118921e+02] [-8.34889371e-02 9.96508652e-01 3.21471725e-04 -2.45299020e+01] [ 3.68130141e-03 -1.41710804e-05 9.99993224e-01 -1.77263446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.07028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.15, Y:-24.53, Z:-1.77 [[ 9.96289860e-01 8.59728068e-02 -3.89756831e-03 3.81146870e+02] [-8.59721293e-02 9.96297484e-01 3.41341283e-04 -2.45306650e+01] [ 3.91248357e-03 -4.99261229e-06 9.99992346e-01 -1.77277267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10028169299994 meters Centerline goodness [0,1] 0.9999788009836343 Centerline is valid? [True, True] Translation: X:381.17, Y:-24.53, Z:-1.78 [[ 9.96090616e-01 8.81612095e-02 -5.57548392e-03 3.81174689e+02] [-8.81598587e-02 9.96106220e-01 4.88049966e-04 -2.45304221e+01] [ 5.59680129e-03 5.39188359e-06 9.99984338e-01 -1.77721664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.130281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.20, Y:-24.53, Z:-1.78 [[ 9.95853897e-01 9.06588436e-02 -7.48261383e-03 3.81203421e+02] [-9.06564833e-02 9.95882008e-01 6.54719561e-04 -2.45295024e+01] [ 7.51115660e-03 2.63424293e-05 9.99971791e-01 -1.78096826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.23, Y:-24.53, Z:-1.78 [[ 9.95574306e-01 9.36213957e-02 -8.17533013e-03 3.81231238e+02] [-9.36186819e-02 9.95607870e-01 7.14851048e-04 -2.45279844e+01] [ 8.20634837e-03 5.36762949e-05 9.99966326e-01 -1.78325637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.190281693 meters Centerline goodness [0,1] 0.9999148827509895 Centerline is valid? [True, True] Translation: X:381.26, Y:-24.52, Z:-1.78 [[ 9.95012041e-01 9.96181584e-02 -5.22115653e-03 3.81260888e+02] [-9.96171355e-02 9.95025737e-01 4.56266629e-04 -2.45217862e+01] [ 5.24063757e-03 6.61258676e-05 9.99986266e-01 -1.77573743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22028169299995 meters Centerline goodness [0,1] 0.9995342831135291 Centerline is valid? [True, True] Translation: X:381.29, Y:-24.52, Z:-1.77 [[ 9.94695134e-01 1.02806966e-01 -3.50966637e-03 3.81289405e+02] [-1.02806525e-01 9.94701324e-01 3.06437962e-04 -2.45155343e+01] [ 3.52257374e-03 5.60042524e-05 9.99993794e-01 -1.77292276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.250281693 meters Centerline goodness [0,1] 0.9993992189846801 Centerline is valid? [True, True] Translation: X:381.32, Y:-24.51, Z:-1.77 [[ 9.94125252e-01 1.08156931e-01 -4.13047563e-03 3.81319478e+02] [-1.08156365e-01 9.94133829e-01 3.60639607e-04 -2.45126434e+01] [ 4.14525123e-03 8.82162912e-05 9.99991405e-01 -1.77301787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28028169299995 meters Centerline goodness [0,1] 0.999172782420566 Centerline is valid? [True, True] Translation: X:381.35, Y:-24.51, Z:-1.78 [[ 9.93960746e-01 1.09611487e-01 -5.23038931e-03 3.81347259e+02] [-1.09610603e-01 9.93974500e-01 4.56303738e-04 -2.45114843e+01] [ 5.24888974e-03 1.19758122e-04 9.99986217e-01 -1.77586317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.310281693 meters Centerline goodness [0,1] 0.999172782420566 Centerline is valid? [True, True] Translation: X:381.37, Y:-24.51, Z:-1.78 [[ 9.93968374e-01 1.09542290e-01 -5.23042303e-03 3.81374662e+02] [-1.09541407e-01 9.93982129e-01 4.55917151e-04 -2.45137357e+01] [ 5.24888923e-03 1.19780667e-04 9.99986217e-01 -1.77592106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34028169299995 meters Centerline goodness [0,1] 0.9991939931277308 Centerline is valid? [True, True] Translation: X:381.40, Y:-24.52, Z:-1.78 [[ 9.93906786e-01 1.10084383e-01 -5.54342376e-03 3.81403807e+02] [-1.10083400e-01 9.93922236e-01 4.82995786e-04 -2.45152669e+01] [ 5.56290243e-03 1.30186146e-04 9.99984518e-01 -1.77619336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.370281693 meters Centerline goodness [0,1] 0.9992161016949153 Centerline is valid? [True, True] Translation: X:381.43, Y:-24.52, Z:-1.77 [[ 9.93907314e-01 1.10161176e-01 -3.57315601e-03 3.81433274e+02] [-1.10160768e-01 9.93913733e-01 3.11190628e-04 -2.45152678e+01] [ 3.58568995e-03 8.43269696e-05 9.99993568e-01 -1.77254984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40028169299995 meters Centerline goodness [0,1] 0.9983344226349855 Centerline is valid? [True, True] Translation: X:381.46, Y:-24.51, Z:-1.77 [[ 9.93884092e-01 1.10407610e-01 -2.13814998e-03 3.81460182e+02] [-1.10407465e-01 9.93886390e-01 1.85912732e-04 -2.45147378e+01] [ 2.14560435e-03 5.12920134e-05 9.99997697e-01 -1.77049150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.430281693 meters Centerline goodness [0,1] 0.9980227069779308 Centerline is valid? [True, True] Translation: X:381.49, Y:-24.52, Z:-1.77 [[ 9.93784623e-01 1.11314792e-01 -1.06811783e-03 3.81488984e+02] [-1.11314756e-01 9.93785196e-01 9.28111425e-05 -2.45163329e+01] [ 1.07181094e-03 2.66629900e-05 9.99999425e-01 -1.76853226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46028169299996 meters Centerline goodness [0,1] 0.9975067658277751 Centerline is valid? [True, True] Translation: X:381.52, Y:-24.51, Z:-1.77 [[ 9.93514748e-01 1.13682340e-01 -2.18449124e-03 3.81519280e+02] [-1.13682197e-01 9.93517147e-01 1.89915487e-04 -2.45130366e+01] [ 2.19191955e-03 5.96539263e-05 9.99997596e-01 -1.77047173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.490281693 meters Centerline goodness [0,1] 0.9975016937669376 Centerline is valid? [True, True] Translation: X:381.55, Y:-24.51, Z:-1.77 [[ 9.93297292e-01 1.15544442e-01 -3.15792503e-03 3.81549552e+02] [-1.15544153e-01 9.93302307e-01 2.74492597e-04 -2.45081214e+01] [ 3.16849031e-03 9.22270183e-05 9.99994976e-01 -1.77195994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52028169299996 meters Centerline goodness [0,1] 0.9973164654015718 Centerline is valid? [True, True] Translation: X:381.58, Y:-24.51, Z:-1.77 [[ 9.93252432e-01 1.15936452e-01 -2.88887416e-03 3.81578303e+02] [-1.15936212e-01 9.93256629e-01 2.50920094e-04 -2.45086875e+01] [ 2.89848420e-03 8.56981331e-05 9.99995796e-01 -1.77159107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.550281693 meters Centerline goodness [0,1] 0.9975779722954023 Centerline is valid? [True, True] Translation: X:381.61, Y:-24.51, Z:-1.77 [[ 9.93264874e-01 1.15835255e-01 -2.66166844e-03 3.81606305e+02] [-1.15835052e-01 9.93268437e-01 2.31046025e-04 -2.45137014e+01] [ 2.67051452e-03 7.88245999e-05 9.99996431e-01 -1.77086873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58028169299996 meters Centerline goodness [0,1] 0.9976445623342175 Centerline is valid? [True, True] Translation: X:381.63, Y:-24.51, Z:-1.77 [[ 9.93433158e-01 1.14365958e-01 -3.31481179e-03 3.81634720e+02] [-1.14365635e-01 9.93438684e-01 2.87543847e-04 -2.45117096e+01] [ 3.32594749e-03 9.34449634e-05 9.99994465e-01 -1.77310326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.610281693 meters Centerline goodness [0,1] 0.9982442617334704 Centerline is valid? [True, True] Translation: X:381.66, Y:-24.52, Z:-1.77 [[ 9.93544454e-01 1.13391599e-01 -3.42976808e-03 3.81663412e+02] [-1.13391248e-01 9.93550369e-01 2.97382826e-04 -2.45178399e+01] [ 3.44136806e-03 9.34426235e-05 9.99994074e-01 -1.77264688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64028169299996 meters Centerline goodness [0,1] 0.9988231014486552 Centerline is valid? [True, True] Translation: X:381.69, Y:-24.52, Z:-1.77 [[ 9.93844148e-01 1.10764953e-01 -2.22148990e-03 3.81692391e+02] [-1.10764799e-01 9.93846629e-01 1.92524707e-04 -2.45221266e+01] [ 2.22914524e-03 5.47233292e-05 9.99997514e-01 -1.76963443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.67028169299994 meters Centerline goodness [0,1] 0.9985819205452198 Centerline is valid? [True, True] Translation: X:381.72, Y:-24.52, Z:-1.77 [[ 9.93974854e-01 1.09594845e-01 -1.72056557e-03 3.81720879e+02] [-1.09594751e-01 9.93976342e-01 1.48940684e-04 -2.45192948e+01] [ 1.72652460e-03 4.05216610e-05 9.99998509e-01 -1.76894717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70028169299997 meters Centerline goodness [0,1] 0.9987534596775898 Centerline is valid? [True, True] Translation: X:381.75, Y:-24.52, Z:-1.77 [[ 9.94096962e-01 1.08489917e-01 -1.08105210e-03 3.81749553e+02] [-1.08489879e-01 9.94097549e-01 9.35175930e-05 -2.45213256e+01] [ 1.08481696e-03 2.43176569e-05 9.99999411e-01 -1.76768505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.73028169299994 meters Centerline goodness [0,1] 0.9989495798319328 Centerline is valid? [True, True] Translation: X:381.78, Y:-24.53, Z:-1.77 [[ 9.94434579e-01 1.05355227e-01 -3.79611388e-04 3.81776915e+02] [-1.05355223e-01 9.94434651e-01 3.27334356e-05 -2.45256956e+01] [ 3.80947357e-04 7.44278199e-06 9.99999927e-01 -1.76665697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76028169299997 meters Centerline goodness [0,1] 0.9996197236658638 Centerline is valid? [True, True] Translation: X:381.81, Y:-24.53, Z:-1.77 [[ 9.94660000e-01 1.03205636e-01 -2.85704841e-04 3.81805515e+02] [-1.03205634e-01 9.94660041e-01 2.45219656e-05 -2.45339687e+01] [ 2.86709994e-04 5.09533088e-06 9.99999959e-01 -1.76634090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.79028169299994 meters Centerline goodness [0,1] 0.9996563500075173 Centerline is valid? [True, True] Translation: X:381.83, Y:-24.54, Z:-1.77 [[ 9.94820108e-01 1.01649224e-01 -6.23354943e-04 3.81833723e+02] [-1.01649210e-01 9.94820303e-01 5.37587076e-05 -2.45398236e+01] [ 6.25590685e-04 9.88329421e-06 9.99999804e-01 -1.76660481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82028169299997 meters Centerline goodness [0,1] 0.9999146466370775 Centerline is valid? [True, True] Translation: X:381.86, Y:-24.55, Z:-1.77 [[ 9.95178455e-01 9.80408334e-02 -2.79943398e-03 3.81861417e+02] [-9.80405417e-02 9.95182392e-01 2.41586954e-04 -2.45456133e+01] [ 2.80963279e-03 3.40358927e-05 9.99996052e-01 -1.77166401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.85028169299994 meters Centerline goodness [0,1] 0.9999362976175309 Centerline is valid? [True, True] Translation: X:381.89, Y:-24.55, Z:-1.77 [[ 9.95438648e-01 9.53359078e-02 -3.60030626e-03 3.81888634e+02] [-9.53354082e-02 9.95445158e-01 3.10532964e-04 -2.45496028e+01] [ 3.61351238e-03 3.41201532e-05 9.99993471e-01 -1.77452633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.880281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.92, Y:-24.56, Z:-1.78 [[ 9.95922177e-01 9.01357525e-02 -3.81626071e-03 3.81915329e+02] [-9.01351536e-02 9.95929488e-01 3.28967964e-04 -2.45608869e+01] [ 3.83037835e-03 1.63527542e-05 9.99992664e-01 -1.77526194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.91028169299994 meters Centerline goodness [0,1] 0.9999785692855 Centerline is valid? [True, True] Translation: X:381.94, Y:-24.57, Z:-1.77 [[ 9.96078577e-01 8.83772729e-02 -4.11423776e-03 3.81943888e+02] [-8.83765626e-02 9.96087073e-01 3.54487513e-04 -2.45686289e+01] [ 4.12946769e-03 1.05047738e-05 9.99991474e-01 -1.77453954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.940281693 meters Centerline goodness [0,1] 0.9999786575605591 Centerline is valid? [True, True] Translation: X:381.97, Y:-24.58, Z:-1.78 [[ 9.96178231e-01 8.72207146e-02 -4.63452042e-03 3.81969927e+02] [-8.72198028e-02 9.96189012e-01 3.98877737e-04 -2.45750956e+01] [ 4.65164871e-03 6.86863796e-06 9.99989181e-01 -1.77640457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.97028169299995 meters Centerline goodness [0,1] 0.999956738048886 Centerline is valid? [True, True] Translation: X:382.00, Y:-24.58, Z:-1.77 [[ 9.96218113e-01 8.67689644e-02 -4.54080006e-03 3.81997960e+02] [-8.67680858e-02 9.96228461e-01 3.90500627e-04 -2.45814115e+01] [ 4.55755759e-03 4.97273226e-06 9.99989614e-01 -1.77031423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.000281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.03, Y:-24.59, Z:-1.77 [[ 9.96156548e-01 8.75494948e-02 -2.68663344e-03 3.82025877e+02] [-8.75491906e-02 9.96160171e-01 2.30850109e-04 -2.45857235e+01] [ 2.69652803e-03 5.24973453e-06 9.99996364e-01 -1.76956678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03028169299995 meters Centerline goodness [0,1] 0.9999785890161653 Centerline is valid? [True, True] Translation: X:382.05, Y:-24.59, Z:-1.77 [[ 9.96082424e-01 8.84011957e-02 -2.24352016e-03 3.82053369e+02] [-8.84009862e-02 9.96084950e-01 1.92571179e-04 -2.45888714e+01] [ 2.25176019e-03 6.51262791e-06 9.99997465e-01 -1.76925512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.060281693 meters Centerline goodness [0,1] 0.9998937910232173 Centerline is valid? [True, True] Translation: X:382.08, Y:-24.59, Z:-1.77 [[ 9.95915516e-01 9.02473351e-02 -2.77535386e-03 3.82080404e+02] [-9.02470219e-02 9.95919383e-01 2.38120713e-04 -2.45933356e+01] [ 2.78551846e-03 1.33193077e-05 9.99996120e-01 -1.77158726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09028169299995 meters Centerline goodness [0,1] 0.999978627911947 Centerline is valid? [True, True] Translation: X:382.11, Y:-24.60, Z:-1.77 [[ 9.95758063e-01 9.19647212e-02 -2.89304022e-03 3.82109047e+02] [-9.19643885e-02 9.95762266e-01 2.48110093e-04 -2.45951086e+01] [ 2.90359766e-03 1.89990498e-05 9.99995784e-01 -1.77202589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.120281693 meters Centerline goodness [0,1] 0.9999574440921761 Centerline is valid? [True, True] Translation: X:382.14, Y:-24.59, Z:-1.77 [[ 9.95580008e-01 9.38682832e-02 -3.03216662e-03 3.82136974e+02] [-9.38679271e-02 9.95584625e-01 2.59845515e-04 -2.45941929e+01] [ 3.04316972e-03 2.59261957e-05 9.99995369e-01 -1.77221273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15028169299995 meters Centerline goodness [0,1] 0.9997022860180755 Centerline is valid? [True, True] Translation: X:382.17, Y:-24.59, Z:-1.77 [[ 9.95155363e-01 9.82394049e-02 -3.85016649e-03 3.82166053e+02] [-9.82388640e-02 9.95162809e-01 3.29816804e-04 -2.45934377e+01] [ 3.86394351e-03 5.00170211e-05 9.99992534e-01 -1.77255990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.180281693 meters Centerline goodness [0,1] 0.9997006436162251 Centerline is valid? [True, True] Translation: X:382.19, Y:-24.60, Z:-1.77 [[ 9.95008425e-01 9.96700377e-02 -4.91093528e-03 3.82194473e+02] [-9.96691762e-02 9.95020542e-01 4.20470766e-04 -2.45963851e+01] [ 4.92838982e-03 7.10969188e-05 9.99987853e-01 -1.77399292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21028169299996 meters Centerline goodness [0,1] 0.9997662508765592 Centerline is valid? [True, True] Translation: X:382.22, Y:-24.60, Z:-1.78 [[ 9.94961288e-01 1.00126294e-01 -5.17297055e-03 3.82222761e+02] [-1.00125346e-01 9.94974733e-01 4.42571703e-04 -2.45968107e+01] [ 5.19128806e-03 7.76037570e-05 9.99986522e-01 -1.77534507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.240281693 meters Centerline goodness [0,1] 0.9996154996368608 Centerline is valid? [True, True] Translation: X:382.25, Y:-24.60, Z:-1.77 [[ 9.95041946e-01 9.94022589e-02 -3.27357285e-03 3.82251600e+02] [-9.94018759e-02 9.95047330e-01 2.79895961e-04 -2.46007776e+01] [ 3.28518222e-03 4.68910608e-05 9.99994603e-01 -1.77194868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27028169299996 meters Centerline goodness [0,1] 0.9997222815637684 Centerline is valid? [True, True] Translation: X:382.28, Y:-24.60, Z:-1.77 [[ 9.95085991e-01 9.89831515e-02 -2.49125245e-03 3.82280803e+02] [-9.89829286e-02 9.95089109e-01 2.12918943e-04 -2.46034159e+01] [ 2.50009357e-03 3.47188062e-05 9.99996874e-01 -1.77008665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.300281693 meters Centerline goodness [0,1] 0.9996393567822139 Centerline is valid? [True, True] Translation: X:382.31, Y:-24.60, Z:-1.77 [[ 9.95148356e-01 9.83694685e-02 -1.78812823e-03 3.82308745e+02] [-9.83693530e-02 9.95149962e-01 1.52650632e-04 -2.46049473e+01] [ 1.79447190e-03 2.39869913e-05 9.99998390e-01 -1.76928844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33028169299996 meters Centerline goodness [0,1] 0.9996383901982473 Centerline is valid? [True, True] Translation: X:382.34, Y:-24.61, Z:-1.77 [[ 9.95241608e-01 9.74277399e-02 -1.40625934e-03 3.82337817e+02] [-9.74276678e-02 9.95242601e-01 1.19827360e-04 -2.46087541e+01] [ 1.41124371e-03 1.77513941e-05 9.99999004e-01 -1.76839913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.360281693 meters Centerline goodness [0,1] 0.9997246346113111 Centerline is valid? [True, True] Translation: X:382.37, Y:-24.61, Z:-1.77 [[ 9.95363522e-01 9.61790869e-02 -1.02080310e-03 3.82366984e+02] [-9.61790482e-02 9.95364046e-01 8.70100364e-05 -2.46120509e+01] [ 1.02443925e-03 1.15732544e-05 9.99999475e-01 -1.76748084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.39028169299996 meters Centerline goodness [0,1] 0.9997888959256913 Centerline is valid? [True, True] Translation: X:382.40, Y:-24.61, Z:-1.77 [[ 9.95554518e-01 9.41868660e-02 -1.88758882e-04 3.82395049e+02] [-9.41868647e-02 9.95554536e-01 1.59676118e-05 -2.46131199e+01] [ 1.89423701e-04 1.88197924e-06 9.99999982e-01 -1.76523452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42028169299994 meters Centerline goodness [0,1] 0.9998289977128444 Centerline is valid? [True, True] Translation: X:382.42, Y:-24.61, Z:-1.76 [[ 9.95628930e-01 9.33970723e-02 1.40680542e-04 3.82423083e+02] [-9.33970715e-02 9.95628940e-01 -1.21051444e-05 -2.46145113e+01] [-1.41196204e-04 -1.08691868e-06 9.99999990e-01 -1.76495610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.45028169299997 meters Centerline goodness [0,1] 0.9999148755054267 Centerline is valid? [True, True] Translation: X:382.45, Y:-24.62, Z:-1.77 [[ 9.95737739e-01 9.22293099e-02 -3.30501381e-04 3.82450617e+02] [-9.22293057e-02 9.95737794e-01 2.80189415e-05 -2.46158303e+01] [ 3.31676884e-04 2.58239538e-06 9.99999945e-01 -1.76663563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48028169299994 meters Centerline goodness [0,1] 0.9997229975922098 Centerline is valid? [True, True] Translation: X:382.48, Y:-24.62, Z:-1.77 [[ 9.95798061e-01 9.15719332e-02 -8.96227017e-04 3.82479303e+02] [-9.15719017e-02 9.95798464e-01 7.61588384e-05 -2.46195075e+01] [ 8.99435499e-04 6.23038873e-06 9.99999595e-01 -1.76682906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.51028169299997 meters Centerline goodness [0,1] 0.9999151661682679 Centerline is valid? [True, True] Translation: X:382.51, Y:-24.62, Z:-1.77 [[ 9.95868017e-01 9.08069262e-02 -9.97336896e-04 3.82507008e+02] [-9.08068869e-02 9.95868516e-01 8.46781774e-05 -2.46215353e+01] [ 1.00090578e-03 6.23677014e-06 9.99999499e-01 -1.76742635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54028169299994 meters Centerline goodness [0,1] 0.9999355240817555 Centerline is valid? [True, True] Translation: X:382.54, Y:-24.62, Z:-1.77 [[ 9.95999501e-01 8.93582010e-02 -3.26195753e-04 3.82536145e+02] [-8.93581967e-02 9.95999554e-01 2.76203273e-05 -2.46243984e+01] [ 3.27358927e-04 1.63843202e-06 9.99999946e-01 -1.76610863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.57028169299997 meters Centerline goodness [0,1] 0.9999139285176339 Centerline is valid? [True, True] Translation: X:382.56, Y:-24.63, Z:-1.77 [[ 9.96049274e-01 8.87981873e-02 -8.52024904e-04 3.82563592e+02] [-8.87981580e-02 9.96049638e-01 7.22311702e-05 -2.46269722e+01] [ 8.55073094e-04 3.71243741e-06 9.99999634e-01 -1.76661004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60028169299994 meters Centerline goodness [0,1] 0.999893986939191 Centerline is valid? [True, True] Translation: X:382.59, Y:-24.63, Z:-1.77 [[ 9.95958137e-01 8.97827556e-02 -2.53886253e-03 3.82591586e+02] [-8.97824984e-02 9.95961373e-01 2.15331547e-04 -2.46271609e+01] [ 2.54794208e-03 1.34842148e-05 9.99996754e-01 -1.76871000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.630281693 meters Centerline goodness [0,1] 0.9999154673598343 Centerline is valid? [True, True] Translation: X:382.62, Y:-24.63, Z:-1.77 [[ 9.95859079e-01 9.08416400e-02 -3.53415571e-03 3.82620628e+02] [-9.08411486e-02 9.95865350e-01 2.99655090e-04 -2.46279216e+01] [ 3.54676438e-03 2.26325219e-05 9.99993710e-01 -1.76999567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66028169299994 meters Centerline goodness [0,1] 0.9997884180013964 Centerline is valid? [True, True] Translation: X:382.65, Y:-24.63, Z:-1.77 [[ 9.95765219e-01 9.18265469e-02 -4.41741121e-03 3.82649449e+02] [-9.18257897e-02 9.95775017e-01 3.74361184e-04 -2.46292765e+01] [ 4.43312401e-03 3.28564264e-05 9.99990173e-01 -1.77177580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.690281693 meters Centerline goodness [0,1] 0.9997226193270318 Centerline is valid? [True, True] Translation: X:382.68, Y:-24.63, Z:-1.77 [[ 9.95651080e-01 9.30633830e-02 -4.25835521e-03 3.82678167e+02] [-9.30626916e-02 9.95660186e-01 3.60668578e-04 -2.46311714e+01] [ 4.27343978e-03 3.71939377e-05 9.99990868e-01 -1.77113258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72028169299995 meters Centerline goodness [0,1] 0.999786966617669 Centerline is valid? [True, True] Translation: X:382.71, Y:-24.63, Z:-1.77 [[ 9.95567489e-01 9.40105646e-02 -2.71810565e-03 3.82705346e+02] [-9.40102874e-02 9.95571199e-01 2.29873289e-04 -2.46320533e+01] [ 2.72767822e-03 2.66755204e-05 9.99996280e-01 -1.76847824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.750281693 meters Centerline goodness [0,1] 0.9997006436162251 Centerline is valid? [True, True] Translation: X:382.73, Y:-24.63, Z:-1.77 [[ 9.95381081e-01 9.59936784e-02 -1.31027801e-03 3.82734094e+02] [-9.59936158e-02 9.95381944e-01 1.10732758e-04 -2.46319285e+01] [ 1.31485672e-03 1.55570316e-05 9.99999135e-01 -1.76501436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78028169299995 meters Centerline goodness [0,1] 0.9993790149892934 Centerline is valid? [True, True] Translation: X:382.76, Y:-24.63, Z:-1.76 [[ 9.94937843e-01 1.00486355e-01 -1.08670300e-03 3.82764507e+02] [-1.00486315e-01 9.94938436e-01 9.18447992e-05 -2.46278603e+01] [ 1.09043173e-03 1.78189129e-05 9.99999405e-01 -1.76407691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.810281693 meters Centerline goodness [0,1] 0.9993674889310563 Centerline is valid? [True, True] Translation: X:382.79, Y:-24.62, Z:-1.77 [[ 9.94779970e-01 1.02025737e-01 -1.88687096e-03 3.82792420e+02] [-1.02025618e-01 9.94781759e-01 1.59319778e-04 -2.46242645e+01] [ 1.89327953e-03 3.40210514e-05 9.99998207e-01 -1.76681331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84028169299995 meters Centerline goodness [0,1] 0.9992921644752365 Centerline is valid? [True, True] Translation: X:382.82, Y:-24.62, Z:-1.77 [[ 9.94537878e-01 1.04362305e-01 -1.70842896e-03 3.82821257e+02] [-1.04362211e-01 9.94539345e-01 1.44183868e-04 -2.46227120e+01] [ 1.71414718e-03 3.48991063e-05 9.99998530e-01 -1.76688266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.870281693 meters Centerline goodness [0,1] 0.9990166737922189 Centerline is valid? [True, True] Translation: X:382.85, Y:-24.62, Z:-1.77 [[ 9.94485846e-01 1.04864089e-01 -1.19328865e-03 3.82849595e+02] [-1.04864044e-01 9.94486562e-01 1.00580418e-04 -2.46218044e+01] [ 1.19725680e-03 2.51072711e-05 9.99999283e-01 -1.76585913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90028169299995 meters Centerline goodness [0,1] 0.9988674003632867 Centerline is valid? [True, True] Translation: X:382.88, Y:-24.62, Z:-1.76 [[ 9.94575959e-01 1.04011531e-01 -5.12905812e-04 3.82877520e+02] [-1.04011523e-01 9.94576091e-01 4.31328398e-05 -2.46239311e+01] [ 5.14610170e-04 1.04492291e-05 9.99999868e-01 -1.76398908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.930281693 meters Centerline goodness [0,1] 0.9994866749369038 Centerline is valid? [True, True] Translation: X:382.91, Y:-24.63, Z:-1.77 [[ 9.94795854e-01 1.01879488e-01 -1.33379402e-03 3.82906178e+02] [-1.01879429e-01 9.94796748e-01 1.12324768e-04 -2.46296830e+01] [ 1.33829754e-03 2.41459599e-05 9.99999104e-01 -1.76545545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96028169299996 meters Centerline goodness [0,1] 0.9995520668913442 Centerline is valid? [True, True] Translation: X:382.93, Y:-24.64, Z:-1.77 [[ 9.95030380e-01 9.95512748e-02 -2.02164178e-03 3.82934340e+02] [-9.95511344e-02 9.95032433e-01 1.70205126e-04 -2.46359049e+01] [ 2.02854327e-03 3.18974612e-05 9.99997942e-01 -1.76670011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.990281693 meters Centerline goodness [0,1] 0.9996405463695184 Centerline is valid? [True, True] Translation: X:382.96, Y:-24.64, Z:-1.77 [[ 9.95502563e-01 9.47119713e-02 -2.07114654e-03 3.82962159e+02] [-9.47118136e-02 9.95504717e-01 1.74277762e-04 -2.46425823e+01] [ 2.07834234e-03 2.26680862e-05 9.99997840e-01 -1.76765484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02028169299996 meters Centerline goodness [0,1] 0.9998087588449034 Centerline is valid? [True, True] Translation: X:382.99, Y:-24.65, Z:-1.77 [[ 9.95653390e-01 9.31201878e-02 -1.71981402e-03 3.82990911e+02] [-9.31200769e-02 9.95654875e-01 1.44621835e-04 -2.46478833e+01] [ 1.72580843e-03 1.61559936e-05 9.99998511e-01 -1.76689243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.050281693 meters Centerline goodness [0,1] 0.9998067134849559 Centerline is valid? [True, True] Translation: X:383.02, Y:-24.65, Z:-1.76 [[ 9.95777581e-01 9.17923561e-02 -1.08244274e-03 3.83019762e+02] [-9.17923115e-02 9.95778170e-01 9.09283141e-05 -2.46540720e+01] [ 1.08621938e-03 8.81554488e-06 9.99999410e-01 -1.76375266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08028169299996 meters Centerline goodness [0,1] 0.9997027916357074 Centerline is valid? [True, True] Translation: X:383.05, Y:-24.65, Z:-1.76 [[ 9.95801086e-01 9.15382081e-02 -9.76127470e-04 3.83046693e+02] [-9.15381718e-02 9.95801565e-01 8.18276128e-05 -2.46544163e+01] [ 9.79519615e-04 7.86889834e-06 9.99999520e-01 -1.76455094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.110281693 meters Centerline goodness [0,1] 0.9998089212543259 Centerline is valid? [True, True] Translation: X:383.07, Y:-24.66, Z:-1.76 [[ 9.95790699e-01 9.16506085e-02 -1.02468824e-03 3.83074623e+02] [-9.16505687e-02 9.95791226e-01 8.58676539e-05 -2.46554543e+01] [ 1.02824538e-03 8.40704836e-06 9.99999471e-01 -1.76436365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14028169299996 meters Centerline goodness [0,1] 0.9997646958158638 Centerline is valid? [True, True] Translation: X:383.10, Y:-24.65, Z:-1.77 [[ 9.95732327e-01 9.22666984e-02 -1.99711461e-03 3.83102782e+02] [-9.22665483e-02 9.95734330e-01 1.67328719e-04 -2.46527848e+01] [ 2.00403444e-03 1.76522566e-05 9.99997992e-01 -1.76660763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.17028169299994 meters Centerline goodness [0,1] 0.999914870070445 Centerline is valid? [True, True] Translation: X:383.13, Y:-24.65, Z:-1.77 [[ 9.95756668e-01 9.19860339e-02 -2.68844635e-03 3.83130916e+02] [-9.19857613e-02 9.95760297e-01 2.25133275e-04 -2.46549513e+01] [ 2.69775726e-03 2.31208250e-05 9.99996361e-01 -1.76759491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20028169299997 meters Centerline goodness [0,1] 0.9999358988055811 Centerline is valid? [True, True] Translation: X:383.16, Y:-24.66, Z:-1.77 [[ 9.95795686e-01 9.15317128e-02 -3.59127249e-03 3.83158911e+02] [-9.15312242e-02 9.95802161e-01 3.00525744e-04 -2.46562370e+01] [ 3.60370454e-03 2.94513275e-05 9.99993506e-01 -1.76867981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.23028169299994 meters Centerline goodness [0,1] 0.9999358988055811 Centerline is valid? [True, True] Translation: X:383.19, Y:-24.66, Z:-1.77 [[ 9.95802188e-01 9.14609454e-02 -3.59129383e-03 3.83186314e+02] [-9.14604572e-02 9.95808664e-01 3.00270673e-04 -2.46583964e+01] [ 3.60370455e-03 2.94511820e-05 9.99993506e-01 -1.76873768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26028169299997 meters Centerline goodness [0,1] 0.9998495464901346 Centerline is valid? [True, True] Translation: X:383.22, Y:-24.66, Z:-1.77 [[ 9.95829306e-01 9.11707815e-02 -3.44701352e-03 3.83215038e+02] [-9.11703305e-02 9.95835271e-01 2.88086833e-04 -2.46602712e+01] [ 3.45892275e-03 2.73800506e-05 9.99994018e-01 -1.76877724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.29028169299994 meters Centerline goodness [0,1] 0.9999349043093347 Centerline is valid? [True, True] Translation: X:383.24, Y:-24.66, Z:-1.77 [[ 9.95875634e-01 9.06852123e-02 -2.81311362e-03 3.83243723e+02] [-9.06849104e-02 9.95879607e-01 2.34948035e-04 -2.46630194e+01] [ 2.82282880e-03 2.11279339e-05 9.99996016e-01 -1.76789342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32028169299997 meters Centerline goodness [0,1] 0.9999145919631037 Centerline is valid? [True, True] Translation: X:383.27, Y:-24.66, Z:-1.77 [[ 9.95974664e-01 8.95986792e-02 -2.55853163e-03 3.83271733e+02] [-8.95984264e-02 9.95977950e-01 2.13494054e-04 -2.46646633e+01] [ 2.56736988e-03 1.66057402e-05 9.99996704e-01 -1.76755023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35028169299994 meters Centerline goodness [0,1] 0.9999572704354143 Centerline is valid? [True, True] Translation: X:383.30, Y:-24.67, Z:-1.77 [[ 9.96165922e-01 8.74615924e-02 -1.98123907e-03 3.83300149e+02] [-8.74614367e-02 9.96167892e-01 1.65225158e-04 -2.46680426e+01] [ 1.98809760e-03 8.69034409e-06 9.99998024e-01 -1.76651658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.380281693 meters Centerline goodness [0,1] 0.9999573269608262 Centerline is valid? [True, True] Translation: X:383.33, Y:-24.67, Z:-1.76 [[ 9.96321445e-01 8.56946734e-02 -3.30876353e-05 3.83327894e+02] [-8.56946734e-02 9.96321446e-01 2.63261546e-06 -2.46725513e+01] [ 3.31915218e-05 2.12502861e-07 9.99999999e-01 -1.76226962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.41028169299994 meters Centerline goodness [0,1] 0.9999139710942877 Centerline is valid? [True, True] Translation: X:383.36, Y:-24.67, Z:-1.76 [[ 9.96293680e-01 8.60166192e-02 -2.08572585e-04 3.83355486e+02] [-8.60166174e-02 9.96293702e-01 1.72213327e-05 -2.46737928e+01] [ 2.09280874e-04 7.83203348e-07 9.99999978e-01 -1.76175185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.440281693 meters Centerline goodness [0,1] 0.9998715890850722 Centerline is valid? [True, True] Translation: X:383.38, Y:-24.67, Z:-1.76 [[ 9.96204646e-01 8.70304628e-02 -1.41496538e-03 3.83383408e+02] [-8.70303834e-02 9.96205651e-01 1.17710768e-04 -2.46731036e+01] [ 1.41984093e-03 5.88096606e-06 9.99998992e-01 -1.76431756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47028169299995 meters Centerline goodness [0,1] 0.9999572594777109 Centerline is valid? [True, True] Translation: X:383.41, Y:-24.67, Z:-1.77 [[ 9.96087835e-01 8.83275056e-02 -2.69769882e-03 3.83411771e+02] [-8.83272220e-02 9.96091488e-01 2.24330377e-04 -2.46719970e+01] [ 2.70696938e-03 1.48274835e-05 9.99996336e-01 -1.76731705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.500281693 meters Centerline goodness [0,1] 0.9999362691989039 Centerline is valid? [True, True] Translation: X:383.44, Y:-24.67, Z:-1.77 [[ 9.95943682e-01 8.99359281e-02 -2.77681199e-03 3.83440673e+02] [-8.99356341e-02 9.95947553e-01 2.30809592e-04 -2.46713014e+01] [ 2.78631718e-03 1.98609920e-05 9.99996118e-01 -1.76763103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53028169299995 meters Centerline goodness [0,1] 0.9998727627449318 Centerline is valid? [True, True] Translation: X:383.47, Y:-24.67, Z:-1.77 [[ 9.95962561e-01 8.97534404e-02 -1.70208205e-03 3.83468953e+02] [-8.97533299e-02 9.95964015e-01 1.41359491e-04 -2.46741788e+01] [ 1.70789997e-03 1.19787712e-05 9.99998541e-01 -1.76551045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.560281693 meters Centerline goodness [0,1] 0.9998506316148856 Centerline is valid? [True, True] Translation: X:383.50, Y:-24.68, Z:-1.76 [[ 9.96198974e-01 8.71021665e-02 -9.04128841e-04 3.83496437e+02] [-8.71021343e-02 9.96199384e-01 7.49655864e-05 -2.46830491e+01] [ 9.07222259e-04 4.07091152e-06 9.99999588e-01 -1.76353373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.59028169299995 meters Centerline goodness [0,1] 0.9998713495432909 Centerline is valid? [True, True] Translation: X:383.52, Y:-24.69, Z:-1.77 [[ 9.96380472e-01 8.49966880e-02 -1.23225271e-03 3.83524896e+02] [-8.49966266e-02 9.96381234e-01 1.02183428e-04 -2.46911717e+01] [ 1.23647873e-03 2.92375122e-06 9.99999236e-01 -1.76514982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.620281693 meters Centerline goodness [0,1] 0.9998276716282877 Centerline is valid? [True, True] Translation: X:383.55, Y:-24.70, Z:-1.77 [[ 9.96557297e-01 8.28853413e-02 -1.89068460e-03 3.83552678e+02] [-8.28851933e-02 9.96559090e-01 1.56642571e-04 -2.46989631e+01] [ 1.89716230e-03 6.06461159e-07 9.99998200e-01 -1.76581476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.65028169299995 meters Centerline goodness [0,1] 0.9998086897372672 Centerline is valid? [True, True] Translation: X:383.58, Y:-24.71, Z:-1.77 [[ 9.96765905e-01 8.03083147e-02 -2.88177280e-03 3.83580311e+02] [-8.03079604e-02 9.96770071e-01 2.38635929e-04 -2.47076904e+01] [ 2.89162933e-03 -6.43486236e-06 9.99995819e-01 -1.76705265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.680281693 meters Centerline goodness [0,1] 0.9997216572101488 Centerline is valid? [True, True] Translation: X:383.61, Y:-24.71, Z:-1.77 [[ 9.96839946e-01 7.93591216e-02 -3.50018819e-03 3.83607655e+02] [-7.93585936e-02 9.96846091e-01 2.89701369e-04 -2.47133636e+01] [ 3.51213936e-03 -1.10158856e-05 9.99993832e-01 -1.76816100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.71028169299996 meters Centerline goodness [0,1] 0.9997870981477539 Centerline is valid? [True, True] Translation: X:383.63, Y:-24.72, Z:-1.77 [[ 9.96953392e-01 7.79255327e-02 -3.39784253e-03 3.83634398e+02] [-7.79250275e-02 9.96959182e-01 2.81032464e-04 -2.47240723e+01] [ 3.40940991e-03 -1.53992956e-05 9.99994188e-01 -1.76870094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.740281693 meters Centerline goodness [0,1] 0.9996360054813292 Centerline is valid? [True, True] Translation: X:383.66, Y:-24.73, Z:-1.77 [[ 9.97064402e-01 7.65347010e-02 -2.24001124e-03 3.83662479e+02] [-7.65344782e-02 9.97066918e-01 1.85143521e-04 -2.47306274e+01] [ 2.24761101e-03 -1.31619226e-05 9.99997474e-01 -1.76581869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.77028169299996 meters Centerline goodness [0,1] 0.9995785392169259 Centerline is valid? [True, True] Translation: X:383.69, Y:-24.74, Z:-1.76 [[ 9.97177415e-01 7.50720926e-02 -1.17604026e-03 3.83689874e+02] [-7.50720304e-02 9.97178109e-01 9.70453889e-05 -2.47380955e+01] [ 1.18000700e-03 -8.48374028e-06 9.99999304e-01 -1.76446973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.800281693 meters Centerline goodness [0,1] 0.9992720888907919 Centerline is valid? [True, True] Translation: X:383.72, Y:-24.75, Z:-1.76 [[ 9.97353585e-01 7.26927416e-02 -1.26159235e-03 3.83716698e+02] [-7.26926682e-02 9.97354383e-01 1.04059014e-04 -2.47486263e+01] [ 1.26581899e-03 -1.20751166e-05 9.99999199e-01 -1.76400299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.83028169299996 meters Centerline goodness [0,1] 0.9994508627790567 Centerline is valid? [True, True] Translation: X:383.75, Y:-24.75, Z:-1.77 [[ 9.97412907e-01 7.18501948e-02 -2.24571309e-03 3.83745303e+02] [-7.18499598e-02 9.97415434e-01 1.85247976e-04 -2.47547136e+01] [ 2.25321900e-03 -2.34143273e-05 9.99997461e-01 -1.76534278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.860281693 meters Centerline goodness [0,1] 0.9995119363395225 Centerline is valid? [True, True] Translation: X:383.77, Y:-24.76, Z:-1.77 [[ 9.97434730e-01 7.15182571e-02 -3.01623548e-03 3.83772786e+02] [-7.15178323e-02 9.97439290e-01 2.48622791e-04 -2.47615839e+01] [ 3.02629285e-03 -3.22703834e-05 9.99995420e-01 -1.76635543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.89028169299996 meters Centerline goodness [0,1] 0.9995114179500797 Centerline is valid? [True, True] Translation: X:383.80, Y:-24.76, Z:-1.76 [[ 9.97408864e-01 7.19030604e-02 -2.34699696e-03 3.83801111e+02] [-7.19028045e-02 9.97411625e-01 1.93351377e-04 -2.47639536e+01] [ 2.35482461e-03 -2.40947140e-05 9.99997227e-01 -1.76430535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92028169299994 meters Centerline goodness [0,1] 0.9996788077343097 Centerline is valid? [True, True] Translation: X:383.83, Y:-24.77, Z:-1.76 [[ 9.97376426e-01 7.23690485e-02 -1.72803035e-03 3.83829379e+02] [-7.23689107e-02 9.97377923e-01 1.42246154e-04 -2.47674938e+01] [ 1.73379354e-03 -1.68172864e-05 9.99998497e-01 -1.76342444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.95028169299997 meters Centerline goodness [0,1] 0.999621467025572 Centerline is valid? [True, True] Translation: X:383.86, Y:-24.78, Z:-1.76 [[ 9.97267607e-01 7.38595305e-02 -1.44574952e-03 3.83856675e+02] [-7.38594358e-02 9.97268655e-01 1.18881957e-04 -2.47778532e+01] [ 1.45058124e-03 -1.17748806e-05 9.99998948e-01 -1.76430768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98028169299994 meters Centerline goodness [0,1] 0.9997230034944175 Centerline is valid? [True, True] Translation: X:383.89, Y:-24.78, Z:-1.76 [[ 9.97233710e-01 7.43106356e-02 -1.69052493e-03 3.83885745e+02] [-7.43105067e-02 9.97235142e-01 1.38975714e-04 -2.47814146e+01] [ 1.69617824e-03 -1.29675026e-05 9.99998561e-01 -1.76343565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.01028169299997 meters Centerline goodness [0,1] 0.999787536915461 Centerline is valid? [True, True] Translation: X:383.91, Y:-24.79, Z:-1.77 [[ 9.97093933e-01 7.61344202e-02 -2.69068756e-03 3.83912766e+02] [-7.61341008e-02 9.97097563e-01 2.21055933e-04 -2.47871671e+01] [ 2.69970797e-03 -1.55604513e-05 9.99996356e-01 -1.76527839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04028169299994 meters Centerline goodness [0,1] 0.9997015307210165 Centerline is valid? [True, True] Translation: X:383.94, Y:-24.79, Z:-1.77 [[ 9.97012562e-01 7.71790659e-02 -3.05667422e-03 3.83940175e+02] [-7.71786592e-02 9.97017247e-01 2.50972246e-04 -2.47918102e+01] [ 3.06692672e-03 -1.43124639e-05 9.99995297e-01 -1.76701461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.07028169299997 meters Centerline goodness [0,1] 0.9997867394595978 Centerline is valid? [True, True] Translation: X:383.97, Y:-24.80, Z:-1.77 [[ 9.96935086e-01 7.81589308e-02 -3.40828808e-03 3.83968388e+02] [-7.81584313e-02 9.96940912e-01 2.79721248e-04 -2.47954802e+01] [ 3.41972454e-03 -1.24774765e-05 9.99994153e-01 -1.76696845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10028169299994 meters Centerline goodness [0,1] 0.9997646958158638 Centerline is valid? [True, True] Translation: X:384.00, Y:-24.80, Z:-1.77 [[ 9.96673556e-01 8.14382200e-02 -3.10453878e-03 3.83997703e+02] [-8.14378217e-02 9.96678392e-01 2.54699636e-04 -2.47969834e+01] [ 3.11496900e-03 -1.02551660e-06 9.99995148e-01 -1.76549770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.130281693 meters Centerline goodness [0,1] 0.9998304653725524 Centerline is valid? [True, True] Translation: X:384.03, Y:-24.80, Z:-1.77 [[ 9.96519763e-01 8.33079148e-02 -2.85524457e-03 3.84026362e+02] [-8.33075860e-02 9.96523854e-01 2.34082876e-04 -2.47985848e+01] [ 2.86482027e-03 4.59532030e-06 9.99995896e-01 -1.76501019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16028169299994 meters Centerline goodness [0,1] 0.9999575623832966 Centerline is valid? [True, True] Translation: X:384.05, Y:-24.80, Z:-1.76 [[ 9.96374376e-01 8.50368854e-02 -2.61367519e-03 3.84054064e+02] [-8.50366164e-02 9.96377804e-01 2.14093721e-04 -2.48008161e+01] [ 2.62241381e-03 8.94059672e-06 9.99996561e-01 -1.76470490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.190281693 meters Centerline goodness [0,1] 0.9998731474238356 Centerline is valid? [True, True] Translation: X:384.08, Y:-24.81, Z:-1.76 [[ 9.96318481e-01 8.57001829e-02 -2.22785706e-03 3.84082208e+02] [-8.56999893e-02 9.96320972e-01 1.82394327e-04 -2.48066395e+01] [ 2.23529194e-03 9.20448701e-06 9.99997502e-01 -1.76454677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22028169299995 meters Centerline goodness [0,1] 0.9998713164328915 Centerline is valid? [True, True] Translation: X:384.11, Y:-24.82, Z:-1.77 [[ 9.96425403e-01 8.44386000e-02 -2.55700532e-03 3.84110404e+02] [-8.44383411e-02 9.96428684e-01 2.09234142e-04 -2.48164681e+01] [ 2.56554089e-03 7.42307271e-06 9.99996709e-01 -1.76502680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.250281693 meters Centerline goodness [0,1] 0.9998499657064472 Centerline is valid? [True, True] Translation: X:384.14, Y:-24.82, Z:-1.77 [[ 9.96481524e-01 8.37637507e-02 -2.86471579e-03 3.84137662e+02] [-8.37634235e-02 9.96485642e-01 2.34234323e-04 -2.48229186e+01] [ 2.87426850e-03 6.54822628e-06 9.99995869e-01 -1.76557358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28028169299995 meters Centerline goodness [0,1] 0.9998511841489859 Centerline is valid? [True, True] Translation: X:384.17, Y:-24.83, Z:-1.77 [[ 9.96501274e-01 8.35190094e-02 -3.12839830e-03 3.84165863e+02] [-8.35186182e-02 9.96506184e-01 2.55691046e-04 -2.48279944e+01] [ 3.13882332e-03 6.48305088e-06 9.99995074e-01 -1.76576551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.310281693 meters Centerline goodness [0,1] 0.9998315434828385 Centerline is valid? [True, True] Translation: X:384.19, Y:-24.83, Z:-1.76 [[ 9.96501693e-01 8.35155106e-02 -3.08791203e-03 3.84194439e+02] [-8.35151300e-02 9.96506477e-01 2.52237793e-04 -2.48308371e+01] [ 3.09819010e-03 6.53198671e-06 9.99995201e-01 -1.76480663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34028169299995 meters Centerline goodness [0,1] 0.9998278125739868 Centerline is valid? [True, True] Translation: X:384.22, Y:-24.83, Z:-1.76 [[ 9.96443146e-01 8.42381919e-02 -2.23225704e-03 3.84223076e+02] [-8.42379951e-02 9.96445647e-01 1.82204258e-04 -2.48332020e+01] [ 2.23967136e-03 6.48467282e-06 9.99997492e-01 -1.76253142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.370281693 meters Centerline goodness [0,1] 0.99989350145903 Centerline is valid? [True, True] Translation: X:384.25, Y:-24.84, Z:-1.76 [[ 9.96406310e-01 8.46980325e-02 -8.42081391e-04 3.84250810e+02] [-8.46980047e-02 9.96406666e-01 6.85956341e-05 -2.48354439e+01] [ 8.44865426e-04 2.97349098e-06 9.99999643e-01 -1.76078007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40028169299995 meters Centerline goodness [0,1] 0.9999149044802791 Centerline is valid? [True, True] Translation: X:384.28, Y:-24.84, Z:-1.75 [[ 9.96456962e-01 8.40890453e-02 1.59880351e-03 3.84279759e+02] [-8.40889441e-02 9.96458244e-01 -1.30499980e-04 -2.48404389e+01] [-1.60411456e-03 -4.40408572e-06 9.99998713e-01 -1.75498163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.430281693 meters Centerline goodness [0,1] 0.99968373779755 Centerline is valid? [True, True] Translation: X:384.31, Y:-24.84, Z:-1.75 [[ 9.96580683e-01 8.26039591e-02 1.87820305e-03 3.84307693e+02] [-8.26038170e-02 9.96582453e-01 -1.53196507e-04 -2.48445782e+01] [-1.88443884e-03 -2.47406106e-06 9.99998224e-01 -1.75433694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46028169299996 meters Centerline goodness [0,1] 0.9997262869775766 Centerline is valid? [True, True] Translation: X:384.34, Y:-24.85, Z:-1.76 [[ 9.96734442e-01 8.07424854e-02 1.05024657e-03 3.84335477e+02] [-8.07424399e-02 9.96734995e-01 -8.56590434e-05 -2.48504932e+01] [-1.05373384e-03 5.79848142e-07 9.99999445e-01 -1.75627803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.490281693 meters Centerline goodness [0,1] 0.9995982916825236 Centerline is valid? [True, True] Translation: X:384.36, Y:-24.87, Z:-1.76 [[ 9.97193161e-01 7.48673377e-02 -8.25692986e-04 3.84364662e+02] [-7.48673076e-02 9.97193503e-01 6.72866481e-05 -2.48673924e+01] [ 8.28413253e-04 -5.28037456e-06 9.99999657e-01 -1.76107567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52028169299996 meters Centerline goodness [0,1] 0.9990362168297959 Centerline is valid? [True, True] Translation: X:384.39, Y:-24.88, Z:-1.76 [[ 9.97604025e-01 6.91751958e-02 -1.00073027e-03 3.84394439e+02] [-6.91751488e-02 9.97604527e-01 8.15876060e-05 -2.48818014e+01] [ 1.00397689e-03 -1.21664586e-05 9.99999496e-01 -1.76087681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.550281693 meters Centerline goodness [0,1] 0.9990269081062786 Centerline is valid? [True, True] Translation: X:384.42, Y:-24.89, Z:-1.76 [[ 9.97697329e-01 6.78044040e-02 -1.61316187e-03 3.84423058e+02] [-6.78042801e-02 9.97698633e-01 1.31389844e-04 -2.48883187e+01] [ 1.61835820e-03 -2.17080171e-05 9.99998690e-01 -1.76186248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58028169299996 meters Centerline goodness [0,1] 0.9988485158648925 Centerline is valid? [True, True] Translation: X:384.45, Y:-24.89, Z:-1.76 [[ 9.97753564e-01 6.69503993e-02 -2.33871277e-03 3.84453337e+02] [-6.69501365e-02 9.97756304e-01 1.90556917e-04 -2.48922930e+01] [ 2.34622327e-03 -3.35517037e-05 9.99997247e-01 -1.76271655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.610281693 meters Centerline goodness [0,1] 0.9990825883808752 Centerline is valid? [True, True] Translation: X:384.48, Y:-24.90, Z:-1.76 [[ 9.97735617e-01 6.71971307e-02 -2.86087658e-03 3.84483792e+02] [-6.71967385e-02 9.97739718e-01 2.33102511e-04 -2.48961323e+01] [ 2.87007401e-03 -4.03331027e-05 9.99995881e-01 -1.76310308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64028169299996 meters Centerline goodness [0,1] 0.9991010851186781 Centerline is valid? [True, True] Translation: X:384.51, Y:-24.90, Z:-1.76 [[ 9.97658570e-01 6.83433287e-02 -2.56256184e-03 3.84513224e+02] [-6.83430180e-02 9.97661861e-01 2.08740269e-04 -2.49020662e+01] [ 2.57083622e-03 -3.31183088e-05 9.99996695e-01 -1.76267808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67028169299994 meters Centerline goodness [0,1] 0.9984054129764907 Centerline is valid? [True, True] Translation: X:384.54, Y:-24.91, Z:-1.76 [[ 9.97548633e-01 6.99394722e-02 -2.27920990e-03 3.84543175e+02] [-6.99392306e-02 9.97551237e-01 1.85628765e-04 -2.49063010e+01] [ 2.28661144e-03 -2.57675335e-05 9.99997385e-01 -1.75659381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70028169299997 meters Centerline goodness [0,1] 0.9991446411769738 Centerline is valid? [True, True] Translation: X:384.57, Y:-24.91, Z:-1.76 [[ 9.97535772e-01 7.01366454e-02 -1.79831759e-03 3.84572134e+02] [-7.01364952e-02 9.97537393e-01 1.46532517e-04 -2.49113820e+01] [ 1.80416634e-03 -2.00437350e-05 9.99998372e-01 -1.76259937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73028169299994 meters Centerline goodness [0,1] 0.9990686450902779 Centerline is valid? [True, True] Translation: X:384.60, Y:-24.92, Z:-1.76 [[ 9.97554414e-01 6.98696870e-02 -1.84902902e-03 3.84601232e+02] [-6.98695278e-02 9.97556127e-01 1.50682284e-04 -2.49179578e+01] [ 1.85503835e-03 -2.11229934e-05 9.99998279e-01 -1.76302250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76028169299997 meters Centerline goodness [0,1] 0.9993133931253486 Centerline is valid? [True, True] Translation: X:384.63, Y:-24.93, Z:-1.76 [[ 9.97634002e-01 6.86910658e-02 -2.81692106e-03 3.84631158e+02] [-6.86906915e-02 9.97637979e-01 2.29521763e-04 -2.49272700e+01] [ 2.82603353e-03 -3.54824590e-05 9.99996006e-01 -1.76424064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79028169299994 meters Centerline goodness [0,1] 0.9993002841270514 Centerline is valid? [True, True] Translation: X:384.66, Y:-24.93, Z:-1.76 [[ 9.97610871e-01 6.90234566e-02 -2.88323072e-03 3.84660689e+02] [-6.90230656e-02 9.97615037e-01 2.34987220e-04 -2.49324010e+01] [ 2.89257395e-03 -3.54163816e-05 9.99995816e-01 -1.76482796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82028169299997 meters Centerline goodness [0,1] 0.9990836441129461 Centerline is valid? [True, True] Translation: X:384.69, Y:-24.94, Z:-1.76 [[ 9.97465684e-01 7.11072965e-02 -2.44160981e-03 3.84691475e+02] [-7.11070223e-02 9.97468672e-01 1.99025566e-04 -2.49358012e+01] [ 2.44958147e-03 -2.49055687e-05 9.99996999e-01 -1.76370562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85028169299994 meters Centerline goodness [0,1] 0.9991895926636809 Centerline is valid? [True, True] Translation: X:384.72, Y:-24.94, Z:-1.76 [[ 9.97379239e-01 7.23197150e-02 -2.12426953e-03 3.84721474e+02] [-7.23195102e-02 9.97381501e-01 1.73136410e-04 -2.49399135e+01] [ 2.13122831e-03 -1.90565287e-05 9.99997729e-01 -1.76343714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.880281693 meters Centerline goodness [0,1] 0.9996173225333248 Centerline is valid? [True, True] Translation: X:384.75, Y:-24.95, Z:-1.76 [[ 9.97323893e-01 7.30755146e-02 -2.24070744e-03 3.84751669e+02] [-7.30752886e-02 9.97326410e-01 1.82677838e-04 -2.49462191e+01] [ 2.24806598e-03 -1.84486298e-05 9.99997473e-01 -1.76422088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91028169299994 meters Centerline goodness [0,1] 0.999745891919363 Centerline is valid? [True, True] Translation: X:384.78, Y:-24.95, Z:-1.77 [[ 9.97173058e-01 7.50825899e-02 -2.91513861e-03 3.84782102e+02] [-7.50822160e-02 9.97177318e-01 2.37629837e-04 -2.49521386e+01] [ 2.92475197e-03 -1.80830037e-05 9.99995723e-01 -1.76574692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.940281693 meters Centerline goodness [0,1] 0.9997003103928075 Centerline is valid? [True, True] Translation: X:384.81, Y:-24.95, Z:-1.76 [[ 9.97032975e-01 7.69225019e-02 -2.85913469e-03 3.84812402e+02] [-7.69221498e-02 9.97037075e-01 2.33064632e-04 -2.49541983e+01] [ 2.86859120e-03 -1.24423372e-05 9.99995886e-01 -1.76455864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.97028169299995 meters Centerline goodness [0,1] 0.9998304474069051 Centerline is valid? [True, True] Translation: X:384.84, Y:-24.96, Z:-1.76 [[ 9.96617269e-01 8.21606102e-02 -1.91118586e-03 3.84842296e+02] [-8.21604626e-02 9.96619102e-01 1.55744291e-04 -2.49554416e+01] [ 1.91752038e-03 1.80646464e-06 9.99998162e-01 -1.76404447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.000281693 meters Centerline goodness [0,1] 0.9998310347012482 Centerline is valid? [True, True] Translation: X:384.87, Y:-24.96, Z:-1.76 [[ 9.96384257e-01 8.49519050e-02 -1.25950259e-03 3.84873123e+02] [-8.49518431e-02 9.96385053e-01 1.02654417e-04 -2.49573164e+01] [ 1.26367024e-03 4.71382145e-06 9.99999202e-01 -1.76316544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03028169299995 meters Centerline goodness [0,1] 0.999956938314135 Centerline is valid? [True, True] Translation: X:384.90, Y:-24.96, Z:-1.76 [[ 9.96174305e-01 8.73825792e-02 -1.01953156e-03 3.84904314e+02] [-8.73825398e-02 9.96174826e-01 8.31708734e-05 -2.49597343e+01] [ 1.02289936e-03 6.23656995e-06 9.99999477e-01 -1.76190124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.060281693 meters Centerline goodness [0,1] 0.9999787676759098 Centerline is valid? [True, True] Translation: X:384.93, Y:-24.95, Z:-1.77 [[ 9.95616019e-01 9.35104152e-02 -2.13170594e-03 3.84934774e+02] [-9.35102576e-02 9.95618301e-01 1.73743138e-04 -2.49529885e+01] [ 2.13861223e-03 2.63549196e-05 9.99997713e-01 -1.76519963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.09028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.97, Y:-24.95, Z:-1.76 [[ 9.95256330e-01 9.72555254e-02 -2.49000950e-03 3.84965561e+02] [-9.72553219e-02 9.95259444e-01 2.02975723e-04 -2.49545212e+01] [ 2.49794598e-03 4.01538025e-05 9.99996879e-01 -1.76477322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.120281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.00, Y:-24.96, Z:-1.76 [[ 9.95256330e-01 9.72555254e-02 -2.49000950e-03 3.84995465e+02] [-9.72553219e-02 9.95259444e-01 2.02975723e-04 -2.49569590e+01] [ 2.49794598e-03 4.01538025e-05 9.99996879e-01 -1.76483637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.15028169299995 meters Centerline goodness [0,1] 0.9996383440411862 Centerline is valid? [True, True] Translation: X:385.03, Y:-24.95, Z:-1.77 [[ 9.94477412e-01 1.04914928e-01 -2.74514570e-03 3.85025323e+02] [-1.04914710e-01 9.94481198e-01 2.23656409e-04 -2.49474299e+01] [ 2.75346068e-03 6.55849188e-05 9.99996207e-01 -1.76588227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.180281693 meters Centerline goodness [0,1] 0.999530806799036 Centerline is valid? [True, True] Translation: X:385.05, Y:-24.94, Z:-1.77 [[ 9.94208859e-01 1.07432352e-01 -2.65209314e-03 3.85054522e+02] [-1.07432158e-01 9.94212394e-01 2.15954367e-04 -2.49430303e+01] [ 2.65994436e-03 7.02163434e-05 9.99996460e-01 -1.76579926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.21028169299996 meters Centerline goodness [0,1] 0.9990074756092411 Centerline is valid? [True, True] Translation: X:385.08, Y:-24.94, Z:-1.76 [[ 9.93841456e-01 1.10800801e-01 -1.53063281e-03 3.85084822e+02] [-1.10800741e-01 9.93842634e-01 1.24595723e-04 -2.49375992e+01] [ 1.53501345e-03 4.57668543e-05 9.99998821e-01 -1.76419566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.240281693 meters Centerline goodness [0,1] 0.9987974937237611 Centerline is valid? [True, True] Translation: X:385.11, Y:-24.94, Z:-1.76 [[ 9.93709607e-01 1.11982291e-01 -1.08813583e-03 3.85114935e+02] [-1.11982261e-01 9.93710202e-01 8.85363096e-05 -2.49361798e+01] [ 1.09120617e-03 3.38725289e-05 9.99999404e-01 -1.76333170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.27028169299996 meters Centerline goodness [0,1] 0.9987615570217582 Centerline is valid? [True, True] Translation: X:385.14, Y:-24.93, Z:-1.76 [[ 9.93605790e-01 1.12900709e-01 -9.82197964e-04 3.85144379e+02] [-1.12900685e-01 9.93606275e-01 7.98528417e-05 -2.49344074e+01] [ 9.84933503e-04 3.15485768e-05 9.99999514e-01 -1.76238529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.300281693 meters Centerline goodness [0,1] 0.9980531160723733 Centerline is valid? [True, True] Translation: X:385.17, Y:-24.92, Z:-1.76 [[ 9.93452815e-01 1.14236617e-01 -1.22500671e-03 3.85173523e+02] [-1.14236581e-01 9.93453569e-01 9.95303547e-05 -2.49236748e+01] [ 1.22835730e-03 4.10618671e-05 9.99999245e-01 -1.76282265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33028169299996 meters Centerline goodness [0,1] 0.9982312200319658 Centerline is valid? [True, True] Translation: X:385.20, Y:-24.92, Z:-1.76 [[ 9.93488008e-01 1.13931230e-01 -1.11949837e-03 3.85202427e+02] [-1.13931200e-01 9.93488638e-01 9.09010276e-05 -2.49221917e+01] [ 1.12256537e-03 3.72367112e-05 9.99999369e-01 -1.76280068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.360281693 meters Centerline goodness [0,1] 0.9986799804126125 Centerline is valid? [True, True] Translation: X:385.23, Y:-24.92, Z:-1.76 [[ 9.93791953e-01 1.11246725e-01 -1.31187279e-03 3.85231624e+02] [-1.11246681e-01 9.93792818e-01 1.06556188e-04 -2.49195074e+01] [ 1.31558379e-03 4.00468119e-05 9.99999134e-01 -1.76388817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39028169299996 meters Centerline goodness [0,1] 0.9988763806737476 Centerline is valid? [True, True] Translation: X:385.26, Y:-24.92, Z:-1.76 [[ 9.94035994e-01 1.09043787e-01 -1.37691602e-03 3.85260539e+02] [-1.09043737e-01 9.94036946e-01 1.11732154e-04 -2.49210550e+01] [ 1.38088909e-03 3.90782857e-05 9.99999046e-01 -1.76452119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42028169299994 meters Centerline goodness [0,1] 0.9991317606200499 Centerline is valid? [True, True] Translation: X:385.29, Y:-24.92, Z:-1.77 [[ 9.94264015e-01 1.06943385e-01 -1.47658077e-03 3.85288413e+02] [-1.06943325e-01 9.94265111e-01 1.19720639e-04 -2.49218374e+01] [ 1.48091607e-03 3.88765332e-05 9.99998903e-01 -1.76525739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45028169299997 meters Centerline goodness [0,1] 0.999786734911495 Centerline is valid? [True, True] Translation: X:385.32, Y:-24.92, Z:-1.77 [[ 9.94775766e-01 1.02064849e-01 -1.98558843e-03 3.85318035e+02] [-1.02064731e-01 9.94777746e-01 1.61056175e-04 -2.49246188e+01] [ 1.99165736e-03 4.24437689e-05 9.99998016e-01 -1.76636998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48028169299994 meters Centerline goodness [0,1] 0.9998507144380465 Centerline is valid? [True, True] Translation: X:385.35, Y:-24.93, Z:-1.77 [[ 9.95064820e-01 9.91981125e-02 -2.39561265e-03 3.85346303e+02] [-9.91979325e-02 9.95067702e-01 1.94161227e-04 -2.49293706e+01] [ 2.40305720e-03 4.44368152e-05 9.99997112e-01 -1.76635982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51028169299997 meters Centerline goodness [0,1] 0.9999366447034972 Centerline is valid? [True, True] Translation: X:385.38, Y:-24.93, Z:-1.76 [[ 9.95544903e-01 9.42611324e-02 -2.27690475e-03 3.85375609e+02] [-9.42609568e-02 9.95547507e-01 1.84531289e-04 -2.49308600e+01] [ 2.28416097e-03 3.09140355e-05 9.99997391e-01 -1.76483892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54028169299994 meters Centerline goodness [0,1] 0.9999576001695993 Centerline is valid? [True, True] Translation: X:385.40, Y:-24.93, Z:-1.76 [[ 9.95714747e-01 9.24627976e-02 -1.66525177e-03 3.85403931e+02] [-9.24627014e-02 9.95716140e-01 1.34826271e-04 -2.49324100e+01] [ 1.67058448e-03 1.97251714e-05 9.99998604e-01 -1.76340255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.57028169299997 meters Centerline goodness [0,1] 0.9999576127500848 Centerline is valid? [True, True] Translation: X:385.43, Y:-24.93, Z:-1.76 [[ 9.95862965e-01 9.08641605e-02 -8.12325167e-04 3.85432483e+02] [-9.08641371e-02 9.95863296e-01 6.56840132e-05 -2.49343360e+01] [ 8.14933141e-04 8.39894929e-06 9.99999668e-01 -1.76209237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.46, Y:-24.94, Z:-1.76 [[ 9.96002707e-01 8.93230510e-02 -2.20758658e-05 3.85461006e+02] [-8.93230510e-02 9.96002707e-01 1.69086659e-06 -2.49370772e+01] [ 2.21386555e-05 2.87775991e-07 1.00000000e+00 -1.76113580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.630281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.49, Y:-24.94, Z:-1.76 [[ 9.96397884e-01 8.48010934e-02 -1.74506458e-04 3.85488965e+02] [-8.48010922e-02 9.96397900e-01 1.40455462e-05 -2.49444735e+01] [ 1.75068946e-04 8.03385739e-07 9.99999985e-01 -1.76312495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66028169299994 meters Centerline goodness [0,1] 0.999957644168661 Centerline is valid? [True, True] Translation: X:385.52, Y:-24.95, Z:-1.76 [[ 9.96658523e-01 8.16773058e-02 -7.79211902e-04 3.85517963e+02] [-8.16772816e-02 9.96658827e-01 6.29706922e-05 -2.49526391e+01] [ 7.81751697e-04 8.83632891e-07 9.99999694e-01 -1.76460448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.690281693 meters Centerline goodness [0,1] 0.9994471026049974 Centerline is valid? [True, True] Translation: X:385.55, Y:-24.97, Z:-1.77 [[ 9.97295997e-01 7.34539519e-02 -2.28289005e-03 3.85547284e+02] [-7.34537218e-02 9.97298610e-01 1.84626183e-04 -2.49706372e+01] [ 2.29028460e-03 -1.64401823e-05 9.99997377e-01 -1.76764132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72028169299995 meters Centerline goodness [0,1] 0.9995296331138288 Centerline is valid? [True, True] Translation: X:385.58, Y:-24.98, Z:-1.77 [[ 9.97594584e-01 6.92702642e-02 -2.58380202e-03 3.85576620e+02] [-6.92699553e-02 9.97597930e-01 2.08962102e-04 -2.49819115e+01] [ 2.59207041e-03 -2.94796110e-05 9.99996640e-01 -1.76840715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.750281693 meters Centerline goodness [0,1] 0.9987294066975342 Centerline is valid? [True, True] Translation: X:385.61, Y:-25.00, Z:-1.77 [[ 9.98020562e-01 6.28631657e-02 -1.78311458e-03 3.85605570e+02] [-6.28630081e-02 9.98022155e-01 1.44333175e-04 -2.50003972e+01] [ 1.78866110e-03 -3.19555299e-05 9.99998400e-01 -1.76661323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78028169299995 meters Centerline goodness [0,1] 0.9986794462193823 Centerline is valid? [True, True] Translation: X:385.64, Y:-25.01, Z:-1.77 [[ 9.98127499e-01 6.11549967e-02 -1.25019341e-03 3.85635357e+02] [-6.11549179e-02 9.98128281e-01 1.01148511e-04 -2.50084154e+01] [ 1.25403913e-03 -2.45036351e-05 9.99999213e-01 -1.76509809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.810281693 meters Centerline goodness [0,1] 0.9984054088531701 Centerline is valid? [True, True] Translation: X:385.67, Y:-25.02, Z:-1.76 [[ 9.98200502e-01 5.99574756e-02 -9.26541536e-04 3.85666182e+02] [-5.99574318e-02 9.98200932e-01 7.50316372e-05 -2.50158266e+01] [ 9.29373332e-04 -1.93435670e-05 9.99999568e-01 -1.76448479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84028169299995 meters Centerline goodness [0,1] 0.9982959870495016 Centerline is valid? [True, True] Translation: X:385.70, Y:-25.03, Z:-1.77 [[ 9.98274733e-01 5.87083449e-02 -9.42566332e-04 3.85697302e+02] [-5.87082986e-02 9.98275177e-01 7.67673447e-05 -2.50277136e+01] [ 9.45447456e-04 -2.12984349e-05 9.99999553e-01 -1.76540322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.870281693 meters Centerline goodness [0,1] 0.9981829064945059 Centerline is valid? [True, True] Translation: X:385.73, Y:-25.04, Z:-1.77 [[ 9.98311161e-01 5.80881606e-02 -7.69327030e-04 3.85727703e+02] [-5.80881295e-02 9.98311457e-01 6.26327339e-05 -2.50355191e+01] [ 7.71666209e-04 -1.78381891e-05 9.99999702e-01 -1.76572973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90028169299995 meters Centerline goodness [0,1] 0.9986877205059805 Centerline is valid? [True, True] Translation: X:385.76, Y:-25.04, Z:-1.77 [[ 9.98294696e-01 5.83693495e-02 -8.48469397e-04 3.85759749e+02] [-5.83693116e-02 9.98295056e-01 6.93658691e-05 -2.50418411e+01] [ 8.51071645e-04 -1.97230045e-05 9.99999638e-01 -1.76551305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.930281693 meters Centerline goodness [0,1] 0.9983674680914217 Centerline is valid? [True, True] Translation: X:385.79, Y:-25.05, Z:-1.77 [[ 9.98224865e-01 5.95427039e-02 -1.33631511e-03 3.85789919e+02] [-5.95426110e-02 9.98225759e-01 1.09226847e-04 -2.50508604e+01] [ 1.34044782e-03 -2.94652641e-05 9.99999101e-01 -1.76710215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96028169299996 meters Centerline goodness [0,1] 0.9983669833729216 Centerline is valid? [True, True] Translation: X:385.82, Y:-25.06, Z:-1.77 [[ 9.98159331e-01 6.06101888e-02 -2.08680935e-03 3.85820398e+02] [-6.06099649e-02 9.98161512e-01 1.70439886e-04 -2.50562584e+01] [ 2.09330317e-03 -4.36447208e-05 9.99997808e-01 -1.76920327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.990281693 meters Centerline goodness [0,1] 0.9992171797313022 Centerline is valid? [True, True] Translation: X:385.85, Y:-25.06, Z:-1.77 [[ 9.98037598e-01 6.25047202e-02 -3.75668117e-03 3.85852449e+02] [-6.25040057e-02 9.98044666e-01 3.07401671e-04 -2.50608220e+01] [ 3.76854966e-03 -7.19908042e-05 9.99992896e-01 -1.77315399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02028169299996 meters Centerline goodness [0,1] 0.9993173042049794 Centerline is valid? [True, True] Translation: X:385.88, Y:-25.06, Z:-1.77 [[ 9.97995832e-01 6.31514310e-02 -4.02699594e-03 3.85883686e+02] [-6.31506162e-02 9.98003954e-01 3.29306823e-04 -2.50644693e+01] [ 4.03975407e-03 -7.43395612e-05 9.99991837e-01 -1.77363860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.050281693 meters Centerline goodness [0,1] 0.9992600422832981 Centerline is valid? [True, True] Translation: X:385.91, Y:-25.07, Z:-1.77 [[ 9.97956774e-01 6.38123708e-02 -3.20304616e-03 3.85914497e+02] [-6.38118585e-02 9.97961912e-01 2.62012335e-04 -2.50677738e+01] [ 3.21323769e-03 -5.70846569e-05 9.99994836e-01 -1.77154142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08028169299996 meters Centerline goodness [0,1] 0.9994466083477003 Centerline is valid? [True, True] Translation: X:385.95, Y:-25.07, Z:-1.77 [[ 9.97939412e-01 6.41063996e-02 -2.70181103e-03 3.85946573e+02] [-6.41060341e-02 9.97943068e-01 2.21754362e-04 -2.50702727e+01] [ 2.71046947e-03 -4.80950270e-05 9.99996326e-01 -1.77012020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.110281693 meters Centerline goodness [0,1] 0.9992960750853243 Centerline is valid? [True, True] Translation: X:385.98, Y:-25.08, Z:-1.77 [[ 9.97915377e-01 6.44906077e-02 -2.42097925e-03 3.85977146e+02] [-6.44903145e-02 9.97918313e-01 1.99080101e-04 -2.50770952e+01] [ 2.42877833e-03 -4.25353810e-05 9.99997050e-01 -1.77034687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14028169299996 meters Centerline goodness [0,1] 0.9994698784961513 Centerline is valid? [True, True] Translation: X:386.01, Y:-25.08, Z:-1.77 [[ 9.97870897e-01 6.51949660e-02 -1.81339851e-03 3.86009600e+02] [-6.51948019e-02 9.97872545e-01 1.49518243e-04 -2.50778685e+01] [ 1.81928842e-03 -3.09757471e-05 9.99998345e-01 -1.76784882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.17028169299994 meters Centerline goodness [0,1] 0.9993891393183637 Centerline is valid? [True, True] Translation: X:386.04, Y:-25.09, Z:-1.77 [[ 9.97885224e-01 6.49779738e-02 -1.71556550e-03 3.86040995e+02] [-6.49778264e-02 9.97886698e-01 1.41570693e-04 -2.50857477e+01] [ 1.72113896e-03 -2.97975854e-05 9.99998518e-01 -1.76853505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20028169299997 meters Centerline goodness [0,1] 0.9992351653954832 Centerline is valid? [True, True] Translation: X:386.07, Y:-25.09, Z:-1.77 [[ 9.97948779e-01 6.39989916e-02 -1.53754416e-03 3.86073077e+02] [-6.39988715e-02 9.97949963e-01 1.27246914e-04 -2.50879873e+01] [ 1.54253581e-03 -2.85848121e-05 9.99998810e-01 -1.76825208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.23028169299994 meters Centerline goodness [0,1] 0.9993035476858789 Centerline is valid? [True, True] Translation: X:386.10, Y:-25.09, Z:-1.77 [[ 9.97958927e-01 6.38380995e-02 -1.63632565e-03 3.86104609e+02] [-6.38379631e-02 9.97960268e-01 1.35489357e-04 -2.50920419e+01] [ 1.64163737e-03 -3.07531166e-05 9.99998652e-01 -1.76813570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26028169299997 meters Centerline goodness [0,1] 0.9993083922280577 Centerline is valid? [True, True] Translation: X:386.14, Y:-25.09, Z:-1.77 [[ 9.97931107e-01 6.42785419e-02 -1.33255777e-03 3.86136695e+02] [-6.42784513e-02 9.97931996e-01 1.10690641e-04 -2.50939003e+01] [ 1.33691707e-03 -2.48068841e-05 9.99999106e-01 -1.76783744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.29028169299994 meters Centerline goodness [0,1] 0.9994444325733456 Centerline is valid? [True, True] Translation: X:386.17, Y:-25.09, Z:-1.77 [[ 9.97832174e-01 6.57791183e-02 -2.01498383e-03 3.86168600e+02] [-6.57789141e-02 9.97834208e-01 1.67524337e-04 -2.50929434e+01] [ 2.02163940e-03 -3.46177251e-05 9.99997956e-01 -1.76801998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32028169299997 meters Centerline goodness [0,1] 0.9996141975308642 Centerline is valid? [True, True] Translation: X:386.20, Y:-25.09, Z:-1.77 [[ 9.97785986e-01 6.64703199e-02 -2.19589266e-03 3.86200450e+02] [-6.64700784e-02 9.97788402e-01 1.82884946e-04 -2.50935016e+01] [ 2.20319265e-03 -3.65188791e-05 9.99997572e-01 -1.76863220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.35028169299994 meters Centerline goodness [0,1] 0.9996836043789153 Centerline is valid? [True, True] Translation: X:386.23, Y:-25.09, Z:-1.77 [[ 9.97660582e-01 6.83499481e-02 -1.28389294e-03 3.86231903e+02] [-6.83498667e-02 9.97661408e-01 1.07231590e-04 -2.50916808e+01] [ 1.28821971e-03 -1.92268193e-05 9.99999170e-01 -1.76819513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.380281693 meters Centerline goodness [0,1] 0.9995922571784197 Centerline is valid? [True, True] Translation: X:386.26, Y:-25.09, Z:-1.77 [[ 9.97577768e-01 6.95520297e-02 -1.05442921e-03 3.86263910e+02] [-6.95519752e-02 9.97578325e-01 8.83056890e-05 -2.50917511e+01] [ 1.05801756e-03 -1.47541580e-05 9.99999440e-01 -1.76789230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.41028169299994 meters Centerline goodness [0,1] 0.9997647662632052 Centerline is valid? [True, True] Translation: X:386.30, Y:-25.09, Z:-1.77 [[ 9.97512927e-01 7.04723566e-02 -1.26759539e-03 3.86295795e+02] [-7.04722785e-02 9.97513733e-01 1.06290413e-04 -2.50923905e+01] [ 1.27193434e-03 -1.66957261e-05 9.99999191e-01 -1.76826492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.440281693 meters Centerline goodness [0,1] 0.9996613183184454 Centerline is valid? [True, True] Translation: X:386.33, Y:-25.09, Z:-1.77 [[ 9.97486737e-01 7.08179680e-02 -2.24171946e-03 3.86326662e+02] [-7.08177248e-02 9.97489255e-01 1.87779297e-04 -2.50924455e+01] [ 2.24938922e-03 -2.85538863e-05 9.99997470e-01 -1.77108001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.47028169299995 meters Centerline goodness [0,1] 0.9997656882375495 Centerline is valid? [True, True] Translation: X:386.36, Y:-25.09, Z:-1.77 [[ 9.97518495e-01 7.03744627e-02 -2.07039188e-03 3.86357820e+02] [-7.03742545e-02 9.97520644e-01 1.73347234e-04 -2.50947025e+01] [ 2.07745786e-03 -2.72147874e-05 9.99997842e-01 -1.77163525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.500281693 meters Centerline goodness [0,1] 0.9996380668511816 Centerline is valid? [True, True] Translation: X:386.39, Y:-25.10, Z:-1.77 [[ 9.97624616e-01 6.88691877e-02 -1.46960017e-03 3.86388825e+02] [-6.88690805e-02 9.97625699e-01 1.23522038e-04 -2.51002416e+01] [ 1.47461776e-03 -2.20186128e-05 9.99998913e-01 -1.77106856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.53028169299995 meters Centerline goodness [0,1] 0.9993831362205394 Centerline is valid? [True, True] Translation: X:386.42, Y:-25.11, Z:-1.77 [[ 9.97680190e-01 6.80645731e-02 -1.20499597e-03 3.86420530e+02] [-6.80645001e-02 9.97680918e-01 1.01540243e-04 -2.51056668e+01] [ 1.20911277e-03 -1.92872411e-05 9.99999269e-01 -1.77052780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.560281693 meters Centerline goodness [0,1] 0.99955017671629 Centerline is valid? [True, True] Translation: X:386.45, Y:-25.11, Z:-1.77 [[ 9.97752128e-01 6.70071244e-02 -8.58161789e-04 3.86451931e+02] [-6.70070867e-02 9.97752497e-01 7.25370479e-05 -2.51115611e+01] [ 8.61093567e-04 -1.48710725e-05 9.99999629e-01 -1.76989853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.59028169299995 meters Centerline goodness [0,1] 0.9988508437785959 Centerline is valid? [True, True] Translation: X:386.48, Y:-25.12, Z:-1.77 [[ 9.97927272e-01 6.43505240e-02 4.12462982e-04 3.86482418e+02] [-6.43505152e-02 9.97927357e-01 -3.45805415e-05 -2.51222496e+01] [-4.13833370e-04 7.96666000e-06 9.99999914e-01 -1.76796319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.620281693 meters Centerline goodness [0,1] 0.9983371351823822 Centerline is valid? [True, True] Translation: X:386.51, Y:-25.13, Z:-1.77 [[ 9.97990958e-01 6.33561258e-02 2.23485522e-04 3.86513901e+02] [-6.33561232e-02 9.97990983e-01 -1.85410196e-05 -2.51289929e+01] [-2.24211223e-04 4.34459367e-06 9.99999975e-01 -1.76864648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.65028169299995 meters Centerline goodness [0,1] 0.9982215823682595 Centerline is valid? [True, True] Translation: X:386.54, Y:-25.14, Z:-1.77 [[ 9.98068853e-01 6.20901477e-02 -1.83791271e-03 3.86543796e+02] [-6.20899672e-02 9.98070545e-01 1.55169032e-04 -2.51383820e+01] [ 1.84400100e-03 -4.07534379e-05 9.99998299e-01 -1.77181147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.680281693 meters Centerline goodness [0,1] 0.998790194205667 Centerline is valid? [True, True] Translation: X:386.58, Y:-25.14, Z:-1.77 [[ 9.98046323e-01 6.24486128e-02 -1.92539595e-03 3.86575839e+02] [-6.24484142e-02 9.98048180e-01 1.63153081e-04 -2.51431968e+01] [ 1.93182661e-03 -4.25964084e-05 9.99998133e-01 -1.77154005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.71028169299996 meters Centerline goodness [0,1] 0.999570833869791 Centerline is valid? [True, True] Translation: X:386.61, Y:-25.14, Z:-1.77 [[ 9.97961050e-01 6.38050975e-02 -1.62826640e-03 3.86608636e+02] [-6.38049567e-02 9.97962378e-01 1.38329688e-04 -2.51393426e+01] [ 1.63377475e-03 -3.41561740e-05 9.99998665e-01 -1.76993759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.740281693 meters Centerline goodness [0,1] 0.999505557108154 Centerline is valid? [True, True] Translation: X:386.64, Y:-25.15, Z:-1.77 [[ 9.97942290e-01 6.40833378e-02 -2.12390838e-03 3.86640247e+02] [-6.40830988e-02 9.97944550e-01 1.80483120e-04 -2.51459344e+01] [ 2.13110875e-03 -4.40051082e-05 9.99997728e-01 -1.77231246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.77028169299996 meters Centerline goodness [0,1] 0.9994836488812392 Centerline is valid? [True, True] Translation: X:386.67, Y:-25.15, Z:-1.77 [[ 9.97941731e-01 6.40704206e-02 -2.69876094e-03 3.86672632e+02] [-6.40700347e-02 9.97945378e-01 2.29299912e-04 -2.51495223e+01] [ 2.70790735e-03 -5.59182440e-05 9.99996332e-01 -1.77308699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.800281693 meters Centerline goodness [0,1] 0.9989817348692166 Centerline is valid? [True, True] Translation: X:386.70, Y:-25.16, Z:-1.77 [[ 9.98078564e-01 6.18931843e-02 -2.90049381e-03 3.86702953e+02] [-6.18927275e-02 9.98082777e-01 2.47095340e-04 -2.51640016e+01] [ 2.91022643e-03 -6.71010891e-05 9.99995763e-01 -1.77460803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.83028169299996 meters Centerline goodness [0,1] 0.9988216894830431 Centerline is valid? [True, True] Translation: X:386.73, Y:-25.17, Z:-1.77 [[ 9.98179385e-01 6.02863095e-02 -1.86458305e-03 3.86734198e+02] [-6.02861171e-02 9.98181125e-01 1.59287842e-04 -2.51740647e+01] [ 1.87079448e-03 -4.65893686e-05 9.99998249e-01 -1.77295103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.860281693 meters Centerline goodness [0,1] 0.9959742011634769 Centerline is valid? [True, True] Translation: X:386.76, Y:-25.20, Z:-1.77 [[ 9.98320673e-01 5.79283674e-02 -3.72132636e-04 3.86763321e+02] [-5.79283595e-02 9.98320742e-01 3.20983704e-05 -2.51990045e+01] [ 3.73367136e-04 -1.04874337e-05 9.99999930e-01 -1.77108888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.89028169299996 meters Centerline goodness [0,1] 0.9957523245984784 Centerline is valid? [True, True] Translation: X:386.80, Y:-25.21, Z:-1.77 [[ 9.98325492e-01 5.78424603e-02 -6.79048319e-04 3.86795144e+02] [-5.78424340e-02 9.98325723e-01 5.83937052e-05 -2.52054166e+01] [ 6.81289039e-04 -1.90181170e-05 9.99999768e-01 -1.77182630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92028169299994 meters Centerline goodness [0,1] 0.9978164550253333 Centerline is valid? [True, True] Translation: X:386.83, Y:-25.20, Z:-1.77 [[ 9.98243491e-01 5.92173317e-02 -1.80031082e-03 3.86827896e+02] [-5.92171491e-02 9.98245113e-01 1.54623556e-04 -2.52040300e+01] [ 1.80630787e-03 -4.77426838e-05 9.99998367e-01 -1.77271753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.95028169299997 meters Centerline goodness [0,1] 0.9983443005731267 Centerline is valid? [True, True] Translation: X:386.86, Y:-25.21, Z:-1.77 [[ 9.98097919e-01 6.16220958e-02 -1.80614144e-03 3.86858758e+02] [-6.16219164e-02 9.98099552e-01 1.54877055e-04 -2.52066788e+01] [ 1.81225281e-03 -4.32845691e-05 9.99998357e-01 -1.77243508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98028169299994 meters Centerline goodness [0,1] 0.99914337723525 Centerline is valid? [True, True] Translation: X:386.89, Y:-25.20, Z:-1.77 [[ 9.97925693e-01 6.43664054e-02 -1.13053226e-03 3.86890604e+02] [-6.43663368e-02 9.97926333e-01 9.69901500e-05 -2.52028289e+01] [ 1.13443082e-03 -2.40207424e-05 9.99999356e-01 -1.77076881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.01028169299997 meters Centerline goodness [0,1] 0.9994219034364629 Centerline is valid? [True, True] Translation: X:386.92, Y:-25.20, Z:-1.77 [[ 9.97518154e-01 7.04063013e-02 6.97172170e-04 3.86920823e+02] [-7.04062767e-02 9.97518397e-01 -5.97807651e-05 -2.51989879e+01] [-6.99651008e-04 1.05471017e-05 9.99999755e-01 -1.76806587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04028169299994 meters Centerline goodness [0,1] 0.9994219034364629 Centerline is valid? [True, True] Translation: X:386.95, Y:-25.20, Z:-1.77 [[ 9.97504957e-01 7.05930196e-02 6.97194664e-04 3.86953186e+02] [-7.05929952e-02 9.97505201e-01 -5.95187263e-05 -2.52019603e+01] [-6.99656909e-04 1.01531649e-05 9.99999755e-01 -1.76813428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.07028169299997 meters Centerline goodness [0,1] 0.9994745912319785 Centerline is valid? [True, True] Translation: X:386.99, Y:-25.20, Z:-1.77 [[ 9.97332556e-01 7.29868244e-02 8.34177064e-04 3.86985713e+02] [-7.29867901e-02 9.97332905e-01 -7.14785895e-05 -2.52033845e+01] [-8.37169230e-04 1.04040181e-05 9.99999650e-01 -1.76827067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10028169299994 meters Centerline goodness [0,1] 0.9997009760994469 Centerline is valid? [True, True] Translation: X:387.02, Y:-25.21, Z:-1.77 [[ 9.97166793e-01 7.52222471e-02 -1.72276596e-05 3.87017485e+02] [-7.52222470e-02 9.97166793e-01 1.82969686e-06 -2.52071081e+01] [ 1.73164840e-05 -5.28609678e-07 1.00000000e+00 -1.77028151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.130281693 meters Centerline goodness [0,1] 0.9996841240760629 Centerline is valid? [True, True] Translation: X:387.05, Y:-25.21, Z:-1.77 [[ 9.97138004e-01 7.56028017e-02 -1.28398410e-04 3.87049669e+02] [-7.56028008e-02 9.97138013e-01 1.14921120e-05 -2.52120755e+01] [ 1.28899771e-04 -1.75194224e-06 9.99999992e-01 -1.77145831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16028169299994 meters Centerline goodness [0,1] 0.9996417432352693 Centerline is valid? [True, True] Translation: X:387.08, Y:-25.22, Z:-1.77 [[ 9.97134140e-01 7.56524290e-02 -4.64643938e-04 3.87082032e+02] [-7.56524182e-02 9.97134249e-01 4.06421863e-05 -2.52152493e+01] [ 4.66387065e-04 -5.37427395e-06 9.99999891e-01 -1.77238947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.190281693 meters Centerline goodness [0,1] 0.9997447297326044 Centerline is valid? [True, True] Translation: X:387.11, Y:-25.22, Z:-1.77 [[ 9.97210478e-01 7.46293005e-02 -1.31495628e-03 3.87113444e+02] [-7.46292144e-02 9.97211345e-01 1.14475244e-04 -2.52210161e+01] [ 1.31983253e-03 -1.60217584e-05 9.99999129e-01 -1.77472523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22028169299995 meters Centerline goodness [0,1] 0.9995741237596355 Centerline is valid? [True, True] Translation: X:387.15, Y:-25.23, Z:-1.78 [[ 9.97261588e-01 7.39333443e-02 -1.78472951e-03 3.87145598e+02] [-7.39331843e-02 9.97263185e-01 1.55541516e-04 -2.52262379e+01] [ 1.79134474e-03 -2.31648436e-05 9.99998395e-01 -1.77584855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.250281693 meters Centerline goodness [0,1] 0.9995496847793456 Centerline is valid? [True, True] Translation: X:387.18, Y:-25.23, Z:-1.78 [[ 9.97352498e-01 7.26932512e-02 -1.91987020e-03 3.87176661e+02] [-7.26930633e-02 9.97354345e-01 1.67554181e-04 -2.52339182e+01] [ 1.92697094e-03 -2.75493347e-05 9.99998143e-01 -1.77666474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28028169299995 meters Centerline goodness [0,1] 0.9992565845369583 Centerline is valid? [True, True] Translation: X:387.21, Y:-25.24, Z:-1.78 [[ 9.97380301e-01 7.23251876e-02 -1.26568394e-03 3.87208170e+02] [-7.23251052e-02 9.97381104e-01 1.10831740e-04 -2.52414026e+01] [ 1.27038517e-03 -1.90006702e-05 9.99999193e-01 -1.77573724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.310281693 meters Centerline goodness [0,1] 0.9995345983795562 Centerline is valid? [True, True] Translation: X:387.24, Y:-25.25, Z:-1.78 [[ 9.97401478e-01 7.20376862e-02 -9.28999249e-04 3.87240494e+02] [-7.20376414e-02 9.97401911e-01 8.16310964e-05 -2.52468993e+01] [ 9.32466141e-04 -1.44960615e-05 9.99999565e-01 -1.77518159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34028169299995 meters Centerline goodness [0,1] 0.999574277868835 Centerline is valid? [True, True] Translation: X:387.27, Y:-25.26, Z:-1.78 [[ 9.97391365e-01 7.21559838e-02 -1.99452429e-03 3.87271443e+02] [-7.21557783e-02 9.97393359e-01 1.74906605e-04 -2.52555006e+01] [ 2.00194584e-03 -3.05338850e-05 9.99997996e-01 -1.77732996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.370281693 meters Centerline goodness [0,1] 0.9996636818430235 Centerline is valid? [True, True] Translation: X:387.30, Y:-25.26, Z:-1.78 [[ 9.97243753e-01 7.40972527e-02 -3.80721808e-03 3.87302144e+02] [-7.40965164e-02 9.97251019e-01 3.34277028e-04 -2.52587718e+01] [ 3.82152112e-03 -5.12540813e-05 9.99992697e-01 -1.78100079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40028169299995 meters Centerline goodness [0,1] 0.9997024631798185 Centerline is valid? [True, True] Translation: X:387.33, Y:-25.26, Z:-1.78 [[ 9.97116236e-01 7.57982158e-02 -3.72049865e-03 3.87334331e+02] [-7.57975243e-02 9.97123176e-01 3.26705374e-04 -2.52585763e+01] [ 3.73455911e-03 -4.37586457e-05 9.99993026e-01 -1.78068303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.430281693 meters Centerline goodness [0,1] 0.9997448057333645 Centerline is valid? [True, True] Translation: X:387.37, Y:-25.26, Z:-1.78 [[ 9.96931151e-01 7.82152099e-02 -3.26515656e-03 3.87365237e+02] [-7.82146880e-02 9.96936497e-01 2.87428986e-04 -2.52607392e+01] [ 3.27763506e-03 -3.11637080e-05 9.99994628e-01 -1.78063949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46028169299996 meters Centerline goodness [0,1] 0.9998293988441772 Centerline is valid? [True, True] Translation: X:387.40, Y:-25.26, Z:-1.78 [[ 9.96709158e-01 8.10321632e-02 -2.15462072e-03 3.87396428e+02] [-8.10319416e-02 9.96711487e-01 1.90072394e-04 -2.52604838e+01] [ 2.16293720e-03 -1.48537950e-05 9.99997661e-01 -1.77823565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.490281693 meters Centerline goodness [0,1] 0.99991462113127 Centerline is valid? [True, True] Translation: X:387.43, Y:-25.26, Z:-1.77 [[ 9.96226837e-01 8.67813808e-02 1.03948834e-03 3.87429545e+02] [-8.67813327e-02 9.96227380e-01 -9.13756528e-05 -2.52550373e+01] [-1.04349645e-03 8.22693807e-07 9.99999456e-01 -1.77098229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52028169299996 meters Centerline goodness [0,1] 0.9997871615869232 Centerline is valid? [True, True] Translation: X:387.46, Y:-25.25, Z:-1.77 [[ 9.95839957e-01 9.10806996e-02 2.66210862e-03 3.87461740e+02] [-9.10803968e-02 9.95843515e-01 -2.35016722e-04 -2.52505735e+01] [-2.67244909e-03 -8.42686631e-06 9.99996429e-01 -1.76871637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.550281693 meters Centerline goodness [0,1] 0.9998097171127743 Centerline is valid? [True, True] Translation: X:387.49, Y:-25.25, Z:-1.77 [[ 9.95745882e-01 9.21034695e-02 2.66273775e-03 3.87494365e+02] [-9.21031689e-02 9.95749442e-01 -2.35552158e-04 -2.52526978e+01] [-2.67311480e-03 -1.06964939e-05 9.99996427e-01 -1.76859864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58028169299996 meters Centerline goodness [0,1] 0.9998091926729986 Centerline is valid? [True, True] Translation: X:387.53, Y:-25.26, Z:-1.77 [[ 9.95709724e-01 9.24989082e-02 2.46912656e-03 3.87527144e+02] [-9.24986498e-02 9.95712786e-01 -2.18855509e-04 -2.52552671e+01] [-2.47878478e-03 -1.04743143e-05 9.99996928e-01 -1.76836776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.610281693 meters Centerline goodness [0,1] 0.9997663154316792 Centerline is valid? [True, True] Translation: X:387.56, Y:-25.26, Z:-1.77 [[ 9.95796250e-01 9.15538572e-02 2.77855305e-03 3.87559435e+02] [-9.15535248e-02 9.95800126e-01 -2.46851812e-04 -2.52556935e+01] [-2.78948372e-03 -8.57221761e-06 9.99996109e-01 -1.76715773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64028169299996 meters Centerline goodness [0,1] 0.9998077457116613 Centerline is valid? [True, True] Translation: X:387.59, Y:-25.26, Z:-1.77 [[ 9.95864271e-01 9.07967491e-02 3.21008408e-03 3.87592166e+02] [-9.07962995e-02 9.95869444e-01 -2.85827322e-04 -2.52586145e+01] [-3.22277685e-03 -6.81853854e-06 9.99994807e-01 -1.76706363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67028169299994 meters Centerline goodness [0,1] 0.9999366727882971 Centerline is valid? [True, True] Translation: X:387.62, Y:-25.26, Z:-1.77 [[ 9.95940542e-01 8.99805162e-02 2.43783162e-03 3.87624141e+02] [-8.99802535e-02 9.95943526e-01 -2.17424043e-04 -2.52598448e+01] [-2.44750655e-03 -2.81528807e-06 9.99997005e-01 -1.76899255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70028169299997 meters Centerline goodness [0,1] 0.9998311060442925 Centerline is valid? [True, True] Translation: X:387.66, Y:-25.26, Z:-1.77 [[ 9.95948921e-01 8.98963139e-02 2.09744817e-03 3.87657015e+02] [-8.98961186e-02 9.95951130e-01 -1.87382043e-04 -2.52616183e+01] [-2.10580083e-03 -1.92950643e-06 9.99997783e-01 -1.76994140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73028169299994 meters Centerline goodness [0,1] 0.9998523798477403 Centerline is valid? [True, True] Translation: X:387.69, Y:-25.26, Z:-1.77 [[ 9.95936586e-01 9.00353968e-02 1.98596578e-03 3.87689688e+02] [-9.00352213e-02 9.95938566e-01 -1.77762813e-04 -2.52628216e+01] [-1.99390485e-03 -1.76637918e-06 9.99998012e-01 -1.77068261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76028169299997 meters Centerline goodness [0,1] 0.9998506379891606 Centerline is valid? [True, True] Translation: X:387.72, Y:-25.26, Z:-1.77 [[ 9.95924493e-01 9.01674755e-02 2.05703081e-03 3.87722841e+02] [-9.01672867e-02 9.95926617e-01 -1.84514174e-04 -2.52621647e+01] [-2.06528892e-03 -1.71470231e-06 9.99997867e-01 -1.77121810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79028169299994 meters Centerline goodness [0,1] 0.9999146357078834 Centerline is valid? [True, True] Translation: X:387.76, Y:-25.26, Z:-1.77 [[ 9.95903621e-01 9.04090899e-02 1.47476866e-03 3.87755691e+02] [-9.04089929e-02 9.95904713e-01 -1.32447444e-04 -2.52643391e+01] [-1.48070351e-03 -1.42745975e-06 9.99998904e-01 -1.77233631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82028169299997 meters Centerline goodness [0,1] 0.9999152901313003 Centerline is valid? [True, True] Translation: X:387.79, Y:-25.27, Z:-1.78 [[ 9.95909789e-01 9.03522870e-02 -3.95940471e-04 3.87787252e+02] [-9.03522798e-02 9.95909868e-01 3.60874896e-05 -2.52666932e+01] [ 3.97581609e-04 -1.65759923e-07 9.99999921e-01 -1.77604910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85028169299994 meters Centerline goodness [0,1] 0.9999144238586282 Centerline is valid? [True, True] Translation: X:387.82, Y:-25.27, Z:-1.78 [[ 9.95936215e-01 9.00576898e-02 -8.16936755e-04 3.87819456e+02] [-9.00576592e-02 9.95936550e-01 7.42140033e-05 -2.52698692e+01] [ 8.20300716e-04 -3.41001683e-07 9.99999664e-01 -1.77732753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.880281693 meters Centerline goodness [0,1] 0.9999575416622439 Centerline is valid? [True, True] Translation: X:387.85, Y:-25.27, Z:-1.78 [[ 9.95999345e-01 8.93573023e-02 -7.59987613e-04 3.87851727e+02] [-8.93572755e-02 9.95999635e-01 6.92218950e-05 -2.52743315e+01] [ 7.63132867e-04 -1.03453959e-06 9.99999709e-01 -1.77706259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91028169299994 meters Centerline goodness [0,1] 0.9999789074035014 Centerline is valid? [True, True] Translation: X:387.88, Y:-25.28, Z:-1.78 [[ 9.95966387e-01 8.97251133e-02 -5.99536875e-04 3.87883856e+02] [-8.97250966e-02 9.95966568e-01 5.47632916e-05 -2.52774922e+01] [ 6.02032327e-04 -7.48893661e-07 9.99999819e-01 -1.77626926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.940281693 meters Centerline goodness [0,1] 0.9999570990368734 Centerline is valid? [True, True] Translation: X:387.92, Y:-25.28, Z:-1.78 [[ 9.95897412e-01 9.04878120e-02 -5.48712117e-04 3.87916754e+02] [-9.04877980e-02 9.95897563e-01 5.02715119e-05 -2.52791978e+01] [ 5.51010019e-04 -4.13517378e-07 9.99999848e-01 -1.77614349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97028169299995 meters Centerline goodness [0,1] 0.9998067383881981 Centerline is valid? [True, True] Translation: X:387.95, Y:-25.27, Z:-1.78 [[ 9.95527115e-01 9.44448896e-02 -2.43441300e-03 3.87948761e+02] [-9.44446291e-02 9.95530091e-01 2.22026871e-04 -2.52726699e+01] [ 2.44450070e-03 8.88346218e-06 9.99997012e-01 -1.77998611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.000281693 meters Centerline goodness [0,1] 0.9998501680258567 Centerline is valid? [True, True] Translation: X:387.98, Y:-25.27, Z:-1.78 [[ 9.95231885e-01 9.74710068e-02 -3.59142993e-03 3.87981451e+02] [-9.74704578e-02 9.95238365e-01 3.27987501e-04 -2.52691398e+01] [ 3.60629812e-03 2.36347004e-05 9.99993497e-01 -1.78267939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.03028169299995 meters Centerline goodness [0,1] 0.9997647109152745 Centerline is valid? [True, True] Translation: X:388.01, Y:-25.26, Z:-1.78 [[ 9.94718445e-01 1.02555123e-01 -4.20265209e-03 3.88013946e+02] [-1.02554418e-01 9.94727322e-01 3.83568974e-04 -2.52612695e+01] [ 4.21982982e-03 4.94574060e-05 9.99991095e-01 -1.78364070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.060281693 meters Centerline goodness [0,1] 0.9997861465751374 Centerline is valid? [True, True] Translation: X:388.05, Y:-25.26, Z:-1.78 [[ 9.94556209e-01 1.04141451e-01 -3.53618428e-03 3.88045575e+02] [-1.04140961e-01 9.94562495e-01 3.22828632e-04 -2.52600572e+01] [ 3.55057610e-03 4.71904098e-05 9.99993696e-01 -1.78288688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.09028169299995 meters Centerline goodness [0,1] 0.999787924416262 Centerline is valid? [True, True] Translation: X:388.08, Y:-25.26, Z:-1.78 [[ 9.94508365e-01 1.04633889e-01 -2.20497600e-03 3.88075881e+02] [-1.04633699e-01 9.94510809e-01 2.01317536e-04 -2.52591569e+01] [ 2.21393710e-03 3.05028223e-05 9.99997549e-01 -1.78102395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.120281693 meters Centerline goodness [0,1] 0.9997891051732501 Centerline is valid? [True, True] Translation: X:388.11, Y:-25.26, Z:-1.78 [[ 9.94573727e-01 1.04032545e-01 -5.75277911e-04 3.88106206e+02] [-1.04032532e-01 9.94573893e-01 5.25465124e-05 -2.52611740e+01] [ 5.77622940e-04 7.58623707e-06 9.99999833e-01 -1.77747291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.15028169299995 meters Centerline goodness [0,1] 0.9998734524286588 Centerline is valid? [True, True] Translation: X:388.14, Y:-25.26, Z:-1.78 [[ 9.94644326e-01 1.03354160e-01 -7.62889068e-04 3.88137327e+02] [-1.03354136e-01 9.94644619e-01 7.00522908e-05 -2.52646491e+01] [ 7.66043702e-04 9.17062717e-06 9.99999707e-01 -1.77780807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.180281693 meters Centerline goodness [0,1] 0.9998505295524428 Centerline is valid? [True, True] Translation: X:388.17, Y:-25.27, Z:-1.78 [[ 9.94754793e-01 1.02273640e-01 -1.73310790e-03 3.88169025e+02] [-1.02273519e-01 9.94756303e-01 1.58559612e-04 -2.52663708e+01] [ 1.74023648e-03 1.95231097e-05 9.99998486e-01 -1.78040714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.21028169299996 meters Centerline goodness [0,1] 0.9998938766847076 Centerline is valid? [True, True] Translation: X:388.20, Y:-25.27, Z:-1.78 [[ 9.94748947e-01 1.02328314e-01 -1.85714480e-03 3.88200506e+02] [-1.02328175e-01 9.94750680e-01 1.69952507e-04 -2.52700042e+01] [ 1.86478701e-03 2.09781621e-05 9.99998261e-01 -1.77971988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.240281693 meters Centerline goodness [0,1] 0.9998703123311359 Centerline is valid? [True, True] Translation: X:388.23, Y:-25.27, Z:-1.78 [[ 9.94819007e-01 1.01641915e-01 -2.01583927e-03 3.88231160e+02] [-1.01641750e-01 9.94821050e-01 1.84469562e-04 -2.52705448e+01] [ 2.02414918e-03 2.13796050e-05 9.99997951e-01 -1.78139666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.27028169299996 meters Centerline goodness [0,1] 0.9999358220130495 Centerline is valid? [True, True] Translation: X:388.26, Y:-25.28, Z:-1.78 [[ 9.95149587e-01 9.83581375e-02 -1.72527832e-03 3.88262426e+02] [-9.83580114e-02 9.95151082e-01 1.57990312e-04 -2.52783098e+01] [ 1.73245222e-03 1.24709509e-05 9.99998499e-01 -1.78001147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.300281693 meters Centerline goodness [0,1] 0.9999573742540494 Centerline is valid? [True, True] Translation: X:388.29, Y:-25.29, Z:-1.78 [[ 9.95639104e-01 9.32884714e-02 -1.86458040e-04 3.88293355e+02] [-9.32884698e-02 9.95639122e-01 1.74399534e-05 -2.52914044e+01] [ 1.87271866e-04 3.04856070e-08 9.99999982e-01 -1.77703836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.33028169299996 meters Centerline goodness [0,1] 0.9999574286930609 Centerline is valid? [True, True] Translation: X:388.32, Y:-25.30, Z:-1.78 [[ 9.95895214e-01 9.05123060e-02 4.94207158e-04 3.88324747e+02] [-9.05122947e-02 9.95895337e-01 -4.50364710e-05 -2.53002694e+01] [-4.96254959e-04 1.19781957e-07 9.99999877e-01 -1.77627742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.360281693 meters Centerline goodness [0,1] 0.9998928556122231 Centerline is valid? [True, True] Translation: X:388.36, Y:-25.31, Z:-1.77 [[ 9.96124688e-01 8.79436669e-02 1.23195023e-03 3.88357499e+02] [-8.79435944e-02 9.96125450e-01 -1.13015859e-04 -2.53090357e+01] [-1.23711601e-03 4.23575638e-06 9.99999235e-01 -1.77484779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39028169299996 meters Centerline goodness [0,1] 0.9998512695208753 Centerline is valid? [True, True] Translation: X:388.39, Y:-25.32, Z:-1.77 [[ 9.96331866e-01 8.55446319e-02 2.21991022e-03 3.88387621e+02] [-8.55443888e-02 9.96334339e-01 -2.04384877e-04 -2.53183732e+01] [-2.22925681e-03 1.37343027e-05 9.99997515e-01 -1.77266546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42028169299994 meters Centerline goodness [0,1] 0.9997240676670982 Centerline is valid? [True, True] Translation: X:388.42, Y:-25.33, Z:-1.77 [[ 9.96619294e-01 8.21217884e-02 2.44845109e-03 3.88418557e+02] [-8.21214813e-02 9.96622301e-01 -2.25837890e-04 -2.53322930e+01] [-2.45872717e-03 2.40039679e-05 9.99996977e-01 -1.77207137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45028169299997 meters Centerline goodness [0,1] 0.9996602900273891 Centerline is valid? [True, True] Translation: X:388.45, Y:-25.34, Z:-1.78 [[ 9.96623402e-01 8.21058127e-02 6.55251737e-04 3.88449584e+02] [-8.21057908e-02 9.96623618e-01 -6.02813806e-05 -2.53416937e+01] [-6.57988808e-04 6.27787263e-06 9.99999784e-01 -1.77672745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48028169299994 meters Centerline goodness [0,1] 0.999742417412583 Centerline is valid? [True, True] Translation: X:388.48, Y:-25.35, Z:-1.78 [[ 9.96547819e-01 8.30164447e-02 -8.44779875e-04 3.88482076e+02] [-8.30164078e-02 9.96548177e-01 7.87124185e-05 -2.53462339e+01] [ 8.48398270e-04 -8.31009829e-06 9.99999640e-01 -1.77915181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51028169299997 meters Centerline goodness [0,1] 0.9998091360223947 Centerline is valid? [True, True] Translation: X:388.51, Y:-25.35, Z:-1.78 [[ 9.96418338e-01 8.45468868e-02 -1.52301047e-03 3.88514101e+02] [-8.45467688e-02 9.96419502e-01 1.41826165e-04 -2.53480770e+01] [ 1.52954829e-03 -1.25525776e-05 9.99998830e-01 -1.77984502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54028169299994 meters Centerline goodness [0,1] 0.9999363111413043 Centerline is valid? [True, True] Translation: X:388.55, Y:-25.35, Z:-1.78 [[ 9.96174793e-01 8.73559398e-02 -2.17287470e-03 3.88545012e+02] [-8.73557064e-02 9.96177163e-01 2.02249424e-04 -2.53500090e+01] [ 2.18223584e-03 -1.16627737e-05 9.99997619e-01 -1.77960422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.57028169299997 meters Centerline goodness [0,1] 0.9999785656106658 Centerline is valid? [True, True] Translation: X:388.58, Y:-25.35, Z:-1.78 [[ 9.96061241e-01 8.86411675e-02 -2.17874148e-03 3.88576785e+02] [-8.86409348e-02 9.96063624e-01 2.03347349e-04 -2.53527877e+01] [ 2.18819008e-03 -9.42073125e-06 9.99997606e-01 -1.77954818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60028169299994 meters Centerline goodness [0,1] 0.9999367862109655 Centerline is valid? [True, True] Translation: X:388.61, Y:-25.36, Z:-1.78 [[ 9.95830742e-01 9.12082304e-02 -1.48039886e-03 3.88608089e+02] [-9.12081253e-02 9.95831843e-01 1.38457734e-04 -2.53554776e+01] [ 1.48685681e-03 -2.85606300e-06 9.99998895e-01 -1.77877604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.630281693 meters Centerline goodness [0,1] 0.9998718687936446 Centerline is valid? [True, True] Translation: X:388.64, Y:-25.36, Z:-1.78 [[ 9.95718212e-01 9.24399809e-02 -3.04465763e-04 3.88641029e+02] [-9.24399764e-02 9.95718258e-01 2.88719651e-05 -2.53572898e+01] [ 3.05831044e-04 -6.03533470e-07 9.99999953e-01 -1.77634770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66028169299994 meters Centerline goodness [0,1] 0.9998717236071322 Centerline is valid? [True, True] Translation: X:388.67, Y:-25.36, Z:-1.78 [[ 9.95554990e-01 9.41794378e-02 7.03482226e-04 3.88672683e+02] [-9.41794150e-02 9.95555239e-01 -6.55311605e-05 -2.53578539e+01] [-7.06527104e-04 -1.01367067e-06 9.99999750e-01 -1.77519473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.690281693 meters Centerline goodness [0,1] 0.9998716138143535 Centerline is valid? [True, True] Translation: X:388.71, Y:-25.35, Z:-1.77 [[ 9.95115678e-01 9.87071643e-02 1.29762974e-03 3.88705550e+02] [-9.87070899e-02 9.95116524e-01 -1.21435503e-04 -2.53540367e+01] [-1.30327935e-03 -7.24288290e-06 9.99999151e-01 -1.77438759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72028169299995 meters Centerline goodness [0,1] 0.9998520115853787 Centerline is valid? [True, True] Translation: X:388.74, Y:-25.35, Z:-1.77 [[ 9.94814109e-01 1.01699623e-01 1.44033573e-03 3.88737052e+02] [-1.01699534e-01 9.94815152e-01 -1.35076880e-04 -2.53532209e+01] [-1.44660508e-03 -1.21050869e-05 9.99998954e-01 -1.77416608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.750281693 meters Centerline goodness [0,1] 0.9997890161824589 Centerline is valid? [True, True] Translation: X:388.77, Y:-25.35, Z:-1.77 [[ 9.94310446e-01 1.06510112e-01 1.52750011e-03 3.88768600e+02] [-1.06510017e-01 9.94311619e-01 -1.43505880e-04 -2.53479605e+01] [-1.53409594e-03 -2.00046672e-05 9.99998823e-01 -1.77405344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78028169299995 meters Centerline goodness [0,1] 0.9998713633342624 Centerline is valid? [True, True] Translation: X:388.80, Y:-25.35, Z:-1.78 [[ 9.94128615e-01 1.08199901e-01 1.03805185e-03 3.88800790e+02] [-1.08199858e-01 9.94129157e-01 -9.75651984e-05 -2.53495330e+01] [-1.04251415e-03 -1.53247065e-05 9.99999456e-01 -1.77526485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.810281693 meters Centerline goodness [0,1] 0.999828329864166 Centerline is valid? [True, True] Translation: X:388.83, Y:-25.35, Z:-1.78 [[ 9.93967471e-01 1.09674591e-01 3.89093319e-04 3.88832446e+02] [-1.09674585e-01 9.93967547e-01 -3.65488202e-05 -2.53489212e+01] [-3.90754609e-04 -6.34531009e-06 9.99999924e-01 -1.77589152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84028169299995 meters Centerline goodness [0,1] 0.9999572740867336 Centerline is valid? [True, True] Translation: X:388.86, Y:-25.35, Z:-1.78 [[ 9.93768654e-01 1.11462218e-01 -1.89757682e-04 3.88864253e+02] [-1.11462217e-01 9.93768672e-01 1.82560854e-05 -2.53470852e+01] [ 1.90610104e-04 3.00848650e-06 9.99999982e-01 -1.77650735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.870281693 meters Centerline goodness [0,1] 0.9997416410101837 Centerline is valid? [True, True] Translation: X:388.90, Y:-25.35, Z:-1.78 [[ 9.93720312e-01 1.11892543e-01 3.27886589e-05 3.88896955e+02] [-1.11892543e-01 9.93720312e-01 -2.69972223e-06 -2.53507400e+01] [-3.28848351e-05 -9.86037598e-07 9.99999999e-01 -1.77604716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90028169299995 meters Centerline goodness [0,1] 0.9997247628726287 Centerline is valid? [True, True] Translation: X:388.93, Y:-25.34, Z:-1.78 [[ 9.93659540e-01 1.12430935e-01 6.52840964e-05 3.88929395e+02] [-1.12430935e-01 9.93659542e-01 -5.81671507e-06 -2.53449701e+01] [-6.55241440e-05 -1.56011756e-06 9.99999998e-01 -1.77630907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.930281693 meters Centerline goodness [0,1] 0.9997247628726287 Centerline is valid? [True, True] Translation: X:388.96, Y:-25.35, Z:-1.78 [[ 9.93657016e-01 1.12453232e-01 6.52525744e-05 3.88960092e+02] [-1.12453232e-01 9.93657019e-01 -6.14875935e-06 -2.53479299e+01] [-6.55301264e-05 -1.22810500e-06 9.99999998e-01 -1.77637401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96028169299996 meters Centerline goodness [0,1] 0.9996796172494072 Centerline is valid? [True, True] Translation: X:388.99, Y:-25.35, Z:-1.78 [[ 9.93590164e-01 1.13042321e-01 -1.41954856e-04 3.88991885e+02] [-1.13042320e-01 9.93590174e-01 1.35312874e-05 -2.53495311e+01] [ 1.42574558e-04 2.60235227e-06 9.99999990e-01 -1.77671298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.990281693 meters Centerline goodness [0,1] 0.9997456118036123 Centerline is valid? [True, True] Translation: X:389.02, Y:-25.34, Z:-1.78 [[ 9.93336800e-01 1.15244849e-01 -7.90983092e-04 3.89022850e+02] [-1.15244826e-01 9.93337115e-01 7.51610467e-05 -2.53442153e+01] [ 7.94374786e-04 1.64964752e-05 9.99999684e-01 -1.77783144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02028169299996 meters Centerline goodness [0,1] 0.9996800477795316 Centerline is valid? [True, True] Translation: X:389.05, Y:-25.34, Z:-1.78 [[ 9.93157518e-01 1.16775096e-01 -1.31206550e-03 3.89053830e+02] [-1.16775033e-01 9.93158384e-01 1.24635443e-04 -2.53422016e+01] [ 1.31764316e-03 2.94338645e-05 9.99999131e-01 -1.77856166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.050281693 meters Centerline goodness [0,1] 0.9996805179868373 Centerline is valid? [True, True] Translation: X:389.08, Y:-25.34, Z:-1.78 [[ 9.92959513e-01 1.18444284e-01 -1.53512347e-03 3.89084314e+02] [-1.18444200e-01 9.92960699e-01 1.45783727e-04 -2.53388995e+01] [ 1.54158453e-03 3.70691326e-05 9.99998811e-01 -1.77903880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08028169299996 meters Centerline goodness [0,1] 0.9995543009953944 Centerline is valid? [True, True] Translation: X:389.11, Y:-25.33, Z:-1.78 [[ 9.92559686e-01 1.21746322e-01 -1.76173711e-03 3.89114567e+02] [-1.21746216e-01 9.92561248e-01 1.67201411e-04 -2.53293804e+01] [ 1.76898814e-03 4.85274481e-05 9.99998434e-01 -1.77916255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.110281693 meters Centerline goodness [0,1] 0.9996402116402117 Centerline is valid? [True, True] Translation: X:389.14, Y:-25.33, Z:-1.78 [[ 9.92387210e-01 1.23145656e-01 -1.66544483e-03 3.89144132e+02] [-1.23145564e-01 9.92388606e-01 1.58000114e-04 -2.53267717e+01] [ 1.67222550e-03 4.82948501e-05 9.99998601e-01 -1.77895592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14028169299996 meters Centerline goodness [0,1] 0.9995689190645544 Centerline is valid? [True, True] Translation: X:389.17, Y:-25.32, Z:-1.78 [[ 9.92290537e-01 1.23932033e-01 -5.84093002e-04 3.89174413e+02] [-1.23932022e-01 9.92290709e-01 5.53744556e-05 -2.53215439e+01] [ 5.86452728e-04 1.74402783e-05 9.99999828e-01 -1.77870497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17028169299994 meters Centerline goodness [0,1] 0.9996370158431909 Centerline is valid? [True, True] Translation: X:389.20, Y:-25.32, Z:-1.78 [[ 9.92392002e-01 1.23118065e-01 2.35885262e-04 3.89203330e+02] [-1.23118063e-01 9.92392030e-01 -2.24484801e-05 -2.53191026e+01] [-2.36854467e-04 -6.76404444e-06 9.99999972e-01 -1.77792696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20028169299997 meters Centerline goodness [0,1] 0.9998296458763655 Centerline is valid? [True, True] Translation: X:389.23, Y:-25.32, Z:-1.78 [[ 9.92995643e-01 1.18136438e-01 1.85340434e-03 3.89232708e+02] [-1.18136316e-01 9.92997372e-01 -1.75808173e-04 -2.53228872e+01] [-1.86119499e-03 -4.43776105e-05 9.99998267e-01 -1.77566572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.23028169299994 meters Centerline goodness [0,1] 0.9997259523157029 Centerline is valid? [True, True] Translation: X:389.26, Y:-25.33, Z:-1.78 [[ 9.93384628e-01 1.14831261e-01 8.73705485e-04 3.89262257e+02] [-1.14831232e-01 9.93385012e-01 -8.28825952e-05 -2.53275538e+01] [-8.77443446e-04 -1.79943815e-05 9.99999615e-01 -1.77647543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26028169299997 meters Centerline goodness [0,1] 0.9999786807657869 Centerline is valid? [True, True] Translation: X:389.29, Y:-25.33, Z:-1.78 [[ 9.93779392e-01 1.11365171e-01 -5.64527458e-04 3.89290477e+02] [-1.11365159e-01 9.93779552e-01 5.34283240e-05 -2.53312161e+01] [ 5.66965899e-04 9.77272268e-06 9.99999839e-01 -1.77893905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.29028169299994 meters Centerline goodness [0,1] 0.9998937707147106 Centerline is valid? [True, True] Translation: X:389.32, Y:-25.34, Z:-1.78 [[ 9.94467653e-01 1.04993091e-01 -3.24631962e-03 3.89319496e+02] [-1.04992646e-01 9.94472951e-01 3.07660978e-04 -2.53364726e+01] [ 3.26067933e-03 3.48807957e-05 9.99994683e-01 -1.78445862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32028169299997 meters Centerline goodness [0,1] 0.9999568379480761 Centerline is valid? [True, True] Translation: X:389.35, Y:-25.34, Z:-1.78 [[ 9.94754527e-01 1.02237652e-01 -3.30041730e-03 3.89348401e+02] [-1.02237177e-01 9.94760002e-01 3.12662011e-04 -2.53431763e+01] [ 3.31508895e-03 2.64033984e-05 9.99994505e-01 -1.78397679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.35028169299994 meters Centerline goodness [0,1] 0.9999573060091792 Centerline is valid? [True, True] Translation: X:389.38, Y:-25.35, Z:-1.78 [[ 9.95137037e-01 9.84990056e-02 -4.72617836e-04 3.89377393e+02] [-9.84989955e-02 9.95137149e-01 4.47502213e-05 -2.53490997e+01] [ 4.74727419e-04 2.01977953e-06 9.99999887e-01 -1.77903668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.380281693 meters Centerline goodness [0,1] 0.9999150923370834 Centerline is valid? [True, True] Translation: X:389.41, Y:-25.35, Z:-1.78 [[ 9.95284956e-01 9.69926410e-02 5.33497008e-04 3.89407435e+02] [-9.69926278e-02 9.95285099e-01 -5.05420644e-05 -2.53540123e+01] [-5.35883831e-04 -1.44152041e-06 9.99999856e-01 -1.77714291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.41028169299994 meters Centerline goodness [0,1] 0.9998945659279252 Centerline is valid? [True, True] Translation: X:389.44, Y:-25.36, Z:-1.78 [[ 9.95459882e-01 9.51777618e-02 9.04383855e-04 3.89437418e+02] [-9.51777233e-02 9.95460292e-01 -8.56652106e-05 -2.53598261e+01] [-9.08431640e-04 -8.00915853e-07 9.99999587e-01 -1.77655734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.440281693 meters Centerline goodness [0,1] 0.999746208996891 Centerline is valid? [True, True] Translation: X:389.47, Y:-25.37, Z:-1.78 [[ 9.95993336e-01 8.94236048e-02 8.32281259e-04 3.89467538e+02] [-8.94235701e-02 9.95993684e-01 -7.88288797e-05 -2.53729792e+01] [-8.35996040e-04 4.08747734e-06 9.99999651e-01 -1.77618168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.47028169299995 meters Centerline goodness [0,1] 0.9995954348011242 Centerline is valid? [True, True] Translation: X:389.50, Y:-25.38, Z:-1.78 [[ 9.96255592e-01 8.64539667e-02 7.12465305e-04 3.89499272e+02] [-8.64539407e-02 9.96255846e-01 -6.73012791e-05 -2.53824383e+01] [-7.15616188e-04 5.45384239e-06 9.99999744e-01 -1.77643574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.500281693 meters Centerline goodness [0,1] 0.9991095846848566 Centerline is valid? [True, True] Translation: X:389.53, Y:-25.40, Z:-1.78 [[ 9.96652626e-01 8.17528686e-02 1.04347209e-04 3.89529438e+02] [-8.17528681e-02 9.96652632e-01 -9.74334941e-06 -2.53968987e+01] [-1.04794467e-04 1.18005116e-06 9.99999995e-01 -1.77772851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.53028169299995 meters Centerline goodness [0,1] 0.9990552871712292 Centerline is valid? [True, True] Translation: X:389.56, Y:-25.40, Z:-1.78 [[ 9.96719112e-01 8.09383180e-02 1.88682213e-06 3.89561349e+02] [-8.09383180e-02 9.96719112e-01 1.49759786e-07 -2.54035341e+01] [-1.86851036e-06 -3.01984649e-07 1.00000000e+00 -1.77756994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.560281693 meters Centerline goodness [0,1] 0.9991328807393778 Centerline is valid? [True, True] Translation: X:389.59, Y:-25.41, Z:-1.78 [[ 9.96683477e-01 8.13751846e-02 3.53616093e-04 3.89592206e+02] [-8.13751779e-02 9.96683540e-01 -3.34003583e-05 -2.54078267e+01] [-3.55161300e-04 4.51401273e-06 9.99999937e-01 -1.77654438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59028169299995 meters Centerline goodness [0,1] 0.999209840686798 Centerline is valid? [True, True] Translation: X:389.63, Y:-25.41, Z:-1.77 [[ 9.96406933e-01 8.46595174e-02 2.44763869e-03 3.89625051e+02] [-8.46591996e-02 9.96409938e-01 -2.33354889e-04 -2.54058784e+01] [-2.45860723e-03 2.53012967e-05 9.99996977e-01 -1.77191884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.620281693 meters Centerline goodness [0,1] 0.9995972955215023 Centerline is valid? [True, True] Translation: X:389.66, Y:-25.40, Z:-1.77 [[ 9.95821109e-01 9.13180271e-02 1.15628066e-03 3.89656734e+02] [-9.13179606e-02 9.95821780e-01 -1.10258417e-04 -2.54013284e+01] [-1.16151805e-03 4.20846691e-06 9.99999325e-01 -1.77487223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65028169299995 meters Centerline goodness [0,1] 0.999807774455361 Centerline is valid? [True, True] Translation: X:389.69, Y:-25.40, Z:-1.78 [[ 9.95452958e-01 9.52489688e-02 -1.02078560e-03 3.89688509e+02] [-9.52489187e-02 9.95453482e-01 9.76921381e-05 -2.53969938e+01] [ 1.02544965e-03 -1.92036933e-08 9.99999474e-01 -1.77987110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.680281693 meters Centerline goodness [0,1] 0.999978855221703 Centerline is valid? [True, True] Translation: X:389.72, Y:-25.39, Z:-1.78 [[ 9.95056462e-01 9.92562708e-02 -3.29085898e-03 3.89718938e+02] [-9.92557729e-02 9.95061904e-01 3.14677729e-04 -2.53920111e+01] [ 3.30584214e-03 1.35146435e-05 9.99994536e-01 -1.78394052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.71028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.75, Y:-25.38, Z:-1.78 [[ 9.94386132e-01 1.05753383e-01 -3.52730662e-03 3.89749108e+02] [-1.05752852e-01 9.94392388e-01 3.37201370e-04 -2.53846809e+01] [ 3.54318703e-03 3.77143684e-05 9.99993722e-01 -1.78312685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.740281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.78, Y:-25.38, Z:-1.78 [[ 9.94175014e-01 1.07749508e-01 -2.46688786e-03 3.89777857e+02] [-1.07749254e-01 9.94178074e-01 2.35881887e-04 -2.53803186e+01] [ 2.47794198e-03 3.12974491e-05 9.99996929e-01 -1.78288358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.77028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.81, Y:-25.38, Z:-1.78 [[ 9.93941539e-01 1.09905118e-01 1.03975720e-03 3.89807145e+02] [-1.09905074e-01 9.93942083e-01 -9.94428206e-05 -2.53831152e+01] [-1.04438771e-03 -1.54342419e-05 9.99999455e-01 -1.77623466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.800281693 meters Centerline goodness [0,1] 0.9999787211405469 Centerline is valid? [True, True] Translation: X:389.84, Y:-25.38, Z:-1.77 [[ 9.93871501e-01 1.10520912e-01 2.13696772e-03 3.89835952e+02] [-1.10520729e-01 9.93873798e-01 -2.04274373e-04 -2.53825964e+01] [-2.14645282e-03 -3.31567517e-05 9.99997696e-01 -1.77430323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83028169299996 meters Centerline goodness [0,1] 0.9999783928610013 Centerline is valid? [True, True] Translation: X:389.87, Y:-25.39, Z:-1.77 [[ 9.93888668e-01 1.10373359e-01 1.74303823e-03 3.89865289e+02] [-1.10373237e-01 9.93890196e-01 -1.66564975e-04 -2.53874839e+01] [-1.75077294e-03 -2.68377299e-05 9.99998467e-01 -1.77470126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.860281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.89, Y:-25.39, Z:-1.78 [[ 9.93986961e-01 1.09495573e-01 -8.00095880e-04 3.89894118e+02] [-1.09495547e-01 9.93987283e-01 7.63290255e-05 -2.53897713e+01] [ 8.03642821e-04 1.17368799e-05 9.99999677e-01 -1.77955188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89028169299996 meters Centerline goodness [0,1] 0.9999787034670755 Centerline is valid? [True, True] Translation: X:389.92, Y:-25.39, Z:-1.78 [[ 9.93990617e-01 1.09453379e-01 -1.61602829e-03 3.89923169e+02] [-1.09453273e-01 9.93991930e-01 1.54235877e-04 -2.53936162e+01] [ 1.62320071e-03 2.35705713e-05 9.99998682e-01 -1.78115015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.95, Y:-25.39, Z:-1.78 [[ 9.93945835e-01 1.09842926e-01 -2.49165441e-03 3.89951505e+02] [-1.09842674e-01 9.93948958e-01 2.37906675e-04 -2.53933699e+01] [ 2.50270967e-03 3.72236359e-05 9.99996868e-01 -1.78288844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.95028169299997 meters Centerline goodness [0,1] 0.9999579849586152 Centerline is valid? [True, True] Translation: X:389.98, Y:-25.40, Z:-1.78 [[ 9.93940452e-01 1.09898952e-01 -2.14438218e-03 3.89980318e+02] [-1.09898767e-01 9.93942765e-01 2.04548626e-04 -2.53964391e+01] [ 2.15387283e-03 3.23558032e-05 9.99997680e-01 -1.78260510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.01, Y:-25.40, Z:-1.78 [[ 9.93983576e-01 1.09518621e-01 -1.52406896e-03 3.90009058e+02] [-1.09518527e-01 9.93984744e-01 1.45359832e-04 -2.54032950e+01] [ 1.53082091e-03 2.24285026e-05 9.99998828e-01 -1.78054489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.01028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.04, Y:-25.41, Z:-1.78 [[ 9.94037323e-01 1.09030862e-01 -1.43916396e-03 3.90038796e+02] [-1.09030778e-01 9.94038365e-01 1.37225486e-04 -2.54089637e+01] [ 1.44554600e-03 2.05059111e-05 9.99998955e-01 -1.78026262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04028169299994 meters Centerline goodness [0,1] 0.999978675765007 Centerline is valid? [True, True] Translation: X:390.07, Y:-25.41, Z:-1.78 [[ 9.94036523e-01 1.09035248e-01 -1.64510387e-03 3.90067968e+02] [-1.09035138e-01 9.94037884e-01 1.56830037e-04 -2.54125733e+01] [ 1.65239557e-03 2.34793424e-05 9.99998635e-01 -1.78095242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.07028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.10, Y:-25.41, Z:-1.78 [[ 9.93909113e-01 1.10193254e-01 -1.45639525e-03 3.90096763e+02] [-1.10193168e-01 9.93910180e-01 1.38759056e-04 -2.54144475e+01] [ 1.46281638e-03 2.25709166e-05 9.99998930e-01 -1.78046017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.13, Y:-25.42, Z:-1.78 [[ 9.93772287e-01 1.11418750e-01 -1.58262239e-03 3.90125252e+02] [-1.11418651e-01 9.93773546e-01 1.50737806e-04 -2.54150621e+01] [ 1.58956329e-03 2.65345975e-05 9.99998736e-01 -1.78006611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.130281693 meters Centerline goodness [0,1] 0.9999154334038055 Centerline is valid? [True, True] Translation: X:390.15, Y:-25.41, Z:-1.78 [[ 9.93654939e-01 1.12461637e-01 -1.49770688e-03 3.90153672e+02] [-1.12461549e-01 9.93656067e-01 1.42595381e-04 -2.54149187e+01] [ 1.50424204e-03 2.67438322e-05 9.99998868e-01 -1.78070336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.18, Y:-25.42, Z:-1.78 [[ 9.93582785e-01 1.13106970e-01 -2.48799574e-04 3.90182482e+02] [-1.13106967e-01 9.93582817e-01 2.35935068e-05 -2.54156125e+01] [ 2.49871572e-04 4.69886316e-06 9.99999969e-01 -1.77857211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.190281693 meters Centerline goodness [0,1] 0.9999787166116846 Centerline is valid? [True, True] Translation: X:390.21, Y:-25.42, Z:-1.78 [[ 9.93664128e-01 1.12388447e-01 6.61170194e-04 3.90211835e+02] [-1.12388430e-01 9.93664348e-01 -6.29854438e-05 -2.54226637e+01] [-6.64060086e-04 -1.17215040e-05 9.99999779e-01 -1.77643999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22028169299995 meters Centerline goodness [0,1] 0.9999787279302276 Centerline is valid? [True, True] Translation: X:390.24, Y:-25.43, Z:-1.78 [[ 9.94003321e-01 1.09343509e-01 1.18075506e-03 3.90240269e+02] [-1.09343453e-01 9.94004022e-01 -1.12404446e-04 -2.54332573e+01] [-1.18596597e-03 -1.73774427e-05 9.99999297e-01 -1.77605804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.250281693 meters Centerline goodness [0,1] 0.9999786374997329 Centerline is valid? [True, True] Translation: X:390.27, Y:-25.44, Z:-1.78 [[ 9.94166686e-01 1.07854503e-01 7.99905656e-05 3.90269974e+02] [-1.07854503e-01 9.94166689e-01 -7.61318631e-06 -2.54403832e+01] [-8.03450722e-05 -1.05856647e-06 9.99999997e-01 -1.77818265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28028169299995 meters Centerline goodness [0,1] 0.9999788426954406 Centerline is valid? [True, True] Translation: X:390.30, Y:-25.45, Z:-1.78 [[ 9.94285704e-01 1.06733045e-01 -1.99887878e-03 3.90300268e+02] [-1.06732878e-01 9.94287713e-01 1.90293880e-04 -2.54470027e+01] [ 2.00777126e-03 2.41396007e-05 9.99997984e-01 -1.78305646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.310281693 meters Centerline goodness [0,1] 0.9999787179705457 Centerline is valid? [True, True] Translation: X:390.33, Y:-25.45, Z:-1.78 [[ 9.94281053e-01 1.06766214e-01 -2.48253397e-03 3.90328341e+02] [-1.06765957e-01 9.94284152e-01 2.36146583e-04 -2.54505118e+01] [ 2.49355666e-03 3.02540435e-05 9.99996891e-01 -1.78357222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34028169299995 meters Centerline goodness [0,1] 0.9999575938765558 Centerline is valid? [True, True] Translation: X:390.36, Y:-25.45, Z:-1.78 [[ 9.94259134e-01 1.06965108e-01 -2.69087513e-03 3.90357333e+02] [-1.06964807e-01 9.94262774e-01 2.55933056e-04 -2.54544628e+01] [ 2.70281288e-03 3.33651601e-05 9.99996347e-01 -1.78394875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.370281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.39, Y:-25.46, Z:-1.78 [[ 9.94197865e-01 1.07525344e-01 -2.98424935e-03 3.90385629e+02] [-1.07524977e-01 9.94202343e-01 2.83714053e-04 -2.54564842e+01] [ 2.99745415e-03 3.88134371e-05 9.99995507e-01 -1.78456765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40028169299995 meters Centerline goodness [0,1] 0.9999785747953893 Centerline is valid? [True, True] Translation: X:390.41, Y:-25.46, Z:-1.79 [[ 9.94057437e-01 1.08802426e-01 -3.44157444e-03 3.90414788e+02] [-1.08801945e-01 9.94063393e-01 3.27084770e-04 -2.54582336e+01] [ 3.45673078e-03 4.93089465e-05 9.99994024e-01 -1.78545905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.430281693 meters Centerline goodness [0,1] 0.9999788054766648 Centerline is valid? [True, True] Translation: X:390.44, Y:-25.46, Z:-1.78 [[ 9.93727468e-01 1.11801450e-01 -2.48082961e-03 3.90444404e+02] [-1.11801210e-01 9.93730564e-01 2.35721262e-04 -2.54598230e+01] [ 2.49163019e-03 4.31170607e-05 9.99996895e-01 -1.78377501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46028169299996 meters Centerline goodness [0,1] 0.9999365025610634 Centerline is valid? [True, True] Translation: X:390.47, Y:-25.46, Z:-1.78 [[ 9.93569829e-01 1.13209496e-01 -1.61384081e-03 3.90474381e+02] [-1.13209396e-01 9.93571139e-01 1.53331320e-04 -2.54595576e+01] [ 1.62082421e-03 3.03565710e-05 9.99998686e-01 -1.78225298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.490281693 meters Centerline goodness [0,1] 0.999872670939264 Centerline is valid? [True, True] Translation: X:390.50, Y:-25.46, Z:-1.78 [[ 9.93304084e-01 1.15525052e-01 -9.79460025e-04 3.90504132e+02] [-1.15525017e-01 9.93304567e-01 9.30020540e-05 -2.54575764e+01] [ 9.83646182e-04 2.07728158e-05 9.99999516e-01 -1.78100643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52028169299996 meters Centerline goodness [0,1] 0.9999571743645747 Centerline is valid? [True, True] Translation: X:390.53, Y:-25.46, Z:-1.78 [[ 9.93224204e-01 1.16205858e-01 -1.37098395e-03 3.90532823e+02] [-1.16205789e-01 9.93225150e-01 1.30125930e-04 -2.54554662e+01] [ 1.37681713e-03 3.00720478e-05 9.99999052e-01 -1.78221500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.550281693 meters Centerline goodness [0,1] 0.9999142127951616 Centerline is valid? [True, True] Translation: X:390.56, Y:-25.46, Z:-1.78 [[ 9.93143854e-01 1.16887904e-01 -1.58223230e-03 3.90562578e+02] [-1.16887813e-01 9.93145114e-01 1.50175345e-04 -2.54556042e+01] [ 1.58893996e-03 3.57979527e-05 9.99998737e-01 -1.78282002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58028169299996 meters Centerline goodness [0,1] 0.9998314441026506 Centerline is valid? [True, True] Translation: X:390.59, Y:-25.45, Z:-1.79 [[ 9.93071974e-01 1.17478203e-01 -2.63173828e-03 3.90591904e+02] [-1.17477954e-01 9.93075459e-01 2.49704692e-04 -2.54523994e+01] [ 2.64284956e-03 6.11964961e-05 9.99996506e-01 -1.78541512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.610281693 meters Centerline goodness [0,1] 0.9998942201912498 Centerline is valid? [True, True] Translation: X:390.62, Y:-25.46, Z:-1.79 [[ 9.93164554e-01 1.16675689e-01 -3.30927176e-03 3.90620974e+02] [-1.16675291e-01 9.93170065e-01 3.13896382e-04 -2.54567983e+01] [ 3.32329373e-03 7.43594852e-05 9.99994475e-01 -1.78571163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.65, Y:-25.46, Z:-1.79 [[ 9.93469554e-01 1.14037108e-01 -3.71257587e-03 3.90649996e+02] [-1.14036588e-01 9.93476488e-01 3.52099766e-04 -2.54601048e+01] [ 3.72850928e-03 7.35690882e-05 9.99993046e-01 -1.78615747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67028169299994 meters Centerline goodness [0,1] 0.9998933378842503 Centerline is valid? [True, True] Translation: X:390.68, Y:-25.47, Z:-1.78 [[ 9.93652961e-01 1.12443191e-01 -3.21290303e-03 3.90678984e+02] [-1.12442794e-01 9.93658153e-01 3.04629881e-04 -2.54664776e+01] [ 3.22678084e-03 5.85714085e-05 9.99994792e-01 -1.78474061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70028169299997 meters Centerline goodness [0,1] 0.99997875775342 Centerline is valid? [True, True] Translation: X:390.71, Y:-25.47, Z:-1.78 [[ 9.93972868e-01 1.09619120e-01 -1.25941722e-03 3.90707614e+02] [-1.09619057e-01 9.93973666e-01 1.19353165e-04 -2.54724075e+01] [ 1.26491094e-03 1.94223203e-05 9.99999200e-01 -1.78061916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.74, Y:-25.48, Z:-1.78 [[ 9.94041264e-01 1.09002894e-01 -5.78350206e-04 3.90737370e+02] [-1.09002880e-01 9.94041432e-01 5.47702393e-05 -2.54751292e+01] [ 5.80874182e-04 8.59796028e-06 9.99999831e-01 -1.77918871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.77, Y:-25.48, Z:-1.78 [[ 9.94100658e-01 1.08460146e-01 -5.28415890e-04 3.90766794e+02] [-1.08460134e-01 9.94100798e-01 5.00554439e-05 -2.54760989e+01] [ 5.30727679e-04 7.55190875e-06 9.99999859e-01 -1.78016937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.79028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.80, Y:-25.48, Z:-1.78 [[ 9.94109602e-01 1.08365847e-01 -1.71520502e-03 3.90795796e+02] [-1.08365728e-01 9.94111082e-01 1.62463189e-04 -2.54812191e+01] [ 1.72270977e-03 2.43632238e-05 9.99998516e-01 -1.78261107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82028169299997 meters Centerline goodness [0,1] 0.9998932650229481 Centerline is valid? [True, True] Translation: X:390.82, Y:-25.48, Z:-1.79 [[ 9.94114043e-01 1.08294818e-01 -3.08262738e-03 3.90824721e+02] [-1.08294433e-01 9.94118821e-01 2.91890155e-04 -2.54834001e+01] [ 3.09610809e-03 4.36592826e-05 9.99995206e-01 -1.78577760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.85028169299994 meters Centerline goodness [0,1] 0.9998932650229481 Centerline is valid? [True, True] Translation: X:390.85, Y:-25.49, Z:-1.79 [[ 9.94118915e-01 1.08250078e-01 -3.08264244e-03 3.90852937e+02] [-1.08249694e-01 9.94123694e-01 2.91731043e-04 -2.54859789e+01] [ 3.09610780e-03 4.36797532e-05 9.99995206e-01 -1.78583723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.880281693 meters Centerline goodness [0,1] 0.9999577970035872 Centerline is valid? [True, True] Translation: X:390.88, Y:-25.49, Z:-1.79 [[ 9.94079994e-01 1.08560569e-01 -4.42354818e-03 3.90880839e+02] [-1.08559782e-01 9.94089834e-01 4.18471783e-04 -2.54897319e+01] [ 4.44283381e-03 6.42249974e-05 9.99990129e-01 -1.78775321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.91028169299994 meters Centerline goodness [0,1] 0.999978688943824 Centerline is valid? [True, True] Translation: X:390.91, Y:-25.49, Z:-1.78 [[ 9.93994539e-01 1.09371484e-01 -3.56861246e-03 3.90910406e+02] [-1.09370977e-01 9.94000943e-01 3.37536322e-04 -2.54933474e+01] [ 3.58412100e-03 5.47933707e-05 9.99993576e-01 -1.78471765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.940281693 meters Centerline goodness [0,1] 0.9999785084891468 Centerline is valid? [True, True] Translation: X:390.94, Y:-25.49, Z:-1.78 [[ 9.93653893e-01 1.12480841e-01 -2.41531318e-05 3.90940304e+02] [-1.12480841e-01 9.93653894e-01 2.23456220e-06 -2.54900318e+01] [ 2.42511989e-05 4.96383146e-07 1.00000000e+00 -1.77878346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.97028169299995 meters Centerline goodness [0,1] 0.9999360899853007 Centerline is valid? [True, True] Translation: X:390.97, Y:-25.48, Z:-1.77 [[ 9.93370664e-01 1.14932317e-01 2.29931838e-03 3.90969435e+02] [-1.14932121e-01 9.93373324e-01 -2.17450670e-04 -2.54835241e+01] [-2.30907366e-03 -4.82564229e-05 9.99997333e-01 -1.77477725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.000281693 meters Centerline goodness [0,1] 0.9989264739933063 Centerline is valid? [True, True] Translation: X:391.00, Y:-25.47, Z:-1.77 [[ 9.92452966e-01 1.22552650e-01 4.23778950e-03 3.91000619e+02] [-1.22552056e-01 9.92462006e-01 -4.00615569e-04 -2.54701140e+01] [-4.25494156e-03 -1.21757706e-04 9.99990940e-01 -1.77018398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.03028169299995 meters Centerline goodness [0,1] 0.9975815690101404 Centerline is valid? [True, True] Translation: X:391.03, Y:-25.46, Z:-1.77 [[ 9.91884776e-01 1.27075935e-01 4.03716333e-03 3.91032030e+02] [-1.27075433e-01 9.91892982e-01 -3.81628194e-04 -2.54632258e+01] [-4.05292973e-03 -1.34493082e-04 9.99991778e-01 -1.77055513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.060281693 meters Centerline goodness [0,1] 0.9980876697193124 Centerline is valid? [True, True] Translation: X:391.06, Y:-25.47, Z:-1.77 [[ 9.91376199e-01 1.31012273e-01 3.00260649e-03 3.91062431e+02] [-1.31012014e-01 9.91380740e-01 -2.83833039e-04 -2.54656407e+01] [-3.01391185e-03 -1.11992204e-04 9.99995452e-01 -1.77299579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.09028169299995 meters Centerline goodness [0,1] 0.9912581091141125 Centerline is valid? [True, True] Translation: X:391.09, Y:-25.45, Z:-1.78 [[ 9.90711075e-01 1.35983693e-01 -4.04245296e-05 3.91093728e+02] [-1.35983693e-01 9.90711076e-01 3.82177977e-06 -2.54480851e+01] [ 4.05687289e-05 1.71079726e-06 9.99999999e-01 -1.78012012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.120281693 meters Centerline goodness [0,1] 0.9889973492657887 Centerline is valid? [True, True] Translation: X:391.12, Y:-25.45, Z:-1.78 [[ 9.90643847e-01 1.36462857e-01 -1.63029571e-03 3.91122403e+02] [-1.36462788e-01 9.90645186e-01 1.53950931e-04 -2.54473183e+01] [ 1.63605318e-03 6.99641550e-05 9.99998659e-01 -1.78369541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.15028169299995 meters Centerline goodness [0,1] 0.9963064967228165 Centerline is valid? [True, True] Translation: X:391.15, Y:-25.45, Z:-1.79 [[ 9.90806892e-01 1.35228333e-01 -3.87305503e-03 3.91150829e+02] [-1.35227934e-01 9.90814449e-01 3.65682442e-04 -2.54536877e+01] [ 3.88692952e-03 1.61424549e-04 9.99992433e-01 -1.78805200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.180281693 meters Centerline goodness [0,1] 0.9806484467832286 Centerline is valid? [True, True] Translation: X:391.18, Y:-25.45, Z:-1.79 [[ 9.90972629e-01 1.34007009e-01 -3.92053932e-03 3.91179633e+02] [-1.34006592e-01 9.90980371e-01 3.69925033e-04 -2.54475620e+01] [ 3.93475006e-03 1.58792532e-04 9.99992246e-01 -1.78942462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.21028169299996 meters Centerline goodness [0,1] 0.9898322318251144 Centerline is valid? [True, True] Translation: X:391.21, Y:-25.45, Z:-1.79 [[ 9.91193213e-01 1.32392599e-01 -2.86607691e-03 3.91209129e+02] [-1.32392370e-01 9.91197350e-01 2.70413132e-04 -2.54521568e+01] [ 2.87664854e-03 1.11415055e-04 9.99995856e-01 -1.78782688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.240281693 meters Centerline goodness [0,1] 0.9991092258748674 Centerline is valid? [True, True] Translation: X:391.24, Y:-25.47, Z:-1.78 [[ 9.91793285e-01 1.27851641e-01 -1.93065354e-04 3.91237741e+02] [-1.27851639e-01 9.91793304e-01 1.82137098e-05 -2.54740333e+01] [ 1.93809578e-04 6.61948694e-06 9.99999981e-01 -1.78015258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.27028169299996 meters Centerline goodness [0,1] 0.9993424680778857 Centerline is valid? [True, True] Translation: X:391.27, Y:-25.48, Z:-1.78 [[ 9.92105524e-01 1.25405852e-01 -4.12582757e-05 3.91266076e+02] [-1.25405852e-01 9.92105525e-01 3.81759826e-06 -2.54769216e+01] [ 4.14113125e-05 1.38656888e-06 9.99999999e-01 -1.77984743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.300281693 meters Centerline goodness [0,1] 0.9995763160682131 Centerline is valid? [True, True] Translation: X:391.30, Y:-25.48, Z:-1.79 [[ 9.92578037e-01 1.21595097e-01 -1.86368282e-03 3.91295113e+02] [-1.21594982e-01 9.92579785e-01 1.75749751e-04 -2.54763784e+01] [ 1.87122420e-03 5.21691352e-05 9.99998248e-01 -1.78507260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.33028169299996 meters Centerline goodness [0,1] 0.9997892918097726 Centerline is valid? [True, True] Translation: X:391.32, Y:-25.49, Z:-1.79 [[ 9.92737152e-01 1.20269303e-01 -2.87087509e-03 3.91323427e+02] [-1.20269023e-01 9.92741300e-01 2.70535178e-04 -2.54869329e+01] [ 2.88257335e-03 7.67070206e-05 9.99995842e-01 -1.78645986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.360281693 meters Centerline goodness [0,1] 0.9999355739289165 Centerline is valid? [True, True] Translation: X:391.35, Y:-25.49, Z:-1.79 [[ 9.92986931e-01 1.18164266e-01 -3.76305916e-03 3.91352067e+02] [-1.18163772e-01 9.92994057e-01 3.54337768e-04 -2.54941160e+01] [ 3.77856544e-03 9.28044907e-05 9.99992857e-01 -1.78752594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39028169299996 meters Centerline goodness [0,1] 0.9999149225795474 Centerline is valid? [True, True] Translation: X:391.38, Y:-25.50, Z:-1.79 [[ 9.93565220e-01 1.13178512e-01 -4.33334475e-03 3.91380485e+02] [-1.13177809e-01 9.93574666e-01 4.08050845e-04 -2.55046038e+01] [ 4.35168415e-03 8.50133357e-05 9.99990528e-01 -1.78833535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42028169299994 meters Centerline goodness [0,1] 0.9999788063750424 Centerline is valid? [True, True] Translation: X:391.41, Y:-25.51, Z:-1.79 [[ 9.94044008e-01 1.08963641e-01 -1.85367798e-03 3.91408433e+02] [-1.08963505e-01 9.94045735e-01 1.74437256e-04 -2.55131604e+01] [ 1.86164801e-03 2.85849413e-05 9.99998267e-01 -1.78522441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.45028169299997 meters Centerline goodness [0,1] 0.9999363665287941 Centerline is valid? [True, True] Translation: X:391.44, Y:-25.52, Z:-1.78 [[ 9.94137212e-01 1.08118806e-01 -1.23572695e-03 3.91437119e+02] [-1.08118745e-01 9.94137980e-01 1.16217291e-04 -2.55215923e+01] [ 1.24104837e-03 1.80693138e-05 9.99999230e-01 -1.78361014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48028169299994 meters Centerline goodness [0,1] 0.9999140487343676 Centerline is valid? [True, True] Translation: X:391.47, Y:-25.53, Z:-1.78 [[ 9.94165497e-01 1.07853399e-01 -1.61491529e-03 3.91465277e+02] [-1.07853294e-01 9.94166809e-01 1.51802426e-04 -2.55252682e+01] [ 1.62186758e-03 2.32571994e-05 9.99998685e-01 -1.78397761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.51028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.49, Y:-25.53, Z:-1.79 [[ 9.94045665e-01 1.08919055e-01 -3.13916447e-03 3.91493672e+02] [-1.08918667e-01 9.94050621e-01 2.95089295e-04 -2.55271099e+01] [ 3.15262924e-03 4.85813737e-05 9.99995029e-01 -1.78688995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.52, Y:-25.53, Z:-1.79 [[ 9.93937560e-01 1.09903709e-01 -3.04981697e-03 3.91522469e+02] [-1.09903347e-01 9.93942238e-01 2.86524736e-04 -2.55292147e+01] [ 3.06283204e-03 5.03973971e-05 9.99995308e-01 -1.78651483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.57028169299997 meters Centerline goodness [0,1] 0.9999574612897737 Centerline is valid? [True, True] Translation: X:391.55, Y:-25.53, Z:-1.79 [[ 9.93764578e-01 1.11476623e-01 -2.21951617e-03 3.91550654e+02] [-1.11476435e-01 9.93767056e-01 2.08343056e-04 -2.55311170e+01] [ 2.22890742e-03 4.03798008e-05 9.99997515e-01 -1.78610598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60028169299994 meters Centerline goodness [0,1] 0.999978700291806 Centerline is valid? [True, True] Translation: X:391.58, Y:-25.53, Z:-1.79 [[ 9.93772447e-01 1.11417599e-01 -1.56268469e-03 3.91579771e+02] [-1.11417506e-01 9.93773675e-01 1.46646227e-04 -2.55348511e+01] [ 1.56929388e-03 2.83774519e-05 9.99998768e-01 -1.78528069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.630281693 meters Centerline goodness [0,1] 0.9999789615416982 Centerline is valid? [True, True] Translation: X:391.61, Y:-25.54, Z:-1.79 [[ 9.93865518e-01 1.10585107e-01 -1.50506599e-03 3.91607857e+02] [-1.10585020e-01 9.93866658e-01 1.41144863e-04 -2.55384573e+01] [ 1.51144342e-03 2.61587397e-05 9.99998857e-01 -1.78532883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66028169299994 meters Centerline goodness [0,1] 0.9999785844308813 Centerline is valid? [True, True] Translation: X:391.64, Y:-25.54, Z:-1.79 [[ 9.94136919e-01 1.08086742e-01 -3.00699147e-03 3.91636642e+02] [-1.08086383e-01 9.94141466e-01 2.82070377e-04 -2.55444499e+01] [ 3.01986298e-03 4.45982569e-05 9.99995439e-01 -1.78759963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.690281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.67, Y:-25.55, Z:-1.79 [[ 9.94296909e-01 1.06603857e-01 -3.04528141e-03 3.91666122e+02] [-1.06603482e-01 9.94301572e-01 2.85652115e-04 -2.55492868e+01] [ 3.05837971e-03 4.06145851e-05 9.99995322e-01 -1.78763406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.70, Y:-25.56, Z:-1.78 [[ 9.94558458e-01 1.04166676e-01 -1.66643468e-03 3.91695216e+02] [-1.04166560e-01 9.94559854e-01 1.56233944e-04 -2.55594138e+01] [ 1.67364340e-03 1.82029784e-05 9.99998599e-01 -1.78257308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.750281693 meters Centerline goodness [0,1] 0.999957670165933 Centerline is valid? [True, True] Translation: X:391.72, Y:-25.56, Z:-1.78 [[ 9.94678989e-01 1.03018114e-01 -9.88089150e-04 3.91724044e+02] [-1.03018073e-01 9.94679480e-01 9.25538650e-05 -2.55614193e+01] [ 9.92366727e-04 9.72965537e-06 9.99999508e-01 -1.78203843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78028169299995 meters Centerline goodness [0,1] 0.9999141538791716 Centerline is valid? [True, True] Translation: X:391.75, Y:-25.57, Z:-1.78 [[ 9.94936039e-01 1.00507346e-01 -7.43243225e-04 3.91753801e+02] [-1.00507322e-01 9.94936316e-01 6.96773367e-05 -2.55689431e+01] [ 7.46482760e-04 5.37689270e-06 9.99999721e-01 -1.78184097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.810281693 meters Centerline goodness [0,1] 0.999915697184286 Centerline is valid? [True, True] Translation: X:391.78, Y:-25.57, Z:-1.78 [[ 9.95108579e-01 9.87818539e-02 -1.03044014e-03 3.91782611e+02] [-9.87818069e-02 9.95109112e-01 9.65627010e-05 -2.55726748e+01] [ 1.03493902e-03 5.69836675e-06 9.99999464e-01 -1.78308274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84028169299995 meters Centerline goodness [0,1] 0.9999149479055922 Centerline is valid? [True, True] Translation: X:391.81, Y:-25.58, Z:-1.78 [[ 9.95294704e-01 9.68874850e-02 -1.12548306e-03 3.91811832e+02] [-9.68874277e-02 9.95295341e-01 1.05423698e-04 -2.55786238e+01] [ 1.13040228e-03 4.11751007e-06 9.99999361e-01 -1.78299199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.870281693 meters Centerline goodness [0,1] 0.9998518549871961 Centerline is valid? [True, True] Translation: X:391.84, Y:-25.59, Z:-1.78 [[ 9.95756334e-01 9.20241917e-02 -9.33977686e-04 3.91841257e+02] [-9.20241501e-02 9.95756772e-01 8.75599790e-05 -2.55898211e+01] [ 9.38072242e-04 -1.23990088e-06 9.99999560e-01 -1.78226672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90028169299995 meters Centerline goodness [0,1] 0.9997220024378248 Centerline is valid? [True, True] Translation: X:391.87, Y:-25.60, Z:-1.78 [[ 9.95966164e-01 8.97229211e-02 -1.09445671e-03 3.91872273e+02] [-8.97228625e-02 9.95966765e-01 1.02649400e-04 -2.55977879e+01] [ 1.09925251e-03 -4.03754035e-06 9.99999396e-01 -1.78233260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.930281693 meters Centerline goodness [0,1] 0.9997641104820724 Centerline is valid? [True, True] Translation: X:391.90, Y:-25.61, Z:-1.78 [[ 9.96297619e-01 8.59473433e-02 -2.02671630e-03 3.91903215e+02] [-8.59471332e-02 9.96299681e-01 1.90702723e-04 -2.56079367e+01] [ 2.03560719e-03 -1.58062133e-05 9.99997928e-01 -1.78324228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96028169299996 meters Centerline goodness [0,1] 0.9998290050229774 Centerline is valid? [True, True] Translation: X:391.93, Y:-25.61, Z:-1.78 [[ 9.96387230e-01 8.49026993e-02 -2.00510329e-03 3.91932756e+02] [-8.49024921e-02 9.96389247e-01 1.88364344e-04 -2.56130050e+01] [ 2.01385599e-03 -1.74455608e-05 9.99997972e-01 -1.78355048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.990281693 meters Centerline goodness [0,1] 0.9997009058280636 Centerline is valid? [True, True] Translation: X:391.96, Y:-25.62, Z:-1.78 [[ 9.96455205e-01 8.41113453e-02 -1.51853992e-03 3.91962135e+02] [-8.41112255e-02 9.96456362e-01 1.42679255e-04 -2.56202226e+01] [ 1.52515971e-03 -1.44472333e-05 9.99998837e-01 -1.78402256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02028169299996 meters Centerline goodness [0,1] 0.9994728963292501 Centerline is valid? [True, True] Translation: X:391.99, Y:-25.63, Z:-1.78 [[ 9.96589876e-01 8.25077448e-02 1.04428715e-03 3.91993319e+02] [-8.25076874e-02 9.96590423e-01 -9.79401407e-05 -2.56284888e+01] [-1.04880739e-03 1.14444348e-05 9.99999450e-01 -1.77963986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.050281693 meters Centerline goodness [0,1] 0.9995353748680043 Centerline is valid? [True, True] Translation: X:392.02, Y:-25.64, Z:-1.78 [[ 9.96783809e-01 8.01375254e-02 1.26558659e-04 3.92024879e+02] [-8.01375246e-02 9.96783817e-01 -1.15850608e-05 -2.56377427e+01] [-1.27080022e-04 1.40570337e-06 9.99999992e-01 -1.78032393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08028169299996 meters Centerline goodness [0,1] 0.9995509846265689 Centerline is valid? [True, True] Translation: X:392.06, Y:-25.64, Z:-1.78 [[ 9.96859783e-01 7.91721180e-02 -1.53262513e-03 3.92056706e+02] [-7.91719885e-02 9.96860961e-01 1.45071134e-04 -2.56440689e+01] [ 1.53929975e-03 -2.32745997e-05 9.99998815e-01 -1.78319510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11028169299993 meters Centerline goodness [0,1] 0.9996349973161567 Centerline is valid? [True, True] Translation: X:392.09, Y:-25.65, Z:-1.79 [[ 9.96918396e-01 7.83905216e-02 -2.93888259e-03 3.92088175e+02] [-7.83900416e-02 9.96922727e-01 2.78359764e-04 -2.56501801e+01] [ 2.95165962e-03 -4.71228410e-05 9.99995643e-01 -1.78571628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14028169299996 meters Centerline goodness [0,1] 0.9994231508780925 Centerline is valid? [True, True] Translation: X:392.12, Y:-25.66, Z:-1.79 [[ 9.96991347e-01 7.73980483e-02 -4.21861855e-03 3.92118386e+02] [-7.73970483e-02 9.97000269e-01 4.00048173e-04 -2.56603433e+01] [ 4.23692677e-03 -7.23359435e-05 9.99991022e-01 -1.78956846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17028169299994 meters Centerline goodness [0,1] 0.9992796762780449 Centerline is valid? [True, True] Translation: X:392.15, Y:-25.67, Z:-1.79 [[ 9.96981339e-01 7.75202240e-02 -4.33870930e-03 3.92150244e+02] [-7.75191641e-02 9.96990777e-01 4.12165863e-04 -2.56665509e+01] [ 4.35760435e-03 -7.45885560e-05 9.99990503e-01 -1.78997331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20028169299997 meters Centerline goodness [0,1] 0.9995118845500849 Centerline is valid? [True, True] Translation: X:392.18, Y:-25.67, Z:-1.79 [[ 9.96868194e-01 7.89306091e-02 -4.87462441e-03 3.92180630e+02] [-7.89292868e-02 9.96880110e-01 4.63345305e-04 -2.56735969e+01] [ 4.89598825e-03 -7.71435693e-05 9.99988012e-01 -1.79002122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23028169299994 meters Centerline goodness [0,1] 0.99957471239926 Centerline is valid? [True, True] Translation: X:392.21, Y:-25.68, Z:-1.79 [[ 9.96761731e-01 8.02677877e-02 -4.80970269e-03 3.92211566e+02] [-8.02665119e-02 9.96773333e-01 4.58015517e-04 -2.56771657e+01] [ 4.83094727e-03 -7.04742821e-05 9.99988328e-01 -1.79014958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26028169299997 meters Centerline goodness [0,1] 0.9997048592811215 Centerline is valid? [True, True] Translation: X:392.24, Y:-25.68, Z:-1.79 [[ 9.96442738e-01 8.41508507e-02 -4.52805951e-03 3.92242880e+02] [-8.41497607e-02 9.96453025e-01 4.31052673e-04 -2.56779121e+01] [ 4.54827204e-03 -4.84841816e-05 9.99989655e-01 -1.78914498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29028169299994 meters Centerline goodness [0,1] 0.9998513295386968 Centerline is valid? [True, True] Translation: X:392.28, Y:-25.68, Z:-1.79 [[ 9.96166567e-01 8.73850280e-02 -4.00336755e-03 3.92275485e+02] [-8.73841980e-02 9.96174611e-01 3.82099212e-04 -2.56772094e+01] [ 4.02144287e-03 -3.08033978e-05 9.99991913e-01 -1.78745386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32028169299997 meters Centerline goodness [0,1] 0.9998938676742162 Centerline is valid? [True, True] Translation: X:392.31, Y:-25.68, Z:-1.79 [[ 9.95861831e-01 9.08207783e-02 -3.28635242e-03 3.92306857e+02] [-9.08202359e-02 9.95867253e-01 3.14218157e-04 -2.56779229e+01] [ 3.30130830e-03 -1.44505666e-05 9.99994551e-01 -1.78615684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35028169299994 meters Centerline goodness [0,1] 0.9999786297388554 Centerline is valid? [True, True] Translation: X:392.34, Y:-25.68, Z:-1.78 [[ 9.95376920e-01 9.60434931e-02 -6.58529893e-04 3.92337558e+02] [-9.60434725e-02 9.95377138e-01 6.29298273e-05 -2.56758799e+01] [ 6.61529601e-04 6.08599942e-07 9.99999781e-01 -1.78082762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.380281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.37, Y:-25.68, Z:-1.78 [[ 9.95067536e-01 9.91943641e-02 -1.03746671e-03 3.92368860e+02] [-9.91943142e-02 9.95068077e-01 9.95699300e-05 -2.56773748e+01] [ 1.04222678e-03 3.83199391e-06 9.99999457e-01 -1.78315676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.40, Y:-25.68, Z:-1.78 [[ 9.94949272e-01 1.00369927e-01 -1.35057807e-03 3.92400926e+02] [-1.00369843e-01 9.94950189e-01 1.29759474e-04 -2.56810849e+01] [ 1.35678185e-03 6.45321481e-06 9.99999080e-01 -1.78432685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.440281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.43, Y:-25.69, Z:-1.78 [[ 9.94882632e-01 1.01035357e-01 -6.36314206e-04 3.92433041e+02] [-1.01035338e-01 9.94882836e-01 6.14136197e-05 -2.56852853e+01] [ 6.39263029e-04 3.19087755e-06 9.99999796e-01 -1.78340351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.46, Y:-25.69, Z:-1.78 [[ 9.94694694e-01 1.02871102e-01 4.28481226e-05 3.92463820e+02] [-1.02871102e-01 9.94694695e-01 -3.81244632e-06 -2.56881011e+01] [-4.30129907e-05 -6.15613442e-07 9.99999999e-01 -1.78049865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.500281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.50, Y:-25.69, Z:-1.78 [[ 9.94593554e-01 1.03844373e-01 -8.75841403e-05 3.92496102e+02] [-1.03844373e-01 9.94593558e-01 8.76075504e-06 -2.56915858e+01] [ 8.80203769e-05 3.81729646e-07 9.99999996e-01 -1.78097444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.53028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.53, Y:-25.69, Z:-1.78 [[ 9.94279837e-01 1.06799575e-01 -1.20719410e-03 3.92528204e+02] [-1.06799512e-01 9.94280569e-01 1.16786099e-04 -2.56947934e+01] [ 1.21276234e-03 1.28096765e-05 9.99999265e-01 -1.78166961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.560281693 meters Centerline goodness [0,1] 0.9999575317450206 Centerline is valid? [True, True] Translation: X:392.56, Y:-25.69, Z:-1.78 [[ 9.93967306e-01 1.09672523e-01 -9.65764208e-04 3.92559884e+02] [-1.09672483e-01 9.93967775e-01 9.36173298e-05 -2.56912301e+01] [ 9.70205750e-04 1.28651940e-05 9.99999529e-01 -1.78163985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.59, Y:-25.69, Z:-1.78 [[ 9.93522979e-01 1.13631164e-01 2.18868495e-04 3.92591211e+02] [-1.13631162e-01 9.93523004e-01 -2.10994512e-05 -2.56910676e+01] [-2.19848439e-04 -3.90749175e-06 9.99999976e-01 -1.77913137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.620281693 meters Centerline goodness [0,1] 0.9995557154039816 Centerline is valid? [True, True] Translation: X:392.62, Y:-25.67, Z:-1.78 [[ 9.92403900e-01 1.23011537e-01 1.63123974e-03 3.92623024e+02] [-1.23011444e-01 9.92405240e-01 -1.57636093e-04 -2.56680421e+01] [-1.63824192e-03 -4.42224820e-05 9.99998657e-01 -1.77803914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65028169299995 meters Centerline goodness [0,1] 0.9991755628369094 Centerline is valid? [True, True] Translation: X:392.65, Y:-25.66, Z:-1.78 [[ 9.91758956e-01 1.28114100e-01 9.74660297e-04 3.92654368e+02] [-1.28114070e-01 9.91759435e-01 -9.41769890e-05 -2.56605489e+01] [-9.78693945e-04 -3.14668249e-05 9.99999521e-01 -1.77941721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.680281693 meters Centerline goodness [0,1] 0.998390478409115 Centerline is valid? [True, True] Translation: X:392.69, Y:-25.65, Z:-1.78 [[ 9.90729072e-01 1.35842600e-01 -1.64142482e-03 3.92685081e+02] [-1.35842523e-01 9.90730429e-01 1.58546619e-04 -2.56523401e+01] [ 1.64774690e-03 6.58985441e-05 9.99998640e-01 -1.78352629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71028169299996 meters Centerline goodness [0,1] 0.9964439493584113 Centerline is valid? [True, True] Translation: X:392.71, Y:-25.65, Z:-1.79 [[ 9.90500735e-01 1.37477194e-01 -2.88365678e-03 3.92714482e+02] [-1.37476965e-01 9.90504925e-01 2.78404199e-04 -2.56460072e+01] [ 2.89455048e-03 1.20676819e-04 9.99995803e-01 -1.78560118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.740281693 meters Centerline goodness [0,1] 0.9964439493584113 Centerline is valid? [True, True] Translation: X:392.74, Y:-25.65, Z:-1.79 [[ 9.90506838e-01 1.37433213e-01 -2.88367128e-03 3.92742714e+02] [-1.37432984e-01 9.90511028e-01 2.78254028e-04 -2.56486426e+01] [ 2.89454955e-03 1.20699033e-04 9.99995803e-01 -1.78566086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77028169299996 meters Centerline goodness [0,1] 0.9976820145400906 Centerline is valid? [True, True] Translation: X:392.77, Y:-25.65, Z:-1.79 [[ 9.90418039e-01 1.38065453e-01 -3.16826617e-03 3.92772274e+02] [-1.38065181e-01 9.90423098e-01 3.05576052e-04 -2.56454052e+01] [ 3.18011349e-03 1.34779207e-04 9.99994934e-01 -1.78613544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.800281693 meters Centerline goodness [0,1] 0.9959282351444204 Centerline is valid? [True, True] Translation: X:392.80, Y:-25.64, Z:-1.79 [[ 9.90535661e-01 1.37232943e-01 -2.49471900e-03 3.92800694e+02] [-1.37232772e-01 9.90538797e-01 2.40426644e-04 -2.56407748e+01] [ 2.50411042e-03 1.04206039e-04 9.99996859e-01 -1.78547709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83028169299996 meters Centerline goodness [0,1] 0.9981533367294957 Centerline is valid? [True, True] Translation: X:392.83, Y:-25.64, Z:-1.78 [[ 9.90897204e-01 1.34604623e-01 -2.08006453e-03 3.92830780e+02] [-1.34604499e-01 9.90899384e-01 2.00517552e-04 -2.56400345e+01] [ 2.08812525e-03 8.12937621e-05 9.99997817e-01 -1.78468438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86028169299993 meters Centerline goodness [0,1] 0.9989339246497942 Centerline is valid? [True, True] Translation: X:392.86, Y:-25.64, Z:-1.79 [[ 9.91095833e-01 1.33135823e-01 -1.97558034e-03 3.92859988e+02] [-1.33135708e-01 9.91097799e-01 1.90326576e-04 -2.56438023e+01] [ 1.98333261e-03 7.43884109e-05 9.99998030e-01 -1.78522117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.89028169299996 meters Centerline goodness [0,1] 0.9993856713129687 Centerline is valid? [True, True] Translation: X:392.89, Y:-25.65, Z:-1.79 [[ 9.91317927e-01 1.31462280e-01 -2.53690943e-03 3.92888988e+02] [-1.31462085e-01 9.91321169e-01 2.44282224e-04 -2.56452026e+01] [ 2.54700592e-03 9.13460544e-05 9.99996752e-01 -1.78555141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92028169299994 meters Centerline goodness [0,1] 0.9996817516389791 Centerline is valid? [True, True] Translation: X:392.92, Y:-25.65, Z:-1.79 [[ 9.91794584e-01 1.27784733e-01 -3.81631201e-03 3.92917972e+02] [-1.27784264e-01 9.91801919e-01 3.67487064e-04 -2.56460800e+01] [ 3.83198482e-03 1.23192941e-04 9.99992650e-01 -1.78745510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.95028169299997 meters Centerline goodness [0,1] 0.9995993927637682 Centerline is valid? [True, True] Translation: X:392.95, Y:-25.65, Z:-1.79 [[ 9.92078697e-01 1.25521246e-01 -4.92713140e-03 3.92946470e+02] [-1.25520438e-01 9.92090921e-01 4.74190841e-04 -2.56462688e+01] [ 4.94768335e-03 1.48021058e-04 9.99987749e-01 -1.79027603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98028169299994 meters Centerline goodness [0,1] 0.9999145445223039 Centerline is valid? [True, True] Translation: X:392.98, Y:-25.65, Z:-1.79 [[ 9.92724256e-01 1.20277728e-01 -5.64095180e-03 3.92976240e+02] [-1.20276584e-01 9.92740272e-01 5.42912040e-04 -2.56528014e+01] [ 5.66530025e-03 1.39512462e-04 9.99983942e-01 -1.79135744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.01028169299997 meters Centerline goodness [0,1] 0.9999785439955372 Centerline is valid? [True, True] Translation: X:393.00, Y:-25.66, Z:-1.79 [[ 9.93027976e-01 1.17774613e-01 -4.95766760e-03 3.93004456e+02] [-1.17773700e-01 9.93040346e-01 4.76827658e-04 -2.56605369e+01] [ 4.97932214e-03 1.10379650e-04 9.99987597e-01 -1.78860382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04028169299994 meters Centerline goodness [0,1] 0.9999151193633953 Centerline is valid? [True, True] Translation: X:393.03, Y:-25.66, Z:-1.79 [[ 9.93476239e-01 1.13973484e-01 -3.87407293e-03 3.93033377e+02] [-1.13972897e-01 9.93483789e-01 3.72543226e-04 -2.56627878e+01] [ 3.89128871e-03 7.14264727e-05 9.99992426e-01 -1.78703056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.07028169299997 meters Centerline goodness [0,1] 0.9999786256278722 Centerline is valid? [True, True] Translation: X:393.06, Y:-25.67, Z:-1.79 [[ 9.93690513e-01 1.12102378e-01 -3.49578672e-03 3.93061619e+02] [-1.12101890e-01 9.93696661e-01 3.35958520e-04 -2.56676247e+01] [ 3.51141334e-03 5.80455029e-05 9.99993833e-01 -1.78707233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.09, Y:-25.67, Z:-1.79 [[ 9.93942022e-01 1.09858160e-01 -3.23142924e-03 3.93089804e+02] [-1.09857731e-01 9.93947273e-01 3.10392986e-04 -2.56739312e+01] [ 3.24596948e-03 4.64848529e-05 9.99994731e-01 -1.78632846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.130281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.12, Y:-25.69, Z:-1.79 [[ 9.94540990e-01 1.04277331e-01 -3.80220978e-03 3.93118553e+02] [-1.04276696e-01 9.94548258e-01 3.65194518e-04 -2.56857903e+01] [ 3.81956262e-03 3.32809570e-05 9.99992705e-01 -1.78622880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.15, Y:-25.70, Z:-1.78 [[ 9.94887774e-01 1.00941895e-01 -3.00853023e-03 3.93146896e+02] [-1.00941483e-01 9.94892323e-01 2.88882545e-04 -2.56950183e+01] [ 3.02232398e-03 1.62797921e-05 9.99995433e-01 -1.78477196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.190281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.18, Y:-25.71, Z:-1.78 [[ 9.95495933e-01 9.48042281e-02 8.09095656e-05 3.93175637e+02] [-9.48042278e-02 9.95495936e-01 -7.77035170e-06 -2.57114005e+01] [-8.12818059e-05 6.47846280e-08 9.99999997e-01 -1.77912535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22028169299995 meters Centerline goodness [0,1] 0.9999368766569877 Centerline is valid? [True, True] Translation: X:393.21, Y:-25.72, Z:-1.78 [[ 9.95724555e-01 9.23681587e-02 8.56500333e-04 3.93206751e+02] [-9.23681221e-02 9.95724923e-01 -8.22265112e-05 -2.57184743e+01] [-8.60433840e-04 2.76162891e-06 9.99999630e-01 -1.77799679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.250281693 meters Centerline goodness [0,1] 0.9998110117172735 Centerline is valid? [True, True] Translation: X:393.24, Y:-25.73, Z:-1.78 [[ 9.96001036e-01 8.93394697e-02 -6.28761521e-04 3.93237203e+02] [-8.93394491e-02 9.96001235e-01 6.08208716e-05 -2.57281495e+01] [ 6.31680955e-04 -4.40444321e-06 9.99999800e-01 -1.78242860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28028169299995 meters Centerline goodness [0,1] 0.9999576172413063 Centerline is valid? [True, True] Translation: X:393.27, Y:-25.73, Z:-1.78 [[ 9.96105619e-01 8.81501357e-02 -1.77486445e-03 3.93267854e+02] [-8.81499712e-02 9.96107200e-01 1.70859238e-04 -2.57347572e+01] [ 1.78301652e-03 -1.37395970e-05 9.99998410e-01 -1.78427620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.310281693 meters Centerline goodness [0,1] 0.999978646166987 Centerline is valid? [True, True] Translation: X:393.30, Y:-25.74, Z:-1.78 [[ 9.96199403e-01 8.70830074e-02 -1.81641780e-03 3.93298574e+02] [-8.70828333e-02 9.96201059e-01 1.74902998e-04 -2.57413703e+01] [ 1.82474842e-03 -1.60594535e-05 9.99998335e-01 -1.78358862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34028169299995 meters Centerline goodness [0,1] 0.999936106319085 Centerline is valid? [True, True] Translation: X:393.33, Y:-25.75, Z:-1.78 [[ 9.96356165e-01 8.52887867e-02 -4.63166109e-04 3.93328543e+02] [-8.52887750e-02 9.96356273e-01 4.49785139e-05 -2.57519165e+01] [ 4.65314621e-04 -5.31174957e-06 9.99999892e-01 -1.78078652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.370281693 meters Centerline goodness [0,1] 0.9997887666082255 Centerline is valid? [True, True] Translation: X:393.36, Y:-25.76, Z:-1.78 [[ 9.96366314e-01 8.51704879e-02 -3.95082115e-04 3.93360494e+02] [-8.51704793e-02 9.96366392e-01 3.85022419e-05 -2.57577046e+01] [ 3.96925796e-04 -4.71300374e-06 9.99999921e-01 -1.78066490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40028169299995 meters Centerline goodness [0,1] 0.999935834367113 Centerline is valid? [True, True] Translation: X:393.39, Y:-25.76, Z:-1.78 [[ 9.96310914e-01 8.58104175e-02 -1.06506915e-03 3.93391545e+02] [-8.58103564e-02 9.96311483e-01 1.02939611e-04 -2.57633553e+01] [ 1.06997392e-03 -1.11658943e-05 9.99999428e-01 -1.78155732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.430281693 meters Centerline goodness [0,1] 0.999894247038917 Centerline is valid? [True, True] Translation: X:393.42, Y:-25.77, Z:-1.78 [[ 9.96202857e-01 8.70398923e-02 -1.98100738e-03 3.93422213e+02] [-8.70396826e-02 9.96204827e-01 1.91991681e-04 -2.57662421e+01] [ 1.99020005e-03 -1.88364076e-05 9.99998019e-01 -1.78334799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46028169299996 meters Centerline goodness [0,1] 0.9998934606123884 Centerline is valid? [True, True] Translation: X:393.45, Y:-25.77, Z:-1.78 [[ 9.96097852e-01 8.82193713e-02 -2.53197746e-03 3.93453412e+02] [-8.82190333e-02 9.96101070e-01 2.45092415e-04 -2.57682410e+01] [ 2.54372736e-03 -2.07674238e-05 9.99996765e-01 -1.78438835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.490281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.48, Y:-25.77, Z:-1.78 [[ 9.96023089e-01 8.90703799e-02 -2.11500553e-03 3.93484806e+02] [-8.90701452e-02 9.96025335e-01 2.05083153e-04 -2.57715999e+01] [ 2.12486592e-03 -1.58837067e-05 9.99997742e-01 -1.78377251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52028169299996 meters Centerline goodness [0,1] 0.9999786621145844 Centerline is valid? [True, True] Translation: X:393.52, Y:-25.77, Z:-1.78 [[ 9.95788325e-01 9.16753949e-02 -1.11104613e-03 3.93516306e+02] [-9.16753318e-02 9.95788944e-01 1.07705726e-04 -2.57712069e+01] [ 1.11624141e-03 -5.39658209e-06 9.99999377e-01 -1.78218724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.550281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.55, Y:-25.77, Z:-1.78 [[ 9.95616928e-01 9.35105876e-02 -1.64385126e-03 3.93547212e+02] [-9.35104517e-02 9.95618285e-01 1.59510310e-04 -2.57713803e+01] [ 1.65156428e-03 -5.09389152e-06 9.99998636e-01 -1.78384642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.58, Y:-25.77, Z:-1.79 [[ 9.95452631e-01 9.52131228e-02 -2.91910596e-03 3.93577793e+02] [-9.52127021e-02 9.95456911e-01 2.83086360e-04 -2.57715683e+01] [ 2.93279774e-03 -3.86309528e-06 9.99995699e-01 -1.78690968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.61028169299993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.61, Y:-25.77, Z:-1.79 [[ 9.95292630e-01 9.67233102e-02 -6.09765828e-03 3.93608723e+02] [-9.67215029e-02 9.95311309e-01 5.91282420e-04 -2.57715552e+01] [ 6.12625904e-03 1.27563745e-06 9.99981234e-01 -1.79234537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.64, Y:-25.77, Z:-1.79 [[ 9.95320932e-01 9.63831937e-02 -6.82069982e-03 3.93637758e+02] [-9.63809265e-02 9.95344302e-01 6.61090338e-04 -2.57742167e+01] [ 6.85266270e-03 -6.11682977e-07 9.99976520e-01 -1.79392512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.67028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.67, Y:-25.78, Z:-1.79 [[ 9.95503613e-01 9.46058185e-02 -4.72191909e-03 3.93667766e+02] [-9.46047120e-02 9.95514811e-01 4.57639187e-04 -2.57770931e+01] [ 4.74403572e-03 -8.86566902e-06 9.99988747e-01 -1.78929096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.70, Y:-25.78, Z:-1.79 [[ 9.95617249e-01 9.34841806e-02 -2.64602969e-03 3.93696777e+02] [-9.34838293e-02 9.95620765e-01 2.56407231e-04 -2.57809997e+01] [ 2.65841213e-03 -7.92247342e-06 9.99996466e-01 -1.78507020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.73028169299994 meters Centerline goodness [0,1] 0.9999787762378759 Centerline is valid? [True, True] Translation: X:393.73, Y:-25.79, Z:-1.78 [[ 9.95758749e-01 9.19949136e-02 -1.20441975e-03 3.93728146e+02] [-9.19948397e-02 9.95759477e-01 1.16797421e-04 -2.57865208e+01] [ 1.21005715e-03 -5.50165158e-06 9.99999268e-01 -1.78234864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76028169299997 meters Centerline goodness [0,1] 0.9999787888429313 Centerline is valid? [True, True] Translation: X:393.76, Y:-25.80, Z:-1.78 [[ 9.96062437e-01 8.86539515e-02 3.12588254e-04 3.93758797e+02] [-8.86539465e-02 9.96062486e-01 -3.00381042e-05 -2.57966339e+01] [-3.14020430e-04 2.20764492e-06 9.99999951e-01 -1.77966357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.79028169299994 meters Centerline goodness [0,1] 0.9997020262216925 Centerline is valid? [True, True] Translation: X:393.79, Y:-25.81, Z:-1.78 [[ 9.96294308e-01 8.60092183e-02 2.57256552e-04 3.93790456e+02] [-8.60092148e-02 9.96294341e-01 -2.46861230e-05 -2.58068027e+01] [-2.58426481e-04 2.46820975e-06 9.99999967e-01 -1.78041862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82028169299997 meters Centerline goodness [0,1] 0.999871890680047 Centerline is valid? [True, True] Translation: X:393.82, Y:-25.81, Z:-1.78 [[ 9.96364913e-01 8.51824607e-02 -9.53666245e-04 3.93821189e+02] [-8.51824106e-02 9.96365369e-01 9.31742935e-05 -2.58144705e+01] [ 9.58136835e-04 -1.16000072e-05 9.99999541e-01 -1.78343862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.85028169299994 meters Centerline goodness [0,1] 0.9998941776545536 Centerline is valid? [True, True] Translation: X:393.85, Y:-25.82, Z:-1.79 [[ 9.96390781e-01 8.48456925e-02 -2.57292328e-03 3.93851791e+02] [-8.48453266e-02 9.96394102e-01 2.51218103e-04 -2.58210235e+01] [ 2.58496036e-03 -3.20108854e-05 9.99996658e-01 -1.78665812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.880281693 meters Centerline goodness [0,1] 0.9999148338194903 Centerline is valid? [True, True] Translation: X:393.88, Y:-25.83, Z:-1.79 [[ 9.96299280e-01 8.58562612e-02 -4.05556570e-03 3.93883866e+02] [-8.58553586e-02 9.96307533e-01 3.96466842e-04 -2.58256111e+01] [ 4.07462982e-03 -4.68075820e-05 9.99991698e-01 -1.78889340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.91028169299994 meters Centerline goodness [0,1] 0.9998726898512593 Centerline is valid? [True, True] Translation: X:393.92, Y:-25.83, Z:-1.79 [[ 9.96179256e-01 8.72472174e-02 -3.84880561e-03 3.93915097e+02] [-8.72464156e-02 9.96186690e-01 3.76077535e-04 -2.58286786e+01] [ 3.86694064e-03 -3.88461457e-05 9.99992523e-01 -1.78892324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.940281693 meters Centerline goodness [0,1] 0.9999788225328251 Centerline is valid? [True, True] Translation: X:393.95, Y:-25.83, Z:-1.79 [[ 9.95939991e-01 8.99860628e-02 -2.45802192e-03 3.93945381e+02] [-8.99857435e-02 9.95943025e-01 2.40450164e-04 -2.58328627e+01] [ 2.46968695e-03 -1.82870047e-05 9.99996950e-01 -1.78600899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.97028169299995 meters Centerline goodness [0,1] 0.9999577952224192 Centerline is valid? [True, True] Translation: X:393.98, Y:-25.84, Z:-1.78 [[ 9.95804662e-01 9.14985587e-02 -1.04315739e-03 3.93976172e+02] [-9.14985016e-02 9.95805209e-01 1.02428685e-04 -2.58366456e+01] [ 1.04815364e-03 -6.55162351e-06 9.99999451e-01 -1.78318607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.000281693 meters Centerline goodness [0,1] 0.9999573023633141 Centerline is valid? [True, True] Translation: X:394.01, Y:-25.84, Z:-1.78 [[ 9.95527744e-01 9.44690248e-02 -3.37510223e-04 3.94008267e+02] [-9.44690189e-02 9.95527801e-01 3.34402828e-05 -2.58384579e+01] [ 3.39159881e-04 -1.40646968e-06 9.99999942e-01 -1.78140100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.03028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.04, Y:-25.84, Z:-1.78 [[ 9.95369361e-01 9.61117733e-02 -1.53674355e-03 3.94039453e+02] [-9.61116543e-02 9.95370548e-01 1.51254410e-04 -2.58415147e+01] [ 1.54416660e-03 -2.85504076e-06 9.99998808e-01 -1.78482430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.060281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.07, Y:-25.85, Z:-1.79 [[ 9.95063491e-01 9.91565621e-02 -4.07746176e-03 3.94071782e+02] [-9.91557493e-02 9.95071845e-01 4.01506657e-04 -2.58452212e+01] [ 4.09717942e-03 4.77916126e-06 9.99991607e-01 -1.78838921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.09028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.10, Y:-25.85, Z:-1.79 [[ 9.94945458e-01 1.00325523e-01 -4.28076112e-03 3.94102456e+02] [-1.00324635e-01 9.94954667e-01 4.22133822e-04 -2.58487510e+01] [ 4.30151406e-03 9.46566897e-06 9.99990748e-01 -1.78990936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.120281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.13, Y:-25.85, Z:-1.79 [[ 9.94737618e-01 1.02408053e-01 -3.10850168e-03 3.94133897e+02] [-1.02407595e-01 9.94742475e-01 3.06421318e-04 -2.58519511e+01] [ 3.12353866e-03 1.35253696e-05 9.99995122e-01 -1.78763016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.15028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.17, Y:-25.86, Z:-1.79 [[ 9.94635377e-01 1.03402777e-01 -2.88657746e-03 3.94165391e+02] [-1.03402385e-01 9.94639566e-01 2.85330709e-04 -2.58565870e+01] [ 2.90060814e-03 1.46789753e-05 9.99995793e-01 -1.78685805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.180281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.20, Y:-25.86, Z:-1.79 [[ 9.94525138e-01 1.04447807e-01 -3.22579886e-03 3.94195999e+02] [-1.04447322e-01 9.94530369e-01 3.18958177e-04 -2.58603148e+01] [ 3.24146942e-03 1.97141270e-05 9.99994746e-01 -1.78825280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.21028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.23, Y:-25.87, Z:-1.79 [[ 9.94426919e-01 1.05319660e-01 -4.78255591e-03 3.94226407e+02] [-1.05318600e-01 9.94438418e-01 4.73631995e-04 -2.58660437e+01] [ 4.80584010e-03 3.26996895e-05 9.99988451e-01 -1.79151440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.240281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.26, Y:-25.87, Z:-1.79 [[ 9.94400935e-01 1.05547995e-01 -5.13830187e-03 3.94257197e+02] [-1.05546776e-01 9.94414209e-01 5.08695467e-04 -2.58701081e+01] [ 5.16329217e-03 3.64839469e-05 9.99986669e-01 -1.79154711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.27028169299996 meters Centerline goodness [0,1] 0.9999789420485176 Centerline is valid? [True, True] Translation: X:394.29, Y:-25.87, Z:-1.79 [[ 9.94302526e-01 1.06502469e-01 -4.43964588e-03 3.94287821e+02] [-1.06501568e-01 9.94312437e-01 4.39562163e-04 -2.58733745e+01] [ 4.46120957e-03 3.57714767e-05 9.99990048e-01 -1.79217900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.300281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.32, Y:-25.88, Z:-1.79 [[ 9.94250046e-01 1.07014070e-01 -3.85171932e-03 3.94319284e+02] [-1.07013395e-01 9.94257506e-01 3.81469859e-04 -2.58780438e+01] [ 3.87042349e-03 3.29091383e-05 9.99992509e-01 -1.79049233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.33028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.35, Y:-25.88, Z:-1.79 [[ 9.94180721e-01 1.07690385e-01 -2.73413273e-03 3.94350262e+02] [-1.07690045e-01 9.94184480e-01 2.71477614e-04 -2.58815314e+01] [ 2.74746785e-03 2.45410673e-05 9.99996225e-01 -1.78847254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36028169299993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.38, Y:-25.88, Z:-1.79 [[ 9.94097620e-01 1.08455401e-01 -2.71060542e-03 3.94382346e+02] [-1.08455069e-01 9.94101315e-01 2.69603649e-04 -2.58840454e+01] [ 2.72385638e-03 2.59665520e-05 9.99996290e-01 -1.78822083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.41, Y:-25.88, Z:-1.79 [[ 9.93993214e-01 1.09369372e-01 -3.97890705e-03 3.94413522e+02] [-1.09368664e-01 9.94001176e-01 3.95788690e-04 -2.58844347e+01] [ 3.99832545e-03 4.17564753e-05 9.99992006e-01 -1.79082974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.44, Y:-25.89, Z:-1.79 [[ 9.93953502e-01 1.09730576e-01 -3.95424442e-03 3.94444920e+02] [-1.09729880e-01 9.93961367e-01 3.93291442e-04 -2.58882504e+01] [ 3.97352229e-03 4.29853588e-05 9.99992105e-01 -1.79054730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45028169299997 meters Centerline goodness [0,1] 0.9999574784734772 Centerline is valid? [True, True] Translation: X:394.48, Y:-25.89, Z:-1.79 [[ 9.93773632e-01 1.11392112e-01 -2.40126330e-03 3.94475583e+02] [-1.11391860e-01 9.93776532e-01 2.38853144e-04 -2.58886107e+01] [ 2.41292547e-03 3.01152297e-05 9.99997088e-01 -1.78699168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.51, Y:-25.89, Z:-1.78 [[ 9.93565131e-01 1.13255392e-01 -1.24373255e-03 3.94506832e+02] [-1.13255326e-01 9.93565909e-01 1.23776944e-04 -2.58876824e+01] [ 1.24974867e-03 1.78788802e-05 9.99999219e-01 -1.78475809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.51028169299997 meters Centerline goodness [0,1] 0.9999573233185387 Centerline is valid? [True, True] Translation: X:394.54, Y:-25.88, Z:-1.78 [[ 9.93224984e-01 1.16199431e-01 -1.35058958e-03 3.94538653e+02] [-1.16199356e-01 9.93225902e-01 1.34437582e-04 -2.58843816e+01] [ 1.35706213e-03 2.34108751e-05 9.99999079e-01 -1.78420642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54028169299994 meters Centerline goodness [0,1] 0.9997674320267241 Centerline is valid? [True, True] Translation: X:394.57, Y:-25.87, Z:-1.79 [[ 9.92383556e-01 1.23170699e-01 -1.96396773e-03 3.94570295e+02] [-1.23170553e-01 9.92385498e-01 1.95380089e-04 -2.58704026e+01] [ 1.97307819e-03 4.80110044e-05 9.99998052e-01 -1.78523691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.57028169299997 meters Centerline goodness [0,1] 0.9995121226905374 Centerline is valid? [True, True] Translation: X:394.60, Y:-25.86, Z:-1.78 [[ 9.91887555e-01 1.27107417e-01 -1.66842035e-03 3.94600564e+02] [-1.27107317e-01 9.91888957e-01 1.65955918e-04 -2.58638271e+01] [ 1.67598195e-03 4.74588248e-05 9.99998594e-01 -1.78470671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60028169299994 meters Centerline goodness [0,1] 0.9993381301108099 Centerline is valid? [True, True] Translation: X:394.63, Y:-25.86, Z:-1.78 [[ 9.91065280e-01 1.33377139e-01 3.86795423e-04 3.94631458e+02] [-1.33377134e-01 9.91065355e-01 -3.84851424e-05 -2.58607479e+01] [-3.88472582e-04 -1.34483765e-05 9.99999924e-01 -1.78113489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.630281693 meters Centerline goodness [0,1] 0.9983600353223161 Centerline is valid? [True, True] Translation: X:394.66, Y:-25.85, Z:-1.78 [[ 9.90899716e-01 1.34596627e-01 1.22538954e-03 3.94661582e+02] [-1.34596579e-01 9.90900472e-01 -1.21932247e-04 -2.58511248e+01] [-1.23065074e-03 -4.41106115e-05 9.99999242e-01 -1.77966730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66028169299994 meters Centerline goodness [0,1] 0.9983600353223161 Centerline is valid? [True, True] Translation: X:394.69, Y:-25.85, Z:-1.78 [[ 9.90905529e-01 1.34553824e-01 1.22539316e-03 3.94689801e+02] [-1.34553776e-01 9.90906285e-01 -1.21895808e-04 -2.58538389e+01] [-1.23065134e-03 -4.40940471e-05 9.99999242e-01 -1.77972697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.690281693 meters Centerline goodness [0,1] 0.9984906926043937 Centerline is valid? [True, True] Translation: X:394.72, Y:-25.86, Z:-1.78 [[ 9.91113293e-01 1.33014846e-01 1.22084378e-03 3.94717672e+02] [-1.33014797e-01 9.91114044e-01 -1.21399648e-04 -2.58552204e+01] [-1.22614337e-03 -4.20694833e-05 9.99999247e-01 -1.78004047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72028169299995 meters Centerline goodness [0,1] 0.9986367896396012 Centerline is valid? [True, True] Translation: X:394.75, Y:-25.86, Z:-1.78 [[ 9.91397680e-01 1.30882931e-01 5.46264959e-04 3.94747507e+02] [-1.30882921e-01 9.91397830e-01 -5.43418888e-05 -2.58609026e+01] [-5.48678321e-04 -1.76223308e-05 9.99999849e-01 -1.78194653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.750281693 meters Centerline goodness [0,1] 0.99952697327399 Centerline is valid? [True, True] Translation: X:394.78, Y:-25.87, Z:-1.78 [[ 9.91790675e-01 1.27872018e-01 -6.80493737e-05 3.94775965e+02] [-1.27872018e-01 9.91790677e-01 6.70683210e-06 -2.58749350e+01] [ 6.83483506e-05 2.04983720e-06 9.99999998e-01 -1.78335563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78028169299995 meters Centerline goodness [0,1] 0.9997224238800871 Centerline is valid? [True, True] Translation: X:394.81, Y:-25.88, Z:-1.79 [[ 9.92392489e-01 1.23107168e-01 -1.33183788e-03 3.94805305e+02] [-1.23107101e-01 9.92393382e-01 1.32219256e-04 -2.58838154e+01] [ 1.33798423e-03 3.27453036e-05 9.99999104e-01 -1.78509282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.810281693 meters Centerline goodness [0,1] 0.9998940273833241 Centerline is valid? [True, True] Translation: X:394.84, Y:-25.89, Z:-1.79 [[ 9.92733392e-01 1.20330637e-01 -9.74971521e-04 3.94835105e+02] [-1.20330600e-01 9.92733870e-01 9.67910669e-05 -2.58872199e+01] [ 9.79534182e-04 2.12311840e-05 9.99999520e-01 -1.78535513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84028169299995 meters Centerline goodness [0,1] 0.9999356637357925 Centerline is valid? [True, True] Translation: X:394.86, Y:-25.90, Z:-1.78 [[ 9.92862177e-01 1.19266908e-01 -3.19379825e-04 3.94864233e+02] [-1.19266904e-01 9.92862228e-01 3.17066842e-05 -2.58996749e+01] [ 3.20881723e-04 6.61107546e-06 9.99999948e-01 -1.78330187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.870281693 meters Centerline goodness [0,1] 0.9998928946297367 Centerline is valid? [True, True] Translation: X:394.89, Y:-25.90, Z:-1.78 [[ 9.92914489e-01 1.18830370e-01 4.00104662e-04 3.94894730e+02] [-1.18830364e-01 9.92914570e-01 -3.97001632e-05 -2.59023856e+01] [-4.01987334e-04 -8.12571533e-06 9.99999919e-01 -1.78292955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90028169299995 meters Centerline goodness [0,1] 0.9998726763432646 Centerline is valid? [True, True] Translation: X:394.92, Y:-25.90, Z:-1.79 [[ 9.92957835e-01 1.18462455e-01 -1.17683410e-03 3.94924175e+02] [-1.18462399e-01 9.92958532e-01 1.16807296e-04 -2.59042671e+01] [ 1.18238474e-03 2.34258724e-05 9.99999301e-01 -1.78565195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.930281693 meters Centerline goodness [0,1] 0.9999575524757518 Centerline is valid? [True, True] Translation: X:394.95, Y:-25.90, Z:-1.79 [[ 9.92841346e-01 1.19395637e-01 -3.27771700e-03 3.94954390e+02] [-1.19395213e-01 9.92846754e-01 3.25337433e-04 -2.58992045e+01] [ 3.29311456e-03 6.83352660e-05 9.99994575e-01 -1.78951211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96028169299996 meters Centerline goodness [0,1] 0.9999363030277294 Centerline is valid? [True, True] Translation: X:394.98, Y:-25.90, Z:-1.79 [[ 9.92811323e-01 1.19636383e-01 -3.57955871e-03 3.94982603e+02] [-1.19635880e-01 9.92817773e-01 3.55008576e-04 -2.58961308e+01] [ 3.59632144e-03 7.57871236e-05 9.99993530e-01 -1.79058761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.990281693 meters Centerline goodness [0,1] 0.9999786762197203 Centerline is valid? [True, True] Translation: X:395.01, Y:-25.90, Z:-1.79 [[ 9.92828732e-01 1.19487246e-01 -3.72933912e-03 3.95011844e+02] [-1.19486699e-01 9.92835733e-01 3.69847629e-04 -2.59042223e+01] [ 3.74681322e-03 7.84110681e-05 9.99992978e-01 -1.78853433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02028169299996 meters Centerline goodness [0,1] 0.9999789442654707 Centerline is valid? [True, True] Translation: X:395.04, Y:-25.90, Z:-1.79 [[ 9.93117952e-01 1.17089248e-01 -2.61563547e-03 3.95040939e+02] [-1.17088971e-01 9.93121395e-01 2.59268139e-04 -2.59021280e+01] [ 2.62800106e-03 4.87782222e-05 9.99996546e-01 -1.78772700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.050281693 meters Centerline goodness [0,1] 0.9999788739833104 Centerline is valid? [True, True] Translation: X:395.07, Y:-25.91, Z:-1.79 [[ 9.93368837e-01 1.14967184e-01 -9.49133923e-04 3.95070593e+02] [-1.14967147e-01 9.93369290e-01 9.40726214e-05 -2.59076888e+01] [ 9.53655756e-04 1.56704084e-05 9.99999545e-01 -1.78509427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08028169299996 meters Centerline goodness [0,1] 0.9999787410446651 Centerline is valid? [True, True] Translation: X:395.10, Y:-25.92, Z:-1.78 [[ 9.94166491e-01 1.07854078e-01 6.97354006e-04 3.95101030e+02] [-1.07854056e-01 9.94166735e-01 -6.90856700e-05 -2.59222983e+01] [-7.00737327e-04 -6.52979984e-06 9.99999754e-01 -1.78183804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.11028169299993 meters Centerline goodness [0,1] 0.9999787220460881 Centerline is valid? [True, True] Translation: X:395.13, Y:-25.93, Z:-1.78 [[ 9.94683550e-01 1.02978073e-01 3.90705767e-04 3.95132897e+02] [-1.02978066e-01 9.94683626e-01 -3.85901000e-05 -2.59327073e+01] [-3.92602564e-04 -1.84918652e-06 9.99999923e-01 -1.78263573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14028169299996 meters Centerline goodness [0,1] 0.9998285910181693 Centerline is valid? [True, True] Translation: X:395.16, Y:-25.95, Z:-1.78 [[ 9.95679288e-01 9.28567654e-02 -6.14026864e-04 3.95162984e+02] [-9.28567452e-02 9.95679477e-01 6.14097224e-05 -2.59512277e+01] [ 6.17076255e-04 -4.12785257e-06 9.99999810e-01 -1.78479974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17028169299994 meters Centerline goodness [0,1] 0.9998919573015256 Centerline is valid? [True, True] Translation: X:395.19, Y:-25.96, Z:-1.79 [[ 9.96083647e-01 8.84099857e-02 -1.02105325e-03 3.95194064e+02] [-8.84099275e-02 9.96084170e-01 1.02076426e-04 -2.59621334e+01] [ 1.02607956e-03 -1.14054146e-05 9.99999474e-01 -1.78583414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20028169299997 meters Centerline goodness [0,1] 0.9998719562944152 Centerline is valid? [True, True] Translation: X:395.22, Y:-25.97, Z:-1.79 [[ 9.96389035e-01 8.48721243e-02 -2.36947588e-03 3.95224053e+02] [-8.48718012e-02 9.96391851e-01 2.36753273e-04 -2.59745534e+01] [ 2.38102021e-03 -3.47966790e-05 9.99997165e-01 -1.78786553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23028169299994 meters Centerline goodness [0,1] 0.9995943637916311 Centerline is valid? [True, True] Translation: X:395.25, Y:-25.99, Z:-1.79 [[ 9.96764892e-01 8.02418187e-02 -4.58264864e-03 3.95252604e+02] [-8.02405639e-02 9.96775422e-01 4.57309651e-04 -2.59920808e+01] [ 4.60456689e-03 -8.81158932e-05 9.99989395e-01 -1.79280776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26028169299997 meters Centerline goodness [0,1] 0.9994039763293456 Centerline is valid? [True, True] Translation: X:395.28, Y:-26.00, Z:-1.79 [[ 9.96826209e-01 7.95428660e-02 -3.23146205e-03 3.95284263e+02] [-7.95422356e-02 9.96831444e-01 3.23328544e-04 -2.60006594e+01] [ 3.24694146e-03 -6.52646509e-05 9.99994727e-01 -1.79063842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29028169299994 meters Centerline goodness [0,1] 0.9994503403661579 Centerline is valid? [True, True] Translation: X:395.32, Y:-26.01, Z:-1.79 [[ 9.96798846e-01 7.99261075e-02 -1.96944168e-03 3.95315517e+02] [-7.99258732e-02 9.96800790e-01 1.97521145e-04 -2.60077400e+01] [ 1.97892812e-03 -3.94795034e-05 9.99998041e-01 -1.78739514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32028169299997 meters Centerline goodness [0,1] 0.9995098979309169 Centerline is valid? [True, True] Translation: X:395.35, Y:-26.02, Z:-1.79 [[ 9.96750981e-01 8.05384388e-02 -1.02105582e-03 3.95345694e+02] [-8.05383760e-02 9.96751503e-01 1.02517868e-04 -2.60173350e+01] [ 1.02599555e-03 -1.99506074e-05 9.99999473e-01 -1.78591478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.35028169299994 meters Centerline goodness [0,1] 0.9997432111446363 Centerline is valid? [True, True] Translation: X:395.38, Y:-26.02, Z:-1.79 [[ 9.96688595e-01 8.12813880e-02 -2.27628949e-03 3.95377450e+02] [-8.12810773e-02 9.96691193e-01 2.28845698e-04 -2.60235545e+01] [ 2.28735858e-03 -4.30686355e-05 9.99997383e-01 -1.78746942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.380281693 meters Centerline goodness [0,1] 0.999656490188501 Centerline is valid? [True, True] Translation: X:395.41, Y:-26.03, Z:-1.79 [[ 9.96629226e-01 8.19939023e-02 -2.68051388e-03 3.95408082e+02] [-8.19934731e-02 9.96632830e-01 2.69812454e-04 -2.60311163e+01] [ 2.69361111e-03 -4.91183346e-05 9.99996371e-01 -1.78876529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.41028169299994 meters Centerline goodness [0,1] 0.999748031496063 Centerline is valid? [True, True] Translation: X:395.44, Y:-26.04, Z:-1.79 [[ 9.96323928e-01 8.56576932e-02 -1.17894162e-03 3.95437857e+02] [-8.56576127e-02 9.96324625e-01 1.18755182e-04 -2.60387789e+01] [ 1.18478086e-03 -1.73333045e-05 9.99999298e-01 -1.78582106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.440281693 meters Centerline goodness [0,1] 0.9998516320474777 Centerline is valid? [True, True] Translation: X:395.47, Y:-26.04, Z:-1.78 [[ 9.96060469e-01 8.86764708e-02 1.62004385e-04 3.95470427e+02] [-8.86764694e-02 9.96060482e-01 -1.59788876e-05 -2.60377346e+01] [-1.62783117e-04 1.54996138e-06 9.99999987e-01 -1.78235296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.47028169299995 meters Centerline goodness [0,1] 0.999936844764431 Centerline is valid? [True, True] Translation: X:395.50, Y:-26.04, Z:-1.78 [[ 9.95723623e-01 9.23800961e-02 6.20797932e-04 3.95501648e+02] [-9.23800751e-02 9.95723816e-01 -6.24194412e-05 -2.60371002e+01] [-6.23909600e-04 4.80315254e-06 9.99999805e-01 -1.78149410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.500281693 meters Centerline goodness [0,1] 0.9999787793905441 Centerline is valid? [True, True] Translation: X:395.54, Y:-26.03, Z:-1.78 [[ 9.94925459e-01 1.00613956e-01 4.03257432e-04 3.95535143e+02] [-1.00613948e-01 9.94925541e-01 -4.03904582e-05 -2.60289399e+01] [-4.05274962e-04 -3.87826929e-07 9.99999918e-01 -1.78170045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.53028169299995 meters Centerline goodness [0,1] 0.999978837322498 Centerline is valid? [True, True] Translation: X:395.57, Y:-26.03, Z:-1.78 [[ 9.94525081e-01 1.04497728e-01 -2.95430467e-04 3.95566180e+02] [-1.04497723e-01 9.94525125e-01 3.00470436e-05 -2.60270398e+01] [ 2.96952870e-04 9.89272708e-07 9.99999956e-01 -1.78330148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.560281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.60, Y:-26.02, Z:-1.79 [[ 9.93867585e-01 1.10565258e-01 -1.59629881e-03 3.95599009e+02] [-1.10565140e-01 9.93868866e-01 1.62022679e-04 -2.60190862e+01] [ 1.60442577e-03 1.54659127e-05 9.99998713e-01 -1.78662936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.59028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.63, Y:-26.02, Z:-1.79 [[ 9.93563015e-01 1.13269392e-01 -1.60602591e-03 3.95631450e+02] [-1.13269277e-01 9.93564313e-01 1.63281568e-04 -2.60176994e+01] [ 1.61418483e-03 1.96828660e-05 9.99998697e-01 -1.78714819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.620281693 meters Centerline goodness [0,1] 0.9999788471708091 Centerline is valid? [True, True] Translation: X:395.66, Y:-26.02, Z:-1.79 [[ 9.93226056e-01 1.16178735e-01 -2.12212055e-03 3.95663053e+02] [-1.16178539e-01 9.93228322e-01 2.15655970e-04 -2.60160023e+01] [ 2.13280487e-03 3.23497367e-05 9.99997725e-01 -1.78785754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.65028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.69, Y:-26.02, Z:-1.79 [[ 9.93202806e-01 1.16369026e-01 -2.53696492e-03 3.95694977e+02] [-1.16368746e-01 9.93206045e-01 2.58416642e-04 -2.60180199e+01] [ 2.54980059e-03 3.85632921e-05 9.99996749e-01 -1.78824697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.680281693 meters Centerline goodness [0,1] 0.999957346982299 Centerline is valid? [True, True] Translation: X:395.73, Y:-26.02, Z:-1.79 [[ 9.93212189e-01 1.16277489e-01 -3.01557285e-03 3.95726663e+02] [-1.16277091e-01 9.93216766e-01 3.07500569e-04 -2.60192421e+01] [ 3.03087291e-03 4.52287265e-05 9.99995406e-01 -1.78923905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.71028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.76, Y:-26.02, Z:-1.79 [[ 9.93232685e-01 1.16129876e-01 -1.63843724e-03 3.95758491e+02] [-1.16129758e-01 9.93234037e-01 1.66990342e-04 -2.60197821e+01] [ 1.64674420e-03 2.44110540e-05 9.99998644e-01 -1.78721203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.740281693 meters Centerline goodness [0,1] 0.9999573460726396 Centerline is valid? [True, True] Translation: X:395.79, Y:-26.02, Z:-1.78 [[ 9.92992476e-01 1.18174182e-01 8.97662377e-04 3.95789111e+02] [-1.18174148e-01 9.92992881e-01 -9.13992718e-05 -2.60169535e+01] [-9.02173385e-04 -1.53216975e-05 9.99999593e-01 -1.78282087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.77028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.82, Y:-26.02, Z:-1.78 [[ 9.92856049e-01 1.19317576e-01 4.26263022e-04 3.95821037e+02] [-1.19317568e-01 9.92856141e-01 -4.31770695e-05 -2.60189540e+01] [-4.28369642e-04 -7.99205259e-06 9.99999908e-01 -1.78373672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.800281693 meters Centerline goodness [0,1] 0.9999574929332001 Centerline is valid? [True, True] Translation: X:395.85, Y:-26.02, Z:-1.79 [[ 9.92734166e-01 1.20321245e-01 -1.29404861e-03 3.95852685e+02] [-1.20321174e-01 9.92735009e-01 1.32653844e-04 -2.60182079e+01] [ 1.30060844e-03 2.40114453e-05 9.99999154e-01 -1.78673586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.83028169299996 meters Centerline goodness [0,1] 0.9998933333333333 Centerline is valid? [True, True] Translation: X:395.88, Y:-26.01, Z:-1.79 [[ 9.92423829e-01 1.22809752e-01 -3.56489832e-03 3.95883570e+02] [-1.22809235e-01 9.92430229e-01 3.64555068e-04 -2.60149782e+01] [ 3.58268377e-03 7.60092985e-05 9.99993579e-01 -1.79072931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86028169299993 meters Centerline goodness [0,1] 0.9999151157608811 Centerline is valid? [True, True] Translation: X:395.91, Y:-26.01, Z:-1.79 [[ 9.92271640e-01 1.24032817e-01 -3.58501295e-03 3.95913088e+02] [-1.24032301e-01 9.92278113e-01 3.66638781e-04 -2.60139821e+01] [ 3.60280512e-03 8.08521404e-05 9.99993507e-01 -1.79070958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.89028169299996 meters Centerline goodness [0,1] 0.9998718441625016 Centerline is valid? [True, True] Translation: X:395.94, Y:-26.01, Z:-1.79 [[ 9.91920579e-01 1.26840822e-01 -2.22968498e-03 3.95943204e+02] [-1.26840630e-01 9.91923083e-01 2.27871418e-04 -2.60073652e+01] [ 2.24057940e-03 5.67842999e-05 9.99997488e-01 -1.78871235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92028169299994 meters Centerline goodness [0,1] 0.9998076142023471 Centerline is valid? [True, True] Translation: X:395.97, Y:-26.01, Z:-1.79 [[ 9.91786337e-01 1.27893477e-01 -1.76635866e-03 3.95973465e+02] [-1.27893358e-01 9.91787909e-01 1.80488094e-04 -2.60051428e+01] [ 1.77493641e-03 4.68999143e-05 9.99998424e-01 -1.78808192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.95028169299997 meters Centerline goodness [0,1] 0.9998919643050064 Centerline is valid? [True, True] Translation: X:396.00, Y:-26.00, Z:-1.79 [[ 9.91620699e-01 1.29143416e-01 -3.21997729e-03 3.96003177e+02] [-1.29143029e-01 9.91625922e-01 3.28981280e-04 -2.60031798e+01] [ 3.23549871e-03 8.96129718e-05 9.99994762e-01 -1.78938512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98028169299994 meters Centerline goodness [0,1] 0.999786470789204 Centerline is valid? [True, True] Translation: X:396.03, Y:-26.00, Z:-1.79 [[ 9.91625932e-01 1.29073176e-01 -4.25755544e-03 3.96031597e+02] [-1.29072498e-01 9.91635065e-01 4.34674194e-04 -2.59974139e+01] [ 4.27804604e-03 1.18499114e-04 9.99990842e-01 -1.79182407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.01028169299997 meters Centerline goodness [0,1] 0.999785283318661 Centerline is valid? [True, True] Translation: X:396.06, Y:-26.00, Z:-1.79 [[ 9.91732677e-01 1.28243226e-01 -4.46903188e-03 3.96060229e+02] [-1.28242472e-01 9.91742739e-01 4.56093261e-04 -2.60002530e+01] [ 4.49062079e-03 1.20797104e-04 9.99989910e-01 -1.79186917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04028169299994 meters Centerline goodness [0,1] 0.9997043107271844 Centerline is valid? [True, True] Translation: X:396.09, Y:-26.00, Z:-1.79 [[ 9.92131957e-01 1.25157904e-01 -3.11122859e-03 3.96089077e+02] [-1.25157524e-01 9.92136832e-01 3.17408126e-04 -2.59993989e+01] [ 3.12649061e-03 7.44829207e-05 9.99995110e-01 -1.78965386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.07028169299997 meters Centerline goodness [0,1] 0.9999575209209465 Centerline is valid? [True, True] Translation: X:396.12, Y:-26.00, Z:-1.79 [[ 9.92354217e-01 1.23404549e-01 -2.10363990e-03 3.96117539e+02] [-1.23404372e-01 9.92356446e-01 2.14471204e-04 -2.60005997e+01] [ 2.11402733e-03 4.67669554e-05 9.99997764e-01 -1.78842314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10028169299994 meters Centerline goodness [0,1] 0.9998937977909941 Centerline is valid? [True, True] Translation: X:396.15, Y:-26.01, Z:-1.79 [[ 9.92902213e-01 1.18921093e-01 -1.72308680e-03 3.96146991e+02] [-1.18920967e-01 9.92903708e-01 1.75705938e-04 -2.60089361e+01] [ 1.73175441e-03 3.04523348e-05 9.99998500e-01 -1.78702718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.130281693 meters Centerline goodness [0,1] 0.9999783512296502 Centerline is valid? [True, True] Translation: X:396.18, Y:-26.01, Z:-1.79 [[ 9.93192298e-01 1.16457776e-01 -2.57787256e-03 3.96176426e+02] [-1.16457487e-01 9.93195643e-01 2.62796599e-04 -2.60126731e+01] [ 2.59093650e-03 3.92050007e-05 9.99996643e-01 -1.78884173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.21, Y:-26.02, Z:-1.79 [[ 9.93740686e-01 1.11652649e-01 -3.62417859e-03 3.96205958e+02] [-1.11652044e-01 9.93747294e-01 3.69462629e-04 -2.60166985e+01] [ 3.64276914e-03 3.74969009e-05 9.99993364e-01 -1.79208205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.190281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.24, Y:-26.02, Z:-1.79 [[ 9.94065157e-01 1.08752631e-01 -2.70717738e-03 3.96235168e+02] [-1.08752283e-01 9.94068843e-01 2.75890509e-04 -2.60233941e+01] [ 2.72112451e-03 2.01585788e-05 9.99996298e-01 -1.79019820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.26, Y:-26.04, Z:-1.78 [[ 9.94762297e-01 1.02204962e-01 1.45529273e-03 3.96264951e+02] [-1.02204854e-01 9.94763362e-01 -1.48335291e-04 -2.60353123e+01] [-1.46283249e-03 -1.17962668e-06 9.99998930e-01 -1.78171329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.250281693 meters Centerline goodness [0,1] 0.999978584889498 Centerline is valid? [True, True] Translation: X:396.30, Y:-26.04, Z:-1.78 [[ 9.95001194e-01 9.98200624e-02 2.92916917e-03 3.96296157e+02] [-9.98196159e-02 9.95005505e-01 -2.98584312e-04 -2.60408570e+01] [-2.94434415e-03 4.70320511e-06 9.99995665e-01 -1.77912144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28028169299995 meters Centerline goodness [0,1] 0.9998726601298866 Centerline is valid? [True, True] Translation: X:396.33, Y:-26.04, Z:-1.78 [[ 9.95105012e-01 9.87913683e-02 2.50611588e-03 3.96326903e+02] [-9.87910381e-02 9.95108168e-01 -2.55511938e-04 -2.60441724e+01] [-2.51909876e-03 6.67942054e-06 9.99996827e-01 -1.78009661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.310281693 meters Centerline goodness [0,1] 0.999978605964657 Centerline is valid? [True, True] Translation: X:396.36, Y:-26.04, Z:-1.79 [[ 9.95038960e-01 9.94774801e-02 -1.30358305e-03 3.96358737e+02] [-9.94773912e-02 9.95039814e-01 1.33011857e-04 -2.60432359e+01] [ 1.31034872e-03 -2.67493872e-06 9.99999141e-01 -1.78764775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34028169299995 meters Centerline goodness [0,1] 0.9999789655244946 Centerline is valid? [True, True] Translation: X:396.39, Y:-26.04, Z:-1.79 [[ 9.94770721e-01 1.02029703e-01 -4.59907325e-03 3.96387641e+02] [-1.02028626e-01 9.94781353e-01 4.68914233e-04 -2.60386255e+01] [ 4.62291549e-03 2.77497320e-06 9.99989314e-01 -1.79414213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.370281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.42, Y:-26.04, Z:-1.79 [[ 9.94634774e-01 1.03365217e-01 -4.15906811e-03 3.96417204e+02] [-1.03364348e-01 9.94643470e-01 4.23826956e-04 -2.60377110e+01] [ 4.18059890e-03 8.34633451e-06 9.99991261e-01 -1.79315704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.45, Y:-26.04, Z:-1.79 [[ 9.94532179e-01 1.04387637e-01 -2.99449876e-03 3.96445641e+02] [-1.04387192e-01 9.94536687e-01 3.04938738e-04 -2.60373694e+01] [ 3.00997071e-03 9.31592880e-06 9.99995470e-01 -1.79069299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.430281693 meters Centerline goodness [0,1] 0.9999787188763567 Centerline is valid? [True, True] Translation: X:396.47, Y:-26.04, Z:-1.79 [[ 9.94352816e-01 1.06114192e-01 -1.50202364e-03 3.96474810e+02] [-1.06114082e-01 9.94353950e-01 1.52850827e-04 -2.60352640e+01] [ 1.50976278e-03 7.39820935e-06 9.99998860e-01 -1.78799450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46028169299996 meters Centerline goodness [0,1] 0.9999575407608695 Centerline is valid? [True, True] Translation: X:396.50, Y:-26.04, Z:-1.79 [[ 9.94284363e-01 1.06753575e-01 -1.51013904e-03 3.96503446e+02] [-1.06753465e-01 9.94285509e-01 1.53609745e-04 -2.60358119e+01] [ 1.51790775e-03 8.48080709e-06 9.99998848e-01 -1.78829165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.490281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.53, Y:-26.04, Z:-1.79 [[ 9.94211201e-01 1.07440715e-01 -7.61853514e-04 3.96531298e+02] [-1.07440687e-01 9.94211493e-01 7.73826909e-05 -2.60351978e+01] [ 7.65757571e-04 4.91932673e-06 9.99999707e-01 -1.78699642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.56, Y:-26.04, Z:-1.79 [[ 9.94228785e-01 1.07279425e-01 -4.98365678e-04 3.96559885e+02] [-1.07279413e-01 9.94228910e-01 5.05795647e-05 -2.60383890e+01] [ 5.00915711e-04 3.17671828e-06 9.99999875e-01 -1.78575534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.550281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.59, Y:-26.04, Z:-1.79 [[ 9.94233573e-01 1.07235038e-01 -4.98367942e-04 3.96588081e+02] [-1.07235027e-01 9.94233698e-01 5.05572666e-05 -2.60411604e+01] [ 5.00915713e-04 3.17676774e-06 9.99999875e-01 -1.78581497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.62, Y:-26.05, Z:-1.79 [[ 9.94344622e-01 1.06200453e-01 -4.86625199e-04 3.96617685e+02] [-1.06200442e-01 9.94344741e-01 4.93991194e-05 -2.60466545e+01] [ 4.89119416e-04 2.56006226e-06 9.99999880e-01 -1.78637522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.61028169299993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.65, Y:-26.05, Z:-1.79 [[ 9.94455264e-01 1.05157810e-01 -7.50195309e-04 3.96645605e+02] [-1.05157783e-01 9.94455547e-01 7.61317534e-05 -2.60510938e+01] [ 7.54041735e-04 3.17925237e-06 9.99999716e-01 -1.78788542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.67, Y:-26.06, Z:-1.79 [[ 9.94600049e-01 1.03775953e-01 -1.13754227e-03 3.96674614e+02] [-1.03775889e-01 9.94600700e-01 1.15475773e-04 -2.60576934e+01] [ 1.14338395e-03 3.19725101e-06 9.99999346e-01 -1.78851201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.67028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.70, Y:-26.07, Z:-1.79 [[ 9.94966884e-01 1.00191842e-01 -1.57953623e-03 3.96702681e+02] [-1.00191714e-01 9.94968138e-01 1.60458604e-04 -2.60704887e+01] [ 1.58766486e-03 -1.39455509e-06 9.99998740e-01 -1.78982482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.73, Y:-26.08, Z:-1.79 [[ 9.95357455e-01 9.62213450e-02 -2.23381578e-03 3.96731327e+02] [-9.62210781e-02 9.95359961e-01 2.26915142e-04 -2.60844373e+01] [ 2.24528487e-03 -1.09215152e-05 9.99997479e-01 -1.79118117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.73028169299994 meters Centerline goodness [0,1] 0.999978501096444 Centerline is valid? [True, True] Translation: X:396.76, Y:-26.09, Z:-1.79 [[ 9.95482024e-01 9.49214211e-02 -2.33735891e-03 3.96761436e+02] [-9.49211253e-02 9.95484768e-01 2.37418094e-04 -2.60892208e+01] [ 2.34934125e-03 -1.44807067e-05 9.99997240e-01 -1.79041099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76028169299997 meters Centerline goodness [0,1] 0.9999150562752177 Centerline is valid? [True, True] Translation: X:396.79, Y:-26.10, Z:-1.79 [[ 9.95569093e-01 9.39878501e-02 -2.90960356e-03 3.96791686e+02] [-9.39873876e-02 9.95573344e-01 2.95604474e-04 -2.60959691e+01] [ 2.92450698e-03 -2.08286407e-05 9.99995723e-01 -1.79173209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.79028169299994 meters Centerline goodness [0,1] 0.9999362204222209 Centerline is valid? [True, True] Translation: X:396.82, Y:-26.11, Z:-1.79 [[ 9.95710386e-01 9.24535027e-02 -3.62996731e-03 3.96820727e+02] [-9.24527716e-02 9.95717002e-01 3.69061884e-04 -2.61070965e+01] [ 3.64854124e-03 -3.18782119e-05 9.99993344e-01 -1.79300996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82028169299997 meters Centerline goodness [0,1] 0.9999145700738968 Centerline is valid? [True, True] Translation: X:396.85, Y:-26.11, Z:-1.79 [[ 9.95776095e-01 9.17293035e-02 -3.96264746e-03 3.96851101e+02] [-9.17284264e-02 9.95783979e-01 4.02908070e-04 -2.61135581e+01] [ 3.98289934e-03 -3.77188084e-05 9.99992068e-01 -1.79308764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.85028169299994 meters Centerline goodness [0,1] 0.999872900205478 Centerline is valid? [True, True] Translation: X:396.88, Y:-26.12, Z:-1.80 [[ 9.95733529e-01 9.21725001e-02 -4.35546954e-03 3.96881335e+02] [-9.21714407e-02 9.95743053e-01 4.43782006e-04 -2.61238027e+01] [ 4.37783304e-03 -4.04387200e-05 9.99990416e-01 -1.79672207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.880281693 meters Centerline goodness [0,1] 0.9999572676965152 Centerline is valid? [True, True] Translation: X:396.91, Y:-26.13, Z:-1.79 [[ 9.95680199e-01 9.27266958e-02 -4.76455707e-03 3.96912746e+02] [-9.27254352e-02 9.95691598e-01 4.85281018e-04 -2.61250312e+01] [ 4.78902794e-03 -4.13890734e-05 9.99988532e-01 -1.79479113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.91028169299994 meters Centerline goodness [0,1] 0.999914920769967 Centerline is valid? [True, True] Translation: X:396.94, Y:-26.14, Z:-1.80 [[ 9.95566255e-01 9.39013199e-02 -5.51121609e-03 3.96942883e+02] [-9.38996449e-02 9.95581509e-01 5.62470064e-04 -2.61351528e+01] [ 5.53968151e-03 -4.24749818e-05 9.99984655e-01 -1.79917332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.940281693 meters Centerline goodness [0,1] 0.9999787856930714 Centerline is valid? [True, True] Translation: X:396.97, Y:-26.14, Z:-1.80 [[ 9.95469442e-01 9.49641444e-02 -4.73306247e-03 3.96973883e+02] [-9.49629216e-02 9.95480693e-01 4.82927238e-04 -2.61364792e+01] [ 4.75753308e-03 -3.12738667e-05 9.99988682e-01 -1.79511045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.97028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.00, Y:-26.14, Z:-1.79 [[ 9.95365020e-01 9.61205978e-02 -3.05072319e-03 3.97003938e+02] [-9.61200951e-02 9.95369695e-01 3.11301692e-04 -2.61394195e+01] [ 3.06651992e-03 -1.66230119e-05 9.99995298e-01 -1.79252383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.000281693 meters Centerline goodness [0,1] 0.9999788753221514 Centerline is valid? [True, True] Translation: X:397.03, Y:-26.14, Z:-1.79 [[ 9.94984519e-01 1.00028342e-01 -3.71382471e-04 3.97034468e+02] [-1.00028335e-01 9.94984588e-01 3.79217348e-05 -2.61402699e+01] [ 3.73313083e-04 -5.82768888e-07 9.99999930e-01 -1.78679822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.03028169299995 meters Centerline goodness [0,1] 0.9999788059258631 Centerline is valid? [True, True] Translation: X:397.07, Y:-26.14, Z:-1.79 [[ 9.94492953e-01 1.04800111e-01 -8.38603420e-04 3.97065752e+02] [-1.04800076e-01 9.94493307e-01 8.56441786e-05 -2.61379972e+01] [ 8.42961007e-04 2.71317022e-06 9.99999645e-01 -1.78680755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.060281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.10, Y:-26.14, Z:-1.79 [[ 9.94234179e-01 1.07212894e-01 -1.94768959e-03 3.97096113e+02] [-1.07212710e-01 9.94236086e-01 1.98845232e-04 -2.61372749e+01] [ 1.95778204e-03 1.11183536e-05 9.99998083e-01 -1.78935584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.09028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.13, Y:-26.14, Z:-1.79 [[ 9.93990233e-01 1.09423900e-01 -3.13476180e-03 3.97126872e+02] [-1.09423435e-01 9.93995176e-01 3.19997712e-04 -2.61372843e+01] [ 3.15095350e-03 2.49418037e-05 9.99995035e-01 -1.79176305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.120281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.16, Y:-26.13, Z:-1.79 [[ 9.93554734e-01 1.13285110e-01 -3.93373243e-03 3.97156472e+02] [-1.13284409e-01 9.93562520e-01 4.01415279e-04 -2.61332168e+01] [ 3.95388348e-03 4.68025018e-05 9.99992182e-01 -1.79482639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.15028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.19, Y:-26.13, Z:-1.79 [[ 9.93323835e-01 1.15312308e-01 -3.29092510e-03 3.97187374e+02] [-1.15311828e-01 9.93329286e-01 3.35861576e-04 -2.61338913e+01] [ 3.30770126e-03 4.58632817e-05 9.99994528e-01 -1.79349224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.180281693 meters Centerline goodness [0,1] 0.9999788632664708 Centerline is valid? [True, True] Translation: X:397.22, Y:-26.13, Z:-1.79 [[ 9.92782376e-01 1.19925139e-01 -1.05574240e-03 3.97217157e+02] [-1.19925093e-01 9.92782937e-01 1.07635656e-04 -2.61257064e+01] [ 1.06103126e-03 1.97512232e-05 9.99999437e-01 -1.78874588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.21028169299996 meters Centerline goodness [0,1] 0.999957900940914 Centerline is valid? [True, True] Translation: X:397.25, Y:-26.12, Z:-1.79 [[ 9.92506363e-01 1.22192741e-01 -2.31367478e-04 3.97246876e+02] [-1.22192739e-01 9.92506390e-01 2.35258650e-05 -2.61231812e+01] [ 2.32508390e-04 4.92185517e-06 9.99999973e-01 -1.78687001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.240281693 meters Centerline goodness [0,1] 0.9999578619134905 Centerline is valid? [True, True] Translation: X:397.28, Y:-26.12, Z:-1.79 [[ 9.92290245e-01 1.23935292e-01 -3.36129962e-04 3.97277187e+02] [-1.23935287e-01 9.92290302e-01 3.42268010e-05 -2.61211595e+01] [ 3.37780410e-04 7.69544264e-06 9.99999943e-01 -1.78733617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.27028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.31, Y:-26.12, Z:-1.79 [[ 9.92053292e-01 1.25796747e-01 -2.33346564e-03 3.97307571e+02] [-1.25796536e-01 9.92056034e-01 2.37831048e-04 -2.61178301e+01] [ 2.34484704e-03 5.76008186e-05 9.99997249e-01 -1.79282720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.300281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.34, Y:-26.12, Z:-1.80 [[ 9.92121106e-01 1.25238324e-01 -3.32765084e-03 3.97335400e+02] [-1.25237891e-01 9.92126683e-01 3.38916974e-04 -2.61184327e+01] [ 3.34389659e-03 8.05012913e-05 9.99994406e-01 -1.79519765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.33028169299996 meters Centerline goodness [0,1] 0.9999577113375904 Centerline is valid? [True, True] Translation: X:397.36, Y:-26.12, Z:-1.79 [[ 9.92462732e-01 1.22495221e-01 -3.55631075e-03 3.97363552e+02] [-1.22494710e-01 9.92469100e-01 3.62068765e-04 -2.61239485e+01] [ 3.57388022e-03 7.62894979e-05 9.99993611e-01 -1.79391950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36028169299993 meters Centerline goodness [0,1] 0.9999788404570461 Centerline is valid? [True, True] Translation: X:397.39, Y:-26.13, Z:-1.79 [[ 9.92675102e-01 1.20773059e-01 -3.16386802e-03 3.97392571e+02] [-1.20772646e-01 9.92680142e-01 3.21849295e-04 -2.61273636e+01] [ 3.17957968e-03 6.26169311e-05 9.99994943e-01 -1.79193884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.39028169299996 meters Centerline goodness [0,1] 0.9999576378886724 Centerline is valid? [True, True] Translation: X:397.42, Y:-26.13, Z:-1.79 [[ 9.93079594e-01 1.17442727e-01 -3.54465817e-04 3.97422081e+02] [-1.17442722e-01 9.93079657e-01 3.60172328e-05 -2.61317721e+01] [ 3.56242754e-04 5.86145130e-06 9.99999937e-01 -1.78604805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.45, Y:-26.14, Z:-1.78 [[ 9.93279526e-01 1.15736500e-01 9.19407084e-04 3.97451205e+02] [-1.15736463e-01 9.93279952e-01 -9.35748047e-05 -2.61355320e+01] [-9.24058644e-04 -1.34629861e-05 9.99999573e-01 -1.78440282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.45028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.48, Y:-26.14, Z:-1.79 [[ 9.93557510e-01 1.13328543e-01 -3.40761295e-04 3.97480296e+02] [-1.13328538e-01 9.93557568e-01 3.46072186e-05 -2.61381699e+01] [ 3.42487949e-04 4.23371723e-06 9.99999941e-01 -1.78852994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.51, Y:-26.14, Z:-1.79 [[ 9.93576785e-01 1.13139158e-01 -2.16873378e-03 3.97510259e+02] [-1.13138946e-01 9.93579151e-01 2.20461777e-04 -2.61404538e+01] [ 2.17975153e-03 2.63225511e-05 9.99997624e-01 -1.79090616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.51028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.54, Y:-26.14, Z:-1.79 [[ 9.93559955e-01 1.13262560e-01 -3.19497252e-03 3.97538729e+02] [-1.13262102e-01 9.93565091e-01 3.24545594e-04 -2.61377147e+01] [ 3.21117203e-03 3.94137976e-05 9.99994843e-01 -1.79281827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.57, Y:-26.14, Z:-1.79 [[ 9.93588203e-01 1.13021724e-01 -2.92794108e-03 3.97566746e+02] [-1.13021338e-01 9.93592516e-01 2.97246711e-04 -2.61390560e+01] [ 2.94277568e-03 3.55789941e-05 9.99995669e-01 -1.79237753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.57028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.60, Y:-26.14, Z:-1.79 [[ 9.93818563e-01 1.10995021e-01 -2.18407524e-03 3.97595996e+02] [-1.10994802e-01 9.93820962e-01 2.21720644e-04 -2.61434047e+01] [ 2.19518964e-03 2.20709057e-05 9.99997590e-01 -1.79150002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.62, Y:-26.15, Z:-1.79 [[ 9.93994436e-01 1.09407853e-01 -2.23237040e-03 3.97624365e+02] [-1.09407620e-01 9.93996942e-01 2.26476021e-04 -2.61475441e+01] [ 2.24374761e-03 1.91224275e-05 9.99997483e-01 -1.79216337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.630281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.65, Y:-26.15, Z:-1.79 [[ 9.94217455e-01 1.07361362e-01 -2.27798051e-03 3.97652626e+02] [-1.07361115e-01 9.94220065e-01 2.31002318e-04 -2.61521546e+01] [ 2.28961465e-03 1.48999900e-05 9.99997379e-01 -1.79223886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66028169299994 meters Centerline goodness [0,1] 0.9999789362822539 Centerline is valid? [True, True] Translation: X:397.68, Y:-26.16, Z:-1.79 [[ 9.94817666e-01 1.01653562e-01 -2.08913181e-03 3.97682218e+02] [-1.01653341e-01 9.94819860e-01 2.11938676e-04 -2.61640070e+01] [ 2.09985413e-03 1.52688920e-06 9.99997795e-01 -1.79157792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.690281693 meters Centerline goodness [0,1] 0.9999787491765306 Centerline is valid? [True, True] Translation: X:397.71, Y:-26.17, Z:-1.79 [[ 9.95155247e-01 9.82898492e-02 -2.26722402e-03 3.97711108e+02] [-9.82895805e-02 9.95157829e-01 2.29902927e-04 -2.61734332e+01] [ 2.27884286e-03 -5.94460584e-06 9.99997403e-01 -1.79088940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72028169299995 meters Centerline goodness [0,1] 0.999893716520704 Centerline is valid? [True, True] Translation: X:397.74, Y:-26.19, Z:-1.79 [[ 9.95749993e-01 9.20725672e-02 -2.14318317e-03 3.97740961e+02] [-9.20723124e-02 9.95752300e-01 2.17473460e-04 -2.61877610e+01] [ 2.15410291e-03 -1.92213656e-05 9.99997680e-01 -1.78938105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.750281693 meters Centerline goodness [0,1] 0.999808900968235 Centerline is valid? [True, True] Translation: X:397.77, Y:-26.20, Z:-1.79 [[ 9.95919294e-01 9.02368284e-02 -1.44024739e-03 3.97771040e+02] [-9.02367108e-02 9.95920335e-01 1.46576244e-04 -2.61950170e+01] [ 1.44759824e-03 -1.60149219e-05 9.99998952e-01 -1.78837838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78028169299995 meters Centerline goodness [0,1] 0.9994948963485215 Centerline is valid? [True, True] Translation: X:397.80, Y:-26.21, Z:-1.79 [[ 9.96133529e-01 8.78356775e-02 -1.69902934e-03 3.97800643e+02] [-8.78355099e-02 9.96134977e-01 1.73162159e-04 -2.62082377e+01] [ 1.70767237e-03 -2.32575237e-05 9.99998542e-01 -1.78999902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.810281693 meters Centerline goodness [0,1] 0.9997854859815088 Centerline is valid? [True, True] Translation: X:397.83, Y:-26.21, Z:-1.79 [[ 9.96228118e-01 8.67300150e-02 -2.72798485e-03 3.97832804e+02] [-8.67295780e-02 9.96231852e-01 2.78297022e-04 -2.62130614e+01] [ 2.74184211e-03 -4.06503432e-05 9.99996240e-01 -1.79153116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84028169299995 meters Centerline goodness [0,1] 0.9997217942133196 Centerline is valid? [True, True] Translation: X:397.86, Y:-26.22, Z:-1.79 [[ 9.96462918e-01 8.39181859e-02 -4.40361719e-03 3.97864424e+02] [-8.39170208e-02 9.96472645e-01 4.49002372e-04 -2.62226475e+01] [ 4.42576353e-03 -7.78757785e-05 9.99990203e-01 -1.79426437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.870281693 meters Centerline goodness [0,1] 0.9993181188604061 Centerline is valid? [True, True] Translation: X:397.89, Y:-26.23, Z:-1.80 [[ 9.96531024e-01 8.31148313e-02 -4.22404110e-03 3.97894600e+02] [-8.31137484e-02 9.96539973e-01 4.31562501e-04 -2.62336763e+01] [ 4.24529505e-03 -7.89895318e-05 9.99990986e-01 -1.79509995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90028169299995 meters Centerline goodness [0,1] 0.9993902823623405 Centerline is valid? [True, True] Translation: X:397.93, Y:-26.24, Z:-1.79 [[ 9.96581134e-01 8.25823594e-02 -2.48940720e-03 3.97926206e+02] [-8.25819803e-02 9.96584242e-01 2.54874893e-04 -2.62407027e+01] [ 2.50195216e-03 -4.84233338e-05 9.99996869e-01 -1.79068264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.930281693 meters Centerline goodness [0,1] 0.9994677793626126 Centerline is valid? [True, True] Translation: X:397.96, Y:-26.24, Z:-1.79 [[ 9.96554855e-01 8.29094936e-02 -2.10644594e-03 3.97957861e+02] [-8.29092220e-02 9.96557080e-01 2.16072805e-04 -2.62444083e+01] [ 2.11710810e-03 -4.06846091e-05 9.99997758e-01 -1.78936162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96028169299996 meters Centerline goodness [0,1] 0.9996210765635855 Centerline is valid? [True, True] Translation: X:397.99, Y:-26.25, Z:-1.79 [[ 9.96479808e-01 8.38043121e-02 -2.19761518e-03 3.97988518e+02] [-8.38040180e-02 9.96482230e-01 2.25714358e-04 -2.62506145e+01] [ 2.20880032e-03 -4.07508180e-05 9.99997560e-01 -1.79087380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.990281693 meters Centerline goodness [0,1] 0.9995738152062734 Centerline is valid? [True, True] Translation: X:398.02, Y:-26.25, Z:-1.79 [[ 9.96392652e-01 8.48337323e-02 -2.21809879e-03 3.98021043e+02] [-8.48334344e-02 9.96395121e-01 2.28228640e-04 -2.62523718e+01] [ 2.22946430e-03 -3.92364022e-05 9.99997514e-01 -1.79102286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02028169299996 meters Centerline goodness [0,1] 0.9995553202752779 Centerline is valid? [True, True] Translation: X:398.05, Y:-26.26, Z:-1.79 [[ 9.96286160e-01 8.60855887e-02 -1.77738984e-03 3.98051658e+02] [-8.60853988e-02 9.96287745e-01 1.83206495e-04 -2.62557380e+01] [ 1.78656316e-03 -2.95187816e-05 9.99998404e-01 -1.78967641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.050281693 meters Centerline goodness [0,1] 0.9997231332793798 Centerline is valid? [True, True] Translation: X:398.08, Y:-26.26, Z:-1.79 [[ 9.95876906e-01 9.07130968e-02 -5.68002440e-04 3.98081941e+02] [-9.07130782e-02 9.95877068e-01 5.84742298e-05 -2.62554785e+01] [ 5.70964983e-04 -6.70788525e-06 9.99999837e-01 -1.78737659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08028169299996 meters Centerline goodness [0,1] 0.9998299464331264 Centerline is valid? [True, True] Translation: X:398.11, Y:-26.25, Z:-1.79 [[ 9.95572045e-01 9.39967786e-02 -9.53077633e-04 3.98114726e+02] [-9.39967274e-02 9.95572501e-01 9.85672698e-05 -2.62539721e+01] [ 9.58122889e-04 -8.54463999e-06 9.99999541e-01 -1.78757831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.11028169299993 meters Centerline goodness [0,1] 0.9999571716133453 Centerline is valid? [True, True] Translation: X:398.15, Y:-26.25, Z:-1.79 [[ 9.94938942e-01 1.00442097e-01 -2.80818404e-03 3.98146559e+02] [-1.00441680e-01 9.94942905e-01 2.89542044e-04 -2.62468598e+01] [ 2.82306500e-03 -6.01793255e-06 9.99996015e-01 -1.79125393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14028169299996 meters Centerline goodness [0,1] 0.9999572667834707 Centerline is valid? [True, True] Translation: X:398.18, Y:-26.25, Z:-1.79 [[ 9.94687139e-01 1.02896045e-01 -3.14642919e-03 3.98176849e+02] [-1.02895534e-01 9.94692115e-01 3.24361289e-04 -2.62467675e+01] [ 3.16310380e-03 1.11550858e-06 9.99994997e-01 -1.79232111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.17028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.21, Y:-26.25, Z:-1.79 [[ 9.94460146e-01 1.05104813e-01 -1.41294428e-03 3.98207178e+02] [-1.05104712e-01 9.94461150e-01 1.45865151e-04 -2.62478325e+01] [ 1.42044932e-03 3.45002180e-06 9.99998991e-01 -1.78922723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.24, Y:-26.25, Z:-1.79 [[ 9.94359018e-01 1.06065492e-01 -5.04858625e-04 3.98237185e+02] [-1.06065479e-01 9.94359146e-01 5.22253595e-05 -2.62491072e+01] [ 5.07550100e-04 1.61731489e-06 9.99999871e-01 -1.78889608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.23028169299994 meters Centerline goodness [0,1] 0.9999576567230538 Centerline is valid? [True, True] Translation: X:398.27, Y:-26.25, Z:-1.79 [[ 9.94262775e-01 1.06960416e-01 -1.00169640e-03 3.98268142e+02] [-1.06960366e-01 9.94263280e-01 1.03454626e-04 -2.62516092e+01] [ 1.00701550e-03 4.28073018e-06 9.99999493e-01 -1.78944703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26028169299997 meters Centerline goodness [0,1] 0.9999784459532277 Centerline is valid? [True, True] Translation: X:398.30, Y:-26.25, Z:-1.79 [[ 9.94133655e-01 1.08140850e-01 -1.95774914e-03 3.98299350e+02] [-1.08140661e-01 9.94135583e-01 2.02193883e-04 -2.62532670e+01] [ 1.96813350e-03 1.07045436e-05 9.99998063e-01 -1.79088525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.29028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.33, Y:-26.25, Z:-1.79 [[ 9.93744007e-01 1.11661838e-01 -2.11704760e-03 3.98328593e+02] [-1.11661626e-01 9.93746262e-01 2.18442238e-04 -2.62488713e+01] [ 2.12819980e-03 1.93173128e-05 9.99997735e-01 -1.78979716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.36, Y:-26.25, Z:-1.79 [[ 9.93521808e-01 1.13637238e-01 -9.97744328e-04 3.98358590e+02] [-1.13637192e-01 9.93522309e-01 1.02912431e-04 -2.62466911e+01] [ 1.00297593e-03 1.11351197e-05 9.99999497e-01 -1.78755249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.35028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.39, Y:-26.24, Z:-1.79 [[ 9.93035299e-01 1.17814610e-01 7.83279032e-04 3.98389114e+02] [-1.17814583e-01 9.93035607e-01 -8.08605599e-05 -2.62385193e+01] [-7.87350525e-04 -1.19843019e-05 9.99999690e-01 -1.78526246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.380281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.42, Y:-26.24, Z:-1.79 [[ 9.92826390e-01 1.19564741e-01 1.80694329e-04 3.98418853e+02] [-1.19564739e-01 9.92826406e-01 -1.86872077e-05 -2.62373950e+01] [-1.81632432e-04 -3.05151735e-06 9.99999984e-01 -1.78686592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.41028169299994 meters Centerline goodness [0,1] 0.999978653460274 Centerline is valid? [True, True] Translation: X:398.45, Y:-26.23, Z:-1.79 [[ 9.92490913e-01 1.22282211e-01 -2.97465997e-03 3.98449277e+02] [-1.22281841e-01 9.92495369e-01 3.06710035e-04 -2.62309109e+01] [ 2.98984143e-03 5.93399740e-05 9.99995529e-01 -1.79194852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.440281693 meters Centerline goodness [0,1] 0.9999788480656556 Centerline is valid? [True, True] Translation: X:398.48, Y:-26.23, Z:-1.79 [[ 9.92452683e-01 1.22582077e-01 -3.36245000e-03 3.98478861e+02] [-1.22581606e-01 9.92458377e-01 3.46494488e-04 -2.62295450e+01] [ 3.37956568e-03 6.82951370e-05 9.99994287e-01 -1.79287954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.47028169299995 meters Centerline goodness [0,1] 0.9999788480656556 Centerline is valid? [True, True] Translation: X:398.51, Y:-26.23, Z:-1.79 [[ 9.92458330e-01 1.22536354e-01 -3.36246593e-03 3.98507057e+02] [-1.22535883e-01 9.92464023e-01 3.46339925e-04 -2.62323600e+01] [ 3.37956569e-03 6.82947883e-05 9.99994287e-01 -1.79293918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.500281693 meters Centerline goodness [0,1] 0.9999570594297492 Centerline is valid? [True, True] Translation: X:398.54, Y:-26.23, Z:-1.79 [[ 9.92753924e-01 1.20160006e-01 -1.10388019e-03 3.98536139e+02] [-1.20159954e-01 9.92754538e-01 1.13582431e-04 -2.62328450e+01] [ 1.10953013e-03 1.98827881e-05 9.99999384e-01 -1.78910747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53028169299995 meters Centerline goodness [0,1] 0.9999366420274551 Centerline is valid? [True, True] Translation: X:398.57, Y:-26.24, Z:-1.79 [[ 9.93012108e-01 1.18012478e-01 9.52558480e-05 3.98565203e+02] [-1.18012478e-01 9.93012112e-01 -9.88062047e-06 -2.62368278e+01] [-9.57562473e-05 -1.42980288e-06 9.99999995e-01 -1.78699172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.560281693 meters Centerline goodness [0,1] 0.9999787811916483 Centerline is valid? [True, True] Translation: X:398.59, Y:-26.24, Z:-1.79 [[ 9.93286601e-01 1.15677120e-01 7.30087157e-04 3.98593247e+02] [-1.15677096e-01 9.93286869e-01 -7.51864912e-05 -2.62409924e+01] [-7.33883343e-04 -9.77262817e-06 9.99999731e-01 -1.78591540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59028169299995 meters Centerline goodness [0,1] 0.9999785329412018 Centerline is valid? [True, True] Translation: X:398.62, Y:-26.25, Z:-1.79 [[ 9.93942748e-01 1.09892699e-01 1.18678540e-03 3.98622289e+02] [-1.09892631e-01 9.93943456e-01 -1.22177813e-04 -2.62522478e+01] [-1.19302403e-03 -8.98121907e-06 9.99999288e-01 -1.78555611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.620281693 meters Centerline goodness [0,1] 0.9999786744007506 Centerline is valid? [True, True] Translation: X:398.65, Y:-26.26, Z:-1.78 [[ 9.94232042e-01 1.07240562e-01 1.45193072e-03 3.98651763e+02] [-1.07240458e-01 9.94233102e-01 -1.49425384e-04 -2.62596312e+01] [-1.45958205e-03 -7.14221070e-06 9.99998935e-01 -1.78483885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65028169299995 meters Centerline goodness [0,1] 0.9998947988554115 Centerline is valid? [True, True] Translation: X:398.68, Y:-26.27, Z:-1.78 [[ 9.94543788e-01 1.04300566e-01 2.01160266e-03 3.98681584e+02] [-1.04300361e-01 9.94545822e-01 -2.06952872e-04 -2.62684564e+01] [-2.02221633e-03 -3.98719178e-06 9.99997955e-01 -1.78332034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.680281693 meters Centerline goodness [0,1] 0.9999570502083065 Centerline is valid? [True, True] Translation: X:398.71, Y:-26.27, Z:-1.78 [[ 9.94576173e-01 1.04005347e-01 1.05983087e-03 3.98711887e+02] [-1.04005290e-01 9.94576738e-01 -1.09048256e-04 -2.62728443e+01] [-1.06542474e-03 -1.77121997e-06 9.99999432e-01 -1.78448660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71028169299996 meters Centerline goodness [0,1] 0.9999363570792142 Centerline is valid? [True, True] Translation: X:398.74, Y:-26.27, Z:-1.79 [[ 9.94435592e-01 1.05320877e-01 -2.31661188e-03 3.98741601e+02] [-1.05320608e-01 9.94438290e-01 2.38309508e-04 -2.62741317e+01] [ 2.32882652e-03 7.00351473e-06 9.99997288e-01 -1.79109461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.740281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.77, Y:-26.28, Z:-1.79 [[ 9.94291484e-01 1.06650935e-01 -3.16585885e-03 3.98771404e+02] [-1.06650439e-01 9.94296524e-01 3.25580200e-04 -2.62760492e+01] [ 3.18252589e-03 1.39186166e-05 9.99994936e-01 -1.79326115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77028169299996 meters Centerline goodness [0,1] 0.9999787762378759 Centerline is valid? [True, True] Translation: X:398.80, Y:-26.28, Z:-1.79 [[ 9.93973382e-01 1.09568149e-01 -3.42583747e-03 3.98800508e+02] [-1.09567586e-01 9.93979286e-01 3.52174897e-04 -2.62755784e+01] [ 3.44379863e-03 2.53082673e-05 9.99994070e-01 -1.79438209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.800281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.83, Y:-26.28, Z:-1.79 [[ 9.93816720e-01 1.10988021e-01 -3.16002361e-03 3.98829730e+02] [-1.10987550e-01 9.93821744e-01 3.24676716e-04 -2.62767954e+01] [ 3.17653540e-03 2.80541278e-05 9.99994954e-01 -1.79345909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.86, Y:-26.28, Z:-1.79 [[ 9.93445150e-01 1.14296882e-01 -1.71971191e-03 3.98858976e+02] [-1.14296748e-01 9.93446638e-01 1.76621344e-04 -2.62771796e+01] [ 1.72862929e-03 2.10938606e-05 9.99998506e-01 -1.79021628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86028169299993 meters Centerline goodness [0,1] 0.9999786730363198 Centerline is valid? [True, True] Translation: X:398.89, Y:-26.27, Z:-1.79 [[ 9.93191102e-01 1.16488528e-01 -1.36279745e-03 3.98887580e+02] [-1.16488446e-01 9.93192037e-01 1.40026281e-04 -2.62744470e+01] [ 1.36983103e-03 1.96773001e-05 9.99999062e-01 -1.79032114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89028169299996 meters Centerline goodness [0,1] 0.999978391927224 Centerline is valid? [True, True] Translation: X:398.92, Y:-26.27, Z:-1.79 [[ 9.92547668e-01 1.21811059e-01 -3.34546560e-03 3.98917445e+02] [-1.21810593e-01 9.92553304e-01 3.43532088e-04 -2.62668332e+01] [ 3.36239894e-03 6.65411752e-05 9.99994345e-01 -1.79427658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92028169299994 meters Centerline goodness [0,1] 0.9997684600488339 Centerline is valid? [True, True] Translation: X:398.95, Y:-26.25, Z:-1.80 [[ 9.92247731e-01 1.24195965e-01 -4.44998826e-03 3.98947604e+02] [-1.24195164e-01 9.92257705e-01 4.56813887e-04 -2.62544846e+01] [ 4.47226958e-03 9.93944811e-05 9.99989994e-01 -1.79911275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95028169299997 meters Centerline goodness [0,1] 0.9999359207125617 Centerline is valid? [True, True] Translation: X:398.98, Y:-26.26, Z:-1.79 [[ 9.91868734e-01 1.27224538e-01 -3.21439477e-03 3.98976530e+02] [-1.27224137e-01 9.91873939e-01 3.29842028e-04 -2.62570182e+01] [ 3.23023841e-03 8.17886053e-05 9.99994779e-01 -1.79361880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98028169299994 meters Centerline goodness [0,1] 0.9998500396323828 Centerline is valid? [True, True] Translation: X:399.01, Y:-26.26, Z:-1.79 [[ 9.91762532e-01 1.28076740e-01 -1.85152379e-03 3.99005455e+02] [-1.28076608e-01 9.91764259e-01 1.89847673e-04 -2.62565024e+01] [ 1.86059019e-03 4.88530778e-05 9.99998268e-01 -1.79042831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.01028169299997 meters Centerline goodness [0,1] 0.9998727249586357 Centerline is valid? [True, True] Translation: X:399.03, Y:-26.25, Z:-1.79 [[ 9.91637698e-01 1.29049168e-01 -9.94516671e-04 3.99033641e+02] [-1.29049130e-01 9.91638196e-01 1.01808855e-04 -2.62489953e+01] [ 9.99339065e-04 2.73840128e-05 9.99999500e-01 -1.79027550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04028169299994 meters Centerline goodness [0,1] 0.9999144677757346 Centerline is valid? [True, True] Translation: X:399.06, Y:-26.25, Z:-1.79 [[ 9.91630174e-01 1.29107967e-01 -8.54890913e-04 3.99062743e+02] [-1.29107940e-01 9.91630542e-01 8.75073487e-05 -2.62499203e+01] [ 8.59033835e-04 2.35982770e-05 9.99999631e-01 -1.79072945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.07028169299997 meters Centerline goodness [0,1] 0.9998301197655652 Centerline is valid? [True, True] Translation: X:399.09, Y:-26.25, Z:-1.79 [[ 9.91638619e-01 1.29039943e-01 -1.24188721e-03 3.99090927e+02] [-1.29039885e-01 9.91639396e-01 1.27031438e-04 -2.62482515e+01] [ 1.24789642e-03 3.42837034e-05 9.99999221e-01 -1.79223886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10028169299994 meters Centerline goodness [0,1] 0.9999361362426823 Centerline is valid? [True, True] Translation: X:399.12, Y:-26.25, Z:-1.79 [[ 9.91597366e-01 1.29356236e-01 -1.27575501e-03 3.99119551e+02] [-1.29356175e-01 9.91598186e-01 1.30488000e-04 -2.62485318e+01] [ 1.28191579e-03 3.56352313e-05 9.99999178e-01 -1.79157185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.130281693 meters Centerline goodness [0,1] 0.9998310097169413 Centerline is valid? [True, True] Translation: X:399.15, Y:-26.24, Z:-1.79 [[ 9.91420972e-01 1.30693175e-01 -1.93636893e-03 3.99149252e+02] [-1.30693037e-01 9.91422862e-01 1.98017832e-04 -2.62433168e+01] [ 1.94564001e-03 5.67509060e-05 9.99998106e-01 -1.79161613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16028169299994 meters Centerline goodness [0,1] 0.999531645839099 Centerline is valid? [True, True] Translation: X:399.18, Y:-26.24, Z:-1.79 [[ 9.91311631e-01 1.31512383e-01 -2.39646947e-03 3.99177493e+02] [-1.31512175e-01 9.91314525e-01 2.44930174e-04 -2.62390689e+01] [ 2.40786635e-03 7.23627823e-05 9.99997098e-01 -1.79335145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.190281693 meters Centerline goodness [0,1] 0.9998075072184793 Centerline is valid? [True, True] Translation: X:399.21, Y:-26.24, Z:-1.79 [[ 9.91184209e-01 1.32463371e-01 -2.70525733e-03 3.99206960e+02] [-1.32463110e-01 9.91187898e-01 2.76402769e-04 -2.62381795e+01] [ 2.71803156e-03 8.43807373e-05 9.99996303e-01 -1.79431088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22028169299995 meters Centerline goodness [0,1] 0.9995957704827352 Centerline is valid? [True, True] Translation: X:399.24, Y:-26.24, Z:-1.79 [[ 9.91215425e-01 1.32248814e-01 -1.49427789e-03 3.99235115e+02] [-1.32248734e-01 9.91216550e-01 1.52441089e-04 -2.62369700e+01] [ 1.50131313e-03 4.65144015e-05 9.99998872e-01 -1.79237012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.250281693 meters Centerline goodness [0,1] 0.999786475348579 Centerline is valid? [True, True] Translation: X:399.26, Y:-26.24, Z:-1.79 [[ 9.91516195e-01 1.29979399e-01 9.95352463e-04 3.99263842e+02] [-1.29979362e-01 9.91516694e-01 -1.01705914e-04 -2.62417142e+01] [-1.00012826e-03 -2.85322175e-05 9.99999499e-01 -1.78675460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28028169299995 meters Centerline goodness [0,1] 0.9997886683995858 Centerline is valid? [True, True] Translation: X:399.29, Y:-26.24, Z:-1.79 [[ 9.91847248e-01 1.27423815e-01 1.48614107e-03 3.99291875e+02] [-1.27423730e-01 9.91848360e-01 -1.51753374e-04 -2.62426482e+01] [-1.49336358e-03 -3.88534720e-05 9.99998884e-01 -1.78605490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.310281693 meters Centerline goodness [0,1] 0.9999152793662897 Centerline is valid? [True, True] Translation: X:399.32, Y:-26.25, Z:-1.79 [[ 9.92485310e-01 1.22363753e-01 1.44384665e-04 3.99321316e+02] [-1.22363752e-01 9.92485321e-01 -1.47507639e-05 -2.62531120e+01] [-1.45104620e-04 -3.02753286e-06 9.99999989e-01 -1.79001320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34028169299995 meters Centerline goodness [0,1] 0.9999361742867476 Centerline is valid? [True, True] Translation: X:399.35, Y:-26.26, Z:-1.79 [[ 9.92723203e-01 1.20413054e-01 -1.15672535e-03 3.99350197e+02] [-1.20412999e-01 9.92723877e-01 1.17861341e-04 -2.62587668e+01] [ 1.16250092e-03 2.22810805e-05 9.99999324e-01 -1.79273083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.370281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.38, Y:-26.26, Z:-1.80 [[ 9.93057477e-01 1.17563294e-01 -3.96486697e-03 3.99377514e+02] [-1.17562618e-01 9.93065389e-01 4.03885840e-04 -2.62627366e+01] [ 3.98485431e-03 6.50382894e-05 9.99992058e-01 -1.79725318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.40, Y:-26.26, Z:-1.80 [[ 9.93187229e-01 1.16446093e-01 -4.40849582e-03 3.99404791e+02] [-1.16445247e-01 9.93197011e-01 4.48833265e-04 -2.62649961e+01] [ 4.43076975e-03 6.75729193e-05 9.99990182e-01 -1.79812354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.430281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.43, Y:-26.27, Z:-1.80 [[ 9.93299147e-01 1.15543407e-01 -2.55468298e-03 3.99433065e+02] [-1.15543120e-01 9.93302431e-01 2.59948380e-04 -2.62678593e+01] [ 2.56760814e-03 3.69695386e-05 9.99996703e-01 -1.79559141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46028169299996 meters Centerline goodness [0,1] 0.9999574802814806 Centerline is valid? [True, True] Translation: X:399.46, Y:-26.27, Z:-1.79 [[ 9.93265742e-01 1.15852616e-01 -1.15640553e-03 3.99460856e+02] [-1.15852558e-01 9.93266415e-01 1.17484272e-04 -2.62689543e+01] [ 1.16222964e-03 1.72794360e-05 9.99999324e-01 -1.79377101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.490281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.49, Y:-26.27, Z:-1.79 [[ 9.93011853e-01 1.18013639e-01 -4.91501778e-04 3.99489132e+02] [-1.18013629e-01 9.93011974e-01 4.98457819e-05 -2.62652087e+01] [ 4.93949633e-04 8.50645616e-06 9.99999878e-01 -1.79274987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52028169299996 meters Centerline goodness [0,1] 0.9999787265726381 Centerline is valid? [True, True] Translation: X:399.52, Y:-26.27, Z:-1.79 [[ 9.92953653e-01 1.18499412e-01 -9.65124231e-04 3.99518009e+02] [-1.18499373e-01 9.92954122e-01 9.79792214e-05 -2.62663630e+01] [ 9.69934564e-04 1.70777905e-05 9.99999529e-01 -1.79441193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.550281693 meters Centerline goodness [0,1] 0.9999786834924966 Centerline is valid? [True, True] Translation: X:399.55, Y:-26.27, Z:-1.80 [[ 9.93150155e-01 1.16801730e-01 -3.18193793e-03 3.99545837e+02] [-1.16801294e-01 9.93155251e-01 3.23090370e-04 -2.62738700e+01] [ 3.19789588e-03 5.07772175e-05 9.99994885e-01 -1.79759384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.57, Y:-26.28, Z:-1.80 [[ 9.93360069e-01 1.14968826e-01 -4.23578215e-03 3.99573828e+02] [-1.14968038e-01 9.93369098e-01 4.29920066e-04 -2.62797192e+01] [ 4.25712250e-03 5.99141363e-05 9.99990937e-01 -1.79902327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.61028169299993 meters Centerline goodness [0,1] 0.9999785181843569 Centerline is valid? [True, True] Translation: X:399.60, Y:-26.29, Z:-1.80 [[ 9.93774330e-01 1.11291642e-01 -5.17210856e-03 3.99602783e+02] [-1.11290417e-01 9.93787788e-01 5.24814220e-04 -2.62853169e+01] [ 5.19838576e-03 5.40592203e-05 9.99986487e-01 -1.80100812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.63, Y:-26.29, Z:-1.80 [[ 9.93918490e-01 1.10008801e-01 -4.90905537e-03 3.99630037e+02] [-1.10007685e-01 9.93930612e-01 4.97769254e-04 -2.62886608e+01] [ 4.93401941e-03 4.52917492e-05 9.99987827e-01 -1.80049179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.67028169299994 meters Centerline goodness [0,1] 0.9999787143465304 Centerline is valid? [True, True] Translation: X:399.66, Y:-26.29, Z:-1.80 [[ 9.94134368e-01 1.08124822e-01 -2.42532316e-03 3.99657209e+02] [-1.08124544e-01 9.94137326e-01 2.45715884e-04 -2.62940193e+01] [ 2.43767226e-03 1.79623563e-05 9.99997029e-01 -1.79742448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70028169299997 meters Centerline goodness [0,1] 0.9999786187727175 Centerline is valid? [True, True] Translation: X:399.69, Y:-26.30, Z:-1.79 [[ 9.94271410e-01 1.06880544e-01 -9.55779723e-04 3.99685855e+02] [-1.06880500e-01 9.94271869e-01 9.67356786e-05 -2.62989464e+01] [ 9.60644053e-04 5.97269537e-06 9.99999539e-01 -1.79442457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.73028169299994 meters Centerline goodness [0,1] 0.9999789038437197 Centerline is valid? [True, True] Translation: X:399.71, Y:-26.30, Z:-1.79 [[ 9.94369898e-01 1.05962736e-01 6.36674643e-04 3.99713499e+02] [-1.05962716e-01 9.94370101e-01 -6.45925744e-05 -2.63012664e+01] [-6.39934636e-04 -3.23486303e-06 9.99999795e-01 -1.79236828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76028169299997 meters Centerline goodness [0,1] 0.9999149406711181 Centerline is valid? [True, True] Translation: X:399.74, Y:-26.31, Z:-1.79 [[ 9.94514872e-01 1.04594249e-01 4.61057456e-04 3.99741787e+02] [-1.04594239e-01 9.94514979e-01 -4.67622291e-05 -2.63054557e+01] [-4.63419607e-04 -1.71822149e-06 9.99999893e-01 -1.79142719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.79028169299994 meters Centerline goodness [0,1] 0.999978789292835 Centerline is valid? [True, True] Translation: X:399.77, Y:-26.31, Z:-1.79 [[ 9.94541732e-01 1.04336155e-01 -8.42913222e-04 3.99770492e+02] [-1.04336121e-01 9.94542089e-01 8.51709199e-05 -2.63081469e+01] [ 8.47199083e-04 3.24026151e-06 9.99999641e-01 -1.79360905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.80, Y:-26.31, Z:-1.80 [[ 9.94450639e-01 1.05169966e-01 -2.68423327e-03 3.99798952e+02] [-1.05169617e-01 9.94454261e-01 2.71314973e-04 -2.63093052e+01] [ 2.69788140e-03 1.24904372e-05 9.99996361e-01 -1.79642978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.85028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.83, Y:-26.31, Z:-1.80 [[ 9.94335186e-01 1.06260082e-01 -2.51641721e-03 3.99827944e+02] [-1.06259778e-01 9.94338370e-01 2.54227810e-04 -2.63093326e+01] [ 2.52918446e-03 1.46062784e-05 9.99996802e-01 -1.79604251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.880281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.86, Y:-26.31, Z:-1.80 [[ 9.94302663e-01 1.06576874e-01 -1.89340128e-03 3.99855750e+02] [-1.06576703e-01 9.94304465e-01 1.91125771e-04 -2.63098381e+01] [ 1.90298694e-03 1.17556030e-05 9.99998189e-01 -1.79538993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.91028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.88, Y:-26.31, Z:-1.79 [[ 9.94253786e-01 1.07047297e-01 -5.33182417e-04 3.99883469e+02] [-1.07047284e-01 9.94253929e-01 5.36664855e-05 -2.63119136e+01] [ 5.35863566e-04 3.71762294e-06 9.99999856e-01 -1.79326318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.940281693 meters Centerline goodness [0,1] 0.9999789269608463 Centerline is valid? [True, True] Translation: X:399.91, Y:-26.31, Z:-1.79 [[ 9.94101946e-01 1.08435174e-01 1.77041770e-03 3.99911966e+02] [-1.08435028e-01 9.94103522e-01 -1.78718436e-04 -2.63105330e+01] [-1.77935784e-03 -1.43109481e-05 9.99998417e-01 -1.78939792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.97028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.94, Y:-26.31, Z:-1.79 [[ 9.93940716e-01 1.09913716e-01 9.10079646e-04 3.99941247e+02] [-1.09913678e-01 9.93941133e-01 -9.18622681e-05 -2.63086131e+01] [-9.14662518e-04 -8.72455272e-06 9.99999582e-01 -1.79173287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.000281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.97, Y:-26.31, Z:-1.79 [[ 9.93917651e-01 1.10125843e-01 2.83413622e-05 3.99969641e+02] [-1.10125843e-01 9.93917652e-01 -2.99965448e-06 -2.63077602e+01] [-2.84993197e-05 -1.39706884e-07 1.00000000e+00 -1.79394030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.03028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.00, Y:-26.31, Z:-1.79 [[ 9.94212163e-01 1.07434413e-01 -1.48487090e-04 3.99997722e+02] [-1.07434412e-01 9.94212174e-01 1.48596591e-05 -2.63148865e+01] [ 1.49224111e-04 1.17896941e-06 9.99999989e-01 -1.79434813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.060281693 meters Centerline goodness [0,1] 0.9999785839722448 Centerline is valid? [True, True] Translation: X:400.03, Y:-26.32, Z:-1.79 [[ 9.94482459e-01 1.04902195e-01 4.10043969e-04 4.00025764e+02] [-1.04902187e-01 9.94482544e-01 -4.13784185e-05 -2.63232566e+01] [-4.12122256e-04 -1.86439779e-06 9.99999915e-01 -1.79304808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.09028169299995 meters Centerline goodness [0,1] 0.9999579540437699 Centerline is valid? [True, True] Translation: X:400.05, Y:-26.33, Z:-1.79 [[ 9.94755543e-01 1.02280130e-01 4.30273679e-04 4.00052726e+02] [-1.02280121e-01 9.94755636e-01 -4.34137002e-05 -2.63298306e+01] [-4.32457526e-04 -8.22425167e-07 9.99999906e-01 -1.79295576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.120281693 meters Centerline goodness [0,1] 0.9998940992078621 Centerline is valid? [True, True] Translation: X:400.08, Y:-26.34, Z:-1.80 [[ 9.95216803e-01 9.76845434e-02 -1.11575584e-03 4.00080588e+02] [-9.76844791e-02 9.95217428e-01 1.12100654e-04 -2.63428708e+01] [ 1.12137016e-03 -2.57242575e-06 9.99999371e-01 -1.79625203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.15028169299995 meters Centerline goodness [0,1] 0.999787721830687 Centerline is valid? [True, True] Translation: X:400.11, Y:-26.35, Z:-1.80 [[ 9.95481952e-01 9.49233062e-02 -2.29127632e-03 4.00108556e+02] [-9.49230278e-02 9.95484588e-01 2.30201695e-04 -2.63538906e+01] [ 2.30278177e-03 -1.16667465e-05 9.99997349e-01 -1.79821138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.180281693 meters Centerline goodness [0,1] 0.9997432880521981 Centerline is valid? [True, True] Translation: X:400.14, Y:-26.36, Z:-1.80 [[ 9.95477144e-01 9.49716466e-02 -2.37517449e-03 4.00137279e+02] [-9.49713478e-02 9.95479978e-01 2.38520444e-04 -2.63570319e+01] [ 2.38709133e-03 -1.18681277e-05 9.99997151e-01 -1.79851678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.21028169299996 meters Centerline goodness [0,1] 0.9998711699911966 Centerline is valid? [True, True] Translation: X:400.17, Y:-26.36, Z:-1.80 [[ 9.95164559e-01 9.81661305e-02 -3.30326650e-03 4.00166557e+02] [-9.81655703e-02 9.95170041e-01 3.31665032e-04 -2.63550268e+01] [ 3.31987013e-03 -5.79424520e-06 9.99994489e-01 -1.79956649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.240281693 meters Centerline goodness [0,1] 0.9998936215480192 Centerline is valid? [True, True] Translation: X:400.19, Y:-26.36, Z:-1.80 [[ 9.94952428e-01 1.00278811e-01 -3.71821327e-03 4.00194060e+02] [-1.00278117e-01 9.94959376e-01 3.73062530e-04 -2.63552663e+01] [ 3.73688142e-03 1.67595555e-06 9.99993018e-01 -1.80091879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.27028169299996 meters Centerline goodness [0,1] 0.9999154870061272 Centerline is valid? [True, True] Translation: X:400.22, Y:-26.36, Z:-1.80 [[ 9.94721001e-01 1.02544298e-01 -3.84671279e-03 4.00222897e+02] [-1.02543573e-01 9.94728439e-01 3.85806569e-04 -2.63562001e+01] [ 3.86599687e-03 1.06857765e-05 9.99992527e-01 -1.80084015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.300281693 meters Centerline goodness [0,1] 0.9998944524191505 Centerline is valid? [True, True] Translation: X:400.25, Y:-26.36, Z:-1.80 [[ 9.94721641e-01 1.02556809e-01 -3.31037052e-03 4.00250384e+02] [-1.02556273e-01 9.94727149e-01 3.31781850e-04 -2.63588515e+01] [ 3.32694192e-03 9.46867489e-06 9.99994466e-01 -1.80034257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.33028169299996 meters Centerline goodness [0,1] 0.999786561939725 Centerline is valid? [True, True] Translation: X:400.28, Y:-26.37, Z:-1.80 [[ 9.94901467e-01 1.00843319e-01 -1.30243947e-03 4.00278774e+02] [-1.00843235e-01 9.94902319e-01 1.30424560e-04 -2.63652836e+01] [ 1.30895249e-03 1.58262300e-06 9.99999143e-01 -1.79742270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36028169299993 meters Centerline goodness [0,1] 0.999786561939725 Centerline is valid? [True, True] Translation: X:400.31, Y:-26.37, Z:-1.80 [[ 9.94906188e-01 1.00796730e-01 -1.30244557e-03 4.00306970e+02] [-1.00796646e-01 9.94907041e-01 1.30363624e-04 -2.63680175e+01] [ 1.30895250e-03 1.58256853e-06 9.99999143e-01 -1.79748233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.39028169299996 meters Centerline goodness [0,1] 0.9997672351771129 Centerline is valid? [True, True] Translation: X:400.33, Y:-26.37, Z:-1.80 [[ 9.95069208e-01 9.91763838e-02 -1.14730114e-03 4.00334365e+02] [-9.91763175e-02 9.95069869e-01 1.14731566e-04 -2.63747416e+01] [ 1.15302345e-03 -3.80746332e-07 9.99999335e-01 -1.79834021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42028169299994 meters Centerline goodness [0,1] 0.9998079385403329 Centerline is valid? [True, True] Translation: X:400.36, Y:-26.39, Z:-1.80 [[ 9.95487266e-01 9.48869031e-02 -1.25661709e-03 4.00362118e+02] [-9.48868201e-02 9.95488059e-01 1.25646059e-04 -2.63876692e+01] [ 1.26286947e-03 -5.84265245e-06 9.99999203e-01 -1.79866498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.45028169299997 meters Centerline goodness [0,1] 0.9998064682607948 Centerline is valid? [True, True] Translation: X:400.39, Y:-26.39, Z:-1.80 [[ 9.95660587e-01 9.30535041e-02 -1.02049382e-03 4.00390015e+02] [-9.30534485e-02 9.95661110e-01 1.01965662e-04 -2.63938774e+01] [ 1.02555427e-03 -6.56272231e-06 9.99999474e-01 -1.79681705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48028169299994 meters Centerline goodness [0,1] 0.9997041795207708 Centerline is valid? [True, True] Translation: X:400.42, Y:-26.40, Z:-1.80 [[ 9.95857887e-01 9.09057689e-02 -1.79185065e-03 4.00417917e+02] [-9.09055938e-02 9.95859499e-01 1.79099604e-04 -2.64044992e+01] [ 1.80071268e-03 -1.54685060e-05 9.99998379e-01 -1.79762216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.51028169299997 meters Centerline goodness [0,1] 0.9995942511798749 Centerline is valid? [True, True] Translation: X:400.45, Y:-26.41, Z:-1.80 [[ 9.95956007e-01 8.98025334e-02 -2.67170996e-03 4.00446649e+02] [-8.98021402e-02 9.95959590e-01 2.67027183e-04 -2.64114101e+01] [ 2.68489488e-03 -2.60220543e-05 9.99996395e-01 -1.79966482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54028169299994 meters Centerline goodness [0,1] 0.9994036589781271 Centerline is valid? [True, True] Translation: X:400.48, Y:-26.42, Z:-1.80 [[ 9.96192540e-01 8.71366256e-02 -2.76264817e-03 4.00475369e+02] [-8.71361950e-02 9.96196370e-01 2.76051362e-04 -2.64227922e+01] [ 2.77619426e-03 -3.42736578e-05 9.99996146e-01 -1.79954495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.57028169299997 meters Centerline goodness [0,1] 0.9993265142905249 Centerline is valid? [True, True] Translation: X:400.50, Y:-26.43, Z:-1.80 [[ 9.96350270e-01 8.53382201e-02 -1.87807893e-03 4.00502815e+02] [-8.53380181e-02 9.96352040e-01 1.87557900e-04 -2.64334157e+01] [ 1.88723363e-03 -2.66018302e-05 9.99998219e-01 -1.79884357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60028169299994 meters Centerline goodness [0,1] 0.9978471474703983 Centerline is valid? [True, True] Translation: X:400.53, Y:-26.45, Z:-1.79 [[ 9.96784812e-01 8.01175501e-02 1.10322824e-03 4.00532362e+02] [-8.01174771e-02 9.96785422e-01 -1.10207319e-04 -2.64498888e+01] [-1.10851137e-03 2.14651187e-05 9.99999385e-01 -1.79250988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.630281693 meters Centerline goodness [0,1] 0.99648098875633 Centerline is valid? [True, True] Translation: X:400.56, Y:-26.47, Z:-1.79 [[ 9.97212527e-01 7.45601591e-02 2.82111151e-03 4.00561927e+02] [-7.45596598e-02 9.97216515e-01 -2.81894835e-04 -2.64690569e+01] [-2.83427712e-03 7.07679464e-05 9.99995981e-01 -1.78938224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66028169299994 meters Centerline goodness [0,1] 0.9961240310077519 Centerline is valid? [True, True] Translation: X:400.59, Y:-26.48, Z:-1.79 [[ 9.97383657e-01 7.22277437e-02 2.99897944e-03 4.00592562e+02] [-7.22271685e-02 9.97388162e-01 -2.99793768e-04 -2.64796458e+01] [-3.01280002e-03 8.24016107e-05 9.99995458e-01 -1.78956498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.690281693 meters Centerline goodness [0,1] 0.9955729718280025 Centerline is valid? [True, True] Translation: X:400.62, Y:-26.49, Z:-1.79 [[ 9.97511735e-01 7.04555629e-02 2.52034240e-03 4.00624163e+02] [-7.04551506e-02 9.97514916e-01 -2.52109127e-04 -2.64905162e+01] [-2.53184163e-03 7.39107096e-05 9.99996792e-01 -1.79065966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72028169299995 meters Centerline goodness [0,1] 0.9955780845556514 Centerline is valid? [True, True] Translation: X:400.65, Y:-26.50, Z:-1.79 [[ 9.97631342e-01 6.87862973e-02 3.87959069e-04 4.00654763e+02] [-6.87862875e-02 9.97631417e-01 -3.85559107e-05 -2.65029767e+01] [-3.89692275e-04 1.17783209e-05 9.99999924e-01 -1.79430331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.750281693 meters Centerline goodness [0,1] 0.99609375 Centerline is valid? [True, True] Translation: X:400.69, Y:-26.51, Z:-1.80 [[ 9.97599330e-01 6.92456228e-02 -7.87972338e-04 4.00686234e+02] [-6.92455816e-02 9.97599641e-01 7.94653855e-05 -2.65091200e+01] [ 7.91583551e-04 -2.47110125e-05 9.99999686e-01 -1.79578391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78028169299995 meters Centerline goodness [0,1] 0.9969252450195375 Centerline is valid? [True, True] Translation: X:400.72, Y:-26.52, Z:-1.80 [[ 9.97426701e-01 7.16097053e-02 -3.46791210e-03 4.00716705e+02] [-7.16089242e-02 9.97432725e-01 3.49034439e-04 -2.65203039e+01] [ 3.48400327e-03 -9.98028142e-05 9.99993926e-01 -1.80130496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.810281693 meters Centerline goodness [0,1] 0.9978361470563031 Centerline is valid? [True, True] Translation: X:400.75, Y:-26.53, Z:-1.80 [[ 9.97237350e-01 7.40972723e-02 -5.22135031e-03 4.00748005e+02] [-7.40955319e-02 9.97251009e-01 5.26240565e-04 -2.65272815e+01] [ 5.24598985e-03 -1.37908018e-04 9.99986230e-01 -1.80374244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84028169299995 meters Centerline goodness [0,1] 0.9979213097891309 Centerline is valid? [True, True] Translation: X:400.78, Y:-26.53, Z:-1.80 [[ 9.97127300e-01 7.56237819e-02 -4.26504861e-03 4.00779459e+02] [-7.56226312e-02 9.97136416e-01 4.30634127e-04 -2.65323770e+01] [ 4.28540146e-03 -1.06862846e-04 9.99990812e-01 -1.80271830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.870281693 meters Centerline goodness [0,1] 0.997761515281963 Centerline is valid? [True, True] Translation: X:400.81, Y:-26.54, Z:-1.80 [[ 9.97001991e-01 7.73287709e-02 -2.70035266e-03 4.00810124e+02] [-7.73283145e-02 9.97005645e-01 2.73167201e-04 -2.65377884e+01] [ 2.71339053e-03 -6.35345235e-05 9.99996317e-01 -1.80012777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90028169299995 meters Centerline goodness [0,1] 0.9981357117132386 Centerline is valid? [True, True] Translation: X:400.84, Y:-26.54, Z:-1.80 [[ 9.96772099e-01 8.02831086e-02 -6.62949859e-05 4.00840018e+02] [-8.02831083e-02 9.96772102e-01 6.72427472e-06 -2.65440898e+01] [ 6.66208381e-05 -1.38020189e-06 9.99999998e-01 -1.79545972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.930281693 meters Centerline goodness [0,1] 0.9979435646293117 Centerline is valid? [True, True] Translation: X:400.87, Y:-26.55, Z:-1.80 [[ 9.96655589e-01 8.17168141e-02 -1.26123666e-05 4.00870641e+02] [-8.17168141e-02 9.96655589e-01 1.59402601e-06 -2.65527331e+01] [ 1.27004444e-05 -5.58052507e-07 1.00000000e+00 -1.79583622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96028169299996 meters Centerline goodness [0,1] 0.9986770228747013 Centerline is valid? [True, True] Translation: X:400.90, Y:-26.55, Z:-1.80 [[ 9.96448486e-01 8.42024380e-02 -6.03185761e-04 4.00903136e+02] [-8.42024162e-02 9.96448669e-01 6.14876579e-05 -2.65533137e+01] [ 6.06221059e-04 -1.04795851e-05 9.99999816e-01 -1.79710400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.990281693 meters Centerline goodness [0,1] 0.9990473569447679 Centerline is valid? [True, True] Translation: X:400.93, Y:-26.56, Z:-1.80 [[ 9.96322564e-01 8.56686749e-02 -1.49227974e-03 4.00934404e+02] [-8.56685439e-02 9.96323681e-01 1.51606896e-04 -2.65571554e+01] [ 1.49978161e-03 -2.32079388e-05 9.99998875e-01 -1.79899034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02028169299996 meters Centerline goodness [0,1] 0.9994683452778428 Centerline is valid? [True, True] Translation: X:400.97, Y:-26.56, Z:-1.80 [[ 9.95983578e-01 8.94580316e-02 -3.73802622e-03 4.00966518e+02] [-8.94572346e-02 9.95990592e-01 3.80218088e-04 -2.65588158e+01] [ 3.75705251e-03 -4.42974832e-05 9.99992941e-01 -1.80291791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.050281693 meters Centerline goodness [0,1] 0.9995522388059701 Centerline is valid? [True, True] Translation: X:401.00, Y:-26.56, Z:-1.80 [[ 9.95839229e-01 9.10166564e-02 -4.49423202e-03 4.00998747e+02] [-9.10155203e-02 9.95849369e-01 4.57107296e-04 -2.65622985e+01] [ 4.51718250e-03 -4.61605112e-05 9.99989796e-01 -1.80470858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08028169299996 meters Centerline goodness [0,1] 0.9995931129004626 Centerline is valid? [True, True] Translation: X:401.03, Y:-26.57, Z:-1.80 [[ 9.95806280e-01 9.14160901e-02 -3.59886298e-03 4.01030192e+02] [-9.14153612e-02 9.95812782e-01 3.66865854e-04 -2.65698925e+01] [ 3.61733120e-03 -3.63359617e-05 9.99993457e-01 -1.80330553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.11028169299993 meters Centerline goodness [0,1] 0.9994490358126722 Centerline is valid? [True, True] Translation: X:401.06, Y:-26.58, Z:-1.80 [[ 9.95848472e-01 9.10015501e-02 -2.13056630e-03 4.01061331e+02] [-9.10012925e-02 9.95850751e-01 2.17716716e-04 -2.65773630e+01] [ 2.14153861e-03 -2.29285714e-05 9.99997707e-01 -1.80115751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14028169299996 meters Centerline goodness [0,1] 0.9995553014420939 Centerline is valid? [True, True] Translation: X:401.09, Y:-26.59, Z:-1.80 [[ 9.95870822e-01 9.07816090e-02 -7.60786300e-05 4.01093547e+02] [-9.07816086e-02 9.95870825e-01 8.16002358e-06 -2.65861845e+01] [ 7.65052681e-05 -1.21978897e-06 9.99999997e-01 -1.79658322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.17028169299994 meters Centerline goodness [0,1] 0.9994936602038018 Centerline is valid? [True, True] Translation: X:401.13, Y:-26.59, Z:-1.80 [[ 9.95764102e-01 9.19448168e-02 6.14493634e-05 4.01125900e+02] [-9.19448166e-02 9.95764104e-01 -6.16390224e-06 -2.65905451e+01] [-6.17558091e-05 4.87842133e-07 9.99999998e-01 -1.79656843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20028169299997 meters Centerline goodness [0,1] 0.9997659076399233 Centerline is valid? [True, True] Translation: X:401.16, Y:-26.59, Z:-1.80 [[ 9.95422123e-01 9.55755546e-02 3.31036954e-04 4.01157622e+02] [-9.55755487e-02 9.95422178e-01 -3.35707239e-05 -2.65933010e+01] [-3.32730066e-04 1.77800272e-06 9.99999945e-01 -1.79547327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.23028169299994 meters Centerline goodness [0,1] 0.99968011601126 Centerline is valid? [True, True] Translation: X:401.19, Y:-26.59, Z:-1.79 [[ 9.95189101e-01 9.79686771e-02 8.89303166e-04 4.01188794e+02] [-9.79686350e-02 9.95189499e-01 -9.09036798e-05 -2.65949405e+01] [-8.93930886e-04 3.34253412e-06 9.99999600e-01 -1.79429379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26028169299997 meters Centerline goodness [0,1] 0.9997012759783211 Centerline is valid? [True, True] Translation: X:401.22, Y:-26.59, Z:-1.79 [[ 9.94627088e-01 1.03521047e-01 5.89698688e-04 4.01221462e+02] [-1.03521029e-01 9.94627263e-01 -6.02355545e-05 -2.65911930e+01] [-5.92766040e-04 -1.13430109e-06 9.99999824e-01 -1.79495109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.29028169299994 meters Centerline goodness [0,1] 0.9997639383664535 Centerline is valid? [True, True] Translation: X:401.25, Y:-26.59, Z:-1.80 [[ 9.94302791e-01 1.06592327e-01 -1.88551225e-04 4.01253697e+02] [-1.06592325e-01 9.94302809e-01 1.97630632e-05 -2.65915256e+01] [ 1.89583604e-04 4.47644593e-07 9.99999982e-01 -1.79630353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32028169299997 meters Centerline goodness [0,1] 0.999788489604264 Centerline is valid? [True, True] Translation: X:401.29, Y:-26.59, Z:-1.80 [[ 9.93791768e-01 1.11217801e-01 -2.91925046e-03 4.01285359e+02] [-1.11217396e-01 9.93796056e-01 3.01192675e-04 -2.65866402e+01] [ 2.93463758e-03 2.53486347e-05 9.99995694e-01 -1.80234992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.35028169299994 meters Centerline goodness [0,1] 0.9997005027275645 Centerline is valid? [True, True] Translation: X:401.32, Y:-26.59, Z:-1.80 [[ 9.93693477e-01 1.12064426e-01 -3.85200763e-03 4.01316825e+02] [-1.12063726e-01 9.93700942e-01 3.97991994e-04 -2.65910629e+01] [ 3.87234436e-03 3.61882777e-05 9.99992502e-01 -1.80295527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.380281693 meters Centerline goodness [0,1] 0.9997460263709285 Centerline is valid? [True, True] Translation: X:401.35, Y:-26.59, Z:-1.80 [[ 9.93889614e-01 1.10316954e-01 -3.68840236e-03 4.01347417e+02] [-1.10316297e-01 9.93896458e-01 3.81650401e-04 -2.65948682e+01] [ 3.70799255e-03 2.75725198e-05 9.99993125e-01 -1.80414441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.41028169299994 meters Centerline goodness [0,1] 0.9997438087105038 Centerline is valid? [True, True] Translation: X:401.38, Y:-26.60, Z:-1.80 [[ 9.94059521e-01 1.08799641e-01 -2.88204486e-03 4.01379097e+02] [-1.08799232e-01 9.94063699e-01 2.98790482e-04 -2.66024295e+01] [ 2.89744447e-03 1.65487437e-05 9.99995802e-01 -1.80114437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.440281693 meters Centerline goodness [0,1] 0.9998308203100218 Centerline is valid? [True, True] Translation: X:401.41, Y:-26.61, Z:-1.80 [[ 9.94229019e-01 1.07245649e-01 -2.65125133e-03 4.01410315e+02] [-1.07245297e-01 9.94232554e-01 2.74991193e-04 -2.66069575e+01] [ 2.66545199e-03 1.09300137e-05 9.99996448e-01 -1.79973686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.47028169299995 meters Centerline goodness [0,1] 0.999810014354471 Centerline is valid? [True, True] Translation: X:401.44, Y:-26.61, Z:-1.80 [[ 9.94160828e-01 1.07877176e-01 -2.60072102e-03 4.01442360e+02] [-1.07876838e-01 9.94164229e-01 2.70104830e-04 -2.66076177e+01] [ 2.61468196e-03 1.20299196e-05 9.99996582e-01 -1.80076436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.500281693 meters Centerline goodness [0,1] 0.9997651980874317 Centerline is valid? [True, True] Translation: X:401.48, Y:-26.61, Z:-1.80 [[ 9.94119449e-01 1.08266413e-01 -2.21456985e-03 4.01475717e+02] [-1.08266168e-01 9.94121916e-01 2.30608915e-04 -2.66086965e+01] [ 2.22651962e-03 1.05101846e-05 9.99997521e-01 -1.79915654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.53028169299995 meters Centerline goodness [0,1] 0.9998513989725301 Centerline is valid? [True, True] Translation: X:401.51, Y:-26.61, Z:-1.80 [[ 9.94145665e-01 1.08031876e-01 -1.87363760e-03 4.01508417e+02] [-1.08031699e-01 9.94147431e-01 1.95529128e-04 -2.66092801e+01] [ 1.88379538e-03 8.02781837e-06 9.99998226e-01 -1.79840826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.560281693 meters Centerline goodness [0,1] 0.9997641610565585 Centerline is valid? [True, True] Translation: X:401.54, Y:-26.61, Z:-1.80 [[ 9.94239961e-01 1.07160969e-01 -1.85117576e-03 4.01541297e+02] [-1.07160794e-01 9.94241684e-01 1.93545032e-04 -2.66128961e+01] [ 1.86125658e-03 5.94325938e-06 9.99998268e-01 -1.79847199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.59028169299995 meters Centerline goodness [0,1] 0.9998306304780454 Centerline is valid? [True, True] Translation: X:401.57, Y:-26.62, Z:-1.80 [[ 9.94445124e-01 1.05241692e-01 -1.75568680e-03 4.01572804e+02] [-1.05241531e-01 9.94446673e-01 1.83869970e-04 -2.66184053e+01] [ 1.76528768e-03 1.92257139e-06 9.99998442e-01 -1.79844517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.620281693 meters Centerline goodness [0,1] 0.9998733081357292 Centerline is valid? [True, True] Translation: X:401.61, Y:-26.62, Z:-1.80 [[ 9.94492167e-01 1.04800774e-01 -1.45849952e-03 4.01605748e+02] [-1.04800662e-01 9.94493237e-01 1.53101271e-04 -2.66234391e+01] [ 1.46651304e-03 5.93700619e-07 9.99998925e-01 -1.79756953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.65028169299995 meters Centerline goodness [0,1] 0.9997881086578803 Centerline is valid? [True, True] Translation: X:401.64, Y:-26.63, Z:-1.80 [[ 9.94690060e-01 1.02906634e-01 -1.38136121e-03 4.01636940e+02] [-1.02906532e-01 9.94691020e-01 1.45242216e-04 -2.66314755e+01] [ 1.38897398e-03 -2.31989767e-06 9.99999035e-01 -1.79661044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.680281693 meters Centerline goodness [0,1] 0.9997667020148462 Centerline is valid? [True, True] Translation: X:401.67, Y:-26.64, Z:-1.80 [[ 9.94788517e-01 1.01952731e-01 -1.20284331e-03 4.01669163e+02] [-1.01952652e-01 9.94789244e-01 1.26754286e-04 -2.66371818e+01] [ 1.20949854e-03 -3.46064267e-06 9.99999269e-01 -1.79615805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.71028169299996 meters Centerline goodness [0,1] 0.9998081309825826 Centerline is valid? [True, True] Translation: X:401.70, Y:-26.64, Z:-1.79 [[ 9.94790709e-01 1.01933846e-01 -9.67560279e-04 4.01702388e+02] [-1.01933795e-01 9.94791180e-01 1.02227550e-04 -2.66409045e+01] [ 9.72940879e-04 -3.06792547e-06 9.99999527e-01 -1.79489185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.740281693 meters Centerline goodness [0,1] 0.9997651579846285 Centerline is valid? [True, True] Translation: X:401.74, Y:-26.64, Z:-1.80 [[ 9.94584696e-01 1.03919009e-01 -1.45649853e-03 4.01735167e+02] [-1.03918895e-01 9.94585763e-01 1.53985208e-04 -2.66421852e+01] [ 1.46461469e-03 -1.79361479e-06 9.99998927e-01 -1.79526759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.77028169299996 meters Centerline goodness [0,1] 0.9997862973885541 Centerline is valid? [True, True] Translation: X:401.77, Y:-26.64, Z:-1.80 [[ 9.94292197e-01 1.06658114e-01 -2.65945180e-03 4.01766980e+02] [-1.06657744e-01 9.94295754e-01 2.80866340e-04 -2.66414182e+01] [ 2.67423830e-03 4.38791988e-06 9.99996424e-01 -1.79748862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.800281693 meters Centerline goodness [0,1] 0.9998070077625767 Centerline is valid? [True, True] Translation: X:401.80, Y:-26.64, Z:-1.80 [[ 9.94122947e-01 1.08226728e-01 -2.55758476e-03 4.01799056e+02] [-1.08226389e-01 9.94126237e-01 2.70702648e-04 -2.66417635e+01] [ 2.57185938e-03 7.68645039e-06 9.99996693e-01 -1.79762783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.83028169299996 meters Centerline goodness [0,1] 0.9998502801899303 Centerline is valid? [True, True] Translation: X:401.83, Y:-26.64, Z:-1.80 [[ 9.93962974e-01 1.09694839e-01 -2.15605727e-03 4.01830573e+02] [-1.09694601e-01 9.93965312e-01 2.28565749e-04 -2.66419595e+01] [ 2.16811862e-03 9.32195026e-06 9.99997650e-01 -1.79791376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86028169299993 meters Centerline goodness [0,1] 0.9997666426237855 Centerline is valid? [True, True] Translation: X:401.86, Y:-26.64, Z:-1.80 [[ 9.93655389e-01 1.12436258e-01 -2.65609236e-03 4.01861946e+02] [-1.12435907e-01 9.93658939e-01 2.81908175e-04 -2.66405527e+01] [ 2.67094661e-03 1.85205748e-05 9.99996433e-01 -1.79864567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.89028169299996 meters Centerline goodness [0,1] 0.9997675106733737 Centerline is valid? [True, True] Translation: X:401.89, Y:-26.64, Z:-1.80 [[ 9.93535766e-01 1.13459797e-01 -3.68195482e-03 4.01892021e+02] [-1.13459129e-01 9.93542588e-01 3.90409340e-04 -2.66410382e+01] [ 3.70247469e-03 2.98657448e-05 9.99993145e-01 -1.80101858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92028169299994 meters Centerline goodness [0,1] 0.999765017516876 Centerline is valid? [True, True] Translation: X:401.92, Y:-26.64, Z:-1.80 [[ 9.93230203e-01 1.16078566e-01 -4.41942069e-03 4.01923201e+02] [-1.16077630e-01 9.93240034e-01 4.68575726e-04 -2.66387098e+01] [ 4.44393715e-03 4.75923172e-05 9.99990125e-01 -1.80067124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.95028169299997 meters Centerline goodness [0,1] 0.9997663799511521 Centerline is valid? [True, True] Translation: X:401.95, Y:-26.63, Z:-1.80 [[ 9.93062601e-01 1.17544510e-01 -3.15589176e-03 4.01951996e+02] [-1.17544040e-01 9.93067614e-01 3.34425085e-04 -2.66347181e+01] [ 3.17332373e-03 3.88512235e-05 9.99994964e-01 -1.79955786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98028169299994 meters Centerline goodness [0,1] 0.9997678786216211 Centerline is valid? [True, True] Translation: X:401.98, Y:-26.63, Z:-1.80 [[ 9.92676034e-01 1.20803991e-01 -8.29676297e-04 4.01982200e+02] [-1.20803959e-01 9.92676380e-01 8.78728606e-05 -2.66280250e+01] [ 8.34215455e-04 1.29988989e-05 9.99999652e-01 -1.79574077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.01028169299997 meters Centerline goodness [0,1] 0.9997031634297345 Centerline is valid? [True, True] Translation: X:402.01, Y:-26.63, Z:-1.80 [[ 9.92451958e-01 1.22628363e-01 -1.18131190e-03 4.02013010e+02] [-1.22628300e-01 9.92452661e-01 1.25182539e-04 -2.66272304e+01] [ 1.18774707e-03 2.06246140e-05 9.99999294e-01 -1.79585527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04028169299994 meters Centerline goodness [0,1] 0.9997671316976099 Centerline is valid? [True, True] Translation: X:402.04, Y:-26.62, Z:-1.80 [[ 9.92175786e-01 1.24813827e-01 -2.95252268e-03 4.02042432e+02] [-1.24813449e-01 9.92180178e-01 3.12704652e-04 -2.66216955e+01] [ 2.96846434e-03 5.82565547e-05 9.99995592e-01 -1.80041225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.07028169299997 meters Centerline goodness [0,1] 0.9997217406194482 Centerline is valid? [True, True] Translation: X:402.07, Y:-26.63, Z:-1.80 [[ 9.92272299e-01 1.24038873e-01 -3.16897613e-03 4.02071285e+02] [-1.24038434e-01 9.92277358e-01 3.35583157e-04 -2.66269117e+01] [ 3.18612862e-03 6.00849658e-05 9.99994922e-01 -1.80022881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10028169299994 meters Centerline goodness [0,1] 0.9997665881554099 Centerline is valid? [True, True] Translation: X:402.10, Y:-26.63, Z:-1.80 [[ 9.92458586e-01 1.22544054e-01 -2.98485572e-03 4.02099604e+02] [-1.22543657e-01 9.92463073e-01 3.16031623e-04 -2.66306422e+01] [ 3.00108688e-03 5.21268393e-05 9.99995495e-01 -1.80008564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.130281693 meters Centerline goodness [0,1] 0.999721233434833 Centerline is valid? [True, True] Translation: X:402.13, Y:-26.64, Z:-1.80 [[ 9.92918373e-01 1.18787364e-01 -1.63328124e-03 4.02129606e+02] [-1.18787240e-01 9.92919716e-01 1.72951644e-04 -2.66390137e+01] [ 1.64226161e-03 2.22861053e-05 9.99998651e-01 -1.79660891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16028169299994 meters Centerline goodness [0,1] 0.999746063991874 Centerline is valid? [True, True] Translation: X:402.16, Y:-26.64, Z:-1.79 [[ 9.93140942e-01 1.16923069e-01 2.55246898e-04 4.02160291e+02] [-1.16923066e-01 9.93140975e-01 -2.70286400e-05 -2.66419221e+01] [-2.56656425e-04 -3.00100095e-06 9.99999967e-01 -1.79298357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.190281693 meters Centerline goodness [0,1] 0.9997896375454909 Centerline is valid? [True, True] Translation: X:402.19, Y:-26.64, Z:-1.79 [[ 9.93174182e-01 1.16639285e-01 5.67846791e-04 4.02189454e+02] [-1.16639269e-01 9.93174344e-01 -6.01483968e-05 -2.66443451e+01] [-5.70986530e-04 -6.49540009e-06 9.99999837e-01 -1.79299054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22028169299995 meters Centerline goodness [0,1] 0.9998937120020407 Centerline is valid? [True, True] Translation: X:402.22, Y:-26.65, Z:-1.80 [[ 9.93252302e-01 1.15963557e-01 -1.52269957e-03 4.02219751e+02] [-1.15963446e-01 9.93253469e-01 1.61224058e-04 -2.66490257e+01] [ 1.53112274e-03 1.64413227e-05 9.99998828e-01 -1.79704929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.250281693 meters Centerline goodness [0,1] 0.9998289904020863 Centerline is valid? [True, True] Translation: X:402.25, Y:-26.65, Z:-1.80 [[ 9.93272395e-01 1.15765242e-01 -2.89098059e-03 4.02249453e+02] [-1.15764841e-01 9.93276602e-01 3.05980250e-04 -2.66531630e+01] [ 2.90696526e-03 3.07521743e-05 9.99995774e-01 -1.79938379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28028169299995 meters Centerline goodness [0,1] 0.9998289904020863 Centerline is valid? [True, True] Translation: X:402.28, Y:-26.66, Z:-1.80 [[ 9.93275110e-01 1.15741944e-01 -2.89098778e-03 4.02278464e+02] [-1.15741544e-01 9.93279317e-01 3.05912339e-04 -2.66561883e+01] [ 2.90696526e-03 3.07522762e-05 9.99995774e-01 -1.79944518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.310281693 meters Centerline goodness [0,1] 0.9998083434485402 Centerline is valid? [True, True] Translation: X:402.31, Y:-26.66, Z:-1.80 [[ 9.93362160e-01 1.14978797e-01 -3.39052668e-03 4.02307327e+02] [-1.14978243e-01 9.93367945e-01 3.58700332e-04 -2.66604424e+01] [ 3.40928345e-03 3.35174633e-05 9.99994188e-01 -1.80053953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34028169299995 meters Centerline goodness [0,1] 0.9998294679399727 Centerline is valid? [True, True] Translation: X:402.34, Y:-26.67, Z:-1.80 [[ 9.93396577e-01 1.14698976e-01 -2.71771184e-03 4.02337726e+02] [-1.14698618e-01 9.93400294e-01 2.87559552e-04 -2.66651065e+01] [ 2.73275853e-03 2.60571179e-05 9.99996266e-01 -1.79866216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.370281693 meters Centerline goodness [0,1] 0.9997446862832706 Centerline is valid? [True, True] Translation: X:402.37, Y:-26.67, Z:-1.80 [[ 9.93406321e-01 1.14638455e-01 -1.38076480e-03 4.02367741e+02] [-1.14638363e-01 9.93407280e-01 1.46097942e-04 -2.66689296e+01] [ 1.38841024e-03 1.31539966e-05 9.99999036e-01 -1.79600278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40028169299995 meters Centerline goodness [0,1] 0.9998516792033054 Centerline is valid? [True, True] Translation: X:402.40, Y:-26.67, Z:-1.79 [[ 9.93389367e-01 1.14790373e-01 8.58334741e-04 4.02398291e+02] [-1.14790337e-01 9.93389737e-01 -9.08199132e-05 -2.66709812e+01] [-8.63086175e-04 -8.30899847e-06 9.99999628e-01 -1.79235373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.430281693 meters Centerline goodness [0,1] 0.9998096486960936 Centerline is valid? [True, True] Translation: X:402.43, Y:-26.67, Z:-1.79 [[ 9.93391606e-01 1.14768806e-01 1.11254891e-03 4.02428801e+02] [-1.14768747e-01 9.93392229e-01 -1.17718171e-04 -2.66738053e+01] [-1.11870782e-03 -1.07456013e-05 9.99999374e-01 -1.79154562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46028169299996 meters Centerline goodness [0,1] 0.9998715780912224 Centerline is valid? [True, True] Translation: X:402.46, Y:-26.68, Z:-1.79 [[ 9.93612128e-01 1.12846984e-01 7.05111605e-04 4.02459191e+02] [-1.12846959e-01 9.93612378e-01 -7.45752989e-05 -2.66821791e+01] [-7.09023216e-04 -5.47077889e-06 9.99999749e-01 -1.79352860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.490281693 meters Centerline goodness [0,1] 0.9998505901688332 Centerline is valid? [True, True] Translation: X:402.49, Y:-26.69, Z:-1.80 [[ 9.93707574e-01 1.12005135e-01 -3.26856067e-04 4.02490314e+02] [-1.12005130e-01 9.93707628e-01 3.46485855e-05 -2.66887023e+01] [ 3.28680187e-04 2.17899440e-06 9.99999946e-01 -1.79513725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52028169299996 meters Centerline goodness [0,1] 0.9998925563004986 Centerline is valid? [True, True] Translation: X:402.52, Y:-26.69, Z:-1.80 [[ 9.93696506e-01 1.12100190e-01 -8.95640432e-04 4.02521763e+02] [-1.12100150e-01 9.93696909e-01 9.48799975e-05 -2.66935729e+01] [ 9.00631194e-04 6.11950504e-06 9.99999594e-01 -1.79660453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.550281693 meters Centerline goodness [0,1] 0.9998300656371476 Centerline is valid? [True, True] Translation: X:402.55, Y:-26.69, Z:-1.80 [[ 9.93402115e-01 1.14657650e-01 -2.42094383e-03 4.02552146e+02] [-1.14657365e-01 9.93405065e-01 2.56564478e-04 -2.66937666e+01] [ 2.43439494e-03 2.27073463e-05 9.99997037e-01 -1.79989338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58028169299996 meters Centerline goodness [0,1] 0.9999153922626224 Centerline is valid? [True, True] Translation: X:402.58, Y:-26.69, Z:-1.80 [[ 9.93160514e-01 1.16711992e-01 -3.24093568e-03 4.02581699e+02] [-1.16711494e-01 9.93165802e-01 3.43256517e-04 -2.66933317e+01] [ 3.25884863e-03 3.73456239e-05 9.99994689e-01 -1.80191659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.61028169299993 meters Centerline goodness [0,1] 0.999936096792059 Centerline is valid? [True, True] Translation: X:402.61, Y:-26.69, Z:-1.80 [[ 9.92452363e-01 1.22595609e-01 -2.93654332e-03 4.02611623e+02] [-1.22595226e-01 9.92456706e-01 3.10851839e-04 -2.66882044e+01] [ 2.95250118e-03 5.15005500e-05 9.99995640e-01 -1.79963409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64028169299996 meters Centerline goodness [0,1] 0.999871553348176 Centerline is valid? [True, True] Translation: X:402.64, Y:-26.68, Z:-1.80 [[ 9.92025637e-01 1.26017843e-01 -2.15396780e-03 4.02640975e+02] [-1.26017645e-01 9.92027974e-01 2.27971891e-04 -2.66838702e+01] [ 2.16552484e-03 4.52839893e-05 9.99997654e-01 -1.79827764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.67028169299994 meters Centerline goodness [0,1] 0.9997051452159811 Centerline is valid? [True, True] Translation: X:402.67, Y:-26.68, Z:-1.80 [[ 9.91538958e-01 1.29794252e-01 -1.98672838e-03 4.02670210e+02] [-1.29794091e-01 9.91540947e-01 2.10178043e-04 -2.66790266e+01] [ 1.99720245e-03 4.94658874e-05 9.99998004e-01 -1.79745704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70028169299997 meters Centerline goodness [0,1] 0.9994928791784643 Centerline is valid? [True, True] Translation: X:402.70, Y:-26.67, Z:-1.80 [[ 9.90590259e-01 1.36847383e-01 -1.93173270e-03 4.02701472e+02] [-1.36847245e-01 9.90592141e-01 2.04425003e-04 -2.66656735e+01] [ 1.94153425e-03 6.18508805e-05 9.99998113e-01 -1.79946395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.73028169299994 meters Centerline goodness [0,1] 0.9992959098764642 Centerline is valid? [True, True] Translation: X:402.73, Y:-26.66, Z:-1.80 [[ 9.90179001e-01 1.39782193e-01 -2.54651994e-03 4.02731214e+02] [-1.39781962e-01 9.90182271e-01 2.69331859e-04 -2.66640185e+01] [ 2.55916670e-03 8.92708024e-05 9.99996721e-01 -1.80060844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76028169299997 meters Centerline goodness [0,1] 0.9973682534966148 Centerline is valid? [True, True] Translation: X:402.76, Y:-26.65, Z:-1.80 [[ 9.89565062e-01 1.44035060e-01 -3.85875646e-03 4.02761768e+02] [-1.44034562e-01 9.89572574e-01 4.08230092e-04 -2.66536001e+01] [ 3.87731901e-03 1.51824061e-04 9.99992472e-01 -1.80208928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.79028169299994 meters Centerline goodness [0,1] 0.995666723871632 Centerline is valid? [True, True] Translation: X:402.79, Y:-26.65, Z:-1.80 [[ 9.89402494e-01 1.45146368e-01 -3.90351223e-03 4.02790084e+02] [-1.45145868e-01 9.89410181e-01 4.12629460e-04 -2.66501762e+01] [ 3.92206642e-03 1.58322053e-04 9.99992296e-01 -1.80186950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82028169299997 meters Centerline goodness [0,1] 0.9951927167531694 Centerline is valid? [True, True] Translation: X:402.82, Y:-26.65, Z:-1.80 [[ 9.89318469e-01 1.45711081e-01 -4.15308438e-03 4.02819409e+02] [-1.45710521e-01 9.89327171e-01 4.38857340e-04 -2.66498502e+01] [ 4.17270560e-03 1.70978416e-04 9.99991280e-01 -1.80221506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.85028169299994 meters Centerline goodness [0,1] 0.9946678042017703 Centerline is valid? [True, True] Translation: X:402.85, Y:-26.65, Z:-1.80 [[ 9.89465242e-01 1.44693263e-01 -4.73231912e-03 4.02848579e+02] [-1.44692524e-01 9.89476540e-01 4.99868923e-04 -2.66497162e+01] [ 4.75484642e-03 1.90128275e-04 9.99988678e-01 -1.80473028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.880281693 meters Centerline goodness [0,1] 0.99801574601549 Centerline is valid? [True, True] Translation: X:402.88, Y:-26.65, Z:-1.80 [[ 9.89658710e-01 1.43378007e-01 -4.28771238e-03 4.02877657e+02] [-1.43377389e-01 9.89667984e-01 4.52772295e-04 -2.66547778e+01] [ 4.30832926e-03 1.66670960e-04 9.99990705e-01 -1.80343941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.91028169299994 meters Centerline goodness [0,1] 0.9993586454592098 Centerline is valid? [True, True] Translation: X:402.91, Y:-26.66, Z:-1.80 [[ 9.89837653e-01 1.42184037e-01 -2.26297639e-03 4.02906052e+02] [-1.42183862e-01 9.89840236e-01 2.38795792e-04 -2.66577996e+01] [ 2.27393804e-03 8.53896574e-05 9.99997411e-01 -1.79816028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.940281693 meters Centerline goodness [0,1] 0.9985464810094584 Centerline is valid? [True, True] Translation: X:402.93, Y:-26.65, Z:-1.80 [[ 9.89846501e-01 1.42134179e-01 -1.33385011e-03 4.02934456e+02] [-1.42134119e-01 9.89847399e-01 1.40526974e-04 -2.66504554e+01] [ 1.34028174e-03 5.04854758e-05 9.99999101e-01 -1.79646549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.97028169299995 meters Centerline goodness [0,1] 0.998528 Centerline is valid? [True, True] Translation: X:402.96, Y:-26.65, Z:-1.80 [[ 9.89821697e-01 1.42310394e-01 -8.71667147e-04 4.02963505e+02] [-1.42310368e-01 9.89822080e-01 9.18142660e-05 -2.66520979e+01] [ 8.75861513e-04 3.31675202e-05 9.99999616e-01 -1.79537544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.000281693 meters Centerline goodness [0,1] 0.9990401023890785 Centerline is valid? [True, True] Translation: X:402.99, Y:-26.65, Z:-1.80 [[ 9.89622069e-01 1.43664264e-01 -2.95615514e-03 4.02993093e+02] [-1.43663974e-01 9.89626478e-01 3.11576884e-04 -2.66536040e+01] [ 2.97025187e-03 1.16349634e-04 9.99995582e-01 -1.79892304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.03028169299995 meters Centerline goodness [0,1] 0.9989015399564841 Centerline is valid? [True, True] Translation: X:403.02, Y:-26.65, Z:-1.80 [[ 9.89553994e-01 1.44115343e-01 -3.69600177e-03 4.03022587e+02] [-1.44114892e-01 9.89560886e-01 3.89347419e-04 -2.66525638e+01] [ 3.71352972e-03 1.47368604e-04 9.99993094e-01 -1.80048977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.060281693 meters Centerline goodness [0,1] 0.9989975685705754 Centerline is valid? [True, True] Translation: X:403.05, Y:-26.65, Z:-1.80 [[ 9.89509128e-01 1.44421508e-01 -3.75676258e-03 4.03051876e+02] [-1.44421046e-01 9.89516248e-01 3.95575591e-04 -2.66488969e+01] [ 3.77450723e-03 1.51129921e-04 9.99992865e-01 -1.79990019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.09028169299995 meters Centerline goodness [0,1] 0.9986245132893178 Centerline is valid? [True, True] Translation: X:403.08, Y:-26.65, Z:-1.80 [[ 9.89596249e-01 1.43823024e-01 -3.76859134e-03 4.03081109e+02] [-1.43822554e-01 9.89603413e-01 3.96647452e-04 -2.66491694e+01] [ 3.78645789e-03 1.49487602e-04 9.99992820e-01 -1.79988855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.120281693 meters Centerline goodness [0,1] 0.9991110358548871 Centerline is valid? [True, True] Translation: X:403.11, Y:-26.65, Z:-1.80 [[ 9.89749794e-01 1.42768703e-01 -3.52739702e-03 4.03110053e+02] [-1.42768286e-01 9.89756070e-01 3.71090370e-04 -2.66519639e+01] [ 3.54424270e-03 1.36313809e-04 9.99993710e-01 -1.79943234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.15028169299995 meters Centerline goodness [0,1] 0.9993657639373374 Centerline is valid? [True, True] Translation: X:403.14, Y:-26.65, Z:-1.80 [[ 9.90191776e-01 1.39696008e-01 -2.29589486e-03 4.03139098e+02] [-1.39695823e-01 9.90194435e-01 2.41495350e-04 -2.66527372e+01] [ 2.30711825e-03 8.16002123e-05 9.99997335e-01 -1.79801714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.180281693 meters Centerline goodness [0,1] 0.9995114179500797 Centerline is valid? [True, True] Translation: X:403.17, Y:-26.66, Z:-1.79 [[ 9.90540958e-01 1.37216642e-01 -4.52237494e-04 4.03168715e+02] [-1.37216635e-01 9.90541061e-01 4.75204286e-05 -2.66561731e+01] [ 4.54480400e-04 1.49835761e-05 9.99999897e-01 -1.79425234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.21028169299996 meters Centerline goodness [0,1] 0.9994689212728894 Centerline is valid? [True, True] Translation: X:403.20, Y:-26.66, Z:-1.79 [[ 9.90626778e-01 1.36593444e-01 9.04308097e-04 4.03196848e+02] [-1.36593414e-01 9.90627190e-01 -9.51863060e-05 -2.66560287e+01] [-9.08834015e-04 -2.92284270e-05 9.99999587e-01 -1.79168155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.240281693 meters Centerline goodness [0,1] 0.9996185470882428 Centerline is valid? [True, True] Translation: X:403.23, Y:-26.66, Z:-1.79 [[ 9.90644550e-01 1.36460232e-01 1.40752230e-03 4.03225348e+02] [-1.36460159e-01 9.90645549e-01 -1.48000893e-04 -2.66595283e+01] [-1.41455193e-03 -4.54544382e-05 9.99998998e-01 -1.79028751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.27028169299996 meters Centerline goodness [0,1] 0.9996577174029307 Centerline is valid? [True, True] Translation: X:403.25, Y:-26.66, Z:-1.79 [[ 9.90533245e-01 1.37271373e-01 6.78894406e-04 4.03254658e+02] [-1.37271357e-01 9.90533477e-01 -7.14057885e-05 -2.66575942e+01] [-6.82269607e-04 -2.24629486e-05 9.99999767e-01 -1.79139499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.300281693 meters Centerline goodness [0,1] 0.9995983511256739 Centerline is valid? [True, True] Translation: X:403.28, Y:-26.66, Z:-1.79 [[ 9.90544730e-01 1.37190050e-01 1.68484839e-04 4.03281221e+02] [-1.37190049e-01 9.90544744e-01 -1.78562845e-05 -2.66586272e+01] [-1.69341476e-04 -5.42699472e-06 9.99999986e-01 -1.79285659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.33028169299996 meters Centerline goodness [0,1] 0.9997025706394731 Centerline is valid? [True, True] Translation: X:403.31, Y:-26.66, Z:-1.79 [[ 9.90947968e-01 1.34244007e-01 -8.19288123e-04 4.03311187e+02] [-1.34243982e-01 9.90948306e-01 8.59498536e-05 -2.66633672e+01] [ 8.23410431e-04 2.48126670e-05 9.99999661e-01 -1.79494920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36028169299993 meters Centerline goodness [0,1] 0.9997248619018392 Centerline is valid? [True, True] Translation: X:403.34, Y:-26.66, Z:-1.80 [[ 9.91208597e-01 1.32296770e-01 -1.75549207e-03 4.03339427e+02] [-1.32296651e-01 9.91210150e-01 1.83917076e-04 -2.66631392e+01] [ 1.76439319e-03 4.99455344e-05 9.99998442e-01 -1.79735586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.39028169299996 meters Centerline goodness [0,1] 0.9996381823986379 Centerline is valid? [True, True] Translation: X:403.37, Y:-26.67, Z:-1.80 [[ 9.91435464e-01 1.30565822e-01 -2.87882553e-03 4.03367731e+02] [-1.30565496e-01 9.91439640e-01 3.01648894e-04 -2.66673359e+01] [ 2.89356678e-03 7.68098732e-05 9.99995811e-01 -1.79954112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42028169299994 meters Centerline goodness [0,1] 0.9997646857485133 Centerline is valid? [True, True] Translation: X:403.40, Y:-26.67, Z:-1.80 [[ 9.91759274e-01 1.28019532e-01 -4.95401523e-03 4.03396792e+02] [-1.28018535e-01 9.91771640e-01 5.19014786e-04 -2.66715963e+01] [ 4.97969583e-03 1.19468046e-04 9.99987594e-01 -1.80290119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.45028169299997 meters Centerline goodness [0,1] 0.9998511809851819 Centerline is valid? [True, True] Translation: X:403.43, Y:-26.68, Z:-1.80 [[ 9.91963523e-01 1.26421899e-01 -5.08659608e-03 4.03425701e+02] [-1.26420830e-01 9.91976557e-01 5.32375032e-04 -2.66770890e+01] [ 5.11308793e-03 1.14955085e-04 9.99986921e-01 -1.80164718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48028169299994 meters Centerline goodness [0,1] 0.9999787703804348 Centerline is valid? [True, True] Translation: X:403.45, Y:-26.68, Z:-1.80 [[ 9.92365813e-01 1.23289182e-01 -3.14168168e-03 4.03453974e+02] [-1.23288759e-01 9.92370784e-01 3.28681262e-04 -2.66791577e+01] [ 3.15823596e-03 6.11619890e-05 9.99995011e-01 -1.79899593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.51028169299997 meters Centerline goodness [0,1] 0.9999148863733084 Centerline is valid? [True, True] Translation: X:403.48, Y:-26.68, Z:-1.80 [[ 9.92575238e-01 1.21599544e-01 -2.81935196e-03 4.03482870e+02] [-1.21599197e-01 9.92579240e-01 2.94873571e-04 -2.66846376e+01] [ 2.83428672e-03 5.01467292e-05 9.99995982e-01 -1.79814865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54028169299994 meters Centerline goodness [0,1] 0.9999579089148918 Centerline is valid? [True, True] Translation: X:403.51, Y:-26.69, Z:-1.80 [[ 9.92953716e-01 1.18427568e-01 -4.22240865e-03 4.03510280e+02] [-1.18426762e-01 9.92962692e-01 4.41358940e-04 -2.66886737e+01] [ 4.24496333e-03 6.17971857e-05 9.99990988e-01 -1.80095305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.57028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.54, Y:-26.69, Z:-1.80 [[ 9.93055319e-01 1.17552395e-01 -4.75052112e-03 4.03539220e+02] [-1.17551366e-01 9.93066680e-01 4.96366209e-04 -2.66935326e+01] [ 4.77593328e-03 6.55111412e-05 9.99988593e-01 -1.80032474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.57, Y:-26.69, Z:-1.80 [[ 9.93040387e-01 1.17722444e-01 -3.49503967e-03 4.03567815e+02] [-1.17721888e-01 9.93046537e-01 3.64989753e-04 -2.66925743e+01] [ 3.51370452e-03 4.89931025e-05 9.99993826e-01 -1.79797897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.630281693 meters Centerline goodness [0,1] 0.9999788895925691 Centerline is valid? [True, True] Translation: X:403.60, Y:-26.69, Z:-1.79 [[ 9.93031754e-01 1.17829401e-01 -2.04135952e-03 4.03595667e+02] [-1.17829212e-01 9.93033852e-01 2.12996481e-04 -2.66913102e+01] [ 2.05223635e-03 2.90195142e-05 9.99997894e-01 -1.79484317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.62, Y:-26.69, Z:-1.79 [[ 9.93008128e-01 1.18043541e-01 -7.61131790e-04 4.03623621e+02] [-1.18043515e-01 9.93008420e-01 7.92642187e-05 -2.66909936e+01] [ 7.65166905e-04 1.11366587e-05 9.99999707e-01 -1.79239012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.690281693 meters Centerline goodness [0,1] 0.9999365254004189 Centerline is valid? [True, True] Translation: X:403.65, Y:-26.68, Z:-1.79 [[ 9.92704213e-01 1.20570146e-01 -1.08831152e-03 4.03652211e+02] [-1.20570094e-01 9.92704810e-01 1.13298516e-04 -2.66805594e+01] [ 1.09403250e-03 1.87459081e-05 9.99999401e-01 -1.79458702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72028169299995 meters Centerline goodness [0,1] 0.9999571596872657 Centerline is valid? [True, True] Translation: X:403.68, Y:-26.68, Z:-1.80 [[ 9.92572695e-01 1.21636874e-01 -1.97897628e-03 4.03681164e+02] [-1.21636704e-01 9.92574667e-01 2.06122825e-04 -2.66825000e+01] [ 1.98935386e-03 3.61242648e-05 9.99998021e-01 -1.79646855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.750281693 meters Centerline goodness [0,1] 0.9999153618281845 Centerline is valid? [True, True] Translation: X:403.71, Y:-26.68, Z:-1.80 [[ 9.92404816e-01 1.22989965e-01 -2.47998756e-03 4.03710058e+02] [-1.22989704e-01 9.92407913e-01 2.58160939e-04 -2.66769292e+01] [ 2.49291049e-03 4.88127760e-05 9.99996892e-01 -1.79703979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78028169299995 meters Centerline goodness [0,1] 0.9999151211645376 Centerline is valid? [True, True] Translation: X:403.74, Y:-26.67, Z:-1.80 [[ 9.92372166e-01 1.23267484e-01 -1.61631817e-03 4.03738100e+02] [-1.23267373e-01 9.92373481e-01 1.68119599e-04 -2.66739370e+01] [ 1.62471497e-03 3.24020845e-05 9.99998680e-01 -1.79506531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.810281693 meters Centerline goodness [0,1] 0.9999788556687952 Centerline is valid? [True, True] Translation: X:403.77, Y:-26.67, Z:-1.79 [[ 9.92391565e-01 1.23113596e-01 -1.42242865e-03 4.03767418e+02] [-1.23113510e-01 9.92392584e-01 1.47898769e-04 -2.66727675e+01] [ 1.42981599e-03 2.83466924e-05 9.99998977e-01 -1.79468045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.80, Y:-26.67, Z:-1.80 [[ 9.92584430e-01 1.21512173e-01 -3.30784594e-03 4.03796798e+02] [-1.21511702e-01 9.92589940e-01 3.43910389e-04 -2.66729114e+01] [ 3.32512390e-03 6.05818918e-05 9.99994470e-01 -1.79921188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.870281693 meters Centerline goodness [0,1] 0.9999148755054267 Centerline is valid? [True, True] Translation: X:403.83, Y:-26.68, Z:-1.80 [[ 9.92730924e-01 1.20296418e-01 -3.75289711e-03 4.03825157e+02] [-1.20295803e-01 9.92738016e-01 3.90020901e-04 -2.66751782e+01] [ 3.77256174e-03 6.42719631e-05 9.99992882e-01 -1.80026732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.85, Y:-26.68, Z:-1.80 [[ 9.93123995e-01 1.17017376e-01 -3.41531427e-03 4.03853589e+02] [-1.17016848e-01 9.93129866e-01 3.54772354e-04 -2.66767941e+01] [ 3.43336513e-03 4.73163730e-05 9.99994105e-01 -1.79941536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.930281693 meters Centerline goodness [0,1] 0.9999785320194929 Centerline is valid? [True, True] Translation: X:403.88, Y:-26.68, Z:-1.80 [[ 9.93422461e-01 1.14484939e-01 -2.23904831e-03 4.03882179e+02] [-1.14484705e-01 9.93424984e-01 2.32450750e-04 -2.66821614e+01] [ 2.25093864e-03 2.54149896e-05 9.99997466e-01 -1.79694075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96028169299996 meters Centerline goodness [0,1] 0.9999366179328996 Centerline is valid? [True, True] Translation: X:403.91, Y:-26.70, Z:-1.79 [[ 9.94263615e-01 1.06956966e-01 -2.68082431e-04 4.03909280e+02] [-1.06956962e-01 9.94263651e-01 2.77358354e-05 -2.66968925e+01] [ 2.69511157e-04 1.09655050e-06 9.99999964e-01 -1.79404555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.990281693 meters Centerline goodness [0,1] 0.9998103786107073 Centerline is valid? [True, True] Translation: X:403.94, Y:-26.71, Z:-1.79 [[ 9.94772862e-01 1.02112227e-01 2.13083455e-04 4.03936678e+02] [-1.02112225e-01 9.94772885e-01 -2.22048105e-05 -2.67086146e+01] [-2.14237026e-04 3.30317219e-07 9.99999977e-01 -1.79348058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02028169299996 meters Centerline goodness [0,1] 0.9995966029723992 Centerline is valid? [True, True] Translation: X:403.96, Y:-26.72, Z:-1.79 [[ 9.95242365e-01 9.74281566e-02 6.23838112e-04 4.03964796e+02] [-9.74281351e-02 9.95242561e-01 -6.48004831e-05 -2.67205443e+01] [-6.27183631e-04 3.71280225e-06 9.99999803e-01 -1.79306525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.050281693 meters Centerline goodness [0,1] 0.9993822953054443 Centerline is valid? [True, True] Translation: X:403.99, Y:-26.74, Z:-1.79 [[ 9.95952847e-01 8.98757811e-02 5.20844718e-04 4.03992591e+02] [-8.98757651e-02 9.95952983e-01 -5.40803620e-05 -2.67373769e+01] [-5.23597365e-04 7.05017295e-06 9.99999863e-01 -1.79282970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08028169299996 meters Centerline goodness [0,1] 0.9994074951858983 Centerline is valid? [True, True] Translation: X:404.02, Y:-26.75, Z:-1.80 [[ 9.96351227e-01 8.53356416e-02 -1.43570420e-03 4.04020822e+02] [-8.53355159e-02 9.96352261e-01 1.48734792e-04 -2.67501015e+01] [ 1.44315950e-03 -2.56755341e-05 9.99998958e-01 -1.79642401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.11028169299993 meters Centerline goodness [0,1] 0.9991950687368933 Centerline is valid? [True, True] Translation: X:404.05, Y:-26.75, Z:-1.80 [[ 9.96445108e-01 8.42129827e-02 -2.30648834e-03 4.04049142e+02] [-8.42126553e-02 9.96447777e-01 2.38865931e-04 -2.67549230e+01] [ 2.31841080e-03 -4.37812806e-05 9.99997312e-01 -1.79788076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14028169299996 meters Centerline goodness [0,1] 0.999227418074125 Centerline is valid? [True, True] Translation: X:404.08, Y:-26.76, Z:-1.80 [[ 9.96503484e-01 8.35134121e-02 -2.51343327e-03 4.04077690e+02] [-8.35130214e-02 9.96506652e-01 2.60187051e-04 -2.67589115e+01] [ 2.52638208e-03 -4.93728964e-05 9.99996807e-01 -1.79795939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.17028169299994 meters Centerline goodness [0,1] 0.999227418074125 Centerline is valid? [True, True] Translation: X:404.11, Y:-26.76, Z:-1.80 [[ 9.96507386e-01 8.34668341e-02 -2.51344542e-03 4.04105883e+02] [-8.34664435e-02 9.96510554e-01 2.60069630e-04 -2.67617425e+01] [ 2.52638208e-03 -4.93729572e-05 9.99996807e-01 -1.79801903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20028169299997 meters Centerline goodness [0,1] 0.9992528870578692 Centerline is valid? [True, True] Translation: X:404.13, Y:-26.77, Z:-1.79 [[ 9.96378642e-01 8.50126330e-02 -1.56650915e-03 4.04133248e+02] [-8.50124834e-02 9.96379873e-01 1.61936869e-04 -2.67656982e+01] [ 1.57460487e-03 -2.81776042e-05 9.99998760e-01 -1.79465123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.23028169299994 meters Centerline goodness [0,1] 0.9994509323590902 Centerline is valid? [True, True] Translation: X:404.16, Y:-26.77, Z:-1.79 [[ 9.96228054e-01 8.67723631e-02 -4.70981992e-04 4.04161175e+02] [-8.67723498e-02 9.96228165e-01 4.85743918e-05 -2.67674922e+01] [ 4.73420441e-04 -7.52295759e-06 9.99999888e-01 -1.79262797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26028169299997 meters Centerline goodness [0,1] 0.999619393990654 Centerline is valid? [True, True] Translation: X:404.19, Y:-26.76, Z:-1.79 [[ 9.95834543e-01 9.11766501e-02 6.17337254e-04 4.04189371e+02] [-9.11766280e-02 9.95834734e-01 -6.39141608e-05 -2.67638435e+01] [-6.20593360e-04 7.36119993e-06 9.99999807e-01 -1.79223029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.29028169299994 meters Centerline goodness [0,1] 0.99974669650019 Centerline is valid? [True, True] Translation: X:404.22, Y:-26.76, Z:-1.79 [[ 9.95624705e-01 9.34417298e-02 3.00864478e-04 4.04218897e+02] [-9.34417246e-02 9.95624750e-01 -3.11518554e-05 -2.67627475e+01] [-3.02459004e-04 2.90226114e-06 9.99999954e-01 -1.79369461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32028169299997 meters Centerline goodness [0,1] 0.9996813053731914 Centerline is valid? [True, True] Translation: X:404.25, Y:-26.76, Z:-1.79 [[ 9.95489420e-01 9.48718508e-02 -3.83575612e-04 4.04248218e+02] [-9.48718426e-02 9.95489494e-01 3.95083997e-05 -2.67617468e+01] [ 3.85593727e-04 -2.93966885e-06 9.99999926e-01 -1.79423602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.35028169299994 meters Centerline goodness [0,1] 0.99980795903126 Centerline is valid? [True, True] Translation: X:404.28, Y:-26.76, Z:-1.79 [[ 9.95274744e-01 9.70988076e-02 -7.03464951e-05 4.04276451e+02] [-9.70988073e-02 9.95274747e-01 7.13820022e-06 -2.67579137e+01] [ 7.07072008e-05 -2.73909629e-07 9.99999998e-01 -1.79244110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.380281693 meters Centerline goodness [0,1] 0.9998936170212765 Centerline is valid? [True, True] Translation: X:404.31, Y:-26.76, Z:-1.79 [[ 9.95208237e-01 9.77722342e-02 1.07513530e-03 4.04305047e+02] [-9.77721713e-02 9.95208817e-01 -1.10998709e-04 -2.67575812e+01] [-1.08083672e-03 5.34851656e-06 9.99999416e-01 -1.78993426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.41028169299994 meters Centerline goodness [0,1] 0.9999152973064543 Centerline is valid? [True, True] Translation: X:404.33, Y:-26.76, Z:-1.79 [[ 9.95084970e-01 9.89726621e-02 3.21173018e-03 4.04334577e+02] [-9.89721085e-02 9.95090153e-01 -3.31237890e-04 -2.67552952e+01] [-3.22874457e-03 1.17381382e-05 9.99994788e-01 -1.78740067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.440281693 meters Centerline goodness [0,1] 0.9998076142023471 Centerline is valid? [True, True] Translation: X:404.36, Y:-26.75, Z:-1.79 [[ 9.94967577e-01 1.00148052e-01 3.14467296e-03 4.04362774e+02] [-1.00147527e-01 9.94972546e-01 -3.24163392e-04 -2.67540056e+01] [-3.16132760e-03 7.60084357e-06 9.99995003e-01 -1.78829922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.47028169299995 meters Centerline goodness [0,1] 0.9997863749973297 Centerline is valid? [True, True] Translation: X:404.39, Y:-26.75, Z:-1.79 [[ 9.94791024e-01 1.01933997e-01 5.27870317e-04 4.04391487e+02] [-1.01933983e-01 9.94791164e-01 -5.45025550e-05 -2.67485181e+01] [-5.30676391e-04 4.10728673e-07 9.99999859e-01 -1.79420261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.500281693 meters Centerline goodness [0,1] 0.9998519740320159 Centerline is valid? [True, True] Translation: X:404.42, Y:-26.75, Z:-1.80 [[ 9.94771738e-01 1.02120200e-01 -8.08861518e-04 4.04420608e+02] [-1.02120166e-01 9.94772067e-01 8.31549728e-05 -2.67482348e+01] [ 8.13124647e-04 -1.19144144e-07 9.99999669e-01 -1.79697652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.53028169299995 meters Centerline goodness [0,1] 0.9998499271074522 Centerline is valid? [True, True] Translation: X:404.45, Y:-26.75, Z:-1.80 [[ 9.94804677e-01 1.01794125e-01 -1.26884166e-03 4.04448230e+02] [-1.01794042e-01 9.94805487e-01 1.30349293e-04 -2.67487022e+01] [ 1.27551944e-03 -5.11565473e-07 9.99999187e-01 -1.79709569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.560281693 meters Centerline goodness [0,1] 0.999659654123503 Centerline is valid? [True, True] Translation: X:404.48, Y:-26.75, Z:-1.80 [[ 9.95000223e-01 9.98598325e-02 -1.60338861e-03 4.04476067e+02] [-9.98596968e-02 9.95001514e-01 1.64686595e-04 -2.67520889e+01] [ 1.61181967e-03 -3.74929809e-06 9.99998701e-01 -1.79859373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.59028169299995 meters Centerline goodness [0,1] 0.9998078524306667 Centerline is valid? [True, True] Translation: X:404.50, Y:-26.76, Z:-1.80 [[ 9.95257890e-01 9.72571323e-02 -1.66827935e-03 4.04503919e+02] [-9.72569818e-02 9.95259288e-01 1.71306809e-04 -2.67588320e+01] [ 1.67703132e-03 -8.24263970e-06 9.99998594e-01 -1.79916748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.620281693 meters Centerline goodness [0,1] 0.9995054295237071 Centerline is valid? [True, True] Translation: X:404.53, Y:-26.77, Z:-1.80 [[ 9.95986267e-01 8.95032451e-02 -7.25046245e-04 4.04531490e+02] [-8.95032146e-02 9.95986531e-01 7.43926632e-05 -2.67743761e+01] [ 7.28794679e-04 -9.20010120e-06 9.99999734e-01 -1.79822713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.65028169299995 meters Centerline goodness [0,1] 0.9991726069246436 Centerline is valid? [True, True] Translation: X:404.56, Y:-26.79, Z:-1.80 [[ 9.96377471e-01 8.50407622e-02 7.05287974e-05 4.04558578e+02] [-8.50407619e-02 9.96377473e-01 -7.28472296e-06 -2.67867820e+01] [-7.08928033e-05 1.26051117e-06 9.99999997e-01 -1.79748237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.680281693 meters Centerline goodness [0,1] 0.9987482762278561 Centerline is valid? [True, True] Translation: X:404.59, Y:-26.80, Z:-1.80 [[ 9.96708822e-01 8.10632473e-02 5.24027590e-04 4.04587432e+02] [-8.10632302e-02 9.96708959e-01 -5.38477961e-05 -2.67983559e+01] [-5.26668071e-04 1.11912043e-05 9.99999861e-01 -1.79649004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.71028169299996 meters Centerline goodness [0,1] 0.998009034274582 Centerline is valid? [True, True] Translation: X:404.62, Y:-26.82, Z:-1.80 [[ 9.97096476e-01 7.61455806e-02 6.84887399e-04 4.04616006e+02] [-7.61455502e-02 9.97096711e-01 -7.03303697e-05 -2.68150309e+01] [-6.88254319e-04 1.79750359e-05 9.99999763e-01 -1.79602427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.740281693 meters Centerline goodness [0,1] 0.9978510481407353 Centerline is valid? [True, True] Translation: X:404.64, Y:-26.83, Z:-1.80 [[ 9.97208057e-01 7.46689774e-02 7.97172714e-04 4.04643278e+02] [-7.46689358e-02 9.97208375e-01 -8.18432585e-05 -2.68252680e+01] [-8.01058460e-04 2.20907185e-05 9.99999679e-01 -1.79633015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.77028169299996 meters Centerline goodness [0,1] 0.9968810083315531 Centerline is valid? [True, True] Translation: X:404.67, Y:-26.84, Z:-1.80 [[ 9.97366605e-01 7.25234108e-02 4.57450937e-04 4.04672872e+02] [-7.25233968e-02 9.97366710e-01 -4.69549241e-05 -2.68364873e+01] [-4.59651667e-04 1.36553774e-05 9.99999894e-01 -1.79613645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.800281693 meters Centerline goodness [0,1] 0.9963624692414679 Centerline is valid? [True, True] Translation: X:404.70, Y:-26.85, Z:-1.80 [[ 9.97416204e-01 7.18391158e-02 -2.38950000e-04 4.04701206e+02] [-7.18391120e-02 9.97416233e-01 2.45000185e-05 -2.68459035e+01] [ 2.40092669e-04 -7.27075957e-06 9.99999971e-01 -1.79751657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.83028169299996 meters Centerline goodness [0,1] 0.9961931902766848 Centerline is valid? [True, True] Translation: X:404.73, Y:-26.86, Z:-1.80 [[ 9.97496361e-01 7.07175126e-02 -2.08145752e-04 4.04730535e+02] [-7.07175097e-02 9.97496383e-01 2.13626591e-05 -2.68585226e+01] [ 2.09135348e-04 -6.58962551e-06 9.99999978e-01 -1.79688088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86028169299993 meters Centerline goodness [0,1] 0.9968300519698963 Centerline is valid? [True, True] Translation: X:404.76, Y:-26.86, Z:-1.80 [[ 9.97527151e-01 7.02787680e-02 6.91122466e-04 4.04761097e+02] [-7.02787358e-02 9.97527390e-01 -7.09320922e-05 -2.68627046e+01] [-6.94398610e-04 2.21854747e-05 9.99999759e-01 -1.79501483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.89028169299996 meters Centerline goodness [0,1] 0.9956836062088029 Centerline is valid? [True, True] Translation: X:404.79, Y:-26.88, Z:-1.79 [[ 9.97505361e-01 7.05570055e-02 2.18262934e-03 4.04789281e+02] [-7.05566841e-02 9.97507746e-01 -2.24009102e-04 -2.68789884e+01] [-2.19299509e-03 6.94511912e-05 9.99997593e-01 -1.79172152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92028169299994 meters Centerline goodness [0,1] 0.9954300222151697 Centerline is valid? [True, True] Translation: X:404.82, Y:-26.88, Z:-1.79 [[ 9.97454195e-01 7.12775408e-02 2.15423838e-03 4.04818854e+02] [-7.12772294e-02 9.97456519e-01 -2.21070270e-04 -2.68846256e+01] [-2.16451646e-03 6.69593246e-05 9.99997655e-01 -1.79134995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.95028169299997 meters Centerline goodness [0,1] 0.9957357447446804 Centerline is valid? [True, True] Translation: X:404.85, Y:-26.89, Z:-1.79 [[ 9.97355369e-01 7.26532256e-02 1.94343735e-03 4.04849234e+02] [-7.26529748e-02 9.97357261e-01 -1.99437640e-04 -2.68891492e+01] [-1.95279114e-03 5.77136963e-05 9.99998092e-01 -1.79144961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98028169299994 meters Centerline goodness [0,1] 0.9967156810132016 Centerline is valid? [True, True] Translation: X:404.88, Y:-26.89, Z:-1.79 [[ 9.96980327e-01 7.76306271e-02 1.92707803e-03 4.04879259e+02] [-7.76303897e-02 9.96982188e-01 -1.97758829e-04 -2.68912672e+01] [-1.93661461e-03 4.75618436e-05 9.99998124e-01 -1.79218320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.01028169299997 meters Centerline goodness [0,1] 0.9981875458507746 Centerline is valid? [True, True] Translation: X:404.91, Y:-26.89, Z:-1.79 [[ 9.96778199e-01 8.01649327e-02 2.60880365e-03 4.04910322e+02] [-8.01645064e-02 9.96781611e-01 -2.67718249e-04 -2.68891714e+01] [-2.62186912e-03 5.77222567e-05 9.99996561e-01 -1.79135167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04028169299994 meters Centerline goodness [0,1] 0.9982356277174483 Centerline is valid? [True, True] Translation: X:404.94, Y:-26.90, Z:-1.79 [[ 9.96382700e-01 8.49006174e-02 3.66072051e-03 4.04939673e+02] [-8.48998099e-02 9.96389422e-01 -3.75685888e-04 -2.68958810e+01] [-3.67939916e-03 6.35324440e-05 9.99993229e-01 -1.78835283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.07028169299997 meters Centerline goodness [0,1] 0.9987522997864107 Centerline is valid? [True, True] Translation: X:404.97, Y:-26.90, Z:-1.79 [[ 9.96226490e-01 8.67145519e-02 3.65616710e-03 4.04970137e+02] [-8.67137586e-02 9.96233197e-01 -3.75243673e-04 -2.68981494e+01] [-3.67493413e-03 5.67876951e-05 9.99993246e-01 -1.78781767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10028169299994 meters Centerline goodness [0,1] 0.9990209224613158 Centerline is valid? [True, True] Translation: X:405.00, Y:-26.90, Z:-1.79 [[ 9.96118151e-01 8.79701732e-02 3.14289984e-03 4.05000281e+02] [-8.79695932e-02 9.96123108e-01 -3.22565475e-04 -2.69009921e+01] [-3.15909130e-03 4.48337042e-05 9.99995009e-01 -1.78869777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.130281693 meters Centerline goodness [0,1] 0.9997656183414302 Centerline is valid? [True, True] Translation: X:405.03, Y:-26.90, Z:-1.79 [[ 9.95861755e-01 9.08773001e-02 8.25225858e-04 4.05031214e+02] [-9.08772611e-02 9.95862097e-01 -8.46954674e-05 -2.69012334e+01] [-8.29508049e-04 9.35071098e-06 9.99999656e-01 -1.79313089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16028169299994 meters Centerline goodness [0,1] 0.9997211497211497 Centerline is valid? [True, True] Translation: X:405.06, Y:-26.90, Z:-1.79 [[ 9.95720752e-01 9.24112026e-02 5.94016730e-04 4.05060867e+02] [-9.24111827e-02 9.95720930e-01 -6.10019040e-05 -2.69025581e+01] [-5.97112150e-04 5.84707321e-06 9.99999822e-01 -1.79403197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.190281693 meters Centerline goodness [0,1] 0.9998297872340426 Centerline is valid? [True, True] Translation: X:405.09, Y:-26.90, Z:-1.79 [[ 9.95307005e-01 9.67601385e-02 1.20085038e-03 4.05090069e+02] [-9.67600603e-02 9.95307729e-01 -1.23250181e-04 -2.69001253e+01] [-1.20714137e-03 6.47741329e-06 9.99999271e-01 -1.79285500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22028169299995 meters Centerline goodness [0,1] 0.9999577675950757 Centerline is valid? [True, True] Translation: X:405.12, Y:-26.90, Z:-1.79 [[ 9.95071396e-01 9.91501204e-02 1.47355429e-03 4.05118784e+02] [-9.91500053e-02 9.95072487e-01 -1.51168879e-04 -2.68997947e+01] [-1.48128174e-03 4.32091200e-06 9.99998903e-01 -1.79253207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.250281693 meters Centerline goodness [0,1] 0.9999361729288115 Centerline is valid? [True, True] Translation: X:405.15, Y:-26.90, Z:-1.79 [[ 9.94737616e-01 1.02444815e-01 1.46154023e-03 4.05147885e+02] [-1.02444705e-01 9.94738689e-01 -1.49890999e-04 -2.68958273e+01] [-1.46920616e-03 -6.24842668e-07 9.99998921e-01 -1.79304371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.18, Y:-26.90, Z:-1.79 [[ 9.94656832e-01 1.03216560e-01 2.03188096e-03 4.05176904e+02] [-1.03216350e-01 9.94658907e-01 -2.08255509e-04 -2.68970716e+01] [-2.04252391e-03 -2.58057171e-06 9.99997914e-01 -1.79196245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.310281693 meters Centerline goodness [0,1] 0.9999788023317435 Centerline is valid? [True, True] Translation: X:405.21, Y:-26.90, Z:-1.79 [[ 9.94624679e-01 1.03516015e-01 2.48635386e-03 4.05205840e+02] [-1.03515702e-01 9.94627787e-01 -2.54700601e-04 -2.68984982e+01] [-2.49936223e-03 -4.04516173e-06 9.99996877e-01 -1.79140613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34028169299995 meters Centerline goodness [0,1] 0.999978624257193 Centerline is valid? [True, True] Translation: X:405.23, Y:-26.90, Z:-1.79 [[ 9.94747388e-01 1.02335362e-01 2.26023745e-03 4.05234094e+02] [-1.02335100e-01 9.94749955e-01 -2.31462007e-04 -2.69008842e+01] [-2.27205785e-03 -1.05539902e-06 9.99997419e-01 -1.79247419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.370281693 meters Centerline goodness [0,1] 0.9999365670063856 Centerline is valid? [True, True] Translation: X:405.26, Y:-26.90, Z:-1.79 [[ 9.94837774e-01 1.01469197e-01 1.34344850e-03 4.05262894e+02] [-1.01469104e-01 9.94838681e-01 -1.37545022e-04 -2.69040095e+01] [-1.35047112e-03 5.16467597e-07 9.99999088e-01 -1.79472570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40028169299995 meters Centerline goodness [0,1] 0.9999576190375283 Centerline is valid? [True, True] Translation: X:405.29, Y:-26.91, Z:-1.79 [[ 9.95031789e-01 9.95526728e-02 1.00204804e-03 4.05290898e+02] [-9.95526200e-02 9.95032294e-01 -1.02586777e-04 -2.69088871e+01] [-1.00728295e-03 2.32059609e-06 9.99999493e-01 -1.79484461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.430281693 meters Centerline goodness [0,1] 0.9998520178424202 Centerline is valid? [True, True] Translation: X:405.32, Y:-26.91, Z:-1.79 [[ 9.95136095e-01 9.84878144e-02 2.07445467e-03 4.05319422e+02] [-9.84875861e-02 9.95138257e-01 -2.12178151e-04 -2.69133656e+01] [-2.08526617e-03 6.83810410e-06 9.99997826e-01 -1.79200482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46028169299996 meters Centerline goodness [0,1] 0.9995534670097174 Centerline is valid? [True, True] Translation: X:405.35, Y:-26.92, Z:-1.79 [[ 9.95416945e-01 9.55123026e-02 4.74407156e-03 4.05348527e+02] [-9.55110757e-02 9.95428249e-01 -4.85005926e-04 -2.69190674e+01] [-4.76870688e-03 2.96717390e-05 9.99988629e-01 -1.78726268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.490281693 meters Centerline goodness [0,1] 0.999577417173766 Centerline is valid? [True, True] Translation: X:405.38, Y:-26.92, Z:-1.79 [[ 9.95519141e-01 9.44619449e-02 4.31062698e-03 4.05377352e+02] [-9.44609227e-02 9.95528473e-01 -4.40574553e-04 -2.69236860e+01] [-4.33296943e-03 3.14145982e-05 9.99990612e-01 -1.78872668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52028169299996 meters Centerline goodness [0,1] 0.9995532960370977 Centerline is valid? [True, True] Translation: X:405.41, Y:-26.93, Z:-1.79 [[ 9.95578204e-01 9.38887416e-02 2.99073790e-03 4.05406863e+02] [-9.38882472e-02 9.95582696e-01 -3.05602893e-04 -2.69272308e+01] [-3.00621957e-03 2.34564398e-05 9.99995481e-01 -1.79214848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.550281693 meters Centerline goodness [0,1] 0.9997873607212724 Centerline is valid? [True, True] Translation: X:405.44, Y:-26.93, Z:-1.80 [[ 9.95574822e-01 9.39690637e-02 7.67299204e-04 4.05436687e+02] [-9.39690312e-02 9.95575118e-01 -7.84238915e-05 -2.69307460e+01] [-7.71273414e-04 5.97448899e-06 9.99999703e-01 -1.79671875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58028169299996 meters Centerline goodness [0,1] 0.9997205803331543 Centerline is valid? [True, True] Translation: X:405.47, Y:-26.93, Z:-1.80 [[ 9.95542988e-01 9.43054639e-02 7.98882241e-04 4.05466690e+02] [-9.43054288e-02 9.95543309e-01 -8.16308441e-05 -2.69333686e+01] [-8.03020104e-04 5.92808212e-06 9.99999678e-01 -1.79548174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.61028169299993 meters Centerline goodness [0,1] 0.9996212918156954 Centerline is valid? [True, True] Translation: X:405.49, Y:-26.94, Z:-1.79 [[ 9.95495059e-01 9.47971083e-02 1.75964746e-03 4.05494679e+02] [-9.47969387e-02 9.95496614e-01 -1.79706098e-04 -2.69368945e+01] [-1.76875871e-03 1.20873395e-05 9.99998436e-01 -1.79335403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64028169299996 meters Centerline goodness [0,1] 0.9997421462031029 Centerline is valid? [True, True] Translation: X:405.52, Y:-26.94, Z:-1.79 [[ 9.95444150e-01 9.52933427e-02 3.18159193e-03 4.05523952e+02] [-9.52927914e-02 9.95449234e-01 -3.24765845e-04 -2.69397504e+01] [-3.19806127e-03 2.01034851e-05 9.99994886e-01 -1.79075270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.67028169299994 meters Centerline goodness [0,1] 0.9998732653190545 Centerline is valid? [True, True] Translation: X:405.55, Y:-26.94, Z:-1.79 [[ 9.95437325e-01 9.53889812e-02 2.33973174e-03 4.05553494e+02] [-9.53886834e-02 9.95440075e-01 -2.38791195e-04 -2.69425725e+01] [-2.35184079e-03 1.45177373e-05 9.99997234e-01 -1.79268907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70028169299997 meters Centerline goodness [0,1] 0.9997022670239463 Centerline is valid? [True, True] Translation: X:405.58, Y:-26.94, Z:-1.79 [[ 9.95492071e-01 9.48341552e-02 1.42099929e-03 4.05583242e+02] [-9.48340448e-02 9.95493085e-01 -1.45013151e-04 -2.69447492e+01] [-1.42834716e-03 9.60033202e-06 9.99998980e-01 -1.79494956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.73028169299994 meters Centerline goodness [0,1] 0.9998076142023471 Centerline is valid? [True, True] Translation: X:405.61, Y:-26.95, Z:-1.80 [[ 9.95465418e-01 9.51234813e-02 3.52670475e-04 4.05611616e+02] [-9.51234746e-02 9.95465481e-01 -3.60218828e-05 -2.69458041e+01] [-3.54497811e-04 2.31129769e-06 9.99999937e-01 -1.79664431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76028169299997 meters Centerline goodness [0,1] 0.9998735963932838 Centerline is valid? [True, True] Translation: X:405.64, Y:-26.95, Z:-1.80 [[ 9.95418140e-01 9.56153463e-02 6.57320968e-04 4.05641352e+02] [-9.56153229e-02 9.95418357e-01 -6.70727245e-05 -2.69466025e+01] [-6.60722539e-04 3.91545013e-06 9.99999782e-01 -1.79634625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.79028169299994 meters Centerline goodness [0,1] 0.9998305587325793 Centerline is valid? [True, True] Translation: X:405.67, Y:-26.94, Z:-1.79 [[ 9.95329828e-01 9.64853853e-02 3.01719841e-03 4.05670129e+02] [-9.64848961e-02 9.95334401e-01 -3.07612278e-04 -2.69446467e+01] [-3.03280146e-03 1.50616005e-05 9.99995401e-01 -1.79254815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82028169299997 meters Centerline goodness [0,1] 0.9996426544468501 Centerline is valid? [True, True] Translation: X:405.70, Y:-26.95, Z:-1.79 [[ 9.95336385e-01 9.63944824e-02 3.68582406e-03 4.05699089e+02] [-9.63937523e-02 9.95343209e-01 -3.75616806e-04 -2.69479309e+01] [-3.70486733e-03 1.85746623e-05 9.99993137e-01 -1.79159231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.85028169299994 meters Centerline goodness [0,1] 0.9996840641981549 Centerline is valid? [True, True] Translation: X:405.73, Y:-26.95, Z:-1.79 [[ 9.95446153e-01 9.52797065e-02 2.95537534e-03 4.05728532e+02] [-9.52792324e-02 9.95450540e-01 -3.01113345e-04 -2.69505300e+01] [-2.97061997e-03 1.81562276e-05 9.99995588e-01 -1.79318519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.880281693 meters Centerline goodness [0,1] 0.9996138250627534 Centerline is valid? [True, True] Translation: X:405.76, Y:-26.95, Z:-1.80 [[ 9.95634058e-01 9.33311518e-02 1.45559053e-03 4.05757967e+02] [-9.33310347e-02 9.95635122e-01 -1.48295943e-04 -2.69549990e+01] [-1.46307769e-03 1.17967213e-05 9.99998930e-01 -1.79640838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.91028169299994 meters Centerline goodness [0,1] 0.9995542726153585 Centerline is valid? [True, True] Translation: X:405.79, Y:-26.96, Z:-1.80 [[ 9.95938183e-01 9.00360784e-02 -7.99530926e-04 4.05786929e+02] [-9.00360421e-02 9.95938504e-01 8.13953409e-05 -2.69627525e+01] [ 8.03612152e-04 -9.07812786e-06 9.99999677e-01 -1.80085141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.940281693 meters Centerline goodness [0,1] 0.9994072443211889 Centerline is valid? [True, True] Translation: X:405.82, Y:-26.96, Z:-1.80 [[ 9.96020878e-01 8.91201508e-02 -9.35798071e-05 4.05816118e+02] [-8.91201503e-02 9.96020883e-01 9.48026566e-06 -2.69645488e+01] [ 9.40523248e-05 -1.10269605e-06 9.99999996e-01 -1.79938715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.97028169299995 meters Centerline goodness [0,1] 0.9992319344584071 Centerline is valid? [True, True] Translation: X:405.85, Y:-26.97, Z:-1.80 [[ 9.96086494e-01 8.83763717e-02 1.14611645e-03 4.05846235e+02] [-8.83762959e-02 9.96087153e-01 -1.16710883e-04 -2.69658695e+01] [-1.15194636e-03 1.49646071e-05 9.99999336e-01 -1.79636316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.000281693 meters Centerline goodness [0,1] 0.999163179916318 Centerline is valid? [True, True] Translation: X:405.87, Y:-26.97, Z:-1.79 [[ 9.96235807e-01 8.66322241e-02 3.01248582e-03 4.05874611e+02] [-8.66316930e-02 9.96240360e-01 -3.06603104e-04 -2.69700433e+01] [-3.02772167e-03 4.44722439e-05 9.99995415e-01 -1.79318959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.03028169299995 meters Centerline goodness [0,1] 0.9988559322033899 Centerline is valid? [True, True] Translation: X:405.90, Y:-26.97, Z:-1.79 [[ 9.96338387e-01 8.54623448e-02 2.45075427e-03 4.05903816e+02] [-8.54619899e-02 9.96341400e-01 -2.49366949e-04 -2.69743297e+01] [-2.46309943e-03 3.90075272e-05 9.99996966e-01 -1.79464849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.060281693 meters Centerline goodness [0,1] 0.9983064291379938 Centerline is valid? [True, True] Translation: X:405.93, Y:-26.99, Z:-1.80 [[ 9.96706027e-01 8.10991975e-02 1.23068850e-04 4.05932436e+02] [-8.10991965e-02 9.96706035e-01 -1.24070875e-05 -2.69872045e+01] [-1.23669670e-04 2.38543404e-06 9.99999992e-01 -1.79903917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.09028169299995 meters Centerline goodness [0,1] 0.9983064291379938 Centerline is valid? [True, True] Translation: X:405.96, Y:-26.99, Z:-1.80 [[ 9.96707845e-01 8.10768605e-02 1.23052143e-04 4.05961462e+02] [-8.10768596e-02 9.96707852e-01 -1.25712094e-05 -2.69901129e+01] [-1.23666271e-04 2.55314169e-06 9.99999992e-01 -1.79910057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.120281693 meters Centerline goodness [0,1] 0.998112207020893 Centerline is valid? [True, True] Translation: X:405.99, Y:-27.00, Z:-1.80 [[ 9.96905213e-01 7.86129368e-02 -4.92305469e-05 4.05991758e+02] [-7.86129366e-02 9.96905214e-01 5.01050442e-06 -2.69954638e+01] [ 4.94720794e-05 -1.12484010e-06 9.99999999e-01 -1.79917358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.15028169299995 meters Centerline goodness [0,1] 0.9976807523724414 Centerline is valid? [True, True] Translation: X:406.02, Y:-27.00, Z:-1.80 [[ 9.97089723e-01 7.62292864e-02 1.08625744e-03 4.06021829e+02] [-7.62292112e-02 9.97090314e-01 -1.10555296e-04 -2.70030098e+01] [-1.09152432e-03 2.74290018e-05 9.99999404e-01 -1.79694115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.180281693 meters Centerline goodness [0,1] 0.9962457048317991 Centerline is valid? [True, True] Translation: X:406.05, Y:-27.01, Z:-1.79 [[ 9.97245428e-01 7.41402968e-02 2.18449601e-03 4.06050946e+02] [-7.41399875e-02 9.97247819e-01 -2.22329988e-04 -2.70133149e+01] [-2.19496749e-03 5.97590570e-05 9.99997589e-01 -1.79485684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.21028169299996 meters Centerline goodness [0,1] 0.9960217307610044 Centerline is valid? [True, True] Translation: X:406.08, Y:-27.02, Z:-1.80 [[ 9.97462019e-01 7.11776411e-02 1.80658811e-03 4.06081319e+02] [-7.11774248e-02 9.97463654e-01 -1.83858592e-04 -2.70215585e+01] [-1.81509259e-03 5.48036737e-05 9.99998351e-01 -1.79581090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.240281693 meters Centerline goodness [0,1] 0.9964493497604381 Centerline is valid? [True, True] Translation: X:406.11, Y:-27.03, Z:-1.80 [[ 9.97513981e-01 7.04567828e-02 1.30364688e-03 4.06112651e+02] [-7.04566696e-02 9.97514832e-01 -1.32603111e-04 -2.70267246e+01] [-1.30974989e-03 4.04228390e-05 9.99999141e-01 -1.79629795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.27028169299996 meters Centerline goodness [0,1] 0.996235857732532 Centerline is valid? [True, True] Translation: X:406.14, Y:-27.03, Z:-1.80 [[ 9.97544731e-01 7.00165836e-02 1.47898794e-03 4.06143224e+02] [-7.00164369e-02 9.97545826e-01 -1.50790425e-04 -2.70312929e+01] [-1.48591608e-03 4.68667280e-05 9.99998895e-01 -1.79624390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.300281693 meters Centerline goodness [0,1] 0.9956221977836055 Centerline is valid? [True, True] Translation: X:406.17, Y:-27.04, Z:-1.80 [[ 9.97545948e-01 7.00096548e-02 8.54388837e-04 4.06173766e+02] [-7.00096060e-02 9.97546313e-01 -8.69360124e-05 -2.70429340e+01] [-8.58378794e-04 2.69072411e-05 9.99999631e-01 -1.79735314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33028169299996 meters Centerline goodness [0,1] 0.9966655979480603 Centerline is valid? [True, True] Translation: X:406.21, Y:-27.04, Z:-1.80 [[ 9.97512083e-01 7.04956203e-02 -1.07526134e-04 4.06205173e+02] [-7.04956196e-02 9.97512089e-01 1.10329573e-05 -2.70437200e+01] [ 1.08036393e-04 -3.42538678e-06 9.99999994e-01 -1.79889625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36028169299993 meters Centerline goodness [0,1] 0.9968283026097322 Centerline is valid? [True, True] Translation: X:406.23, Y:-27.05, Z:-1.80 [[ 9.97278232e-01 7.37279689e-02 -5.61564634e-04 4.06234465e+02] [-7.37279483e-02 9.97278390e-01 5.73930979e-05 -2.70520299e+01] [ 5.64267750e-04 -1.58338789e-05 9.99999841e-01 -1.80060374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39028169299996 meters Centerline goodness [0,1] 0.997701100491709 Centerline is valid? [True, True] Translation: X:406.27, Y:-27.05, Z:-1.80 [[ 9.97078971e-01 7.63773620e-02 1.54450346e-04 4.06266024e+02] [-7.63773605e-02 9.97078983e-01 -1.57337734e-05 -2.70502275e+01] [-1.55200898e-04 3.89130487e-06 9.99999988e-01 -1.79918590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42028169299994 meters Centerline goodness [0,1] 0.9983451787419115 Centerline is valid? [True, True] Translation: X:406.30, Y:-27.05, Z:-1.80 [[ 9.96850218e-01 7.92978087e-02 1.22468542e-03 4.06297699e+02] [-7.92977148e-02 9.96850970e-01 -1.25119595e-04 -2.70491482e+01] [-1.23075056e-03 2.76107412e-05 9.99999242e-01 -1.79706819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45028169299997 meters Centerline goodness [0,1] 0.9985793647428014 Centerline is valid? [True, True] Translation: X:406.33, Y:-27.05, Z:-1.80 [[ 9.96517081e-01 8.33769103e-02 1.41366804e-03 4.06328238e+02] [-8.33767892e-02 9.96518083e-01 -1.44467939e-04 -2.70517738e+01] [-1.42079105e-03 2.60976671e-05 9.99998990e-01 -1.79642831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48028169299994 meters Centerline goodness [0,1] 0.9989180244399185 Centerline is valid? [True, True] Translation: X:406.36, Y:-27.05, Z:-1.80 [[ 9.96462350e-01 8.40386500e-02 5.39607959e-04 4.06359207e+02] [-8.40386324e-02 9.96462496e-01 -5.51269789e-05 -2.70535345e+01] [-5.42331890e-04 9.58404406e-06 9.99999853e-01 -1.79894445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51028169299997 meters Centerline goodness [0,1] 0.9990714752991326 Centerline is valid? [True, True] Translation: X:406.39, Y:-27.06, Z:-1.80 [[ 9.96457873e-01 8.40915712e-02 -5.60518963e-04 4.06390222e+02] [-8.40915522e-02 9.96458031e-01 5.73758675e-05 -2.70582184e+01] [ 5.63358449e-04 -1.00377253e-05 9.99999841e-01 -1.80114744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54028169299994 meters Centerline goodness [0,1] 0.9991326606164456 Centerline is valid? [True, True] Translation: X:406.42, Y:-27.06, Z:-1.80 [[ 9.96434404e-01 8.43707835e-02 -2.21659244e-04 4.06420596e+02] [-8.43707805e-02 9.96434429e-01 2.26970752e-05 -2.70629712e+01] [ 2.22783873e-04 -3.91458312e-06 9.99999975e-01 -1.80133848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.57028169299997 meters Centerline goodness [0,1] 0.999121039317412 Centerline is valid? [True, True] Translation: X:406.45, Y:-27.07, Z:-1.80 [[ 9.96336252e-01 8.55162185e-02 1.02426694e-03 4.06451257e+02] [-8.55161560e-02 9.96336778e-01 -1.04743046e-04 -2.70672612e+01] [-1.02947205e-03 1.67679229e-05 9.99999470e-01 -1.79791755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60028169299994 meters Centerline goodness [0,1] 0.9992732402795887 Centerline is valid? [True, True] Translation: X:406.48, Y:-27.07, Z:-1.80 [[ 9.96275173e-01 8.62250611e-02 1.00891334e-03 4.06480636e+02] [-8.62250008e-02 9.96275684e-01 -1.03209763e-04 -2.70739892e+01] [-1.01405510e-03 1.58317706e-05 9.99999486e-01 -1.79803087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.630281693 meters Centerline goodness [0,1] 0.9993764647702595 Centerline is valid? [True, True] Translation: X:406.51, Y:-27.08, Z:-1.80 [[ 9.96165297e-01 8.74860906e-02 9.40654812e-04 4.06511583e+02] [-8.74860387e-02 9.96165741e-01 -9.62371914e-05 -2.70764423e+01] [-9.45467514e-04 1.35739871e-05 9.99999553e-01 -1.79811901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66028169299994 meters Centerline goodness [0,1] 0.9995740149094782 Centerline is valid? [True, True] Translation: X:406.54, Y:-27.07, Z:-1.80 [[ 9.95804669e-01 9.15016408e-02 7.14958224e-04 4.06541741e+02] [-9.15016118e-02 9.95804926e-01 -7.31803604e-05 -2.70737289e+01] [-7.18655044e-04 7.45351461e-06 9.99999742e-01 -1.79780991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.690281693 meters Centerline goodness [0,1] 0.9997657531037714 Centerline is valid? [True, True] Translation: X:406.57, Y:-27.07, Z:-1.80 [[ 9.95610078e-01 9.35974783e-02 -2.89562736e-04 4.06572768e+02] [-9.35974736e-02 9.95610121e-01 2.96288652e-05 -2.70725104e+01] [ 2.91064778e-04 -2.39645626e-06 9.99999958e-01 -1.79923955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72028169299995 meters Centerline goodness [0,1] 0.9998502353444587 Centerline is valid? [True, True] Translation: X:406.60, Y:-27.07, Z:-1.80 [[ 9.95113844e-01 9.87281732e-02 -1.08905673e-03 4.06602419e+02] [-9.87281105e-02 9.95114440e-01 1.11326828e-04 -2.70650954e+01] [ 1.09472717e-03 -3.26235438e-06 9.99999401e-01 -1.80081519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.750281693 meters Centerline goodness [0,1] 0.9998724191456335 Centerline is valid? [True, True] Translation: X:406.63, Y:-27.06, Z:-1.80 [[ 9.94898284e-01 1.00882936e-01 -1.96086917e-04 4.06631992e+02] [-1.00882934e-01 9.94898303e-01 1.99541411e-05 -2.70624980e+01] [ 1.97099574e-04 -7.05171081e-08 9.99999981e-01 -1.79950750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78028169299995 meters Centerline goodness [0,1] 0.9998729782369379 Centerline is valid? [True, True] Translation: X:406.66, Y:-27.06, Z:-1.80 [[ 9.94715053e-01 1.02669845e-01 9.30651189e-04 4.06660639e+02] [-1.02669801e-01 9.94715488e-01 -9.52183799e-05 -2.70599671e+01] [-9.35509209e-04 -8.34616733e-07 9.99999562e-01 -1.79788530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.810281693 meters Centerline goodness [0,1] 0.9998941597341292 Centerline is valid? [True, True] Translation: X:406.69, Y:-27.06, Z:-1.80 [[ 9.94530711e-01 1.04436865e-01 1.26764590e-03 4.06689654e+02] [-1.04436785e-01 9.94531518e-01 -1.29574778e-04 -2.70558524e+01] [-1.27424618e-03 -3.52276597e-06 9.99999188e-01 -1.79716570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84028169299995 meters Centerline goodness [0,1] 0.9998713191927424 Centerline is valid? [True, True] Translation: X:406.72, Y:-27.06, Z:-1.80 [[ 9.94513243e-01 1.04609742e-01 4.59417253e-04 4.06718826e+02] [-1.04609732e-01 9.94513349e-01 -4.69657730e-05 -2.70576445e+01] [-4.61809668e-04 -1.35143229e-06 9.99999893e-01 -1.79711323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.870281693 meters Centerline goodness [0,1] 0.9999789091829417 Centerline is valid? [True, True] Translation: X:406.75, Y:-27.06, Z:-1.80 [[ 9.94561292e-01 1.04152192e-01 3.97692188e-04 4.06747386e+02] [-1.04152184e-01 9.94561371e-01 -4.06550741e-05 -2.70590670e+01] [-3.99763602e-04 -9.86546876e-07 9.99999920e-01 -1.79756674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90028169299995 meters Centerline goodness [0,1] 0.9998274709396364 Centerline is valid? [True, True] Translation: X:406.78, Y:-27.06, Z:-1.80 [[ 9.94626659e-01 1.03526849e-01 8.89292530e-06 4.06776289e+02] [-1.03526849e-01 9.94626659e-01 -1.00896487e-06 -2.70609807e+01] [-8.94959553e-06 8.28868222e-08 1.00000000e+00 -1.79722219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.930281693 meters Centerline goodness [0,1] 0.9998296495038542 Centerline is valid? [True, True] Translation: X:406.80, Y:-27.06, Z:-1.80 [[ 9.94773921e-01 1.02082506e-01 2.00213573e-03 4.06803674e+02] [-1.02082301e-01 9.94775936e-01 -2.04311125e-04 -2.70628765e+01] [-2.01253304e-03 -1.13924392e-06 9.99997975e-01 -1.79544461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96028169299996 meters Centerline goodness [0,1] 0.9998079016456426 Centerline is valid? [True, True] Translation: X:406.83, Y:-27.07, Z:-1.79 [[ 9.94849590e-01 1.01326234e-01 2.69959369e-03 4.06833113e+02] [-1.01325860e-01 9.94853253e-01 -2.75300086e-04 -2.70667993e+01] [-2.71359469e-03 3.43525479e-07 9.99996318e-01 -1.79449262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.990281693 meters Centerline goodness [0,1] 0.9998713164328915 Centerline is valid? [True, True] Translation: X:406.86, Y:-27.07, Z:-1.79 [[ 9.94948661e-01 1.00350907e-01 2.61860883e-03 4.06862816e+02] [-1.00350551e-01 9.94952107e-01 -2.66980353e-04 -2.70709209e+01] [-2.63218209e-03 2.85290437e-06 9.99996536e-01 -1.79476499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02028169299996 meters Centerline goodness [0,1] 0.999654629050014 Centerline is valid? [True, True] Translation: X:406.89, Y:-27.08, Z:-1.79 [[ 9.95071346e-01 9.91613226e-02 -2.17879719e-04 4.06891032e+02] [-9.91613202e-02 9.95071370e-01 2.21276805e-05 -2.70751169e+01] [ 2.19000080e-04 -4.13380326e-07 9.99999976e-01 -1.79405584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.050281693 meters Centerline goodness [0,1] 0.999830220713073 Centerline is valid? [True, True] Translation: X:406.92, Y:-27.08, Z:-1.80 [[ 9.95064616e-01 9.92271972e-02 -6.10600492e-04 4.06920047e+02] [-9.92271778e-02 9.95064804e-01 6.20933192e-05 -2.70767255e+01] [ 6.13748405e-04 -1.19870123e-06 9.99999812e-01 -1.80042067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08028169299996 meters Centerline goodness [0,1] 0.999830798840972 Centerline is valid? [True, True] Translation: X:406.95, Y:-27.08, Z:-1.80 [[ 9.95072241e-01 9.91521039e-02 -3.08916450e-04 4.06948577e+02] [-9.91520989e-02 9.95072289e-01 3.13799222e-05 -2.70797925e+01] [ 3.10505584e-04 -5.95575170e-07 9.99999952e-01 -1.80001302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.11028169299993 meters Centerline goodness [0,1] 0.9998710093518219 Centerline is valid? [True, True] Translation: X:406.98, Y:-27.08, Z:-1.79 [[ 9.95111214e-01 9.87442968e-02 1.79881063e-03 4.06977704e+02] [-9.87441270e-02 9.95112840e-01 -1.83166322e-04 -2.70813923e+01] [-1.80810618e-03 4.64887612e-06 9.99998365e-01 -1.79492266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14028169299996 meters Centerline goodness [0,1] 0.9999151625697258 Centerline is valid? [True, True] Translation: X:407.01, Y:-27.08, Z:-1.79 [[ 9.95115386e-01 9.86917363e-02 2.30441557e-03 4.07006673e+02] [-9.86914578e-02 9.95118054e-01 -2.34514392e-04 -2.70833121e+01] [-2.31631017e-03 5.94274747e-06 9.99997317e-01 -1.79468616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.17028169299994 meters Centerline goodness [0,1] 0.9998305120654224 Centerline is valid? [True, True] Translation: X:407.04, Y:-27.08, Z:-1.80 [[ 9.95117614e-01 9.86887509e-02 1.21034831e-03 4.07035725e+02] [-9.86886741e-02 9.95118350e-01 -1.23176401e-04 -2.70846283e+01] [-1.21659594e-03 3.12733630e-06 9.99999260e-01 -1.79842295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20028169299997 meters Centerline goodness [0,1] 0.9998715863367862 Centerline is valid? [True, True] Translation: X:407.07, Y:-27.09, Z:-1.80 [[ 9.95217206e-01 9.76867867e-02 7.10141510e-05 4.07065635e+02] [-9.76867865e-02 9.95217208e-01 -7.27094775e-06 -2.70868995e+01] [-7.13847806e-05 2.99028100e-07 9.99999997e-01 -1.79981205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23028169299994 meters Centerline goodness [0,1] 0.9998716824568532 Centerline is valid? [True, True] Translation: X:407.09, Y:-27.09, Z:-1.80 [[ 9.95335180e-01 9.64737834e-02 -8.29589380e-04 4.07094387e+02] [-9.64737467e-02 9.95335526e-01 8.42168179e-05 -2.70890682e+01] [ 8.33844497e-04 -3.79036590e-06 9.99999652e-01 -1.80087393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26028169299997 meters Centerline goodness [0,1] 0.9998507717233734 Centerline is valid? [True, True] Translation: X:407.12, Y:-27.09, Z:-1.80 [[ 9.95421582e-01 9.55733801e-02 -1.26608820e-03 4.07123679e+02] [-9.55732939e-02 9.95422387e-01 1.28520743e-04 -2.70906053e+01] [ 1.27257570e-03 -6.92810226e-06 9.99999190e-01 -1.80111004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.29028169299994 meters Centerline goodness [0,1] 0.9998718551108453 Centerline is valid? [True, True] Translation: X:407.15, Y:-27.09, Z:-1.80 [[ 9.95531411e-01 9.44239010e-02 -1.15631353e-03 4.07152722e+02] [-9.44238285e-02 9.95532082e-01 1.17314870e-04 -2.70925847e+01] [ 1.16222455e-03 -7.60708752e-06 9.99999325e-01 -1.80069698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32028169299997 meters Centerline goodness [0,1] 0.9998289648095096 Centerline is valid? [True, True] Translation: X:407.18, Y:-27.09, Z:-1.80 [[ 9.95563095e-01 9.40950338e-02 -4.98160000e-04 4.07181756e+02] [-9.40950204e-02 9.95563220e-01 5.04622661e-05 -2.70948469e+01] [ 5.00698022e-04 -3.36399445e-06 9.99999875e-01 -1.80038674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.35028169299994 meters Centerline goodness [0,1] 0.9998508734554751 Centerline is valid? [True, True] Translation: X:407.21, Y:-27.10, Z:-1.80 [[ 9.95583179e-01 9.38829656e-02 -3.49591403e-04 4.07209575e+02] [-9.38829590e-02 9.95583241e-01 3.53388096e-05 -2.70966963e+01] [ 3.51365054e-04 -2.36204908e-06 9.99999938e-01 -1.79999790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.380281693 meters Centerline goodness [0,1] 0.9999150923370834 Centerline is valid? [True, True] Translation: X:407.24, Y:-27.10, Z:-1.80 [[ 9.95507522e-01 9.46816355e-02 -4.02466127e-04 4.07237824e+02] [-9.46816268e-02 9.95507603e-01 4.06801783e-05 -2.70954028e+01] [ 4.04509755e-04 -2.39127586e-06 9.99999918e-01 -1.79955013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.41028169299994 meters Centerline goodness [0,1] 0.9998929313261526 Centerline is valid? [True, True] Translation: X:407.27, Y:-27.10, Z:-1.80 [[ 9.95440246e-01 9.53829939e-02 -8.95395250e-04 4.07267236e+02] [-9.53829509e-02 9.95440648e-01 9.06359965e-05 -2.70956828e+01] [ 8.99957961e-04 -4.81727745e-06 9.99999595e-01 -1.79979916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.440281693 meters Centerline goodness [0,1] 0.9998940475938208 Centerline is valid? [True, True] Translation: X:407.30, Y:-27.10, Z:-1.80 [[ 9.95426738e-01 9.55259447e-02 -6.34998105e-04 4.07295327e+02] [-9.55259232e-02 9.95426941e-01 6.41894595e-05 -2.70968436e+01] [ 6.38225979e-04 -3.23712416e-06 9.99999796e-01 -1.79959326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.47028169299995 meters Centerline goodness [0,1] 0.9998102706804958 Centerline is valid? [True, True] Translation: X:407.32, Y:-27.10, Z:-1.80 [[ 9.95495956e-01 9.48033398e-02 -3.58876918e-04 4.07323826e+02] [-9.48033329e-02 9.95496020e-01 3.62334632e-05 -2.70978631e+01] [ 3.60695597e-04 -2.04753811e-06 9.99999935e-01 -1.80020909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.500281693 meters Centerline goodness [0,1] 0.9998493943501366 Centerline is valid? [True, True] Translation: X:407.35, Y:-27.10, Z:-1.80 [[ 9.95496456e-01 9.47960770e-02 -7.14561694e-04 4.07352706e+02] [-9.47960496e-02 9.95496712e-01 7.22026255e-05 -2.70989792e+01] [ 7.18188343e-04 -4.13983194e-06 9.99999742e-01 -1.79970045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.53028169299995 meters Centerline goodness [0,1] 0.9999149189603097 Centerline is valid? [True, True] Translation: X:407.38, Y:-27.10, Z:-1.80 [[ 9.95503017e-01 9.47296058e-02 -2.11275127e-04 4.07381297e+02] [-9.47296034e-02 9.95503040e-01 2.12683638e-05 -2.70995180e+01] [ 2.12339775e-04 -1.15871126e-06 9.99999977e-01 -1.79758091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.560281693 meters Centerline goodness [0,1] 0.9998526346813751 Centerline is valid? [True, True] Translation: X:407.41, Y:-27.10, Z:-1.80 [[ 9.95548738e-01 9.42480002e-02 1.57625158e-04 4.07408526e+02] [-9.42479988e-02 9.95548750e-01 -1.60160287e-05 -2.71019039e+01] [-1.58433008e-04 1.08888146e-06 9.99999987e-01 -1.79697793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.59028169299995 meters Centerline goodness [0,1] 0.9998499914280816 Centerline is valid? [True, True] Translation: X:407.44, Y:-27.10, Z:-1.80 [[ 9.95636952e-01 9.33114426e-02 1.86407193e-04 4.07437279e+02] [-9.33114407e-02 9.95636969e-01 -1.89347115e-05 -2.71033279e+01] [-1.87360718e-04 1.45817470e-06 9.99999982e-01 -1.79701876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.620281693 meters Centerline goodness [0,1] 0.9996800614282058 Centerline is valid? [True, True] Translation: X:407.47, Y:-27.11, Z:-1.80 [[ 9.95921233e-01 9.02235201e-02 7.84088755e-04 4.07465949e+02] [-9.02234857e-02 9.95921541e-01 -7.92713990e-05 -2.71085627e+01] [-7.88043026e-04 8.20484879e-06 9.99999689e-01 -1.79724997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.65028169299995 meters Centerline goodness [0,1] 0.9997640548250788 Centerline is valid? [True, True] Translation: X:407.49, Y:-27.11, Z:-1.80 [[ 9.96056894e-01 8.87155021e-02 4.72343370e-04 4.07494785e+02] [-8.87154894e-02 9.96057006e-01 -4.77950509e-05 -2.71081707e+01] [-4.74721085e-04 5.70241671e-06 9.99999887e-01 -1.79717800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.680281693 meters Centerline goodness [0,1] 0.9995577271387052 Centerline is valid? [True, True] Translation: X:407.52, Y:-27.11, Z:-1.80 [[ 9.96133053e-01 8.78574420e-02 -1.06573328e-04 4.07522733e+02] [-8.78574414e-02 9.96133058e-01 1.06272986e-05 -2.71128691e+01] [ 1.07094903e-04 -1.22294349e-06 9.99999994e-01 -1.79889956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.71028169299996 meters Centerline goodness [0,1] 0.9997020389052058 Centerline is valid? [True, True] Translation: X:407.55, Y:-27.11, Z:-1.80 [[ 9.96233899e-01 8.67058276e-02 -3.44528245e-04 4.07552152e+02] [-8.67058208e-02 9.96233958e-01 3.46542606e-05 -2.71122404e+01] [ 3.46235464e-04 -4.65114489e-06 9.99999940e-01 -1.79851609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.740281693 meters Centerline goodness [0,1] 0.9995778720530193 Centerline is valid? [True, True] Translation: X:407.58, Y:-27.12, Z:-1.80 [[ 9.96323730e-01 8.56676488e-02 2.79653202e-04 4.07579901e+02] [-8.56676443e-02 9.96323770e-01 -2.83106226e-05 -2.71155062e+01] [-2.81050437e-04 4.24931412e-06 9.99999960e-01 -1.79833170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.77028169299996 meters Centerline goodness [0,1] 0.9996373565425146 Centerline is valid? [True, True] Translation: X:407.61, Y:-27.12, Z:-1.80 [[ 9.96464390e-01 8.40128839e-02 7.44349409e-04 4.07608552e+02] [-8.40128512e-02 9.96464668e-01 -7.51014634e-05 -2.71167665e+01] [-7.48027378e-04 1.23010178e-05 9.99999720e-01 -1.79747936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.800281693 meters Centerline goodness [0,1] 0.9992099250496466 Centerline is valid? [True, True] Translation: X:407.64, Y:-27.13, Z:-1.80 [[ 9.96890332e-01 7.88007587e-02 3.25765604e-04 4.07636813e+02] [-7.88007522e-02 9.96890385e-01 -3.27927853e-05 -2.71277001e+01] [-3.27336695e-04 7.02023598e-06 9.99999946e-01 -1.79871709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.83028169299996 meters Centerline goodness [0,1] 0.9991226756253611 Centerline is valid? [True, True] Translation: X:407.67, Y:-27.14, Z:-1.80 [[ 9.97115033e-01 7.58932924e-02 -1.34892138e-03 4.07665782e+02] [-7.58931779e-02 9.97115945e-01 1.35936344e-04 -2.71361974e+01] [ 1.35534768e-03 -3.31702420e-05 9.99999081e-01 -1.80157168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86028169299993 meters Centerline goodness [0,1] 0.998826266032139 Centerline is valid? [True, True] Translation: X:407.69, Y:-27.14, Z:-1.80 [[ 9.97343972e-01 7.27725969e-02 -3.02511674e-03 4.07694571e+02] [-7.27720071e-02 9.97348556e-01 3.04736006e-04 -2.71443775e+01] [ 3.03927224e-03 -8.37828016e-05 9.99995378e-01 -1.80455736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.89028169299996 meters Centerline goodness [0,1] 0.9980984937506676 Centerline is valid? [True, True] Translation: X:407.72, Y:-27.16, Z:-1.81 [[ 9.97700165e-01 6.76000029e-02 -4.96181378e-03 4.07723005e+02] [-6.75983523e-02 9.97712490e-01 4.99813484e-04 -2.71582239e+01] [ 4.98425098e-03 -1.63253560e-04 9.99987565e-01 -1.80857556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92028169299994 meters Centerline goodness [0,1] 0.9977897470011373 Centerline is valid? [True, True] Translation: X:407.75, Y:-27.16, Z:-1.81 [[ 9.97811903e-01 6.59367740e-02 -4.87322059e-03 4.07752600e+02] [-6.59351627e-02 9.97823789e-01 4.90750031e-04 -2.71623261e+01] [ 4.89497391e-03 -1.68359630e-04 9.99988005e-01 -1.80780515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.95028169299997 meters Centerline goodness [0,1] 0.9962756052141527 Centerline is valid? [True, True] Translation: X:407.78, Y:-27.18, Z:-1.81 [[ 9.97841173e-01 6.55449635e-02 -4.10501552e-03 4.07779690e+02] [-6.55438176e-02 9.97849607e-01 4.13209426e-04 -2.71752784e+01] [ 4.12327192e-03 -1.43258990e-04 9.99991489e-01 -1.80743179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98028169299994 meters Centerline goodness [0,1] 0.9962756052141527 Centerline is valid? [True, True] Translation: X:407.81, Y:-27.18, Z:-1.81 [[ 9.97842631e-01 6.55227657e-02 -4.10502193e-03 4.07808731e+02] [-6.55216198e-02 9.97851064e-01 4.13145803e-04 -2.71781566e+01] [ 4.12327095e-03 -1.43286809e-04 9.99991489e-01 -1.80749321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.01028169299997 meters Centerline goodness [0,1] 0.9975253383830777 Centerline is valid? [True, True] Translation: X:407.84, Y:-27.18, Z:-1.80 [[ 9.97768708e-01 6.67422359e-02 -1.75482948e-03 4.07838667e+02] [-6.67420285e-02 9.97770249e-01 1.76541509e-04 -2.71796180e+01] [ 1.76269942e-03 -5.90267142e-05 9.99998445e-01 -1.80182506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04028169299994 meters Centerline goodness [0,1] 0.9975379477188551 Centerline is valid? [True, True] Translation: X:407.87, Y:-27.19, Z:-1.80 [[ 9.97733552e-01 6.72752829e-02 -1.34009071e-03 4.07867944e+02] [-6.72751625e-02 9.97734451e-01 1.34815030e-04 -2.71857388e+01] [ 1.34612438e-03 -4.43546589e-05 9.99999093e-01 -1.80091331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.07028169299997 meters Centerline goodness [0,1] 0.997931881341692 Centerline is valid? [True, True] Translation: X:407.90, Y:-27.19, Z:-1.80 [[ 9.97712524e-01 6.75678523e-02 -2.07471991e-03 4.07898061e+02] [-6.75675641e-02 9.97714679e-01 2.08758009e-04 -2.71909829e+01] [ 2.08408384e-03 -6.80967099e-05 9.99997826e-01 -1.80212591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10028169299994 meters Centerline goodness [0,1] 0.9976714874708936 Centerline is valid? [True, True] Translation: X:407.93, Y:-27.20, Z:-1.81 [[ 9.97717980e-01 6.73531503e-02 -4.73133466e-03 4.07926351e+02] [-6.73516496e-02 9.97729186e-01 4.75985739e-04 -2.72011154e+01] [ 4.75264982e-03 -1.56236336e-04 9.99988694e-01 -1.80761407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.130281693 meters Centerline goodness [0,1] 0.9970088890761258 Centerline is valid? [True, True] Translation: X:407.95, Y:-27.21, Z:-1.81 [[ 9.97696198e-01 6.76476113e-02 -5.10846189e-03 4.07954948e+02] [-6.76458660e-02 9.97709263e-01 5.13868042e-04 -2.72124642e+01] [ 5.13152169e-03 -1.67117864e-04 9.99986820e-01 -1.81005871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16028169299994 meters Centerline goodness [0,1] 0.9975116442289287 Centerline is valid? [True, True] Translation: X:407.98, Y:-27.21, Z:-1.81 [[ 9.97637600e-01 6.85247274e-02 -4.85604841e-03 4.07984712e+02] [-6.85231614e-02 9.97649406e-01 4.88343646e-04 -2.72147200e+01] [ 4.87809743e-03 -1.54438194e-04 9.99988090e-01 -1.80885787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.190281693 meters Centerline goodness [0,1] 0.9981516889738687 Centerline is valid? [True, True] Translation: X:408.01, Y:-27.22, Z:-1.81 [[ 9.97523602e-01 7.02203719e-02 -3.97019861e-03 4.08013996e+02] [-7.02193389e-02 9.97531496e-01 3.99159427e-04 -2.72165072e+01] [ 3.98842728e-03 -1.19386228e-04 9.99992039e-01 -1.80680729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22028169299995 meters Centerline goodness [0,1] 0.9987792864179552 Centerline is valid? [True, True] Translation: X:408.04, Y:-27.21, Z:-1.80 [[ 9.97209140e-01 7.46261493e-02 -2.20650307e-03 4.08044844e+02] [-7.46258411e-02 9.97211580e-01 2.21814660e-04 -2.72131970e+01] [ 2.21690359e-03 -5.65334586e-05 9.99997541e-01 -1.80252117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.250281693 meters Centerline goodness [0,1] 0.9991601524646295 Centerline is valid? [True, True] Translation: X:408.07, Y:-27.21, Z:-1.80 [[ 9.97030458e-01 7.69830784e-02 -1.96749595e-03 4.08074541e+02] [-7.69828379e-02 9.97032398e-01 1.97761864e-04 -2.72145250e+01] [ 1.97688152e-03 -4.57111807e-05 9.99998045e-01 -1.80197329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28028169299995 meters Centerline goodness [0,1] 0.9994698222844297 Centerline is valid? [True, True] Translation: X:408.10, Y:-27.22, Z:-1.80 [[ 9.96719596e-01 8.09043069e-02 -2.13097851e-03 4.08103238e+02] [-8.09040339e-02 9.96721873e-01 2.14121331e-04 -2.72193041e+01] [ 2.14131623e-03 -4.10141684e-05 9.99997707e-01 -1.80337746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.310281693 meters Centerline goodness [0,1] 0.9997643227492823 Centerline is valid? [True, True] Translation: X:408.13, Y:-27.22, Z:-1.80 [[ 9.96637355e-01 8.19101083e-02 -2.17190264e-03 4.08133408e+02] [-8.19098270e-02 9.96639721e-01 2.18283833e-04 -2.72211607e+01] [ 2.18248409e-03 -3.96496519e-05 9.99997618e-01 -1.80340732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34028169299995 meters Centerline goodness [0,1] 0.999786734911495 Centerline is valid? [True, True] Translation: X:408.16, Y:-27.23, Z:-1.80 [[ 9.96565397e-01 8.27846452e-02 -2.02776589e-03 4.08163932e+02] [-8.27844019e-02 9.96567459e-01 2.03797584e-04 -2.72256127e+01] [ 2.03767681e-03 -3.52302335e-05 9.99997923e-01 -1.80304986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.370281693 meters Centerline goodness [0,1] 0.999762038679531 Centerline is valid? [True, True] Translation: X:408.19, Y:-27.23, Z:-1.80 [[ 9.96370291e-01 8.51052493e-02 -1.82730417e-03 4.08193318e+02] [-8.51050557e-02 9.96371967e-01 1.83604693e-04 -2.72294950e+01] [ 1.83630038e-03 -2.74254380e-05 9.99998314e-01 -1.80364777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40028169299995 meters Centerline goodness [0,1] 0.9997427046034435 Centerline is valid? [True, True] Translation: X:408.22, Y:-27.23, Z:-1.80 [[ 9.96250274e-01 8.64872875e-02 -2.31102186e-03 4.08222647e+02] [-8.64869815e-02 9.96252954e-01 2.32187658e-04 -2.72334656e+01] [ 2.32244363e-03 -3.14437133e-05 9.99997303e-01 -1.80484947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.430281693 meters Centerline goodness [0,1] 0.9994858611825193 Centerline is valid? [True, True] Translation: X:408.25, Y:-27.24, Z:-1.80 [[ 9.96138243e-01 8.77374345e-02 -3.27770623e-03 4.08251924e+02] [-8.77368261e-02 9.96143635e-01 3.29223271e-04 -2.72369630e+01] [ 3.29395140e-03 -4.03763490e-05 9.99994574e-01 -1.80143784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46028169299996 meters Centerline goodness [0,1] 0.9996804226942497 Centerline is valid? [True, True] Translation: X:408.28, Y:-27.24, Z:-1.81 [[ 9.95985304e-01 8.93986368e-02 -4.59975609e-03 4.08282014e+02] [-8.93974567e-02 9.95995924e-01 4.61929081e-04 -2.72381851e+01] [ 4.62263415e-03 -4.88680806e-05 9.99989314e-01 -1.80990403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.490281693 meters Centerline goodness [0,1] 0.9999355600902159 Centerline is valid? [True, True] Translation: X:408.31, Y:-27.24, Z:-1.81 [[ 9.95695235e-01 9.24623257e-02 -6.45884114e-03 4.08311268e+02] [-9.24600656e-02 9.95716182e-01 6.48287296e-04 -2.72384902e+01] [ 6.49111479e-03 -4.83116961e-05 9.99978931e-01 -1.81139953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52028169299996 meters Centerline goodness [0,1] 0.9997851910725409 Centerline is valid? [True, True] Translation: X:408.34, Y:-27.24, Z:-1.81 [[ 9.95576752e-01 9.37312543e-02 -6.43292745e-03 4.08338591e+02] [-9.37290414e-02 9.95597534e-01 6.45280921e-04 -2.72417570e+01] [ 6.46508970e-03 -3.94745600e-05 9.99979100e-01 -1.81227750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.550281693 meters Centerline goodness [0,1] 0.9999785743363401 Centerline is valid? [True, True] Translation: X:408.37, Y:-27.24, Z:-1.81 [[ 9.95231377e-01 9.74342384e-02 -4.59089188e-03 4.08368121e+02] [-9.74331514e-02 9.95241965e-01 4.60367734e-04 -2.72406997e+01] [ 4.61390384e-03 -1.08673495e-05 9.99989356e-01 -1.80851063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58028169299996 meters Centerline goodness [0,1] 0.9999362502390616 Centerline is valid? [True, True] Translation: X:408.40, Y:-27.24, Z:-1.81 [[ 9.95048820e-01 9.93304184e-02 -3.36359623e-03 4.08396620e+02] [-9.93298464e-02 9.95054505e-01 3.37100300e-04 -2.72402558e+01] [ 3.38044590e-03 -1.32575887e-06 9.99994286e-01 -1.80673775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.61028169299993 meters Centerline goodness [0,1] 0.9999573488015013 Centerline is valid? [True, True] Translation: X:408.43, Y:-27.24, Z:-1.81 [[ 9.94859764e-01 1.01231587e-01 -2.49331956e-03 4.08426021e+02] [-1.01231279e-01 9.94862888e-01 2.49796070e-04 -2.72399810e+01] [ 2.50579835e-03 3.88986745e-06 9.99996860e-01 -1.80541175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.46, Y:-27.24, Z:-1.80 [[ 9.94391981e-01 1.05737303e-01 -2.05186029e-03 4.08455805e+02] [-1.05737104e-01 9.94394098e-01 2.05426829e-04 -2.72356281e+01] [ 2.06207905e-03 1.26829745e-05 9.99997874e-01 -1.80474314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.67028169299994 meters Centerline goodness [0,1] 0.9999789300688987 Centerline is valid? [True, True] Translation: X:408.48, Y:-27.23, Z:-1.81 [[ 9.94208969e-01 1.07436008e-01 -2.45563306e-03 4.08484327e+02] [-1.07435729e-01 9.94212001e-01 2.45658458e-04 -2.72331000e+01] [ 2.46781242e-03 1.95868860e-05 9.99996955e-01 -1.80668941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70028169299997 meters Centerline goodness [0,1] 0.9998491476844169 Centerline is valid? [True, True] Translation: X:408.51, Y:-27.23, Z:-1.80 [[ 9.94094491e-01 1.08469971e-01 -3.22626554e-03 4.08513082e+02] [-1.08469495e-01 9.94099726e-01 3.22681512e-04 -2.72342142e+01] [ 3.24223095e-03 2.91754824e-05 9.99994744e-01 -1.80099577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.73028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.54, Y:-27.23, Z:-1.81 [[ 9.94065066e-01 1.08764386e-01 -2.22535136e-03 4.08541343e+02] [-1.08764161e-01 9.94067557e-01 2.22382114e-04 -2.72340239e+01] [ 2.23633684e-03 2.09761821e-05 9.99997499e-01 -1.80516949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.57, Y:-27.24, Z:-1.80 [[ 9.94045983e-01 1.08947062e-01 -1.76696957e-03 4.08569692e+02] [-1.08946920e-01 9.94047553e-01 1.76492013e-04 -2.72366067e+01] [ 1.77568006e-03 1.70647167e-05 9.99998423e-01 -1.80371386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.60, Y:-27.24, Z:-1.80 [[ 9.94044956e-01 1.08955713e-01 -1.81034866e-03 4.08598595e+02] [-1.08955564e-01 9.94046605e-01 1.80740916e-04 -2.72385411e+01] [ 1.81926369e-03 1.75829641e-05 9.99998345e-01 -1.80351627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.63, Y:-27.24, Z:-1.81 [[ 9.94084852e-01 1.08579783e-01 -2.39543593e-03 4.08625986e+02] [-1.08579522e-01 9.94087738e-01 2.39020226e-04 -2.72394186e+01] [ 2.40722625e-03 2.24889037e-05 9.99997102e-01 -1.80514421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.65, Y:-27.24, Z:-1.81 [[ 9.94167815e-01 1.07790856e-01 -3.38933529e-03 4.08654871e+02] [-1.07790329e-01 9.94173592e-01 3.38105000e-04 -2.72414105e+01] [ 3.40603226e-03 2.92044577e-05 9.99994199e-01 -1.80708650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.880281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.68, Y:-27.24, Z:-1.81 [[ 9.94236886e-01 1.07171391e-01 -2.70314802e-03 4.08682938e+02] [-1.07171054e-01 9.94240561e-01 2.69446773e-04 -2.72436709e+01] [ 2.71645639e-03 2.18053021e-05 9.99996310e-01 -1.80625018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.71, Y:-27.25, Z:-1.80 [[ 9.94316442e-01 1.06451384e-01 -1.70790785e-03 4.08712035e+02] [-1.06451249e-01 9.94317908e-01 1.70139861e-04 -2.72467621e+01] [ 1.71631499e-03 1.26360630e-05 9.99998527e-01 -1.80450663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.940281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.74, Y:-27.25, Z:-1.80 [[ 9.94535636e-01 1.04397498e-01 -1.75238252e-04 4.08740971e+02] [-1.04397496e-01 9.94535652e-01 1.73590451e-05 -2.72509390e+01] [ 1.76092930e-04 1.03024575e-06 9.99999984e-01 -1.80155705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97028169299995 meters Centerline goodness [0,1] 0.9999785880992655 Centerline is valid? [True, True] Translation: X:408.77, Y:-27.25, Z:-1.80 [[ 9.94624335e-01 1.03549116e-01 1.15504109e-04 4.08769171e+02] [-1.03549115e-01 9.94624341e-01 -1.16023406e-05 -2.72544139e+01] [-1.16084611e-04 -4.20377975e-07 9.99999993e-01 -1.80122674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.000281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.80, Y:-27.26, Z:-1.80 [[ 9.94633406e-01 1.03461859e-01 -1.75967889e-04 4.08797513e+02] [-1.03461857e-01 9.94633422e-01 1.74145638e-05 -2.72563534e+01] [ 1.76825286e-04 8.84857689e-07 9.99999984e-01 -1.80171101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03028169299995 meters Centerline goodness [0,1] 0.9999786998381188 Centerline is valid? [True, True] Translation: X:408.83, Y:-27.26, Z:-1.80 [[ 9.94643333e-01 1.03366514e-01 5.93031657e-05 4.08825972e+02] [-1.03366514e-01 9.94643335e-01 -6.00002974e-06 -2.72579732e+01] [-5.96057006e-05 -1.62071928e-07 9.99999998e-01 -1.80105878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.060281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.85, Y:-27.26, Z:-1.80 [[ 9.94606716e-01 1.03713973e-01 9.44456774e-04 4.08853647e+02] [-1.03713930e-01 9.94607165e-01 -9.40367328e-05 -2.72573253e+01] [-9.49116397e-04 -4.42375813e-06 9.99999550e-01 -1.79978745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09028169299995 meters Centerline goodness [0,1] 0.9999569160509252 Centerline is valid? [True, True] Translation: X:408.88, Y:-27.26, Z:-1.80 [[ 9.94577997e-01 1.03992796e-01 3.26708225e-04 4.08882178e+02] [-1.03992791e-01 9.94578050e-01 -3.25662556e-05 -2.72588834e+01] [-3.28323485e-04 -1.58561896e-06 9.99999946e-01 -1.80132228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.120281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.91, Y:-27.26, Z:-1.80 [[ 9.94546048e-01 1.04297825e-01 -3.48990584e-04 4.08910005e+02] [-1.04297819e-01 9.94546109e-01 3.45158265e-05 -2.72601263e+01] [ 3.50687153e-04 2.07137789e-06 9.99999939e-01 -1.80392608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.15028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.94, Y:-27.26, Z:-1.81 [[ 9.94521089e-01 1.04525293e-01 -1.50530620e-03 4.08938790e+02] [-1.04525187e-01 9.94522229e-01 1.49314378e-04 -2.72617051e+01] [ 1.51266761e-03 8.84611432e-06 9.99998856e-01 -1.80603362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.180281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.97, Y:-27.26, Z:-1.81 [[ 9.94420480e-01 1.05419375e-01 -3.82949133e-03 4.08966780e+02] [-1.05418694e-01 9.94427853e-01 3.79759162e-04 -2.72603930e+01] [ 3.84818682e-03 2.60596878e-05 9.99992595e-01 -1.81014278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.21028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.00, Y:-27.26, Z:-1.81 [[ 9.94345124e-01 1.06110464e-01 -4.28287694e-03 4.08995556e+02] [-1.06109620e-01 9.94354348e-01 4.24551639e-04 -2.72610866e+01] [ 4.30374668e-03 3.23035899e-05 9.99990738e-01 -1.81011813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.240281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.02, Y:-27.26, Z:-1.81 [[ 9.94251926e-01 1.06994465e-01 -3.91057322e-03 4.09023363e+02] [-1.06993769e-01 9.94259616e-01 3.87378991e-04 -2.72596942e+01] [ 3.92957243e-03 3.32546588e-05 9.99992279e-01 -1.81006320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.27028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.05, Y:-27.26, Z:-1.81 [[ 9.94120806e-01 1.08235335e-01 -2.98931299e-03 4.09051891e+02] [-1.08234934e-01 9.94125300e-01 2.95923097e-04 -2.72576111e+01] [ 3.00378101e-03 2.93647874e-05 9.99995488e-01 -1.80812788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.300281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.08, Y:-27.26, Z:-1.81 [[ 9.93963354e-01 1.09689115e-01 -2.26922837e-03 4.09081440e+02] [-1.09688889e-01 9.93965944e-01 2.24529194e-04 -2.72554347e+01] [ 2.28016412e-03 2.57353466e-05 9.99997400e-01 -1.80701424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.33028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.11, Y:-27.25, Z:-1.81 [[ 9.93793452e-01 1.11217914e-01 -2.26925682e-03 4.09110070e+02] [-1.11217691e-01 9.93796043e-01 2.24379018e-04 -2.72515253e+01] [ 2.28013342e-03 2.93951058e-05 9.99997400e-01 -1.80712151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36028169299993 meters Centerline goodness [0,1] 0.99997886237291 Centerline is valid? [True, True] Translation: X:409.14, Y:-27.24, Z:-1.81 [[ 9.93375274e-01 1.14893451e-01 -2.24961184e-03 4.09140929e+02] [-1.14893241e-01 9.93377820e-01 2.22456743e-04 -2.72405574e+01] [ 2.26027333e-03 3.74821683e-05 9.99997445e-01 -1.80732736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.39028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.17, Y:-27.24, Z:-1.81 [[ 9.93211109e-01 1.16303163e-01 -2.29524633e-03 4.09170633e+02] [-1.16302949e-01 9.93213760e-01 2.26816924e-04 -2.72367584e+01] [ 2.30604977e-03 4.16668290e-05 9.99997340e-01 -1.80734429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42028169299994 meters Centerline goodness [0,1] 0.9999576952364836 Centerline is valid? [True, True] Translation: X:409.20, Y:-27.23, Z:-1.81 [[ 9.93117538e-01 1.17096688e-01 -2.43323104e-03 4.09198854e+02] [-1.17096451e-01 9.93120518e-01 2.40296191e-04 -2.72313246e+01] [ 2.44462956e-03 4.62803568e-05 9.99997011e-01 -1.80833720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.45028169299997 meters Centerline goodness [0,1] 0.9999787879430668 Centerline is valid? [True, True] Translation: X:409.23, Y:-27.23, Z:-1.81 [[ 9.93127560e-01 1.16996371e-01 -3.08203673e-03 4.09228218e+02] [-1.16995990e-01 9.93132340e-01 3.04275460e-04 -2.72253964e+01] [ 3.09646948e-03 5.84015946e-05 9.99995204e-01 -1.80986281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48028169299994 meters Centerline goodness [0,1] 0.999978838218178 Centerline is valid? [True, True] Translation: X:409.26, Y:-27.23, Z:-1.81 [[ 9.93294493e-01 1.15579908e-01 -2.70831162e-03 4.09257543e+02] [-1.15579609e-01 9.93298184e-01 2.67236846e-04 -2.72254414e+01] [ 2.72104823e-03 4.75807094e-05 9.99996297e-01 -1.80946395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.51028169299997 meters Centerline goodness [0,1] 0.9999576809140922 Centerline is valid? [True, True] Translation: X:409.29, Y:-27.23, Z:-1.81 [[ 9.93569293e-01 1.13205856e-01 -2.11986968e-03 4.09285096e+02] [-1.13205668e-01 9.93571554e-01 2.09000736e-04 -2.72256913e+01] [ 2.12990232e-03 3.23245492e-05 9.99997731e-01 -1.80901314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.31, Y:-27.23, Z:-1.81 [[ 9.93960900e-01 1.09727112e-01 -1.30037249e-03 4.09313182e+02] [-1.09727038e-01 9.93961750e-01 1.28022689e-04 -2.72276055e+01] [ 1.30656807e-03 1.54364741e-05 9.99999146e-01 -1.80845717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.57028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.34, Y:-27.24, Z:-1.81 [[ 9.94383520e-01 1.05834704e-01 -6.56141410e-04 4.09341638e+02] [-1.05834684e-01 9.94383737e-01 6.45452130e-05 -2.72361173e+01] [ 6.59287471e-04 5.25982272e-06 9.99999783e-01 -1.80666158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60028169299994 meters Centerline goodness [0,1] 0.9999363070847753 Centerline is valid? [True, True] Translation: X:409.37, Y:-27.24, Z:-1.81 [[ 9.95123418e-01 9.86362424e-02 5.23908910e-04 4.09369387e+02] [-9.86362288e-02 9.95123556e-01 -5.16936921e-05 -2.72437134e+01] [-5.26452969e-04 -2.34795544e-07 9.99999861e-01 -1.80524782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.630281693 meters Centerline goodness [0,1] 0.9998502929979897 Centerline is valid? [True, True] Translation: X:409.40, Y:-27.25, Z:-1.80 [[ 9.95415895e-01 9.56346252e-02 1.10177663e-03 4.09397497e+02] [-9.56345636e-02 9.95416505e-01 -1.08570387e-04 -2.72486171e+01] [-1.10710973e-03 2.70476185e-06 9.99999387e-01 -1.80383711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66028169299994 meters Centerline goodness [0,1] 0.999830634063724 Centerline is valid? [True, True] Translation: X:409.43, Y:-27.25, Z:-1.80 [[ 9.95643191e-01 9.32374846e-02 1.18680521e-03 4.09425788e+02] [-9.32374116e-02 9.95643898e-01 -1.16832478e-04 -2.72527143e+01] [-1.19252853e-03 5.66881532e-06 9.99999289e-01 -1.80405318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.690281693 meters Centerline goodness [0,1] 0.9998715175913832 Centerline is valid? [True, True] Translation: X:409.45, Y:-27.26, Z:-1.81 [[ 9.95820861e-01 9.13265333e-02 5.27040946e-04 4.09453794e+02] [-9.13265186e-02 9.95821000e-01 -5.19401511e-05 -2.72564588e+01] [-5.29581956e-04 3.59027124e-06 9.99999860e-01 -1.80544139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72028169299995 meters Centerline goodness [0,1] 0.9998081964068793 Centerline is valid? [True, True] Translation: X:409.48, Y:-27.26, Z:-1.81 [[ 9.96006414e-01 8.92429950e-02 -2.62887811e-03 4.09482640e+02] [-8.92426243e-02 9.96009883e-01 2.58185753e-04 -2.72607738e+01] [ 2.64142985e-03 -2.25466841e-05 9.99996511e-01 -1.81182881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.750281693 meters Centerline goodness [0,1] 0.9998507176217184 Centerline is valid? [True, True] Translation: X:409.51, Y:-27.27, Z:-1.81 [[ 9.96111851e-01 8.80136265e-02 -3.84475665e-03 4.09511104e+02] [-8.80128251e-02 9.96119270e-01 3.77466676e-04 -2.72661712e+01] [ 3.86305840e-03 -3.76111350e-05 9.99992538e-01 -1.81462422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78028169299995 meters Centerline goodness [0,1] 0.9998511303460156 Centerline is valid? [True, True] Translation: X:409.54, Y:-27.27, Z:-1.82 [[ 9.96243597e-01 8.64919446e-02 -4.22353480e-03 4.09538798e+02] [-8.64909652e-02 9.96252549e-01 4.14347660e-04 -2.72726295e+01] [ 4.24354505e-03 -4.74936025e-05 9.99990995e-01 -1.81562180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.810281693 meters Centerline goodness [0,1] 0.9998284403079496 Centerline is valid? [True, True] Translation: X:409.57, Y:-27.28, Z:-1.81 [[ 9.96437507e-01 8.42444785e-02 -3.89393454e-03 4.09567187e+02] [-8.42436294e-02 9.96445114e-01 3.81862662e-04 -2.72789977e+01] [ 3.91226187e-03 -5.24631002e-05 9.99992346e-01 -1.81458736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84028169299995 meters Centerline goodness [0,1] 0.999682848443843 Centerline is valid? [True, True] Translation: X:409.59, Y:-27.29, Z:-1.81 [[ 9.96840382e-01 7.94000245e-02 -2.21095291e-03 4.09594429e+02] [-7.93997389e-02 9.96842833e-01 2.16785567e-04 -2.72914220e+01] [ 2.22118534e-03 -4.05515237e-05 9.99997532e-01 -1.81132866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.870281693 meters Centerline goodness [0,1] 0.9996782289722633 Centerline is valid? [True, True] Translation: X:409.62, Y:-27.30, Z:-1.81 [[ 9.96993949e-01 7.74644405e-02 -1.52505402e-03 4.09622989e+02] [-7.74643026e-02 9.96995115e-01 1.49398074e-04 -2.72996618e+01] [ 1.53204445e-03 -3.08117291e-05 9.99998826e-01 -1.81015509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90028169299995 meters Centerline goodness [0,1] 0.9996782289722633 Centerline is valid? [True, True] Translation: X:409.65, Y:-27.30, Z:-1.81 [[ 9.96997434e-01 7.74195715e-02 -1.52506076e-03 4.09651196e+02] [-7.74194336e-02 9.96998600e-01 1.49329359e-04 -2.73023361e+01] [ 1.53204445e-03 -3.08116478e-05 9.99998826e-01 -1.81021473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.930281693 meters Centerline goodness [0,1] 0.9996411760981067 Centerline is valid? [True, True] Translation: X:409.68, Y:-27.31, Z:-1.81 [[ 9.97092860e-01 7.61818081e-02 -1.46997160e-03 4.09679639e+02] [-7.61816787e-02 9.97093943e-01 1.43906047e-04 -2.73103707e+01] [ 1.47666280e-03 -3.15027875e-05 9.99998909e-01 -1.80993739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96028169299996 meters Centerline goodness [0,1] 0.9996392726038152 Centerline is valid? [True, True] Translation: X:409.71, Y:-27.32, Z:-1.81 [[ 9.97129716e-01 7.56942634e-02 -1.64529692e-03 4.09708337e+02] [-7.56941007e-02 9.97131073e-01 1.60980448e-04 -2.73164904e+01] [ 1.65276198e-03 -3.59791175e-05 9.99998634e-01 -1.81037783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.990281693 meters Centerline goodness [0,1] 0.9996597916223687 Centerline is valid? [True, True] Translation: X:409.74, Y:-27.32, Z:-1.81 [[ 9.97184065e-01 7.49577235e-02 -2.29789955e-03 4.09736558e+02] [-7.49574045e-02 9.97186711e-01 2.24767716e-04 -2.73235782e+01] [ 2.30828297e-03 -5.18901991e-05 9.99997335e-01 -1.81213475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02028169299996 meters Centerline goodness [0,1] 0.9995729050995131 Centerline is valid? [True, True] Translation: X:409.76, Y:-27.34, Z:-1.81 [[ 9.97333450e-01 7.29358536e-02 -2.52011898e-03 4.09764217e+02] [-7.29354636e-02 9.97336632e-01 2.46451991e-04 -2.73370673e+01] [ 2.53138216e-03 -6.19887685e-05 9.99996794e-01 -1.81335167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.050281693 meters Centerline goodness [0,1] 0.9994874642292744 Centerline is valid? [True, True] Translation: X:409.79, Y:-27.35, Z:-1.81 [[ 9.97407306e-01 7.19477745e-02 -1.47774852e-03 4.09792462e+02] [-7.19476395e-02 9.97408400e-01 1.44397452e-04 -2.73455016e+01] [ 1.48430786e-03 -3.77025556e-05 9.99998898e-01 -1.81138658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08028169299996 meters Centerline goodness [0,1] 0.9993825451913045 Centerline is valid? [True, True] Translation: X:409.82, Y:-27.35, Z:-1.81 [[ 9.97460054e-01 7.12178666e-02 -1.20634703e-03 4.09821293e+02] [-7.12177761e-02 9.97460783e-01 1.17880394e-04 -2.73530679e+01] [ 1.21167904e-03 -3.16676312e-05 9.99999265e-01 -1.80970561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.11028169299993 meters Centerline goodness [0,1] 0.9994461250053257 Centerline is valid? [True, True] Translation: X:409.85, Y:-27.36, Z:-1.81 [[ 9.97475511e-01 7.09914256e-02 -1.68014279e-03 4.09850425e+02] [-7.09912497e-02 9.97476925e-01 1.64158047e-04 -2.73585436e+01] [ 1.68755748e-03 -4.44681952e-05 9.99998575e-01 -1.80991063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14028169299996 meters Centerline goodness [0,1] 0.999530626613471 Centerline is valid? [True, True] Translation: X:409.88, Y:-27.36, Z:-1.81 [[ 9.97324058e-01 7.29781463e-02 -4.34886418e-03 4.09879494e+02] [-7.29769870e-02 9.97333534e-01 4.24875643e-04 -2.73621338e+01] [ 4.36827472e-03 -1.06371696e-04 9.99990453e-01 -1.81328175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.17028169299994 meters Centerline goodness [0,1] 0.9995340463835646 Centerline is valid? [True, True] Translation: X:409.91, Y:-27.37, Z:-1.81 [[ 9.97197704e-01 7.46846111e-02 -4.35297067e-03 4.09907854e+02] [-7.46834670e-02 9.97207200e-01 4.25020186e-04 -2.73654288e+01] [ 4.37255616e-03 -9.87342119e-05 9.99990435e-01 -1.81324306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20028169299997 meters Centerline goodness [0,1] 0.9995766210122992 Centerline is valid? [True, True] Translation: X:409.94, Y:-27.37, Z:-1.81 [[ 9.97069087e-01 7.64431725e-02 -3.11083591e-03 4.09935873e+02] [-7.64425970e-02 9.97073938e-01 3.03625741e-04 -2.73702107e+01] [ 3.12494352e-03 -6.49354646e-05 9.99995115e-01 -1.81141090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.23028169299994 meters Centerline goodness [0,1] 0.9997232747243391 Centerline is valid? [True, True] Translation: X:409.97, Y:-27.37, Z:-1.80 [[ 9.96738482e-01 8.06974552e-02 5.64880618e-04 4.09966073e+02] [-8.06974369e-02 9.96738642e-01 -5.51652295e-05 -2.73736001e+01] [-5.67490034e-04 9.40088903e-06 9.99999839e-01 -1.80470085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26028169299997 meters Centerline goodness [0,1] 0.9998519771621908 Centerline is valid? [True, True] Translation: X:410.00, Y:-27.38, Z:-1.80 [[ 9.96551983e-01 8.29592380e-02 1.38201993e-03 4.09995564e+02] [-8.29591307e-02 9.96552941e-01 -1.34922282e-04 -2.73762043e+01] [-1.38844907e-03 1.98058960e-05 9.99999036e-01 -1.80302444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.29028169299994 meters Centerline goodness [0,1] 0.9994885346517773 Centerline is valid? [True, True] Translation: X:410.02, Y:-27.38, Z:-1.80 [[ 9.96417735e-01 8.45626288e-02 9.26877375e-04 4.10024416e+02] [-8.45625813e-02 9.96418166e-01 -9.04687970e-05 -2.73820973e+01] [-9.31207733e-04 1.17655704e-05 9.99999566e-01 -1.79834639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32028169299997 meters Centerline goodness [0,1] 0.9999359918069513 Centerline is valid? [True, True] Translation: X:410.05, Y:-27.38, Z:-1.80 [[ 9.96293143e-01 8.60201748e-02 7.09643527e-04 4.10054064e+02] [-8.60201472e-02 9.96293395e-01 -6.92795597e-05 -2.73845066e+01] [-7.12972599e-04 7.97910956e-06 9.99999746e-01 -1.80455123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.35028169299994 meters Centerline goodness [0,1] 0.9998932217144322 Centerline is valid? [True, True] Translation: X:410.08, Y:-27.39, Z:-1.81 [[ 9.96221536e-01 8.68482660e-02 1.74758017e-04 4.10082583e+02] [-8.68482644e-02 9.96221551e-01 -1.70972399e-05 -2.73899332e+01] [-1.75582568e-04 1.85520821e-06 9.99999985e-01 -1.80592085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.380281693 meters Centerline goodness [0,1] 0.9999574422810937 Centerline is valid? [True, True] Translation: X:410.11, Y:-27.40, Z:-1.81 [[ 9.96201302e-01 8.70766358e-02 -7.91423414e-04 4.10111053e+02] [-8.70766020e-02 9.96201616e-01 7.71202212e-05 -2.73999766e+01] [ 7.95132654e-04 -7.91280301e-06 9.99999684e-01 -1.80842461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.41028169299994 meters Centerline goodness [0,1] 0.999765703209866 Centerline is valid? [True, True] Translation: X:410.14, Y:-27.41, Z:-1.80 [[ 9.96233956e-01 8.66997129e-02 -1.03219251e-03 4.10140550e+02] [-8.66996552e-02 9.96234490e-01 1.00608688e-04 -2.74067837e+01] [ 1.03702852e-03 -1.07390568e-05 9.99999462e-01 -1.80300606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.440281693 meters Centerline goodness [0,1] 0.999871835950016 Centerline is valid? [True, True] Translation: X:410.17, Y:-27.41, Z:-1.81 [[ 9.96169992e-01 8.74371702e-02 -2.95560740e-04 4.10169409e+02] [-8.74371655e-02 9.96170036e-01 2.87872017e-05 -2.74135085e+01] [ 2.96945825e-04 -2.83395313e-06 9.99999956e-01 -1.80694921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.47028169299995 meters Centerline goodness [0,1] 0.9998521178831731 Centerline is valid? [True, True] Translation: X:410.20, Y:-27.42, Z:-1.80 [[ 9.96112074e-01 8.80934902e-02 5.22989619e-04 4.10198805e+02] [-8.80934756e-02 9.96112211e-01 -5.10011898e-05 -2.74194508e+01] [-5.25449219e-04 4.73092773e-06 9.99999862e-01 -1.80490554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.500281693 meters Centerline goodness [0,1] 0.9998726628324031 Centerline is valid? [True, True] Translation: X:410.23, Y:-27.42, Z:-1.80 [[ 9.96048882e-01 8.88027416e-02 8.35795662e-04 4.10228729e+02] [-8.88027045e-02 9.96049232e-01 -8.14662862e-05 -2.74230406e+01] [-8.39728057e-04 6.92348799e-06 9.99999647e-01 -1.80363384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.53028169299995 meters Centerline goodness [0,1] 0.9999575407608695 Centerline is valid? [True, True] Translation: X:410.26, Y:-27.43, Z:-1.80 [[ 9.95955908e-01 8.98407543e-02 6.84454322e-04 4.10258328e+02] [-8.98407297e-02 9.95956143e-01 -6.67148134e-05 -2.74284963e+01] [-6.87680196e-04 4.95313685e-06 9.99999764e-01 -1.80488238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.560281693 meters Centerline goodness [0,1] 0.9998306519898391 Centerline is valid? [True, True] Translation: X:410.29, Y:-27.43, Z:-1.81 [[ 9.95886943e-01 9.05993791e-02 9.74186022e-04 4.10288338e+02] [-9.05993296e-02 9.95887420e-01 -9.49554069e-05 -2.74329141e+01] [-9.78782504e-04 6.30424950e-06 9.99999521e-01 -1.80526095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.59028169299995 meters Centerline goodness [0,1] 0.9998519771621908 Centerline is valid? [True, True] Translation: X:410.32, Y:-27.44, Z:-1.81 [[ 9.95862853e-01 9.08673003e-02 5.57528346e-04 4.10318223e+02] [-9.08672841e-02 9.95863010e-01 -5.42597350e-05 -2.74388018e+01] [-5.60152292e-04 3.37416795e-06 9.99999843e-01 -1.80604884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.620281693 meters Centerline goodness [0,1] 0.9999577310000846 Centerline is valid? [True, True] Translation: X:410.35, Y:-27.44, Z:-1.81 [[ 9.95866016e-01 9.08339541e-02 -2.68064955e-04 4.10348439e+02] [-9.08339504e-02 9.95866052e-01 2.62717721e-05 -2.74441122e+01] [ 2.69343158e-04 -1.81376615e-06 9.99999964e-01 -1.80816393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.65028169299995 meters Centerline goodness [0,1] 0.9999148773169331 Centerline is valid? [True, True] Translation: X:410.38, Y:-27.45, Z:-1.81 [[ 9.95777275e-01 9.17733064e-02 -2.29760263e-03 4.10377864e+02] [-9.17730335e-02 9.95779926e-01 2.24150397e-04 -2.74460178e+01] [ 2.30847760e-03 -1.23459080e-05 9.99997335e-01 -1.81014866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.680281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.41, Y:-27.45, Z:-1.81 [[ 9.95645077e-01 9.32002465e-02 -2.14345731e-03 4.10407031e+02] [-9.32000126e-02 9.95647384e-01 2.08989443e-04 -2.74466735e+01] [ 2.15360553e-03 -8.30906163e-06 9.99997681e-01 -1.80902304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.71028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.44, Y:-27.45, Z:-1.81 [[ 9.95455940e-01 9.52183087e-02 -9.71900139e-04 4.10436401e+02] [-9.52182616e-02 9.95456415e-01 9.47239271e-05 -2.74463976e+01] [ 9.76503680e-04 -1.75085429e-06 9.99999523e-01 -1.80680959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.740281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.47, Y:-27.45, Z:-1.80 [[ 9.95254851e-01 9.73004482e-02 6.35851453e-04 4.10466326e+02] [-9.73004284e-02 9.95255054e-01 -6.20377439e-05 -2.74466926e+01] [-6.38870672e-04 -1.25253141e-07 9.99999796e-01 -1.80443092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.77028169299996 meters Centerline goodness [0,1] 0.9999786288254402 Centerline is valid? [True, True] Translation: X:410.49, Y:-27.45, Z:-1.80 [[ 9.94997220e-01 9.98903543e-02 1.56518760e-03 4.10494889e+02] [-9.98902379e-02 9.94998451e-01 -1.52605815e-04 -2.74465976e+01] [-1.57260308e-03 -4.50459917e-06 9.99998763e-01 -1.80417425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.800281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.52, Y:-27.45, Z:-1.81 [[ 9.94929556e-01 1.00573991e-01 2.25534792e-04 4.10524584e+02] [-1.00573989e-01 9.94929582e-01 -2.20231673e-05 -2.74486830e+01] [-2.26606194e-04 -7.71433547e-07 9.99999974e-01 -1.80645137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.83028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.55, Y:-27.45, Z:-1.81 [[ 9.94845186e-01 1.01398425e-01 -1.18976458e-03 4.10553575e+02] [-1.01398359e-01 9.94845897e-01 1.15800930e-04 -2.74504448e+01] [ 1.19537444e-03 5.43617770e-06 9.99999286e-01 -1.80851083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86028169299993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.58, Y:-27.45, Z:-1.81 [[ 9.94718689e-01 1.02619439e-01 -1.99515013e-03 4.10583346e+02] [-1.02619255e-01 9.94720690e-01 1.94217265e-04 -2.74514700e+01] [ 2.00454758e-03 1.15492768e-05 9.99997991e-01 -1.80998564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.89028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.61, Y:-27.45, Z:-1.81 [[ 9.94505448e-01 1.04659624e-01 -2.29715301e-03 4.10612676e+02] [-1.04659387e-01 9.94508101e-01 2.23517537e-04 -2.74510050e+01] [ 2.30793054e-03 1.81292181e-05 9.99997337e-01 -1.80984674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.64, Y:-27.45, Z:-1.81 [[ 9.93982076e-01 1.09538815e-01 -9.38471854e-04 4.10642803e+02] [-1.09538778e-01 9.93982519e-01 9.12725436e-05 -2.74453389e+01] [ 9.42822503e-04 1.20757873e-05 9.99999555e-01 -1.80757488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.95028169299997 meters Centerline goodness [0,1] 0.9999577354662834 Centerline is valid? [True, True] Translation: X:410.67, Y:-27.44, Z:-1.81 [[ 9.93754903e-01 1.11584419e-01 -3.31524502e-04 4.10670699e+02] [-1.11584415e-01 9.93754958e-01 3.20869969e-05 -2.74417363e+01] [ 3.33034527e-04 5.10635714e-06 9.99999945e-01 -1.80726033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98028169299994 meters Centerline goodness [0,1] 0.9999147666737694 Centerline is valid? [True, True] Translation: X:410.70, Y:-27.44, Z:-1.81 [[ 9.93561514e-01 1.13292907e-01 4.84273115e-04 4.10699866e+02] [-1.13292898e-01 9.93561632e-01 -4.71661669e-05 -2.74413567e+01] [-4.86498779e-04 -8.00221627e-06 9.99999882e-01 -1.80622747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.01028169299997 meters Centerline goodness [0,1] 0.9999573497110443 Centerline is valid? [True, True] Translation: X:410.73, Y:-27.44, Z:-1.81 [[ 9.93366990e-01 1.14984852e-01 7.12595265e-04 4.10728805e+02] [-1.14984832e-01 9.93367245e-01 -6.93231969e-05 -2.74402389e+01] [-7.15839913e-04 -1.30742715e-05 9.99999744e-01 -1.80573708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04028169299994 meters Centerline goodness [0,1] 0.9999355891446239 Centerline is valid? [True, True] Translation: X:410.76, Y:-27.44, Z:-1.81 [[ 9.93120161e-01 1.17099711e-01 -6.37432729e-05 4.10758306e+02] [-1.17099711e-01 9.93120163e-01 6.11457649e-06 -2.74380323e+01] [ 6.40207447e-05 1.39180963e-06 9.99999998e-01 -1.80626530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.07028169299997 meters Centerline goodness [0,1] 0.9998718140449078 Centerline is valid? [True, True] Translation: X:410.79, Y:-27.44, Z:-1.81 [[ 9.93163068e-01 1.16734880e-01 -2.98307291e-04 4.10786907e+02] [-1.16734877e-01 9.93163112e-01 2.88247562e-05 -2.74360403e+01] [ 2.99632652e-04 6.19518166e-06 9.99999955e-01 -1.80752917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10028169299994 meters Centerline goodness [0,1] 0.9998723132581401 Centerline is valid? [True, True] Translation: X:410.82, Y:-27.44, Z:-1.81 [[ 9.93285501e-01 1.15688709e-01 -1.92570816e-04 4.10815998e+02] [-1.15688707e-01 9.93285519e-01 1.86111006e-05 -2.74395802e+01] [ 1.93430897e-04 3.79213240e-06 9.99999981e-01 -1.80768560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.130281693 meters Centerline goodness [0,1] 0.999914679407875 Centerline is valid? [True, True] Translation: X:410.84, Y:-27.44, Z:-1.81 [[ 9.93490501e-01 1.13914921e-01 -1.21920682e-04 4.10843604e+02] [-1.13914921e-01 9.93490509e-01 1.17034258e-05 -2.74437068e+01] [ 1.22460235e-04 2.26134248e-06 9.99999993e-01 -1.80858558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16028169299994 meters Centerline goodness [0,1] 0.9998941843731483 Centerline is valid? [True, True] Translation: X:410.87, Y:-27.45, Z:-1.81 [[ 9.93745528e-01 1.11668312e-01 -1.15341261e-04 4.10872370e+02] [-1.11668312e-01 9.93745535e-01 1.11089622e-05 -2.74502492e+01] [ 1.15860382e-04 1.84048244e-06 9.99999993e-01 -1.80923629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.190281693 meters Centerline goodness [0,1] 0.9999787658725103 Centerline is valid? [True, True] Translation: X:410.90, Y:-27.46, Z:-1.81 [[ 9.94206894e-01 1.07476578e-01 -1.19878276e-03 4.10901303e+02] [-1.07476516e-01 9.94207617e-01 1.16114428e-04 -2.74605732e+01] [ 1.20431854e-03 1.33992306e-05 9.99999275e-01 -1.81036315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22028169299995 meters Centerline goodness [0,1] 0.9999788288097556 Centerline is valid? [True, True] Translation: X:410.93, Y:-27.46, Z:-1.81 [[ 9.94332254e-01 1.06309388e-01 -1.29712632e-03 4.10928631e+02] [-1.06309315e-01 9.94333100e-01 1.25495510e-04 -2.74625704e+01] [ 1.30311698e-03 1.31123772e-05 9.99999151e-01 -1.81057789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.250281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.96, Y:-27.47, Z:-1.81 [[ 9.94407096e-01 1.05610651e-01 -9.58095856e-04 4.10957165e+02] [-1.05610611e-01 9.94407557e-01 9.26498294e-05 -2.74660591e+01] [ 9.62522569e-04 9.05344049e-06 9.99999537e-01 -1.80942302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28028169299995 meters Centerline goodness [0,1] 0.9999788690727749 Centerline is valid? [True, True] Translation: X:410.99, Y:-27.47, Z:-1.80 [[ 9.94391437e-01 1.05750083e-01 1.60926591e-03 4.10986122e+02] [-1.05749970e-01 9.94392739e-01 -1.55797255e-04 -2.74696866e+01] [-1.61671791e-03 -1.52563648e-05 9.99998693e-01 -1.80356784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.310281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.01, Y:-27.47, Z:-1.80 [[ 9.94373163e-01 1.05904257e-01 2.51030845e-03 4.11014832e+02] [-1.05903981e-01 9.94376331e-01 -2.42859375e-04 -2.74718901e+01] [-2.52191115e-03 -2.43588140e-05 9.99996820e-01 -1.80176800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34028169299995 meters Centerline goodness [0,1] 0.9999574241617882 Centerline is valid? [True, True] Translation: X:411.04, Y:-27.47, Z:-1.80 [[ 9.94395266e-01 1.05687773e-01 2.85473306e-03 4.11043260e+02] [-1.05687416e-01 9.94399363e-01 -2.76049561e-04 -2.74733317e+01] [-2.86791980e-03 -2.72069828e-05 9.99995887e-01 -1.80186724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.370281693 meters Centerline goodness [0,1] 0.9999577943317788 Centerline is valid? [True, True] Translation: X:411.07, Y:-27.48, Z:-1.80 [[ 9.94450874e-01 1.05178457e-01 2.22533918e-03 4.11072465e+02] [-1.05178239e-01 9.94453363e-01 -2.15141294e-04 -2.74754315e+01] [-2.23562426e-03 -2.01098089e-05 9.99997501e-01 -1.80346948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.10, Y:-27.48, Z:-1.81 [[ 9.94526015e-01 1.04482365e-01 1.20004085e-03 4.11101124e+02] [-1.04482301e-01 9.94526739e-01 -1.16006902e-04 -2.74785245e+01] [-1.20559339e-03 -1.00111485e-05 9.99999273e-01 -1.80536029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.430281693 meters Centerline goodness [0,1] 0.9999788162521713 Centerline is valid? [True, True] Translation: X:411.13, Y:-27.48, Z:-1.81 [[ 9.94771751e-01 1.02122954e-01 -2.54908564e-04 4.11128668e+02] [-1.02122951e-01 9.94771784e-01 2.44842989e-05 -2.74818623e+01] [ 2.56076256e-04 1.67572588e-06 9.99999967e-01 -1.80805483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.16, Y:-27.49, Z:-1.81 [[ 9.94955611e-01 1.00315475e-01 -3.70519623e-04 4.11157697e+02] [-1.00315469e-01 9.94955680e-01 3.56809014e-05 -2.74864599e+01] [ 3.72229950e-04 1.66793659e-06 9.99999931e-01 -1.80863330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.490281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.19, Y:-27.49, Z:-1.81 [[ 9.95127706e-01 9.85934707e-02 -4.19513448e-04 4.11186002e+02] [-9.85934624e-02 9.95127795e-01 4.03622017e-05 -2.74913020e+01] [ 4.21448942e-04 1.19573822e-06 9.99999911e-01 -1.80888411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.21, Y:-27.50, Z:-1.81 [[ 9.95291264e-01 9.69263755e-02 -7.59714907e-04 4.11213857e+02] [-9.69263479e-02 9.95291554e-01 7.31723630e-05 -2.74961437e+01] [ 7.63230163e-04 8.08577725e-07 9.99999709e-01 -1.80949585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.550281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.24, Y:-27.50, Z:-1.81 [[ 9.95455563e-01 9.52211767e-02 -1.07212626e-03 4.11242949e+02] [-9.52211207e-02 9.95456140e-01 1.03292232e-04 -2.75014280e+01] [ 1.07709028e-03 -7.33762921e-07 9.99999420e-01 -1.80981018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58028169299996 meters Centerline goodness [0,1] 0.9999364998729997 Centerline is valid? [True, True] Translation: X:411.27, Y:-27.51, Z:-1.81 [[ 9.95643472e-01 9.32336351e-02 -1.25165030e-03 4.11270940e+02] [-9.32335572e-02 9.95644258e-01 1.20528963e-04 -2.75061848e+01] [ 1.25743579e-03 -3.30806495e-06 9.99999209e-01 -1.80970160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61028169299993 meters Centerline goodness [0,1] 0.999978750982767 Centerline is valid? [True, True] Translation: X:411.30, Y:-27.51, Z:-1.81 [[ 9.95645001e-01 9.32195924e-02 -1.06755988e-03 4.11300749e+02] [-9.32195358e-02 9.95645573e-01 1.02786810e-04 -2.75074560e+01] [ 1.07249301e-03 -2.82173720e-06 9.99999425e-01 -1.80936294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.33, Y:-27.51, Z:-1.81 [[ 9.95569608e-01 9.40253011e-02 -6.31381995e-04 4.11329677e+02] [-9.40252815e-02 9.95569808e-01 6.07214591e-05 -2.75085755e+01] [ 6.34294205e-04 -1.08656941e-06 9.99999799e-01 -1.80976086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.36, Y:-27.51, Z:-1.81 [[ 9.95501161e-01 9.47493477e-02 -6.80301180e-06 4.11359070e+02] [-9.47493477e-02 9.95501161e-01 5.54149165e-07 -2.75089336e+01] [ 6.82491143e-06 9.29247957e-08 1.00000000e+00 -1.80851561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70028169299997 meters Centerline goodness [0,1] 0.9999787897427196 Centerline is valid? [True, True] Translation: X:411.39, Y:-27.51, Z:-1.81 [[ 9.95390856e-01 9.58980901e-02 7.75032536e-04 4.11388123e+02] [-9.58980610e-02 9.95391157e-01 -7.46576912e-05 -2.75091466e+01] [-7.78620063e-04 -1.05343434e-08 9.99999697e-01 -1.80714854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.73028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.42, Y:-27.51, Z:-1.81 [[ 9.95399667e-01 9.58093676e-02 -2.60538173e-04 4.11417014e+02] [-9.58093644e-02 9.95399701e-01 2.49772130e-05 -2.75127636e+01] [ 2.61732670e-04 9.96871950e-08 9.99999966e-01 -1.80950579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.45, Y:-27.52, Z:-1.81 [[ 9.95468973e-01 9.50740514e-02 -1.56459085e-03 4.11446735e+02] [-9.50739325e-02 9.95470203e-01 1.50364479e-04 -2.75175908e+01] [ 1.57179933e-03 -9.31367990e-07 9.99998765e-01 -1.81153225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.79028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.48, Y:-27.52, Z:-1.81 [[ 9.95471218e-01 9.50505403e-02 -1.56459442e-03 4.11475771e+02] [-9.50504214e-02 9.95472448e-01 1.50327345e-04 -2.75203359e+01] [ 1.57179933e-03 -9.31185958e-07 9.99998765e-01 -1.81159364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.50, Y:-27.52, Z:-1.81 [[ 9.95553196e-01 9.41543438e-02 -2.96552171e-03 4.11503629e+02] [-9.41539132e-02 9.95557612e-01 2.84783985e-04 -2.75249609e+01] [ 2.97916136e-03 -4.30213264e-06 9.99995562e-01 -1.81421206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85028169299994 meters Centerline goodness [0,1] 0.9999786825836708 Centerline is valid? [True, True] Translation: X:411.53, Y:-27.53, Z:-1.81 [[ 9.95639296e-01 9.32222803e-02 -3.46386511e-03 4.11532118e+02] [-9.32216877e-02 9.95645322e-01 3.32496238e-04 -2.75285672e+01] [ 3.47977715e-03 -8.13896825e-06 9.99993946e-01 -1.81463628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.880281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.56, Y:-27.53, Z:-1.81 [[ 9.95621712e-01 9.34420136e-02 -2.44891280e-03 4.11559944e+02] [-9.34417187e-02 9.95624724e-01 2.34843872e-04 -2.75308219e+01] [ 2.46014241e-03 -4.98503728e-06 9.99996974e-01 -1.81321261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91028169299994 meters Centerline goodness [0,1] 0.9999787554970151 Centerline is valid? [True, True] Translation: X:411.59, Y:-27.53, Z:-1.81 [[ 9.95602129e-01 9.36784913e-02 -8.60918945e-04 4.11588395e+02] [-9.36784550e-02 9.95602501e-01 8.24731528e-05 -2.75331612e+01] [ 8.64859016e-04 -1.46088983e-06 9.99999626e-01 -1.81037746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.940281693 meters Centerline goodness [0,1] 0.9999579115722133 Centerline is valid? [True, True] Translation: X:411.62, Y:-27.54, Z:-1.81 [[ 9.95577741e-01 9.39376083e-02 8.29328832e-04 4.11618378e+02] [-9.39375746e-02 9.95578086e-01 -7.95676895e-05 -2.75355044e+01] [-8.33136010e-04 1.31068149e-06 9.99999653e-01 -1.80778881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.65, Y:-27.54, Z:-1.81 [[ 9.95576732e-01 9.39412020e-02 1.42151863e-03 4.11647488e+02] [-9.39411031e-02 9.95577747e-01 -1.36317797e-04 -2.75377436e+01] [-1.42803818e-03 2.17579855e-06 9.99998980e-01 -1.80643759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.000281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.68, Y:-27.54, Z:-1.81 [[ 9.95522415e-01 9.45256605e-02 -1.40860086e-04 4.11676920e+02] [-9.45256596e-02 9.95522425e-01 1.34499500e-05 -2.75389965e+01] [ 1.41500740e-04 -7.48341868e-08 9.99999990e-01 -1.81000271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.03028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.71, Y:-27.54, Z:-1.81 [[ 9.95502687e-01 9.47289813e-02 -9.05412645e-04 4.11705387e+02] [-9.47289417e-02 9.95503099e-01 8.66294580e-05 -2.75418015e+01] [ 9.09547414e-04 -4.71076597e-07 9.99999586e-01 -1.81186408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.060281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.73, Y:-27.55, Z:-1.81 [[ 9.95537549e-01 9.43568559e-02 -1.33123684e-03 4.11734284e+02] [-9.43567699e-02 9.95538439e-01 1.27428240e-04 -2.75455156e+01] [ 1.33732118e-03 -1.24838890e-06 9.99999106e-01 -1.81234340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.09028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.76, Y:-27.55, Z:-1.81 [[ 9.95709120e-01 9.25366956e-02 -5.54382009e-04 4.11763839e+02] [-9.25366804e-02 9.95709275e-01 5.30583872e-05 -2.75515482e+01] [ 5.56913156e-04 -1.53004922e-06 9.99999845e-01 -1.81126123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.120281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.79, Y:-27.56, Z:-1.81 [[ 9.95791020e-01 9.16524811e-02 2.60560780e-04 4.11792010e+02] [-9.16524777e-02 9.95791054e-01 -2.50136702e-05 -2.75568335e+01] [-2.61756659e-04 1.02734709e-06 9.99999966e-01 -1.81005344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.15028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.82, Y:-27.56, Z:-1.81 [[ 9.95839136e-01 9.11228198e-02 1.02313608e-03 4.11821207e+02] [-9.11227672e-02 9.95839662e-01 -9.79556573e-05 -2.75609227e+01] [-1.02780549e-03 4.31708597e-06 9.99999472e-01 -1.80922626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.180281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.85, Y:-27.56, Z:-1.81 [[ 9.95816193e-01 9.13754705e-02 7.95725313e-04 4.11850629e+02] [-9.13754388e-02 9.95816511e-01 -7.61763798e-05 -2.75636653e+01] [-7.99357058e-04 3.14792283e-06 9.99999681e-01 -1.80992633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.21028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.88, Y:-27.57, Z:-1.81 [[ 9.95736536e-01 9.22403654e-02 -6.82852961e-04 4.11878945e+02] [-9.22403423e-02 9.95736770e-01 6.52296451e-05 -2.75652699e+01] [ 6.85958608e-04 -1.96495002e-06 9.99999765e-01 -1.81307484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.240281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.91, Y:-27.56, Z:-1.82 [[ 9.95582435e-01 9.38644579e-02 -2.25375868e-03 4.11907939e+02] [-9.38642109e-02 9.95584986e-01 2.15337440e-04 -2.75643430e+01] [ 2.26402083e-03 -2.83889323e-06 9.99997437e-01 -1.81543380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.27028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.94, Y:-27.56, Z:-1.82 [[ 9.95174482e-01 9.80697421e-02 -3.17425927e-03 4.11937847e+02] [-9.80692740e-02 9.95179544e-01 3.03178835e-04 -2.75560074e+01] [ 3.18869056e-03 9.58146146e-06 9.99994916e-01 -1.81617479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.300281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.97, Y:-27.55, Z:-1.81 [[ 9.95049836e-01 9.93444350e-02 -2.55073715e-03 4.11966633e+02] [-9.93441372e-02 9.95053106e-01 2.43481279e-04 -2.75547860e+01] [ 2.56230743e-03 1.11247751e-05 9.99996717e-01 -1.81449705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.00, Y:-27.56, Z:-1.81 [[ 9.94998996e-01 9.98716615e-02 -1.62787330e-03 4.11995213e+02] [-9.98715412e-02 9.95000327e-01 1.55268485e-04 -2.75554974e+01] [ 1.63524139e-03 8.08622933e-06 9.99998663e-01 -1.81303866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36028169299993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.02, Y:-27.56, Z:-1.81 [[ 9.95000321e-01 9.98617363e-02 -1.41216475e-03 4.12023280e+02] [-9.98616459e-02 9.95001323e-01 1.34567489e-04 -2.75560107e+01] [ 1.41854394e-03 7.12640154e-06 9.99998994e-01 -1.81340166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.05, Y:-27.56, Z:-1.81 [[ 9.95175810e-01 9.80973193e-02 -1.42232096e-03 4.12051426e+02] [-9.80972259e-02 9.95176826e-01 1.35497832e-04 -2.75604005e+01] [ 1.42875283e-03 4.68157490e-06 9.99998979e-01 -1.81253765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.08, Y:-27.56, Z:-1.81 [[ 9.95366059e-01 9.61537521e-02 -9.29717452e-04 4.12078998e+02] [-9.61537114e-02 9.95366493e-01 8.84561170e-05 -2.75642817e+01] [ 9.33914987e-04 1.34956694e-06 9.99999564e-01 -1.81154779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.45028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.11, Y:-27.57, Z:-1.81 [[ 9.95591308e-01 9.37973392e-02 -8.61847013e-05 4.12106606e+02] [-9.37973389e-02 9.95591311e-01 8.07122301e-06 -2.75685107e+01] [ 8.65617991e-05 4.82561674e-08 9.99999996e-01 -1.81025164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.14, Y:-27.57, Z:-1.81 [[ 9.95796948e-01 9.15872950e-02 4.53790424e-04 4.12135733e+02] [-9.15872848e-02 9.95797051e-01 -4.32858045e-05 -2.75718655e+01] [-4.55847596e-04 1.54243919e-06 9.99999896e-01 -1.80926967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.51028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.16, Y:-27.58, Z:-1.81 [[ 9.95986707e-01 8.95005844e-02 3.53684393e-04 4.12163839e+02] [-8.95005781e-02 9.95986770e-01 -3.37207856e-05 -2.75763326e+01] [-3.55283007e-04 1.93049649e-06 9.99999937e-01 -1.81004341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.19, Y:-27.58, Z:-1.81 [[ 9.96265536e-01 8.63267951e-02 -1.63294004e-03 4.12193258e+02] [-8.63266566e-02 9.96266874e-01 1.55247744e-04 -2.75804541e+01] [ 1.64024611e-03 -1.37017227e-05 9.99998655e-01 -1.81315344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.57028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.22, Y:-27.58, Z:-1.81 [[ 9.96378260e-01 8.50051719e-02 -2.11746753e-03 4.12221228e+02] [-8.50049362e-02 9.96380510e-01 2.01227595e-04 -2.75847771e+01] [ 2.12690876e-03 -2.05036091e-05 9.99997738e-01 -1.81386238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.25, Y:-27.59, Z:-1.81 [[ 9.96470683e-01 8.39237263e-02 -1.72822011e-03 4.12249174e+02] [-8.39235678e-02 9.96472181e-01 1.64162577e-04 -2.75897993e+01] [ 1.73590040e-03 -1.85447974e-05 9.99998493e-01 -1.81298396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.630281693 meters Centerline goodness [0,1] 0.999936039570186 Centerline is valid? [True, True] Translation: X:412.28, Y:-27.59, Z:-1.81 [[ 9.96575413e-01 8.26836025e-02 -9.31458293e-04 4.12277561e+02] [-8.26835559e-02 9.96575848e-01 8.84364774e-05 -2.75938976e+01] [ 9.35581085e-04 -1.11173352e-05 9.99999562e-01 -1.81112064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66028169299994 meters Centerline goodness [0,1] 0.9999788565629228 Centerline is valid? [True, True] Translation: X:412.31, Y:-27.60, Z:-1.81 [[ 9.96887968e-01 7.88310819e-02 1.98956338e-04 4.12306182e+02] [-7.88310797e-02 9.96887988e-01 -1.89012690e-05 -2.76015173e+01] [-1.99827191e-04 3.15850472e-06 9.99999980e-01 -1.80949375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.690281693 meters Centerline goodness [0,1] 0.9998934424482663 Centerline is valid? [True, True] Translation: X:412.34, Y:-27.60, Z:-1.81 [[ 9.97056710e-01 7.66674733e-02 1.28719155e-04 4.12336076e+02] [-7.66674724e-02 9.97056718e-01 -1.22525415e-05 -2.76034914e+01] [-1.29279670e-04 2.34790648e-06 9.99999992e-01 -1.80964785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72028169299995 meters Centerline goodness [0,1] 0.9998929565403554 Centerline is valid? [True, True] Translation: X:412.37, Y:-27.61, Z:-1.81 [[ 9.97228538e-01 7.43991642e-02 -8.35299720e-05 4.12366035e+02] [-7.43991638e-02 9.97228542e-01 7.93480514e-06 -2.76092400e+01] [ 8.38888150e-05 -1.69825406e-06 9.99999996e-01 -1.81032135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.750281693 meters Centerline goodness [0,1] 0.999682216855218 Centerline is valid? [True, True] Translation: X:412.39, Y:-27.62, Z:-1.81 [[ 9.97407190e-01 7.19645569e-02 2.79385710e-05 4.12394908e+02] [-7.19645569e-02 9.97407190e-01 -2.64877668e-06 -2.76168481e+01] [-2.80567496e-05 6.31322024e-07 1.00000000e+00 -1.81043336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78028169299995 meters Centerline goodness [0,1] 0.9994639679238405 Centerline is valid? [True, True] Translation: X:412.43, Y:-27.63, Z:-1.81 [[ 9.97829083e-01 6.58567910e-02 6.07919347e-05 4.12425058e+02] [-6.58567907e-02 9.97829085e-01 -5.76516206e-06 -2.76281803e+01] [-6.10396357e-05 1.74908465e-06 9.99999998e-01 -1.81014787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.810281693 meters Centerline goodness [0,1] 0.9985160059359762 Centerline is valid? [True, True] Translation: X:412.45, Y:-27.64, Z:-1.81 [[ 9.98044809e-01 6.25024706e-02 -1.46955292e-07 4.12454183e+02] [-6.25024706e-02 9.98044809e-01 3.89491837e-08 -2.76415915e+01] [ 1.49102396e-07 -2.96879597e-08 1.00000000e+00 -1.81040350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84028169299995 meters Centerline goodness [0,1] 0.998056054003247 Centerline is valid? [True, True] Translation: X:412.48, Y:-27.65, Z:-1.81 [[ 9.98228810e-01 5.94914206e-02 1.14000144e-04 4.12484090e+02] [-5.94914197e-02 9.98228817e-01 -1.08083371e-05 -2.76508265e+01] [-1.14441232e-04 4.00716315e-06 9.99999993e-01 -1.80992085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.870281693 meters Centerline goodness [0,1] 0.9976333631828067 Centerline is valid? [True, True] Translation: X:412.51, Y:-27.66, Z:-1.81 [[ 9.98398041e-01 5.65784550e-02 4.80402408e-04 4.12514209e+02] [-5.65784396e-02 9.98398156e-01 -4.56308700e-05 -2.76598446e+01] [-4.82214602e-04 1.83773526e-05 9.99999884e-01 -1.80921773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90028169299995 meters Centerline goodness [0,1] 0.9959692038644459 Centerline is valid? [True, True] Translation: X:412.54, Y:-27.67, Z:-1.81 [[ 9.98503570e-01 5.46830060e-02 6.23404896e-04 4.12544490e+02] [-5.46829798e-02 9.98503765e-01 -5.90220417e-05 -2.76710633e+01] [-6.25699638e-04 2.48440820e-05 9.99999804e-01 -1.80860947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.930281693 meters Centerline goodness [0,1] 0.9955142718097374 Centerline is valid? [True, True] Translation: X:412.58, Y:-27.68, Z:-1.81 [[ 9.98581092e-01 5.32504128e-02 4.43565660e-04 4.12575988e+02] [-5.32503993e-02 9.98581190e-01 -4.21450800e-05 -2.76777336e+01] [-4.45180568e-04 1.84652315e-05 9.99999901e-01 -1.80844338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96028169299996 meters Centerline goodness [0,1] 0.9945684843280378 Centerline is valid? [True, True] Translation: X:412.61, Y:-27.69, Z:-1.81 [[ 9.98641716e-01 5.21019898e-02 -3.25374244e-04 4.12606737e+02] [-5.21019823e-02 9.98641769e-01 3.13541016e-05 -2.76889283e+01] [ 3.26565922e-04 -1.43588707e-05 9.99999947e-01 -1.81030552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.990281693 meters Centerline goodness [0,1] 0.9950237118006082 Centerline is valid? [True, True] Translation: X:412.64, Y:-27.70, Z:-1.81 [[ 9.98630063e-01 5.23256428e-02 -1.58310659e-04 4.12638290e+02] [-5.23256410e-02 9.98630075e-01 1.54700528e-05 -2.76953820e+01] [ 1.58903266e-04 -7.16515308e-06 9.99999987e-01 -1.81087302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02028169299996 meters Centerline goodness [0,1] 0.9942669073150016 Centerline is valid? [True, True] Translation: X:412.67, Y:-27.70, Z:-1.81 [[ 9.98626965e-01 5.23849640e-02 -3.58511502e-05 4.12669738e+02] [-5.23849639e-02 9.98626965e-01 3.79691295e-06 -2.77046513e+01] [ 3.60008265e-05 -1.91363844e-06 9.99999999e-01 -1.81089906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.050281693 meters Centerline goodness [0,1] 0.9947104558779793 Centerline is valid? [True, True] Translation: X:412.70, Y:-27.72, Z:-1.81 [[ 9.98620251e-01 5.25123444e-02 2.17497524e-04 4.12701469e+02] [-5.25123411e-02 9.98620275e-01 -2.07110343e-05 -2.77159341e+01] [-2.18285022e-04 9.26115410e-06 9.99999976e-01 -1.81012758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08028169299996 meters Centerline goodness [0,1] 0.9956976818853144 Centerline is valid? [True, True] Translation: X:412.73, Y:-27.72, Z:-1.81 [[ 9.98578210e-01 5.33062598e-02 -2.76165790e-05 4.12733436e+02] [-5.33062597e-02 9.98578211e-01 2.99385880e-06 -2.77211835e+01] [ 2.77369054e-05 -1.51746563e-06 1.00000000e+00 -1.81012565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.11028169299993 meters Centerline goodness [0,1] 0.9952419561321157 Centerline is valid? [True, True] Translation: X:412.76, Y:-27.73, Z:-1.81 [[ 9.98521261e-01 5.43625903e-02 5.60873888e-06 4.12763929e+02] [-5.43625903e-02 9.98521261e-01 -3.42003929e-07 -2.77310397e+01] [-5.61903723e-06 3.65926223e-08 1.00000000e+00 -1.81087709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14028169299996 meters Centerline goodness [0,1] 0.9963393216106985 Centerline is valid? [True, True] Translation: X:412.80, Y:-27.74, Z:-1.81 [[ 9.98453924e-01 5.55852099e-02 2.13289669e-04 4.12796012e+02] [-5.55852069e-02 9.98453947e-01 -2.01838060e-05 -2.77359977e+01] [-2.14081833e-04 8.29684989e-06 9.99999977e-01 -1.81056262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.17028169299994 meters Centerline goodness [0,1] 0.9962233272486939 Centerline is valid? [True, True] Translation: X:412.83, Y:-27.74, Z:-1.81 [[ 9.98297965e-01 5.83104211e-02 1.03347809e-03 4.12825494e+02] [-5.83103494e-02 9.98298499e-01 -9.94215762e-05 -2.77430828e+01] [-1.03751694e-03 3.89898889e-05 9.99999461e-01 -1.80902076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20028169299997 meters Centerline goodness [0,1] 0.9968637521311752 Centerline is valid? [True, True] Translation: X:412.86, Y:-27.75, Z:-1.81 [[ 9.98173708e-01 6.04036822e-02 8.02905490e-04 4.12855937e+02] [-6.04036396e-02 9.98174030e-01 -7.72112064e-05 -2.77481150e+01] [-8.06103250e-04 2.85717823e-05 9.99999675e-01 -1.80889031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.23028169299994 meters Centerline goodness [0,1] 0.998331408034912 Centerline is valid? [True, True] Translation: X:412.89, Y:-27.75, Z:-1.81 [[ 9.97994065e-01 6.33073668e-02 1.50785117e-04 4.12887481e+02] [-6.33073653e-02 9.97994077e-01 -1.44644043e-05 -2.77477319e+01] [-1.51398357e-04 4.88958113e-06 9.99999989e-01 -1.81013202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26028169299997 meters Centerline goodness [0,1] 0.9997229090289027 Centerline is valid? [True, True] Translation: X:412.92, Y:-27.75, Z:-1.81 [[ 9.97514275e-01 7.04321260e-02 -2.14163779e-03 4.12918764e+02] [-7.04318455e-02 9.97516573e-01 2.06174911e-04 -2.77464812e+01] [ 2.15084053e-03 -5.48229148e-05 9.99997685e-01 -1.81463433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.29028169299994 meters Centerline goodness [0,1] 0.9998094875214326 Centerline is valid? [True, True] Translation: X:412.95, Y:-27.75, Z:-1.82 [[ 9.97281472e-01 7.36474600e-02 -2.39111799e-03 4.12949742e+02] [-7.36471195e-02 9.97284337e-01 2.30269197e-04 -2.77483464e+01] [ 2.40158326e-03 -5.35442517e-05 9.99997115e-01 -1.81560686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32028169299997 meters Centerline goodness [0,1] 0.9999572686095205 Centerline is valid? [True, True] Translation: X:412.98, Y:-27.75, Z:-1.81 [[ 9.97076609e-01 7.63813724e-02 -2.03039461e-03 4.12981826e+02] [-7.63811312e-02 9.97078675e-01 1.96183200e-04 -2.77497431e+01] [ 2.03944790e-03 -4.05258430e-05 9.99997920e-01 -1.81459621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.35028169299994 meters Centerline goodness [0,1] 0.9999147066976566 Centerline is valid? [True, True] Translation: X:413.01, Y:-27.76, Z:-1.81 [[ 9.96783782e-01 8.01373773e-02 -3.04046523e-04 4.13012166e+02] [-8.01373720e-02 9.96783828e-01 2.93829541e-05 -2.77576092e+01] [ 3.05423330e-04 -4.92296275e-06 9.99999953e-01 -1.81142058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.380281693 meters Centerline goodness [0,1] 0.9999363570792142 Centerline is valid? [True, True] Translation: X:413.04, Y:-27.76, Z:-1.81 [[ 9.96650078e-01 8.17815494e-02 6.31965445e-04 4.13043085e+02] [-8.17815274e-02 9.96650279e-01 -6.07485613e-05 -2.77620561e+01] [-6.34816648e-04 8.86195908e-06 9.99999798e-01 -1.80973919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.41028169299994 meters Centerline goodness [0,1] 0.9999572320588487 Centerline is valid? [True, True] Translation: X:413.08, Y:-27.76, Z:-1.81 [[ 9.96526928e-01 8.32560171e-02 1.58647939e-03 4.13075283e+02] [-8.32558787e-02 9.96528191e-01 -1.53205503e-04 -2.77643147e+01] [-1.59372672e-03 2.05896735e-05 9.99998730e-01 -1.80813037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.440281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.11, Y:-27.77, Z:-1.81 [[ 9.96379435e-01 8.49972713e-02 1.86667232e-03 4.13106334e+02] [-8.49970820e-02 9.96381184e-01 -1.80645180e-04 -2.77698491e+01] [-1.87527153e-03 2.13294416e-05 9.99998241e-01 -1.80795644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.47028169299995 meters Centerline goodness [0,1] 0.9999575191163976 Centerline is valid? [True, True] Translation: X:413.14, Y:-27.78, Z:-1.81 [[ 9.96205269e-01 8.70253264e-02 1.28638014e-03 4.13137811e+02] [-8.70252381e-02 9.96206099e-01 -1.24579760e-04 -2.77769882e+01] [-1.29234134e-03 1.21594754e-05 9.99999165e-01 -1.80964532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.500281693 meters Centerline goodness [0,1] 0.999957387876851 Centerline is valid? [True, True] Translation: X:413.17, Y:-27.78, Z:-1.81 [[ 9.96155469e-01 8.75981392e-02 9.21176326e-04 4.13170420e+02] [-8.75980942e-02 9.96155894e-01 -8.92393428e-05 -2.77835699e+01] [-9.25452428e-04 8.20296879e-06 9.99999572e-01 -1.81008105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.53028169299995 meters Centerline goodness [0,1] 0.9999788650533658 Centerline is valid? [True, True] Translation: X:413.20, Y:-27.79, Z:-1.81 [[ 9.96095200e-01 8.82767441e-02 1.25272402e-03 4.13201281e+02] [-8.82766607e-02 9.96095988e-01 -1.21749701e-04 -2.77932823e+01] [-1.25858104e-03 1.06879989e-05 9.99999208e-01 -1.80999950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.560281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.23, Y:-27.80, Z:-1.81 [[ 9.96076807e-01 8.84807959e-02 1.46395420e-03 4.13234090e+02] [-8.84806819e-02 9.96077883e-01 -1.42594162e-04 -2.77987063e+01] [-1.47082925e-03 1.25030712e-05 9.99998918e-01 -1.81024778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.59028169299995 meters Centerline goodness [0,1] 0.9999576647898056 Centerline is valid? [True, True] Translation: X:413.27, Y:-27.81, Z:-1.81 [[ 9.96089439e-01 8.83381130e-02 1.48552943e-03 4.13266974e+02] [-8.83379950e-02 9.96090547e-01 -1.44984947e-04 -2.78063782e+01] [-1.49252952e-03 1.31892837e-05 9.99998886e-01 -1.81048650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.620281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.30, Y:-27.81, Z:-1.81 [[ 9.96088714e-01 8.83547230e-02 8.46189484e-04 4.13298678e+02] [-8.83546848e-02 9.96089074e-01 -8.25921217e-05 -2.78144356e+01] [-8.50177503e-04 7.50427520e-06 9.99999639e-01 -1.81147712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.65028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.33, Y:-27.82, Z:-1.81 [[ 9.95990616e-01 8.94577606e-02 5.29910576e-05 4.13330724e+02] [-8.94577605e-02 9.95990617e-01 -4.85515519e-06 -2.78219019e+01] [-5.32129274e-05 9.52276759e-08 9.99999999e-01 -1.81157326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.680281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.36, Y:-27.83, Z:-1.81 [[ 9.95820750e-01 9.13275554e-02 5.58940549e-04 4.13362848e+02] [-9.13275391e-02 9.95820906e-01 -5.46395237e-05 -2.78254151e+01] [-5.61594778e-04 3.36450666e-06 9.99999842e-01 -1.81044525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.71028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.40, Y:-27.83, Z:-1.81 [[ 9.95803523e-01 9.15151918e-02 5.58935048e-04 4.13395166e+02] [-9.15151755e-02 9.95803680e-01 -5.46957123e-05 -2.78287938e+01] [-5.61595067e-04 3.31514396e-06 9.99999842e-01 -1.81051369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.740281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.43, Y:-27.83, Z:-1.81 [[ 9.95266823e-01 9.71755498e-02 9.28749601e-04 4.13427201e+02] [-9.71755069e-02 9.95267257e-01 -9.13500387e-05 -2.78272046e+01] [-9.33231057e-04 6.65949595e-07 9.99999565e-01 -1.80968407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.77028169299996 meters Centerline goodness [0,1] 0.9999787811916483 Centerline is valid? [True, True] Translation: X:413.46, Y:-27.83, Z:-1.81 [[ 9.94948884e-01 1.00378519e-01 9.33487383e-04 4.13459058e+02] [-1.00378477e-01 9.94949322e-01 -9.19623818e-05 -2.78260451e+01] [-9.38003687e-04 -2.20417297e-06 9.99999560e-01 -1.81025387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.800281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.49, Y:-27.83, Z:-1.81 [[ 9.94702516e-01 1.02794931e-01 3.25686718e-04 4.13492532e+02] [-1.02794926e-01 9.94702570e-01 -3.18856810e-05 -2.78255911e+01] [-3.27239102e-04 -1.76217499e-06 9.99999946e-01 -1.81155969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.83028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.53, Y:-27.83, Z:-1.81 [[ 9.94516143e-01 1.04581765e-01 -5.43439396e-04 4.13525215e+02] [-1.04581751e-01 9.94516292e-01 5.42881620e-05 -2.78264421e+01] [ 5.46136885e-04 2.84338999e-06 9.99999851e-01 -1.81281054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86028169299993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.56, Y:-27.83, Z:-1.81 [[ 9.94270994e-01 1.06879730e-01 -1.38373865e-03 4.13557363e+02] [-1.06879642e-01 9.94271956e-01 1.37977965e-04 -2.78294271e+01] [ 1.39055958e-03 1.07060024e-05 9.99999033e-01 -1.81322062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.89028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.59, Y:-27.83, Z:-1.81 [[ 9.94186840e-01 1.07662511e-01 -1.14474403e-03 4.13589654e+02] [-1.07662451e-01 9.94187499e-01 1.14452246e-04 -2.78301258e+01] [ 1.15041242e-03 9.45903050e-06 9.99999338e-01 -1.81328652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.62, Y:-27.83, Z:-1.81 [[ 9.93990422e-01 1.09466987e-01 -1.40362913e-04 4.13621296e+02] [-1.09466986e-01 9.93990432e-01 1.41846181e-05 -2.78289129e+01] [ 1.41072140e-04 1.26573051e-06 9.99999990e-01 -1.81231186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.95028169299997 meters Centerline goodness [0,1] 0.9999572046047845 Centerline is valid? [True, True] Translation: X:413.65, Y:-27.83, Z:-1.81 [[ 9.93779668e-01 1.11364128e-01 -5.13789252e-05 4.13653228e+02] [-1.11364127e-01 9.93779669e-01 5.48790585e-06 -2.78318037e+01] [ 5.16704871e-05 2.67999916e-07 9.99999999e-01 -1.81186747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98028169299994 meters Centerline goodness [0,1] 0.9999571468363652 Centerline is valid? [True, True] Translation: X:413.68, Y:-27.83, Z:-1.81 [[ 9.93583314e-01 1.13102267e-01 2.72628725e-04 4.13684275e+02] [-1.13102264e-01 9.93583352e-01 -2.70679146e-05 -2.78321619e+01] [-2.73940805e-04 -3.94069775e-06 9.99999962e-01 -1.81128730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.01028169299997 meters Centerline goodness [0,1] 0.9999151913495177 Centerline is valid? [True, True] Translation: X:413.72, Y:-27.83, Z:-1.81 [[ 9.93424210e-01 1.14478662e-01 1.72502351e-03 4.13716096e+02] [-1.14478535e-01 9.93425707e-01 -1.72419635e-04 -2.78295692e+01] [-1.73342107e-03 -2.61923243e-05 9.99998497e-01 -1.80860632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04028169299994 meters Centerline goodness [0,1] 0.9998938361254432 Centerline is valid? [True, True] Translation: X:413.75, Y:-27.83, Z:-1.81 [[ 9.93392877e-01 1.14745761e-01 2.00072751e-03 4.13747992e+02] [-1.14745590e-01 9.93394891e-01 -2.00336132e-04 -2.78311381e+01] [-2.01050021e-03 -3.05621720e-05 9.99997978e-01 -1.80853904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.07028169299997 meters Centerline goodness [0,1] 0.9998499496259459 Centerline is valid? [True, True] Translation: X:413.78, Y:-27.84, Z:-1.81 [[ 9.93397128e-01 1.14712683e-01 1.77360437e-03 4.13780441e+02] [-1.14712548e-01 9.93398711e-01 -1.77843688e-04 -2.78365366e+01] [-1.78229723e-03 -2.67852672e-05 9.99998411e-01 -1.80963666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10028169299994 meters Centerline goodness [0,1] 0.9999151913495177 Centerline is valid? [True, True] Translation: X:413.81, Y:-27.84, Z:-1.81 [[ 9.93325686e-01 1.15337013e-01 1.20657115e-03 4.13813234e+02] [-1.15336951e-01 9.93326418e-01 -1.21084747e-04 -2.78397423e+01] [-1.21248456e-03 -1.88856490e-05 9.99999265e-01 -1.81107176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.130281693 meters Centerline goodness [0,1] 0.9998082168428231 Centerline is valid? [True, True] Translation: X:413.85, Y:-27.84, Z:-1.81 [[ 9.93075637e-01 1.17474990e-01 6.37837811e-04 4.13845693e+02] [-1.17474973e-01 9.93075841e-01 -6.39727285e-05 -2.78394483e+01] [-6.40936517e-04 -1.14002216e-05 9.99999795e-01 -1.81158918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16028169299994 meters Centerline goodness [0,1] 0.9998706729318446 Centerline is valid? [True, True] Translation: X:413.88, Y:-27.84, Z:-1.81 [[ 9.92900733e-01 1.18945484e-01 3.27246008e-04 4.13878117e+02] [-1.18945479e-01 9.92900787e-01 -3.27058467e-05 -2.78383051e+01] [-3.28813032e-04 -6.45077414e-06 9.99999946e-01 -1.81132671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.190281693 meters Centerline goodness [0,1] 0.9998935241380779 Centerline is valid? [True, True] Translation: X:413.91, Y:-27.84, Z:-1.81 [[ 9.92716427e-01 1.20474429e-01 -8.67726067e-05 4.13909537e+02] [-1.20474429e-01 9.92716431e-01 9.10740732e-06 -2.78360303e+01] [ 8.72378021e-05 1.41280736e-06 9.99999996e-01 -1.81196194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22028169299995 meters Centerline goodness [0,1] 0.9997658279047984 Centerline is valid? [True, True] Translation: X:413.94, Y:-27.83, Z:-1.81 [[ 9.92432099e-01 1.22791992e-01 8.09170373e-04 4.13941616e+02] [-1.22791966e-01 9.92432429e-01 -8.17615689e-05 -2.78327288e+01] [-8.13086585e-04 -1.82168158e-05 9.99999669e-01 -1.81133888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.250281693 meters Centerline goodness [0,1] 0.9998094754223295 Centerline is valid? [True, True] Translation: X:413.97, Y:-27.83, Z:-1.81 [[ 9.92343501e-01 1.23504253e-01 1.03703298e-03 4.13972823e+02] [-1.23504210e-01 9.92344043e-01 -1.04992567e-04 -2.78323771e+01] [-1.04206053e-03 -2.38892477e-05 9.99999457e-01 -1.81048412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28028169299995 meters Centerline goodness [0,1] 0.9997645699120348 Centerline is valid? [True, True] Translation: X:414.00, Y:-27.83, Z:-1.81 [[ 9.92338272e-01 1.23547946e-01 8.11724413e-04 4.14003983e+02] [-1.23547920e-01 9.92338604e-01 -8.22052313e-05 -2.78306231e+01] [-8.15661758e-04 -1.87114654e-05 9.99999667e-01 -1.81133593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.310281693 meters Centerline goodness [0,1] 0.9998094915541256 Centerline is valid? [True, True] Translation: X:414.03, Y:-27.83, Z:-1.81 [[ 9.92477350e-01 1.22427948e-01 -3.26567154e-04 4.14034840e+02] [-1.22427943e-01 9.92477404e-01 3.31375973e-05 -2.78330976e+01] [ 3.28167490e-04 7.09263035e-06 9.99999946e-01 -1.81295969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34028169299995 meters Centerline goodness [0,1] 0.9997046164233269 Centerline is valid? [True, True] Translation: X:414.06, Y:-27.83, Z:-1.81 [[ 9.92545796e-01 1.21872226e-01 -5.56198548e-05 4.14064743e+02] [-1.21872226e-01 9.92545798e-01 5.61111573e-06 -2.78348886e+01] [ 5.58890923e-05 1.20922616e-06 9.99999998e-01 -1.81252251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.370281693 meters Centerline goodness [0,1] 0.9998299138939087 Centerline is valid? [True, True] Translation: X:414.10, Y:-27.84, Z:-1.81 [[ 9.92549672e-01 1.21840119e-01 3.65188672e-04 4.14095427e+02] [-1.21840114e-01 9.92549739e-01 -3.69586322e-05 -2.78387197e+01] [-3.66970966e-04 -7.81135107e-06 9.99999933e-01 -1.81166563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40028169299995 meters Centerline goodness [0,1] 0.999871937163835 Centerline is valid? [True, True] Translation: X:414.13, Y:-27.84, Z:-1.81 [[ 9.92437996e-01 1.22745526e-01 -6.00104844e-04 4.14126405e+02] [-1.22745511e-01 9.92438177e-01 6.08130089e-05 -2.78371730e+01] [ 6.03031482e-04 1.33070352e-05 9.99999818e-01 -1.81405814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.430281693 meters Centerline goodness [0,1] 0.9997007587902106 Centerline is valid? [True, True] Translation: X:414.16, Y:-27.84, Z:-1.82 [[ 9.92328712e-01 1.23613421e-01 -1.85717083e-03 4.14155608e+02] [-1.23613286e-01 9.92330449e-01 1.88108954e-04 -2.78366664e+01] [ 1.86617995e-03 4.29050720e-05 9.99998258e-01 -1.81661070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46028169299996 meters Centerline goodness [0,1] 0.9998493100553247 Centerline is valid? [True, True] Translation: X:414.19, Y:-27.84, Z:-1.82 [[ 9.92243886e-01 1.24272709e-01 -2.89224530e-03 4.14186044e+02] [-1.24272383e-01 9.92248099e-01 2.93025199e-04 -2.78381339e+01] [ 2.90623993e-03 6.86737516e-05 9.99995775e-01 -1.81748817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.490281693 meters Centerline goodness [0,1] 0.9997867712908866 Centerline is valid? [True, True] Translation: X:414.22, Y:-27.83, Z:-1.81 [[ 9.92097032e-01 1.25458797e-01 -1.88928888e-03 4.14215789e+02] [-1.25458660e-01 9.92098830e-01 1.91272126e-04 -2.78346366e+01] [ 1.89835806e-03 4.72671428e-05 9.99998197e-01 -1.81487613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52028169299996 meters Centerline goodness [0,1] 0.9996596106797149 Centerline is valid? [True, True] Translation: X:414.24, Y:-27.83, Z:-1.81 [[ 9.91953266e-01 1.26602306e-01 -7.57856347e-04 4.14244718e+02] [-1.26602285e-01 9.91953555e-01 7.66559014e-05 -2.78310869e+01] [ 7.61463112e-04 1.99072733e-05 9.99999710e-01 -1.81341942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.550281693 meters Centerline goodness [0,1] 0.999471145709934 Centerline is valid? [True, True] Translation: X:414.27, Y:-27.83, Z:-1.81 [[ 9.91784170e-01 1.27922407e-01 1.33909390e-04 4.14274564e+02] [-1.27922407e-01 9.91784179e-01 -1.36018821e-05 -2.78297984e+01] [-1.34549200e-04 -3.63988008e-06 9.99999991e-01 -1.81244069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58028169299996 meters Centerline goodness [0,1] 0.999049349332432 Centerline is valid? [True, True] Translation: X:414.30, Y:-27.82, Z:-1.81 [[ 9.91489417e-01 1.30184473e-01 -8.59481720e-04 4.14303450e+02] [-1.30184446e-01 9.91489789e-01 8.68653904e-05 -2.78246006e+01] [ 8.63475875e-04 2.57650366e-05 9.99999627e-01 -1.81479145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.61028169299993 meters Centerline goodness [0,1] 0.9990285521202906 Centerline is valid? [True, True] Translation: X:414.33, Y:-27.82, Z:-1.82 [[ 9.91399630e-01 1.30859481e-01 -1.60335291e-03 4.14332341e+02] [-1.30859390e-01 9.91400925e-01 1.62054048e-04 -2.78240304e+01] [ 1.61077187e-03 4.91534604e-05 9.99998701e-01 -1.81583930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64028169299996 meters Centerline goodness [0,1] 0.9991739738213242 Centerline is valid? [True, True] Translation: X:414.36, Y:-27.83, Z:-1.82 [[ 9.91297907e-01 1.31624169e-01 -1.88081727e-03 4.14361184e+02] [-1.31624045e-01 9.91299690e-01 1.90021034e-04 -2.78257349e+01] [ 1.88946493e-03 5.91933229e-05 9.99998213e-01 -1.81557775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.67028169299994 meters Centerline goodness [0,1] 0.9993812277295325 Centerline is valid? [True, True] Translation: X:414.39, Y:-27.82, Z:-1.81 [[ 9.91234221e-01 1.32105545e-01 -1.68666855e-03 4.14390670e+02] [-1.32105446e-01 9.91235654e-01 1.70315222e-04 -2.78232378e+01] [ 1.69438559e-03 5.39958247e-05 9.99998563e-01 -1.81464610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70028169299997 meters Centerline goodness [0,1] 0.9986708299928267 Centerline is valid? [True, True] Translation: X:414.42, Y:-27.81, Z:-1.81 [[ 9.91034630e-01 1.33599752e-01 -1.21145069e-03 4.14419731e+02] [-1.33599702e-01 9.91035370e-01 1.22204784e-04 -2.78142280e+01] [ 1.21691701e-03 4.07402782e-05 9.99999259e-01 -1.81404400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.73028169299994 meters Centerline goodness [0,1] 0.9980515492301502 Centerline is valid? [True, True] Translation: X:414.45, Y:-27.81, Z:-1.82 [[ 9.91014215e-01 1.33749129e-01 -1.41268687e-03 4.14448552e+02] [-1.33749062e-01 9.91015221e-01 1.42446156e-04 -2.78090548e+01] [ 1.41904624e-03 4.77793783e-05 9.99998992e-01 -1.81521338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76028169299997 meters Centerline goodness [0,1] 0.9990201090661214 Centerline is valid? [True, True] Translation: X:414.48, Y:-27.81, Z:-1.81 [[ 9.91214730e-01 1.32262036e-01 -3.35009441e-04 4.14477521e+02] [-1.32262032e-01 9.91214787e-01 3.36961214e-05 -2.78090762e+01] [ 3.36523029e-04 1.09089375e-05 9.99999943e-01 -1.81354542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.79028169299994 meters Centerline goodness [0,1] 0.9990796823834086 Centerline is valid? [True, True] Translation: X:414.51, Y:-27.81, Z:-1.81 [[ 9.91425711e-01 1.30671201e-01 3.12485617e-04 4.14506068e+02] [-1.30671197e-01 9.91425760e-01 -3.16049099e-05 -2.78118479e+01] [-3.13936142e-04 -9.49894952e-06 9.99999951e-01 -1.81239437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82028169299997 meters Centerline goodness [0,1] 0.9993042818291064 Centerline is valid? [True, True] Translation: X:414.53, Y:-27.81, Z:-1.81 [[ 9.91685529e-01 1.28683861e-01 5.25127570e-04 4.14534210e+02] [-1.28683851e-01 9.91685668e-01 -5.30198712e-05 -2.78141911e+01] [-5.27584287e-04 -1.49963989e-05 9.99999861e-01 -1.81208419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.85028169299994 meters Centerline goodness [0,1] 0.999536812851338 Centerline is valid? [True, True] Translation: X:414.56, Y:-27.82, Z:-1.81 [[ 9.92178676e-01 1.24824481e-01 -5.68307343e-04 4.14564227e+02] [-1.24824469e-01 9.92178839e-01 5.72425067e-05 -2.78176804e+01] [ 5.71007786e-04 1.41438679e-05 9.99999837e-01 -1.81341658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.880281693 meters Centerline goodness [0,1] 0.9996397236468444 Centerline is valid? [True, True] Translation: X:414.59, Y:-27.82, Z:-1.81 [[ 9.92360698e-01 1.23365899e-01 -1.04885245e-03 4.14592583e+02] [-1.23365856e-01 9.92361252e-01 1.05507838e-04 -2.78177033e+01] [ 1.05385660e-03 2.46907483e-05 9.99999444e-01 -1.81458364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.91028169299994 meters Centerline goodness [0,1] 0.9997432715758846 Centerline is valid? [True, True] Translation: X:414.62, Y:-27.82, Z:-1.82 [[ 9.92441676e-01 1.22708027e-01 -1.50299694e-03 4.14621083e+02] [-1.22707939e-01 9.92442814e-01 1.51201004e-04 -2.78175314e+01] [ 1.51019209e-03 3.43714786e-05 9.99998859e-01 -1.81545018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.940281693 meters Centerline goodness [0,1] 0.9996155406992887 Centerline is valid? [True, True] Translation: X:414.65, Y:-27.82, Z:-1.81 [[ 9.92424669e-01 1.22847911e-01 -1.29130691e-03 4.14650251e+02] [-1.22847846e-01 9.92425509e-01 1.29832620e-04 -2.78166373e+01] [ 1.29747558e-03 2.97851766e-05 9.99999158e-01 -1.81480504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.97028169299995 meters Centerline goodness [0,1] 0.9996815759865837 Centerline is valid? [True, True] Translation: X:414.68, Y:-27.82, Z:-1.81 [[ 9.92435962e-01 1.22761320e-01 -7.21228468e-04 4.14678834e+02] [-1.22761300e-01 9.92436224e-01 7.24371701e-05 -2.78184121e+01] [ 7.24665740e-04 1.66496919e-05 9.99999737e-01 -1.81333081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.000281693 meters Centerline goodness [0,1] 0.9996166624073601 Centerline is valid? [True, True] Translation: X:414.71, Y:-27.82, Z:-1.81 [[ 9.92528847e-01 1.22008162e-01 -7.04372526e-04 4.14707073e+02] [-1.22008143e-01 9.92529097e-01 7.06771552e-05 -2.78198612e+01] [ 7.07733417e-04 1.57900685e-05 9.99999749e-01 -1.81444217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03028169299995 meters Centerline goodness [0,1] 0.9999146029035013 Centerline is valid? [True, True] Translation: X:414.74, Y:-27.83, Z:-1.82 [[ 9.92651342e-01 1.21006714e-01 -8.30260200e-04 4.14735788e+02] [-1.21006686e-01 9.92651689e-01 8.33093085e-05 -2.78258672e+01] [ 8.34240176e-04 1.77699386e-05 9.99999652e-01 -1.81510776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.060281693 meters Centerline goodness [0,1] 0.9998071938130637 Centerline is valid? [True, True] Translation: X:414.76, Y:-27.83, Z:-1.82 [[ 9.92904453e-01 1.18906322e-01 -1.42591415e-03 4.14764037e+02] [-1.18906239e-01 9.92905477e-01 1.43082373e-04 -2.78286100e+01] [ 1.43281137e-03 2.74829635e-05 9.99998973e-01 -1.81567946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.09028169299995 meters Centerline goodness [0,1] 0.9998505614619358 Centerline is valid? [True, True] Translation: X:414.79, Y:-27.83, Z:-1.82 [[ 9.93040724e-01 1.17752813e-01 -2.09661414e-03 4.14792928e+02] [-1.17752631e-01 9.93042936e-01 2.10332759e-04 -2.78318894e+01] [ 2.10679514e-03 3.80128371e-05 9.99997780e-01 -1.81587205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.120281693 meters Centerline goodness [0,1] 0.9999141538791716 Centerline is valid? [True, True] Translation: X:414.82, Y:-27.83, Z:-1.82 [[ 9.93195336e-01 1.16441521e-01 -2.09666943e-03 4.14821268e+02] [-1.16441337e-01 9.93197549e-01 2.10239134e-04 -2.78331047e+01] [ 2.10688750e-03 3.53304631e-05 9.99997780e-01 -1.81619374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.15028169299995 meters Centerline goodness [0,1] 0.9998733616159058 Centerline is valid? [True, True] Translation: X:414.85, Y:-27.84, Z:-1.81 [[ 9.93556979e-01 1.13332423e-01 -5.39820768e-04 4.14850009e+02] [-1.13332411e-01 9.93557126e-01 5.40631830e-05 -2.78389894e+01] [ 5.42469882e-04 7.46433625e-06 9.99999853e-01 -1.81434579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.180281693 meters Centerline goodness [0,1] 0.9999364150823424 Centerline is valid? [True, True] Translation: X:414.88, Y:-27.84, Z:-1.81 [[ 9.93747344e-01 1.11652086e-01 1.65714179e-04 4.14878744e+02] [-1.11652085e-01 9.93747358e-01 -1.67105192e-05 -2.78444436e+01] [-1.66543792e-04 -1.89629959e-06 9.99999986e-01 -1.81323119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.21028169299996 meters Centerline goodness [0,1] 0.9998938316169445 Centerline is valid? [True, True] Translation: X:414.91, Y:-27.85, Z:-1.81 [[ 9.93915861e-01 1.10141673e-01 2.69278770e-04 4.14907296e+02] [-1.10141670e-01 9.93915898e-01 -2.70787249e-05 -2.78486069e+01] [-2.70622947e-04 -2.74483912e-06 9.99999963e-01 -1.81284241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.240281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.93, Y:-27.85, Z:-1.81 [[ 9.94093087e-01 1.08530629e-01 -1.90419037e-04 4.14934682e+02] [-1.08530628e-01 9.94093106e-01 1.89430350e-05 -2.78516738e+01] [ 1.91350151e-04 1.83515746e-06 9.99999982e-01 -1.81375816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.27028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.96, Y:-27.85, Z:-1.81 [[ 9.94333209e-01 1.06307415e-01 4.51546264e-04 4.14963395e+02] [-1.06307405e-01 9.94333311e-01 -4.52915087e-05 -2.78548973e+01] [-4.53802315e-04 -2.96786043e-06 9.99999897e-01 -1.81234850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.300281693 meters Centerline goodness [0,1] 0.99997884403825 Centerline is valid? [True, True] Translation: X:414.99, Y:-27.86, Z:-1.81 [[ 9.94460470e-01 1.05110490e-01 3.98820700e-04 4.14992292e+02] [-1.05110482e-01 9.94460550e-01 -3.99958222e-05 -2.78590060e+01] [-4.00815433e-04 -2.14597193e-06 9.99999920e-01 -1.81286010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.33028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.02, Y:-27.86, Z:-1.81 [[ 9.94592088e-01 1.03858452e-01 -3.11640121e-06 4.15021267e+02] [-1.03858452e-01 9.94592088e-01 2.12437465e-07 -2.78635797e+01] [ 3.12161143e-06 1.12375987e-07 1.00000000e+00 -1.81399931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36028169299993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.05, Y:-27.87, Z:-1.82 [[ 9.94795508e-01 1.01888801e-01 -7.55118552e-04 4.15048388e+02] [-1.01888773e-01 9.94795794e-01 7.53360106e-05 -2.78682213e+01] [ 7.58864655e-04 1.99417797e-06 9.99999712e-01 -1.81549547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.39028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.08, Y:-27.87, Z:-1.82 [[ 9.94870416e-01 1.01151107e-01 -1.14398508e-03 4.15076621e+02] [-1.01151043e-01 9.94871074e-01 1.14167029e-04 -2.78708548e+01] [ 1.14966579e-03 2.13388488e-06 9.99999339e-01 -1.81630232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.11, Y:-27.87, Z:-1.82 [[ 9.94955601e-01 1.00311757e-01 -9.50492913e-04 4.15105166e+02] [-1.00311712e-01 9.94956055e-01 9.47954291e-05 -2.78736326e+01] [ 9.55207775e-04 1.02832818e-06 9.99999544e-01 -1.81600943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.45028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.13, Y:-27.88, Z:-1.81 [[ 9.95039675e-01 9.94788660e-02 2.67778814e-05 4.15132716e+02] [-9.94788659e-02 9.95039675e-01 -2.80637434e-06 -2.78755309e+01] [-2.69242293e-05 1.28620535e-07 1.00000000e+00 -1.81480614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.16, Y:-27.88, Z:-1.81 [[ 9.95020057e-01 9.96748416e-02 1.08935393e-04 4.15160152e+02] [-9.96748410e-02 9.95020063e-01 -1.09821460e-05 -2.78764759e+01] [-1.09487545e-04 6.93375416e-08 9.99999994e-01 -1.81463312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.51028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.19, Y:-27.88, Z:-1.82 [[ 9.94960770e-01 1.00263842e-01 -4.78549553e-04 4.15189304e+02] [-1.00263830e-01 9.94960885e-01 4.75989204e-05 -2.78769618e+01] [ 4.80910537e-04 6.22152832e-07 9.99999884e-01 -1.81595896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.22, Y:-27.87, Z:-1.82 [[ 9.94768327e-01 1.02138427e-01 -1.92828412e-03 4.15218435e+02] [-1.02138247e-01 9.94770195e-01 1.92003319e-04 -2.78748436e+01] [ 1.93781049e-03 5.95273899e-06 9.99998122e-01 -1.81853439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.57028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.25, Y:-27.88, Z:-1.82 [[ 9.94712674e-01 1.02684486e-01 -1.61039938e-03 4.15247434e+02] [-1.02684361e-01 9.94713977e-01 1.60252889e-04 -2.78758061e+01] [ 1.61834225e-03 5.95725258e-06 9.99998690e-01 -1.81692452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.28, Y:-27.88, Z:-1.82 [[ 9.94717591e-01 1.02636844e-01 -1.61040707e-03 4.15275633e+02] [-1.02636719e-01 9.94718894e-01 1.60175553e-04 -2.78785235e+01] [ 1.61834226e-03 5.95745828e-06 9.99998690e-01 -1.81698414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.630281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.30, Y:-27.88, Z:-1.81 [[ 9.94739415e-01 1.02437678e-01 1.38982220e-04 4.15303320e+02] [-1.02437677e-01 9.94739424e-01 -1.39635459e-05 -2.78778355e+01] [-1.39681486e-04 -3.46926288e-07 9.99999990e-01 -1.81383681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.33, Y:-27.88, Z:-1.81 [[ 9.94781181e-01 1.02027367e-01 9.04329349e-04 4.15330834e+02] [-1.02027327e-01 9.94781592e-01 -9.00107149e-05 -2.78802627e+01] [-9.08793746e-04 -2.72534110e-06 9.99999587e-01 -1.81270699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.690281693 meters Centerline goodness [0,1] 0.9999788323949028 Centerline is valid? [True, True] Translation: X:415.36, Y:-27.88, Z:-1.81 [[ 9.94814837e-01 1.01694246e-01 1.31147996e-03 4.15359344e+02] [-1.01694162e-01 9.94815702e-01 -1.30399271e-04 -2.78831644e+01] [-1.31794171e-03 -3.64672624e-06 9.99999132e-01 -1.81202097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.39, Y:-27.89, Z:-1.81 [[ 9.94839190e-01 1.01451340e-01 1.61597559e-03 4.15387594e+02] [-1.01451213e-01 9.94840503e-01 -1.60584556e-04 -2.78852675e+01] [-1.62392949e-03 -4.18687435e-06 9.99998681e-01 -1.81125156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.750281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.42, Y:-27.89, Z:-1.81 [[ 9.94842625e-01 1.01387028e-01 2.97023393e-03 4.15415459e+02] [-1.01386600e-01 9.94847059e-01 -2.94894409e-04 -2.78859244e+01] [-2.98482696e-03 -7.76838969e-06 9.99995545e-01 -1.80906198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.44, Y:-27.89, Z:-1.81 [[ 9.94834284e-01 1.01483328e-01 2.42522447e-03 4.15444517e+02] [-1.01483043e-01 9.94837240e-01 -2.40673301e-04 -2.78881046e+01] [-2.43712794e-03 -6.68910700e-06 9.99997030e-01 -1.81038936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.810281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.47, Y:-27.89, Z:-1.81 [[ 9.94837836e-01 1.01473818e-01 8.62649107e-04 4.15472094e+02] [-1.01473782e-01 9.94838210e-01 -8.56425640e-05 -2.78902779e+01] [-8.66886772e-04 -2.33580399e-06 9.99999624e-01 -1.81366244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.50, Y:-27.89, Z:-1.82 [[ 9.94721174e-01 1.02565866e-01 -3.16694637e-03 4.15500967e+02] [-1.02565387e-01 9.94726215e-01 3.13746647e-04 -2.78899227e+01] [ 3.18242427e-03 1.27286469e-05 9.99994936e-01 -1.82103193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.870281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.53, Y:-27.89, Z:-1.82 [[ 9.94613718e-01 1.03578189e-01 -3.88728793e-03 4.15530014e+02] [-1.03577475e-01 9.94621314e-01 3.84939897e-04 -2.78910079e+01] [ 3.90625081e-03 1.97689677e-05 9.99992370e-01 -1.82169371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.56, Y:-27.89, Z:-1.82 [[ 9.94511042e-01 1.04577276e-01 -3.37349948e-03 4.15558027e+02] [-1.04576745e-01 9.94516764e-01 3.33824117e-04 -2.78915445e+01] [ 3.38991220e-03 2.07978240e-05 9.99994254e-01 -1.82110039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.930281693 meters Centerline goodness [0,1] 0.9999786379560797 Centerline is valid? [True, True] Translation: X:415.59, Y:-27.89, Z:-1.81 [[ 9.94357104e-01 1.06083410e-01 5.09971648e-04 4.15586144e+02] [-1.06083398e-01 9.94357235e-01 -5.05761275e-05 -2.78887358e+01] [-5.12459285e-04 -3.80879365e-06 9.99999869e-01 -1.81388044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96028169299996 meters Centerline goodness [0,1] 0.999957897395954 Centerline is valid? [True, True] Translation: X:415.61, Y:-27.89, Z:-1.81 [[ 9.94323182e-01 1.06385511e-01 1.87958306e-03 4.15614253e+02] [-1.06385349e-01 9.94324958e-01 -1.85964176e-04 -2.78885199e+01] [-1.88870024e-03 -1.50516095e-05 9.99998216e-01 -1.81106328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.990281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.64, Y:-27.89, Z:-1.81 [[ 9.94413236e-01 1.05531285e-01 2.33769571e-03 4.15642851e+02] [-1.05531034e-01 9.94415983e-01 -2.31137336e-04 -2.78892764e+01] [-2.34903420e-03 -1.68534188e-05 9.99997241e-01 -1.81071876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.67, Y:-27.89, Z:-1.81 [[ 9.94468711e-01 1.05017350e-01 1.82743541e-03 4.15671102e+02] [-1.05017195e-01 9.94470390e-01 -1.80626604e-04 -2.78926372e+01] [-1.83629933e-03 -1.22846345e-05 9.99998314e-01 -1.81246674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.050281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.70, Y:-27.90, Z:-1.81 [[ 9.94537280e-01 1.04376463e-01 1.07391686e-03 4.15698495e+02] [-1.04376409e-01 9.94537859e-01 -1.06149295e-04 -2.78963932e+01] [-1.07913046e-03 -6.52215448e-06 9.99999418e-01 -1.81449083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08028169299996 meters Centerline goodness [0,1] 0.9999786087105331 Centerline is valid? [True, True] Translation: X:415.73, Y:-27.90, Z:-1.82 [[ 9.94586488e-01 1.03909429e-01 7.40380721e-04 4.15727107e+02] [-1.03909403e-01 9.94586764e-01 -7.31622199e-05 -2.79002572e+01] [-7.43975109e-04 -4.16636329e-06 9.99999723e-01 -1.81560570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.11028169299993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.76, Y:-27.91, Z:-1.82 [[ 9.94725336e-01 1.02573613e-01 4.00539373e-04 4.15755038e+02] [-1.02573606e-01 9.94725416e-01 -3.96115706e-05 -2.79063597e+01] [-4.02489797e-04 -1.68213485e-06 9.99999919e-01 -1.81535584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14028169299996 meters Centerline goodness [0,1] 0.9999788377703475 Centerline is valid? [True, True] Translation: X:415.78, Y:-27.91, Z:-1.82 [[ 9.94766049e-01 1.02178730e-01 1.19375323e-04 4.15782483e+02] [-1.02178729e-01 9.94766056e-01 -1.18927511e-05 -2.79095618e+01] [-1.19965705e-04 -3.67113809e-07 9.99999993e-01 -1.81601620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.17028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.81, Y:-27.91, Z:-1.82 [[ 9.94811346e-01 1.01736832e-01 4.86204057e-05 4.15811350e+02] [-1.01736832e-01 9.94811347e-01 -4.88830837e-06 -2.79137532e+01] [-4.88654523e-05 -8.35413968e-08 9.99999999e-01 -1.81613945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.84, Y:-27.92, Z:-1.82 [[ 9.94836244e-01 1.01487565e-01 -1.05894080e-03 4.15839229e+02] [-1.01487512e-01 9.94836808e-01 1.04169693e-04 -2.79150827e+01] [ 1.06404521e-03 3.83748041e-06 9.99999434e-01 -1.81919321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.23028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.87, Y:-27.92, Z:-1.82 [[ 9.94802612e-01 1.01812822e-01 -1.38287765e-03 4.15868099e+02] [-1.01812731e-01 9.94803573e-01 1.36046968e-04 -2.79171332e+01] [ 1.38954296e-03 5.45467169e-06 9.99999035e-01 -1.82050325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.90, Y:-27.92, Z:-1.82 [[ 9.94726597e-01 1.02555568e-01 -1.16303075e-03 4.15896950e+02] [-1.02555505e-01 9.94727277e-01 1.14355522e-04 -2.79190161e+01] [ 1.16862620e-03 5.52272555e-06 9.99999317e-01 -1.82037144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29028169299994 meters Centerline goodness [0,1] 0.9999784185082873 Centerline is valid? [True, True] Translation: X:415.93, Y:-27.92, Z:-1.82 [[ 9.94680354e-01 1.03009581e-01 -1.39064961e-04 4.15925627e+02] [-1.03009580e-01 9.94680364e-01 1.35772552e-05 -2.79238967e+01] [ 1.39723773e-04 8.19994225e-07 9.99999990e-01 -1.81804234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.95, Y:-27.92, Z:-1.82 [[ 9.94566359e-01 1.04098981e-01 1.07663637e-03 4.15953332e+02] [-1.04098927e-01 9.94566942e-01 -1.05951299e-04 -2.79237913e+01] [-1.08181637e-03 -6.70109383e-06 9.99999415e-01 -1.81539839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35028169299994 meters Centerline goodness [0,1] 0.99997891229624 Centerline is valid? [True, True] Translation: X:415.98, Y:-27.92, Z:-1.81 [[ 9.94469383e-01 1.05016004e-01 1.51145459e-03 4.15981884e+02] [-1.05015900e-01 9.94470532e-01 -1.48594629e-04 -2.79240607e+01] [-1.51870186e-03 -1.09539547e-05 9.99998847e-01 -1.81422297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.380281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.01, Y:-27.92, Z:-1.81 [[ 9.94325153e-01 1.06369196e-01 1.75602061e-03 4.16010560e+02] [-1.06369057e-01 9.94326704e-01 -1.72539692e-04 -2.79228748e+01] [-1.76441109e-03 -1.52257017e-05 9.99998443e-01 -1.81395668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41028169299994 meters Centerline goodness [0,1] 0.9999789260726629 Centerline is valid? [True, True] Translation: X:416.04, Y:-27.92, Z:-1.82 [[ 9.93964909e-01 1.09695330e-01 8.33571780e-04 4.16038697e+02] [-1.09695300e-01 9.93965258e-01 -8.19230362e-05 -2.79166781e+01] [-8.37527964e-04 -1.00102833e-05 9.99999649e-01 -1.81517309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.440281693 meters Centerline goodness [0,1] 0.9999575587810882 Centerline is valid? [True, True] Translation: X:416.07, Y:-27.92, Z:-1.82 [[ 9.93853551e-01 1.10702836e-01 2.63833071e-05 4.16067629e+02] [-1.10702836e-01 9.93853552e-01 -2.68671936e-06 -2.79164920e+01] [-2.65185709e-05 -2.50501352e-07 1.00000000e+00 -1.81673478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47028169299995 meters Centerline goodness [0,1] 0.99993580003852 Centerline is valid? [True, True] Translation: X:416.10, Y:-27.92, Z:-1.82 [[ 9.93809642e-01 1.11095859e-01 -3.23580263e-04 4.16095971e+02] [-1.11095855e-01 9.93809695e-01 3.15838968e-05 -2.79159556e+01] [ 3.25086043e-04 4.56004482e-06 9.99999947e-01 -1.81732248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.500281693 meters Centerline goodness [0,1] 0.9999787039206082 Centerline is valid? [True, True] Translation: X:416.12, Y:-27.91, Z:-1.82 [[ 9.93917776e-01 1.10114638e-01 1.49006515e-03 4.16124875e+02] [-1.10114543e-01 9.93918893e-01 -1.46105771e-04 -2.79145998e+01] [-1.49709229e-03 -1.88607206e-05 9.99998879e-01 -1.81526704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53028169299995 meters Centerline goodness [0,1] 0.9999788413524607 Centerline is valid? [True, True] Translation: X:416.15, Y:-27.92, Z:-1.81 [[ 9.94086991e-01 1.08544947e-01 3.00827138e-03 4.16152553e+02] [-1.08544552e-01 9.94091542e-01 -2.94719657e-04 -2.79169700e+01] [-3.02248746e-03 -3.35544908e-05 9.99995432e-01 -1.81324646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.560281693 meters Centerline goodness [0,1] 0.9999787360721273 Centerline is valid? [True, True] Translation: X:416.18, Y:-27.92, Z:-1.81 [[ 9.94319524e-01 1.06374829e-01 3.61656659e-03 4.16181425e+02] [-1.06374244e-01 9.94326101e-01 -3.54091918e-04 -2.79213005e+01] [-3.63371302e-03 -3.26290304e-05 9.99993398e-01 -1.81208189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59028169299995 meters Centerline goodness [0,1] 0.9999789580001683 Centerline is valid? [True, True] Translation: X:416.21, Y:-27.93, Z:-1.82 [[ 9.94794903e-01 1.01890878e-01 1.16184333e-03 4.16208991e+02] [-1.01890815e-01 9.94795581e-01 -1.13776544e-04 -2.79279726e+01] [-1.16738940e-03 -5.19683699e-06 9.99999319e-01 -1.81666665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.620281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.24, Y:-27.93, Z:-1.82 [[ 9.95020216e-01 9.96728698e-02 -2.96671491e-04 4.16237405e+02] [-9.96728656e-02 9.95020261e-01 2.89069190e-05 -2.79335779e+01] [ 2.98075380e-04 8.07128887e-07 9.99999956e-01 -1.81949338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.65028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.26, Y:-27.94, Z:-1.82 [[ 9.95246989e-01 9.73784592e-02 -9.31393994e-04 4.16264926e+02] [-9.73784168e-02 9.95247424e-01 9.08640006e-05 -2.79384120e+01] [ 9.35815670e-04 2.65549542e-07 9.99999562e-01 -1.82149981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.680281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.29, Y:-27.95, Z:-1.82 [[ 9.95732265e-01 9.22822691e-02 1.11356013e-03 4.16292912e+02] [-9.22822051e-02 9.95732887e-01 -1.08852260e-04 -2.79483392e+01] [-1.11885357e-03 5.62592322e-06 9.99999374e-01 -1.81770434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71028169299996 meters Centerline goodness [0,1] 0.9998100664767331 Centerline is valid? [True, True] Translation: X:416.32, Y:-27.96, Z:-1.82 [[ 9.95964015e-01 8.97207283e-02 2.42328920e-03 4.16319714e+02] [-8.97204181e-02 9.95966963e-01 -2.36639368e-04 -2.79571609e+01] [-2.43474744e-03 1.82657748e-05 9.99997036e-01 -1.81529090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.740281693 meters Centerline goodness [0,1] 0.9997864343071929 Centerline is valid? [True, True] Translation: X:416.35, Y:-27.96, Z:-1.81 [[ 9.96163525e-01 8.74595006e-02 3.01109078e-03 4.16348420e+02] [-8.74590119e-02 9.96168076e-01 -2.93840113e-04 -2.79630303e+01] [-3.02525162e-03 2.93657781e-05 9.99995423e-01 -1.81446320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.77028169299996 meters Centerline goodness [0,1] 0.9996166705709479 Centerline is valid? [True, True] Translation: X:416.38, Y:-27.97, Z:-1.81 [[ 9.96300088e-01 8.59006046e-02 2.68709326e-03 4.16376519e+02] [-8.59002101e-02 9.96303711e-01 -2.62106932e-04 -2.79692833e+01] [-2.69967613e-03 3.03152842e-05 9.99996355e-01 -1.81482472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.800281693 meters Centerline goodness [0,1] 0.9997033961144891 Centerline is valid? [True, True] Translation: X:416.40, Y:-27.98, Z:-1.81 [[ 9.96408485e-01 8.46432473e-02 2.37737315e-03 4.16404916e+02] [-8.46429351e-02 9.96411321e-01 -2.31798836e-04 -2.79778132e+01] [-2.38846172e-03 2.97384862e-05 9.99997147e-01 -1.81463794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.83028169299996 meters Centerline goodness [0,1] 0.9997428699993571 Centerline is valid? [True, True] Translation: X:416.43, Y:-27.98, Z:-1.81 [[ 9.96438666e-01 8.42729364e-02 2.83834768e-03 4.16434502e+02] [-8.42724902e-02 9.96442708e-01 -2.76639297e-04 -2.79812727e+01] [-2.85156405e-03 3.64594651e-05 9.99995934e-01 -1.81392955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86028169299993 meters Centerline goodness [0,1] 0.9995905790074773 Centerline is valid? [True, True] Translation: X:416.46, Y:-27.99, Z:-1.81 [[ 9.96486263e-01 8.36762411e-02 3.66244782e-03 4.16464216e+02] [-8.36754946e-02 9.96492993e-01 -3.56858658e-04 -2.79870741e+01] [-3.67946418e-03 4.91476175e-05 9.99993230e-01 -1.81263100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.89028169299996 meters Centerline goodness [0,1] 0.999640021175225 Centerline is valid? [True, True] Translation: X:416.49, Y:-28.00, Z:-1.81 [[ 9.96598109e-01 8.23639365e-02 2.89678794e-03 4.16492541e+02] [-8.23634641e-02 9.96602318e-01 -2.82206218e-04 -2.79974593e+01] [-2.91018919e-03 4.26566942e-05 9.99995764e-01 -1.81388186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92028169299994 meters Centerline goodness [0,1] 0.9995725308312138 Centerline is valid? [True, True] Translation: X:416.52, Y:-28.00, Z:-1.82 [[ 9.96608678e-01 8.22683691e-02 1.74869216e-03 4.16521955e+02] [-8.22681968e-02 9.96610212e-01 -1.70351498e-04 -2.80018045e+01] [-1.75677901e-03 2.59120297e-05 9.99998457e-01 -1.81569452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.95028169299997 meters Centerline goodness [0,1] 0.9998059466568922 Centerline is valid? [True, True] Translation: X:416.55, Y:-28.00, Z:-1.82 [[ 9.96582302e-01 8.26034945e-02 6.15209522e-04 4.16551584e+02] [-8.26034732e-02 9.96582492e-01 -5.99501437e-05 -2.80048319e+01] [-6.18059129e-04 8.92680896e-06 9.99999809e-01 -1.81704076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98028169299994 meters Centerline goodness [0,1] 0.9996566670958328 Centerline is valid? [True, True] Translation: X:416.58, Y:-28.01, Z:-1.82 [[ 9.96498851e-01 8.36045665e-02 -5.61968504e-04 4.16579552e+02] [-8.36045490e-02 9.96499010e-01 5.46193083e-05 -2.80095518e+01] [ 5.64567481e-04 -7.44495469e-06 9.99999841e-01 -1.81860291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.01028169299997 meters Centerline goodness [0,1] 0.9995982746955345 Centerline is valid? [True, True] Translation: X:416.61, Y:-28.01, Z:-1.82 [[ 9.96426795e-01 8.44593935e-02 5.02175496e-04 4.16609189e+02] [-8.44593795e-02 9.96426922e-01 -4.89129922e-05 -2.80128208e+01] [-5.04512345e-04 6.32478529e-06 9.99999873e-01 -1.81722813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04028169299994 meters Centerline goodness [0,1] 0.999828374058739 Centerline is valid? [True, True] Translation: X:416.64, Y:-28.02, Z:-1.82 [[ 9.96373565e-01 8.50749043e-02 1.40684349e-03 4.16638480e+02] [-8.50747958e-02 9.96374558e-01 -1.36908713e-04 -2.80151623e+01] [-1.41339055e-03 1.67252997e-05 9.99999001e-01 -1.81550155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.07028169299997 meters Centerline goodness [0,1] 0.9998298885770179 Centerline is valid? [True, True] Translation: X:416.67, Y:-28.02, Z:-1.81 [[ 9.96243559e-01 8.65523841e-02 2.73042484e-03 4.16667190e+02] [-8.65519812e-02 9.96247301e-01 -2.65592243e-04 -2.80187714e+01] [-2.74316601e-03 2.82708827e-05 9.99996237e-01 -1.81325249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10028169299994 meters Centerline goodness [0,1] 0.9997860276024393 Centerline is valid? [True, True] Translation: X:416.70, Y:-28.02, Z:-1.81 [[ 9.96180622e-01 8.72813106e-02 2.47833295e-03 4.16696394e+02] [-8.72809812e-02 9.96183704e-01 -2.40992651e-04 -2.80209999e+01] [-2.48990905e-03 2.37608768e-05 9.99996900e-01 -1.81401888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.130281693 meters Centerline goodness [0,1] 0.9997039042341694 Centerline is valid? [True, True] Translation: X:416.73, Y:-28.03, Z:-1.82 [[ 9.96187585e-01 8.72210068e-02 1.67090850e-03 4.16725024e+02] [-8.72208570e-02 9.96188986e-01 -1.62456674e-04 -2.80269189e+01] [-1.67871028e-03 1.60992507e-05 9.99998591e-01 -1.81635056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16028169299994 meters Centerline goodness [0,1] 0.999703452658335 Centerline is valid? [True, True] Translation: X:416.75, Y:-28.03, Z:-1.82 [[ 9.96231037e-01 8.67180751e-02 1.92246121e-03 4.16754096e+02] [-8.67178759e-02 9.96232892e-01 -1.86855183e-04 -2.80322207e+01] [-1.93142281e-03 1.94391796e-05 9.99998135e-01 -1.81663944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.190281693 meters Centerline goodness [0,1] 0.9997424616375148 Centerline is valid? [True, True] Translation: X:416.78, Y:-28.04, Z:-1.82 [[ 9.96287840e-01 8.60553704e-02 2.23915410e-03 4.16783450e+02] [-8.60550987e-02 9.96290356e-01 -2.17576035e-04 -2.80382319e+01] [-2.24957122e-03 2.40777310e-05 9.99997469e-01 -1.81602668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22028169299995 meters Centerline goodness [0,1] 0.9997250655612893 Centerline is valid? [True, True] Translation: X:416.81, Y:-28.04, Z:-1.82 [[ 9.96314123e-01 8.57520814e-02 2.17901314e-03 4.16812583e+02] [-8.57518235e-02 9.96316506e-01 -2.11683616e-04 -2.80449089e+01] [-2.18913907e-03 2.40490259e-05 9.99997604e-01 -1.81600437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.250281693 meters Centerline goodness [0,1] 0.9996579808041727 Centerline is valid? [True, True] Translation: X:416.84, Y:-28.05, Z:-1.82 [[ 9.96423353e-01 8.44887495e-02 1.46723346e-03 4.16841872e+02] [-8.44886312e-02 9.96424433e-01 -1.42515782e-04 -2.80532882e+01] [-1.47402825e-03 1.80415071e-05 9.99998913e-01 -1.81756062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28028169299995 meters Centerline goodness [0,1] 0.9996589722275507 Centerline is valid? [True, True] Translation: X:416.87, Y:-28.06, Z:-1.82 [[ 9.96484228e-01 8.37789475e-02 5.21311651e-04 4.16870892e+02] [-8.37789324e-02 9.96484364e-01 -5.06600747e-05 -2.80609121e+01] [-5.23723157e-04 6.80703183e-06 9.99999863e-01 -1.81929859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.310281693 meters Centerline goodness [0,1] 0.9996154010512371 Centerline is valid? [True, True] Translation: X:416.90, Y:-28.07, Z:-1.82 [[ 9.96523201e-01 8.33155643e-02 -1.63964532e-04 4.16900685e+02] [-8.33155628e-02 9.96523214e-01 1.59260093e-05 -2.80662264e+01] [ 1.64721347e-04 -2.20984051e-06 9.99999986e-01 -1.82062983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34028169299995 meters Centerline goodness [0,1] 0.99972298578704 Centerline is valid? [True, True] Translation: X:416.93, Y:-28.07, Z:-1.82 [[ 9.96500366e-01 8.35788008e-02 -1.26662347e-03 4.16930456e+02] [-8.35787119e-02 9.96501171e-01 1.23028175e-04 -2.80724827e+01] [ 1.27247432e-03 -1.67348637e-05 9.99999190e-01 -1.82166563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.370281693 meters Centerline goodness [0,1] 0.999829841539934 Centerline is valid? [True, True] Translation: X:416.96, Y:-28.08, Z:-1.82 [[ 9.96334480e-01 8.55129460e-02 -2.26720787e-03 4.16960631e+02] [-8.55126663e-02 9.96337059e-01 2.20215757e-04 -2.80776028e+01] [ 2.27773452e-03 -2.55335625e-05 9.99997406e-01 -1.82386331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40028169299995 meters Centerline goodness [0,1] 0.9997874149659864 Centerline is valid? [True, True] Translation: X:416.99, Y:-28.08, Z:-1.82 [[ 9.96163687e-01 8.74888001e-02 -1.90201320e-03 4.16990351e+02] [-8.74886067e-02 9.96165503e-01 1.84815096e-04 -2.80802921e+01] [ 1.91088918e-03 -1.77016035e-05 9.99998174e-01 -1.82443893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.430281693 meters Centerline goodness [0,1] 0.9998718113062428 Centerline is valid? [True, True] Translation: X:417.02, Y:-28.08, Z:-1.82 [[ 9.95964607e-01 8.97417588e-02 -9.58451530e-04 4.17020580e+02] [-8.97417108e-02 9.95965068e-01 9.30774283e-05 -2.80808820e+01] [ 9.62937176e-04 -6.68874427e-06 9.99999536e-01 -1.82317289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46028169299996 meters Centerline goodness [0,1] 0.9999573860609805 Centerline is valid? [True, True] Translation: X:417.05, Y:-28.08, Z:-1.82 [[ 9.95567865e-01 9.40458683e-02 -1.20541582e-05 4.17050934e+02] [-9.40458683e-02 9.95567865e-01 1.12249640e-06 -2.80795782e+01] [ 1.21062987e-05 1.61224400e-08 1.00000000e+00 -1.82056383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.490281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.08, Y:-28.08, Z:-1.82 [[ 9.95362832e-01 9.61903742e-02 -4.93948277e-04 4.17080586e+02] [-9.61903623e-02 9.95362955e-01 4.79066424e-05 -2.80797908e+01] [ 4.96265974e-04 -1.71427567e-07 9.99999877e-01 -1.82043222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.11, Y:-28.08, Z:-1.82 [[ 9.95365150e-01 9.61663844e-02 -4.93949450e-04 4.17109619e+02] [-9.61663725e-02 9.95365273e-01 4.78945557e-05 -2.80825641e+01] [ 4.96265975e-04 -1.71244857e-07 9.99999877e-01 -1.82049360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.550281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.14, Y:-28.08, Z:-1.82 [[ 9.95168087e-01 9.81782788e-02 -1.22622914e-03 4.17139215e+02] [-9.81782067e-02 9.95168843e-01 1.18943724e-04 -2.80827786e+01] [ 1.23198273e-03 2.01998020e-06 9.99999241e-01 -1.82195332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.17, Y:-28.08, Z:-1.82 [[ 9.94981672e-01 1.00042378e-01 -1.73049193e-03 4.17167901e+02] [-1.00042237e-01 9.94983177e-01 1.67789761e-04 -2.80826498e+01] [ 1.73859645e-03 6.17454778e-06 9.99998489e-01 -1.82397882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.61028169299993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.20, Y:-28.08, Z:-1.82 [[ 9.94975552e-01 1.00105288e-01 -1.60704729e-03 4.17196390e+02] [-1.00105167e-01 9.94976850e-01 1.55759522e-04 -2.80846617e+01] [ 1.61456720e-03 5.89681976e-06 9.99998697e-01 -1.82386386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.23, Y:-28.08, Z:-1.82 [[ 9.95055576e-01 9.92967231e-02 -2.13594656e-03 4.17225260e+02] [-9.92965077e-02 9.95057868e-01 2.06919882e-04 -2.80845317e+01] [ 2.14593690e-03 6.19525223e-06 9.99997697e-01 -1.82349865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.25, Y:-28.08, Z:-1.82 [[ 9.95085665e-01 9.89959386e-02 -2.07933680e-03 4.17253659e+02] [-9.89957341e-02 9.95087837e-01 2.01285631e-04 -2.80845868e+01] [ 2.08904922e-03 5.54902700e-06 9.99997818e-01 -1.82419666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70028169299997 meters Centerline goodness [0,1] 0.9999786703069343 Centerline is valid? [True, True] Translation: X:417.28, Y:-28.09, Z:-1.82 [[ 9.95116030e-01 9.87031563e-02 -1.33201436e-03 4.17283020e+02] [-9.87030722e-02 9.95116921e-01 1.28860200e-04 -2.80854383e+01] [ 1.33822893e-03 3.24305793e-06 9.99999105e-01 -1.82307064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.73028169299994 meters Centerline goodness [0,1] 0.9999359220812508 Centerline is valid? [True, True] Translation: X:417.31, Y:-28.08, Z:-1.82 [[ 9.95163151e-01 9.82322316e-02 8.54931718e-04 4.17311896e+02] [-9.82321967e-02 9.95163519e-01 -8.28290253e-05 -2.80837751e+01] [-8.58933336e-04 -1.55342679e-06 9.99999631e-01 -1.81924770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76028169299997 meters Centerline goodness [0,1] 0.9999786966617669 Centerline is valid? [True, True] Translation: X:417.34, Y:-28.08, Z:-1.82 [[ 9.95230357e-01 9.75387721e-02 1.65030577e-03 4.17340992e+02] [-9.75386413e-02 9.95231726e-01 -1.59712350e-04 -2.80847390e+01] [-1.65801481e-03 -2.01800372e-06 9.99998625e-01 -1.81756624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.79028169299994 meters Centerline goodness [0,1] 0.9999364958404775 Centerline is valid? [True, True] Translation: X:417.37, Y:-28.09, Z:-1.82 [[ 9.95310494e-01 9.67223760e-02 1.34238659e-03 4.17369249e+02] [-9.67222888e-02 9.95311400e-01 -1.29869832e-04 -2.80861597e+01] [-1.34865399e-03 -5.77897171e-07 9.99999091e-01 -1.81785233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.40, Y:-28.09, Z:-1.82 [[ 9.95409846e-01 9.57032582e-02 3.54748515e-04 4.17399288e+02] [-9.57032520e-02 9.95409909e-01 -3.43490258e-05 -2.80887357e+01] [-3.56407501e-04 2.40771929e-07 9.99999936e-01 -1.82014025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.85028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.43, Y:-28.09, Z:-1.82 [[ 9.95622610e-01 9.34369406e-02 -2.27089053e-03 4.17427636e+02] [-9.34366832e-02 9.95625200e-01 2.19407357e-04 -2.80919997e+01] [ 2.28145658e-03 -6.26244664e-06 9.99997397e-01 -1.82464148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.880281693 meters Centerline goodness [0,1] 0.9999572357167293 Centerline is valid? [True, True] Translation: X:417.46, Y:-28.09, Z:-1.83 [[ 9.95698607e-01 9.26215001e-02 -2.35426195e-03 4.17455881e+02] [-9.26212216e-02 9.95701390e-01 2.27279674e-04 -2.80940015e+01] [ 2.36519288e-03 -8.24743742e-06 9.99997203e-01 -1.82514055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.48, Y:-28.09, Z:-1.82 [[ 9.95691006e-01 9.27202899e-02 -1.53912220e-03 4.17483300e+02] [-9.27201712e-02 9.95692195e-01 1.48456501e-04 -2.80945798e+01] [ 1.54625690e-03 -5.10912881e-06 9.99998805e-01 -1.82261443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.940281693 meters Centerline goodness [0,1] 0.999978770831122 Centerline is valid? [True, True] Translation: X:417.51, Y:-28.09, Z:-1.82 [[ 9.95565220e-01 9.40677422e-02 1.07343173e-03 4.17512147e+02] [-9.40676851e-02 9.95565799e-01 -1.03669233e-04 -2.80924185e+01] [-1.07842385e-03 2.23424522e-06 9.99999418e-01 -1.81821967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.97028169299995 meters Centerline goodness [0,1] 0.9999788677331417 Centerline is valid? [True, True] Translation: X:417.54, Y:-28.09, Z:-1.82 [[ 9.95518744e-01 9.45573749e-02 1.15450802e-03 4.17540187e+02] [-9.45573093e-02 9.95519414e-01 -1.11449839e-04 -2.80929454e+01] [-1.15987355e-03 1.78323159e-06 9.99999327e-01 -1.81881287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.000281693 meters Centerline goodness [0,1] 0.9999787011991225 Centerline is valid? [True, True] Translation: X:417.57, Y:-28.09, Z:-1.82 [[ 9.95532847e-01 9.44139416e-02 5.98924606e-04 4.17569442e+02] [-9.44139239e-02 9.95533027e-01 -5.78262223e-05 -2.80944947e+01] [-6.01708828e-04 1.02108152e-06 9.99999819e-01 -1.82071324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.03028169299995 meters Centerline goodness [0,1] 0.9999786224293471 Centerline is valid? [True, True] Translation: X:417.60, Y:-28.10, Z:-1.82 [[ 9.95661827e-01 9.30371161e-02 -1.27300675e-03 4.17597539e+02] [-9.30370354e-02 9.95662641e-01 1.22605292e-04 -2.80987583e+01] [ 1.27889211e-03 -3.63663504e-06 9.99999182e-01 -1.82384977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.060281693 meters Centerline goodness [0,1] 0.9999357064786438 Centerline is valid? [True, True] Translation: X:417.63, Y:-28.10, Z:-1.82 [[ 9.95789117e-01 9.16534222e-02 -1.91979655e-03 4.17626267e+02] [-9.16532362e-02 9.95790967e-01 1.84795119e-04 -2.81039688e+01] [ 1.92865317e-03 -8.06140200e-06 9.99998140e-01 -1.82435807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.09028169299995 meters Centerline goodness [0,1] 0.9999788220843304 Centerline is valid? [True, True] Translation: X:417.65, Y:-28.11, Z:-1.82 [[ 9.95919339e-01 9.02347798e-02 -1.53483182e-03 4.17654877e+02] [-9.02346594e-02 9.95920521e-01 1.47647834e-04 -2.81086878e+01] [ 1.54189347e-03 -8.55030705e-06 9.99998811e-01 -1.82393270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.120281693 meters Centerline goodness [0,1] 0.9999137708027939 Centerline is valid? [True, True] Translation: X:417.68, Y:-28.11, Z:-1.82 [[ 9.96125626e-01 8.79364727e-02 -9.56063041e-04 4.17683541e+02] [-8.79364250e-02 9.96126085e-01 9.19258951e-05 -2.81124674e+01] [ 9.60442973e-04 -7.49697393e-06 9.99999539e-01 -1.82217934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.15028169299995 meters Centerline goodness [0,1] 0.9997468621453434 Centerline is valid? [True, True] Translation: X:417.71, Y:-28.12, Z:-1.82 [[ 9.96175679e-01 8.73661377e-02 -1.08387731e-03 4.17711187e+02] [-8.73660762e-02 9.96176268e-01 1.04087404e-04 -2.81159432e+01] [ 1.08882656e-03 -8.99523292e-06 9.99999407e-01 -1.82251282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.180281693 meters Centerline goodness [0,1] 0.9998734977862113 Centerline is valid? [True, True] Translation: X:417.74, Y:-28.12, Z:-1.82 [[ 9.96189897e-01 8.72063130e-02 -8.65466799e-04 4.17739942e+02] [-8.72062737e-02 9.96190272e-01 8.30948891e-05 -2.81176872e+01] [ 8.69416005e-04 -7.30415447e-06 9.99999622e-01 -1.82264698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.21028169299996 meters Centerline goodness [0,1] 0.9998528453404528 Centerline is valid? [True, True] Translation: X:417.77, Y:-28.12, Z:-1.82 [[ 9.96250996e-01 8.65069511e-02 -7.07689069e-04 4.17768345e+02] [-8.65069246e-02 9.96251247e-01 6.79302011e-05 -2.81206840e+01] [ 7.10912552e-04 -6.45552553e-06 9.99999747e-01 -1.82283125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.240281693 meters Centerline goodness [0,1] 0.9998515817148673 Centerline is valid? [True, True] Translation: X:417.80, Y:-28.12, Z:-1.82 [[ 9.96326597e-01 8.56324872e-02 -6.24366449e-04 4.17797270e+02] [-8.56324665e-02 9.96326792e-01 5.98735542e-05 -2.81236058e+01] [ 6.27200142e-04 -6.18757553e-06 9.99999803e-01 -1.82279476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.27028169299996 meters Centerline goodness [0,1] 0.9998720682302772 Centerline is valid? [True, True] Translation: X:417.83, Y:-28.13, Z:-1.82 [[ 9.96441053e-01 8.42902026e-02 -6.23728832e-04 4.17826330e+02] [-8.42901817e-02 9.96441248e-01 5.97802790e-05 -2.81265570e+01] [ 6.26548028e-04 -6.99330766e-06 9.99999804e-01 -1.82299012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.300281693 meters Centerline goodness [0,1] 0.999662376028698 Centerline is valid? [True, True] Translation: X:417.85, Y:-28.14, Z:-1.82 [[ 9.96790778e-01 8.00420524e-02 -1.18963019e-03 4.17854377e+02] [-8.00419732e-02 9.96791487e-01 1.14125085e-04 -2.81364941e+01] [ 1.19494805e-03 -1.85384843e-05 9.99999286e-01 -1.82478728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.33028169299996 meters Centerline goodness [0,1] 0.999699776977183 Centerline is valid? [True, True] Translation: X:417.88, Y:-28.14, Z:-1.82 [[ 9.96981671e-01 7.76243471e-02 -1.41698574e-03 4.17883507e+02] [-7.76242323e-02 9.96982678e-01 1.35910282e-04 -2.81403891e+01] [ 1.42326018e-03 -2.55076306e-05 9.99998987e-01 -1.82472159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36028169299993 meters Centerline goodness [0,1] 0.999618829807509 Centerline is valid? [True, True] Translation: X:417.91, Y:-28.15, Z:-1.83 [[ 9.97116205e-01 7.58743690e-02 -1.53442605e-03 4.17912558e+02] [-7.58742323e-02 9.97117385e-01 1.47185551e-04 -2.81473006e+01] [ 1.54117050e-03 -3.03376991e-05 9.99998812e-01 -1.82569877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.39028169299996 meters Centerline goodness [0,1] 0.9993365010059501 Centerline is valid? [True, True] Translation: X:417.94, Y:-28.15, Z:-1.83 [[ 9.97333190e-01 7.29579769e-02 -1.90850250e-03 4.17942173e+02] [-7.29577601e-02 9.97335015e-01 1.83052999e-04 -2.81544187e+01] [ 1.91677155e-03 -4.33247641e-05 9.99998162e-01 -1.82610643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42028169299994 meters Centerline goodness [0,1] 0.9992963452599258 Centerline is valid? [True, True] Translation: X:417.97, Y:-28.16, Z:-1.83 [[ 9.97464392e-01 7.11587252e-02 -1.10569068e-03 4.17972108e+02] [-7.11586513e-02 9.97465004e-01 1.06065401e-04 -2.81598109e+01] [ 1.11043524e-03 -2.71170029e-05 9.99999383e-01 -1.82519006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.45028169299997 meters Centerline goodness [0,1] 0.9988088654443358 Centerline is valid? [True, True] Translation: X:418.00, Y:-28.17, Z:-1.82 [[ 9.97623011e-01 6.89075942e-02 -2.66742116e-04 4.18001292e+02] [-6.89075898e-02 9.97623047e-01 2.56149062e-05 -2.81713168e+01] [ 2.67873144e-04 -7.17346351e-06 9.99999964e-01 -1.82444056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48028169299994 meters Centerline goodness [0,1] 0.9972989512334086 Centerline is valid? [True, True] Translation: X:418.03, Y:-28.19, Z:-1.82 [[ 9.98002213e-01 6.31765197e-02 5.56107874e-04 4.18030036e+02] [-6.31764998e-02 9.98002368e-01 -5.33465504e-05 -2.81888841e+01] [-5.58367224e-04 1.81070264e-05 9.99999844e-01 -1.82308694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51028169299997 meters Centerline goodness [0,1] 0.9957187586530064 Centerline is valid? [True, True] Translation: X:418.06, Y:-28.20, Z:-1.82 [[ 9.98173044e-01 6.04198151e-02 1.42504259e-04 4.18060274e+02] [-6.04198138e-02 9.98173054e-01 -1.36290504e-05 -2.82002962e+01] [-1.43067376e-04 4.99406997e-06 9.99999990e-01 -1.82360113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54028169299994 meters Centerline goodness [0,1] 0.9956651718983558 Centerline is valid? [True, True] Translation: X:418.09, Y:-28.21, Z:-1.83 [[ 9.98297511e-01 5.83156609e-02 -1.16787240e-03 4.18090722e+02] [-5.83155695e-02 9.98298193e-01 1.12146617e-04 -2.82098039e+01] [ 1.17242481e-03 -4.38505449e-05 9.99999312e-01 -1.82562018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.57028169299997 meters Centerline goodness [0,1] 0.9947375149139254 Centerline is valid? [True, True] Translation: X:418.12, Y:-28.23, Z:-1.83 [[ 9.98427940e-01 5.59022949e-02 -4.07215200e-03 4.18118465e+02] [-5.59011637e-02 9.98436231e-01 3.91165655e-04 -2.82304294e+01] [ 4.08765115e-03 -1.62912684e-04 9.99991632e-01 -1.83110235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60028169299994 meters Centerline goodness [0,1] 0.9955675836938224 Centerline is valid? [True, True] Translation: X:418.15, Y:-28.24, Z:-1.83 [[ 9.98409163e-01 5.62002261e-02 -4.54731819e-03 4.18149817e+02] [-5.61988184e-02 9.98419502e-01 4.36845995e-04 -2.82355395e+01] [ 4.56468201e-03 -1.80597135e-04 9.99989565e-01 -1.83137515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.630281693 meters Centerline goodness [0,1] 0.9955998447004012 Centerline is valid? [True, True] Translation: X:418.18, Y:-28.24, Z:-1.83 [[ 9.98356098e-01 5.71359037e-02 -4.53756064e-03 4.18180462e+02] [-5.71345112e-02 9.98366394e-01 4.36009606e-04 -2.82418636e+01] [ 4.55505985e-03 -1.76041540e-04 9.99989610e-01 -1.83054977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66028169299994 meters Centerline goodness [0,1] 0.9961875388207072 Centerline is valid? [True, True] Translation: X:418.21, Y:-28.25, Z:-1.83 [[ 9.98118759e-01 6.12689004e-02 -2.25034516e-03 4.18209166e+02] [-6.12685684e-02 9.98121293e-01 2.16222378e-04 -2.82505415e+01] [ 2.25936513e-03 -7.79401847e-05 9.99997445e-01 -1.82550770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.690281693 meters Centerline goodness [0,1] 0.9972732461053923 Centerline is valid? [True, True] Translation: X:418.24, Y:-28.25, Z:-1.82 [[ 9.97924917e-01 6.43824905e-02 -8.68665954e-04 4.18238927e+02] [-6.43824422e-02 9.97925295e-01 8.34627258e-05 -2.82545287e+01] [ 8.72237266e-04 -2.73626982e-05 9.99999619e-01 -1.82268178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72028169299995 meters Centerline goodness [0,1] 0.9987235400489309 Centerline is valid? [True, True] Translation: X:418.27, Y:-28.25, Z:-1.82 [[ 9.97692162e-01 6.78992648e-02 -1.97118922e-04 4.18269995e+02] [-6.78992624e-02 9.97692182e-01 1.89660637e-05 -2.82521896e+01] [ 1.97951789e-04 -5.53806367e-06 9.99999980e-01 -1.82081665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.750281693 meters Centerline goodness [0,1] 0.9994479478523048 Centerline is valid? [True, True] Translation: X:418.30, Y:-28.25, Z:-1.82 [[ 9.97437910e-01 7.15375130e-02 -5.82244770e-06 4.18301657e+02] [-7.15375130e-02 9.97437910e-01 6.32565665e-07 -2.82532824e+01] [ 5.85278225e-06 -2.14421545e-07 1.00000000e+00 -1.82121231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78028169299995 meters Centerline goodness [0,1] 0.9998299066612804 Centerline is valid? [True, True] Translation: X:418.33, Y:-28.25, Z:-1.82 [[ 9.96776833e-01 8.02161201e-02 -1.14873183e-03 4.18332589e+02] [-8.02160461e-02 9.96777495e-01 1.10442885e-04 -2.82470041e+01] [ 1.15388934e-03 -1.79401839e-05 9.99999334e-01 -1.82326528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.810281693 meters Centerline goodness [0,1] 0.999957610054895 Centerline is valid? [True, True] Translation: X:418.36, Y:-28.25, Z:-1.82 [[ 9.96401638e-01 8.47495304e-02 -1.13683398e-03 4.18362768e+02] [-8.47494606e-02 9.96402287e-01 1.09509982e-04 -2.82466380e+01] [ 1.14202490e-03 -1.27698590e-05 9.99999348e-01 -1.82368912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84028169299995 meters Centerline goodness [0,1] 0.9999785812200137 Centerline is valid? [True, True] Translation: X:418.39, Y:-28.24, Z:-1.82 [[ 9.95677352e-01 9.28785384e-02 4.32417975e-04 4.18394106e+02] [-9.28785291e-02 9.95677446e-01 -4.15995320e-05 -2.82358118e+01] [-4.34412528e-04 1.25736642e-06 9.99999906e-01 -1.81920144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.870281693 meters Centerline goodness [0,1] 0.9998290050229774 Centerline is valid? [True, True] Translation: X:418.42, Y:-28.23, Z:-1.81 [[ 9.95247320e-01 9.73724232e-02 1.17605822e-03 4.18424559e+02] [-9.73723575e-02 9.95248015e-01 -1.13159344e-04 -2.82286984e+01] [-1.18148821e-03 -1.89402840e-06 9.99999302e-01 -1.81109022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90028169299995 meters Centerline goodness [0,1] 0.9999789911552763 Centerline is valid? [True, True] Translation: X:418.45, Y:-28.22, Z:-1.82 [[ 9.94854158e-01 1.01301606e-01 1.78587551e-03 4.18454097e+02] [-1.01301460e-01 9.94855761e-01 -1.71776164e-04 -2.82218692e+01] [-1.79408974e-03 -1.00195671e-05 9.99998391e-01 -1.81632308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.930281693 meters Centerline goodness [0,1] 0.999914855573767 Centerline is valid? [True, True] Translation: X:418.49, Y:-28.21, Z:-1.82 [[ 9.94163741e-01 1.07881394e-01 -2.48916404e-04 4.18485179e+02] [-1.07881391e-01 9.94163772e-01 2.38822882e-05 -2.82091814e+01] [ 2.50040126e-04 3.11054296e-06 9.99999969e-01 -1.82118815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96028169299996 meters Centerline goodness [0,1] 0.9998520115853787 Centerline is valid? [True, True] Translation: X:418.51, Y:-28.20, Z:-1.82 [[ 9.93844764e-01 1.10778773e-01 -8.05386424e-04 4.18514926e+02] [-1.10778747e-01 9.93845090e-01 7.73258814e-05 -2.82042157e+01] [ 8.08995409e-04 1.23697762e-05 9.99999673e-01 -1.82313773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.990281693 meters Centerline goodness [0,1] 0.9997674910166984 Centerline is valid? [True, True] Translation: X:418.54, Y:-28.20, Z:-1.82 [[ 9.93556614e-01 1.13328385e-01 -1.39007286e-03 4.18544677e+02] [-1.13328309e-01 9.93557586e-01 1.33430323e-04 -2.81986652e+01] [ 1.39623888e-03 2.49640278e-05 9.99999025e-01 -1.82395126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02028169299996 meters Centerline goodness [0,1] 0.9993468871800274 Centerline is valid? [True, True] Translation: X:418.58, Y:-28.18, Z:-1.83 [[ 9.92938710e-01 1.18604757e-01 -2.37259365e-03 4.18575297e+02] [-1.18604551e-01 9.92941543e-01 2.27797361e-04 -2.81846388e+01] [ 2.38286465e-03 5.52115868e-05 9.99997159e-01 -1.82503128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.050281693 meters Centerline goodness [0,1] 0.9988840695666821 Centerline is valid? [True, True] Translation: X:418.60, Y:-28.18, Z:-1.83 [[ 9.92651989e-01 1.20966145e-01 -3.03641761e-03 4.18604423e+02] [-1.20965819e-01 9.92656630e-01 2.91373195e-04 -2.81780175e+01] [ 3.04936637e-03 7.80705610e-05 9.99995348e-01 -1.82647198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08028169299996 meters Centerline goodness [0,1] 0.9983524143466689 Centerline is valid? [True, True] Translation: X:418.63, Y:-28.17, Z:-1.83 [[ 9.92395707e-01 1.23048118e-01 -3.14966434e-03 4.18634289e+02] [-1.23047778e-01 9.92400702e-01 3.02166272e-04 -2.81730829e+01] [ 3.16291009e-03 8.76906880e-05 9.99994994e-01 -1.82629126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11028169299993 meters Centerline goodness [0,1] 0.997318407219018 Centerline is valid? [True, True] Translation: X:418.66, Y:-28.17, Z:-1.82 [[ 9.92222939e-01 1.24448392e-01 -2.49731108e-03 4.18663315e+02] [-1.24448184e-01 9.92226079e-01 2.39393981e-04 -2.81669170e+01] [ 2.50768938e-03 7.32536287e-05 9.99996853e-01 -1.82483333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14028169299996 meters Centerline goodness [0,1] 0.9985918197529283 Centerline is valid? [True, True] Translation: X:418.69, Y:-28.17, Z:-1.82 [[ 9.92058924e-01 1.25772973e-01 -5.00622354e-04 4.18691535e+02] [-1.25772965e-01 9.92059050e-01 4.78579798e-05 -2.81693337e+01] [ 5.02666178e-04 1.54868219e-05 9.99999874e-01 -1.82065148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17028169299994 meters Centerline goodness [0,1] 0.9982676300333798 Centerline is valid? [True, True] Translation: X:418.72, Y:-28.17, Z:-1.82 [[ 9.92097325e-01 1.25467191e-01 -9.38706615e-04 4.18719977e+02] [-1.25467163e-01 9.92097769e-01 8.97922999e-05 -2.81678170e+01] [ 9.42554726e-04 2.86941549e-05 9.99999555e-01 -1.82144169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20028169299997 meters Centerline goodness [0,1] 0.9988057155043719 Centerline is valid? [True, True] Translation: X:418.75, Y:-28.17, Z:-1.82 [[ 9.92259259e-01 1.24174270e-01 -1.52130139e-03 4.18748191e+02] [-1.24174193e-01 9.92260424e-01 1.45509188e-04 -2.81678959e+01] [ 1.52759566e-03 4.45235322e-05 9.99998832e-01 -1.82238178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23028169299994 meters Centerline goodness [0,1] 0.9993782827741451 Centerline is valid? [True, True] Translation: X:418.78, Y:-28.17, Z:-1.82 [[ 9.92738832e-01 1.20263565e-01 -2.50725246e-03 4.18778232e+02] [-1.20263343e-01 9.92741996e-01 2.39960640e-04 -2.81687668e+01] [ 2.51791333e-03 6.33123165e-05 9.99996828e-01 -1.82357305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26028169299997 meters Centerline goodness [0,1] 0.9991992245121591 Centerline is valid? [True, True] Translation: X:418.81, Y:-28.16, Z:-1.83 [[ 9.93060692e-01 1.17584382e-01 -2.09170724e-03 4.18807049e+02] [-1.17584221e-01 9.93062894e-01 1.99965629e-04 -2.81619110e+01] [ 2.10070968e-03 4.73737600e-05 9.99997792e-01 -1.82525201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29028169299994 meters Centerline goodness [0,1] 0.9999358288770054 Centerline is valid? [True, True] Translation: X:418.84, Y:-28.18, Z:-1.82 [[ 9.93787488e-01 1.11290767e-01 -8.91120191e-04 4.18835562e+02] [-1.11290735e-01 9.93787887e-01 8.52073158e-05 -2.81796639e+01] [ 8.95067240e-04 1.44954567e-05 9.99999599e-01 -1.82082924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32028169299997 meters Centerline goodness [0,1] 0.9999788368746296 Centerline is valid? [True, True] Translation: X:418.86, Y:-28.18, Z:-1.82 [[ 9.94118928e-01 1.08291645e-01 -6.90129537e-04 4.18862866e+02] [-1.08291626e-01 9.94119168e-01 6.58434876e-05 -2.81842864e+01] [ 6.93201301e-04 9.27899225e-06 9.99999760e-01 -1.82103201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.35028169299994 meters Centerline goodness [0,1] 0.9999786862185089 Centerline is valid? [True, True] Translation: X:418.89, Y:-28.19, Z:-1.82 [[ 9.94453878e-01 1.05169110e-01 -9.71243022e-04 4.18890933e+02] [-1.05169069e-01 9.94454352e-01 9.26918779e-05 -2.81905603e+01] [ 9.75605172e-04 9.96692742e-06 9.99999524e-01 -1.82149108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.380281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:418.92, Y:-28.20, Z:-1.82 [[ 9.94752138e-01 1.02306059e-01 -1.28581333e-03 4.18918644e+02] [-1.02305986e-01 9.94752969e-01 1.22644576e-04 -2.81951694e+01] [ 1.29161391e-03 9.54544593e-06 9.99999166e-01 -1.82274957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:418.95, Y:-28.20, Z:-1.82 [[ 9.94756778e-01 1.02260933e-01 -1.28581618e-03 4.18946854e+02] [-1.02260860e-01 9.94757609e-01 1.22614655e-04 -2.81977691e+01] [ 1.29161412e-03 9.51690863e-06 9.99999166e-01 -1.82280920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.440281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:418.98, Y:-28.21, Z:-1.82 [[ 9.95217385e-01 9.76613063e-02 -2.15094224e-03 4.18975167e+02] [-9.76610912e-02 9.95219709e-01 2.05071993e-04 -2.82066127e+01] [ 2.16068771e-03 5.97215377e-06 9.99997666e-01 -1.82345617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.00, Y:-28.21, Z:-1.82 [[ 9.95416854e-01 9.55890645e-02 -2.83159348e-03 4.19003973e+02] [-9.55886835e-02 9.95420881e-01 2.69864240e-04 -2.82112974e+01] [ 2.84442335e-03 2.04088000e-06 9.99995955e-01 -1.82479402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.500281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.03, Y:-28.22, Z:-1.83 [[ 9.95746750e-01 9.20492792e-02 -3.91672375e-03 4.19032717e+02] [-9.20485236e-02 9.95754453e-01 3.73131237e-04 -2.82151257e+01] [ 3.93444158e-03 -1.10155780e-05 9.99992260e-01 -1.82547182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53028169299995 meters Centerline goodness [0,1] 0.9999784459532277 Centerline is valid? [True, True] Translation: X:419.06, Y:-28.22, Z:-1.82 [[ 9.95879263e-01 9.06316889e-02 -3.22344724e-03 4.19060643e+02] [-9.06311704e-02 9.95884480e-01 3.06852240e-04 -2.82183731e+01] [ 3.23799162e-03 -1.34429860e-05 9.99994758e-01 -1.82491869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.560281693 meters Centerline goodness [0,1] 0.9998949425335658 Centerline is valid? [True, True] Translation: X:419.09, Y:-28.22, Z:-1.82 [[ 9.96098493e-01 8.82459575e-02 -6.65402041e-04 4.19087691e+02] [-8.82459350e-02 9.96098715e-01 6.32045232e-05 -2.82248815e+01] [ 6.68383662e-04 -4.23890505e-06 9.99999777e-01 -1.82130632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59028169299995 meters Centerline goodness [0,1] 0.9999154423422472 Centerline is valid? [True, True] Translation: X:419.12, Y:-28.23, Z:-1.82 [[ 9.96163756e-01 8.75072044e-02 -5.10187354e-04 4.19116373e+02] [-8.75071911e-02 9.96163887e-01 4.84347730e-05 -2.82272971e+01] [ 5.12468609e-04 -3.60390308e-06 9.99999869e-01 -1.82065830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.620281693 meters Centerline goodness [0,1] 0.9999359863437534 Centerline is valid? [True, True] Translation: X:419.15, Y:-28.23, Z:-1.82 [[ 9.96192623e-01 8.71719650e-02 -1.14304030e-03 4.19145318e+02] [-8.71718978e-02 9.96193279e-01 1.08582368e-04 -2.82281838e+01] [ 1.14815440e-03 -8.52796174e-06 9.99999341e-01 -1.82144358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65028169299995 meters Centerline goodness [0,1] 0.999978839113782 Centerline is valid? [True, True] Translation: X:419.17, Y:-28.22, Z:-1.82 [[ 9.96039680e-01 8.88875295e-02 -1.99071113e-03 4.19173428e+02] [-8.88873291e-02 9.96041669e-01 1.89087248e-04 -2.82241510e+01] [ 1.99963874e-03 -1.13894064e-05 9.99998001e-01 -1.82304330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.680281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.20, Y:-28.22, Z:-1.82 [[ 9.95852436e-01 9.09446622e-02 -2.64471313e-03 4.19202697e+02] [-9.09443160e-02 9.95855948e-01 2.51116964e-04 -2.82231033e+01] [ 2.65659105e-03 -9.55381353e-06 9.99996471e-01 -1.82408199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71028169299996 meters Centerline goodness [0,1] 0.9999790052696773 Centerline is valid? [True, True] Translation: X:419.23, Y:-28.22, Z:-1.82 [[ 9.95644471e-01 9.31830154e-02 -3.00202541e-03 4.19232054e+02] [-9.31825799e-02 9.95648997e-01 2.84918148e-04 -2.82214467e+01] [ 3.01551312e-03 -3.94070573e-06 9.99995453e-01 -1.82447075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.740281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.26, Y:-28.22, Z:-1.82 [[ 9.95437849e-01 9.53677216e-02 -2.91323225e-03 4.19260257e+02] [-9.53673216e-02 9.95442112e-01 2.76237636e-04 -2.82182872e+01] [ 2.92629822e-03 2.84975893e-06 9.99995718e-01 -1.82451126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.29, Y:-28.21, Z:-1.82 [[ 9.95042916e-01 9.94179076e-02 -2.38215359e-03 4.19288762e+02] [-9.94176521e-02 9.95045768e-01 2.25696624e-04 -2.82084486e+01] [ 2.39279013e-03 1.22502900e-05 9.99997137e-01 -1.82380786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.800281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.32, Y:-28.21, Z:-1.82 [[ 9.94875142e-01 1.01086981e-01 -2.20771427e-03 4.19318182e+02] [-1.01086766e-01 9.94877591e-01 2.09104140e-04 -2.82070264e+01] [ 2.21754316e-03 1.51381847e-05 9.99997541e-01 -1.82383023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.35, Y:-28.21, Z:-1.82 [[ 9.94799134e-01 1.01826033e-01 -2.47811579e-03 4.19347290e+02] [-1.01825765e-01 9.94802221e-01 2.34614353e-04 -2.82076389e+01] [ 2.48912494e-03 1.89418805e-05 9.99996902e-01 -1.82418836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86028169299993 meters Centerline goodness [0,1] 0.9999789042887581 Centerline is valid? [True, True] Translation: X:419.37, Y:-28.21, Z:-1.83 [[ 9.94840284e-01 1.01419123e-01 -2.64033671e-03 4.19374246e+02] [-1.01418817e-01 9.94843787e-01 2.49697307e-04 -2.82082656e+01] [ 2.65204665e-03 1.93708870e-05 9.99996483e-01 -1.82509999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89028169299996 meters Centerline goodness [0,1] 0.9999576145466875 Centerline is valid? [True, True] Translation: X:419.40, Y:-28.21, Z:-1.83 [[ 9.94904746e-01 1.00785131e-01 -2.62731465e-03 4.19403391e+02] [-1.00784827e-01 9.94908215e-01 2.48418517e-04 -2.82101037e+01] [ 2.63897383e-03 1.76406902e-05 9.99996518e-01 -1.82543011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.43, Y:-28.21, Z:-1.83 [[ 9.95035873e-01 9.94616927e-02 -3.31398908e-03 4.19431411e+02] [-9.94612015e-02 9.95041392e-01 3.13127529e-04 -2.82117337e+01] [ 3.32870051e-03 1.80402122e-05 9.99994460e-01 -1.82666312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.46, Y:-28.21, Z:-1.83 [[ 9.95129978e-01 9.84914223e-02 -3.97062588e-03 4.19458785e+02] [-9.84907106e-02 9.95137900e-01 3.74854207e-04 -2.82138233e+01] [ 3.98824022e-03 1.80411060e-05 9.99992047e-01 -1.82889789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.49, Y:-28.22, Z:-1.83 [[ 9.95236527e-01 9.73802858e-02 -4.61910009e-03 4.19487026e+02] [-9.73793119e-02 9.95247246e-01 4.35817896e-04 -2.82168012e+01] [ 4.63958672e-03 1.60629001e-05 9.99989237e-01 -1.83077479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.52, Y:-28.22, Z:-1.83 [[ 9.95578292e-01 9.38473479e-02 -4.06691645e-03 4.19515437e+02] [-9.38465641e-02 9.95586599e-01 3.83553492e-04 -2.82228330e+01] [ 4.08496299e-03 -1.91395058e-07 9.99991657e-01 -1.82887650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.54, Y:-28.23, Z:-1.83 [[ 9.95803473e-01 9.14534744e-02 -3.42118933e-03 4.19543036e+02] [-9.14529064e-02 9.95809350e-01 3.22416583e-04 -2.82285665e+01] [ 3.43633844e-03 -8.18584578e-06 9.99994096e-01 -1.82875398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.07028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.57, Y:-28.23, Z:-1.83 [[ 9.96055725e-01 8.86755108e-02 -3.10580269e-03 4.19571890e+02] [-8.86750296e-02 9.96060567e-01 2.92569719e-04 -2.82343419e+01] [ 3.11951136e-03 -1.60085987e-05 9.99995134e-01 -1.82735436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10028169299994 meters Centerline goodness [0,1] 0.9999788180470239 Centerline is valid? [True, True] Translation: X:419.60, Y:-28.24, Z:-1.83 [[ 9.96353275e-01 8.52863451e-02 -2.52799148e-03 4.19598821e+02] [-8.52860158e-02 9.96356482e-01 2.37956208e-04 -2.82423386e+01] [ 2.53907511e-03 -2.14861260e-05 9.99996776e-01 -1.82742207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.130281693 meters Centerline goodness [0,1] 0.9994527813440532 Centerline is valid? [True, True] Translation: X:419.63, Y:-28.26, Z:-1.83 [[ 9.96967649e-01 7.78105551e-02 -1.01170702e-03 4.19625961e+02] [-7.78104986e-02 9.96968163e-01 9.51974403e-05 -2.82575671e+01] [ 1.01604705e-03 -1.61873407e-05 9.99999484e-01 -1.82554292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16028169299994 meters Centerline goodness [0,1] 0.9992980814225549 Centerline is valid? [True, True] Translation: X:419.66, Y:-28.27, Z:-1.83 [[ 9.97262206e-01 7.39408957e-02 -9.14178375e-04 4.19655085e+02] [-7.39408479e-02 9.97262625e-01 8.60050142e-05 -2.82680378e+01] [ 9.18035214e-04 -1.81744261e-05 9.99999578e-01 -1.82572205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.190281693 meters Centerline goodness [0,1] 0.998293731041456 Centerline is valid? [True, True] Translation: X:419.68, Y:-28.29, Z:-1.83 [[ 9.97800242e-01 6.62626844e-02 -1.98316778e-03 4.19682339e+02] [-6.62624443e-02 9.97802212e-01 1.86588866e-04 -2.82885834e+01] [ 1.99117307e-03 -5.47688716e-05 9.99998016e-01 -1.82812610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22028169299995 meters Centerline goodness [0,1] 0.9984836835810695 Centerline is valid? [True, True] Translation: X:419.71, Y:-28.29, Z:-1.83 [[ 9.97988781e-01 6.33268449e-02 -2.84653249e-03 4.19711863e+02] [-6.33263385e-02 9.97992837e-01 2.67770717e-04 -2.82943646e+01] [ 2.85777611e-03 -8.69716911e-05 9.99995913e-01 -1.82852599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.250281693 meters Centerline goodness [0,1] 0.9979239487342443 Centerline is valid? [True, True] Translation: X:419.74, Y:-28.30, Z:-1.83 [[ 9.98121745e-01 6.11709880e-02 -3.33063866e-03 4.19741834e+02] [-6.11702826e-02 9.98127296e-01 3.13364690e-04 -2.83046390e+01] [ 3.34357018e-03 -1.09040004e-04 9.99994404e-01 -1.82898782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28028169299995 meters Centerline goodness [0,1] 0.9947241801375933 Centerline is valid? [True, True] Translation: X:419.77, Y:-28.33, Z:-1.83 [[ 9.98299794e-01 5.82298267e-02 -2.60920992e-03 4.19769593e+02] [-5.82293838e-02 9.98303200e-01 2.45436818e-04 -2.83263277e+01] [ 2.61907435e-03 -9.30868392e-05 9.99996566e-01 -1.82866549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.310281693 meters Centerline goodness [0,1] 0.9977102503744918 Centerline is valid? [True, True] Translation: X:419.80, Y:-28.32, Z:-1.83 [[ 9.98349331e-01 5.74131977e-02 -1.52894392e-03 4.19799685e+02] [-5.74130448e-02 9.98350500e-01 1.43749377e-04 -2.83205649e+01] [ 1.53467504e-03 -5.57307681e-05 9.99998821e-01 -1.82527437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34028169299995 meters Centerline goodness [0,1] 0.993840914823846 Centerline is valid? [True, True] Translation: X:419.83, Y:-28.34, Z:-1.83 [[ 9.98325686e-01 5.78314288e-02 -1.16210474e-03 4.19827157e+02] [-5.78313407e-02 9.98326362e-01 1.09258885e-04 -2.83405532e+01] [ 1.16647840e-03 -4.18698762e-05 9.99999319e-01 -1.82594655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.370281693 meters Centerline goodness [0,1] 0.9974394537501333 Centerline is valid? [True, True] Translation: X:419.86, Y:-28.34, Z:-1.83 [[ 9.98153966e-01 6.06751809e-02 -2.68019497e-03 4.19857268e+02] [-6.06747227e-02 9.98157560e-01 2.51991681e-04 -2.83416423e+01] [ 2.69054651e-03 -8.89064089e-05 9.99996377e-01 -1.82832687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40028169299995 meters Centerline goodness [0,1] 0.9984406374161575 Centerline is valid? [True, True] Translation: X:419.89, Y:-28.35, Z:-1.83 [[ 9.98028263e-01 6.26580405e-02 -3.68187966e-03 4.19886619e+02] [-6.26571898e-02 9.98035048e-01 3.46076348e-04 -2.83456147e+01] [ 3.69632940e-03 -1.14697745e-04 9.99993162e-01 -1.83049116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.430281693 meters Centerline goodness [0,1] 0.9990178285470268 Centerline is valid? [True, True] Translation: X:419.92, Y:-28.34, Z:-1.83 [[ 9.97893972e-01 6.47344523e-02 -4.13169100e-03 4.19916445e+02] [-6.47333991e-02 9.97902518e-01 3.88262226e-04 -2.83422954e+01] [ 4.14815880e-03 -1.19986132e-04 9.99991389e-01 -1.82972610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46028169299996 meters Centerline goodness [0,1] 0.9991914033407809 Centerline is valid? [True, True] Translation: X:419.95, Y:-28.34, Z:-1.83 [[ 9.97752323e-01 6.68570441e-02 -4.52081816e-03 4.19945768e+02] [-6.68558055e-02 9.97762557e-01 4.24728575e-04 -2.83446838e+01] [ 4.53909919e-03 -1.21530983e-04 9.99989691e-01 -1.82988785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.490281693 meters Centerline goodness [0,1] 0.9996803205319467 Centerline is valid? [True, True] Translation: X:419.98, Y:-28.35, Z:-1.83 [[ 9.97423877e-01 7.15309030e-02 -5.37957774e-03 4.19975163e+02] [-7.15292174e-02 9.97438377e-01 5.05322918e-04 -2.83464066e+01] [ 5.40194350e-03 -1.19224158e-04 9.99985402e-01 -1.83206123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52028169299996 meters Centerline goodness [0,1] 0.9997868621850888 Centerline is valid? [True, True] Translation: X:420.00, Y:-28.35, Z:-1.83 [[ 9.97222941e-01 7.42782562e-02 -5.39867539e-03 4.20004460e+02] [-7.42766001e-02 9.97237549e-01 5.06892786e-04 -2.83476427e+01] [ 5.42141293e-03 -1.04489862e-04 9.99985299e-01 -1.83191473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.550281693 meters Centerline goodness [0,1] 0.9997679814385151 Centerline is valid? [True, True] Translation: X:420.03, Y:-28.35, Z:-1.83 [[ 9.97020890e-01 7.69813248e-02 -4.81871765e-03 4.20032979e+02] [-7.69800371e-02 9.97032532e-01 4.52416223e-04 -2.83497435e+01] [ 4.83924586e-03 -8.01233620e-05 9.99988288e-01 -1.83153047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58028169299996 meters Centerline goodness [0,1] 0.9999149189603097 Centerline is valid? [True, True] Translation: X:420.06, Y:-28.34, Z:-1.83 [[ 9.96624178e-01 8.20418067e-02 -3.06421459e-03 4.20063463e+02] [-8.20413102e-02 9.96628888e-01 2.87586470e-04 -2.83444473e+01] [ 3.07747889e-03 -3.52234497e-05 9.99995264e-01 -1.82703103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61028169299993 meters Centerline goodness [0,1] 0.9998939037070045 Centerline is valid? [True, True] Translation: X:420.09, Y:-28.35, Z:-1.83 [[ 9.96454582e-01 8.40911338e-02 -2.63581436e-03 4.20091651e+02] [-8.40907738e-02 9.96458068e-01 2.47311404e-04 -2.83486261e+01] [ 2.64727518e-03 -2.47869118e-05 9.99996496e-01 -1.82893945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64028169299996 meters Centerline goodness [0,1] 0.9999576728534846 Centerline is valid? [True, True] Translation: X:420.12, Y:-28.34, Z:-1.83 [[ 9.96307463e-01 8.58116982e-02 -2.79118159e-03 4.20120730e+02] [-8.58113017e-02 9.96311373e-01 2.61708938e-04 -2.83432472e+01] [ 2.80334365e-03 -2.12276429e-05 9.99996070e-01 -1.82730586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67028169299994 meters Centerline goodness [0,1] 0.9999570778607606 Centerline is valid? [True, True] Translation: X:420.15, Y:-28.34, Z:-1.83 [[ 9.96180898e-01 8.72682192e-02 -2.80663517e-03 4.20148800e+02] [-8.72678247e-02 9.96184851e-01 2.62968421e-04 -2.83436235e+01] [ 2.81887622e-03 -1.70351716e-05 9.99996027e-01 -1.82858140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70028169299997 meters Centerline goodness [0,1] 0.9999574431866541 Centerline is valid? [True, True] Translation: X:420.18, Y:-28.34, Z:-1.83 [[ 9.96018093e-01 8.91258904e-02 -2.12956173e-03 4.20177910e+02] [-8.91256677e-02 9.96020369e-01 1.99425485e-04 -2.83409263e+01] [ 2.13886083e-03 -8.83277998e-06 9.99997713e-01 -1.82729648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73028169299994 meters Centerline goodness [0,1] 0.9999151175621764 Centerline is valid? [True, True] Translation: X:420.21, Y:-28.34, Z:-1.83 [[ 9.95958185e-01 8.97947312e-02 -2.04915935e-03 4.20206658e+02] [-8.97945266e-02 9.95960293e-01 1.91793297e-04 -2.83415402e+01] [ 2.05810337e-03 -7.01481056e-06 9.99997882e-01 -1.82693352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76028169299997 meters Centerline goodness [0,1] 0.9999153295796114 Centerline is valid? [True, True] Translation: X:420.24, Y:-28.34, Z:-1.83 [[ 9.95890860e-01 9.05180164e-02 -2.80795964e-03 4.20235978e+02] [-9.05176354e-02 9.95894818e-01 2.62717744e-04 -2.83409350e+01] [ 2.82021314e-03 -7.46833328e-06 9.99996023e-01 -1.82776074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.79028169299994 meters Centerline goodness [0,1] 0.9999787414965986 Centerline is valid? [True, True] Translation: X:420.26, Y:-28.33, Z:-1.83 [[ 9.95647025e-01 9.30696511e-02 -5.00409336e-03 4.20264830e+02] [-9.30684749e-02 9.95659600e-01 4.67918400e-04 -2.83336059e+01] [ 5.02592260e-03 -1.58226134e-07 9.99987370e-01 -1.83160605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82028169299997 meters Centerline goodness [0,1] 0.9999787627158239 Centerline is valid? [True, True] Translation: X:420.29, Y:-28.33, Z:-1.83 [[ 9.95518268e-01 9.44233922e-02 -5.25369802e-03 4.20293576e+02] [-9.44221156e-02 9.95532131e-01 4.91045277e-04 -2.83314603e+01] [ 5.27659134e-03 7.22073758e-06 9.99986079e-01 -1.83194034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85028169299994 meters Centerline goodness [0,1] 0.9999785191072541 Centerline is valid? [True, True] Translation: X:420.32, Y:-28.33, Z:-1.83 [[ 9.95347847e-01 9.62756996e-02 -3.69490842e-03 4.20323269e+02] [-9.62750817e-02 9.95354705e-01 3.45143424e-04 -2.83260195e+01] [ 3.71097341e-03 1.21898462e-05 9.99993114e-01 -1.82928773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.880281693 meters Centerline goodness [0,1] 0.9999575344501773 Centerline is valid? [True, True] Translation: X:420.35, Y:-28.33, Z:-1.83 [[ 9.95331442e-01 9.64631963e-02 -3.18953760e-03 4.20351461e+02] [-9.64627375e-02 9.95336552e-01 2.97708267e-04 -2.83256709e+01] [ 3.20338125e-03 1.13531300e-05 9.99994869e-01 -1.82908867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91028169299994 meters Centerline goodness [0,1] 0.9999788525387527 Centerline is valid? [True, True] Translation: X:420.38, Y:-28.33, Z:-1.83 [[ 9.95396733e-01 9.57928043e-02 -3.01362880e-03 4.20380057e+02] [-9.57923921e-02 9.95401295e-01 2.81163754e-04 -2.83272503e+01] [ 3.02670348e-03 8.81322990e-06 9.99995419e-01 -1.82877034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.940281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.41, Y:-28.33, Z:-1.83 [[ 9.95501049e-01 9.46992565e-02 -3.11637356e-03 4.20407580e+02] [-9.46988110e-02 9.95505927e-01 2.90528237e-04 -2.83299830e+01] [ 3.12988116e-03 5.89570602e-06 9.99995102e-01 -1.82903673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.97028169299995 meters Centerline goodness [0,1] 0.9999571835327867 Centerline is valid? [True, True] Translation: X:420.44, Y:-28.34, Z:-1.83 [[ 9.95798108e-01 9.15052616e-02 -3.59368597e-03 4.20435271e+02] [-9.15046490e-02 9.95804593e-01 3.34842506e-04 -2.83350988e+01] [ 3.60924885e-03 -4.59656030e-06 9.99993487e-01 -1.82949298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.000281693 meters Centerline goodness [0,1] 0.9999153474985186 Centerline is valid? [True, True] Translation: X:420.46, Y:-28.34, Z:-1.83 [[ 9.95948432e-01 8.98399835e-02 -3.93688933e-03 4.20463765e+02] [-8.98392360e-02 9.95956213e-01 3.66672797e-04 -2.83392526e+01] [ 3.95391127e-03 -1.15000669e-05 9.99992183e-01 -1.83016976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.03028169299995 meters Centerline goodness [0,1] 0.9998287891109875 Centerline is valid? [True, True] Translation: X:420.49, Y:-28.34, Z:-1.83 [[ 9.96108873e-01 8.80475095e-02 -3.84050890e-03 4.20492508e+02] [-8.80467856e-02 9.96116276e-01 3.57510307e-04 -2.83436522e+01] [ 3.85707131e-03 -1.79747253e-05 9.99992561e-01 -1.82993396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.060281693 meters Centerline goodness [0,1] 0.9998948254101809 Centerline is valid? [True, True] Translation: X:420.52, Y:-28.35, Z:-1.83 [[ 9.96386820e-01 8.49055202e-02 -2.08767267e-03 4.20519221e+02] [-8.49052998e-02 9.96389007e-01 1.94147565e-04 -2.83524540e+01] [ 2.09661830e-03 -1.61916002e-05 9.99997802e-01 -1.82730951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.09028169299995 meters Centerline goodness [0,1] 0.9998933810986012 Centerline is valid? [True, True] Translation: X:420.55, Y:-28.36, Z:-1.83 [[ 9.96482355e-01 8.37914509e-02 -1.38137218e-03 4.20547662e+02] [-8.37913535e-02 9.96483313e-01 1.28382571e-04 -2.83573857e+01] [ 1.38727169e-03 -1.21839224e-05 9.99999038e-01 -1.82540375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.120281693 meters Centerline goodness [0,1] 0.9998299717328005 Centerline is valid? [True, True] Translation: X:420.58, Y:-28.36, Z:-1.82 [[ 9.96560003e-01 8.28696815e-02 -8.81480480e-04 4.20576531e+02] [-8.28696415e-02 9.96560392e-01 8.18461527e-05 -2.83629098e+01] [ 8.85231098e-04 -8.51663080e-06 9.99999608e-01 -1.82479300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.15028169299995 meters Centerline goodness [0,1] 0.9997447568809291 Centerline is valid? [True, True] Translation: X:420.60, Y:-28.37, Z:-1.83 [[ 9.96656935e-01 8.16885625e-02 -1.39045979e-03 4.20604347e+02] [-8.16884619e-02 9.96657904e-01 1.29096661e-04 -2.83704947e+01] [ 1.39635846e-03 -1.50805615e-05 9.99999025e-01 -1.82553675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.180281693 meters Centerline goodness [0,1] 0.9997658478436715 Centerline is valid? [True, True] Translation: X:420.63, Y:-28.38, Z:-1.83 [[ 9.96688655e-01 8.12588604e-02 -2.95340655e-03 4.20632072e+02] [-8.12584049e-02 9.96693030e-01 2.74120879e-04 -2.83755342e+01] [ 2.96591447e-03 -3.32240649e-05 9.99995601e-01 -1.82839634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.21028169299996 meters Centerline goodness [0,1] 0.9997877038043478 Centerline is valid? [True, True] Translation: X:420.66, Y:-28.38, Z:-1.83 [[ 9.96695486e-01 8.10994467e-02 -4.58124072e-03 4.20660487e+02] [-8.10983494e-02 9.96706013e-01 4.25088941e-04 -2.83803633e+01] [ 4.60062465e-03 -5.21531676e-05 9.99989416e-01 -1.83144261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.240281693 meters Centerline goodness [0,1] 0.9998505742219186 Centerline is valid? [True, True] Translation: X:420.69, Y:-28.39, Z:-1.83 [[ 9.96689078e-01 8.11744925e-02 -4.64581872e-03 4.20688383e+02] [-8.11733658e-02 9.96699904e-01 4.30867503e-04 -2.83880334e+01] [ 4.66546253e-03 -5.23241919e-05 9.99989115e-01 -1.83244238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.27028169299996 meters Centerline goodness [0,1] 0.9996596106797149 Centerline is valid? [True, True] Translation: X:420.72, Y:-28.39, Z:-1.83 [[ 9.96708448e-01 8.09940792e-02 -3.49691678e-03 4.20716171e+02] [-8.09934407e-02 9.96714582e-01 3.24064918e-04 -2.83931554e+01] [ 3.51167528e-03 -3.97709200e-05 9.99993833e-01 -1.82984922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.300281693 meters Centerline goodness [0,1] 0.9998522926294022 Centerline is valid? [True, True] Translation: X:420.74, Y:-28.40, Z:-1.83 [[ 9.96722176e-01 8.08616495e-02 -2.50952205e-03 4.20744302e+02] [-8.08613205e-02 9.96725335e-01 2.32437644e-04 -2.83980717e+01] [ 2.52009950e-03 -2.87524872e-05 9.99996824e-01 -1.82799592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.33028169299996 meters Centerline goodness [0,1] 0.9998522926294022 Centerline is valid? [True, True] Translation: X:420.77, Y:-28.40, Z:-1.83 [[ 9.96725851e-01 8.08163401e-02 -2.50953264e-03 4.20772521e+02] [-8.08160113e-02 9.96729009e-01 2.32323350e-04 -2.84005945e+01] [ 2.52009950e-03 -2.87522703e-05 9.99996824e-01 -1.82805555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36028169299993 meters Centerline goodness [0,1] 0.9998296676389805 Centerline is valid? [True, True] Translation: X:420.80, Y:-28.40, Z:-1.83 [[ 9.96630075e-01 8.19795784e-02 -2.80032618e-03 4.20800922e+02] [-8.19791739e-02 9.96634009e-01 2.59118974e-04 -2.84035692e+01] [ 2.81214277e-03 -2.86773360e-05 9.99996046e-01 -1.82746176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.39028169299996 meters Centerline goodness [0,1] 0.9998500235677251 Centerline is valid? [True, True] Translation: X:420.83, Y:-28.41, Z:-1.83 [[ 9.96562236e-01 8.27868040e-02 -3.17086370e-03 4.20829015e+02] [-8.27862899e-02 9.96567280e-01 2.93268582e-04 -2.84072668e+01] [ 3.18425778e-03 -2.97563524e-05 9.99994930e-01 -1.82913518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42028169299994 meters Centerline goodness [0,1] 0.9998940363667189 Centerline is valid? [True, True] Translation: X:420.86, Y:-28.41, Z:-1.83 [[ 9.96512930e-01 8.33709009e-02 -3.35760164e-03 4.20857458e+02] [-8.33703282e-02 9.96518586e-01 3.10397221e-04 -2.84094394e+01] [ 3.37179054e-03 -2.93904932e-05 9.99994315e-01 -1.82927032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.45028169299997 meters Centerline goodness [0,1] 0.9998947213273535 Centerline is valid? [True, True] Translation: X:420.89, Y:-28.41, Z:-1.83 [[ 9.96458470e-01 8.40622533e-02 -2.01377870e-03 4.20885592e+02] [-8.40620491e-02 9.96460505e-01 1.85991240e-04 -2.84113465e+01] [ 2.02228579e-03 -1.60501817e-05 9.99997955e-01 -1.82648389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48028169299994 meters Centerline goodness [0,1] 0.9999361484760769 Centerline is valid? [True, True] Translation: X:420.91, Y:-28.41, Z:-1.82 [[ 9.96499309e-01 8.35976027e-02 -7.53506101e-04 4.20914488e+02] [-8.35975740e-02 9.96499594e-01 6.95020545e-05 -2.84143733e+01] [ 7.56678729e-04 -6.26746715e-06 9.99999714e-01 -1.82411301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51028169299997 meters Centerline goodness [0,1] 0.9998305228370477 Centerline is valid? [True, True] Translation: X:420.94, Y:-28.42, Z:-1.82 [[ 9.96562776e-01 8.28408449e-02 -1.67118574e-04 4.20942910e+02] [-8.28408435e-02 9.96562790e-01 1.53567646e-05 -2.84219124e+01] [ 1.67816319e-04 -1.45973638e-06 9.99999986e-01 -1.82308539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54028169299994 meters Centerline goodness [0,1] 0.9998937436246175 Centerline is valid? [True, True] Translation: X:420.97, Y:-28.43, Z:-1.82 [[ 9.96661016e-01 8.16505882e-02 -3.19818299e-05 4.20971952e+02] [-8.16505882e-02 9.96661016e-01 2.90298379e-06 -2.84284125e+01] [ 3.21120734e-05 -2.81955547e-07 9.99999999e-01 -1.82301253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.57028169299997 meters Centerline goodness [0,1] 0.9998066096523271 Centerline is valid? [True, True] Translation: X:421.00, Y:-28.44, Z:-1.82 [[ 9.96829574e-01 7.95582765e-02 -1.13150755e-03 4.21001462e+02] [-7.95582092e-02 9.96830216e-01 1.04451246e-04 -2.84398107e+01] [ 1.13623088e-03 -1.40993763e-05 9.99999354e-01 -1.82472316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60028169299994 meters Centerline goodness [0,1] 0.9998725871185576 Centerline is valid? [True, True] Translation: X:421.03, Y:-28.45, Z:-1.83 [[ 9.96848946e-01 7.93043015e-02 -1.73405585e-03 4.21030433e+02] [-7.93041430e-02 9.96850454e-01 1.60026962e-04 -2.84473274e+01] [ 1.74128519e-03 -2.20048952e-05 9.99998484e-01 -1.82643600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.630281693 meters Centerline goodness [0,1] 0.9997649271274095 Centerline is valid? [True, True] Translation: X:421.06, Y:-28.45, Z:-1.83 [[ 9.96754377e-01 8.04898211e-02 -1.44912559e-03 4.21059488e+02] [-8.04897118e-02 9.96755431e-01 1.33668617e-04 -2.84544391e+01] [ 1.45518276e-03 -1.65950781e-05 9.99998941e-01 -1.82532008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66028169299994 meters Centerline goodness [0,1] 0.9998733589429694 Centerline is valid? [True, True] Translation: X:421.09, Y:-28.46, Z:-1.83 [[ 9.96633368e-01 8.19689849e-02 -1.73665485e-03 4.21088652e+02] [-8.19688302e-02 9.96634881e-01 1.60204933e-04 -2.84585143e+01] [ 1.74394263e-03 -1.73140154e-05 9.99998479e-01 -1.82576019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.690281693 meters Centerline goodness [0,1] 0.9998099662162162 Centerline is valid? [True, True] Translation: X:421.12, Y:-28.46, Z:-1.83 [[ 9.96500154e-01 8.35556088e-02 -2.42966705e-03 4.21118482e+02] [-8.35553106e-02 9.96503116e-01 2.24169735e-04 -2.84616613e+01] [ 2.43990143e-03 -2.03735903e-05 9.99997023e-01 -1.82691181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72028169299995 meters Centerline goodness [0,1] 0.9999152272968104 Centerline is valid? [True, True] Translation: X:421.15, Y:-28.46, Z:-1.83 [[ 9.96356337e-01 8.52335579e-02 -3.04797418e-03 4.21147963e+02] [-8.52330968e-02 9.96360999e-01 2.81095134e-04 -2.84641430e+01] [ 3.06084134e-03 -2.02826392e-05 9.99995315e-01 -1.82841096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.750281693 meters Centerline goodness [0,1] 0.9999147448740355 Centerline is valid? [True, True] Translation: X:421.18, Y:-28.47, Z:-1.83 [[ 9.96118063e-01 8.79474629e-02 -3.74799329e-03 4.21177779e+02] [-8.79467852e-02 9.96125114e-01 3.45576049e-04 -2.84683712e+01] [ 3.76386278e-03 -1.46105843e-05 9.99992917e-01 -1.83000934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78028169299995 meters Centerline goodness [0,1] 0.9999572100984168 Centerline is valid? [True, True] Translation: X:421.21, Y:-28.47, Z:-1.83 [[ 9.96098937e-01 8.81775909e-02 -3.40891560e-03 4.21207135e+02] [-8.81770319e-02 9.96104770e-01 3.14226002e-04 -2.84738625e+01] [ 3.42334478e-03 -1.24121276e-05 9.99994140e-01 -1.82929740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.810281693 meters Centerline goodness [0,1] 0.9999354436099933 Centerline is valid? [True, True] Translation: X:421.24, Y:-28.48, Z:-1.83 [[ 9.96147015e-01 8.76477504e-02 -2.99929469e-03 4.21236650e+02] [-8.76473155e-02 9.96151530e-01 2.76389814e-04 -2.84805009e+01] [ 3.01197695e-03 -1.24447601e-05 9.99995464e-01 -1.82841548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84028169299995 meters Centerline goodness [0,1] 0.9999146156637565 Centerline is valid? [True, True] Translation: X:421.27, Y:-28.49, Z:-1.83 [[ 9.96305716e-01 8.58334850e-02 -2.74472051e-03 4.21265420e+02] [-8.58331140e-02 9.96309496e-01 2.52918583e-04 -2.84915682e+01] [ 2.75629999e-03 -1.63963218e-05 9.99996201e-01 -1.82747667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.870281693 meters Centerline goodness [0,1] 0.9999153331639996 Centerline is valid? [True, True] Translation: X:421.29, Y:-28.50, Z:-1.83 [[ 9.96375297e-01 8.50249918e-02 -2.64909873e-03 4.21294734e+02] [-8.50246434e-02 9.96378819e-01 2.44075739e-04 -2.84980561e+01] [ 2.66025840e-03 -1.79523618e-05 9.99996461e-01 -1.82791325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90028169299995 meters Centerline goodness [0,1] 0.9998484093812937 Centerline is valid? [True, True] Translation: X:421.33, Y:-28.51, Z:-1.83 [[ 9.96427022e-01 8.43726637e-02 -3.80055762e-03 4.21325476e+02] [-8.43719411e-02 9.96434269e-01 3.50345291e-04 -2.85057307e+01] [ 3.81656542e-03 -2.84330913e-05 9.99992716e-01 -1.82925600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.930281693 meters Centerline goodness [0,1] 0.9998941418076345 Centerline is valid? [True, True] Translation: X:421.35, Y:-28.51, Z:-1.83 [[ 9.96330068e-01 8.54812991e-02 -4.39818043e-03 4.21354745e+02] [-8.54803428e-02 9.96339775e-01 4.05297575e-04 -2.85101689e+01] [ 4.41672746e-03 -2.78521897e-05 9.99990246e-01 -1.83122085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96028169299996 meters Centerline goodness [0,1] 0.9999576979208528 Centerline is valid? [True, True] Translation: X:421.39, Y:-28.51, Z:-1.83 [[ 9.96157066e-01 8.74873559e-02 -4.13073490e-03 4.21385217e+02] [-8.74865295e-02 9.96165630e-01 3.80676052e-04 -2.85116271e+01] [ 4.14820047e-03 -1.78294783e-05 9.99991396e-01 -1.83063880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.990281693 meters Centerline goodness [0,1] 0.9999570483635426 Centerline is valid? [True, True] Translation: X:421.42, Y:-28.51, Z:-1.83 [[ 9.95905051e-01 9.03214675e-02 -3.89390211e-03 4.21416252e+02] [-9.03207548e-02 9.95912663e-01 3.58850258e-04 -2.85113017e+01] [ 3.91039830e-03 -5.68060605e-06 9.99992354e-01 -1.82873151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02028169299996 meters Centerline goodness [0,1] 0.9998733188353778 Centerline is valid? [True, True] Translation: X:421.45, Y:-28.50, Z:-1.83 [[ 9.95108945e-01 9.87238346e-02 -3.43382928e-03 4.21445640e+02] [-9.87233310e-02 9.95114870e-01 3.16254538e-04 -2.85013019e+01] [ 3.44827643e-03 2.42913444e-05 9.99994054e-01 -1.82715314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.050281693 meters Centerline goodness [0,1] 0.9998941776545536 Centerline is valid? [True, True] Translation: X:421.48, Y:-28.50, Z:-1.83 [[ 9.94711795e-01 1.02651755e-01 -3.32598178e-03 4.21476041e+02] [-1.02651304e-01 9.94717355e-01 3.06268082e-04 -2.84976118e+01] [ 3.33985075e-03 3.67678940e-05 9.99994422e-01 -1.82648352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08028169299996 meters Centerline goodness [0,1] 0.9999150869297556 Centerline is valid? [True, True] Translation: X:421.51, Y:-28.49, Z:-1.83 [[ 9.94369317e-01 1.05933021e-01 -2.80286175e-03 4.21506335e+02] [-1.05932714e-01 9.94373267e-01 2.58024527e-04 -2.84948245e+01] [ 2.81442412e-03 4.03430795e-05 9.99996039e-01 -1.82622059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11028169299993 meters Centerline goodness [0,1] 0.9996820349761526 Centerline is valid? [True, True] Translation: X:421.54, Y:-28.50, Z:-1.82 [[ 9.94050833e-01 1.08903927e-01 -1.69589831e-03 4.21536067e+02] [-1.08903819e-01 9.94052279e-01 1.56059782e-04 -2.84951799e+01] [ 1.70280710e-03 2.95584460e-05 9.99998550e-01 -1.82480801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14028169299996 meters Centerline goodness [0,1] 0.9995948049732358 Centerline is valid? [True, True] Translation: X:421.57, Y:-28.50, Z:-1.83 [[ 9.94100971e-01 1.08449942e-01 -1.36729281e-03 4.21565037e+02] [-1.08449871e-01 9.94101911e-01 1.25738760e-04 -2.84981434e+01] [ 1.37286476e-03 2.32857067e-05 9.99999057e-01 -1.82548466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17028169299994 meters Centerline goodness [0,1] 0.9996599506928505 Centerline is valid? [True, True] Translation: X:421.59, Y:-28.50, Z:-1.83 [[ 9.94151854e-01 1.07982317e-01 -1.38218294e-03 4.21594048e+02] [-1.07982244e-01 9.94152815e-01 1.27101317e-04 -2.85039785e+01] [ 1.38782576e-03 2.28932061e-05 9.99999037e-01 -1.82508714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20028169299997 meters Centerline goodness [0,1] 0.9997220559308988 Centerline is valid? [True, True] Translation: X:421.62, Y:-28.51, Z:-1.82 [[ 9.94199337e-01 1.07550591e-01 -7.40252792e-04 4.21623817e+02] [-1.07550570e-01 9.94199613e-01 6.80310832e-05 -2.85074141e+01] [ 7.43275822e-04 1.19781518e-05 9.99999724e-01 -1.82421511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23028169299994 meters Centerline goodness [0,1] 0.999595589800349 Centerline is valid? [True, True] Translation: X:421.65, Y:-28.51, Z:-1.82 [[ 9.94130325e-01 1.08185277e-01 -9.18408690e-04 4.21652989e+02] [-1.08185245e-01 9.94130749e-01 8.43832405e-05 -2.85087751e+01] [ 9.22147343e-04 1.54703309e-05 9.99999575e-01 -1.82414225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26028169299997 meters Centerline goodness [0,1] 0.9996196433099485 Centerline is valid? [True, True] Translation: X:421.68, Y:-28.50, Z:-1.82 [[ 9.93870400e-01 1.10543928e-01 -1.29112269e-03 4.21682404e+02] [-1.10543867e-01 9.93871239e-01 1.18589283e-04 -2.85047212e+01] [ 1.29631903e-03 2.48633170e-05 9.99999159e-01 -1.82462716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29028169299994 meters Centerline goodness [0,1] 0.999571578518947 Centerline is valid? [True, True] Translation: X:421.71, Y:-28.51, Z:-1.82 [[ 9.93753853e-01 1.11585431e-01 -1.40383289e-03 4.21711766e+02] [-1.11585360e-01 9.93754844e-01 1.28939790e-04 -2.85068357e+01] [ 1.40945354e-03 2.85127851e-05 9.99999006e-01 -1.82473177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32028169299997 meters Centerline goodness [0,1] 0.9995050996255971 Centerline is valid? [True, True] Translation: X:421.74, Y:-28.51, Z:-1.82 [[ 9.93623123e-01 1.12747072e-01 -1.08921360e-03 4.21741154e+02] [-1.12747030e-01 9.93623720e-01 1.00006450e-04 -2.85066668e+01] [ 1.09354390e-03 2.34368774e-05 9.99999402e-01 -1.82368572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.35028169299994 meters Centerline goodness [0,1] 0.9994478188845941 Centerline is valid? [True, True] Translation: X:421.77, Y:-28.51, Z:-1.82 [[ 9.93475186e-01 1.14047504e-01 -4.71323736e-04 4.21769984e+02] [-1.14047496e-01 9.93475298e-01 4.31766896e-05 -2.85056547e+01] [ 4.73172683e-04 1.08583222e-05 9.99999888e-01 -1.82262473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.380281693 meters Centerline goodness [0,1] 0.9991326239184244 Centerline is valid? [True, True] Translation: X:421.80, Y:-28.50, Z:-1.82 [[ 9.93308562e-01 1.15489972e-01 -4.07865237e-04 4.21798759e+02] [-1.15489967e-01 9.93308646e-01 3.73035307e-05 -2.85003068e+01] [ 4.09444250e-04 1.00504262e-05 9.99999916e-01 -1.82333002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.41028169299994 meters Centerline goodness [0,1] 0.9991903696601683 Centerline is valid? [True, True] Translation: X:421.83, Y:-28.50, Z:-1.83 [[ 9.93291924e-01 1.15626586e-01 -1.28319804e-03 4.21827816e+02] [-1.15626531e-01 9.93292752e-01 1.17587877e-04 -2.85002290e+01] [ 1.28818760e-03 3.15726496e-05 9.99999170e-01 -1.82509208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.440281693 meters Centerline goodness [0,1] 0.9991489361702127 Centerline is valid? [True, True] Translation: X:421.86, Y:-28.50, Z:-1.83 [[ 9.93340595e-01 1.15192377e-01 -2.27557975e-03 4.21856240e+02] [-1.15192201e-01 9.93343200e-01 2.08495358e-04 -2.85012401e+01] [ 2.28444875e-03 5.50221376e-05 9.99997389e-01 -1.82671913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47028169299995 meters Centerline goodness [0,1] 0.9993625159371016 Centerline is valid? [True, True] Translation: X:421.88, Y:-28.50, Z:-1.83 [[ 9.93508009e-01 1.13739540e-01 -2.26985819e-03 4.21884282e+02] [-1.13739362e-01 9.93510601e-01 2.07820241e-04 -2.84997479e+01] [ 2.27876556e-03 5.17011495e-05 9.99997402e-01 -1.82721754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.500281693 meters Centerline goodness [0,1] 0.9993228802979327 Centerline is valid? [True, True] Translation: X:421.91, Y:-28.50, Z:-1.83 [[ 9.93621724e-01 1.12753832e-01 -1.56304524e-03 4.21912978e+02] [-1.12753746e-01 9.93622953e-01 1.43023055e-04 -2.85009065e+01] [ 1.56920402e-03 3.41283913e-05 9.99998768e-01 -1.82588680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53028169299995 meters Centerline goodness [0,1] 0.9994090458200544 Centerline is valid? [True, True] Translation: X:421.94, Y:-28.50, Z:-1.82 [[ 9.93726582e-01 1.11833620e-01 -8.49956863e-04 4.21941015e+02] [-1.11833595e-01 9.93726945e-01 7.76550377e-05 -2.85016498e+01] [ 8.53309480e-04 1.78858563e-05 9.99999636e-01 -1.82484725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.560281693 meters Centerline goodness [0,1] 0.9994907053730583 Centerline is valid? [True, True] Translation: X:421.97, Y:-28.50, Z:-1.82 [[ 9.93799571e-01 1.11185863e-01 -3.39974190e-04 4.21970040e+02] [-1.11185859e-01 9.93799630e-01 3.10000779e-05 -2.85046658e+01] [ 3.41312994e-04 6.99245830e-06 9.99999942e-01 -1.82334798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59028169299995 meters Centerline goodness [0,1] 0.9995281501340483 Centerline is valid? [True, True] Translation: X:422.00, Y:-28.51, Z:-1.82 [[ 9.93877920e-01 1.10483840e-01 -2.97255357e-05 4.21998831e+02] [-1.10483840e-01 9.93877921e-01 2.61443378e-06 -2.85095655e+01] [ 2.98324063e-05 6.85763310e-07 1.00000000e+00 -1.82151793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.620281693 meters Centerline goodness [0,1] 0.9995525631738186 Centerline is valid? [True, True] Translation: X:422.03, Y:-28.51, Z:-1.82 [[ 9.93896637e-01 1.10315125e-01 -2.20440461e-04 4.22027229e+02] [-1.10315124e-01 9.93896661e-01 2.00091767e-05 -2.85069073e+01] [ 2.21302353e-04 4.43086329e-06 9.99999976e-01 -1.82218301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.65028169299995 meters Centerline goodness [0,1] 0.9993465980945957 Centerline is valid? [True, True] Translation: X:422.06, Y:-28.50, Z:-1.83 [[ 9.93890864e-01 1.10361888e-01 -1.09759289e-03 4.22055572e+02] [-1.10361845e-01 9.93891469e-01 1.00079569e-04 -2.84997869e+01] [ 1.10193318e-03 2.16642069e-05 9.99999393e-01 -1.82539938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.680281693 meters Centerline goodness [0,1] 0.9995553202752779 Centerline is valid? [True, True] Translation: X:422.08, Y:-28.50, Z:-1.83 [[ 9.93904988e-01 1.10232357e-01 -1.30479424e-03 4.22084570e+02] [-1.10232296e-01 9.93905844e-01 1.18964633e-04 -2.85031678e+01] [ 1.30995638e-03 2.55909235e-05 9.99999142e-01 -1.82558104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71028169299996 meters Centerline goodness [0,1] 0.9995334040296925 Centerline is valid? [True, True] Translation: X:422.11, Y:-28.51, Z:-1.82 [[ 9.93986335e-01 1.09496284e-01 -1.31523377e-03 4.22113534e+02] [-1.09496221e-01 9.93987205e-01 1.19890250e-04 -2.85082597e+01] [ 1.32045308e-03 2.48438576e-05 9.99999128e-01 -1.82496712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.740281693 meters Centerline goodness [0,1] 0.9997475491227332 Centerline is valid? [True, True] Translation: X:422.14, Y:-28.51, Z:-1.82 [[ 9.94290449e-01 1.06698587e-01 -1.38351460e-03 4.22141594e+02] [-1.06698515e-01 9.94291411e-01 1.25987093e-04 -2.85068222e+01] [ 1.38905933e-03 2.23511897e-05 9.99999035e-01 -1.82468557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77028169299996 meters Centerline goodness [0,1] 0.9997429471113681 Centerline is valid? [True, True] Translation: X:422.17, Y:-28.51, Z:-1.82 [[ 9.94377214e-01 1.05891469e-01 -9.76214452e-04 4.22169929e+02] [-1.05891432e-01 9.94377693e-01 8.88377017e-05 -2.85129751e+01] [ 9.80133030e-04 1.50345602e-05 9.99999520e-01 -1.82318872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.800281693 meters Centerline goodness [0,1] 0.9997660221640823 Centerline is valid? [True, True] Translation: X:422.20, Y:-28.51, Z:-1.82 [[ 9.94384098e-01 1.05827694e-01 -8.74653110e-04 4.22197390e+02] [-1.05827665e-01 9.94384483e-01 7.95094883e-05 -2.85141598e+01] [ 8.78155786e-04 1.34995252e-05 9.99999614e-01 -1.82306944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83028169299996 meters Centerline goodness [0,1] 0.9997230152980782 Centerline is valid? [True, True] Translation: X:422.23, Y:-28.51, Z:-1.82 [[ 9.94204236e-01 1.07507502e-01 -2.70521883e-04 4.22225186e+02] [-1.07507500e-01 9.94204273e-01 2.44634800e-05 -2.85104451e+01] [ 2.71584020e-04 4.76143578e-06 9.99999963e-01 -1.82163365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86028169299993 meters Centerline goodness [0,1] 0.999534529451591 Centerline is valid? [True, True] Translation: X:422.25, Y:-28.50, Z:-1.82 [[ 9.94087261e-01 1.08584131e-01 6.86391405e-05 4.22253296e+02] [-1.08584131e-01 9.94087263e-01 -6.38646525e-06 -2.85030041e+01] [-6.89267641e-05 -1.10441765e-06 9.99999998e-01 -1.82154646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89028169299996 meters Centerline goodness [0,1] 0.9997036409822184 Centerline is valid? [True, True] Translation: X:422.28, Y:-28.50, Z:-1.82 [[ 9.93981011e-01 1.09551392e-01 4.92255320e-04 4.22282298e+02] [-1.09551383e-01 9.93981133e-01 -4.48234673e-05 -2.85040572e+01] [-4.94202974e-04 -9.37357590e-06 9.99999878e-01 -1.82110829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92028169299994 meters Centerline goodness [0,1] 0.9995091657952582 Centerline is valid? [True, True] Translation: X:422.31, Y:-28.50, Z:-1.82 [[ 9.93891468e-01 1.10358686e-01 8.42608895e-04 4.22311184e+02] [-1.10358660e-01 9.93891825e-01 -7.66164223e-05 -2.85015515e+01] [-8.45917380e-04 -1.68407804e-05 9.99999642e-01 -1.82111357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95028169299997 meters Centerline goodness [0,1] 0.9993200603446444 Centerline is valid? [True, True] Translation: X:422.34, Y:-28.50, Z:-1.82 [[ 9.93744562e-01 1.11676494e-01 3.25030212e-04 4.22339672e+02] [-1.11676490e-01 9.93744615e-01 -2.96188786e-05 -2.84978624e+01] [-3.26304755e-04 -6.86463376e-06 9.99999947e-01 -1.82256915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98028169299994 meters Centerline goodness [0,1] 0.9992855341682777 Centerline is valid? [True, True] Translation: X:422.37, Y:-28.50, Z:-1.82 [[ 9.93789968e-01 1.11271786e-01 -2.97183910e-04 4.22367895e+02] [-1.11271783e-01 9.93790013e-01 2.68342528e-05 -2.84979485e+01] [ 2.98324297e-04 6.40057234e-06 9.99999955e-01 -1.82379278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01028169299997 meters Centerline goodness [0,1] 0.9994280872696463 Centerline is valid? [True, True] Translation: X:422.40, Y:-28.50, Z:-1.82 [[ 9.93853680e-01 1.10700590e-01 -4.91917632e-04 4.22397266e+02] [-1.10700582e-01 9.93853802e-01 4.44976602e-05 -2.84983318e+01] [ 4.93820126e-04 1.02314048e-05 9.99999878e-01 -1.82453901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04028169299994 meters Centerline goodness [0,1] 0.9994933181328773 Centerline is valid? [True, True] Translation: X:422.42, Y:-28.50, Z:-1.82 [[ 9.93929769e-01 1.10015491e-01 -4.54530162e-04 4.22424999e+02] [-1.10015484e-01 9.93929873e-01 4.10593916e-05 -2.84954093e+01] [ 4.56288276e-04 9.19520404e-06 9.99999896e-01 -1.82481578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.07028169299997 meters Centerline goodness [0,1] 0.9996384517226712 Centerline is valid? [True, True] Translation: X:422.45, Y:-28.50, Z:-1.82 [[ 9.93969210e-01 1.09658857e-01 -3.80069188e-04 4.22453885e+02] [-1.09658852e-01 9.93969283e-01 3.43167313e-05 -2.84982776e+01] [ 3.81540232e-04 7.56817665e-06 9.99999927e-01 -1.82463885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10028169299994 meters Centerline goodness [0,1] 0.9996586229704069 Centerline is valid? [True, True] Translation: X:422.48, Y:-28.50, Z:-1.83 [[ 9.94062809e-01 1.08802366e-01 -1.08465017e-03 4.22482440e+02] [-1.08802323e-01 9.94063401e-01 9.80287833e-05 -2.84955012e+01] [ 1.08887680e-03 2.05656909e-05 9.99999407e-01 -1.82649788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.130281693 meters Centerline goodness [0,1] 0.9995921871646276 Centerline is valid? [True, True] Translation: X:422.51, Y:-28.50, Z:-1.83 [[ 9.94130623e-01 1.08181568e-01 -1.02642094e-03 4.22510990e+02] [-1.08181530e-01 9.94131152e-01 9.27366864e-05 -2.84959564e+01] [ 1.03042943e-03 1.88474078e-05 9.99999469e-01 -1.82667585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16028169299994 meters Centerline goodness [0,1] 0.999661088752383 Centerline is valid? [True, True] Translation: X:422.54, Y:-28.50, Z:-1.83 [[ 9.94180425e-01 1.07719266e-01 -1.35744520e-03 4.22539042e+02] [-1.07719199e-01 9.94181351e-01 1.22574180e-04 -2.84957448e+01] [ 1.36275031e-03 2.43620594e-05 9.99999071e-01 -1.82718333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.190281693 meters Centerline goodness [0,1] 0.9997460209955977 Centerline is valid? [True, True] Translation: X:422.57, Y:-28.50, Z:-1.83 [[ 9.94256418e-01 1.07013014e-01 -1.54582360e-03 4.22567766e+02] [-1.07012926e-01 9.94257620e-01 1.39555020e-04 -2.84961835e+01] [ 1.55188109e-03 2.66696312e-05 9.99998795e-01 -1.82761931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22028169299995 meters Centerline goodness [0,1] 0.9997460209955977 Centerline is valid? [True, True] Translation: X:422.60, Y:-28.50, Z:-1.83 [[ 9.94263717e-01 1.06945175e-01 -1.54583744e-03 4.22595161e+02] [-1.06945088e-01 9.94264919e-01 1.39401706e-04 -2.84985170e+01] [ 1.55188027e-03 2.67176623e-05 9.99998795e-01 -1.82767718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.250281693 meters Centerline goodness [0,1] 0.9998086612666625 Centerline is valid? [True, True] Translation: X:422.62, Y:-28.50, Z:-1.83 [[ 9.94359019e-01 1.06061047e-01 -1.09388633e-03 4.22623677e+02] [-1.06061003e-01 9.94359620e-01 9.86013562e-05 -2.85012532e+01] [ 1.09817416e-03 1.79735335e-05 9.99999397e-01 -1.82757172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28028169299995 meters Centerline goodness [0,1] 0.9999148283791841 Centerline is valid? [True, True] Translation: X:422.65, Y:-28.50, Z:-1.83 [[ 9.94491029e-01 1.04818976e-01 -7.58370092e-04 4.22651567e+02] [-1.04818954e-01 9.94491318e-01 6.82621240e-05 -2.85036228e+01] [ 7.61347638e-04 1.16054900e-05 9.99999710e-01 -1.82734344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.310281693 meters Centerline goodness [0,1] 0.9998938361254432 Centerline is valid? [True, True] Translation: X:422.68, Y:-28.51, Z:-1.83 [[ 9.94621268e-01 1.03574742e-01 -8.97259212e-04 4.22680121e+02] [-1.03574712e-01 9.94621673e-01 8.07689146e-05 -2.85069652e+01] [ 9.00799078e-04 1.25988839e-05 9.99999594e-01 -1.82769565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34028169299995 meters Centerline goodness [0,1] 0.9998526750010523 Centerline is valid? [True, True] Translation: X:422.71, Y:-28.51, Z:-1.83 [[ 9.94862889e-01 1.01212688e-01 -1.95565997e-03 4.22708194e+02] [-1.01212537e-01 9.94864811e-01 1.76022423e-04 -2.85086432e+01] [ 1.96343299e-03 2.28191311e-05 9.99998072e-01 -1.83040733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.370281693 meters Centerline goodness [0,1] 0.9998945325683429 Centerline is valid? [True, True] Translation: X:422.74, Y:-28.51, Z:-1.83 [[ 9.94919244e-01 1.00649728e-01 -2.30860492e-03 4.22736705e+02] [-1.00649517e-01 9.94921922e-01 2.07731326e-04 -2.85114501e+01] [ 2.31778975e-03 2.56840753e-05 9.99997314e-01 -1.83002527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40028169299995 meters Centerline goodness [0,1] 0.9998301774645495 Centerline is valid? [True, True] Translation: X:422.76, Y:-28.50, Z:-1.83 [[ 9.94812226e-01 1.01721236e-01 -1.19356959e-03 4.22764994e+02] [-1.01721180e-01 9.94812942e-01 1.07264136e-04 -2.85049580e+01] [ 1.19828952e-03 1.47036334e-05 9.99999282e-01 -1.82713086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.430281693 meters Centerline goodness [0,1] 0.9998308918341895 Centerline is valid? [True, True] Translation: X:422.79, Y:-28.50, Z:-1.82 [[ 9.94616326e-01 1.03626079e-01 -2.22805960e-05 4.22793010e+02] [-1.03626079e-01 9.94616326e-01 1.88783317e-06 -2.84994929e+01] [ 2.23562733e-05 4.31181120e-07 1.00000000e+00 -1.82470492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46028169299996 meters Centerline goodness [0,1] 0.9997871208089409 Centerline is valid? [True, True] Translation: X:422.82, Y:-28.50, Z:-1.82 [[ 9.94378528e-01 1.05878357e-01 1.05638343e-03 4.22822430e+02] [-1.05878315e-01 9.94379089e-01 -9.50303279e-05 -2.84983281e+01] [-1.06050725e-03 -1.73519806e-05 9.99999438e-01 -1.82228129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.490281693 meters Centerline goodness [0,1] 0.9996805724142337 Centerline is valid? [True, True] Translation: X:422.85, Y:-28.48, Z:-1.82 [[ 9.93905493e-01 1.10233007e-01 7.45564090e-04 4.22852830e+02] [-1.10232988e-01 9.93905772e-01 -6.70471104e-05 -2.84847719e+01] [-7.48411257e-04 -1.55472659e-05 9.99999720e-01 -1.82329122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52028169299996 meters Centerline goodness [0,1] 0.999131245497309 Centerline is valid? [True, True] Translation: X:422.88, Y:-28.47, Z:-1.83 [[ 9.93732328e-01 1.11785642e-01 1.74560545e-04 4.22881827e+02] [-1.11785641e-01 9.93732343e-01 -1.57936623e-05 -2.84738893e+01] [-1.75231964e-04 -3.81868964e-06 9.99999985e-01 -1.82531496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.550281693 meters Centerline goodness [0,1] 0.99866293136381 Centerline is valid? [True, True] Translation: X:422.91, Y:-28.47, Z:-1.83 [[ 9.93594105e-01 1.13007666e-01 1.48029890e-04 4.22910951e+02] [-1.13007665e-01 9.93594116e-01 -1.33950250e-05 -2.84652747e+01] [-1.48595368e-04 -3.41929434e-06 9.99999989e-01 -1.82664320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58028169299996 meters Centerline goodness [0,1] 0.9994436955731005 Centerline is valid? [True, True] Translation: X:422.94, Y:-28.47, Z:-1.83 [[ 9.93609831e-01 1.12867797e-01 6.04152844e-04 4.22939643e+02] [-1.12867784e-01 9.93610014e-01 -5.42730794e-05 -2.84664562e+01] [-6.06417998e-04 -1.42631277e-05 9.99999816e-01 -1.82552245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.61028169299993 meters Centerline goodness [0,1] 0.9993016611998731 Centerline is valid? [True, True] Translation: X:422.97, Y:-28.47, Z:-1.83 [[ 9.93804563e-01 1.11140431e-01 5.42897901e-04 4.22968217e+02] [-1.11140421e-01 9.93804711e-01 -4.87541989e-05 -2.84650506e+01] [-5.44953054e-04 -1.18857559e-05 9.99999851e-01 -1.82644827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64028169299996 meters Centerline goodness [0,1] 0.9995132069082289 Centerline is valid? [True, True] Translation: X:423.00, Y:-28.47, Z:-1.83 [[ 9.94072269e-01 1.08721267e-01 9.56680551e-05 4.22996471e+02] [-1.08721267e-01 9.94072274e-01 -8.66864967e-06 -2.84700190e+01] [-9.60434276e-05 -1.78388788e-06 9.99999995e-01 -1.82735944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.67028169299994 meters Centerline goodness [0,1] 0.9998721527348661 Centerline is valid? [True, True] Translation: X:423.03, Y:-28.48, Z:-1.83 [[ 9.94782166e-01 1.02019385e-01 -6.97841780e-04 4.23025615e+02] [-1.02019366e-01 9.94782411e-01 6.24394747e-05 -2.84774349e+01] [ 7.00570765e-04 9.07969999e-06 9.99999755e-01 -1.82930541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70028169299997 meters Centerline goodness [0,1] 0.9998729970577652 Centerline is valid? [True, True] Translation: X:423.05, Y:-28.48, Z:-1.83 [[ 9.95154558e-01 9.83185231e-02 -9.35118662e-04 4.23052786e+02] [-9.83184880e-02 9.95154997e-01 8.35577024e-05 -2.84832168e+01] [ 9.38803279e-04 8.78662458e-06 9.99999559e-01 -1.82937092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.73028169299994 meters Centerline goodness [0,1] 0.9999148193104623 Centerline is valid? [True, True] Translation: X:423.08, Y:-28.49, Z:-1.83 [[ 9.95521515e-01 9.45350182e-02 -2.09270868e-04 4.23081227e+02] [-9.45350164e-02 9.95521537e-01 1.86186926e-05 -2.84907561e+01] [ 2.10093774e-04 1.24811582e-06 9.99999978e-01 -1.82837203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76028169299997 meters Centerline goodness [0,1] 0.9999362109291942 Centerline is valid? [True, True] Translation: X:423.11, Y:-28.50, Z:-1.83 [[ 9.95850780e-01 9.09960374e-02 9.72261372e-04 4.23108817e+02] [-9.09959958e-02 9.95851255e-01 -8.70255619e-05 -2.84982191e+01] [-9.76146689e-04 -1.80741805e-06 9.99999524e-01 -1.82678267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.14, Y:-28.51, Z:-1.83 [[ 9.96284767e-01 8.61098038e-02 1.32875300e-03 4.23135922e+02] [-8.61097219e-02 9.96285653e-01 -1.18823196e-04 -2.85065682e+01] [-1.33404939e-03 3.96318889e-06 9.99999110e-01 -1.82552273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.16, Y:-28.51, Z:-1.83 [[ 9.96410929e-01 8.46478633e-02 -1.12746982e-05 4.23163493e+02] [-8.46478633e-02 9.96410929e-01 8.80426833e-07 -2.85115167e+01] [ 1.13087588e-05 7.71121979e-08 1.00000000e+00 -1.82801402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.19, Y:-28.52, Z:-1.83 [[ 9.96478802e-01 8.38383729e-02 -1.06017116e-03 4.23190574e+02] [-8.38383200e-02 9.96479366e-01 9.44022577e-05 -2.85171472e+01] [ 1.06435322e-03 -5.18687967e-06 9.99999434e-01 -1.83090496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.880281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.22, Y:-28.52, Z:-1.83 [[ 9.96538172e-01 8.31166832e-02 -1.81322166e-03 4.23218865e+02] [-8.31165269e-02 9.96539822e-01 1.61521067e-04 -2.85221409e+01] [ 1.82037269e-03 -1.02532216e-05 9.99998343e-01 -1.83160224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.25, Y:-28.53, Z:-1.83 [[ 9.96504231e-01 8.35264749e-02 -1.62640071e-03 4.23247462e+02] [-8.35263499e-02 9.96505558e-01 1.44785829e-04 -2.85258667e+01] [ 1.63281079e-03 -8.43237721e-06 9.99998667e-01 -1.83087836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.940281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.28, Y:-28.53, Z:-1.83 [[ 9.96438422e-01 8.43150689e-02 -1.20007893e-03 4.23275670e+02] [-8.43150015e-02 9.96439145e-01 1.06748858e-04 -2.85283801e+01] [ 1.20480616e-03 -5.18400641e-06 9.99999274e-01 -1.83085133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.30, Y:-28.53, Z:-1.83 [[ 9.96333529e-01 8.55514793e-02 -6.66462695e-04 4.23303508e+02] [-8.55514589e-02 9.96333752e-01 5.91766090e-05 -2.85305066e+01] [ 6.69081924e-04 -1.94278376e-06 9.99999776e-01 -1.83016464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.000281693 meters Centerline goodness [0,1] 0.9999572329733776 Centerline is valid? [True, True] Translation: X:423.33, Y:-28.53, Z:-1.83 [[ 9.96192351e-01 8.71795651e-02 7.23946812e-04 4.23332096e+02] [-8.71795413e-02 9.96192614e-01 -6.44792297e-05 -2.85326992e+01] [-7.26811738e-04 1.12036436e-06 9.99999736e-01 -1.82757664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.36, Y:-28.54, Z:-1.83 [[ 9.96194767e-01 8.71490359e-02 1.01557921e-03 4.23359743e+02] [-8.71489890e-02 9.96195285e-01 -9.03937241e-05 -2.85350134e+01] [-1.01959294e-03 1.54305371e-06 9.99999480e-01 -1.82715005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.060281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.39, Y:-28.54, Z:-1.83 [[ 9.96275243e-01 8.62254699e-02 8.99155324e-04 4.23387738e+02] [-8.62254328e-02 9.96275649e-01 -7.99838036e-05 -2.85386992e+01] [-9.02703195e-04 2.15582638e-06 9.99999593e-01 -1.82755239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.09028169299995 meters Centerline goodness [0,1] 0.9999789633120162 Centerline is valid? [True, True] Translation: X:423.42, Y:-28.55, Z:-1.83 [[ 9.96528626e-01 8.32215886e-02 2.20570008e-03 4.23415014e+02] [-8.32213590e-02 9.96531067e-01 -1.95831706e-04 -2.85479392e+01] [-2.21434608e-03 1.15905420e-05 9.99997548e-01 -1.82687869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.120281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.44, Y:-28.55, Z:-1.83 [[ 9.96670524e-01 8.14844864e-02 2.85391697e-03 4.23443515e+02] [-8.14840955e-02 9.96674610e-01 -2.53186184e-04 -2.85541482e+01] [-2.86505733e-03 1.97943640e-05 9.99995896e-01 -1.82549655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.15028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.47, Y:-28.56, Z:-1.83 [[ 9.96829196e-01 7.95209131e-02 2.82473438e-03 4.23471715e+02] [-7.95205226e-02 9.96833198e-01 -2.50464125e-04 -2.85606803e+01] [-2.83570614e-03 2.50455985e-05 9.99995979e-01 -1.82527600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.180281693 meters Centerline goodness [0,1] 0.9999785181843569 Centerline is valid? [True, True] Translation: X:423.50, Y:-28.57, Z:-1.82 [[ 9.97049603e-01 7.67148416e-02 2.63090014e-03 4.23499552e+02] [-7.67144934e-02 9.97053074e-01 -2.33159380e-04 -2.85694265e+01] [-2.64103386e-03 3.06432962e-05 9.99996512e-01 -1.82477010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.21028169299996 meters Centerline goodness [0,1] 0.9998932832476042 Centerline is valid? [True, True] Translation: X:423.53, Y:-28.58, Z:-1.83 [[ 9.97128833e-01 7.56946485e-02 2.10014413e-03 4.23527128e+02] [-7.56944245e-02 9.97131044e-01 -1.86042347e-04 -2.85763700e+01] [-2.10820132e-03 2.65389871e-05 9.99997777e-01 -1.82558414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.240281693 meters Centerline goodness [0,1] 0.9998930138012196 Centerline is valid? [True, True] Translation: X:423.56, Y:-28.58, Z:-1.83 [[ 9.97161530e-01 7.52769146e-02 1.50610927e-03 4.23555610e+02] [-7.52767990e-02 9.97162668e-01 -1.33358371e-04 -2.85796742e+01] [-1.51187475e-03 1.96047526e-05 9.99998857e-01 -1.82693273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.27028169299996 meters Centerline goodness [0,1] 0.9999150670969934 Centerline is valid? [True, True] Translation: X:423.58, Y:-28.58, Z:-1.83 [[ 9.97154650e-01 7.53825516e-02 2.74193897e-04 4.23582594e+02] [-7.53825478e-02 9.97154688e-01 -2.43653394e-05 -2.85847497e+01] [-2.75250452e-04 3.62657690e-06 9.99999962e-01 -1.83001187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.300281693 meters Centerline goodness [0,1] 0.9999574866082817 Centerline is valid? [True, True] Translation: X:423.61, Y:-28.59, Z:-1.83 [[ 9.97129100e-01 7.57202512e-02 3.92547725e-05 4.23611194e+02] [-7.57202511e-02 9.97129101e-01 -3.56717337e-06 -2.85873257e+01] [-3.94121833e-05 5.84551140e-07 9.99999999e-01 -1.83038923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.33028169299996 meters Centerline goodness [0,1] 0.9999357959166203 Centerline is valid? [True, True] Translation: X:423.64, Y:-28.59, Z:-1.83 [[ 9.97125701e-01 7.57642268e-02 3.42770631e-04 4.23638346e+02] [-7.57642208e-02 9.97125760e-01 -3.04016896e-05 -2.85926138e+01] [-3.44088787e-04 4.34455631e-06 9.99999941e-01 -1.83006341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36028169299993 meters Centerline goodness [0,1] 0.9999786903062203 Centerline is valid? [True, True] Translation: X:423.67, Y:-28.60, Z:-1.83 [[ 9.97148157e-01 7.54678822e-02 3.90639317e-04 4.23665984e+02] [-7.54678744e-02 9.97148233e-01 -3.45784045e-05 -2.86029314e+01] [-3.92134864e-04 4.99907342e-06 9.99999923e-01 -1.83052905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.39028169299996 meters Centerline goodness [0,1] 0.9999787052810903 Centerline is valid? [True, True] Translation: X:423.69, Y:-28.61, Z:-1.83 [[ 9.97191376e-01 7.48956282e-02 -5.96688319e-05 4.23693266e+02] [-7.48956280e-02 9.97191378e-01 5.14198953e-06 -2.86100496e+01] [ 5.98863573e-05 -6.58612974e-07 9.99999998e-01 -1.83132373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42028169299994 meters Centerline goodness [0,1] 0.9999788149058323 Centerline is valid? [True, True] Translation: X:423.72, Y:-28.62, Z:-1.83 [[ 9.97200516e-01 7.47731748e-02 -3.21301894e-04 4.23721722e+02] [-7.47731696e-02 9.97200568e-01 2.82330703e-05 -2.86154289e+01] [ 3.22513508e-04 -4.12927125e-06 9.99999948e-01 -1.83241350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.45028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.75, Y:-28.62, Z:-1.83 [[ 9.97152262e-01 7.54119020e-02 -6.41533149e-04 4.23750027e+02] [-7.54118813e-02 9.97152468e-01 5.64353325e-05 -2.86185843e+01] [ 6.43962259e-04 -7.89539775e-06 9.99999793e-01 -1.83277316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48028169299994 meters Centerline goodness [0,1] 0.9999786438868126 Centerline is valid? [True, True] Translation: X:423.78, Y:-28.62, Z:-1.83 [[ 9.97017631e-01 7.71648546e-02 -1.19528187e-03 4.23777836e+02] [-7.71647839e-02 9.97018347e-01 1.05177366e-04 -2.86244403e+01] [ 1.19983395e-03 -1.26300210e-05 9.99999280e-01 -1.83408769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.51028169299997 meters Centerline goodness [0,1] 0.9999576316068213 Centerline is valid? [True, True] Translation: X:423.81, Y:-28.63, Z:-1.83 [[ 9.96968146e-01 7.78034825e-02 -1.06471119e-03 4.23805496e+02] [-7.78034269e-02 9.96968715e-01 9.35935504e-05 -2.86292895e+01] [ 1.06876566e-03 -1.04716088e-05 9.99999429e-01 -1.83392060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54028169299994 meters Centerline goodness [0,1] 0.9999787392367386 Centerline is valid? [True, True] Translation: X:423.83, Y:-28.63, Z:-1.83 [[ 9.96905027e-01 7.86121822e-02 -7.01501679e-04 4.23834226e+02] [-7.86121583e-02 9.96905274e-01 6.16492483e-05 -2.86322916e+01] [ 7.04177106e-04 -6.31188453e-06 9.99999752e-01 -1.83288801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.57028169299997 meters Centerline goodness [0,1] 0.9999786703069343 Centerline is valid? [True, True] Translation: X:423.86, Y:-28.64, Z:-1.83 [[ 9.96783943e-01 8.01323789e-02 -7.57353950e-04 4.23861779e+02] [-8.01323515e-02 9.96784230e-01 6.64731813e-05 -2.86369905e+01] [ 7.60245128e-04 -5.57084682e-06 9.99999711e-01 -1.83302065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60028169299994 meters Centerline goodness [0,1] 0.9999789717169593 Centerline is valid? [True, True] Translation: X:423.89, Y:-28.64, Z:-1.83 [[ 9.96737873e-01 8.06978450e-02 -1.21251125e-03 4.23890119e+02] [-8.06977752e-02 9.96738611e-01 1.06464004e-04 -2.86409443e+01] [ 1.21714820e-03 -8.26974434e-06 9.99999259e-01 -1.83443777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.630281693 meters Centerline goodness [0,1] 0.9999365428547254 Centerline is valid? [True, True] Translation: X:423.92, Y:-28.64, Z:-1.84 [[ 9.96669846e-01 8.15279504e-02 -1.55256997e-03 4.23918644e+02] [-8.15278370e-02 9.96671056e-01 1.36279904e-04 -2.86446788e+01] [ 1.55851217e-03 -9.24839892e-06 9.99998785e-01 -1.83532685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66028169299994 meters Centerline goodness [0,1] 0.9999575920782002 Centerline is valid? [True, True] Translation: X:423.95, Y:-28.65, Z:-1.84 [[ 9.96584837e-01 8.25578893e-02 -1.69058875e-03 4.23946715e+02] [-8.25577565e-02 9.96586271e-01 1.48328032e-04 -2.86478517e+01] [ 1.69706319e-03 -8.25025316e-06 9.99998560e-01 -1.83542939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.690281693 meters Centerline goodness [0,1] 0.9998946325838198 Centerline is valid? [True, True] Translation: X:423.98, Y:-28.65, Z:-1.84 [[ 9.96313437e-01 8.57685924e-02 -1.81232434e-03 4.23975147e+02] [-8.57684452e-02 9.96315085e-01 1.58935137e-04 -2.86481223e+01] [ 1.81927772e-03 -2.90897230e-06 9.99998345e-01 -1.83574051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72028169299995 meters Centerline goodness [0,1] 0.999978603218076 Centerline is valid? [True, True] Translation: X:424.00, Y:-28.65, Z:-1.84 [[ 9.96099093e-01 8.82195991e-02 -1.97465624e-03 4.24004309e+02] [-8.82194293e-02 9.96101050e-01 1.73093826e-04 -2.86479431e+01] [ 1.98222742e-03 1.78444312e-06 9.99998035e-01 -1.83559654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.750281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.03, Y:-28.65, Z:-1.84 [[ 9.95865697e-01 9.08146302e-02 -2.05338952e-03 4.24032601e+02] [-9.08144524e-02 9.95867814e-01 1.79863874e-04 -2.86470625e+01] [ 2.06123880e-03 7.35718244e-06 9.99997876e-01 -1.83562156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78028169299995 meters Centerline goodness [0,1] 0.99995766747804 Centerline is valid? [True, True] Translation: X:424.06, Y:-28.64, Z:-1.83 [[ 9.95146419e-01 9.83965993e-02 -1.30905029e-03 4.24061890e+02] [-9.83965337e-02 9.95147280e-01 1.14589284e-04 -2.86371269e+01] [ 1.31397303e-03 1.47728954e-05 9.99999137e-01 -1.83322861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.810281693 meters Centerline goodness [0,1] 0.9999784473468684 Centerline is valid? [True, True] Translation: X:424.09, Y:-28.63, Z:-1.83 [[ 9.94719969e-01 1.02626238e-01 -1.97837810e-04 4.24091882e+02] [-1.02626237e-01 9.94719988e-01 1.72816913e-05 -2.86319455e+01] [ 1.98566779e-04 3.11290649e-06 9.99999980e-01 -1.83097468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84028169299995 meters Centerline goodness [0,1] 0.999936489118469 Centerline is valid? [True, True] Translation: X:424.12, Y:-28.63, Z:-1.83 [[ 9.94348550e-01 1.06158828e-01 1.12415748e-03 4.24121272e+02] [-1.06158784e-01 9.94349186e-01 -9.84928760e-05 -2.86322471e+01] [-1.12826096e-03 -2.14029427e-05 9.99999363e-01 -1.82811425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.870281693 meters Centerline goodness [0,1] 0.999872288797599 Centerline is valid? [True, True] Translation: X:424.15, Y:-28.63, Z:-1.83 [[ 9.94002092e-01 1.09330564e-01 2.58230743e-03 4.24150757e+02] [-1.09330346e-01 9.94005445e-01 -2.26060582e-04 -2.86298393e+01] [-2.59154297e-03 -5.76198722e-05 9.99996640e-01 -1.82581634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90028169299995 meters Centerline goodness [0,1] 0.9992541766109785 Centerline is valid? [True, True] Translation: X:424.18, Y:-28.62, Z:-1.83 [[ 9.93492328e-01 1.13862218e-01 2.89654529e-03 4.24180557e+02] [-1.13861963e-01 9.93496547e-01 -2.53468085e-04 -2.86229841e+01] [-2.90656819e-03 -7.79877343e-05 9.99995773e-01 -1.82553792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.930281693 meters Centerline goodness [0,1] 0.999085242623439 Centerline is valid? [True, True] Translation: X:424.21, Y:-28.62, Z:-1.83 [[ 9.93270384e-01 1.15793798e-01 2.39592036e-03 4.24209773e+02] [-1.15793629e-01 9.93273271e-01 -2.09609109e-04 -2.86192075e+01] [-2.40407509e-03 -6.92337921e-05 9.99997108e-01 -1.82706660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96028169299996 meters Centerline goodness [0,1] 0.9987639060568603 Centerline is valid? [True, True] Translation: X:424.24, Y:-28.62, Z:-1.83 [[ 9.93045016e-01 1.17724538e-01 1.59009336e-03 4.24239113e+02] [-1.17724466e-01 9.93046288e-01 -1.39079979e-04 -2.86153495e+01] [-1.59540944e-03 -4.90802121e-05 9.99998726e-01 -1.82829479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.990281693 meters Centerline goodness [0,1] 0.997961393896923 Centerline is valid? [True, True] Translation: X:424.27, Y:-28.61, Z:-1.83 [[ 9.92632737e-01 1.21157744e-01 1.02529138e-03 4.24270267e+02] [-1.21157716e-01 9.92633266e-01 -8.96322506e-05 -2.86099665e+01] [-1.02859797e-03 -3.52500554e-05 9.99999470e-01 -1.82935152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02028169299996 meters Centerline goodness [0,1] 0.9977510762706419 Centerline is valid? [True, True] Translation: X:424.30, Y:-28.61, Z:-1.83 [[ 9.92466497e-01 1.22505858e-01 1.60229737e-03 4.24299138e+02] [-1.22505791e-01 9.92467789e-01 -1.40098207e-04 -2.86081066e+01] [-1.60739137e-03 -5.72479290e-05 9.99998707e-01 -1.82780331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.050281693 meters Centerline goodness [0,1] 0.991370056199878 Centerline is valid? [True, True] Translation: X:424.33, Y:-28.59, Z:-1.83 [[ 9.92370397e-01 1.23258772e-01 2.87568340e-03 4.24328122e+02] [-1.23258561e-01 9.92374558e-01 -2.51214196e-04 -2.85922239e+01] [-2.88471940e-03 -1.05155065e-04 9.99995834e-01 -1.82576216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08028169299996 meters Centerline goodness [0,1] 0.9953316434305027 Centerline is valid? [True, True] Translation: X:424.36, Y:-28.60, Z:-1.82 [[ 9.92100449e-01 1.25364594e-01 4.51859387e-03 4.24357460e+02] [-1.25364095e-01 9.92110724e-01 -3.94485817e-04 -2.85977064e+01] [-4.53239999e-03 -1.75099876e-04 9.99989713e-01 -1.82295680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.11028169299993 meters Centerline goodness [0,1] 0.9950968745275072 Centerline is valid? [True, True] Translation: X:424.39, Y:-28.60, Z:-1.82 [[ 9.92012946e-01 1.26068201e-01 4.13804192e-03 4.24386613e+02] [-1.26067790e-01 9.92021563e-01 -3.61121385e-04 -2.85965548e+01] [-4.15055273e-03 -1.63436709e-04 9.99991373e-01 -1.82440311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14028169299996 meters Centerline goodness [0,1] 0.9950968745275072 Centerline is valid? [True, True] Translation: X:424.41, Y:-28.60, Z:-1.82 [[ 9.92021817e-01 1.25998373e-01 4.13806301e-03 4.24414027e+02] [-1.25997962e-01 9.92030435e-01 -3.60879514e-04 -2.85988119e+01] [-4.15055468e-03 -1.63387156e-04 9.99991373e-01 -1.82446102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.17028169299994 meters Centerline goodness [0,1] 0.994796384856848 Centerline is valid? [True, True] Translation: X:424.44, Y:-28.59, Z:-1.83 [[ 9.92080333e-01 1.25577382e-01 2.63318160e-03 4.24442514e+02] [-1.25577215e-01 9.92083822e-01 -2.29512983e-04 -2.85946135e+01] [-2.64115851e-03 -1.02972295e-04 9.99996507e-01 -1.82682521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20028169299997 meters Centerline goodness [0,1] 0.9967159277504105 Centerline is valid? [True, True] Translation: X:424.47, Y:-28.60, Z:-1.83 [[ 9.92183297e-01 1.24777478e-01 1.69878592e-03 4.24471316e+02] [-1.24777407e-01 9.92184749e-01 -1.48008293e-04 -2.85977645e+01] [-1.70397759e-03 -6.51187466e-05 9.99998546e-01 -1.82934350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.23028169299994 meters Centerline goodness [0,1] 0.996930762229325 Centerline is valid? [True, True] Translation: X:424.50, Y:-28.60, Z:-1.83 [[ 9.92493121e-01 1.22297066e-01 9.12180554e-04 4.24500215e+02] [-1.22297045e-01 9.92493540e-01 -7.94496803e-05 -2.85955659e+01] [-9.15049770e-04 -3.27037247e-05 9.99999581e-01 -1.83091633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26028169299997 meters Centerline goodness [0,1] 0.998064529850905 Centerline is valid? [True, True] Translation: X:424.53, Y:-28.60, Z:-1.83 [[ 9.92594522e-01 1.21472418e-01 7.52611332e-04 4.24529287e+02] [-1.21472403e-01 9.92594807e-01 -6.55583914e-05 -2.85998388e+01] [-7.55001637e-04 -2.63486068e-05 9.99999715e-01 -1.83025828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.29028169299994 meters Centerline goodness [0,1] 0.9924013761952002 Centerline is valid? [True, True] Translation: X:424.56, Y:-28.59, Z:-1.83 [[ 9.92718213e-01 1.20455308e-01 1.03376058e-03 4.24557978e+02] [-1.20455279e-01 9.92718751e-01 -9.00385189e-05 -2.85863180e+01] [-1.03707913e-03 -3.51390416e-05 9.99999462e-01 -1.83003786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32028169299997 meters Centerline goodness [0,1] 0.9992732868806908 Centerline is valid? [True, True] Translation: X:424.59, Y:-28.60, Z:-1.83 [[ 9.92927613e-01 1.18708810e-01 1.72471665e-03 4.24585841e+02] [-1.18708728e-01 9.92929109e-01 -1.49934700e-04 -2.86049879e+01] [-1.73031993e-03 -5.58646156e-05 9.99998501e-01 -1.82857185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.35028169299994 meters Centerline goodness [0,1] 0.9946284125379171 Centerline is valid? [True, True] Translation: X:424.62, Y:-28.59, Z:-1.83 [[ 9.93075554e-01 1.17457926e-01 2.13987104e-03 4.24615823e+02] [-1.17457798e-01 9.93077858e-01 -1.85926566e-04 -2.85864501e+01] [-2.14689710e-03 -6.67054136e-05 9.99997693e-01 -1.82815019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.380281693 meters Centerline goodness [0,1] 0.9989943297314646 Centerline is valid? [True, True] Translation: X:424.64, Y:-28.60, Z:-1.83 [[ 9.93237633e-01 1.16063395e-01 2.87956912e-03 4.24642931e+02] [-1.16063158e-01 9.93241804e-01 -2.50019545e-04 -2.86048963e+01] [-2.88912654e-03 -8.58830637e-05 9.99995823e-01 -1.82793985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.41028169299994 meters Centerline goodness [0,1] 0.9995132275132275 Centerline is valid? [True, True] Translation: X:424.67, Y:-28.61, Z:-1.83 [[ 9.93710428e-01 1.11942023e-01 2.92724296e-03 4.24671509e+02] [-1.11941760e-01 9.93714737e-01 -2.54026637e-04 -2.86072266e+01] [-2.93728073e-03 -7.52518112e-05 9.99995683e-01 -1.82782731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.440281693 meters Centerline goodness [0,1] 0.9996608301182855 Centerline is valid? [True, True] Translation: X:424.70, Y:-28.61, Z:-1.83 [[ 9.93958821e-01 1.09724447e-01 2.53137814e-03 4.24700391e+02] [-1.09724243e-01 9.93962043e-01 -2.19588116e-04 -2.86100720e+01] [-2.54018797e-03 -5.94920062e-05 9.99996772e-01 -1.82845494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.47028169299995 meters Centerline goodness [0,1] 0.999809885931559 Centerline is valid? [True, True] Translation: X:424.73, Y:-28.61, Z:-1.83 [[ 9.94198230e-01 1.07545179e-01 1.97858131e-03 4.24728872e+02] [-1.07545050e-01 9.94200198e-01 -1.71563719e-04 -2.86105018e+01] [-1.98555678e-03 -4.22182811e-05 9.99998028e-01 -1.82926219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.500281693 meters Centerline goodness [0,1] 0.9999356126456764 Centerline is valid? [True, True] Translation: X:424.76, Y:-28.62, Z:-1.83 [[ 9.94520034e-01 1.04532296e-01 1.70353671e-03 4.24757288e+02] [-1.04532196e-01 9.94521492e-01 -1.47649647e-04 -2.86171412e+01] [-1.70963802e-03 -3.12339013e-05 9.99998538e-01 -1.82984692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53028169299995 meters Centerline goodness [0,1] 0.9998942962242612 Centerline is valid? [True, True] Translation: X:424.79, Y:-28.62, Z:-1.83 [[ 9.94703815e-01 1.02769085e-01 1.68413108e-03 4.24785497e+02] [-1.02768985e-01 9.94705240e-01 -1.45890254e-04 -2.86162341e+01] [-1.69020702e-03 -2.79588499e-05 9.99998571e-01 -1.83045554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.560281693 meters Centerline goodness [0,1] 0.9999572832123025 Centerline is valid? [True, True] Translation: X:424.81, Y:-28.62, Z:-1.83 [[ 9.94880513e-01 1.01044973e-01 1.63658916e-03 4.24814224e+02] [-1.01044877e-01 9.94881859e-01 -1.41668074e-04 -2.86182717e+01] [-1.64252771e-03 -2.44261436e-05 9.99998651e-01 -1.83078936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.84, Y:-28.62, Z:-1.83 [[ 9.95023796e-01 9.96247028e-02 1.60116535e-03 4.24842524e+02] [-9.96246088e-02 9.95025084e-01 -1.38547168e-04 -2.86179354e+01] [-1.60700240e-03 -2.16577423e-05 9.99998709e-01 -1.83131570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.620281693 meters Centerline goodness [0,1] 0.999978784342845 Centerline is valid? [True, True] Translation: X:424.87, Y:-28.62, Z:-1.83 [[ 9.95274109e-01 9.70898299e-02 1.73570985e-03 4.24871815e+02] [-9.70897159e-02 9.95275622e-01 -1.50014580e-04 -2.86165164e+01] [-1.74207459e-03 -1.92139487e-05 9.99998482e-01 -1.83182581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65028169299995 meters Centerline goodness [0,1] 0.999957211013885 Centerline is valid? [True, True] Translation: X:424.90, Y:-28.62, Z:-1.83 [[ 9.95460285e-01 9.51540237e-02 2.12909659e-03 4.24901042e+02] [-9.51538481e-02 9.95462562e-01 -1.83889550e-04 -2.86191495e+01] [-2.13693378e-03 -1.95369900e-05 9.99997717e-01 -1.83158131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.680281693 meters Centerline goodness [0,1] 0.999914346895075 Centerline is valid? [True, True] Translation: X:424.93, Y:-28.62, Z:-1.83 [[ 9.95943299e-01 8.99518275e-02 2.36950606e-03 4.24929556e+02] [-8.99515957e-02 9.95946117e-01 -2.04428921e-04 -2.86249025e+01] [-2.37828911e-03 -9.54123726e-06 9.99997172e-01 -1.83177643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71028169299996 meters Centerline goodness [0,1] 0.9997873878470893 Centerline is valid? [True, True] Translation: X:424.96, Y:-28.63, Z:-1.83 [[ 9.96220308e-01 8.68358656e-02 2.15178318e-03 4.24956755e+02] [-8.68356674e-02 9.96222632e-01 -1.85548444e-04 -2.86281275e+01] [-2.15976736e-03 -2.00439997e-06 9.99997668e-01 -1.83224609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.740281693 meters Centerline goodness [0,1] 0.9998734417515661 Centerline is valid? [True, True] Translation: X:424.98, Y:-28.63, Z:-1.83 [[ 9.96461407e-01 8.40305314e-02 1.88011625e-03 4.24984009e+02] [-8.40303753e-02 9.96463180e-01 -1.62029517e-04 -2.86316092e+01] [-1.88708204e-03 3.46928653e-06 9.99998219e-01 -1.83287871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77028169299996 meters Centerline goodness [0,1] 0.9997873833266004 Centerline is valid? [True, True] Translation: X:425.01, Y:-28.64, Z:-1.83 [[ 9.96654730e-01 8.17113257e-02 1.61485341e-03 4.25012998e+02] [-8.17112077e-02 9.96656039e-01 -1.39044637e-04 -2.86352236e+01] [-1.62081492e-03 6.62787320e-06 9.99998686e-01 -1.83314023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.800281693 meters Centerline goodness [0,1] 0.9995373193968328 Centerline is valid? [True, True] Translation: X:425.04, Y:-28.64, Z:-1.83 [[ 9.96940693e-01 7.81229879e-02 2.46029907e-03 4.25039946e+02] [-7.81227034e-02 9.96943729e-01 -2.11670301e-04 -2.86420400e+01] [-2.46931604e-03 1.88175229e-05 9.99996951e-01 -1.83080750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83028169299996 meters Centerline goodness [0,1] 0.9996203572859764 Centerline is valid? [True, True] Translation: X:425.07, Y:-28.65, Z:-1.83 [[ 9.97035155e-01 7.68759531e-02 3.31479670e-03 4.25068973e+02] [-7.68754306e-02 9.97040665e-01 -2.84940188e-04 -2.86463573e+01] [-3.32689216e-03 2.92689600e-05 9.99994465e-01 -1.82923818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86028169299993 meters Centerline goodness [0,1] 0.9995932609766018 Centerline is valid? [True, True] Translation: X:425.10, Y:-28.65, Z:-1.83 [[ 9.97086272e-01 7.61568572e-02 4.37017568e-03 4.25097569e+02] [-7.61559432e-02 9.97095849e-01 -3.75427738e-04 -2.86480876e+01] [-4.38607542e-03 4.15189929e-05 9.99990380e-01 -1.82826344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89028169299996 meters Centerline goodness [0,1] 0.9994237910282129 Centerline is valid? [True, True] Translation: X:425.13, Y:-28.65, Z:-1.83 [[ 9.97137962e-01 7.54413214e-02 4.94883374e-03 4.25125038e+02] [-7.54401419e-02 9.97150242e-01 -4.24839995e-04 -2.86525389e+01] [-4.96678125e-03 5.02833671e-05 9.99987664e-01 -1.82791421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92028169299994 meters Centerline goodness [0,1] 0.9995071146922682 Centerline is valid? [True, True] Translation: X:425.15, Y:-28.66, Z:-1.83 [[ 9.97292217e-01 7.33416289e-02 5.40739154e-03 4.25153380e+02] [-7.33401915e-02 9.97306874e-01 -4.63902147e-04 -2.86595548e+01] [-5.42685209e-03 6.60668699e-05 9.99985272e-01 -1.82917713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95028169299997 meters Centerline goodness [0,1] 0.9995305264505666 Centerline is valid? [True, True] Translation: X:425.18, Y:-28.67, Z:-1.83 [[ 9.97438895e-01 7.13888421e-02 4.39139672e-03 4.25180678e+02] [-7.13878762e-02 9.97448560e-01 -3.76509561e-04 -2.86668270e+01] [-4.40707091e-03 6.20527946e-05 9.99990287e-01 -1.83130057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98028169299994 meters Centerline goodness [0,1] 0.9994511409934348 Centerline is valid? [True, True] Translation: X:425.21, Y:-28.68, Z:-1.83 [[ 9.97607909e-01 6.90587989e-02 3.05656912e-03 4.25208317e+02] [-6.90583205e-02 9.97612590e-01 -2.61913004e-04 -2.86751490e+01] [-3.06735923e-03 5.02049547e-05 9.99995294e-01 -1.83372828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01028169299997 meters Centerline goodness [0,1] 0.9994910725645701 Centerline is valid? [True, True] Translation: X:425.24, Y:-28.69, Z:-1.84 [[ 9.97897982e-01 6.47759105e-02 1.92334135e-03 4.25236097e+02] [-6.47757132e-02 9.97899835e-01 -1.64738296e-04 -2.86907818e+01] [-1.92997309e-03 3.98062055e-05 9.99998137e-01 -1.83572301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04028169299994 meters Centerline goodness [0,1] 0.9995097098761484 Centerline is valid? [True, True] Translation: X:425.26, Y:-28.70, Z:-1.84 [[ 9.98003047e-01 6.31345921e-02 1.98550342e-03 4.25263313e+02] [-6.31343788e-02 9.98005021e-01 -1.69994401e-04 -2.86995445e+01] [-1.99227491e-03 4.43014054e-05 9.99998014e-01 -1.83546801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.07028169299997 meters Centerline goodness [0,1] 0.9994039509536785 Centerline is valid? [True, True] Translation: X:425.29, Y:-28.71, Z:-1.83 [[ 9.98106423e-01 6.14611628e-02 2.46866806e-03 4.25291509e+02] [-6.14608283e-02 9.98109474e-01 -2.11195977e-04 -2.87075918e+01] [-2.47698133e-03 5.90696771e-05 9.99996931e-01 -1.83438675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10028169299994 meters Centerline goodness [0,1] 0.9991522550016955 Centerline is valid? [True, True] Translation: X:425.32, Y:-28.71, Z:-1.83 [[ 9.98169933e-01 6.04238042e-02 2.39770831e-03 4.25319196e+02] [-6.04234860e-02 9.98172811e-01 -2.05018985e-04 -2.87149858e+01] [-2.40571527e-03 5.97658921e-05 9.99997104e-01 -1.83432678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.130281693 meters Centerline goodness [0,1] 0.9992427429533025 Centerline is valid? [True, True] Translation: X:425.35, Y:-28.73, Z:-1.84 [[ 9.98178252e-01 6.03059438e-02 1.83600596e-03 4.25347320e+02] [-6.03057572e-02 9.98179939e-01 -1.56926046e-04 -2.87278838e+01] [-1.84212790e-03 4.59184365e-05 9.99998302e-01 -1.83604146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16028169299994 meters Centerline goodness [0,1] 0.9993819135105181 Centerline is valid? [True, True] Translation: X:425.38, Y:-28.73, Z:-1.84 [[ 9.98156738e-01 6.06607586e-02 1.84377638e-03 4.25375569e+02] [-6.06605710e-02 9.98158439e-01 -1.57530221e-04 -2.87333572e+01] [-1.84993686e-03 4.53953231e-05 9.99998288e-01 -1.83646788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.190281693 meters Centerline goodness [0,1] 0.9993604775101258 Centerline is valid? [True, True] Translation: X:425.40, Y:-28.74, Z:-1.84 [[ 9.98120914e-01 6.12436811e-02 1.96281205e-03 4.25403509e+02] [-6.12434699e-02 9.98122843e-01 -1.67605073e-04 -2.87395542e+01] [-1.96939230e-03 4.70807080e-05 9.99998060e-01 -1.83619429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22028169299995 meters Centerline goodness [0,1] 0.9993024583060306 Centerline is valid? [True, True] Translation: X:425.43, Y:-28.74, Z:-1.84 [[ 9.98056915e-01 6.22782324e-02 1.95359796e-03 4.25431600e+02] [-6.22780252e-02 9.98058826e-01 -1.66754843e-04 -2.87444553e+01] [-1.96019089e-03 4.47646005e-05 9.99998078e-01 -1.83595680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.250281693 meters Centerline goodness [0,1] 0.9993357901954062 Centerline is valid? [True, True] Translation: X:425.46, Y:-28.75, Z:-1.84 [[ 9.97757356e-01 6.68966091e-02 2.25876322e-03 4.25461356e+02] [-6.68963443e-02 9.97759912e-01 -1.92693404e-04 -2.87481288e+01] [-2.26659393e-03 4.11582594e-05 9.99997430e-01 -1.83523779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28028169299995 meters Centerline goodness [0,1] 0.9995508501764517 Centerline is valid? [True, True] Translation: X:425.49, Y:-28.75, Z:-1.84 [[ 9.97511159e-01 7.04820065e-02 1.94298346e-03 4.25489694e+02] [-7.04818174e-02 9.97513051e-01 -1.65741227e-04 -2.87495142e+01] [-1.94983313e-03 2.83837176e-05 9.99998099e-01 -1.83550240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.310281693 meters Centerline goodness [0,1] 0.9997670626601444 Centerline is valid? [True, True] Translation: X:425.52, Y:-28.75, Z:-1.84 [[ 9.97198450e-01 7.47797298e-02 1.80083179e-03 4.25518356e+02] [-7.47795744e-02 9.97200076e-01 -1.53542281e-04 -2.87484369e+01] [-1.80727144e-03 1.84466897e-05 9.99998367e-01 -1.83524174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34028169299995 meters Centerline goodness [0,1] 0.9998501744397594 Centerline is valid? [True, True] Translation: X:425.55, Y:-28.74, Z:-1.83 [[ 9.96509894e-01 8.34486595e-02 2.08631645e-03 4.25548235e+02] [-8.34484701e-02 9.96512078e-01 -1.77775885e-04 -2.87424008e+01] [-2.09387470e-03 3.05551194e-06 9.99997808e-01 -1.83427823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.370281693 meters Centerline goodness [0,1] 0.999936844764431 Centerline is valid? [True, True] Translation: X:425.58, Y:-28.74, Z:-1.83 [[ 9.96171301e-01 8.73929414e-02 2.28310527e-03 4.25576208e+02] [-8.73927252e-02 9.96173917e-01 -1.94479937e-04 -2.87413310e+01] [-2.29136609e-03 -5.79145873e-06 9.99997375e-01 -1.83370540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.61, Y:-28.74, Z:-1.83 [[ 9.95812553e-01 9.13844628e-02 2.49797592e-03 4.25605243e+02] [-9.13842170e-02 9.95815686e-01 -2.12630450e-04 -2.87412317e+01] [-2.50695472e-03 -1.65355023e-05 9.99996857e-01 -1.83307763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.430281693 meters Centerline goodness [0,1] 0.9999788364267423 Centerline is valid? [True, True] Translation: X:425.63, Y:-28.73, Z:-1.83 [[ 9.95012397e-01 9.97083495e-02 2.92816676e-03 4.25634274e+02] [-9.97080481e-02 9.95016705e-01 -2.49093382e-04 -2.87335485e+01] [-2.93841153e-03 -4.41107890e-05 9.99995682e-01 -1.83333536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46028169299996 meters Centerline goodness [0,1] 0.9996831566051286 Centerline is valid? [True, True] Translation: X:425.66, Y:-28.73, Z:-1.83 [[ 9.94690089e-01 1.02867689e-01 3.14093149e-03 4.25663625e+02] [-1.02867358e-01 9.94695046e-01 -2.67047589e-04 -2.87309762e+01] [-3.15173956e-03 -5.74697342e-05 9.99995032e-01 -1.83356983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.490281693 meters Centerline goodness [0,1] 0.9996385285987668 Centerline is valid? [True, True] Translation: X:425.69, Y:-28.74, Z:-1.83 [[ 9.94481768e-01 1.04859830e-01 3.22929443e-03 4.25691936e+02] [-1.04859492e-01 9.94487009e-01 -2.74435912e-04 -2.87351670e+01] [-3.24026866e-03 -6.57006614e-05 9.99994748e-01 -1.83379152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52028169299996 meters Centerline goodness [0,1] 0.9993856322691355 Centerline is valid? [True, True] Translation: X:425.72, Y:-28.74, Z:-1.83 [[ 9.94164277e-01 1.07825895e-01 3.31156017e-03 4.25720553e+02] [-1.07825556e-01 9.94169790e-01 -2.81288498e-04 -2.87358549e+01] [-3.32258326e-03 -7.74238390e-05 9.99994477e-01 -1.83316717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.550281693 meters Centerline goodness [0,1] 0.9986108187749947 Centerline is valid? [True, True] Translation: X:425.75, Y:-28.73, Z:-1.83 [[ 9.93951472e-01 1.09785072e-01 2.77639553e-03 4.25748535e+02] [-1.09784842e-01 9.93955348e-01 -2.35733578e-04 -2.87321060e+01] [-2.78549321e-03 -7.04984071e-05 9.99996118e-01 -1.83390825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58028169299996 meters Centerline goodness [0,1] 0.9983742240614839 Centerline is valid? [True, True] Translation: X:425.78, Y:-28.73, Z:-1.84 [[ 9.93710801e-01 1.11951462e-01 2.39059730e-03 4.25778007e+02] [-1.11951298e-01 9.93713674e-01 -2.02869719e-04 -2.87331667e+01] [-2.39828078e-03 -6.60366392e-05 9.99997122e-01 -1.83542491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.61028169299993 meters Centerline goodness [0,1] 0.9976259223612448 Centerline is valid? [True, True] Translation: X:425.81, Y:-28.73, Z:-1.84 [[ 9.93400085e-01 1.14675885e-01 2.39000347e-03 4.25807709e+02] [-1.14675729e-01 9.93402958e-01 -2.02766024e-04 -2.87326464e+01] [-2.39748889e-03 -7.26476038e-05 9.99997123e-01 -1.83586746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64028169299996 meters Centerline goodness [0,1] 0.9980294722412612 Centerline is valid? [True, True] Translation: X:425.84, Y:-28.73, Z:-1.84 [[ 9.93408909e-01 1.14591236e-01 2.75450208e-03 4.25835057e+02] [-1.14591028e-01 9.93412725e-01 -2.33582811e-04 -2.87329248e+01] [-2.76312396e-03 -8.35979801e-05 9.99996179e-01 -1.83551556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.67028169299994 meters Centerline goodness [0,1] 0.9968000673670028 Centerline is valid? [True, True] Translation: X:425.86, Y:-28.73, Z:-1.84 [[ 9.93481870e-01 1.13955862e-01 2.79909061e-03 4.25863059e+02] [-1.13955645e-01 9.93485810e-01 -2.37156213e-04 -2.87300697e+01] [-2.80788215e-03 -8.33617792e-05 9.99996054e-01 -1.83503899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70028169299997 meters Centerline goodness [0,1] 0.9988519187838844 Centerline is valid? [True, True] Translation: X:425.89, Y:-28.74, Z:-1.84 [[ 9.93899853e-01 1.10259898e-01 2.41594983e-03 4.25892703e+02] [-1.10259726e-01 9.93902787e-01 -2.04576605e-04 -2.87388703e+01] [-2.42377586e-03 -6.30533088e-05 9.99997061e-01 -1.83631126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.73028169299994 meters Centerline goodness [0,1] 0.998862870619946 Centerline is valid? [True, True] Translation: X:425.92, Y:-28.74, Z:-1.84 [[ 9.94173364e-01 1.07782935e-01 1.47039418e-03 4.25920526e+02] [-1.07782869e-01 9.94174450e-01 -1.24489796e-04 -2.87388264e+01] [-1.47524620e-03 -3.47188643e-05 9.99998911e-01 -1.83883219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76028169299997 meters Centerline goodness [0,1] 0.9998100544510574 Centerline is valid? [True, True] Translation: X:425.95, Y:-28.75, Z:-1.84 [[ 9.94433919e-01 1.05359782e-01 7.05616157e-04 4.25948371e+02] [-1.05359766e-01 9.94434169e-01 -5.97293716e-05 -2.87483921e+01] [-7.07981890e-04 -1.49466400e-05 9.99999749e-01 -1.84044059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.79028169299994 meters Centerline goodness [0,1] 0.9998937210389831 Centerline is valid? [True, True] Translation: X:425.98, Y:-28.75, Z:-1.84 [[ 9.94713414e-01 1.02686566e-01 8.32100349e-04 4.25976981e+02] [-1.02686544e-01 9.94713762e-01 -7.03824664e-05 -2.87534385e+01] [-8.34929002e-04 -1.54351252e-05 9.99999651e-01 -1.84057363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.00, Y:-28.76, Z:-1.84 [[ 9.95134499e-01 9.84826013e-02 2.91657786e-03 4.26004932e+02] [-9.84823022e-02 9.95138772e-01 -2.46332623e-04 -2.87589906e+01] [-2.92665919e-03 -4.20972109e-05 9.99995716e-01 -1.83630493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.85028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.03, Y:-28.76, Z:-1.83 [[ 9.95229712e-01 9.74852939e-02 3.79980053e-03 4.26033034e+02] [-9.74847798e-02 9.95236964e-01 -3.20715759e-04 -2.87612357e+01] [-3.81296701e-03 -5.12368659e-05 9.99992729e-01 -1.83405652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.880281693 meters Centerline goodness [0,1] 0.99995772474582 Centerline is valid? [True, True] Translation: X:426.06, Y:-28.76, Z:-1.83 [[ 9.95290506e-01 9.68484769e-02 4.14499680e-03 4.26061860e+02] [-9.68478605e-02 9.95299136e-01 -3.49637701e-04 -2.87634225e+01] [-4.15937361e-03 -5.34429876e-05 9.99991348e-01 -1.83375658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.91028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.09, Y:-28.77, Z:-1.83 [[ 9.95333790e-01 9.64000174e-02 4.20502946e-03 4.26090086e+02] [-9.63993799e-02 9.95342672e-01 -3.54495206e-04 -2.87650767e+01] [-4.21961860e-03 -5.25211758e-05 9.99991096e-01 -1.83406871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.940281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.12, Y:-28.77, Z:-1.84 [[ 9.95376457e-01 9.60164599e-02 2.55901852e-03 4.26118624e+02] [-9.60162227e-02 9.95379746e-01 -2.15641790e-04 -2.87688439e+01] [-2.56790036e-03 -3.10625312e-05 9.99996702e-01 -1.83764181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.97028169299995 meters Centerline goodness [0,1] 0.9999365267433988 Centerline is valid? [True, True] Translation: X:426.15, Y:-28.77, Z:-1.84 [[ 9.95420334e-01 9.55834717e-02 1.46901566e-03 4.26146915e+02] [-9.55833931e-02 9.95421418e-01 -1.23770499e-04 -2.87682702e+01] [-1.47412007e-03 -1.72098300e-05 9.99998913e-01 -1.84049181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.000281693 meters Centerline goodness [0,1] 0.9999578645767496 Centerline is valid? [True, True] Translation: X:426.17, Y:-28.77, Z:-1.84 [[ 9.95486526e-01 9.48988455e-02 8.86663455e-04 4.26174576e+02] [-9.48988166e-02 9.95486921e-01 -7.46970689e-05 -2.87708957e+01] [-8.89750538e-04 -9.78338694e-06 9.99999604e-01 -1.84162270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.03028169299995 meters Centerline goodness [0,1] 0.9999578645767496 Centerline is valid? [True, True] Translation: X:426.20, Y:-28.77, Z:-1.84 [[ 9.95492523e-01 9.48359154e-02 8.86666389e-04 4.26201981e+02] [-9.48358865e-02 9.95492918e-01 -7.46622232e-05 -2.87730554e+01] [-8.89750771e-04 -9.76210805e-06 9.99999604e-01 -1.84168057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.060281693 meters Centerline goodness [0,1] 0.9999786903062203 Centerline is valid? [True, True] Translation: X:426.23, Y:-28.78, Z:-1.84 [[ 9.95599963e-01 9.36962240e-02 1.31580484e-03 4.26230252e+02] [-9.36961596e-02 9.95600832e-01 -1.10633152e-04 -2.87757558e+01] [-1.32038230e-03 -1.31394978e-05 9.99999128e-01 -1.84172429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.09028169299995 meters Centerline goodness [0,1] 0.9999578130273371 Centerline is valid? [True, True] Translation: X:426.26, Y:-28.78, Z:-1.84 [[ 9.95686410e-01 9.27701246e-02 1.50884311e-03 4.26258409e+02] [-9.27700390e-02 9.95687553e-01 -1.26792694e-04 -2.87783626e+01] [-1.51409888e-03 -1.37296725e-05 9.99998854e-01 -1.84155430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.120281693 meters Centerline goodness [0,1] 0.9999787811916483 Centerline is valid? [True, True] Translation: X:426.29, Y:-28.78, Z:-1.84 [[ 9.95825839e-01 9.12620297e-02 1.46319763e-03 4.26287228e+02] [-9.12619477e-02 9.95826914e-01 -1.22877989e-04 -2.87842461e+01] [-1.46830568e-03 -1.11691894e-05 9.99998922e-01 -1.84139341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.15028169299995 meters Centerline goodness [0,1] 0.9999574187229875 Centerline is valid? [True, True] Translation: X:426.32, Y:-28.79, Z:-1.84 [[ 9.96150624e-01 8.76512975e-02 1.08853148e-03 4.26315739e+02] [-8.76512500e-02 9.96151218e-01 -9.13887632e-05 -2.87898539e+01] [-1.09235230e-03 -4.37417098e-06 9.99999403e-01 -1.84257455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.180281693 meters Centerline goodness [0,1] 0.9999571422448892 Centerline is valid? [True, True] Translation: X:426.34, Y:-28.79, Z:-1.84 [[ 9.96292649e-01 8.60154787e-02 1.51481125e-03 4.26344642e+02] [-8.60153849e-02 9.96293801e-01 -1.27072587e-04 -2.87939709e+01] [-1.52012727e-03 -3.69558806e-06 9.99998845e-01 -1.84240250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.21028169299996 meters Centerline goodness [0,1] 0.9998276010688734 Centerline is valid? [True, True] Translation: X:426.37, Y:-28.80, Z:-1.84 [[ 9.96433877e-01 8.43602271e-02 1.69702117e-03 4.26373399e+02] [-8.43601072e-02 9.96435323e-01 -1.42271392e-04 -2.87984690e+01] [-1.70297388e-03 -1.39685264e-06 9.99998550e-01 -1.84193112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.240281693 meters Centerline goodness [0,1] 0.9997884627588687 Centerline is valid? [True, True] Translation: X:426.40, Y:-28.80, Z:-1.84 [[ 9.96554047e-01 8.29230490e-02 1.94935279e-03 4.26401333e+02] [-8.29228882e-02 9.96555953e-01 -1.63321441e-04 -2.88024262e+01] [-1.95618224e-03 1.11267967e-06 9.99998087e-01 -1.84166602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.27028169299996 meters Centerline goodness [0,1] 0.9998934424482663 Centerline is valid? [True, True] Translation: X:426.43, Y:-28.81, Z:-1.84 [[ 9.96740085e-01 8.06588539e-02 1.83109554e-03 4.26428846e+02] [-8.06587084e-02 9.96741767e-01 -1.53313496e-04 -2.88084356e+01] [-1.83749550e-03 5.11990552e-06 9.99998312e-01 -1.84137063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.300281693 meters Centerline goodness [0,1] 0.999810622001515 Centerline is valid? [True, True] Translation: X:426.46, Y:-28.81, Z:-1.84 [[ 9.96829276e-01 7.95556004e-02 1.51707866e-03 4.26456059e+02] [-7.95554993e-02 9.96830430e-01 -1.26954588e-04 -2.88142428e+01] [-1.52237012e-03 5.86009956e-06 9.99998841e-01 -1.84171652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.33028169299996 meters Centerline goodness [0,1] 0.9997675352395443 Centerline is valid? [True, True] Translation: X:426.48, Y:-28.82, Z:-1.84 [[ 9.96944247e-01 7.81032034e-02 1.43428643e-03 4.26484502e+02] [-7.81031117e-02 9.96945279e-01 -1.19947113e-04 -2.88198014e+01] [-1.43927334e-03 7.55835142e-06 9.99998964e-01 -1.84201081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36028169299993 meters Centerline goodness [0,1] 0.9997651128525976 Centerline is valid? [True, True] Translation: X:426.51, Y:-28.83, Z:-1.84 [[ 9.97203326e-01 7.47308788e-02 9.06566887e-04 4.26513026e+02] [-7.47308407e-02 9.97203738e-01 -7.58113001e-05 -2.88297499e+01] [-9.09697334e-04 7.85077495e-06 9.99999586e-01 -1.84384459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.39028169299996 meters Centerline goodness [0,1] 0.9998285910181693 Centerline is valid? [True, True] Translation: X:426.54, Y:-28.84, Z:-1.84 [[ 9.97325183e-01 7.30817028e-02 1.24294483e-03 4.26541975e+02] [-7.30816301e-02 9.97325957e-01 -1.03850829e-04 -2.88350170e+01] [-1.24721074e-03 1.27366122e-05 9.99999222e-01 -1.84404815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42028169299994 meters Centerline goodness [0,1] 0.9997252398867142 Centerline is valid? [True, True] Translation: X:426.57, Y:-28.84, Z:-1.84 [[ 9.97422360e-01 7.17287014e-02 1.90481899e-03 4.26569028e+02] [-7.17285285e-02 9.97424179e-01 -1.59013078e-04 -2.88443241e+01] [-1.91131832e-03 2.19733366e-05 9.99998173e-01 -1.84297770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.45028169299997 meters Centerline goodness [0,1] 0.9997230389023819 Centerline is valid? [True, True] Translation: X:426.60, Y:-28.86, Z:-1.84 [[ 9.97607447e-01 6.90992368e-02 2.16268582e-03 4.26598208e+02] [-6.90990081e-02 9.97609791e-01 -1.80383907e-04 -2.88558384e+01] [-2.16998094e-03 3.05128838e-05 9.99997645e-01 -1.84166387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48028169299994 meters Centerline goodness [0,1] 0.9997244945534692 Centerline is valid? [True, True] Translation: X:426.63, Y:-28.86, Z:-1.84 [[ 9.97656828e-01 6.84017479e-02 1.43324442e-03 4.26626712e+02] [-6.84016468e-02 9.97657857e-01 -1.19534085e-04 -2.88624337e+01] [-1.43806390e-03 2.12177174e-05 9.99998966e-01 -1.84237664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.51028169299997 meters Centerline goodness [0,1] 0.9996589504199173 Centerline is valid? [True, True] Translation: X:426.66, Y:-28.87, Z:-1.84 [[ 9.97670377e-01 6.82144091e-02 7.82745025e-04 4.26655804e+02] [-6.82143788e-02 9.97670684e-01 -6.52745548e-05 -2.88651272e+01] [-7.85374430e-04 1.17280241e-05 9.99999692e-01 -1.84369589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54028169299994 meters Centerline goodness [0,1] 0.9995951158181857 Centerline is valid? [True, True] Translation: X:426.68, Y:-28.87, Z:-1.84 [[ 9.97636606e-01 6.87048605e-02 9.19351404e-04 4.26684963e+02] [-6.87048191e-02 9.97637029e-01 -7.66373085e-05 -2.88702796e+01] [-9.22444360e-04 1.32923124e-05 9.99999574e-01 -1.84382597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.57028169299997 meters Centerline goodness [0,1] 0.9994683565838721 Centerline is valid? [True, True] Translation: X:426.71, Y:-28.88, Z:-1.84 [[ 9.97608355e-01 6.91118312e-02 1.06082061e-03 4.26713196e+02] [-6.91117762e-02 9.97608919e-01 -8.84090981e-05 -2.88760308e+01] [-1.06439421e-03 1.48824584e-05 9.99999433e-01 -1.84338633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60028169299994 meters Centerline goodness [0,1] 0.9995491530518045 Centerline is valid? [True, True] Translation: X:426.74, Y:-28.88, Z:-1.84 [[ 9.97591948e-01 6.93498617e-02 9.50093325e-04 4.26741355e+02] [-6.93498178e-02 9.97592400e-01 -7.91532263e-05 -2.88843583e+01] [-9.53295145e-04 1.30738222e-05 9.99999546e-01 -1.84331018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.630281693 meters Centerline goodness [0,1] 0.9997849092316958 Centerline is valid? [True, True] Translation: X:426.77, Y:-28.89, Z:-1.84 [[ 9.97548941e-01 6.99567656e-02 1.47042658e-03 4.26771410e+02] [-6.99566611e-02 9.97550024e-01 -1.22403068e-04 -2.88861811e+01] [-1.47538699e-03 1.92369167e-05 9.99998911e-01 -1.84166893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66028169299994 meters Centerline goodness [0,1] 0.9996815151386471 Centerline is valid? [True, True] Translation: X:426.80, Y:-28.90, Z:-1.84 [[ 9.97503034e-01 7.05914731e-02 2.13114832e-03 4.26799050e+02] [-7.05912554e-02 9.97505310e-01 -1.77327449e-04 -2.88953240e+01] [-2.13834957e-03 2.64442330e-05 9.99997713e-01 -1.84082573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.690281693 meters Centerline goodness [0,1] 0.9997659723847414 Centerline is valid? [True, True] Translation: X:426.83, Y:-28.90, Z:-1.84 [[ 9.97435900e-01 7.15183468e-02 2.59829427e-03 4.26828825e+02] [-7.15180265e-02 9.97439284e-01 -2.16091670e-04 -2.88962115e+01] [-2.60709529e-03 2.97127117e-05 9.99996601e-01 -1.84030399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72028169299995 meters Centerline goodness [0,1] 0.9997874104466506 Centerline is valid? [True, True] Translation: X:426.86, Y:-28.90, Z:-1.84 [[ 9.97276531e-01 7.37454468e-02 1.06307508e-03 4.26857016e+02] [-7.37453944e-02 9.97277097e-01 -8.84286442e-05 -2.89028694e+01] [-1.06670164e-03 9.79092053e-06 9.99999431e-01 -1.84255935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.750281693 meters Centerline goodness [0,1] 0.9998086653344105 Centerline is valid? [True, True] Translation: X:426.89, Y:-28.90, Z:-1.84 [[ 9.97170962e-01 7.51667866e-02 -1.61699024e-04 4.26887099e+02] [-7.51667855e-02 9.97170975e-01 1.33863290e-05 -2.89014562e+01] [ 1.62247781e-04 -1.19406270e-06 9.99999987e-01 -1.84381308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78028169299995 meters Centerline goodness [0,1] 0.9998934878469633 Centerline is valid? [True, True] Translation: X:426.92, Y:-28.90, Z:-1.84 [[ 9.96998727e-01 7.74172103e-02 -3.36077657e-04 4.26915961e+02] [-7.74172053e-02 9.96998784e-01 2.78102530e-05 -2.89010714e+01] [ 3.37222007e-04 -1.70859388e-06 9.99999943e-01 -1.84423623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.810281693 meters Centerline goodness [0,1] 0.9998719945384337 Centerline is valid? [True, True] Translation: X:426.95, Y:-28.90, Z:-1.84 [[ 9.96781440e-01 8.01659707e-02 4.22595562e-04 4.26945324e+02] [-8.01659630e-02 9.96781529e-01 -3.51734135e-05 -2.89007817e+01] [-4.24055161e-04 1.18242564e-06 9.99999910e-01 -1.84260048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84028169299995 meters Centerline goodness [0,1] 0.9997667663210568 Centerline is valid? [True, True] Translation: X:426.97, Y:-28.90, Z:-1.84 [[ 9.96340256e-01 8.54171437e-02 3.16326462e-03 4.26973640e+02] [-8.54167409e-02 9.96345277e-01 -2.62470735e-04 -2.89006730e+01] [-3.17412327e-03 -8.68559491e-06 9.99994962e-01 -1.83826219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.870281693 meters Centerline goodness [0,1] 0.999766146519835 Centerline is valid? [True, True] Translation: X:427.00, Y:-28.90, Z:-1.84 [[ 9.96154799e-01 8.75574086e-02 3.05246615e-03 4.27002796e+02] [-8.75570440e-02 9.96159475e-01 -2.53111692e-04 -2.89014376e+01] [-3.06290488e-03 -1.51264866e-05 9.99995309e-01 -1.83825704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90028169299995 meters Centerline goodness [0,1] 0.999767407438733 Centerline is valid? [True, True] Translation: X:427.03, Y:-28.90, Z:-1.84 [[ 9.95979784e-01 8.95538481e-02 2.09239146e-03 4.27030988e+02] [-8.95536814e-02 9.95981982e-01 -1.73433889e-04 -2.89014468e+01] [-2.09951586e-03 -1.46447105e-05 9.99997796e-01 -1.83977706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.930281693 meters Centerline goodness [0,1] 0.9998107892191902 Centerline is valid? [True, True] Translation: X:427.06, Y:-28.90, Z:-1.84 [[ 9.95651220e-01 9.31589104e-02 2.54539223e-04 4.27059012e+02] [-9.31589080e-02 9.95651253e-01 -2.11915775e-05 -2.88996102e+01] [-2.55406481e-04 -2.61317609e-06 9.99999967e-01 -1.84412445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96028169299996 meters Centerline goodness [0,1] 0.9997037789344505 Centerline is valid? [True, True] Translation: X:427.09, Y:-28.90, Z:-1.84 [[ 9.95469290e-01 9.50826864e-02 4.19880470e-04 4.27088176e+02] [-9.50826802e-02 9.95469378e-01 -3.48326668e-05 -2.89020260e+01] [-4.21290134e-04 -5.24851037e-06 9.99999911e-01 -1.84348304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.990281693 meters Centerline goodness [0,1] 0.999616016383301 Centerline is valid? [True, True] Translation: X:427.12, Y:-28.90, Z:-1.84 [[ 9.95273865e-01 9.70937247e-02 1.65573976e-03 4.27116587e+02] [-9.70936311e-02 9.95275242e-01 -1.36993347e-04 -2.89029040e+01] [-1.66121798e-03 -2.44158873e-05 9.99998620e-01 -1.84076668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02028169299996 meters Centerline goodness [0,1] 0.9997465734620177 Centerline is valid? [True, True] Translation: X:427.15, Y:-28.90, Z:-1.84 [[ 9.94863139e-01 1.01151222e-01 3.97053631e-03 4.27146116e+02] [-1.01150718e-01 9.94871059e-01 -3.28147036e-04 -2.88981837e+01] [-3.98336414e-03 -7.51612091e-05 9.99992064e-01 -1.83627199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.050281693 meters Centerline goodness [0,1] 0.999507631708518 Centerline is valid? [True, True] Translation: X:427.18, Y:-28.90, Z:-1.84 [[ 9.94633695e-01 1.03375078e-01 4.17194344e-03 4.27175572e+02] [-1.03374541e-01 9.94642441e-01 -3.44615135e-04 -2.88960755e+01] [-4.18521662e-03 -8.85069149e-05 9.99991238e-01 -1.83614565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08028169299996 meters Centerline goodness [0,1] 0.9993876818479339 Centerline is valid? [True, True] Translation: X:427.20, Y:-28.89, Z:-1.84 [[ 9.94375194e-01 1.05845897e-01 3.82362068e-03 4.27204869e+02] [-1.05845466e-01 9.94382541e-01 -3.15690430e-04 -2.88937621e+01] [-3.83555619e-03 -9.07981786e-05 9.99992640e-01 -1.83726749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.11028169299993 meters Centerline goodness [0,1] 0.9990100261184599 Centerline is valid? [True, True] Translation: X:427.24, Y:-28.89, Z:-1.84 [[ 9.93892683e-01 1.10327358e-01 2.28236327e-03 4.27236022e+02] [-1.10327216e-01 9.93895301e-01 -1.88394942e-04 -2.88863359e+01] [-2.28921524e-03 -6.45624314e-05 9.99997378e-01 -1.83936819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14028169299996 meters Centerline goodness [0,1] 0.9979296503644238 Centerline is valid? [True, True] Translation: X:427.26, Y:-28.88, Z:-1.84 [[ 9.93686299e-01 1.12173508e-01 2.15504435e-03 4.27264917e+02] [-1.12173386e-01 9.93688633e-01 -1.77882879e-04 -2.88797276e+01] [-2.16139682e-03 -6.49788408e-05 9.99997662e-01 -1.83943067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.17028169299994 meters Centerline goodness [0,1] 0.9986132741663645 Centerline is valid? [True, True] Translation: X:427.29, Y:-28.88, Z:-1.84 [[ 9.93568168e-01 1.13208989e-01 2.45365527e-03 4.27294136e+02] [-1.13208834e-01 9.93571195e-01 -2.02403187e-04 -2.88804337e+01] [-2.46079506e-03 -7.66740895e-05 9.99996969e-01 -1.83919692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20028169299997 meters Centerline goodness [0,1] 0.9978151908495052 Centerline is valid? [True, True] Translation: X:427.32, Y:-28.88, Z:-1.84 [[ 9.93727129e-01 1.11790099e-01 3.06069630e-03 4.27322217e+02] [-1.11789851e-01 9.93731838e-01 -2.52301268e-04 -2.88811426e+01] [-3.06971615e-03 -9.14361700e-05 9.99995284e-01 -1.83951587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.23028169299994 meters Centerline goodness [0,1] 0.9984054427553949 Centerline is valid? [True, True] Translation: X:427.35, Y:-28.89, Z:-1.84 [[ 9.93972859e-01 1.09587560e-01 2.91945246e-03 4.27351124e+02] [-1.09587326e-01 9.93977143e-01 -2.40514620e-04 -2.88854932e+01] [-2.92822643e-03 -8.08699836e-05 9.99995709e-01 -1.83996572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26028169299997 meters Centerline goodness [0,1] 0.999380487492256 Centerline is valid? [True, True] Translation: X:427.38, Y:-28.89, Z:-1.84 [[ 9.94289010e-01 1.06687596e-01 2.66863096e-03 4.27379364e+02] [-1.06687390e-01 9.94292589e-01 -2.19759551e-04 -2.88909871e+01] [-2.67684560e-03 -6.62047662e-05 9.99996415e-01 -1.84063385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.29028169299994 meters Centerline goodness [0,1] 0.9996384440332632 Centerline is valid? [True, True] Translation: X:427.41, Y:-28.90, Z:-1.84 [[ 9.94898421e-01 1.00846299e-01 2.67493467e-03 4.27408029e+02] [-1.00846071e-01 9.94902016e-01 -2.20170199e-04 -2.89018333e+01] [-2.68350124e-03 -5.07096676e-05 9.99996398e-01 -1.84055643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32028169299997 meters Centerline goodness [0,1] 0.9994672576555075 Centerline is valid? [True, True] Translation: X:427.44, Y:-28.91, Z:-1.84 [[ 9.95160351e-01 9.82224911e-02 2.86658878e-03 4.27436855e+02] [-9.82222191e-02 9.95164479e-01 -2.35844152e-04 -2.89095233e+01] [-2.87589253e-03 -4.68599620e-05 9.99995864e-01 -1.84063269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.35028169299994 meters Centerline goodness [0,1] 0.9996374106857204 Centerline is valid? [True, True] Translation: X:427.46, Y:-28.92, Z:-1.84 [[ 9.95382183e-01 9.59452273e-02 2.97044928e-03 4.27464808e+02] [-9.59449257e-02 9.95386614e-01 -2.44210136e-04 -2.89165055e+01] [-2.98017624e-03 -4.19171172e-05 9.99995558e-01 -1.84026058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.380281693 meters Centerline goodness [0,1] 0.9997249899515559 Centerline is valid? [True, True] Translation: X:427.49, Y:-28.92, Z:-1.84 [[ 9.95572369e-01 9.39547075e-02 2.85840177e-03 4.27493571e+02] [-9.39544203e-02 9.95576472e-01 -2.34872788e-04 -2.89224556e+01] [-2.86782495e-03 -3.47266235e-05 9.99995887e-01 -1.84127303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.41028169299994 meters Centerline goodness [0,1] 0.9997644791778182 Centerline is valid? [True, True] Translation: X:427.52, Y:-28.93, Z:-1.84 [[ 9.95823069e-01 9.12685325e-02 2.54364347e-03 4.27520878e+02] [-9.12682966e-02 9.95826317e-01 -2.08899670e-04 -2.89303653e+01] [-2.55209307e-03 -2.41268964e-05 9.99996743e-01 -1.84215473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.440281693 meters Centerline goodness [0,1] 0.9997463163012916 Centerline is valid? [True, True] Translation: X:427.55, Y:-28.94, Z:-1.84 [[ 9.95918654e-01 9.02230314e-02 2.41635107e-03 4.27549526e+02] [-9.02228158e-02 9.95921585e-01 -1.98318586e-04 -2.89359387e+01] [-2.42438909e-03 -2.05008183e-05 9.99997061e-01 -1.84260043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.47028169299995 meters Centerline goodness [0,1] 0.9997011612021858 Centerline is valid? [True, True] Translation: X:427.58, Y:-28.94, Z:-1.84 [[ 9.96018683e-01 8.91153326e-02 2.28928532e-03 4.27577829e+02] [-8.91151364e-02 9.96021314e-01 -1.87792789e-04 -2.89420077e+01] [-2.29691219e-03 -1.69648468e-05 9.99997362e-01 -1.84301721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.500281693 meters Centerline goodness [0,1] 0.9998096527219661 Centerline is valid? [True, True] Translation: X:427.61, Y:-28.95, Z:-1.84 [[ 9.96229487e-01 8.67408459e-02 1.68344579e-03 4.27605817e+02] [-8.67407365e-02 9.96230910e-01 -1.38045909e-04 -2.89519316e+01] [-1.68907495e-03 -8.49792235e-06 9.99998573e-01 -1.84446381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.53028169299995 meters Centerline goodness [0,1] 0.9997877623787592 Centerline is valid? [True, True] Translation: X:427.63, Y:-28.96, Z:-1.85 [[ 9.96347096e-01 8.53787246e-02 1.71417724e-03 4.27632954e+02] [-8.53786092e-02 9.96348570e-01 -1.40488325e-04 -2.89569031e+01] [-1.71991275e-03 -6.37893431e-06 9.99998521e-01 -1.84500524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.560281693 meters Centerline goodness [0,1] 0.9998093987589741 Centerline is valid? [True, True] Translation: X:427.66, Y:-28.96, Z:-1.84 [[ 9.96453453e-01 8.41171902e-02 2.19396757e-03 4.27661434e+02] [-8.41169986e-02 9.96455869e-01 -1.79649910e-04 -2.89628947e+01] [-2.20130350e-03 -5.53719305e-06 9.99997577e-01 -1.84386830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.59028169299995 meters Centerline goodness [0,1] 0.9997458865383394 Centerline is valid? [True, True] Translation: X:427.69, Y:-28.97, Z:-1.84 [[ 9.96544083e-01 8.30196587e-02 2.76176125e-03 4.27690043e+02] [-8.30193512e-02 9.96547910e-01 -2.25997757e-04 -2.89682929e+01] [-2.77098966e-03 -4.06289975e-06 9.99996161e-01 -1.84257988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.620281693 meters Centerline goodness [0,1] 0.9997889226612631 Centerline is valid? [True, True] Translation: X:427.72, Y:-28.97, Z:-1.84 [[ 9.96576333e-01 8.26242801e-02 2.97323948e-03 4.27718499e+02] [-8.26239224e-02 9.96580769e-01 -2.43170447e-04 -2.89713666e+01] [-2.98316507e-03 -3.32279596e-06 9.99995550e-01 -1.84169202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.65028169299995 meters Centerline goodness [0,1] 0.9998505710321273 Centerline is valid? [True, True] Translation: X:427.75, Y:-28.97, Z:-1.84 [[ 9.96502991e-01 8.35061973e-02 2.91625903e-03 4.27748214e+02] [-8.35058572e-02 9.96507258e-01 -2.38420052e-04 -2.89728533e+01] [-2.92598284e-03 -5.93841552e-06 9.99995719e-01 -1.84228374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.680281693 meters Centerline goodness [0,1] 0.9997873697639804 Centerline is valid? [True, True] Translation: X:427.78, Y:-28.97, Z:-1.84 [[ 9.96378987e-01 8.49730452e-02 2.91476345e-03 4.27777296e+02] [-8.49727119e-02 9.96383250e-01 -2.38216473e-04 -2.89732943e+01] [-2.92446346e-03 -1.03214670e-05 9.99995724e-01 -1.84217709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.71028169299996 meters Centerline goodness [0,1] 0.9997458865383394 Centerline is valid? [True, True] Translation: X:427.81, Y:-28.97, Z:-1.84 [[ 9.96226799e-01 8.67109383e-02 3.65767373e-03 4.27805354e+02] [-8.67104259e-02 9.96233513e-01 -2.98737545e-04 -2.89737060e+01] [-3.66980096e-03 -1.95480981e-05 9.99993266e-01 -1.84155646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.740281693 meters Centerline goodness [0,1] 0.9997639687580465 Centerline is valid? [True, True] Translation: X:427.83, Y:-28.98, Z:-1.84 [[ 9.96224724e-01 8.67385419e-02 3.56722075e-03 4.27834110e+02] [-8.67380555e-02 9.96231110e-01 -2.91149599e-04 -2.89753902e+01] [-3.57903018e-03 -1.93633621e-05 9.99993595e-01 -1.84221774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.77028169299996 meters Centerline goodness [0,1] 0.9997464395892321 Centerline is valid? [True, True] Translation: X:427.86, Y:-28.98, Z:-1.84 [[ 9.96226570e-01 8.67107409e-02 3.72403532e-03 4.27862747e+02] [-8.67102111e-02 9.96233530e-01 -3.03784669e-04 -2.89759285e+01] [-3.73635024e-03 -2.02735291e-05 9.99993020e-01 -1.84232375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.800281693 meters Centerline goodness [0,1] 0.9997641205987048 Centerline is valid? [True, True] Translation: X:427.89, Y:-28.98, Z:-1.84 [[ 9.96215092e-01 8.68434302e-02 3.70264993e-03 4.27892009e+02] [-8.68429079e-02 9.96221972e-01 -3.01887631e-04 -2.89774704e+01] [-3.71487818e-03 -2.08038733e-05 9.99993100e-01 -1.84201191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.83028169299996 meters Centerline goodness [0,1] 0.9997246696035242 Centerline is valid? [True, True] Translation: X:427.92, Y:-28.98, Z:-1.84 [[ 9.96174560e-01 8.72960888e-02 3.95452892e-03 4.27920369e+02] [-8.72954973e-02 9.96182409e-01 -3.22248314e-04 -2.89782475e+01] [-3.96756317e-03 -2.41969965e-05 9.99992129e-01 -1.84127726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86028169299993 meters Centerline goodness [0,1] 0.9998088603831288 Centerline is valid? [True, True] Translation: X:427.95, Y:-28.98, Z:-1.84 [[ 9.96183765e-01 8.71936459e-02 3.89552036e-03 4.27949498e+02] [-8.71930718e-02 9.96191381e-01 -3.17279881e-04 -2.89798565e+01] [-3.90834860e-03 -2.35933201e-05 9.99992362e-01 -1.84137260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.89028169299996 meters Centerline goodness [0,1] 0.9997885879791125 Centerline is valid? [True, True] Translation: X:427.98, Y:-28.98, Z:-1.84 [[ 9.96237284e-01 8.65804610e-02 3.88548250e-03 4.27977234e+02] [-8.65798861e-02 9.96244861e-01 -3.16257973e-04 -2.89817913e+01] [-3.89827373e-03 -2.13366473e-05 9.99992401e-01 -1.84175035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92028169299994 meters Centerline goodness [0,1] 0.9997891363022942 Centerline is valid? [True, True] Translation: X:428.01, Y:-28.99, Z:-1.84 [[ 9.96436404e-01 8.42745201e-02 3.50682158e-03 4.28005937e+02] [-8.42740380e-02 9.96442575e-01 -2.85292598e-04 -2.89888495e+01] [-3.51838922e-03 -1.12580838e-05 9.99993810e-01 -1.84363976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.95028169299997 meters Centerline goodness [0,1] 0.9997891363022942 Centerline is valid? [True, True] Translation: X:428.03, Y:-28.99, Z:-1.84 [[ 9.96440187e-01 8.42297824e-02 3.50683067e-03 4.28034180e+02] [-8.42293004e-02 9.96446358e-01 -2.85180742e-04 -2.89910525e+01] [-3.51838936e-03 -1.12123417e-05 9.99993810e-01 -1.84369939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98028169299994 meters Centerline goodness [0,1] 0.9997035342947292 Centerline is valid? [True, True] Translation: X:428.06, Y:-29.00, Z:-1.85 [[ 9.96574428e-01 8.26802122e-02 1.84174284e-03 4.28062873e+02] [-8.26800767e-02 9.96576130e-01 -1.49729538e-04 -2.89983826e+01] [-1.84781663e-03 -3.05881140e-06 9.99998293e-01 -1.84689430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.01028169299997 meters Centerline goodness [0,1] 0.9997885656292287 Centerline is valid? [True, True] Translation: X:428.09, Y:-29.01, Z:-1.85 [[ 9.96679211e-01 8.14270428e-02 -4.32474564e-04 4.28091067e+02] [-8.14270352e-02 9.96679305e-01 3.50587004e-05 -2.90058019e+01] [ 4.33893174e-04 2.72843669e-07 9.99999906e-01 -1.85065639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04028169299994 meters Centerline goodness [0,1] 0.9998297147722435 Centerline is valid? [True, True] Translation: X:428.12, Y:-29.01, Z:-1.85 [[ 9.96635516e-01 8.19607184e-02 -2.99733666e-04 4.28118540e+02] [-8.19607148e-02 9.96635561e-01 2.42094069e-05 -2.90072922e+01] [ 3.00709451e-04 4.38430750e-07 9.99999955e-01 -1.85048301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.07028169299997 meters Centerline goodness [0,1] 0.9998939801955005 Centerline is valid? [True, True] Translation: X:428.15, Y:-29.01, Z:-1.85 [[ 9.96529121e-01 8.32443501e-02 3.00092334e-04 4.28147644e+02] [-8.32443465e-02 9.96529166e-01 -2.44438260e-05 -2.90075918e+01] [-3.01085574e-04 -6.22005829e-07 9.99999955e-01 -1.84887198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10028169299994 meters Centerline goodness [0,1] 0.9998306448198484 Centerline is valid? [True, True] Translation: X:428.18, Y:-29.01, Z:-1.85 [[ 9.96394346e-01 8.48350028e-02 1.15338010e-03 4.28175216e+02] [-8.48349513e-02 9.96395013e-01 -9.36323915e-05 -2.90074509e+01] [-1.15716549e-03 -4.55215946e-06 9.99999330e-01 -1.84719231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.130281693 meters Centerline goodness [0,1] 0.999809910024078 Centerline is valid? [True, True] Translation: X:428.20, Y:-29.01, Z:-1.85 [[ 9.96104468e-01 8.81527017e-02 2.23385275e-03 4.28202883e+02] [-8.81525172e-02 9.96106973e-01 -1.81090856e-04 -2.90051373e+01] [-2.24111994e-03 -1.65343319e-05 9.99997489e-01 -1.84516385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16028169299994 meters Centerline goodness [0,1] 0.9998936238112461 Centerline is valid? [True, True] Translation: X:428.23, Y:-29.01, Z:-1.85 [[ 9.95996300e-01 8.93731106e-02 1.95372789e-03 4.28231736e+02] [-8.93729721e-02 9.95998216e-01 -1.58262881e-04 -2.90052727e+01] [-1.96005394e-03 -1.69812244e-05 9.99998079e-01 -1.84562617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.190281693 meters Centerline goodness [0,1] 0.9998304330316454 Centerline is valid? [True, True] Translation: X:428.26, Y:-29.01, Z:-1.85 [[ 9.95898096e-01 9.04731321e-02 1.26269892e-03 4.28260007e+02] [-9.04730751e-02 9.95898897e-01 -1.02271428e-04 -2.90060397e+01] [-1.26677328e-03 -1.23883340e-05 9.99999198e-01 -1.84786808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22028169299995 meters Centerline goodness [0,1] 0.9997665832024785 Centerline is valid? [True, True] Translation: X:428.29, Y:-29.01, Z:-1.85 [[ 9.95918929e-01 9.02407778e-02 1.44522060e-03 4.28288595e+02] [-9.02407031e-02 9.95919978e-01 -1.16947879e-04 -2.90093269e+01] [-1.44987753e-03 -1.39471167e-05 9.99998949e-01 -1.84808911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.250281693 meters Centerline goodness [0,1] 0.9997664047568486 Centerline is valid? [True, True] Translation: X:428.32, Y:-29.01, Z:-1.85 [[ 9.95935275e-01 9.00442751e-02 2.22615889e-03 4.28316809e+02] [-9.00440977e-02 9.95937763e-01 -1.79990054e-04 -2.90125175e+01] [-2.23332278e-03 -2.11940239e-05 9.99997506e-01 -1.84686557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28028169299995 meters Centerline goodness [0,1] 0.9997042045214452 Centerline is valid? [True, True] Translation: X:428.35, Y:-29.02, Z:-1.84 [[ 9.95953933e-01 8.98195806e-02 2.86465962e-03 4.28345246e+02] [-8.98192863e-02 9.95958052e-01 -2.31458539e-04 -2.90150713e+01] [-2.87387032e-03 -2.67796401e-05 9.99995870e-01 -1.84497590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.310281693 meters Centerline goodness [0,1] 0.9998093947223516 Centerline is valid? [True, True] Translation: X:428.37, Y:-29.01, Z:-1.84 [[ 9.95869886e-01 9.07507740e-02 2.73273559e-03 4.28372928e+02] [-9.07505101e-02 9.95873635e-01 -2.20674379e-04 -2.90138439e+01] [-2.74148569e-03 -2.82341799e-05 9.99996242e-01 -1.84430407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34028169299995 meters Centerline goodness [0,1] 0.999809873883009 Centerline is valid? [True, True] Translation: X:428.40, Y:-29.01, Z:-1.84 [[ 9.95775025e-01 9.17991572e-02 2.23940681e-03 4.28401533e+02] [-9.17989829e-02 9.95777542e-01 -1.80734891e-04 -2.90127923e+01] [-2.24654232e-03 -2.56039772e-05 9.99997476e-01 -1.84489167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.370281693 meters Centerline goodness [0,1] 0.999810641923878 Centerline is valid? [True, True] Translation: X:428.43, Y:-29.01, Z:-1.85 [[ 9.95667856e-01 9.29513712e-02 2.35859702e-03 4.28430582e+02] [-9.29511813e-02 9.95670649e-01 -1.90244648e-04 -2.90134852e+01] [-2.36606933e-03 -2.98138985e-05 9.99997200e-01 -1.84531399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40028169299995 meters Centerline goodness [0,1] 0.9997690482689118 Centerline is valid? [True, True] Translation: X:428.46, Y:-29.01, Z:-1.84 [[ 9.95545714e-01 9.42496912e-02 2.39322687e-03 4.28458300e+02] [-9.42494997e-02 9.95548590e-01 -1.92922462e-04 -2.90106537e+01] [-2.40075652e-03 -3.34973054e-05 9.99997118e-01 -1.84494569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.430281693 meters Centerline goodness [0,1] 0.9996596179211165 Centerline is valid? [True, True] Translation: X:428.49, Y:-29.00, Z:-1.84 [[ 9.95253649e-01 9.72515366e-02 3.50889892e-03 4.28487776e+02] [-9.72511444e-02 9.95259833e-01 -2.82635835e-04 -2.90047603e+01] [-3.51975293e-03 -5.99500901e-05 9.99993804e-01 -1.84364984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46028169299996 meters Centerline goodness [0,1] 0.9994946304485155 Centerline is valid? [True, True] Translation: X:428.52, Y:-29.00, Z:-1.84 [[ 9.95102787e-01 9.87770706e-02 3.67889566e-03 4.28515990e+02] [-9.87766504e-02 9.95109585e-01 -2.96171234e-04 -2.90018705e+01] [-3.69015926e-03 -6.86681699e-05 9.99993189e-01 -1.84344355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.490281693 meters Centerline goodness [0,1] 0.9992586473491347 Centerline is valid? [True, True] Translation: X:428.54, Y:-29.00, Z:-1.84 [[ 9.95008644e-01 9.97124582e-02 3.90185186e-03 4.28544772e+02] [-9.97119935e-02 9.95016291e-01 -3.13922427e-04 -2.90004182e+01] [-3.91370814e-03 -7.67058991e-05 9.99992338e-01 -1.84261151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52028169299996 meters Centerline goodness [0,1] 0.9996389124893797 Centerline is valid? [True, True] Translation: X:428.57, Y:-29.00, Z:-1.84 [[ 9.95023858e-01 9.95567495e-02 3.99701028e-03 4.28573540e+02] [-9.95562614e-02 9.95031883e-01 -3.21395758e-04 -2.90037557e+01] [-4.00914978e-03 -7.81309527e-05 9.99991960e-01 -1.84279609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.550281693 meters Centerline goodness [0,1] 0.9998085839465737 Centerline is valid? [True, True] Translation: X:428.60, Y:-29.01, Z:-1.84 [[ 9.95131381e-01 9.84901157e-02 3.63764335e-03 4.28602277e+02] [-9.84897049e-02 9.95138027e-01 -2.92332852e-04 -2.90075008e+01] [-3.64874912e-03 -6.73608254e-05 9.99993341e-01 -1.84344100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58028169299996 meters Centerline goodness [0,1] 0.9997229090289027 Centerline is valid? [True, True] Translation: X:428.63, Y:-29.01, Z:-1.84 [[ 9.95271845e-01 9.70772446e-02 3.15635153e-03 4.28630581e+02] [-9.70769287e-02 9.95276849e-01 -2.53513065e-04 -2.90099644e+01] [-3.16605396e-03 -5.40944971e-05 9.99994987e-01 -1.84433661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.61028169299993 meters Centerline goodness [0,1] 0.9995770597191677 Centerline is valid? [True, True] Translation: X:428.66, Y:-29.01, Z:-1.84 [[ 9.95399084e-01 9.57641816e-02 3.14408877e-03 4.28658752e+02] [-9.57638621e-02 9.95404048e-01 -2.52361727e-04 -2.90066760e+01] [-3.15380590e-03 -4.98894514e-05 9.99995025e-01 -1.84450065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64028169299996 meters Centerline goodness [0,1] 0.9998508925148042 Centerline is valid? [True, True] Translation: X:428.69, Y:-29.02, Z:-1.85 [[ 9.95637148e-01 9.32595816e-02 3.05276654e-03 4.28686702e+02] [-9.32592691e-02 9.95641828e-01 -2.44861779e-04 -2.90172218e+01] [-3.06229777e-03 -4.09052931e-05 9.99995310e-01 -1.84592647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.67028169299994 meters Centerline goodness [0,1] 0.999915252441789 Centerline is valid? [True, True] Translation: X:428.72, Y:-29.02, Z:-1.85 [[ 9.95718037e-01 9.23967798e-02 2.90285479e-03 4.28715886e+02] [-9.23964940e-02 9.95722267e-01 -2.32680122e-04 -2.90199712e+01] [-2.91193605e-03 -3.65298108e-05 9.99995760e-01 -1.84569865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70028169299997 meters Centerline goodness [0,1] 0.9998308167322252 Centerline is valid? [True, True] Translation: X:428.74, Y:-29.02, Z:-1.85 [[ 9.95747059e-01 9.20839085e-02 2.88918195e-03 4.28744781e+02] [-9.20836246e-02 9.95751250e-01 -2.31385043e-04 -2.90218710e+01] [-2.89821338e-03 -3.56453702e-05 9.99995800e-01 -1.84559555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.73028169299994 meters Centerline goodness [0,1] 0.999915865637423 Centerline is valid? [True, True] Translation: X:428.77, Y:-29.02, Z:-1.85 [[ 9.95743942e-01 9.21326150e-02 2.36270761e-03 4.28772944e+02] [-9.21324256e-02 9.95746745e-01 -1.89124293e-04 -2.90229078e+01] [-2.37008293e-03 -2.93626135e-05 9.99997191e-01 -1.84601098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76028169299997 meters Centerline goodness [0,1] 0.9998510035971989 Centerline is valid? [True, True] Translation: X:428.80, Y:-29.02, Z:-1.85 [[ 9.95713570e-01 9.24871964e-02 7.77214261e-04 4.28801332e+02] [-9.24871760e-02 9.95713874e-01 -6.22346811e-05 -2.90237340e+01] [-7.79638933e-04 -9.91443558e-06 9.99999696e-01 -1.84930797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.79028169299994 meters Centerline goodness [0,1] 0.9997675647120972 Centerline is valid? [True, True] Translation: X:428.83, Y:-29.02, Z:-1.85 [[ 9.95691942e-01 9.27227864e-02 -2.05526790e-04 4.28828843e+02] [-9.27227850e-02 9.95691963e-01 1.62945279e-05 -2.90236724e+01] [ 2.06152247e-04 2.83268623e-06 9.99999979e-01 -1.85166301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82028169299997 meters Centerline goodness [0,1] 0.999787007454739 Centerline is valid? [True, True] Translation: X:428.86, Y:-29.03, Z:-1.85 [[ 9.95649832e-01 9.31729336e-02 -4.64369170e-04 4.28857385e+02] [-9.31729265e-02 9.95649941e-01 3.69746937e-05 -2.90256103e+01] [ 4.65794177e-04 6.45278699e-06 9.99999891e-01 -1.85174499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.85028169299994 meters Centerline goodness [0,1] 0.9997881086578803 Centerline is valid? [True, True] Translation: X:428.89, Y:-29.02, Z:-1.85 [[ 9.95511299e-01 9.46340049e-02 1.28758008e-03 4.28885182e+02] [-9.46339510e-02 9.95512132e-01 -1.02853265e-04 -2.90239079e+01] [-1.29153501e-03 -1.94572034e-05 9.99999166e-01 -1.84831181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.880281693 meters Centerline goodness [0,1] 0.9998932969120127 Centerline is valid? [True, True] Translation: X:428.91, Y:-29.03, Z:-1.85 [[ 9.95455562e-01 9.51940557e-02 2.51330483e-03 4.28913468e+02] [-9.51938529e-02 9.95458734e-01 -2.00469546e-04 -2.90266988e+01] [-2.52097475e-03 -3.96926454e-05 9.99996822e-01 -1.84564720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.91028169299994 meters Centerline goodness [0,1] 0.9998313552712018 Centerline is valid? [True, True] Translation: X:428.94, Y:-29.02, Z:-1.84 [[ 9.95541996e-01 9.42340974e-02 4.00851627e-03 4.28941584e+02] [-9.42335749e-02 9.95550065e-01 -3.19450667e-04 -2.90248127e+01] [-4.02078178e-03 -5.97102627e-05 9.99991915e-01 -1.84172882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.940281693 meters Centerline goodness [0,1] 0.9998924939259068 Centerline is valid? [True, True] Translation: X:428.97, Y:-29.03, Z:-1.84 [[ 9.95680833e-01 9.27045713e-02 5.05381111e-03 4.28970017e+02] [-9.27037225e-02 9.95693657e-01 -4.02449895e-04 -2.90288975e+01] [-5.06935661e-03 -6.77954565e-05 9.99987148e-01 -1.84056448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.97028169299995 meters Centerline goodness [0,1] 0.9998936600097833 Centerline is valid? [True, True] Translation: X:429.00, Y:-29.03, Z:-1.84 [[ 9.95795770e-01 9.14297463e-02 5.60236256e-03 4.28998407e+02] [-9.14286846e-02 9.95811527e-01 -4.45853208e-04 -2.90318291e+01] [-5.61966146e-03 -6.82379013e-05 9.99984207e-01 -1.84032753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.000281693 meters Centerline goodness [0,1] 0.9999146666666666 Centerline is valid? [True, True] Translation: X:429.03, Y:-29.04, Z:-1.84 [[ 9.95947362e-01 8.98490490e-02 4.00010724e-03 4.29027058e+02] [-8.98484956e-02 9.95955394e-01 -3.18177340e-04 -2.90366617e+01] [-4.01251631e-03 -4.25157348e-05 9.99991949e-01 -1.84413712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.03028169299995 meters Centerline goodness [0,1] 0.9998728813559322 Centerline is valid? [True, True] Translation: X:429.05, Y:-29.04, Z:-1.85 [[ 9.96060437e-01 8.86494140e-02 2.21083023e-03 4.29054371e+02] [-8.86492421e-02 9.96062890e-01 -1.75791800e-04 -2.90400019e+01] [-2.21770979e-03 -2.08891678e-05 9.99997541e-01 -1.84720418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.060281693 meters Centerline goodness [0,1] 0.9998944412776828 Centerline is valid? [True, True] Translation: X:429.08, Y:-29.04, Z:-1.85 [[ 9.96224325e-01 8.68114526e-02 9.31022017e-04 4.29082368e+02] [-8.68114213e-02 9.96224760e-01 -7.40458812e-05 -2.90428572e+01] [-9.33935215e-04 -7.05703659e-06 9.99999564e-01 -1.84940657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.09028169299995 meters Centerline goodness [0,1] 0.9999151949456188 Centerline is valid? [True, True] Translation: X:429.11, Y:-29.05, Z:-1.85 [[ 9.96617791e-01 8.21648885e-02 1.38227936e-03 4.29110233e+02] [-8.21648153e-02 9.96618749e-01 -1.09784395e-04 -2.90547412e+01] [-1.38662594e-03 -4.16164655e-06 9.99999039e-01 -1.84806054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.120281693 meters Centerline goodness [0,1] 0.9998951166303071 Centerline is valid? [True, True] Translation: X:429.14, Y:-29.06, Z:-1.85 [[ 9.96812501e-01 7.97602536e-02 1.77195204e-03 4.29137166e+02] [-7.97601297e-02 9.96814076e-01 -1.40626632e-04 -2.90624895e+01] [-1.77752316e-03 -1.15274030e-06 9.99998420e-01 -1.84740627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.15028169299995 meters Centerline goodness [0,1] 0.9998514998514999 Centerline is valid? [True, True] Translation: X:429.17, Y:-29.07, Z:-1.85 [[ 9.96978042e-01 7.76583450e-02 1.99149572e-03 4.29165076e+02] [-7.76581845e-02 9.96980031e-01 -1.57918547e-04 -2.90705036e+01] [-1.99774515e-03 2.78538179e-06 9.99998005e-01 -1.84753874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.180281693 meters Centerline goodness [0,1] 0.999914942479852 Centerline is valid? [True, True] Translation: X:429.19, Y:-29.08, Z:-1.85 [[ 9.97096461e-01 7.61282449e-02 1.77165246e-03 4.29194671e+02] [-7.61281156e-02 9.97098034e-01 -1.40408850e-04 -2.90769167e+01] [-1.77720026e-03 5.12860473e-06 9.99998421e-01 -1.84786905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.21028169299996 meters Centerline goodness [0,1] 0.9999363084370091 Centerline is valid? [True, True] Translation: X:429.22, Y:-29.08, Z:-1.85 [[ 9.97152902e-01 7.53942183e-02 1.34202736e-03 4.29222634e+02] [-7.53941435e-02 9.97153805e-01 -1.06348805e-04 -2.90840985e+01] [-1.34622577e-03 4.86501589e-06 9.99999094e-01 -1.84900276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.240281693 meters Centerline goodness [0,1] 0.9998094955866478 Centerline is valid? [True, True] Translation: X:429.25, Y:-29.09, Z:-1.85 [[ 9.97131428e-01 7.56741180e-02 1.53048675e-03 4.29251515e+02] [-7.56740210e-02 9.97132603e-01 -1.21218820e-04 -2.90887031e+01] [-1.53527137e-03 5.05300806e-06 9.99998821e-01 -1.84890362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.27028169299996 meters Centerline goodness [0,1] 0.9996800136527508 Centerline is valid? [True, True] Translation: X:429.28, Y:-29.09, Z:-1.85 [[ 9.97089109e-01 7.62330590e-02 1.35227789e-03 4.29280581e+02] [-7.62329839e-02 9.97090026e-01 -1.07056696e-04 -2.90926166e+01] [-1.35650405e-03 3.65688711e-06 9.99999080e-01 -1.84877631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.300281693 meters Centerline goodness [0,1] 0.9997884314306267 Centerline is valid? [True, True] Translation: X:429.31, Y:-29.10, Z:-1.85 [[ 9.97025610e-01 7.70656659e-02 9.03565667e-04 4.29308825e+02] [-7.70656327e-02 9.97026019e-01 -7.15333859e-05 -2.90956017e+01] [-9.06391248e-04 1.68675790e-06 9.99999589e-01 -1.85010541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.33028169299996 meters Centerline goodness [0,1] 0.9997451796483479 Centerline is valid? [True, True] Translation: X:429.34, Y:-29.09, Z:-1.85 [[ 9.96724154e-01 8.08760899e-02 1.37615285e-04 4.29337760e+02] [-8.08760892e-02 9.96724163e-01 -1.09773656e-05 -2.90941532e+01] [-1.38052286e-04 -1.88380618e-07 9.99999990e-01 -1.85205332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36028169299993 meters Centerline goodness [0,1] 0.9998286681087101 Centerline is valid? [True, True] Translation: X:429.37, Y:-29.09, Z:-1.85 [[ 9.96501363e-01 8.35755010e-02 -4.12244998e-04 4.29366881e+02] [-8.35754947e-02 9.96501448e-01 3.24669558e-05 -2.90933288e+01] [ 4.13516179e-04 2.10021398e-06 9.99999915e-01 -1.85187817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.39028169299996 meters Centerline goodness [0,1] 0.9998300078621364 Centerline is valid? [True, True] Translation: X:429.39, Y:-29.09, Z:-1.85 [[ 9.96239356e-01 8.66421324e-02 -5.34283798e-04 4.29394712e+02] [-8.66421223e-02 9.96239500e-01 4.20313322e-05 -2.90893058e+01] [ 5.35916308e-04 4.41821481e-06 9.99999856e-01 -1.85244561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42028169299994 meters Centerline goodness [0,1] 0.9997900526967731 Centerline is valid? [True, True] Translation: X:429.42, Y:-29.08, Z:-1.85 [[ 9.95798255e-01 9.15705996e-02 -8.12921407e-04 4.29423791e+02] [-9.15705778e-02 9.95798587e-01 6.40916794e-05 -2.90808974e+01] [ 8.15374902e-04 1.06173004e-05 9.99999668e-01 -1.85342205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.45028169299997 meters Centerline goodness [0,1] 0.9998291182501708 Centerline is valid? [True, True] Translation: X:429.45, Y:-29.08, Z:-1.85 [[ 9.95664754e-01 9.30125870e-02 -5.96352847e-04 4.29452584e+02] [-9.30125756e-02 9.95664933e-01 4.69376280e-05 -2.90797606e+01] [ 5.98133408e-04 8.73417239e-06 9.99999821e-01 -1.85311699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48028169299994 meters Centerline goodness [0,1] 0.9998522396251108 Centerline is valid? [True, True] Translation: X:429.48, Y:-29.08, Z:-1.85 [[ 9.95614925e-01 9.35458406e-02 -3.10305075e-04 4.29481626e+02] [-9.35458376e-02 9.95614974e-01 2.43642136e-05 -2.90795907e+01] [ 3.11223550e-04 4.77037351e-06 9.99999952e-01 -1.85337155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.51028169299997 meters Centerline goodness [0,1] 0.9999358426005133 Centerline is valid? [True, True] Translation: X:429.51, Y:-29.08, Z:-1.85 [[ 9.95640743e-01 9.32710060e-02 1.71375090e-04 4.29510243e+02] [-9.32710050e-02 9.95640758e-01 -1.36000386e-05 -2.90824774e+01] [-1.71896514e-04 -2.44357438e-06 9.99999985e-01 -1.85283172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54028169299994 meters Centerline goodness [0,1] 0.9998938766847076 Centerline is valid? [True, True] Translation: X:429.54, Y:-29.08, Z:-1.85 [[ 9.95818499e-01 9.13475623e-02 1.06759838e-03 4.29538065e+02] [-9.13475246e-02 9.95819071e-01 -8.41600676e-05 -2.90803011e+01] [-1.07082264e-03 -1.37143170e-05 9.99999427e-01 -1.85043415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.57028169299997 meters Centerline goodness [0,1] 0.9999355060624301 Centerline is valid? [True, True] Translation: X:429.57, Y:-29.08, Z:-1.85 [[ 9.95998615e-01 8.93635765e-02 9.54249589e-04 4.29567201e+02] [-8.93635455e-02 9.95999072e-01 -7.51987353e-05 -2.90837365e+01] [-9.57151733e-04 -1.03772904e-05 9.99999542e-01 -1.84999737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60028169299994 meters Centerline goodness [0,1] 0.9999578965096206 Centerline is valid? [True, True] Translation: X:429.60, Y:-29.09, Z:-1.85 [[ 9.96211469e-01 8.69632028e-02 3.32215760e-04 4.29595216e+02] [-8.69631989e-02 9.96211524e-01 -2.62295610e-05 -2.90866986e+01] [-3.33238175e-04 -2.76035569e-06 9.99999944e-01 -1.85126243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.630281693 meters Centerline goodness [0,1] 0.9997234454442955 Centerline is valid? [True, True] Translation: X:429.62, Y:-29.09, Z:-1.85 [[ 9.96688044e-01 8.13198617e-02 -1.48756887e-04 4.29624023e+02] [-8.13198609e-02 9.96688056e-01 1.16092394e-05 -2.90946422e+01] [ 1.49208274e-04 5.26099186e-07 9.99999989e-01 -1.85097438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66028169299994 meters Centerline goodness [0,1] 0.9997419798744303 Centerline is valid? [True, True] Translation: X:429.65, Y:-29.10, Z:-1.85 [[ 9.96928952e-01 7.83108680e-02 2.68498043e-04 4.29651937e+02] [-7.83108652e-02 9.96928988e-01 -2.12002271e-05 -2.90991751e+01] [-2.69333690e-04 1.08806226e-07 9.99999964e-01 -1.85047215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.690281693 meters Centerline goodness [0,1] 0.9994488022047912 Centerline is valid? [True, True] Translation: X:429.68, Y:-29.10, Z:-1.85 [[ 9.97143955e-01 7.55131573e-02 1.30220851e-03 4.29680425e+02] [-7.55130881e-02 9.97144805e-01 -1.02241058e-04 -2.91038468e+01] [-1.30621100e-03 3.61526659e-06 9.99999147e-01 -1.84883128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72028169299995 meters Centerline goodness [0,1] 0.9992256732341048 Centerline is valid? [True, True] Translation: X:429.71, Y:-29.11, Z:-1.85 [[ 9.97295025e-01 7.34587693e-02 2.53829921e-03 4.29708760e+02] [-7.34585005e-02 9.97298255e-01 -1.99076974e-04 -2.91080054e+01] [-2.54606533e-03 1.20788217e-05 9.99996759e-01 -1.84638816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.750281693 meters Centerline goodness [0,1] 0.9992543037327425 Centerline is valid? [True, True] Translation: X:429.74, Y:-29.11, Z:-1.84 [[ 9.97450860e-01 7.12640610e-02 3.63517674e-03 4.29737031e+02] [-7.12634959e-02 9.97457484e-01 -2.84908365e-04 -2.91125808e+01] [-3.64623798e-03 2.51266903e-05 9.99993352e-01 -1.84435528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78028169299995 meters Centerline goodness [0,1] 0.9992688329283241 Centerline is valid? [True, True] Translation: X:429.77, Y:-29.11, Z:-1.85 [[ 9.97525765e-01 7.02275081e-02 3.23183290e-03 4.29766420e+02] [-7.02270563e-02 9.97531000e-01 -2.53202850e-04 -2.91148341e+01] [-3.24163531e-03 2.56142559e-05 9.99994746e-01 -1.84523713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.810281693 meters Centerline goodness [0,1] 0.9993227513227513 Centerline is valid? [True, True] Translation: X:429.80, Y:-29.12, Z:-1.85 [[ 9.97581479e-01 6.94631892e-02 2.46115319e-03 4.29795181e+02] [-6.94629249e-02 9.97584515e-01 -1.92770588e-04 -2.91186563e+01] [-2.46859877e-03 2.13454689e-05 9.99996953e-01 -1.84663421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84028169299995 meters Centerline goodness [0,1] 0.9993227513227513 Centerline is valid? [True, True] Translation: X:429.82, Y:-29.12, Z:-1.85 [[ 9.97583116e-01 6.94396786e-02 2.46115981e-03 4.29824260e+02] [-6.94394145e-02 9.97586152e-01 -1.92686006e-04 -2.91208883e+01] [-2.46859900e-03 2.13188100e-05 9.99996953e-01 -1.84669560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.870281693 meters Centerline goodness [0,1] 0.9992244722102542 Centerline is valid? [True, True] Translation: X:429.85, Y:-29.13, Z:-1.85 [[ 9.97685115e-01 6.80018535e-02 3.99039393e-04 4.29853894e+02] [-6.80018464e-02 9.97685195e-01 -3.12739393e-05 -2.91253147e+01] [-4.00242381e-04 4.06612819e-06 9.99999920e-01 -1.85071802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90028169299995 meters Centerline goodness [0,1] 0.9992166659609604 Centerline is valid? [True, True] Translation: X:429.88, Y:-29.13, Z:-1.85 [[ 9.97761300e-01 6.68715847e-02 -7.60765284e-04 4.29881763e+02] [-6.68715588e-02 9.97761590e-01 5.95474204e-05 -2.91304025e+01] [ 7.63044410e-04 -8.54055117e-06 9.99999709e-01 -1.85231574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.930281693 meters Centerline goodness [0,1] 0.9989156319101888 Centerline is valid? [True, True] Translation: X:429.91, Y:-29.14, Z:-1.85 [[ 9.97866710e-01 6.52695137e-02 -1.38582628e-03 4.29910015e+02] [-6.52694261e-02 9.97867672e-01 1.08325079e-04 -2.91372501e+01] [ 1.38994157e-03 -1.76419042e-05 9.99999034e-01 -1.85338196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96028169299996 meters Centerline goodness [0,1] 0.9987471598751407 Centerline is valid? [True, True] Translation: X:429.94, Y:-29.15, Z:-1.85 [[ 9.98044083e-01 6.25060481e-02 -1.00085754e-03 4.29937860e+02] [-6.25060012e-02 9.98044585e-01 7.81818361e-05 -2.91462112e+01] [ 1.00378728e-03 -1.54693165e-05 9.99999496e-01 -1.85224974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.990281693 meters Centerline goodness [0,1] 0.998699914748508 Centerline is valid? [True, True] Translation: X:429.97, Y:-29.15, Z:-1.85 [[ 9.98097666e-01 6.16524963e-02 1.37080958e-04 4.29965933e+02] [-6.16524954e-02 9.98097675e-01 -1.07829854e-05 -2.91510430e+01] [-1.37484983e-04 2.31108944e-06 9.99999991e-01 -1.85003050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02028169299996 meters Centerline goodness [0,1] 0.9989123944382837 Centerline is valid? [True, True] Translation: X:430.00, Y:-29.15, Z:-1.85 [[ 9.98107355e-01 6.14894684e-02 8.67932399e-04 4.29995769e+02] [-6.14894326e-02 9.98107732e-01 -6.78594300e-05 -2.91521474e+01] [-8.70462679e-04 1.43623254e-05 9.99999621e-01 -1.84837474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.050281693 meters Centerline goodness [0,1] 0.9987809311974678 Centerline is valid? [True, True] Translation: X:430.03, Y:-29.16, Z:-1.85 [[ 9.98076222e-01 6.19976275e-02 3.86907193e-04 4.30025341e+02] [-6.19976205e-02 9.98076297e-01 -3.02484254e-05 -2.91570095e+01] [-3.88038229e-04 6.20290879e-06 9.99999925e-01 -1.84943833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08028169299996 meters Centerline goodness [0,1] 0.9989120696275439 Centerline is valid? [True, True] Translation: X:430.05, Y:-29.16, Z:-1.85 [[ 9.98037595e-01 6.26078032e-02 -1.10577297e-03 4.30054961e+02] [-6.26077460e-02 9.98038207e-01 8.63053678e-05 -2.91592621e+01] [ 1.10900706e-03 -1.69060487e-05 9.99999385e-01 -1.85236162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.11028169299993 meters Centerline goodness [0,1] 0.9986521757733944 Centerline is valid? [True, True] Translation: X:430.08, Y:-29.16, Z:-1.85 [[ 9.98054515e-01 6.23431090e-02 -7.22837270e-04 4.30084775e+02] [-6.23430845e-02 9.98054776e-01 5.63829900e-05 -2.91635427e+01] [ 7.24946281e-04 -1.12093927e-05 9.99999737e-01 -1.85153509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14028169299996 meters Centerline goodness [0,1] 0.9988046448087432 Centerline is valid? [True, True] Translation: X:430.11, Y:-29.17, Z:-1.85 [[ 9.98068719e-01 6.21194750e-02 -5.93436050e-05 4.30112851e+02] [-6.21194748e-02 9.98068720e-01 4.55754147e-06 -2.91691116e+01] [ 5.95121081e-05 -8.62345997e-07 9.99999998e-01 -1.85050608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.17028169299994 meters Centerline goodness [0,1] 0.9987125369354158 Centerline is valid? [True, True] Translation: X:430.14, Y:-29.18, Z:-1.85 [[ 9.98118114e-01 6.13202654e-02 -2.34404415e-04 4.30141573e+02] [-6.13202628e-02 9.98118142e-01 1.83118216e-05 -2.91778991e+01] [ 2.35086185e-04 -3.90362047e-06 9.99999972e-01 -1.85000495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20028169299997 meters Centerline goodness [0,1] 0.99907019990702 Centerline is valid? [True, True] Translation: X:430.17, Y:-29.18, Z:-1.85 [[ 9.98096674e-01 6.16643686e-02 -7.31021304e-04 4.30171576e+02] [-6.16643434e-02 9.98096942e-01 5.69859381e-05 -2.91809238e+01] [ 7.33144130e-04 -1.17995266e-05 9.99999731e-01 -1.85058141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.23028169299994 meters Centerline goodness [0,1] 0.9989360117464303 Centerline is valid? [True, True] Translation: X:430.20, Y:-29.18, Z:-1.85 [[ 9.98054936e-01 6.23332468e-02 -9.54051851e-04 4.30200823e+02] [-6.23332041e-02 9.98055392e-01 7.44004923e-05 -2.91849548e+01] [ 9.56834219e-04 -1.47866698e-05 9.99999542e-01 -1.85108215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26028169299997 meters Centerline goodness [0,1] 0.9990707524743917 Centerline is valid? [True, True] Translation: X:430.23, Y:-29.19, Z:-1.85 [[ 9.97944629e-01 6.40751183e-02 -9.47397725e-04 4.30230832e+02] [-6.40750770e-02 9.97945078e-01 7.38691503e-05 -2.91873465e+01] [ 9.50184072e-04 -1.30127395e-05 9.99999548e-01 -1.85033456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.29028169299994 meters Centerline goodness [0,1] 0.9989826628799118 Centerline is valid? [True, True] Translation: X:430.26, Y:-29.19, Z:-1.85 [[ 9.97867782e-01 6.52629734e-02 -7.96095186e-04 4.30260480e+02] [-6.52629446e-02 9.97868100e-01 6.21381542e-05 -2.91919621e+01] [ 7.98453311e-04 -1.00501462e-05 9.99999681e-01 -1.85101110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32028169299997 meters Centerline goodness [0,1] 0.9994677906927236 Centerline is valid? [True, True] Translation: X:430.29, Y:-29.19, Z:-1.85 [[ 9.97740065e-01 6.71907226e-02 -4.12353983e-04 4.30290193e+02] [-6.71907151e-02 9.97740150e-01 3.21108763e-05 -2.91927596e+01] [ 4.13579678e-04 -4.33194880e-06 9.99999914e-01 -1.84997646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.35028169299994 meters Centerline goodness [0,1] 0.9995502634171414 Centerline is valid? [True, True] Translation: X:430.32, Y:-29.19, Z:-1.85 [[ 9.97385377e-01 7.22643458e-02 -5.22747173e-04 4.30320393e+02] [-7.22643344e-02 9.97385514e-01 4.07068827e-05 -2.91907580e+01] [ 5.24322114e-04 -2.82447301e-06 9.99999863e-01 -1.85002459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.380281693 meters Centerline goodness [0,1] 0.9998295732941352 Centerline is valid? [True, True] Translation: X:430.35, Y:-29.19, Z:-1.85 [[ 9.97213987e-01 7.45905319e-02 -7.19010843e-04 4.30349556e+02] [-7.45905110e-02 9.97214246e-01 5.59586392e-05 -2.91913402e+01] [ 7.21181840e-04 -2.17135149e-06 9.99999740e-01 -1.85059553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.41028169299994 meters Centerline goodness [0,1] 0.9998279791854815 Centerline is valid? [True, True] Translation: X:430.38, Y:-29.19, Z:-1.85 [[ 9.97037850e-01 7.69057059e-02 -1.01874102e-03 4.30379046e+02] [-7.69056650e-02 9.97038371e-01 7.93182907e-05 -2.91911607e+01] [ 1.02182391e-03 -7.36382511e-07 9.99999478e-01 -1.85090444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.440281693 meters Centerline goodness [0,1] 0.9998513705756206 Centerline is valid? [True, True] Translation: X:430.41, Y:-29.19, Z:-1.85 [[ 9.96857133e-01 7.92050231e-02 -1.55607428e-03 4.30407597e+02] [-7.92049305e-02 9.96858347e-01 1.21102074e-04 -2.91904011e+01] [ 1.56077753e-03 2.52728937e-06 9.99998782e-01 -1.85251064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.47028169299995 meters Centerline goodness [0,1] 0.9999788422477996 Centerline is valid? [True, True] Translation: X:430.44, Y:-29.19, Z:-1.86 [[ 9.96519708e-01 8.32991613e-02 -3.11802439e-03 4.30436225e+02] [-8.32988103e-02 9.96524585e-01 2.42475871e-04 -2.91853212e+01] [ 3.12738600e-03 1.80957382e-05 9.99995110e-01 -1.85548088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.500281693 meters Centerline goodness [0,1] 0.9999788811218349 Centerline is valid? [True, True] Translation: X:430.47, Y:-29.19, Z:-1.86 [[ 9.96400834e-01 8.47136490e-02 -2.99609498e-03 4.30465606e+02] [-8.47133317e-02 9.96405338e-01 2.32884065e-04 -2.91850535e+01] [ 3.00505349e-03 2.17633122e-05 9.99995485e-01 -1.85505319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.53028169299995 meters Centerline goodness [0,1] 0.9999787690282584 Centerline is valid? [True, True] Translation: X:430.49, Y:-29.18, Z:-1.85 [[ 9.96332449e-01 8.55320064e-02 -2.43445332e-03 4.30493424e+02] [-8.55317998e-02 9.96335423e-01 1.89029141e-04 -2.91846430e+01] [ 2.44170012e-03 1.98873067e-05 9.99997019e-01 -1.85435973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.560281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.52, Y:-29.19, Z:-1.85 [[ 9.96402223e-01 8.47365179e-02 -1.52709527e-03 4.30521571e+02] [-8.47364358e-02 9.96403393e-01 1.18491266e-04 -2.91888415e+01] [ 1.53164344e-03 1.13356486e-05 9.99998827e-01 -1.85252643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.59028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.55, Y:-29.19, Z:-1.85 [[ 9.96487427e-01 8.37231248e-02 -1.80199796e-03 4.30550511e+02] [-8.37230090e-02 9.96489056e-01 1.39754792e-04 -2.91925486e+01] [ 1.80737196e-03 1.16047990e-05 9.99998367e-01 -1.85303744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.620281693 meters Centerline goodness [0,1] 0.9999789033986625 Centerline is valid? [True, True] Translation: X:430.58, Y:-29.19, Z:-1.85 [[ 9.96565930e-01 8.27652736e-02 -2.50118574e-03 4.30578538e+02] [-8.27650478e-02 9.96569069e-01 1.93851507e-04 -2.91947649e+01] [ 2.50864852e-03 1.38249502e-05 9.99996853e-01 -1.85378689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.65028169299995 meters Centerline goodness [0,1] 0.9999354283254412 Centerline is valid? [True, True] Translation: X:430.61, Y:-29.20, Z:-1.85 [[ 9.96631500e-01 8.19679861e-02 -2.62742304e-03 4.30607265e+02] [-8.19677343e-02 9.96634963e-01 2.03531230e-04 -2.91975729e+01] [ 2.63526471e-03 1.25182788e-05 9.99996528e-01 -1.85312919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.680281693 meters Centerline goodness [0,1] 0.9999574277868835 Centerline is valid? [True, True] Translation: X:430.63, Y:-29.20, Z:-1.85 [[ 9.96720005e-01 8.09250080e-02 -6.12853754e-04 4.30634814e+02] [-8.09249942e-02 9.96720193e-01 4.73281443e-05 -2.91978641e+01] [ 6.14673742e-04 2.42227828e-06 9.99999811e-01 -1.84990121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.71028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.66, Y:-29.20, Z:-1.85 [[ 9.96730548e-01 8.07959501e-02 4.79567470e-04 4.30663979e+02] [-8.07959415e-02 9.96730663e-01 -3.72159956e-05 -2.91982928e+01] [-4.81006504e-04 -1.65278560e-06 9.99999884e-01 -1.84803712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.740281693 meters Centerline goodness [0,1] 0.999936816831996 Centerline is valid? [True, True] Translation: X:430.69, Y:-29.20, Z:-1.85 [[ 9.96738306e-01 8.06994869e-02 5.84100015e-04 4.30692861e+02] [-8.06994742e-02 9.96738478e-01 -4.52480523e-05 -2.91967808e+01] [-5.85846455e-04 -2.03609710e-06 9.99999828e-01 -1.84876485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.77028169299996 meters Centerline goodness [0,1] 0.9996593352779611 Centerline is valid? [True, True] Translation: X:430.72, Y:-29.20, Z:-1.85 [[ 9.96811023e-01 7.97676934e-02 -2.21327491e-03 4.30721682e+02] [-7.97675103e-02 9.96813481e-01 1.71022734e-04 -2.91968852e+01] [ 2.21986436e-03 6.07008273e-06 9.99997536e-01 -1.85456690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.800281693 meters Centerline goodness [0,1] 0.999873235865799 Centerline is valid? [True, True] Translation: X:430.75, Y:-29.20, Z:-1.86 [[ 9.96887443e-01 7.87870915e-02 -2.83192124e-03 4.30749067e+02] [-7.87867883e-02 9.96891466e-01 2.18646887e-04 -2.91986299e+01] [ 2.84034466e-03 5.15164302e-06 9.99995966e-01 -1.85789723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.83028169299996 meters Centerline goodness [0,1] 0.9997680792747207 Centerline is valid? [True, True] Translation: X:430.78, Y:-29.20, Z:-1.86 [[ 9.96998389e-01 7.73611123e-02 -3.07743203e-03 4.30777503e+02] [-7.73607477e-02 9.97003139e-01 2.37498765e-04 -2.92027482e+01] [ 3.08658256e-03 1.28655641e-06 9.99995236e-01 -1.85675431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86028169299993 meters Centerline goodness [0,1] 0.9998939419650432 Centerline is valid? [True, True] Translation: X:430.81, Y:-29.21, Z:-1.86 [[ 9.97279688e-01 7.36542099e-02 -2.87758111e-03 4.30805058e+02] [-7.36538763e-02 9.97283840e-01 2.21875416e-04 -2.92075861e+01] [ 2.88610720e-03 -9.32684229e-06 9.99995835e-01 -1.85518924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.89028169299996 meters Centerline goodness [0,1] 0.9996620694024965 Centerline is valid? [True, True] Translation: X:430.83, Y:-29.21, Z:-1.85 [[ 9.97416868e-01 7.17963899e-02 -2.20693748e-03 4.30834093e+02] [-7.17961894e-02 9.97419309e-01 1.70058888e-04 -2.92100679e+01] [ 2.21345167e-03 -1.11699019e-05 9.99997550e-01 -1.85437152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92028169299994 meters Centerline goodness [0,1] 0.9994515577868247 Centerline is valid? [True, True] Translation: X:430.86, Y:-29.21, Z:-1.85 [[ 9.97517054e-01 7.04076571e-02 -1.57776979e-03 4.30862517e+02] [-7.04075530e-02 9.97518301e-01 1.21519717e-04 -2.92132852e+01] [ 1.58241016e-03 -1.01310793e-05 9.99998748e-01 -1.85419852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.95028169299997 meters Centerline goodness [0,1] 0.999464782701777 Centerline is valid? [True, True] Translation: X:430.89, Y:-29.22, Z:-1.85 [[ 9.97599755e-01 6.92349603e-02 -1.11773548e-03 4.30891749e+02] [-6.92349074e-02 9.97600381e-01 8.60641257e-05 -2.92152795e+01] [ 1.12101199e-03 -8.47123819e-06 9.99999372e-01 -1.85287074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98028169299994 meters Centerline goodness [0,1] 0.9994658005512939 Centerline is valid? [True, True] Translation: X:430.92, Y:-29.22, Z:-1.85 [[ 9.97680163e-01 6.80676248e-02 -1.04397161e-03 4.30921342e+02] [-6.80675779e-02 9.97680710e-01 8.03562984e-05 -2.92183279e+01] [ 1.04702000e-03 -9.10926591e-06 9.99999452e-01 -1.85213599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.01028169299997 meters Centerline goodness [0,1] 0.9993812409319792 Centerline is valid? [True, True] Translation: X:430.95, Y:-29.22, Z:-1.85 [[ 9.97739947e-01 6.71819110e-02 -1.26052800e-03 4.30950576e+02] [-6.71818421e-02 9.97740743e-01 9.70056741e-05 -2.92210592e+01] [ 1.26419717e-03 -1.21018430e-05 9.99999201e-01 -1.85352493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04028169299994 meters Centerline goodness [0,1] 0.9994045467111838 Centerline is valid? [True, True] Translation: X:430.98, Y:-29.22, Z:-1.85 [[ 9.97812355e-01 6.60868126e-02 -1.74293589e-03 4.30980436e+02] [-6.60866792e-02 9.97813877e-01 1.34108087e-04 -2.92249040e+01] [ 1.74798839e-03 -1.86298611e-05 9.99998472e-01 -1.85422721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.07028169299997 meters Centerline goodness [0,1] 0.9990536277602524 Centerline is valid? [True, True] Translation: X:431.01, Y:-29.23, Z:-1.85 [[ 9.97918917e-01 6.44567767e-02 -1.77723180e-03 4.31009083e+02] [-6.44566355e-02 9.97920500e-01 1.36694453e-04 -2.92309156e+01] [ 1.78234693e-03 -2.18555985e-05 9.99998411e-01 -1.85464031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10028169299994 meters Centerline goodness [0,1] 0.9988922028121006 Centerline is valid? [True, True] Translation: X:431.04, Y:-29.24, Z:-1.86 [[ 9.98186887e-01 6.01540596e-02 -2.10406031e-03 4.31037504e+02] [-6.01538521e-02 9.98189104e-01 1.61850207e-04 -2.92439708e+01] [ 2.10998602e-03 -3.49894213e-05 9.99997773e-01 -1.85517221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.130281693 meters Centerline goodness [0,1] 0.9986549382979631 Centerline is valid? [True, True] Translation: X:431.07, Y:-29.25, Z:-1.85 [[ 9.98325919e-01 5.77999224e-02 -2.12792705e-03 4.31066538e+02] [-5.77997050e-02 9.98328186e-01 1.63613075e-04 -2.92510287e+01] [ 2.13382638e-03 -4.03456174e-05 9.99997723e-01 -1.85472433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16028169299994 meters Centerline goodness [0,1] 0.9986819727891156 Centerline is valid? [True, True] Translation: X:431.10, Y:-29.26, Z:-1.85 [[ 9.98415820e-01 5.62373061e-02 -1.79334576e-03 4.31096431e+02] [-5.62371491e-02 9.98417430e-01 1.37928311e-04 -2.92573447e+01] [ 1.79826439e-03 -3.68571543e-05 9.99998382e-01 -1.85368435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.190281693 meters Centerline goodness [0,1] 0.9983176455556029 Centerline is valid? [True, True] Translation: X:431.13, Y:-29.26, Z:-1.85 [[ 9.98380203e-01 5.68925303e-02 4.59052786e-04 4.31125461e+02] [-5.68925201e-02 9.98380308e-01 -3.52807495e-05 -2.92633945e+01] [-4.60316473e-04 9.10693202e-06 9.99999894e-01 -1.84899258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22028169299995 meters Centerline goodness [0,1] 0.9985198968156637 Centerline is valid? [True, True] Translation: X:431.16, Y:-29.27, Z:-1.85 [[ 9.98257605e-01 5.89936669e-02 1.22508831e-03 4.31155085e+02] [-5.89935957e-02 9.98258357e-01 -9.42521626e-05 -2.92659654e+01] [-1.22851493e-03 2.18155736e-05 9.99999245e-01 -1.84754043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.250281693 meters Centerline goodness [0,1] 0.998810232004759 Centerline is valid? [True, True] Translation: X:431.19, Y:-29.26, Z:-1.85 [[ 9.98091959e-01 6.17263676e-02 1.51549870e-03 4.31185795e+02] [-6.17262618e-02 9.98093109e-01 -1.16564825e-04 -2.92648382e+01] [-1.51980393e-03 2.27963447e-05 9.99998845e-01 -1.84770723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28028169299995 meters Centerline goodness [0,1] 0.9991473942235959 Centerline is valid? [True, True] Translation: X:431.22, Y:-29.26, Z:-1.85 [[ 9.97897295e-01 6.48111212e-02 7.12155738e-04 4.31216909e+02] [-6.48110986e-02 9.97897549e-01 -5.47588683e-05 -2.92637282e+01] [-7.14207450e-04 8.48813076e-06 9.99999745e-01 -1.84899692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.310281693 meters Centerline goodness [0,1] 0.9995544617473586 Centerline is valid? [True, True] Translation: X:431.25, Y:-29.26, Z:-1.85 [[ 9.97579513e-01 6.94984973e-02 -2.25275351e-03 4.31246742e+02] [-6.94982832e-02 9.97582056e-01 1.73245766e-04 -2.92642809e+01] [ 2.25934680e-03 -1.62639254e-05 9.99997448e-01 -1.85384082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34028169299995 meters Centerline goodness [0,1] 0.999702444208289 Centerline is valid? [True, True] Translation: X:431.28, Y:-29.27, Z:-1.85 [[ 9.97454372e-01 7.12576071e-02 -2.66991284e-03 4.31275071e+02] [-7.12573131e-02 9.97457946e-01 2.05192382e-04 -2.92659326e+01] [ 2.67774729e-03 -1.44192239e-05 9.99996415e-01 -1.85441672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.370281693 meters Centerline goodness [0,1] 0.9995728503694844 Centerline is valid? [True, True] Translation: X:431.30, Y:-29.27, Z:-1.85 [[ 9.97354515e-01 7.26579432e-02 -2.18979623e-03 4.31304325e+02] [-7.26577490e-02 9.97356919e-01 1.68249198e-04 -2.92665181e+01] [ 2.19623306e-03 -8.69843242e-06 9.99997588e-01 -1.85263492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40028169299995 meters Centerline goodness [0,1] 0.9997669047064058 Centerline is valid? [True, True] Translation: X:431.33, Y:-29.27, Z:-1.85 [[ 9.97199252e-01 7.47851370e-02 9.13498056e-04 4.31332924e+02] [-7.47851040e-02 9.97199671e-01 -7.02337668e-05 -2.92683895e+01] [-9.16192402e-04 1.72101266e-06 9.99999580e-01 -1.84759656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.430281693 meters Centerline goodness [0,1] 0.9998718961504793 Centerline is valid? [True, True] Translation: X:431.36, Y:-29.27, Z:-1.85 [[ 9.97146082e-01 7.54691069e-02 2.02595619e-03 4.31362042e+02] [-7.54689464e-02 9.97148140e-01 -1.55665960e-04 -2.92702820e+01] [-2.03192642e-03 2.32492332e-06 9.99997936e-01 -1.84605917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46028169299996 meters Centerline goodness [0,1] 0.9998076306508497 Centerline is valid? [True, True] Translation: X:431.39, Y:-29.27, Z:-1.85 [[ 9.97082999e-01 7.62985200e-02 2.00744464e-03 4.31390958e+02] [-7.62983642e-02 9.97085019e-01 -1.54197244e-04 -2.92716245e+01] [-2.01335800e-03 5.82707716e-07 9.99997973e-01 -1.84632193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.490281693 meters Centerline goodness [0,1] 0.9998296386209247 Centerline is valid? [True, True] Translation: X:431.42, Y:-29.27, Z:-1.85 [[ 9.97043105e-01 7.68410103e-02 7.11344298e-04 4.31420762e+02] [-7.68409909e-02 9.97043359e-01 -5.46300808e-05 -2.92730663e+01] [-7.13438938e-04 -1.91855287e-07 9.99999746e-01 -1.84906957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52028169299996 meters Centerline goodness [0,1] 0.9998282524688707 Centerline is valid? [True, True] Translation: X:431.45, Y:-29.27, Z:-1.85 [[ 9.96924720e-01 7.83414175e-02 -1.93003302e-03 4.31450702e+02] [-7.83412777e-02 9.96926588e-01 1.48061444e-04 -2.92736899e+01] [ 1.93570058e-03 3.59513949e-06 9.99998127e-01 -1.85435720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.550281693 meters Centerline goodness [0,1] 0.9998084046493805 Centerline is valid? [True, True] Translation: X:431.48, Y:-29.28, Z:-1.86 [[ 9.96891739e-01 7.87423419e-02 -2.55054801e-03 4.31480468e+02] [-7.87420991e-02 9.96895001e-01 1.95618942e-04 -2.92758340e+01] [ 2.55803205e-03 5.82459718e-06 9.99996728e-01 -1.85541684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58028169299996 meters Centerline goodness [0,1] 0.9998720245712823 Centerline is valid? [True, True] Translation: X:431.51, Y:-29.28, Z:-1.86 [[ 9.96920290e-01 7.83627570e-02 -3.03531219e-03 4.31509036e+02] [-7.83624118e-02 9.96924911e-01 2.32675960e-04 -2.92789884e+01] [ 3.04421146e-03 5.89499824e-06 9.99995366e-01 -1.85642182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.61028169299993 meters Centerline goodness [0,1] 0.9996834374472395 Centerline is valid? [True, True] Translation: X:431.54, Y:-29.29, Z:-1.86 [[ 9.97080100e-01 7.62587836e-02 -3.98392355e-03 4.31538097e+02] [-7.62581722e-02 9.97088059e-01 3.05349641e-04 -2.92856812e+01] [ 3.99560820e-03 -6.51322106e-07 9.99992018e-01 -1.85765074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64028169299996 meters Centerline goodness [0,1] 0.999742472691375 Centerline is valid? [True, True] Translation: X:431.57, Y:-29.29, Z:-1.86 [[ 9.97202031e-01 7.46603370e-02 -3.73409199e-03 4.31567887e+02] [-7.46597891e-02 9.97209022e-01 2.86102234e-04 -2.92906418e+01] [ 3.74503071e-03 -6.51520900e-06 9.99992987e-01 -1.85591942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.67028169299994 meters Centerline goodness [0,1] 0.9996831499123381 Centerline is valid? [True, True] Translation: X:431.60, Y:-29.30, Z:-1.86 [[ 9.97300812e-01 7.33646780e-02 -2.95210522e-03 4.31595839e+02] [-7.33643303e-02 9.97305181e-01 2.26041410e-04 -2.92953640e+01] [ 2.96073328e-03 -8.85205903e-06 9.99995617e-01 -1.85548648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70028169299997 meters Centerline goodness [0,1] 0.9995918893375719 Centerline is valid? [True, True] Translation: X:431.63, Y:-29.30, Z:-1.85 [[ 9.97368993e-01 7.24786929e-02 -1.38942529e-03 4.31625256e+02] [-7.24786151e-02 9.97369961e-01 1.06340554e-04 -2.92988776e+01] [ 1.39347847e-03 -5.35715029e-06 9.99999029e-01 -1.85311746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.73028169299994 meters Centerline goodness [0,1] 0.9994851553114811 Centerline is valid? [True, True] Translation: X:431.66, Y:-29.30, Z:-1.85 [[ 9.97373656e-01 7.24236028e-02 7.81860236e-04 4.31655290e+02] [-7.24235781e-02 9.97373963e-01 -5.99007512e-05 -2.93000319e+01] [-7.84145271e-04 3.11831539e-06 9.99999693e-01 -1.84995597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76028169299997 meters Centerline goodness [0,1] 0.9994851553114811 Centerline is valid? [True, True] Translation: X:431.69, Y:-29.30, Z:-1.85 [[ 9.97373656e-01 7.24236027e-02 7.81864147e-04 4.31685202e+02] [-7.24235780e-02 9.97373963e-01 -5.98496649e-05 -2.93023217e+01] [-7.84145471e-04 3.06708001e-06 9.99999693e-01 -1.85001911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.79028169299994 meters Centerline goodness [0,1] 0.9994464198266868 Centerline is valid? [True, True] Translation: X:431.72, Y:-29.30, Z:-1.85 [[ 9.97375676e-01 7.23965897e-02 7.03794068e-04 4.31715005e+02] [-7.23965697e-02 9.97375924e-01 -5.38906482e-05 -2.93036158e+01] [-7.05848758e-04 2.79694540e-06 9.99999751e-01 -1.84943558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82028169299997 meters Centerline goodness [0,1] 0.999409095705392 Centerline is valid? [True, True] Translation: X:431.74, Y:-29.31, Z:-1.85 [[ 9.97395571e-01 7.21182594e-02 1.01570881e-03 4.31744840e+02] [-7.21182176e-02 9.97396088e-01 -7.77503356e-05 -2.93062246e+01] [-1.01867121e-03 4.29673162e-06 9.99999481e-01 -1.84930266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.85028169299994 meters Centerline goodness [0,1] 0.9994625736274131 Centerline is valid? [True, True] Translation: X:431.78, Y:-29.31, Z:-1.85 [[ 9.97529888e-01 7.02377695e-02 8.81816070e-04 4.31775046e+02] [-7.02377373e-02 9.97530278e-01 -6.74794583e-05 -2.93102221e+01] [-8.84377836e-04 5.37601107e-06 9.99999609e-01 -1.84885809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.880281693 meters Centerline goodness [0,1] 0.999530626613471 Centerline is valid? [True, True] Translation: X:431.81, Y:-29.31, Z:-1.85 [[ 9.97581828e-01 6.95016763e-02 -1.13260051e-04 4.31805270e+02] [-6.95016758e-02 9.97581835e-01 8.66703062e-06 -2.93133276e+01] [ 1.13588543e-04 -7.74308914e-07 9.99999994e-01 -1.85091151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.91028169299994 meters Centerline goodness [0,1] 0.999659494775373 Centerline is valid? [True, True] Translation: X:431.83, Y:-29.32, Z:-1.85 [[ 9.97638003e-01 6.86832314e-02 -1.01460510e-03 4.31834474e+02] [-6.86831881e-02 9.97638519e-01 7.75675724e-05 -2.93152310e+01] [ 1.01753672e-03 -7.69804527e-06 9.99999482e-01 -1.85252987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.940281693 meters Centerline goodness [0,1] 0.9996208450941568 Centerline is valid? [True, True] Translation: X:431.86, Y:-29.32, Z:-1.85 [[ 9.97682136e-01 6.80362248e-02 -1.19501127e-03 4.31864386e+02] [-6.80361642e-02 9.97682851e-01 9.13410217e-05 -2.93174916e+01] [ 1.19845675e-03 -9.82532257e-06 9.99999282e-01 -1.85319197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.97028169299995 meters Centerline goodness [0,1] 0.9995301153353268 Centerline is valid? [True, True] Translation: X:431.89, Y:-29.32, Z:-1.85 [[ 9.97838906e-01 6.57015405e-02 9.07963975e-04 4.31894118e+02] [-6.57015045e-02 9.97839319e-01 -6.94657213e-05 -2.93228031e+01] [-9.10566160e-04 9.66100022e-06 9.99999585e-01 -1.84974274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.000281693 meters Centerline goodness [0,1] 0.9995111687318017 Centerline is valid? [True, True] Translation: X:431.92, Y:-29.33, Z:-1.85 [[ 9.97926890e-01 6.43324883e-02 1.80391522e-03 4.31923952e+02] [-6.43323441e-02 9.97928520e-01 -1.37914480e-04 -2.93286839e+01] [-1.80905082e-03 2.15784734e-05 9.99998363e-01 -1.84823407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.03028169299995 meters Centerline goodness [0,1] 0.9995954778683813 Centerline is valid? [True, True] Translation: X:431.95, Y:-29.33, Z:-1.85 [[ 9.98020021e-01 6.28654682e-02 1.99286113e-03 4.31954764e+02] [-6.28652893e-02 9.98022010e-01 -1.52357421e-04 -2.93347421e+01] [-1.99849729e-03 2.67739650e-05 9.99998003e-01 -1.84801677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.060281693 meters Centerline goodness [0,1] 0.9993175808240211 Centerline is valid? [True, True] Translation: X:431.99, Y:-29.34, Z:-1.85 [[ 9.98108464e-01 6.14550944e-02 1.66269542e-03 4.31985498e+02] [-6.14549680e-02 9.98109849e-01 -1.27090460e-04 -2.93425407e+01] [-1.66736304e-03 2.46691701e-05 9.99998610e-01 -1.84927144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.09028169299995 meters Centerline goodness [0,1] 0.9993159323628124 Centerline is valid? [True, True] Translation: X:432.02, Y:-29.36, Z:-1.85 [[ 9.98286964e-01 5.85065914e-02 3.41974601e-04 4.32016551e+02] [-5.85065859e-02 9.98287022e-01 -2.61230789e-05 -2.93562853e+01] [-3.42917179e-04 6.07056269e-06 9.99999941e-01 -1.85153194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.120281693 meters Centerline goodness [0,1] 0.9990495701945213 Centerline is valid? [True, True] Translation: X:432.05, Y:-29.37, Z:-1.85 [[ 9.98324227e-01 5.78673823e-02 3.21769711e-04 4.32046736e+02] [-5.78673774e-02 9.98324279e-01 -2.44036051e-05 -2.93650194e+01] [-3.22642688e-04 5.74274088e-06 9.99999948e-01 -1.85140064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.15028169299995 meters Centerline goodness [0,1] 0.9987960459614734 Centerline is valid? [True, True] Translation: X:432.08, Y:-29.37, Z:-1.85 [[ 9.98353581e-01 5.73589181e-02 2.85502680e-04 4.32077091e+02] [-5.73589142e-02 9.98353622e-01 -2.16663409e-05 -2.93738263e+01] [-2.86275392e-04 5.25454530e-06 9.99999959e-01 -1.85121826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.180281693 meters Centerline goodness [0,1] 0.9992144540455616 Centerline is valid? [True, True] Translation: X:432.11, Y:-29.38, Z:-1.85 [[ 9.98332997e-01 5.77165539e-02 1.61002937e-04 4.32109415e+02] [-5.77165527e-02 9.98333010e-01 -1.20782901e-05 -2.93777290e+01] [-1.61431664e-04 2.76562108e-06 9.99999987e-01 -1.85157170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.21028169299996 meters Centerline goodness [0,1] 0.9990488670950287 Centerline is valid? [True, True] Translation: X:432.14, Y:-29.38, Z:-1.85 [[ 9.98265471e-01 5.88673329e-02 -8.29137836e-04 4.32140316e+02] [-5.88672997e-02 9.98265815e-01 6.43976887e-05 -2.93837889e+01] [ 8.31490878e-04 -1.54768835e-05 9.99999654e-01 -1.85298171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.240281693 meters Centerline goodness [0,1] 0.9995324322026694 Centerline is valid? [True, True] Translation: X:432.17, Y:-29.38, Z:-1.85 [[ 9.97940447e-01 6.41265100e-02 -1.62914483e-03 4.32171491e+02] [-6.41263898e-02 9.97941777e-01 1.25957405e-04 -2.93840034e+01] [ 1.63386890e-03 -2.12268122e-05 9.99998665e-01 -1.85448013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.27028169299996 meters Centerline goodness [0,1] 0.9994829814735028 Centerline is valid? [True, True] Translation: X:432.20, Y:-29.39, Z:-1.85 [[ 9.97740251e-01 6.71816718e-02 -1.00748942e-03 4.32202109e+02] [-6.71816274e-02 9.97740759e-01 7.79147591e-05 -2.93861211e+01] [ 1.01044770e-03 -1.00539124e-05 9.99999489e-01 -1.85347961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.300281693 meters Centerline goodness [0,1] 0.9997889003820903 Centerline is valid? [True, True] Translation: X:432.23, Y:-29.39, Z:-1.85 [[ 9.97556368e-01 6.98659503e-02 2.05588761e-04 4.32233212e+02] [-6.98659485e-02 9.97556389e-01 -1.58508468e-05 -2.93882502e+01] [-2.06193817e-04 1.44845930e-06 9.99999979e-01 -1.85139764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.33028169299996 meters Centerline goodness [0,1] 0.9997667316990415 Centerline is valid? [True, True] Translation: X:432.26, Y:-29.39, Z:-1.85 [[ 9.97304798e-01 7.33270543e-02 2.50655519e-03 4.32263164e+02] [-7.33267986e-02 9.97307948e-01 -1.93848461e-04 -2.93918255e+01] [-2.51402175e-03 9.52833221e-06 9.99996840e-01 -1.84760115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36028169299993 meters Centerline goodness [0,1] 0.9996832636513366 Centerline is valid? [True, True] Translation: X:432.29, Y:-29.40, Z:-1.85 [[ 9.97232353e-01 7.43093204e-02 2.39966860e-03 4.32294411e+02] [-7.43090888e-02 9.97235240e-01 -1.85649505e-04 -2.93960780e+01] [-2.40682958e-03 6.81850515e-06 9.99997104e-01 -1.84813693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.39028169299996 meters Centerline goodness [0,1] 0.9998520084566597 Centerline is valid? [True, True] Translation: X:432.33, Y:-29.40, Z:-1.85 [[ 9.97196552e-01 7.48082341e-02 1.66292396e-03 4.32326622e+02] [-7.48081233e-02 9.97197938e-01 -1.28796529e-04 -2.94010773e+01] [-1.66789939e-03 4.03523347e-06 9.99998609e-01 -1.84971021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42028169299994 meters Centerline goodness [0,1] 0.9999140228699166 Centerline is valid? [True, True] Translation: X:432.36, Y:-29.41, Z:-1.85 [[ 9.97126388e-01 7.57502259e-02 9.32948136e-04 4.32358995e+02] [-7.57501914e-02 9.97126824e-01 -7.22514169e-05 -2.94056909e+01] [-9.35740673e-04 1.37279448e-06 9.99999562e-01 -1.85081983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.45028169299997 meters Centerline goodness [0,1] 0.9998944591029024 Centerline is valid? [True, True] Translation: X:432.39, Y:-29.41, Z:-1.85 [[ 9.96921808e-01 7.83630426e-02 2.47843121e-03 4.32390046e+02] [-7.83628051e-02 9.96924889e-01 -1.92919213e-04 -2.94107636e+01] [-2.48592750e-03 -1.89145167e-06 9.99996910e-01 -1.84773521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48028169299994 meters Centerline goodness [0,1] 0.9998308918341895 Centerline is valid? [True, True] Translation: X:432.42, Y:-29.41, Z:-1.84 [[ 9.96769608e-01 8.02165331e-02 3.95685530e-03 4.32422158e+02] [-8.02159392e-02 9.96777461e-01 -3.08809774e-04 -2.94126462e+01] [-3.96887583e-03 -9.59066677e-06 9.99992124e-01 -1.84486726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.51028169299997 meters Centerline goodness [0,1] 0.9999786438868126 Centerline is valid? [True, True] Translation: X:432.45, Y:-29.41, Z:-1.84 [[ 9.96595095e-01 8.23134524e-02 4.76573957e-03 4.32454681e+02] [-8.23126108e-02 9.96606490e-01 -3.72787727e-04 -2.94140724e+01] [-4.78025243e-03 -2.07620464e-05 9.99988574e-01 -1.84409574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54028169299994 meters Centerline goodness [0,1] 0.9999144915453515 Centerline is valid? [True, True] Translation: X:432.49, Y:-29.42, Z:-1.85 [[ 9.96410623e-01 8.45417010e-02 4.30931224e-03 4.32486247e+02] [-8.45410309e-02 9.96419942e-01 -3.37740559e-04 -2.94151910e+01] [-4.32243782e-03 -2.77854188e-05 9.99990658e-01 -1.84553228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.57028169299997 meters Centerline goodness [0,1] 0.9999148138683023 Centerline is valid? [True, True] Translation: X:432.52, Y:-29.41, Z:-1.85 [[ 9.96037434e-01 8.89300483e-02 9.36493984e-04 4.32517337e+02] [-8.89300186e-02 9.96037874e-01 -7.33647568e-05 -2.94137592e+01] [-9.39307808e-04 -1.02083833e-05 9.99999559e-01 -1.85157851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60028169299994 meters Centerline goodness [0,1] 0.9999786698519688 Centerline is valid? [True, True] Translation: X:432.55, Y:-29.41, Z:-1.85 [[ 9.95827526e-01 9.12553485e-02 -6.36468970e-06 4.32548764e+02] [-9.12553485e-02 9.95827526e-01 5.47714822e-07 -2.94127205e+01] [ 6.38811512e-06 3.53824835e-08 1.00000000e+00 -1.85329898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.630281693 meters Centerline goodness [0,1] 0.9999573806124405 Centerline is valid? [True, True] Translation: X:432.58, Y:-29.41, Z:-1.85 [[ 9.95613056e-01 9.35654272e-02 -3.92776790e-04 4.32580039e+02] [-9.35654223e-02 9.95613133e-01 3.09144832e-05 -2.94116699e+01] [ 3.93946257e-04 5.97146319e-06 9.99999922e-01 -1.85410805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66028169299994 meters Centerline goodness [0,1] 0.9999149406711181 Centerline is valid? [True, True] Translation: X:432.61, Y:-29.41, Z:-1.85 [[ 9.95378968e-01 9.60240322e-02 -3.09167550e-04 4.32610132e+02] [-9.60240292e-02 9.95379016e-01 2.42679065e-05 -2.94069775e+01] [ 3.10069194e-04 5.53175015e-06 9.99999952e-01 -1.85434801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.690281693 meters Centerline goodness [0,1] 0.9997223883146835 Centerline is valid? [True, True] Translation: X:432.64, Y:-29.40, Z:-1.85 [[ 9.95011617e-01 9.97454336e-02 1.65254333e-03 4.32639311e+02] [-9.97453555e-02 9.95012988e-01 -1.29858911e-04 -2.93994280e+01] [-1.65725491e-03 -3.56223971e-05 9.99998626e-01 -1.85111305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72028169299995 meters Centerline goodness [0,1] 0.9997657830299159 Centerline is valid? [True, True] Translation: X:432.67, Y:-29.40, Z:-1.85 [[ 9.94911058e-01 1.00715729e-01 2.88599007e-03 4.32668500e+02] [-1.00715495e-01 9.94915241e-01 -2.26645860e-04 -2.94036006e+01] [-2.89414231e-03 -6.51714462e-05 9.99995810e-01 -1.84917210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.750281693 meters Centerline goodness [0,1] 0.999641009397107 Centerline is valid? [True, True] Translation: X:432.70, Y:-29.41, Z:-1.85 [[ 9.94872672e-01 1.01062333e-01 3.84327810e-03 4.32699266e+02] [-1.01061921e-01 9.94880092e-01 -3.01781558e-04 -2.94056656e+01] [-3.85409962e-03 -8.81748426e-05 9.99992569e-01 -1.84756945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78028169299995 meters Centerline goodness [0,1] 0.9998722180811416 Centerline is valid? [True, True] Translation: X:432.73, Y:-29.41, Z:-1.85 [[ 9.94895313e-01 1.00811541e-01 4.51101307e-03 4.32729633e+02] [-1.00810971e-01 9.94905535e-01 -3.54242027e-04 -2.94092091e+01] [-4.52374355e-03 -1.02325874e-04 9.99989763e-01 -1.84664776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.810281693 meters Centerline goodness [0,1] 0.9998308346196951 Centerline is valid? [True, True] Translation: X:432.76, Y:-29.41, Z:-1.85 [[ 9.94956702e-01 1.00214853e-01 4.25965507e-03 4.32760305e+02] [-1.00214339e-01 9.94965816e-01 -3.34634682e-04 -2.94094472e+01] [-4.27174655e-03 -9.39314964e-05 9.99990872e-01 -1.84684007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84028169299995 meters Centerline goodness [0,1] 0.9998737719058338 Centerline is valid? [True, True] Translation: X:432.79, Y:-29.41, Z:-1.85 [[ 9.95253540e-01 9.72716475e-02 2.93563274e-03 4.32790653e+02] [-9.72713900e-02 9.95257868e-01 -2.30718320e-04 -2.94138228e+01] [-2.94415393e-03 -5.59298528e-05 9.99995664e-01 -1.85072705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.870281693 meters Centerline goodness [0,1] 0.9998938586621946 Centerline is valid? [True, True] Translation: X:432.82, Y:-29.42, Z:-1.85 [[ 9.95416587e-01 9.56047152e-02 2.35740959e-03 4.32821859e+02] [-9.56045444e-02 9.95419377e-01 -1.85300035e-04 -2.94190383e+01] [-2.36432674e-03 -4.09283414e-05 9.99997204e-01 -1.85220735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90028169299995 meters Centerline goodness [0,1] 0.999915938130464 Centerline is valid? [True, True] Translation: X:432.85, Y:-29.42, Z:-1.85 [[ 9.95580270e-01 9.39004356e-02 1.62276460e-03 4.32852238e+02] [-9.39003524e-02 9.95581593e-01 -1.27582571e-04 -2.94211771e+01] [-1.62757462e-03 -2.53594774e-05 9.99998675e-01 -1.85464562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.930281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.88, Y:-29.43, Z:-1.86 [[ 9.95921575e-01 9.02227399e-02 -2.69997832e-04 4.32882971e+02] [-9.02227375e-02 9.95921612e-01 2.12869799e-05 -2.94293437e+01] [ 2.70817246e-04 3.15978099e-06 9.99999963e-01 -1.85738429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.91, Y:-29.43, Z:-1.86 [[ 9.96141546e-01 8.77577897e-02 -7.68438606e-04 4.32912894e+02] [-8.77577692e-02 9.96141842e-01 6.04780708e-05 -2.94343369e+01] [ 7.70781271e-04 7.19173889e-06 9.99999703e-01 -1.85827147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.990281693 meters Centerline goodness [0,1] 0.9999573287817367 Centerline is valid? [True, True] Translation: X:432.94, Y:-29.44, Z:-1.86 [[ 9.96367576e-01 8.51538800e-02 -6.85749119e-04 4.32943804e+02] [-8.51538630e-02 9.96367812e-01 5.40149439e-05 -2.94421151e+01] [ 6.87857932e-04 4.57544779e-06 9.99999763e-01 -1.85754498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02028169299996 meters Centerline goodness [0,1] 0.999935667874681 Centerline is valid? [True, True] Translation: X:432.97, Y:-29.45, Z:-1.86 [[ 9.96595787e-01 8.24418501e-02 4.22818401e-04 4.32974080e+02] [-8.24418435e-02 9.96595877e-01 -3.30135578e-05 -2.94490641e+01] [-4.24100774e-04 -1.95675587e-06 9.99999910e-01 -1.85550686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.050281693 meters Centerline goodness [0,1] 0.9998307129102567 Centerline is valid? [True, True] Translation: X:433.00, Y:-29.46, Z:-1.85 [[ 9.97017199e-01 7.71164223e-02 3.12453536e-03 4.33004441e+02] [-7.71160286e-02 9.97022095e-01 -2.46464946e-04 -2.94620543e+01] [-3.13423729e-03 4.77803116e-06 9.99995088e-01 -1.85209481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08028169299996 meters Centerline goodness [0,1] 0.9996350364963503 Centerline is valid? [True, True] Translation: X:433.04, Y:-29.47, Z:-1.85 [[ 9.97226433e-01 7.43186184e-02 4.02285399e-03 4.33036400e+02] [-7.43179406e-02 9.97234547e-01 -3.17907721e-04 -2.94709131e+01] [-4.03535544e-03 1.80557587e-05 9.99991858e-01 -1.85133435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.11028169299993 meters Centerline goodness [0,1] 0.999535335614413 Centerline is valid? [True, True] Translation: X:433.07, Y:-29.48, Z:-1.85 [[ 9.97371442e-01 7.23675548e-02 3.62540426e-03 4.33066741e+02] [-7.23669894e-02 9.97378031e-01 -2.87065096e-04 -2.94793681e+01] [-3.63667276e-03 2.39509377e-05 9.99993387e-01 -1.85205953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14028169299996 meters Centerline goodness [0,1] 0.9997247686998497 Centerline is valid? [True, True] Translation: X:433.10, Y:-29.49, Z:-1.85 [[ 9.97495737e-01 7.06974437e-02 2.03149023e-03 4.33098524e+02] [-7.06972623e-02 9.97497805e-01 -1.61031918e-04 -2.94864030e+01] [-2.03779159e-03 1.70078542e-05 9.99997924e-01 -1.85424808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.17028169299994 meters Centerline goodness [0,1] 0.9996141230947327 Centerline is valid? [True, True] Translation: X:433.13, Y:-29.50, Z:-1.86 [[ 9.97626587e-01 6.88550307e-02 -4.21691019e-04 4.33130151e+02] [-6.88550225e-02 9.97626676e-01 3.39179613e-05 -2.94951821e+01] [ 4.23025631e-04 -4.80191538e-06 9.99999911e-01 -1.85792661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20028169299997 meters Centerline goodness [0,1] 0.9996210685865858 Centerline is valid? [True, True] Translation: X:433.16, Y:-29.50, Z:-1.86 [[ 9.97643956e-01 6.85978560e-02 -9.33073086e-04 4.33161410e+02] [-6.85978160e-02 9.97644393e-01 7.48182316e-05 -2.95021462e+01] [ 9.36007502e-04 -1.06351807e-05 9.99999562e-01 -1.85896252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.23028169299994 meters Centerline goodness [0,1] 0.9996819810460703 Centerline is valid? [True, True] Translation: X:433.19, Y:-29.51, Z:-1.86 [[ 9.97659777e-01 6.83723832e-02 -4.30865720e-04 4.33194281e+02] [-6.83723745e-02 9.97659870e-01 3.48601791e-05 -2.95081422e+01] [ 4.32240912e-04 -5.31928610e-06 9.99999907e-01 -1.85834731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26028169299997 meters Centerline goodness [0,1] 0.999467473267158 Centerline is valid? [True, True] Translation: X:433.23, Y:-29.52, Z:-1.86 [[ 9.97685083e-01 6.79995572e-02 7.31368007e-04 4.33225388e+02] [-6.79995327e-02 9.97685351e-01 -5.83286450e-05 -2.95175919e+01] [-7.33641469e-04 8.46093639e-06 9.99999731e-01 -1.85698123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.29028169299994 meters Centerline goodness [0,1] 0.9996357090815583 Centerline is valid? [True, True] Translation: X:433.26, Y:-29.52, Z:-1.86 [[ 9.97668434e-01 6.82294482e-02 1.56118681e-03 4.33258242e+02] [-6.82293362e-02 9.97669656e-01 -1.24941736e-04 -2.95224949e+01] [-1.56607342e-03 1.81316858e-05 9.99998774e-01 -1.85528732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32028169299997 meters Centerline goodness [0,1] 0.9994718718972474 Centerline is valid? [True, True] Translation: X:433.29, Y:-29.53, Z:-1.85 [[ 9.97635564e-01 6.86757209e-02 2.63187353e-03 4.33290271e+02] [-6.86754021e-02 9.97639035e-01 -2.11394435e-04 -2.95268291e+01] [-2.64017744e-03 3.01496329e-05 9.99996514e-01 -1.85377473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.35028169299994 meters Centerline goodness [0,1] 0.9994475607683155 Centerline is valid? [True, True] Translation: X:433.32, Y:-29.53, Z:-1.85 [[ 9.97619998e-01 6.88696487e-02 3.36322648e-03 4.33322636e+02] [-6.88691269e-02 9.97625666e-01 -2.70851742e-04 -2.95317838e+01] [-3.37389452e-03 3.85846435e-05 9.99994308e-01 -1.85223595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.380281693 meters Centerline goodness [0,1] 0.9994675639988073 Centerline is valid? [True, True] Translation: X:433.35, Y:-29.54, Z:-1.86 [[ 9.97630346e-01 6.87712175e-02 2.05245062e-03 4.33354188e+02] [-6.87710225e-02 9.97632457e-01 -1.65523097e-04 -2.95393454e+01] [-2.05897458e-03 2.39817369e-05 9.99997880e-01 -1.85517503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.41028169299994 meters Centerline goodness [0,1] 0.999702387279182 Centerline is valid? [True, True] Translation: X:433.39, Y:-29.54, Z:-1.86 [[ 9.97614183e-01 6.90289995e-02 9.69186988e-04 4.33386610e+02] [-6.90289562e-02 9.97614654e-01 -7.81249738e-05 -2.95436356e+01] [-9.72268030e-04 1.10366158e-05 9.99999527e-01 -1.85801054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.440281693 meters Centerline goodness [0,1] 0.9995523056260259 Centerline is valid? [True, True] Translation: X:433.42, Y:-29.55, Z:-1.86 [[ 9.97570643e-01 6.96618463e-02 1.99796944e-04 4.33419757e+02] [-6.96618445e-02 9.97570663e-01 -1.58322260e-05 -2.95474463e+01] [-2.00414472e-04 1.87554024e-06 9.99999980e-01 -1.85968742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.47028169299995 meters Centerline goodness [0,1] 0.9996389278280446 Centerline is valid? [True, True] Translation: X:433.45, Y:-29.55, Z:-1.86 [[ 9.97519413e-01 7.03917745e-02 1.40495188e-04 4.33450632e+02] [-7.03917736e-02 9.97519422e-01 -1.11144401e-05 -2.95514272e+01] [-1.40929044e-04 1.19716426e-06 9.99999990e-01 -1.86038644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.500281693 meters Centerline goodness [0,1] 0.9995317554912311 Centerline is valid? [True, True] Translation: X:433.48, Y:-29.56, Z:-1.86 [[ 9.97531045e-01 7.02253049e-02 4.70432771e-04 4.33482790e+02] [-7.02252948e-02 9.97531156e-01 -3.79707709e-05 -2.95598807e+01] [-4.71937855e-04 4.84074272e-06 9.99999889e-01 -1.86008729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.53028169299995 meters Centerline goodness [0,1] 0.9994402944912062 Centerline is valid? [True, True] Translation: X:433.51, Y:-29.57, Z:-1.86 [[ 9.97594213e-01 6.93232671e-02 2.66875132e-04 4.33512962e+02] [-6.93232638e-02 9.97594248e-01 -2.15283518e-05 -2.95670021e+01] [-2.67725513e-04 2.97590396e-06 9.99999964e-01 -1.86077557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.560281693 meters Centerline goodness [0,1] 0.9995513395718497 Centerline is valid? [True, True] Translation: X:433.54, Y:-29.57, Z:-1.86 [[ 9.97662093e-01 6.83393902e-02 2.77124131e-04 4.33543178e+02] [-6.83393866e-02 9.97662131e-01 -2.23605227e-05 -2.95745032e+01] [-2.78004355e-04 3.36975276e-06 9.99999961e-01 -1.86033885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.59028169299995 meters Centerline goodness [0,1] 0.9992141871084209 Centerline is valid? [True, True] Translation: X:433.57, Y:-29.59, Z:-1.86 [[ 9.97752474e-01 6.69815610e-02 1.86298708e-03 4.33573208e+02] [-6.69813932e-02 9.97754213e-01 -1.52365703e-04 -2.95851398e+01] [-1.86900890e-03 2.72377872e-05 9.99998253e-01 -1.85646576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.620281693 meters Centerline goodness [0,1] 0.999025072589704 Centerline is valid? [True, True] Translation: X:433.60, Y:-29.59, Z:-1.85 [[ 9.97710281e-01 6.75728422e-02 2.84725039e-03 4.33604170e+02] [-6.75724511e-02 9.97714343e-01 -2.33440486e-04 -2.95891982e+01] [-2.85651679e-03 4.05102850e-05 9.99995919e-01 -1.85436365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.65028169299995 meters Centerline goodness [0,1] 0.999025072589704 Centerline is valid? [True, True] Translation: X:433.64, Y:-29.59, Z:-1.85 [[ 9.97698248e-01 6.77502705e-02 2.84721465e-03 4.33636539e+02] [-6.77498789e-02 9.97702310e-01 -2.33875696e-04 -2.95920713e+01] [-2.85651778e-03 4.04389244e-05 9.99995919e-01 -1.85443209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.680281693 meters Centerline goodness [0,1] 0.9989033700282594 Centerline is valid? [True, True] Translation: X:433.67, Y:-29.59, Z:-1.85 [[ 9.97632443e-01 6.86698426e-02 3.73640058e-03 4.33668363e+02] [-6.86691719e-02 9.97639439e-01 -3.07664403e-04 -2.95944007e+01] [-3.74870785e-03 5.03604567e-05 9.99992972e-01 -1.85317228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.71028169299996 meters Centerline goodness [0,1] 0.9989051940122534 Centerline is valid? [True, True] Translation: X:433.70, Y:-29.60, Z:-1.85 [[ 9.97505493e-01 7.04702212e-02 4.09138634e-03 4.33700567e+02] [-7.04694293e-02 9.97513882e-01 -3.37565105e-04 -2.95953754e+01] [-4.10500296e-03 4.84053863e-05 9.99991573e-01 -1.85260144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.740281693 meters Centerline goodness [0,1] 0.999616073713847 Centerline is valid? [True, True] Translation: X:433.73, Y:-29.59, Z:-1.86 [[ 9.97186784e-01 7.48799766e-02 3.39221578e-03 4.33732945e+02] [-7.48794562e-02 9.97192553e-01 -2.80360460e-04 -2.95931149e+01] [-3.40368570e-03 2.55644724e-05 9.99994207e-01 -1.85545717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.77028169299996 meters Centerline goodness [0,1] 0.9998313943685719 Centerline is valid? [True, True] Translation: X:433.77, Y:-29.59, Z:-1.86 [[ 9.97010052e-01 7.72420026e-02 2.15152567e-03 4.33765537e+02] [-7.72417982e-02 9.97012374e-01 -1.78044379e-04 -2.95934479e+01] [-2.15885022e-03 1.13243241e-05 9.99997670e-01 -1.85708447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.800281693 meters Centerline goodness [0,1] 0.9998720573183214 Centerline is valid? [True, True] Translation: X:433.80, Y:-29.59, Z:-1.86 [[ 9.96826313e-01 7.95926733e-02 1.51907298e-03 4.33798168e+02] [-7.95925739e-02 9.96827471e-01 -1.25852847e-04 -2.95930691e+01] [-1.52427064e-03 4.54650051e-06 9.99998838e-01 -1.85788614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.83028169299996 meters Centerline goodness [0,1] 0.9999789065136686 Centerline is valid? [True, True] Translation: X:433.83, Y:-29.59, Z:-1.86 [[ 9.96479171e-01 8.38184904e-02 1.92933658e-03 4.33830148e+02] [-8.38183372e-02 9.96481039e-01 -1.60251743e-04 -2.95892231e+01] [-1.93597938e-03 -2.02625998e-06 9.99998126e-01 -1.85738141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86028169299993 meters Centerline goodness [0,1] 0.9999358082807318 Centerline is valid? [True, True] Translation: X:433.86, Y:-29.59, Z:-1.85 [[ 9.96333305e-01 8.54817287e-02 3.58031793e-03 4.33862868e+02] [-8.54812085e-02 9.96339738e-01 -2.98347120e-04 -2.95901687e+01] [-3.59271626e-03 -8.79673141e-06 9.99993546e-01 -1.85462282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.89028169299996 meters Centerline goodness [0,1] 0.9999577729451259 Centerline is valid? [True, True] Translation: X:433.89, Y:-29.59, Z:-1.85 [[ 9.96238470e-01 8.65216987e-02 4.78616274e-03 4.33894796e+02] [-8.65207762e-02 9.96249966e-01 -3.99841942e-04 -2.95911544e+01] [-4.80280947e-03 -1.57645912e-05 9.99988466e-01 -1.85219266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92028169299994 meters Centerline goodness [0,1] 0.9999575857827544 Centerline is valid? [True, True] Translation: X:433.93, Y:-29.59, Z:-1.85 [[ 9.96192946e-01 8.69883766e-02 5.71285541e-03 4.33926617e+02] [-8.69870640e-02 9.96209326e-01 -4.78312342e-04 -2.95928473e+01] [-5.73280745e-03 -2.04531377e-05 9.99983567e-01 -1.85082373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.95028169299997 meters Centerline goodness [0,1] 0.9999146721276505 Centerline is valid? [True, True] Translation: X:433.96, Y:-29.59, Z:-1.85 [[ 9.96120038e-01 8.78679715e-02 4.90819726e-03 4.33959877e+02] [-8.78670093e-02 9.96132129e-01 -4.11746044e-04 -2.95922141e+01] [-4.92539228e-03 -2.11201298e-05 9.99987870e-01 -1.85321668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98028169299994 meters Centerline goodness [0,1] 0.9999787766883145 Centerline is valid? [True, True] Translation: X:433.99, Y:-29.59, Z:-1.85 [[ 9.96017897e-01 8.90470544e-02 4.35556267e-03 4.33992160e+02] [-8.90463048e-02 9.96027420e-01 -3.66093092e-04 -2.95916533e+01] [-4.37085936e-03 -2.32114899e-05 9.99990447e-01 -1.85436559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.01028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.02, Y:-29.59, Z:-1.86 [[ 9.95865361e-01 9.07674291e-02 3.66826728e-03 4.34023857e+02] [-9.07669072e-02 9.95872117e-01 -3.08842437e-04 -2.95889137e+01] [-3.68115794e-03 -2.53917905e-05 9.99993224e-01 -1.85524537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.06, Y:-29.59, Z:-1.86 [[ 9.95717188e-01 9.23997315e-02 3.09383470e-03 4.34055807e+02] [-9.23993668e-02 9.95721994e-01 -2.60899296e-04 -2.95902033e+01] [-3.10470628e-03 -2.60864533e-05 9.99995180e-01 -1.85599089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.07028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.09, Y:-29.59, Z:-1.86 [[ 9.95561999e-01 9.40604810e-02 2.98860872e-03 4.34087763e+02] [-9.40601468e-02 9.95566484e-01 -2.52518012e-04 -2.95893446e+01] [-2.99911065e-03 -2.97116381e-05 9.99995502e-01 -1.85614276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.12, Y:-29.59, Z:-1.86 [[ 9.95359151e-01 9.61836549e-02 2.97733138e-03 4.34120522e+02] [-9.61833311e-02 9.95363604e-01 -2.52068036e-04 -2.95859683e+01] [-2.98777212e-03 -3.54714237e-05 9.99995536e-01 -1.85588839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.130281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.15, Y:-29.59, Z:-1.86 [[ 9.95300269e-01 9.67840386e-02 3.19771077e-03 4.34152763e+02] [-9.67836664e-02 9.95305405e-01 -2.71303957e-04 -2.95854309e+01] [-3.20895671e-03 -3.94572711e-05 9.99994851e-01 -1.85603738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.19, Y:-29.59, Z:-1.86 [[ 9.95257885e-01 9.72154626e-02 3.30106516e-03 4.34185348e+02] [-9.72150665e-02 9.95263358e-01 -2.80607105e-04 -2.95859075e+01] [-3.31270854e-03 -4.16368353e-05 9.99994512e-01 -1.85652086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.190281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.22, Y:-29.58, Z:-1.86 [[ 9.95198260e-01 9.78025198e-02 3.88461558e-03 4.34216711e+02] [-9.78019740e-02 9.95205840e-01 -3.30671491e-04 -2.95817589e+01] [-3.89833262e-03 -5.08393792e-05 9.99992400e-01 -1.85539411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22028169299995 meters Centerline goodness [0,1] 0.9999788198415724 Centerline is valid? [True, True] Translation: X:434.25, Y:-29.58, Z:-1.85 [[ 9.95144662e-01 9.83377674e-02 4.09686319e-03 4.34249725e+02] [-9.83371625e-02 9.95153094e-01 -3.49319941e-04 -2.95835616e+01] [-4.11135742e-03 -5.52500266e-05 9.99991547e-01 -1.85475735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.250281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.28, Y:-29.58, Z:-1.85 [[ 9.95107689e-01 9.87134998e-02 4.04126681e-03 4.34281396e+02] [-9.87129113e-02 9.95115894e-01 -3.45315997e-04 -2.95843437e+01] [-4.05561618e-03 -5.52986078e-05 9.99991774e-01 -1.85469826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.31, Y:-29.59, Z:-1.85 [[ 9.95090700e-01 9.88868774e-02 3.98549524e-03 4.34313798e+02] [-9.88863035e-02 9.95098680e-01 -3.41273730e-04 -2.95874923e+01] [-3.99970855e-03 -5.45125773e-05 9.99992000e-01 -1.85497697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.310281693 meters Centerline goodness [0,1] 0.9999787469183031 Centerline is valid? [True, True] Translation: X:434.34, Y:-29.59, Z:-1.85 [[ 9.95191437e-01 9.78443882e-02 4.52543839e-03 4.34344877e+02] [-9.78436338e-02 9.95201725e-01 -3.88329999e-04 -2.95891229e+01] [-4.54172000e-03 -5.63226469e-05 9.99989685e-01 -1.85451681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34028169299995 meters Centerline goodness [0,1] 0.9999577345731192 Centerline is valid? [True, True] Translation: X:434.38, Y:-29.59, Z:-1.85 [[ 9.95235387e-01 9.74146280e-02 4.11271439e-03 4.34375873e+02] [-9.74139988e-02 9.95243884e-01 -3.53511719e-04 -2.95912177e+01] [-4.12759105e-03 -4.88085820e-05 9.99991480e-01 -1.85497104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.370281693 meters Centerline goodness [0,1] 0.9999573969538822 Centerline is valid? [True, True] Translation: X:434.41, Y:-29.59, Z:-1.86 [[ 9.95277206e-01 9.70140397e-02 3.40002539e-03 4.34408162e+02] [-9.70136057e-02 9.95283012e-01 -2.92730090e-04 -2.95940828e+01] [-3.41238644e-03 -3.85011367e-05 9.99994177e-01 -1.85625885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40028169299995 meters Centerline goodness [0,1] 0.9999578245924802 Centerline is valid? [True, True] Translation: X:434.44, Y:-29.60, Z:-1.86 [[ 9.95404236e-01 9.57004534e-02 3.43961643e-03 4.34439344e+02] [-9.56999997e-02 9.95410178e-01 -2.96613336e-04 -2.95971955e+01] [-3.45221523e-03 -3.39211201e-05 9.99994041e-01 -1.85639026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.430281693 meters Centerline goodness [0,1] 0.9997866894197952 Centerline is valid? [True, True] Translation: X:434.47, Y:-29.60, Z:-1.85 [[ 9.95487063e-01 9.47704235e-02 4.90652101e-03 4.34470949e+02] [-9.47694855e-02 9.95499154e-01 -4.23849714e-04 -2.96004574e+01] [-4.92460593e-03 -4.30515642e-05 9.99987873e-01 -1.85370326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46028169299996 meters Centerline goodness [0,1] 0.9997440491425647 Centerline is valid? [True, True] Translation: X:434.50, Y:-29.60, Z:-1.85 [[ 9.95518203e-01 9.43473948e-02 6.48659736e-03 4.34502887e+02] [-9.43457385e-02 9.95539334e-01 -5.61561860e-04 -2.96028672e+01] [-6.51064471e-03 -5.29377633e-05 9.99978804e-01 -1.85116605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.490281693 meters Centerline goodness [0,1] 0.9997263906720266 Centerline is valid? [True, True] Translation: X:434.53, Y:-29.60, Z:-1.85 [[ 9.95541566e-01 9.41749413e-02 5.29820477e-03 4.34534419e+02] [-9.41738297e-02 9.95555663e-01 -4.59453343e-04 -2.96043008e+01] [-5.31792675e-03 -4.15473333e-05 9.99985859e-01 -1.85322775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52028169299996 meters Centerline goodness [0,1] 0.999722032158741 Centerline is valid? [True, True] Translation: X:434.57, Y:-29.61, Z:-1.86 [[ 9.95571569e-01 9.39395211e-02 3.55222797e-03 4.34565962e+02] [-9.39390183e-02 9.95577905e-01 -3.08496068e-04 -2.96081068e+01] [-3.56549966e-03 -2.65628939e-05 9.99993643e-01 -1.85695356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.550281693 meters Centerline goodness [0,1] 0.9998306519898391 Centerline is valid? [True, True] Translation: X:434.60, Y:-29.61, Z:-1.86 [[ 9.95612292e-01 9.35539907e-02 1.95301928e-03 4.34596867e+02] [-9.35538376e-02 9.95614208e-01 -1.69790319e-04 -2.96102948e+01] [-1.96033830e-03 -1.36671195e-05 9.99998078e-01 -1.86053228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58028169299996 meters Centerline goodness [0,1] 0.9998732599649353 Centerline is valid? [True, True] Translation: X:434.63, Y:-29.62, Z:-1.86 [[ 9.95669328e-01 9.29576990e-02 1.20667255e-03 4.34629375e+02] [-9.29576402e-02 9.95670059e-01 -1.04864549e-04 -2.96150223e+01] [-1.21119569e-03 -7.75901721e-06 9.99999266e-01 -1.86203478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.61028169299993 meters Centerline goodness [0,1] 0.9996817313812858 Centerline is valid? [True, True] Translation: X:434.66, Y:-29.62, Z:-1.86 [[ 9.95855531e-01 9.09087247e-02 2.71401340e-03 4.34661064e+02] [-9.09084169e-02 9.95859229e-01 -2.36819244e-04 -2.96218627e+01] [-2.72430423e-03 -1.08889075e-05 9.99996289e-01 -1.85908466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64028169299996 meters Centerline goodness [0,1] 0.9995522483529136 Centerline is valid? [True, True] Translation: X:434.69, Y:-29.63, Z:-1.86 [[ 9.95914309e-01 9.02116811e-02 4.06719513e-03 4.34693702e+02] [-9.02109803e-02 9.95922614e-01 -3.55792401e-04 -2.96260181e+01] [-4.08270824e-03 -1.25669168e-05 9.99991666e-01 -1.85628080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.67028169299994 meters Centerline goodness [0,1] 0.9995779611302201 Centerline is valid? [True, True] Translation: X:434.73, Y:-29.63, Z:-1.85 [[ 9.95901191e-01 9.03091327e-02 5.00780319e-03 4.34725711e+02] [-9.03080665e-02 9.95913782e-01 -4.39089559e-04 -2.96290283e+01] [-5.02699401e-03 -1.49552084e-05 9.99987364e-01 -1.85473482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70028169299997 meters Centerline goodness [0,1] 0.9995697814489761 Centerline is valid? [True, True] Translation: X:434.76, Y:-29.63, Z:-1.86 [[ 9.95841815e-01 9.10049575e-02 4.14458697e-03 4.34758299e+02] [-9.10042303e-02 9.95850439e-01 -3.64095783e-04 -2.96320877e+01] [-4.16052328e-03 -1.45931422e-05 9.99991345e-01 -1.85614695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.73028169299994 meters Centerline goodness [0,1] 0.999556821779044 Centerline is valid? [True, True] Translation: X:434.79, Y:-29.64, Z:-1.86 [[ 9.95793589e-01 9.15406671e-02 3.92870997e-03 4.34790692e+02] [-9.15400151e-02 9.95801339e-01 -3.45846298e-04 -2.96352776e+01] [-3.94387365e-03 -1.52426440e-05 9.99992223e-01 -1.85757407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76028169299997 meters Centerline goodness [0,1] 0.9995946666666666 Centerline is valid? [True, True] Translation: X:434.82, Y:-29.64, Z:-1.86 [[ 9.95763871e-01 9.18616584e-02 3.96839629e-03 4.34823020e+02] [-9.18609927e-02 9.95771779e-01 -3.50088567e-04 -2.96388760e+01] [-3.98377675e-03 -1.59352753e-05 9.99992065e-01 -1.85806100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.79028169299994 meters Centerline goodness [0,1] 0.9994640138927599 Centerline is valid? [True, True] Translation: X:434.86, Y:-29.64, Z:-1.86 [[ 9.95759646e-01 9.19091695e-02 3.92832426e-03 4.34855750e+02] [-9.19085146e-02 9.95767395e-01 -3.47295199e-04 -2.96427743e+01] [-3.94361683e-03 -1.52239033e-05 9.99992224e-01 -1.85796807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82028169299997 meters Centerline goodness [0,1] 0.9995939390053643 Centerline is valid? [True, True] Translation: X:434.89, Y:-29.65, Z:-1.86 [[ 9.95697196e-01 9.26215830e-02 2.88720555e-03 4.34887462e+02] [-9.26212310e-02 9.95701382e-01 -2.55687095e-04 -2.96456976e+01] [-2.89847670e-03 -1.28296087e-05 9.99995799e-01 -1.86031694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.85028169299994 meters Centerline goodness [0,1] 0.9995730145175064 Centerline is valid? [True, True] Translation: X:434.92, Y:-29.65, Z:-1.86 [[ 9.95632297e-01 9.33433559e-02 1.82951301e-03 4.34918980e+02] [-9.33432154e-02 9.95633978e-01 -1.62208371e-04 -2.96477953e+01] [-1.83666639e-03 -9.27273340e-06 9.99998313e-01 -1.86248204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.880281693 meters Centerline goodness [0,1] 0.9997050333944335 Centerline is valid? [True, True] Translation: X:434.95, Y:-29.65, Z:-1.86 [[ 9.95547512e-01 9.42522047e-02 1.29345375e-03 4.34950979e+02] [-9.42521351e-02 9.95548352e-01 -1.14803969e-04 -2.96496562e+01] [-1.29851628e-03 -7.61797256e-06 9.99999157e-01 -1.86409603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.91028169299994 meters Centerline goodness [0,1] 0.9997440928090079 Centerline is valid? [True, True] Translation: X:434.98, Y:-29.65, Z:-1.86 [[ 9.95484149e-01 9.49202494e-02 1.20673925e-03 4.34982624e+02] [-9.49201891e-02 9.95484880e-01 -1.07299234e-04 -2.96521556e+01] [-1.21147555e-03 -7.72923144e-06 9.99999266e-01 -1.86429270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.940281693 meters Centerline goodness [0,1] 0.9997449359151487 Centerline is valid? [True, True] Translation: X:435.01, Y:-29.65, Z:-1.86 [[ 9.95361818e-01 9.61792515e-02 2.09835035e-03 4.35013507e+02] [-9.61790706e-02 9.95364030e-01 -1.87165670e-04 -2.96525246e+01] [-2.10662391e-03 -1.55198250e-05 9.99997781e-01 -1.86265248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.97028169299995 meters Centerline goodness [0,1] 0.9997674369436986 Centerline is valid? [True, True] Translation: X:435.05, Y:-29.66, Z:-1.86 [[ 9.95351552e-01 9.62685550e-02 2.76633496e-03 4.35046100e+02] [-9.62682395e-02 9.95355396e-01 -2.47280667e-04 -2.96562995e+01] [-2.77729178e-03 -2.01790002e-05 9.99996143e-01 -1.86178701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.000281693 meters Centerline goodness [0,1] 0.9996569541819429 Centerline is valid? [True, True] Translation: X:435.08, Y:-29.66, Z:-1.86 [[ 9.95409996e-01 9.56225280e-02 3.90804689e-03 4.35078722e+02] [-9.56218900e-02 9.95417667e-01 -3.50205283e-04 -2.96613849e+01] [-3.92362643e-03 -2.50969910e-05 9.99992302e-01 -1.86034260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.03028169299995 meters Centerline goodness [0,1] 0.9996198441360958 Centerline is valid? [True, True] Translation: X:435.11, Y:-29.67, Z:-1.86 [[ 9.95523658e-01 9.44107901e-02 4.38735470e-03 4.35109594e+02] [-9.44099709e-02 9.95533326e-01 -3.93929840e-04 -2.96668976e+01] [-4.40494904e-03 -2.20435541e-05 9.99990298e-01 -1.85951329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.060281693 meters Centerline goodness [0,1] 0.9994950557542605 Centerline is valid? [True, True] Translation: X:435.14, Y:-29.67, Z:-1.86 [[ 9.95719102e-01 9.23247429e-02 4.42846037e-03 4.35140016e+02] [-9.23238852e-02 9.95728950e-01 -3.98144156e-04 -2.96729431e+01] [-4.44630475e-03 -1.24129250e-05 9.99990115e-01 -1.85928745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.09028169299995 meters Centerline goodness [0,1] 0.9994305239179955 Centerline is valid? [True, True] Translation: X:435.17, Y:-29.67, Z:-1.86 [[ 9.95698282e-01 9.25683004e-02 4.00514111e-03 4.35173047e+02] [-9.25675987e-02 9.95706337e-01 -3.60599797e-04 -2.96749001e+01] [-4.02132450e-03 -1.16976967e-05 9.99991914e-01 -1.85963670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.120281693 meters Centerline goodness [0,1] 0.9994912451774283 Centerline is valid? [True, True] Translation: X:435.21, Y:-29.68, Z:-1.86 [[ 9.95600040e-01 9.36288411e-02 3.76830855e-03 4.35205510e+02] [-9.36282252e-02 9.95607171e-01 -3.39915234e-04 -2.96752134e+01] [-3.78358088e-03 -1.44004206e-05 9.99992842e-01 -1.85961997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.15028169299995 meters Centerline goodness [0,1] 0.9996180128177922 Centerline is valid? [True, True] Translation: X:435.24, Y:-29.67, Z:-1.86 [[ 9.95402407e-01 9.57186539e-02 3.46220951e-03 4.35238167e+02] [-9.57181448e-02 9.95408428e-01 -3.12844878e-04 -2.96744866e+01] [-3.47625762e-03 -1.99897265e-05 9.99993958e-01 -1.85992924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.180281693 meters Centerline goodness [0,1] 0.9998927084674477 Centerline is valid? [True, True] Translation: X:435.27, Y:-29.67, Z:-1.86 [[ 9.94904223e-01 1.00779547e-01 3.01181023e-03 4.35269918e+02] [-1.00779183e-01 9.94908781e-01 -2.72568167e-04 -2.96674759e+01] [-3.02394574e-03 -3.23485552e-05 9.99995427e-01 -1.86017362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.21028169299996 meters Centerline goodness [0,1] 0.9999575182140658 Centerline is valid? [True, True] Translation: X:435.30, Y:-29.66, Z:-1.86 [[ 9.94649030e-01 1.03253180e-01 3.47673432e-03 4.35301479e+02] [-1.03252709e-01 9.94655105e-01 -3.15027105e-04 -2.96644301e+01] [-3.49067909e-03 -4.56408340e-05 9.99993907e-01 -1.85968781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.240281693 meters Centerline goodness [0,1] 0.999978646166987 Centerline is valid? [True, True] Translation: X:435.33, Y:-29.66, Z:-1.86 [[ 9.94395854e-01 1.05630190e-01 4.37584512e-03 4.35332447e+02] [-1.05629468e-01 9.94405480e-01 -3.96579781e-04 -2.96601988e+01] [-4.39325517e-03 -6.78609004e-05 9.99990347e-01 -1.85801430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.27028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.36, Y:-29.66, Z:-1.86 [[ 9.94170154e-01 1.07713425e-01 4.84997788e-03 4.35364140e+02] [-1.07712562e-01 9.94181981e-01 -4.39636335e-04 -2.96572398e+01] [-4.86911535e-03 -8.53302190e-05 9.99988142e-01 -1.85690874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.300281693 meters Centerline goodness [0,1] 0.9998305730865348 Centerline is valid? [True, True] Translation: X:435.40, Y:-29.65, Z:-1.86 [[ 9.93927843e-01 1.09958610e-01 4.06775122e-03 4.35395411e+02] [-1.09958021e-01 9.93936164e-01 -3.68768384e-04 -2.96505850e+01] [-4.08363430e-03 -8.07527101e-05 9.99991659e-01 -1.85719631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.33028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.43, Y:-29.65, Z:-1.86 [[ 9.93878232e-01 1.10445181e-01 2.81471035e-03 4.35426057e+02] [-1.10444901e-01 9.93882216e-01 -2.55171993e-04 -2.96486918e+01] [-2.82567307e-03 -5.72605168e-05 9.99996006e-01 -1.85969669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36028169299993 meters Centerline goodness [0,1] 0.9999574730485445 Centerline is valid? [True, True] Translation: X:435.46, Y:-29.65, Z:-1.86 [[ 9.93858565e-01 1.10636015e-01 2.19655010e-03 4.35457028e+02] [-1.10635845e-01 9.93860991e-01 -1.99131704e-04 -2.96478798e+01] [-2.20509660e-03 -4.51084259e-05 9.99997568e-01 -1.86140379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.39028169299996 meters Centerline goodness [0,1] 0.9999575073830922 Centerline is valid? [True, True] Translation: X:435.49, Y:-29.65, Z:-1.86 [[ 9.93882785e-01 1.10391829e-01 3.26392985e-03 4.35486833e+02] [-1.10391452e-01 9.93888142e-01 -2.95868862e-04 -2.96493185e+01] [-3.27664268e-03 -6.62509871e-05 9.99994630e-01 -1.85967854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.52, Y:-29.65, Z:-1.86 [[ 9.93918058e-01 1.10051604e-01 3.94192745e-03 4.35515414e+02] [-1.10051052e-01 9.93925872e-01 -3.57201975e-04 -2.96485413e+01] [-3.95729433e-03 -7.87837710e-05 9.99992167e-01 -1.85827578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.45028169299997 meters Centerline goodness [0,1] 0.9999358755129959 Centerline is valid? [True, True] Translation: X:435.55, Y:-29.65, Z:-1.86 [[ 9.93976613e-01 1.09519716e-01 3.99062610e-03 4.35545274e+02] [-1.09519147e-01 9.93984621e-01 -3.61494432e-04 -2.96488133e+01] [-4.00621173e-03 -7.77329547e-05 9.99991972e-01 -1.85823059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48028169299994 meters Centerline goodness [0,1] 0.9999790092359362 Centerline is valid? [True, True] Translation: X:435.58, Y:-29.64, Z:-1.86 [[ 9.94114662e-01 1.08297296e-01 2.78103497e-03 4.35575377e+02] [-1.08297015e-01 9.94118551e-01 -2.51871785e-04 -2.96393688e+01] [-2.79195549e-03 -5.07883507e-05 9.99996101e-01 -1.86052866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.51028169299997 meters Centerline goodness [0,1] 0.9999788516442847 Centerline is valid? [True, True] Translation: X:435.60, Y:-29.64, Z:-1.86 [[ 9.94183491e-01 1.07674162e-01 2.33699003e-03 4.35604938e+02] [-1.07673962e-01 9.94186237e-01 -2.11609061e-04 -2.96400644e+01] [-2.34618816e-03 -4.12547415e-05 9.99997247e-01 -1.86147808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54028169299994 meters Centerline goodness [0,1] 0.9999364016026796 Centerline is valid? [True, True] Translation: X:435.63, Y:-29.64, Z:-1.86 [[ 9.94268797e-01 1.06889029e-01 2.07245054e-03 4.35634685e+02] [-1.06888870e-01 9.94270956e-01 -1.87616814e-04 -2.96405546e+01] [-2.08063156e-03 -3.49803540e-05 9.99997835e-01 -1.86186095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.57028169299997 meters Centerline goodness [0,1] 0.9999364016026796 Centerline is valid? [True, True] Translation: X:435.66, Y:-29.64, Z:-1.86 [[ 9.94273270e-01 1.06847409e-01 2.07245443e-03 4.35662912e+02] [-1.06847250e-01 9.94275430e-01 -1.87573890e-04 -2.96430124e+01] [-2.08063230e-03 -3.49363527e-05 9.99997835e-01 -1.86192059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60028169299994 meters Centerline goodness [0,1] 0.9999788833516344 Centerline is valid? [True, True] Translation: X:435.69, Y:-29.65, Z:-1.86 [[ 9.94444971e-01 1.05251351e-01 1.16313635e-03 4.35692090e+02] [-1.05251300e-01 9.94445651e-01 -1.05245461e-04 -2.96473989e+01] [-1.16775311e-03 -1.77607942e-05 9.99999318e-01 -1.86333091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.630281693 meters Centerline goodness [0,1] 0.9999788023317435 Centerline is valid? [True, True] Translation: X:435.72, Y:-29.65, Z:-1.86 [[ 9.94568487e-01 1.04067516e-01 1.86489006e-03 4.35720309e+02] [-1.04067382e-01 9.94570235e-01 -1.68672438e-04 -2.96485554e+01] [-1.87231747e-03 -2.63179360e-05 9.99998247e-01 -1.86219423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66028169299994 meters Centerline goodness [0,1] 0.9999789305128313 Centerline is valid? [True, True] Translation: X:435.75, Y:-29.65, Z:-1.86 [[ 9.94749447e-01 1.02295277e-01 3.03555490e-03 4.35749774e+02] [-1.02294916e-01 9.94754078e-01 -2.74413411e-04 -2.96471385e+01] [-3.04770181e-03 -3.75492439e-05 9.99995355e-01 -1.85969772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.690281693 meters Centerline goodness [0,1] 0.9999575803851701 Centerline is valid? [True, True] Translation: X:435.78, Y:-29.65, Z:-1.86 [[ 9.94957040e-01 1.00210266e-01 4.28839044e-03 4.35779598e+02] [-1.00209527e-01 9.94966281e-01 -3.87486171e-04 -2.96515222e+01] [-4.30563398e-03 -4.42054837e-05 9.99990730e-01 -1.85677529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72028169299995 meters Centerline goodness [0,1] 0.9997668157632544 Centerline is valid? [True, True] Translation: X:435.81, Y:-29.66, Z:-1.86 [[ 9.95456572e-01 9.51335508e-02 3.97758743e-03 4.35809013e+02] [-9.51328746e-02 9.95464518e-01 -3.59301413e-04 -2.96626663e+01] [-3.99372878e-03 -2.07303733e-05 9.99992025e-01 -1.85809186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.750281693 meters Centerline goodness [0,1] 0.9995791954216462 Centerline is valid? [True, True] Translation: X:435.84, Y:-29.67, Z:-1.86 [[ 9.95694754e-01 9.26341301e-02 3.29776458e-03 4.35838800e+02] [-9.26336515e-02 9.95700215e-01 -2.97891999e-04 -2.96698888e+01] [-3.31117986e-03 -8.87447352e-06 9.99994518e-01 -1.85986846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78028169299995 meters Centerline goodness [0,1] 0.9994942150850351 Centerline is valid? [True, True] Translation: X:435.87, Y:-29.68, Z:-1.86 [[ 9.95907928e-01 9.03349089e-02 2.64649204e-03 4.35868357e+02] [-9.03345926e-02 9.95911444e-01 -2.39061579e-04 -2.96765908e+01] [-2.65726732e-03 -9.86458915e-07 9.99996469e-01 -1.86082026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.810281693 meters Centerline goodness [0,1] 0.9991096413126431 Centerline is valid? [True, True] Translation: X:435.90, Y:-29.69, Z:-1.86 [[ 9.96269655e-01 8.62581625e-02 2.51072254e-03 4.35898005e+02] [-8.62578649e-02 9.96272819e-01 -2.26797317e-04 -2.96865295e+01] [-2.52092775e-03 9.38171897e-06 9.99996822e-01 -1.86108865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84028169299995 meters Centerline goodness [0,1] 0.9988582785377508 Centerline is valid? [True, True] Translation: X:435.93, Y:-29.69, Z:-1.86 [[ 9.96398833e-01 8.47477769e-02 2.67936921e-03 4.35928089e+02] [-8.47474325e-02 9.96402436e-01 -2.42031422e-04 -2.96933067e+01] [-2.69024163e-03 1.40901656e-05 9.99996381e-01 -1.86073533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.870281693 meters Centerline goodness [0,1] 0.9988458229282522 Centerline is valid? [True, True] Translation: X:435.96, Y:-29.70, Z:-1.86 [[ 9.96525379e-01 8.32410281e-02 2.84605404e-03 4.35958648e+02] [-8.32406332e-02 9.96529443e-01 -2.57104047e-04 -2.97008373e+01] [-2.85757825e-03 1.93033674e-05 9.99995917e-01 -1.85993602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90028169299995 meters Centerline goodness [0,1] 0.9988708509097107 Centerline is valid? [True, True] Translation: X:435.99, Y:-29.71, Z:-1.86 [[ 9.96698338e-01 8.11618578e-02 2.27513939e-03 4.35989997e+02] [-8.11615999e-02 9.96700934e-01 -2.05593783e-04 -2.97068706e+01] [-2.28431993e-03 2.02610287e-05 9.99997391e-01 -1.86081788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.930281693 meters Centerline goodness [0,1] 0.9987248963978324 Centerline is valid? [True, True] Translation: X:436.02, Y:-29.71, Z:-1.86 [[ 9.96693919e-01 8.12266337e-02 1.86158134e-03 4.36020420e+02] [-8.12264606e-02 9.96695658e-01 -1.68500625e-04 -2.97107976e+01] [-1.86911678e-03 1.67338847e-05 9.99998253e-01 -1.86214187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96028169299996 meters Centerline goodness [0,1] 0.9988645443458514 Centerline is valid? [True, True] Translation: X:436.05, Y:-29.71, Z:-1.86 [[ 9.96644738e-01 8.18285117e-02 1.83305709e-03 4.36050748e+02] [-8.18283449e-02 9.96646424e-01 -1.65939763e-04 -2.97142706e+01] [-1.84048840e-03 1.53869644e-05 9.99998306e-01 -1.86258571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.990281693 meters Centerline goodness [0,1] 0.9989913211591401 Centerline is valid? [True, True] Translation: X:436.08, Y:-29.72, Z:-1.86 [[ 9.96490841e-01 8.36801274e-02 1.90771532e-03 4.36081897e+02] [-8.36799501e-02 9.96492667e-01 -1.72718734e-04 -2.97153745e+01] [-1.91547745e-03 1.24751137e-05 9.99998165e-01 -1.86291823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02028169299996 meters Centerline goodness [0,1] 0.9990465293668955 Centerline is valid? [True, True] Translation: X:436.11, Y:-29.72, Z:-1.86 [[ 9.96403885e-01 8.47206828e-02 1.30516232e-03 4.36112055e+02] [-8.47206007e-02 9.96404740e-01 -1.18189338e-04 -2.97182050e+01] [-1.31048300e-03 7.19017983e-06 9.99999141e-01 -1.86369623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.050281693 meters Centerline goodness [0,1] 0.9990948892818051 Centerline is valid? [True, True] Translation: X:436.14, Y:-29.72, Z:-1.86 [[ 9.96304390e-01 8.58913202e-02 4.92698972e-04 4.36142191e+02] [-8.58913086e-02 9.96304512e-01 -4.46255770e-05 -2.97182100e+01] [-4.94711159e-04 2.14209879e-06 9.99999878e-01 -1.86477692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08028169299996 meters Centerline goodness [0,1] 0.9991301211465428 Centerline is valid? [True, True] Translation: X:436.17, Y:-29.72, Z:-1.87 [[ 9.96186874e-01 8.72445172e-02 -3.24758451e-04 4.36171341e+02] [-8.72445123e-02 9.96186927e-01 2.93864669e-05 -2.97192557e+01] [ 3.26083932e-04 -9.41019917e-07 9.99999947e-01 -1.86609324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.11028169299993 meters Centerline goodness [0,1] 0.9989982095660329 Centerline is valid? [True, True] Translation: X:436.20, Y:-29.72, Z:-1.87 [[ 9.96071774e-01 8.85474165e-02 -6.12660172e-04 4.36201680e+02] [-8.85473991e-02 9.96071963e-01 5.54837941e-05 -2.97205995e+01] [ 6.15166566e-04 -1.01637656e-06 9.99999811e-01 -1.86688141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14028169299996 meters Centerline goodness [0,1] 0.9989686164726683 Centerline is valid? [True, True] Translation: X:436.23, Y:-29.72, Z:-1.87 [[ 9.95969822e-01 8.96887732e-02 -1.93406086e-04 4.36230473e+02] [-8.96887715e-02 9.95969841e-01 1.74876366e-05 -2.97248737e+01] [ 1.94195073e-04 -7.08040913e-08 9.99999981e-01 -1.86707733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.17028169299994 meters Centerline goodness [0,1] 0.9989666153489255 Centerline is valid? [True, True] Translation: X:436.26, Y:-29.73, Z:-1.87 [[ 9.96000593e-01 8.93464097e-02 -1.91964986e-04 4.36261028e+02] [-8.93464080e-02 9.96000612e-01 1.73824368e-05 -2.97297875e+01] [ 1.92750302e-04 -1.61535423e-07 9.99999981e-01 -1.86648288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20028169299997 meters Centerline goodness [0,1] 0.9989788754866297 Centerline is valid? [True, True] Translation: X:436.29, Y:-29.74, Z:-1.87 [[ 9.96068058e-01 8.85911946e-02 -1.52265613e-04 4.36291839e+02] [-8.85911935e-02 9.96068070e-01 1.38387962e-05 -2.97351990e+01] [ 1.52892911e-04 -2.94990413e-07 9.99999988e-01 -1.86673262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.23028169299994 meters Centerline goodness [0,1] 0.9988965517241379 Centerline is valid? [True, True] Translation: X:436.32, Y:-29.74, Z:-1.87 [[ 9.96116004e-01 8.80505199e-02 1.10693393e-04 4.36322034e+02] [-8.80505194e-02 9.96116010e-01 -1.00033611e-05 -2.97404548e+01] [-1.11144262e-04 2.17897292e-07 9.99999994e-01 -1.86638762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26028169299997 meters Centerline goodness [0,1] 0.998792935496167 Centerline is valid? [True, True] Translation: X:436.35, Y:-29.75, Z:-1.86 [[ 9.96073743e-01 8.85226080e-02 9.19947270e-04 4.36351897e+02] [-8.85225688e-02 9.96074168e-01 -8.33325847e-05 -2.97464715e+01] [-9.23712529e-04 1.56930406e-06 9.99999573e-01 -1.86412427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.29028169299994 meters Centerline goodness [0,1] 0.9988302601076161 Centerline is valid? [True, True] Translation: X:436.38, Y:-29.75, Z:-1.86 [[ 9.95951906e-01 8.98810218e-02 1.09685832e-03 4.36383268e+02] [-8.98809669e-02 9.95952510e-01 -9.93341650e-05 -2.97486878e+01] [-1.10134705e-03 3.45364717e-07 9.99999394e-01 -1.86368166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32028169299997 meters Centerline goodness [0,1] 0.9985977734341803 Centerline is valid? [True, True] Translation: X:436.41, Y:-29.75, Z:-1.86 [[ 9.95780837e-01 9.17596196e-02 8.35216082e-04 4.36414739e+02] [-9.17595884e-02 9.95781187e-01 -7.56469722e-05 -2.97499633e+01] [-8.38633799e-04 -1.31127856e-06 9.99999648e-01 -1.86457837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.35028169299994 meters Centerline goodness [0,1] 0.9988922500106514 Centerline is valid? [True, True] Translation: X:436.45, Y:-29.75, Z:-1.87 [[ 9.95447501e-01 9.53079490e-02 8.16658906e-04 4.36445370e+02] [-9.53079203e-02 9.95447836e-01 -7.40152417e-05 -2.97507745e+01] [-8.19995582e-04 -4.15577458e-06 9.99999664e-01 -1.86602081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.380281693 meters Centerline goodness [0,1] 0.9989695148132246 Centerline is valid? [True, True] Translation: X:436.48, Y:-29.75, Z:-1.87 [[ 9.95312299e-01 9.67063722e-02 1.14223412e-03 4.36475522e+02] [-9.67063171e-02 9.95312955e-01 -1.03522700e-04 -2.97542689e+01] [-1.14689172e-03 -7.42383911e-06 9.99999342e-01 -1.86558536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.41028169299994 meters Centerline goodness [0,1] 0.9988632296907564 Centerline is valid? [True, True] Translation: X:436.51, Y:-29.76, Z:-1.86 [[ 9.95208639e-01 9.77628722e-02 1.47810461e-03 4.36505129e+02] [-9.77627810e-02 9.95209737e-01 -1.33970538e-04 -2.97576613e+01] [-1.48412145e-03 -1.11749805e-05 9.99998899e-01 -1.86475662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.440281693 meters Centerline goodness [0,1] 0.9989060001683077 Centerline is valid? [True, True] Translation: X:436.54, Y:-29.76, Z:-1.86 [[ 9.95106636e-01 9.87916258e-02 1.73165030e-03 4.36535874e+02] [-9.87915023e-02 9.95108142e-01 -1.56913609e-04 -2.97604649e+01] [-1.73868106e-03 -1.49265609e-05 9.99998488e-01 -1.86361894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.47028169299995 meters Centerline goodness [0,1] 0.9990109635739989 Centerline is valid? [True, True] Translation: X:436.57, Y:-29.76, Z:-1.86 [[ 9.94909502e-01 1.00755965e-01 1.82186904e-03 4.36566453e+02] [-1.00755832e-01 9.94911169e-01 -1.65136828e-04 -2.97610882e+01] [-1.82923638e-03 -1.92677317e-05 9.99998327e-01 -1.86253184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.500281693 meters Centerline goodness [0,1] 0.9990716516161702 Centerline is valid? [True, True] Translation: X:436.60, Y:-29.76, Z:-1.86 [[ 9.94757038e-01 1.02255680e-01 1.48694923e-03 4.36596304e+02] [-1.02255593e-01 9.94758149e-01 -1.34805814e-04 -2.97613061e+01] [-1.49293952e-03 -1.79498428e-05 9.99998885e-01 -1.86364337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.53028169299995 meters Centerline goodness [0,1] 0.9991068770467401 Centerline is valid? [True, True] Translation: X:436.63, Y:-29.76, Z:-1.86 [[ 9.94573725e-01 1.04021780e-01 1.60455489e-03 4.36626728e+02] [-1.04021680e-01 9.94575019e-01 -1.45442388e-04 -2.97618435e+01] [-1.61097938e-03 -2.22553183e-05 9.99998702e-01 -1.86456480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.560281693 meters Centerline goodness [0,1] 0.9991106217177707 Centerline is valid? [True, True] Translation: X:436.66, Y:-29.76, Z:-1.86 [[ 9.94334812e-01 1.06274921e-01 1.98061556e-03 4.36656828e+02] [-1.06274774e-01 9.94336784e-01 -1.79529824e-04 -2.97643154e+01] [-1.98847843e-03 -3.19767179e-05 9.99998022e-01 -1.86378510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.59028169299995 meters Centerline goodness [0,1] 0.9991205491205492 Centerline is valid? [True, True] Translation: X:436.69, Y:-29.76, Z:-1.86 [[ 9.93656169e-01 1.12404110e-01 3.56852000e-03 4.36688295e+02] [-1.12403673e-01 9.93662573e-01 -3.23462958e-04 -2.97552883e+01] [-3.58226333e-03 -7.97037926e-05 9.99993580e-01 -1.86062246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.620281693 meters Centerline goodness [0,1] 0.9990766786197419 Centerline is valid? [True, True] Translation: X:436.72, Y:-29.75, Z:-1.86 [[ 9.93301431e-01 1.15518241e-01 2.79358400e-03 4.36717121e+02] [-1.15517985e-01 9.93305356e-01 -2.53187307e-04 -2.97516379e+01] [-2.80412971e-03 -7.12178816e-05 9.99996066e-01 -1.86133295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.65028169299995 meters Centerline goodness [0,1] 0.9989551570462929 Centerline is valid? [True, True] Translation: X:436.75, Y:-29.75, Z:-1.86 [[ 9.93013257e-01 1.17990979e-01 1.67346674e-03 4.36747137e+02] [-1.17990891e-01 9.93014666e-01 -1.51620273e-04 -2.97518359e+01] [-1.67966684e-03 -4.68928911e-05 9.99998588e-01 -1.86407452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.680281693 meters Centerline goodness [0,1] 0.998929817426853 Centerline is valid? [True, True] Translation: X:436.78, Y:-29.75, Z:-1.87 [[ 9.92821651e-01 1.19603170e-01 -5.02030211e-04 4.36776239e+02] [-1.19603162e-01 9.92821777e-01 4.53772091e-05 -2.97482840e+01] [ 5.03853784e-04 1.49929252e-05 9.99999873e-01 -1.86845492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.71028169299996 meters Centerline goodness [0,1] 0.9989844278943805 Centerline is valid? [True, True] Translation: X:436.80, Y:-29.75, Z:-1.87 [[ 9.92888621e-01 1.19045269e-01 -6.39921062e-04 4.36804754e+02] [-1.19045257e-01 9.92888827e-01 5.78072561e-05 -2.97475761e+01] [ 6.42252153e-04 1.87834003e-05 9.99999794e-01 -1.86934814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.740281693 meters Centerline goodness [0,1] 0.9989198119201932 Centerline is valid? [True, True] Translation: X:436.83, Y:-29.75, Z:-1.87 [[ 9.93029296e-01 1.17866841e-01 -4.75307244e-04 4.36832226e+02] [-1.17866834e-01 9.93029409e-01 4.28621898e-05 -2.97493992e+01] [ 4.77046102e-04 1.34595500e-05 9.99999886e-01 -1.86920317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.77028169299996 meters Centerline goodness [0,1] 0.9990242867748436 Centerline is valid? [True, True] Translation: X:436.86, Y:-29.75, Z:-1.87 [[ 9.93196236e-01 1.16452500e-01 -2.28241997e-04 4.36861186e+02] [-1.16452499e-01 9.93196262e-01 2.05332767e-05 -2.97523744e+01] [ 2.29080249e-04 6.18577762e-06 9.99999974e-01 -1.86864608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.800281693 meters Centerline goodness [0,1] 0.9990692755156002 Centerline is valid? [True, True] Translation: X:436.89, Y:-29.76, Z:-1.87 [[ 9.93524863e-01 1.13611146e-01 -9.23721688e-04 4.36890357e+02] [-1.13611117e-01 9.93525293e-01 8.34210541e-05 -2.97587931e+01] [ 9.27218422e-04 2.20641614e-05 9.99999570e-01 -1.86925956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.83028169299996 meters Centerline goodness [0,1] 0.9990672630530176 Centerline is valid? [True, True] Translation: X:436.92, Y:-29.76, Z:-1.87 [[ 9.93669644e-01 1.12332488e-01 -1.43198032e-03 4.36918715e+02] [-1.12332418e-01 9.93670675e-01 1.29229807e-04 -2.97633868e+01] [ 1.43743356e-03 3.24460764e-05 9.99998966e-01 -1.87054670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86028169299993 meters Centerline goodness [0,1] 0.999033105622701 Centerline is valid? [True, True] Translation: X:436.95, Y:-29.76, Z:-1.87 [[ 9.93822893e-01 1.10969688e-01 -1.33649746e-03 4.36947055e+02] [-1.10969626e-01 9.93823791e-01 1.20543604e-04 -2.97648664e+01] [ 1.34161966e-03 2.85116300e-05 9.99999100e-01 -1.87046522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.89028169299996 meters Centerline goodness [0,1] 0.9990338367184054 Centerline is valid? [True, True] Translation: X:436.97, Y:-29.77, Z:-1.87 [[ 9.93927992e-01 1.10031302e-01 -5.08683735e-04 4.36974572e+02] [-1.10031293e-01 9.93928122e-01 4.57626733e-05 -2.97667106e+01] [ 5.10630396e-04 1.04863272e-05 9.99999870e-01 -1.86895560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92028169299994 meters Centerline goodness [0,1] 0.9990437332653321 Centerline is valid? [True, True] Translation: X:437.00, Y:-29.77, Z:-1.87 [[ 9.94047853e-01 1.08933428e-01 1.54063420e-03 4.37003617e+02] [-1.08933343e-01 9.94049047e-01 -1.38991058e-04 -2.97705228e+01] [-1.54660673e-03 -2.96626715e-05 9.99998804e-01 -1.86527253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.95028169299997 meters Centerline goodness [0,1] 0.999064645734572 Centerline is valid? [True, True] Translation: X:437.03, Y:-29.77, Z:-1.86 [[ 9.94140382e-01 1.08075244e-01 2.15452672e-03 4.37031878e+02] [-1.08075077e-01 9.94142716e-01 -1.94303153e-04 -2.97734864e+01] [-2.16290640e-03 -3.96860296e-05 9.99997660e-01 -1.86425611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98028169299994 meters Centerline goodness [0,1] 0.9990901011468958 Centerline is valid? [True, True] Translation: X:437.06, Y:-29.78, Z:-1.86 [[ 9.94245800e-01 1.07093480e-01 2.50507269e-03 4.37061463e+02] [-1.07093251e-01 9.94248955e-01 -2.25820966e-04 -2.97770829e+01] [-2.51484985e-03 -4.37548312e-05 9.99996837e-01 -1.86305058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.01028169299997 meters Centerline goodness [0,1] 0.999000956530981 Centerline is valid? [True, True] Translation: X:437.09, Y:-29.78, Z:-1.86 [[ 9.94363747e-01 1.05987811e-01 2.70612466e-03 4.37091213e+02] [-1.05987540e-01 9.94367428e-01 -2.43877275e-04 -2.97805850e+01] [-2.71673023e-03 -4.43127727e-05 9.99996309e-01 -1.86334405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04028169299994 meters Centerline goodness [0,1] 0.9991504545068388 Centerline is valid? [True, True] Translation: X:437.12, Y:-29.78, Z:-1.86 [[ 9.94361365e-01 1.06023368e-01 2.12616719e-03 4.37120310e+02] [-1.06023201e-01 9.94363638e-01 -1.91571144e-04 -2.97816893e+01] [-2.13449436e-03 -3.49321074e-05 9.99997721e-01 -1.86442428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.07028169299997 meters Centerline goodness [0,1] 0.9991242123251095 Centerline is valid? [True, True] Translation: X:437.15, Y:-29.78, Z:-1.87 [[ 9.94340865e-01 1.06230886e-01 1.11523637e-03 4.37150348e+02] [-1.06230840e-01 9.94341490e-01 -1.00468921e-04 -2.97831492e+01] [-1.11959869e-03 -1.85721431e-05 9.99999373e-01 -1.86605335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10028169299994 meters Centerline goodness [0,1] 0.9990644866370421 Centerline is valid? [True, True] Translation: X:437.18, Y:-29.78, Z:-1.87 [[ 9.94328983e-01 1.06347751e-01 1.72683113e-04 4.37179787e+02] [-1.06347750e-01 9.94328998e-01 -1.55942350e-05 -2.97842671e+01] [-1.73362239e-04 -2.85866061e-06 9.99999985e-01 -1.86767989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.130281693 meters Centerline goodness [0,1] 0.999255176523164 Centerline is valid? [True, True] Translation: X:437.21, Y:-29.78, Z:-1.87 [[ 9.94261247e-01 1.06977771e-01 -5.74041166e-04 4.37208119e+02] [-1.06977760e-01 9.94261412e-01 5.15185825e-05 -2.97814715e+01] [ 5.76258323e-04 1.01867077e-05 9.99999834e-01 -1.86860398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16028169299994 meters Centerline goodness [0,1] 0.9991208319931382 Centerline is valid? [True, True] Translation: X:437.24, Y:-29.78, Z:-1.87 [[ 9.94206249e-01 1.07487778e-01 -5.58034384e-04 4.37237135e+02] [-1.07487767e-01 9.94206406e-01 5.00788263e-05 -2.97815776e+01] [ 5.60184221e-04 1.01931877e-05 9.99999843e-01 -1.86798408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.190281693 meters Centerline goodness [0,1] 0.9990238519650284 Centerline is valid? [True, True] Translation: X:437.27, Y:-29.78, Z:-1.87 [[ 9.94115504e-01 1.08325238e-01 -8.20156843e-05 4.37265469e+02] [-1.08325237e-01 9.94115508e-01 7.38398997e-06 -2.97810264e+01] [ 8.23329362e-05 1.54382956e-06 9.99999997e-01 -1.86789290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22028169299995 meters Centerline goodness [0,1] 0.9990873975975211 Centerline is valid? [True, True] Translation: X:437.29, Y:-29.78, Z:-1.87 [[ 9.94030466e-01 1.09102165e-01 3.87764753e-04 4.37294556e+02] [-1.09102160e-01 9.94030542e-01 -3.49454045e-05 -2.97788138e+01] [-3.89262627e-04 -7.56917548e-06 9.99999924e-01 -1.86678066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.250281693 meters Centerline goodness [0,1] 0.9991279193431744 Centerline is valid? [True, True] Translation: X:437.32, Y:-29.78, Z:-1.87 [[ 9.94062688e-01 1.08808069e-01 4.18834358e-04 4.37323101e+02] [-1.08808063e-01 9.94062777e-01 -3.77182175e-05 -2.97787933e+01] [-4.20451692e-04 -8.07828256e-06 9.99999912e-01 -1.86724058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28028169299995 meters Centerline goodness [0,1] 0.9993658309728153 Centerline is valid? [True, True] Translation: X:437.35, Y:-29.78, Z:-1.87 [[ 9.94103137e-01 1.08438353e-01 -2.77195022e-04 4.37350573e+02] [-1.08438351e-01 9.94103175e-01 2.47656941e-05 -2.97785624e+01] [ 2.78246003e-04 5.43891679e-06 9.99999961e-01 -1.86798953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.310281693 meters Centerline goodness [0,1] 0.999278728865695 Centerline is valid? [True, True] Translation: X:437.38, Y:-29.78, Z:-1.87 [[ 9.94101941e-01 1.08449438e-01 -2.23541847e-04 4.37379646e+02] [-1.08449436e-01 9.94101966e-01 1.99624047e-05 -2.97787403e+01] [ 2.24388301e-04 4.39832201e-06 9.99999975e-01 -1.86828073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34028169299995 meters Centerline goodness [0,1] 0.9991132318476448 Centerline is valid? [True, True] Translation: X:437.41, Y:-29.77, Z:-1.87 [[ 9.93983052e-01 1.09532411e-01 5.86455086e-04 4.37408012e+02] [-1.09532399e-01 9.93983225e-01 -5.27056006e-05 -2.97724370e+01] [-5.88699489e-04 -1.18473587e-05 9.99999827e-01 -1.86674984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.370281693 meters Centerline goodness [0,1] 0.9991258182128313 Centerline is valid? [True, True] Translation: X:437.44, Y:-29.77, Z:-1.87 [[ 9.93884877e-01 1.10420393e-01 4.33661528e-04 4.37436791e+02] [-1.10420387e-01 9.93884972e-01 -3.89618419e-05 -2.97708087e+01] [-4.35311858e-04 -9.16148813e-06 9.99999905e-01 -1.86712367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40028169299995 meters Centerline goodness [0,1] 0.9992731781354881 Centerline is valid? [True, True] Translation: X:437.47, Y:-29.77, Z:-1.87 [[ 9.93821385e-01 1.10991032e-01 -2.11506788e-04 4.37465772e+02] [-1.10991031e-01 9.93821408e-01 1.88454841e-05 -2.97721600e+01] [ 2.12291653e-04 4.74631118e-06 9.99999977e-01 -1.86814847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.430281693 meters Centerline goodness [0,1] 0.9993450104587039 Centerline is valid? [True, True] Translation: X:437.49, Y:-29.76, Z:-1.87 [[ 9.93810358e-01 1.11085086e-01 -1.03781139e-03 4.37494519e+02] [-1.11085049e-01 9.93810899e-01 9.27768115e-05 -2.97628030e+01] [ 1.04169439e-03 2.30827729e-05 9.99999457e-01 -1.87012587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46028169299996 meters Centerline goodness [0,1] 0.9993450104587039 Centerline is valid? [True, True] Translation: X:437.52, Y:-29.77, Z:-1.87 [[ 9.93815218e-01 1.11041594e-01 -1.03781256e-03 4.37522749e+02] [-1.11041557e-01 9.93815760e-01 9.27636998e-05 -2.97652350e+01] [ 1.04169510e-03 2.30503460e-05 9.99999457e-01 -1.87018551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.490281693 meters Centerline goodness [0,1] 0.9992293035901608 Centerline is valid? [True, True] Translation: X:437.55, Y:-29.77, Z:-1.87 [[ 9.93907677e-01 1.10213773e-01 -6.73274707e-04 4.37551559e+02] [-1.10213757e-01 9.93907905e-01 6.01163070e-05 -2.97665940e+01] [ 6.75798699e-04 1.44540761e-05 9.99999772e-01 -1.86915994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52028169299996 meters Centerline goodness [0,1] 0.9993236674134506 Centerline is valid? [True, True] Translation: X:437.58, Y:-29.77, Z:-1.87 [[ 9.94033565e-01 1.09074165e-01 3.14439135e-04 4.37580758e+02] [-1.09074162e-01 9.94033614e-01 -2.81794228e-05 -2.97686835e+01] [-3.15636717e-04 -6.28589304e-06 9.99999950e-01 -1.86778052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.550281693 meters Centerline goodness [0,1] 0.9991683016292758 Centerline is valid? [True, True] Translation: X:437.61, Y:-29.77, Z:-1.87 [[ 9.94203511e-01 1.07507841e-01 1.20136628e-03 4.37608925e+02] [-1.07507789e-01 9.94204236e-01 -1.07438116e-04 -2.97746161e+01] [-1.20595389e-03 -2.23408810e-05 9.99999273e-01 -1.86565391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58028169299996 meters Centerline goodness [0,1] 0.9991553340653772 Centerline is valid? [True, True] Translation: X:437.64, Y:-29.78, Z:-1.87 [[ 9.94570628e-01 1.04062966e-01 4.06381681e-04 4.37636459e+02] [-1.04062960e-01 9.94570711e-01 -3.64083293e-05 -2.97753455e+01] [-4.07964076e-04 -6.07862548e-06 9.99999917e-01 -1.86761875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.61028169299993 meters Centerline goodness [0,1] 0.9992499089175114 Centerline is valid? [True, True] Translation: X:437.66, Y:-29.78, Z:-1.87 [[ 9.94715396e-01 1.02669775e-01 -4.46109397e-04 4.37664722e+02] [-1.02669767e-01 9.94715496e-01 3.97138536e-05 -2.97813551e+01] [ 4.47829342e-04 6.29796636e-06 9.99999900e-01 -1.86859862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64028169299996 meters Centerline goodness [0,1] 0.9994937990382182 Centerline is valid? [True, True] Translation: X:437.69, Y:-29.78, Z:-1.87 [[ 9.94820638e-01 1.01644114e-01 -6.09392826e-04 4.37692434e+02] [-1.01644100e-01 9.94820825e-01 5.42263176e-05 -2.97812948e+01] [ 6.11748460e-04 7.99572543e-06 9.99999813e-01 -1.86956424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.67028169299994 meters Centerline goodness [0,1] 0.999297019789958 Centerline is valid? [True, True] Translation: X:437.72, Y:-29.78, Z:-1.87 [[ 9.94922819e-01 1.00640755e-01 1.53332163e-04 4.37719700e+02] [-1.00640754e-01 9.94922830e-01 -1.37800510e-05 -2.97837979e+01] [-1.53940505e-04 -1.72137732e-06 9.99999988e-01 -1.86808231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70028169299997 meters Centerline goodness [0,1] 0.9992065364242672 Centerline is valid? [True, True] Translation: X:437.75, Y:-29.79, Z:-1.86 [[ 9.95083551e-01 9.90210786e-02 1.88474091e-03 4.37747884e+02] [-9.90209380e-02 9.95085336e-01 -1.67997564e-04 -2.97916867e+01] [-1.89211334e-03 -1.94572005e-05 9.99998210e-01 -1.86404363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.73028169299994 meters Centerline goodness [0,1] 0.9993009067028218 Centerline is valid? [True, True] Translation: X:437.78, Y:-29.79, Z:-1.86 [[ 9.95146323e-01 9.83909597e-02 1.73638541e-03 4.37775748e+02] [-9.83908395e-02 9.95147838e-01 -1.54701284e-04 -2.97929582e+01] [-1.74318139e-03 -1.68940046e-05 9.99998481e-01 -1.86496691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76028169299997 meters Centerline goodness [0,1] 0.9992394151947942 Centerline is valid? [True, True] Translation: X:437.80, Y:-29.80, Z:-1.87 [[ 9.95185786e-01 9.80026860e-02 8.51310357e-04 4.37804879e+02] [-9.80026570e-02 9.95186150e-01 -7.58266205e-05 -2.97964907e+01] [-8.54643489e-04 -7.96910192e-06 9.99999635e-01 -1.86692444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.79028169299994 meters Centerline goodness [0,1] 0.9993570923429698 Centerline is valid? [True, True] Translation: X:437.83, Y:-29.80, Z:-1.87 [[ 9.95139740e-01 9.84727847e-02 -9.02859972e-05 4.37833957e+02] [-9.84727844e-02 9.95139744e-01 7.92993813e-06 -2.98002578e+01] [ 9.06280673e-05 9.99316964e-07 9.99999996e-01 -1.86823873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82028169299997 meters Centerline goodness [0,1] 0.999357009666288 Centerline is valid? [True, True] Translation: X:437.86, Y:-29.80, Z:-1.87 [[ 9.95026750e-01 9.96077376e-02 2.54761886e-04 4.37863077e+02] [-9.96077351e-02 9.95026783e-01 -2.27497509e-05 -2.98021103e+01] [-2.55760951e-04 -2.73964375e-06 9.99999967e-01 -1.86677953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.85028169299994 meters Centerline goodness [0,1] 0.9993214300860935 Centerline is valid? [True, True] Translation: X:437.89, Y:-29.80, Z:-1.87 [[ 9.94841033e-01 1.01443002e-01 7.97672776e-04 4.37891073e+02] [-1.01442978e-01 9.94841353e-01 -7.09940167e-05 -2.97977280e+01] [-8.00759709e-04 -1.02905406e-05 9.99999679e-01 -1.86589625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.880281693 meters Centerline goodness [0,1] 0.9994050780835015 Centerline is valid? [True, True] Translation: X:437.92, Y:-29.80, Z:-1.86 [[ 9.94583818e-01 1.03932126e-01 1.06835521e-03 4.37920507e+02] [-1.03932084e-01 9.94584392e-01 -9.49402327e-05 -2.97967285e+01] [-1.07243675e-03 -1.66103640e-05 9.99999425e-01 -1.86494356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.91028169299994 meters Centerline goodness [0,1] 0.9994066036536261 Centerline is valid? [True, True] Translation: X:437.95, Y:-29.78, Z:-1.87 [[ 9.93912041e-01 1.10176277e-01 -2.05299429e-04 4.37952013e+02] [-1.10176276e-01 9.93912062e-01 1.81977033e-05 -2.97844322e+01] [ 2.06054534e-04 4.53221008e-06 9.99999979e-01 -1.86804780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.940281693 meters Centerline goodness [0,1] 0.9993637192729432 Centerline is valid? [True, True] Translation: X:437.98, Y:-29.78, Z:-1.87 [[ 9.93633159e-01 1.12655283e-01 -1.39021556e-03 4.37980980e+02] [-1.12655221e-01 9.93634131e-01 1.23273343e-04 -2.97796498e+01] [ 1.39525303e-03 3.41265609e-05 9.99999026e-01 -1.87022502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.97028169299995 meters Centerline goodness [0,1] 0.9992180730784674 Centerline is valid? [True, True] Translation: X:438.01, Y:-29.78, Z:-1.87 [[ 9.93456954e-01 1.14190272e-01 -1.96543828e-03 4.38009564e+02] [-1.14190151e-01 9.93458897e-01 1.74145417e-04 -2.97768093e+01] [ 1.97246786e-03 5.14277170e-05 9.99998053e-01 -1.87217055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.000281693 meters Centerline goodness [0,1] 0.9989462370123712 Centerline is valid? [True, True] Translation: X:438.04, Y:-29.77, Z:-1.87 [[ 9.93415033e-01 1.14548172e-01 -2.29980413e-03 4.38038507e+02] [-1.14548008e-01 9.93417693e-01 2.03658447e-04 -2.97690475e+01] [ 2.30799482e-03 6.11206188e-05 9.99997335e-01 -1.87431515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.03028169299995 meters Centerline goodness [0,1] 0.9990655396508517 Centerline is valid? [True, True] Translation: X:438.07, Y:-29.77, Z:-1.87 [[ 9.93566259e-01 1.13232815e-01 -2.10217464e-03 4.38067370e+02] [-1.13232674e-01 9.93568481e-01 1.85912253e-04 -2.97747093e+01] [ 2.10970583e-03 5.33187152e-05 9.99997773e-01 -1.87295944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.060281693 meters Centerline goodness [0,1] 0.9992750996737949 Centerline is valid? [True, True] Translation: X:438.10, Y:-29.78, Z:-1.87 [[ 9.93719009e-01 1.11891672e-01 -1.66858098e-03 4.38096669e+02] [-1.11891583e-01 9.93720409e-01 1.47388014e-04 -2.97754245e+01] [ 1.67459446e-03 4.02378953e-05 9.99998597e-01 -1.87195234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.09028169299995 meters Centerline goodness [0,1] 0.99922278704365 Centerline is valid? [True, True] Translation: X:438.12, Y:-29.77, Z:-1.87 [[ 9.93880249e-01 1.10454029e-01 -1.39941747e-03 4.38124515e+02] [-1.10453964e-01 9.93881234e-01 1.23556786e-04 -2.97734590e+01] [ 1.40450211e-03 3.17705584e-05 9.99999013e-01 -1.87150770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.120281693 meters Centerline goodness [0,1] 0.9993228516410267 Centerline is valid? [True, True] Translation: X:438.15, Y:-29.77, Z:-1.87 [[ 9.94158487e-01 1.07925313e-01 -1.01436742e-03 4.38153457e+02] [-1.07925278e-01 9.94159005e-01 8.95070466e-05 -2.97679673e+01] [ 1.01810258e-03 2.04916958e-05 9.99999482e-01 -1.87120562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.15028169299995 meters Centerline goodness [0,1] 0.9994290185463235 Centerline is valid? [True, True] Translation: X:438.18, Y:-29.77, Z:-1.87 [[ 9.94296174e-01 1.06651100e-01 -8.13048709e-04 4.38182225e+02] [-1.06651077e-01 9.94296506e-01 7.16860510e-05 -2.97732647e+01] [ 8.16056887e-04 1.54353542e-05 9.99999667e-01 -1.87134201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.180281693 meters Centerline goodness [0,1] 0.9995541211941059 Centerline is valid? [True, True] Translation: X:438.21, Y:-29.78, Z:-1.87 [[ 9.94459794e-01 1.05117081e-01 -3.43573889e-04 4.38210470e+02] [-1.05117077e-01 9.94459853e-01 3.02187497e-05 -2.97768896e+01] [ 3.44846946e-04 6.06415124e-06 9.99999941e-01 -1.87053467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.21028169299996 meters Centerline goodness [0,1] 0.9995083474059981 Centerline is valid? [True, True] Translation: X:438.24, Y:-29.78, Z:-1.87 [[ 9.94663578e-01 1.03170487e-01 4.66845242e-04 4.38237998e+02] [-1.03170479e-01 9.94663687e-01 -4.13237389e-05 -2.97781011e+01] [-4.68617400e-04 -7.06142907e-06 9.99999890e-01 -1.86934781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.240281693 meters Centerline goodness [0,1] 0.9994272623138603 Centerline is valid? [True, True] Translation: X:438.27, Y:-29.78, Z:-1.87 [[ 9.95020435e-01 9.96696964e-02 5.33820895e-04 4.38266113e+02] [-9.96696854e-02 9.95020578e-01 -4.71369699e-05 -2.97844241e+01] [-5.35860903e-04 -6.30351229e-06 9.99999856e-01 -1.86833272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.27028169299996 meters Centerline goodness [0,1] 0.9994930184414542 Centerline is valid? [True, True] Translation: X:438.30, Y:-29.79, Z:-1.87 [[ 9.95180452e-01 9.80604970e-02 8.51766321e-05 4.38295018e+02] [-9.80604967e-02 9.95180455e-01 -7.60060799e-06 -2.97878310e+01] [-8.55114389e-05 -7.88486354e-07 9.99999996e-01 -1.86933158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.300281693 meters Centerline goodness [0,1] 0.9995532865347798 Centerline is valid? [True, True] Translation: X:438.32, Y:-29.79, Z:-1.87 [[ 9.95555680e-01 9.41731307e-02 5.56559109e-04 4.38323705e+02] [-9.41731179e-02 9.95555835e-01 -4.90871916e-05 -2.97936323e+01] [-5.58708363e-04 -3.54387414e-06 9.99999844e-01 -1.86863370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.33028169299996 meters Centerline goodness [0,1] 0.9995080740027804 Centerline is valid? [True, True] Translation: X:438.35, Y:-29.80, Z:-1.87 [[ 9.95731246e-01 9.22832962e-02 1.75459184e-03 4.38352616e+02] [-9.22831673e-02 9.95732792e-01 -1.54454528e-04 -2.97982556e+01] [-1.76135820e-03 -8.12409286e-06 9.99998449e-01 -1.86654965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36028169299993 meters Centerline goodness [0,1] 0.9993258048204955 Centerline is valid? [True, True] Translation: X:438.38, Y:-29.80, Z:-1.86 [[ 9.95913011e-01 9.02758035e-02 2.74825294e-03 4.38380259e+02] [-9.02754801e-02 9.95916803e-01 -2.41729481e-04 -2.98020428e+01] [-2.75885361e-03 -7.35831812e-06 9.99996194e-01 -1.86438809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.39028169299996 meters Centerline goodness [0,1] 0.9993233814014463 Centerline is valid? [True, True] Translation: X:438.41, Y:-29.81, Z:-1.86 [[ 9.96150901e-01 8.75860675e-02 3.47318867e-03 4.38408213e+02] [-8.75855355e-02 9.96156956e-01 -3.05272562e-04 -2.98104621e+01] [-3.48657867e-03 -1.03551156e-07 9.99993922e-01 -1.86396603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42028169299994 meters Centerline goodness [0,1] 0.9991479209270621 Centerline is valid? [True, True] Translation: X:438.44, Y:-29.83, Z:-1.87 [[ 9.96640351e-01 8.18682756e-02 2.36561486e-03 4.38435838e+02] [-8.18680128e-02 9.96643158e-01 -2.07844940e-04 -2.98250357e+01] [-2.37468977e-03 1.34784668e-05 9.99997180e-01 -1.86618351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.45028169299997 meters Centerline goodness [0,1] 0.9989800254993625 Centerline is valid? [True, True] Translation: X:438.46, Y:-29.83, Z:-1.87 [[ 9.96900325e-01 7.86696293e-02 9.11773520e-04 4.38463823e+02] [-7.86695889e-02 9.96900742e-01 -8.01269772e-05 -2.98338452e+01] [-9.15251258e-04 8.14976161e-06 9.99999581e-01 -1.86927357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48028169299994 meters Centerline goodness [0,1] 0.9989893034616356 Centerline is valid? [True, True] Translation: X:438.49, Y:-29.84, Z:-1.87 [[ 9.97146347e-01 7.54910735e-02 -5.09468441e-04 4.38491636e+02] [-7.54910605e-02 9.97146478e-01 4.46252515e-05 -2.98437511e+01] [ 5.11383469e-04 -6.03759359e-06 9.99999869e-01 -1.87180003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.51028169299997 meters Centerline goodness [0,1] 0.9988915416098226 Centerline is valid? [True, True] Translation: X:438.52, Y:-29.85, Z:-1.87 [[ 9.97389221e-01 7.22048955e-02 -1.09306617e-03 4.38520795e+02] [-7.22048338e-02 9.97389820e-01 9.58269180e-05 -2.98531403e+01] [ 1.09713224e-03 -1.66520741e-05 9.99999398e-01 -1.87253962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54028169299994 meters Centerline goodness [0,1] 0.9984446906425771 Centerline is valid? [True, True] Translation: X:438.55, Y:-29.87, Z:-1.87 [[ 9.97709552e-01 6.76388570e-02 -7.97000350e-04 4.38549132e+02] [-6.76388228e-02 9.97709870e-01 6.98386899e-05 -2.98680102e+01] [ 7.99898924e-04 -1.57705626e-05 9.99999680e-01 -1.87136505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.57028169299997 meters Centerline goodness [0,1] 0.998158142722522 Centerline is valid? [True, True] Translation: X:438.58, Y:-29.88, Z:-1.87 [[ 9.97781178e-01 6.65754097e-02 -6.60272550e-04 4.38576846e+02] [-6.65753860e-02 9.97781396e-01 5.78016293e-05 -2.98778086e+01] [ 6.62655834e-04 -1.37154778e-05 9.99999780e-01 -1.87070513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60028169299994 meters Centerline goodness [0,1] 0.9985079716940916 Centerline is valid? [True, True] Translation: X:438.61, Y:-29.88, Z:-1.87 [[ 9.97759814e-01 6.68957933e-02 -5.53900915e-04 4.38606237e+02] [-6.68957767e-02 9.97759967e-01 4.84901197e-05 -2.98812510e+01] [ 5.55903944e-04 -1.13278609e-05 9.99999845e-01 -1.86990536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.630281693 meters Centerline goodness [0,1] 0.9982552449040385 Centerline is valid? [True, True] Translation: X:438.63, Y:-29.89, Z:-1.87 [[ 9.97676183e-01 6.81259532e-02 -1.04346554e-03 4.38634260e+02] [-6.81258949e-02 9.97676728e-01 9.13307740e-05 -2.98866867e+01] [ 1.04726329e-03 -2.00315139e-05 9.99999451e-01 -1.87081407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66028169299994 meters Centerline goodness [0,1] 0.9989359664616628 Centerline is valid? [True, True] Translation: X:438.66, Y:-29.89, Z:-1.87 [[ 9.97446358e-01 7.13965265e-02 -1.81616968e-03 4.38664450e+02] [-7.13963553e-02 9.97448011e-01 1.58996074e-04 -2.98855170e+01] [ 1.82288661e-03 -2.89221586e-05 9.99998338e-01 -1.87156569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.690281693 meters Centerline goodness [0,1] 0.998833361615476 Centerline is valid? [True, True] Translation: X:438.69, Y:-29.89, Z:-1.87 [[ 9.97366029e-01 7.25186867e-02 -1.42997186e-03 4.38693174e+02] [-7.25185819e-02 9.97367054e-01 1.25100214e-04 -2.98897361e+01] [ 1.43527892e-03 -2.10711728e-05 9.99998970e-01 -1.87166253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72028169299995 meters Centerline goodness [0,1] 0.9990083969787755 Centerline is valid? [True, True] Translation: X:438.72, Y:-29.90, Z:-1.87 [[ 9.97324705e-01 7.30916024e-02 -1.02461595e-03 4.38721209e+02] [-7.30915489e-02 9.97325232e-01 8.96243285e-05 -2.98955088e+01] [ 1.02842613e-03 -1.44937902e-05 9.99999471e-01 -1.87129193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.750281693 meters Centerline goodness [0,1] 0.9987613189817188 Centerline is valid? [True, True] Translation: X:438.75, Y:-29.90, Z:-1.87 [[ 9.97323298e-01 7.31177426e-02 -1.86369086e-04 4.38750626e+02] [-7.31177409e-02 9.97323316e-01 1.62557658e-05 -2.98999329e+01] [ 1.87058820e-04 -2.58536737e-06 9.99999983e-01 -1.86927483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78028169299995 meters Centerline goodness [0,1] 0.9987981022667369 Centerline is valid? [True, True] Translation: X:438.78, Y:-29.91, Z:-1.87 [[ 9.97329431e-01 7.30319340e-02 -5.85318379e-04 4.38778444e+02] [-7.30319166e-02 9.97329603e-01 5.11149451e-05 -2.99070398e+01] [ 5.87488370e-04 -8.23151613e-06 9.99999827e-01 -1.86989206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.810281693 meters Centerline goodness [0,1] 0.9987862268691041 Centerline is valid? [True, True] Translation: X:438.81, Y:-29.91, Z:-1.87 [[ 9.97328558e-01 7.30332393e-02 -1.37580856e-03 4.38807747e+02] [-7.30331429e-02 9.97329507e-01 1.20244334e-04 -2.99119749e+01] [ 1.38091630e-03 -1.94434853e-05 9.99999046e-01 -1.87098995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84028169299995 meters Centerline goodness [0,1] 0.9989599694358365 Centerline is valid? [True, True] Translation: X:438.84, Y:-29.91, Z:-1.87 [[ 9.97288588e-01 7.35746426e-02 -1.49807284e-03 4.38837002e+02] [-7.35745290e-02 9.97289713e-01 1.30896892e-04 -2.99137604e+01] [ 1.50364332e-03 -2.03219728e-05 9.99998869e-01 -1.87073342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.870281693 meters Centerline goodness [0,1] 0.9989451921859838 Centerline is valid? [True, True] Translation: X:438.87, Y:-29.92, Z:-1.87 [[ 9.97093263e-01 7.61803929e-02 -1.25409205e-03 4.38865249e+02] [-7.61803154e-02 9.97094052e-01 1.09502411e-04 -2.99179262e+01] [ 1.25878966e-03 -1.36469878e-05 9.99999208e-01 -1.87110134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90028169299995 meters Centerline goodness [0,1] 0.9991459378669798 Centerline is valid? [True, True] Translation: X:438.89, Y:-29.92, Z:-1.87 [[ 9.96988202e-01 7.75511086e-02 -5.92035889e-04 4.38894832e+02] [-7.75510915e-02 9.96988378e-01 5.16652110e-05 -2.99187208e+01] [ 5.94259595e-04 -5.59657634e-06 9.99999823e-01 -1.86987525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.930281693 meters Centerline goodness [0,1] 0.9991748476641842 Centerline is valid? [True, True] Translation: X:438.92, Y:-29.92, Z:-1.87 [[ 9.96863063e-01 7.91453310e-02 2.24202242e-04 4.38924360e+02] [-7.91453286e-02 9.96863088e-01 -1.96288667e-05 -2.99210179e+01] [-2.25052473e-04 1.82273201e-06 9.99999975e-01 -1.86852374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96028169299996 meters Centerline goodness [0,1] 0.9992158026365987 Centerline is valid? [True, True] Translation: X:438.95, Y:-29.92, Z:-1.87 [[ 9.96765107e-01 8.03613078e-02 1.17579622e-03 4.38952401e+02] [-8.03612426e-02 9.96765800e-01 -1.02711561e-04 -2.99240114e+01] [-1.18024750e-03 7.89085461e-06 9.99999303e-01 -1.86646256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.990281693 meters Centerline goodness [0,1] 0.9994061379880803 Centerline is valid? [True, True] Translation: X:438.98, Y:-29.92, Z:-1.86 [[ 9.96516679e-01 8.33750821e-02 1.76183976e-03 4.38981005e+02] [-8.33749404e-02 9.96518236e-01 -1.53805822e-04 -2.99246024e+01] [-1.76852903e-03 6.37678208e-06 9.99998436e-01 -1.86476986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02028169299996 meters Centerline goodness [0,1] 0.9993637462620093 Centerline is valid? [True, True] Translation: X:439.01, Y:-29.93, Z:-1.87 [[ 9.96413024e-01 8.46161120e-02 1.09529503e-03 4.39011153e+02] [-8.46160580e-02 9.96413626e-01 -9.55842518e-05 -2.99260499e+01] [-1.09945486e-03 2.56184536e-06 9.99999396e-01 -1.86617448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.050281693 meters Centerline goodness [0,1] 0.9994429208090504 Centerline is valid? [True, True] Translation: X:439.04, Y:-29.93, Z:-1.87 [[ 9.96353261e-01 8.53238013e-02 1.68862969e-04 4.39039243e+02] [-8.53238001e-02 9.96353275e-01 -1.48010283e-05 -2.99288932e+01] [-1.69510052e-04 3.39022622e-07 9.99999986e-01 -1.86919647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08028169299996 meters Centerline goodness [0,1] 0.9994284141668607 Centerline is valid? [True, True] Translation: X:439.07, Y:-29.93, Z:-1.87 [[ 9.96368682e-01 8.51352555e-02 -1.19892728e-03 4.39067272e+02] [-8.51351915e-02 9.96369404e-01 1.04446220e-04 -2.99343534e+01] [ 1.20346652e-03 -1.99603834e-06 9.99999276e-01 -1.87261527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.11028169299993 meters Centerline goodness [0,1] 0.99934151833128 Centerline is valid? [True, True] Translation: X:439.10, Y:-29.94, Z:-1.87 [[ 9.96458273e-01 8.40735963e-02 -1.59392053e-03 4.39097020e+02] [-8.40734817e-02 9.96459548e-01 1.38863264e-04 -2.99391596e+01] [ 1.59995207e-03 -4.36499907e-06 9.99998720e-01 -1.87214667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14028169299996 meters Centerline goodness [0,1] 0.9993452041484485 Centerline is valid? [True, True] Translation: X:439.13, Y:-29.95, Z:-1.87 [[ 9.96569505e-01 8.27398625e-02 -1.82697739e-03 4.39125295e+02] [-8.27397099e-02 9.96571179e-01 1.59084936e-04 -2.99450365e+01] [ 1.83387568e-03 -7.37561628e-06 9.99998318e-01 -1.87256158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.17028169299994 meters Centerline goodness [0,1] 0.9994017733148168 Centerline is valid? [True, True] Translation: X:439.15, Y:-29.95, Z:-1.87 [[ 9.96706281e-01 8.10852764e-02 -1.32968041e-03 4.39154266e+02] [-8.10851941e-02 9.96707168e-01 1.15755522e-04 -2.99506032e+01] [ 1.33468806e-03 -7.55686194e-06 9.99999109e-01 -1.87136880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20028169299997 meters Centerline goodness [0,1] 0.9992017087747308 Centerline is valid? [True, True] Translation: X:439.18, Y:-29.96, Z:-1.87 [[ 9.96938928e-01 7.81832862e-02 -3.84628925e-04 4.39183819e+02] [-7.81832791e-02 9.96939002e-01 3.34983301e-05 -2.99606979e+01] [ 3.86070587e-04 -3.32423868e-06 9.99999925e-01 -1.86929958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.23028169299994 meters Centerline goodness [0,1] 0.999149406711181 Centerline is valid? [True, True] Translation: X:439.21, Y:-29.97, Z:-1.87 [[ 9.97024962e-01 7.70793039e-02 -7.19215408e-05 4.39212468e+02] [-7.70793037e-02 9.97024965e-01 6.23721205e-06 -2.99682456e+01] [ 7.21883317e-05 -6.74993818e-07 9.99999997e-01 -1.86951418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26028169299997 meters Centerline goodness [0,1] 0.998899028180644 Centerline is valid? [True, True] Translation: X:439.24, Y:-29.98, Z:-1.87 [[ 9.97101494e-01 7.60827998e-02 -1.35580353e-04 4.39241666e+02] [-7.60827989e-02 9.97101503e-01 1.18242463e-05 -2.99770106e+01] [ 1.36086995e-04 -1.47464090e-06 9.99999991e-01 -1.87003475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.29028169299994 meters Centerline goodness [0,1] 0.9989205892312902 Centerline is valid? [True, True] Translation: X:439.27, Y:-29.99, Z:-1.87 [[ 9.97222381e-01 7.44645105e-02 -1.59974479e-03 4.39271796e+02] [-7.44643828e-02 9.97223664e-01 1.39319086e-04 -2.99875177e+01] [ 1.60567769e-03 -1.98081028e-05 9.99998711e-01 -1.87258724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32028169299997 meters Centerline goodness [0,1] 0.9990385437142124 Centerline is valid? [True, True] Translation: X:439.30, Y:-29.99, Z:-1.87 [[ 9.97240588e-01 7.42161920e-02 -1.77972438e-03 4.39302423e+02] [-7.42160336e-02 9.97242175e-01 1.54993207e-04 -2.99921198e+01] [ 1.78631922e-03 -2.24814321e-05 9.99998404e-01 -1.87218577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.35028169299994 meters Centerline goodness [0,1] 0.9989766331229746 Centerline is valid? [True, True] Translation: X:439.33, Y:-30.00, Z:-1.87 [[ 9.97229131e-01 7.43832659e-02 -1.09074424e-03 4.39330991e+02] [-7.43832066e-02 9.97229728e-01 9.49538492e-05 -2.99985285e+01] [ 1.09478556e-03 -1.35576903e-05 9.99999401e-01 -1.87192567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.380281693 meters Centerline goodness [0,1] 0.9989766331229746 Centerline is valid? [True, True] Translation: X:439.36, Y:-30.00, Z:-1.87 [[ 9.97229131e-01 7.43832659e-02 -1.09074212e-03 4.39360880e+02] [-7.43832065e-02 9.97229728e-01 9.49781582e-05 -3.00011312e+01] [ 1.09478526e-03 -1.35820895e-05 9.99999401e-01 -1.87198881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.41028169299994 meters Centerline goodness [0,1] 0.9990398566185884 Centerline is valid? [True, True] Translation: X:439.39, Y:-30.00, Z:-1.87 [[ 9.97188184e-01 7.49336812e-02 -8.17896979e-04 4.39391375e+02] [-7.49336480e-02 9.97188519e-01 7.12197200e-05 -3.00045187e+01] [ 8.20934234e-04 -9.73145892e-06 9.99999663e-01 -1.87131998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.440281693 meters Centerline goodness [0,1] 0.9994041158569027 Centerline is valid? [True, True] Translation: X:439.42, Y:-30.01, Z:-1.87 [[ 9.96987473e-01 7.75600346e-02 -6.47490940e-04 4.39420429e+02] [-7.75600143e-02 9.96987683e-01 5.63488777e-05 -3.00073788e+01] [ 6.49910914e-04 -5.95971861e-06 9.99999789e-01 -1.87107771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.47028169299995 meters Centerline goodness [0,1] 0.9994896440267086 Centerline is valid? [True, True] Translation: X:439.45, Y:-30.01, Z:-1.87 [[ 9.96814010e-01 7.97564748e-02 -8.56930801e-04 4.39450610e+02] [-7.97564402e-02 9.96814378e-01 7.46085190e-05 -3.00081966e+01] [ 8.60151456e-04 -6.02506686e-06 9.99999630e-01 -1.87084047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.500281693 meters Centerline goodness [0,1] 0.9995331961212841 Centerline is valid? [True, True] Translation: X:439.48, Y:-30.01, Z:-1.87 [[ 9.96610218e-01 8.22627770e-02 -9.53044958e-04 4.39481084e+02] [-8.22627353e-02 9.96610674e-01 8.29766800e-05 -3.00082615e+01] [ 9.56640670e-04 -4.29532209e-06 9.99999542e-01 -1.87068662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.53028169299995 meters Centerline goodness [0,1] 0.9995363247412903 Centerline is valid? [True, True] Translation: X:439.51, Y:-30.01, Z:-1.87 [[ 9.96390697e-01 8.48824376e-02 -7.42211994e-04 4.39510310e+02] [-8.48824131e-02 9.96390973e-01 6.45872961e-05 -3.00082268e+01] [ 7.45015659e-04 -1.35343591e-06 9.99999722e-01 -1.86991051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.560281693 meters Centerline goodness [0,1] 0.9998525135898192 Centerline is valid? [True, True] Translation: X:439.54, Y:-30.00, Z:-1.87 [[ 9.95921017e-01 9.02261674e-02 7.52478131e-04 4.39540724e+02] [-9.02261437e-02 9.95921301e-01 -6.55368100e-05 -3.00036723e+01] [-7.55322135e-04 -2.62371348e-06 9.99999715e-01 -1.86688238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.59028169299995 meters Centerline goodness [0,1] 0.9998100905235171 Centerline is valid? [True, True] Translation: X:439.57, Y:-30.00, Z:-1.87 [[ 9.95678886e-01 9.28529180e-02 1.37528029e-03 4.39569533e+02] [-9.28528412e-02 9.95679836e-01 -1.19715521e-04 -3.00021708e+01] [-1.38045479e-03 -8.50046599e-06 9.99999047e-01 -1.86594920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.620281693 meters Centerline goodness [0,1] 0.9999574820893301 Centerline is valid? [True, True] Translation: X:439.60, Y:-30.00, Z:-1.86 [[ 9.95323512e-01 9.65737091e-02 2.15055727e-03 4.39599252e+02] [-9.65735303e-02 9.95325835e-01 -1.87086647e-04 -2.99992904e+01] [-2.15857287e-03 -2.14751700e-05 9.99997670e-01 -1.86462561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.65028169299995 meters Centerline goodness [0,1] 0.9999789340636192 Centerline is valid? [True, True] Translation: X:439.63, Y:-30.00, Z:-1.86 [[ 9.95221398e-01 9.76221949e-02 2.06768618e-03 4.39627955e+02] [-9.76220320e-02 9.95223546e-01 -1.79830739e-04 -2.99987885e+01] [-2.07536545e-03 -2.28803273e-05 9.99997846e-01 -1.86449963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.680281693 meters Centerline goodness [0,1] 0.9999579177713251 Centerline is valid? [True, True] Translation: X:439.66, Y:-30.00, Z:-1.87 [[ 9.95143505e-01 9.84178065e-02 1.82771293e-03 4.39657039e+02] [-9.84176806e-02 9.95145183e-01 -1.58903944e-04 -2.99993018e+01] [-1.83447869e-03 -2.17470392e-05 9.99998317e-01 -1.86516416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.71028169299996 meters Centerline goodness [0,1] 0.999978583054913 Centerline is valid? [True, True] Translation: X:439.69, Y:-30.00, Z:-1.87 [[ 9.95080063e-01 9.90689917e-02 1.00122972e-03 4.39686412e+02] [-9.90689543e-02 9.95080567e-01 -8.70343821e-05 -3.00009723e+01] [-1.00492664e-03 -1.25846028e-05 9.99999495e-01 -1.86669397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.740281693 meters Centerline goodness [0,1] 0.9999787865931269 Centerline is valid? [True, True] Translation: X:439.72, Y:-30.00, Z:-1.87 [[ 9.94968800e-01 1.00182304e-01 -7.70659925e-04 4.39715297e+02] [-1.00182282e-01 9.94969098e-01 6.68554562e-05 -2.99985659e+01] [ 7.73480544e-04 1.06873769e-05 9.99999701e-01 -1.87054768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.77028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.74, Y:-30.00, Z:-1.87 [[ 9.94918541e-01 1.00679456e-01 -8.62793861e-04 4.39744201e+02] [-1.00679429e-01 9.94918915e-01 7.47952051e-05 -2.99985062e+01] [ 8.65940272e-04 1.24504572e-05 9.99999625e-01 -1.87024318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.800281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.77, Y:-30.00, Z:-1.87 [[ 9.94880358e-01 1.01058172e-01 -5.64087750e-04 4.39772606e+02] [-1.01058161e-01 9.94880518e-01 4.87950785e-05 -2.99973472e+01] [ 5.66131055e-04 8.46040527e-06 9.99999840e-01 -1.86942278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.83028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.80, Y:-30.00, Z:-1.87 [[ 9.94851175e-01 1.01346611e-01 6.41933811e-05 4.39801533e+02] [-1.01346611e-01 9.94851177e-01 -5.66369862e-06 -2.99991657e+01] [-6.44368574e-05 -8.71244410e-07 9.99999998e-01 -1.86776994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86028169299993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.83, Y:-30.00, Z:-1.87 [[ 9.94923101e-01 1.00635809e-01 6.75453141e-04 4.39830797e+02] [-1.00635792e-01 9.94923331e-01 -5.86217086e-05 -2.99990222e+01] [-6.77923532e-04 -9.65066968e-06 9.99999770e-01 -1.86703756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.89028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.86, Y:-30.00, Z:-1.87 [[ 9.95013751e-01 9.97354797e-02 6.84528965e-04 4.39859156e+02] [-9.97354625e-02 9.95013987e-01 -5.93759944e-05 -3.00016068e+01] [-6.87037788e-04 -9.19188195e-06 9.99999764e-01 -1.86712495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92028169299994 meters Centerline goodness [0,1] 0.9999786530045897 Centerline is valid? [True, True] Translation: X:439.89, Y:-30.00, Z:-1.87 [[ 9.95137162e-01 9.84973704e-02 5.45653942e-04 4.39887345e+02] [-9.84973593e-02 9.95137311e-01 -4.73057334e-05 -3.00042048e+01] [-5.47660087e-04 -6.66977913e-06 9.99999850e-01 -1.86751537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.95028169299997 meters Centerline goodness [0,1] 0.9998938406335591 Centerline is valid? [True, True] Translation: X:439.92, Y:-30.01, Z:-1.87 [[ 9.95465734e-01 9.51149219e-02 1.06055819e-03 4.39916308e+02] [-9.51148780e-02 9.95466299e-01 -9.18267237e-05 -3.00109121e+01] [-1.06448403e-03 -9.46450579e-06 9.99999433e-01 -1.86727618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98028169299994 meters Centerline goodness [0,1] 0.9998523673942845 Centerline is valid? [True, True] Translation: X:439.94, Y:-30.01, Z:-1.87 [[ 9.95657311e-01 9.30840621e-02 1.36987272e-03 4.39944910e+02] [-9.30839871e-02 9.95658253e-01 -1.18568801e-04 -3.00131507e+01] [-1.37496195e-03 -9.45932116e-06 9.99999055e-01 -1.86739385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.01028169299997 meters Centerline goodness [0,1] 0.9998077785609022 Centerline is valid? [True, True] Translation: X:439.97, Y:-30.02, Z:-1.87 [[ 9.95857753e-01 9.09146553e-02 1.36438574e-03 4.39973946e+02] [-9.09145789e-02 9.95858687e-01 -1.18035488e-04 -3.00197191e+01] [-1.36946655e-03 -6.49599969e-06 9.99999062e-01 -1.86718195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04028169299994 meters Centerline goodness [0,1] 0.9996805996209782 Centerline is valid? [True, True] Translation: X:440.00, Y:-30.02, Z:-1.87 [[ 9.95991232e-01 8.94454488e-02 9.89025727e-04 4.40003546e+02] [-8.94454080e-02 9.95991723e-01 -8.55523613e-05 -3.00235947e+01] [-9.92713707e-04 -3.25440793e-06 9.99999507e-01 -1.86800086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.07028169299997 meters Centerline goodness [0,1] 0.9998287561273198 Centerline is valid? [True, True] Translation: X:440.03, Y:-30.03, Z:-1.87 [[ 9.96063414e-01 8.86432998e-02 2.02107890e-04 4.40033061e+02] [-8.86432980e-02 9.96063434e-01 -1.75176685e-05 -3.00269556e+01] [-2.02865103e-04 -4.66801227e-07 9.99999979e-01 -1.86922883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10028169299994 meters Centerline goodness [0,1] 0.9998312485497922 Centerline is valid? [True, True] Translation: X:440.06, Y:-30.03, Z:-1.87 [[ 9.96108497e-01 8.81242650e-02 -1.40573634e-03 4.40062085e+02] [-8.81241814e-02 9.96109489e-01 1.21369225e-04 -3.00293286e+01] [ 1.41096288e-03 2.98244852e-06 9.99999005e-01 -1.87207551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.130281693 meters Centerline goodness [0,1] 0.9998520053278082 Centerline is valid? [True, True] Translation: X:440.09, Y:-30.03, Z:-1.87 [[ 9.96111971e-01 8.80861538e-02 -1.33075157e-03 4.40090542e+02] [-8.80860790e-02 9.96112860e-01 1.14810559e-04 -3.00318589e+01] [ 1.33569198e-03 2.85651632e-06 9.99999108e-01 -1.87135459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16028169299994 meters Centerline goodness [0,1] 0.9998089820867646 Centerline is valid? [True, True] Translation: X:440.12, Y:-30.03, Z:-1.87 [[ 9.96131851e-01 8.78620942e-02 -1.26034827e-03 4.40119278e+02] [-8.78620271e-02 9.96132648e-01 1.08670921e-04 -3.00342229e+01] [ 1.26502211e-03 2.48618826e-06 9.99999200e-01 -1.87033231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.190281693 meters Centerline goodness [0,1] 0.9998927705934075 Centerline is valid? [True, True] Translation: X:440.15, Y:-30.04, Z:-1.87 [[ 9.96178974e-01 8.73323000e-02 -7.21733387e-04 4.40148337e+02] [-8.73322778e-02 9.96179236e-01 6.22190471e-05 -3.00378557e+01] [ 7.24409546e-04 1.04931422e-06 9.99999738e-01 -1.86970447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22028169299995 meters Centerline goodness [0,1] 0.9997252108478302 Centerline is valid? [True, True] Translation: X:440.18, Y:-30.05, Z:-1.87 [[ 9.96410071e-01 8.46480271e-02 1.29677747e-03 4.40176228e+02] [-8.46479531e-02 9.96410915e-01 -1.11909430e-04 -3.00469847e+01] [-1.30159613e-03 1.73812492e-06 9.99999153e-01 -1.86659560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.250281693 meters Centerline goodness [0,1] 0.999662147894759 Centerline is valid? [True, True] Translation: X:440.21, Y:-30.05, Z:-1.87 [[ 9.96594159e-01 8.24301203e-02 2.31441728e-03 4.40205840e+02] [-8.24298790e-02 9.96596847e-01 -1.99598139e-04 -3.00546215e+01] [-2.32299386e-03 8.14120286e-06 9.99997302e-01 -1.86549802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28028169299995 meters Centerline goodness [0,1] 0.9997436828502467 Centerline is valid? [True, True] Translation: X:440.24, Y:-30.06, Z:-1.87 [[ 9.96770366e-01 8.02689791e-02 2.39340896e-03 4.40235067e+02] [-8.02687148e-02 9.96773239e-01 -2.06427438e-04 -3.00630541e+01] [-2.40225572e-03 1.36448918e-05 9.99997114e-01 -1.86519479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.310281693 meters Centerline goodness [0,1] 0.9996576734632748 Centerline is valid? [True, True] Translation: X:440.27, Y:-30.07, Z:-1.87 [[ 9.97014394e-01 7.72102836e-02 9.33073753e-04 4.40265835e+02] [-7.72102421e-02 9.97014830e-01 -8.04946783e-05 -3.00725011e+01] [-9.36503386e-04 8.21150259e-06 9.99999561e-01 -1.86678542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34028169299995 meters Centerline goodness [0,1] 0.9995934002439598 Centerline is valid? [True, True] Translation: X:440.30, Y:-30.08, Z:-1.87 [[ 9.97035895e-01 7.69370123e-02 3.46481047e-04 4.40295818e+02] [-7.69370065e-02 9.97035955e-01 -2.98881081e-05 -3.00786213e+01] [-3.47753563e-04 3.14230206e-06 9.99999940e-01 -1.86722388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.370281693 meters Centerline goodness [0,1] 0.9996583970280541 Centerline is valid? [True, True] Translation: X:440.33, Y:-30.08, Z:-1.87 [[ 9.96998533e-01 7.74198863e-02 2.93065833e-04 4.40326017e+02] [-7.74198822e-02 9.96998576e-01 -2.53017214e-05 -3.00795422e+01] [-2.94145074e-04 2.53665693e-06 9.99999957e-01 -1.86657862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40028169299995 meters Centerline goodness [0,1] 0.9996824455923449 Centerline is valid? [True, True] Translation: X:440.36, Y:-30.08, Z:-1.87 [[ 9.96786153e-01 8.01069639e-02 -4.89050872e-04 4.40355838e+02] [-8.01069529e-02 9.96786273e-01 4.21913755e-05 -3.00787452e+01] [ 4.90859019e-04 -2.87940377e-06 9.99999880e-01 -1.86888681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.430281693 meters Centerline goodness [0,1] 0.9996819473304779 Centerline is valid? [True, True] Translation: X:440.39, Y:-30.08, Z:-1.87 [[ 9.96688702e-01 8.13078247e-02 -8.17450855e-04 4.40385718e+02] [-8.13077942e-02 9.96689038e-01 7.05316796e-05 -3.00801777e+01] [ 8.20479083e-04 -3.83300237e-06 9.99999663e-01 -1.87042871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46028169299996 meters Centerline goodness [0,1] 0.9999788355309107 Centerline is valid? [True, True] Translation: X:440.42, Y:-30.08, Z:-1.87 [[ 9.96627840e-01 8.20473051e-02 -1.09005919e-03 4.40415635e+02] [-8.20472512e-02 9.96628436e-01 9.40845941e-05 -3.00828629e+01] [ 1.09410337e-03 -4.33096576e-06 9.99999401e-01 -1.87110615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.490281693 meters Centerline goodness [0,1] 0.9997864251847423 Centerline is valid? [True, True] Translation: X:440.45, Y:-30.09, Z:-1.87 [[ 9.96670672e-01 8.15081847e-02 -1.99670092e-03 4.40445532e+02] [-8.15080030e-02 9.96672672e-01 1.72338161e-04 -3.00865657e+01] [ 2.00410421e-03 -9.01728596e-06 9.99997992e-01 -1.87164924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52028169299996 meters Centerline goodness [0,1] 0.9998305443761915 Centerline is valid? [True, True] Translation: X:440.48, Y:-30.09, Z:-1.87 [[ 9.96734993e-01 8.06966939e-02 -2.71978329e-03 4.40475298e+02] [-8.06963536e-02 9.96738704e-01 2.34790363e-04 -3.00902162e+01] [ 2.72986008e-03 -1.45471765e-05 9.99996274e-01 -1.87298942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.550281693 meters Centerline goodness [0,1] 0.9998510638297873 Centerline is valid? [True, True] Translation: X:440.51, Y:-30.09, Z:-1.87 [[ 9.96813094e-01 7.97226504e-02 -2.82037122e-03 4.40505926e+02] [-7.97222807e-02 9.96817084e-01 2.43454883e-04 -3.00931831e+01] [ 2.83080309e-03 -1.78325890e-05 9.99995993e-01 -1.87299535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58028169299996 meters Centerline goodness [0,1] 0.9996825732726695 Centerline is valid? [True, True] Translation: X:440.54, Y:-30.10, Z:-1.87 [[ 9.96877964e-01 7.89084824e-02 -2.78848365e-03 4.40536693e+02] [-7.89081178e-02 9.96881864e-01 2.40702343e-04 -3.00958233e+01] [ 2.79878224e-03 -1.99168653e-05 9.99996083e-01 -1.87306980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.61028169299993 meters Centerline goodness [0,1] 0.9997021846880385 Centerline is valid? [True, True] Translation: X:440.57, Y:-30.10, Z:-1.87 [[ 9.97112395e-01 7.59280134e-02 -1.34466521e-03 4.40566934e+02] [-7.59279259e-02 9.97113302e-01 1.16071710e-04 -3.01032932e+01] [ 1.34959666e-03 -1.36389006e-05 9.99999089e-01 -1.87119764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64028169299996 meters Centerline goodness [0,1] 0.9994932860400304 Centerline is valid? [True, True] Translation: X:440.60, Y:-30.11, Z:-1.87 [[ 9.97224746e-01 7.44453124e-02 -8.38059292e-04 4.40597042e+02] [-7.44452778e-02 9.97225098e-01 7.23765243e-05 -3.01104152e+01] [ 8.41121852e-04 -9.78610426e-06 9.99999646e-01 -1.87001048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.67028169299994 meters Centerline goodness [0,1] 0.9996373642782482 Centerline is valid? [True, True] Translation: X:440.63, Y:-30.12, Z:-1.87 [[ 9.97336449e-01 7.29337993e-02 -8.18100761e-04 4.40627818e+02] [-7.29337659e-02 9.97336784e-01 7.06972357e-05 -3.01152653e+01] [ 8.21078200e-04 -1.08417606e-05 9.99999663e-01 -1.86979154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70028169299997 meters Centerline goodness [0,1] 0.9993215307961412 Centerline is valid? [True, True] Translation: X:440.66, Y:-30.12, Z:-1.87 [[ 9.97490848e-01 7.07797503e-02 -1.49498673e-03 4.40657734e+02] [-7.07796362e-02 9.97491968e-01 1.29185628e-04 -3.01244644e+01] [ 1.50038098e-03 -2.30468648e-05 9.99998874e-01 -1.87163698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.73028169299994 meters Centerline goodness [0,1] 0.9994907053730583 Centerline is valid? [True, True] Translation: X:440.69, Y:-30.13, Z:-1.87 [[ 9.97540066e-01 7.00844633e-02 -1.40884824e-03 4.40688624e+02] [-7.00843612e-02 9.97541061e-01 1.21777928e-04 -3.01272436e+01] [ 1.41391870e-03 -2.27401340e-05 9.99999000e-01 -1.87075382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76028169299997 meters Centerline goodness [0,1] 0.9995120605893459 Centerline is valid? [True, True] Translation: X:440.72, Y:-30.13, Z:-1.87 [[ 9.97581997e-01 6.94956114e-02 -7.20667329e-04 4.40719799e+02] [-6.94955845e-02 9.97582257e-01 6.23352689e-05 -3.01312135e+01] [ 7.23256969e-04 -1.21013447e-05 9.99999738e-01 -1.86927598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.79028169299994 meters Centerline goodness [0,1] 0.9992294850391679 Centerline is valid? [True, True] Translation: X:440.75, Y:-30.14, Z:-1.87 [[ 9.97645074e-01 6.85877120e-02 1.76489513e-04 4.40750676e+02] [-6.85877104e-02 9.97645090e-01 -1.52068300e-05 -3.01355195e+01] [-1.77116898e-04 3.06600749e-06 9.99999984e-01 -1.86773644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82028169299997 meters Centerline goodness [0,1] 0.999197211365797 Centerline is valid? [True, True] Translation: X:440.78, Y:-30.14, Z:-1.87 [[ 9.97785701e-01 6.65105284e-02 2.09507227e-04 4.40780625e+02] [-6.65105261e-02 9.97785723e-01 -1.80663449e-05 -3.01448392e+01] [-2.10244923e-04 4.09190475e-06 9.99999978e-01 -1.86836488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.85028169299994 meters Centerline goodness [0,1] 0.9993336342726941 Centerline is valid? [True, True] Translation: X:440.81, Y:-30.15, Z:-1.87 [[ 9.97867735e-01 6.52598221e-02 -1.06719011e-03 4.40812738e+02] [-6.52597602e-02 9.97868305e-01 9.28072985e-05 -3.01509654e+01] [ 1.07097177e-03 -2.29648382e-05 9.99999426e-01 -1.87086447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.880281693 meters Centerline goodness [0,1] 0.9990794262470563 Centerline is valid? [True, True] Translation: X:440.84, Y:-30.16, Z:-1.87 [[ 9.97945205e-01 6.40333370e-02 -2.25815424e-03 4.40843500e+02] [-6.40330566e-02 9.97947759e-01 1.96310397e-04 -3.01584143e+01] [ 2.26609037e-03 -5.13105013e-05 9.99997431e-01 -1.87378553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.91028169299994 meters Centerline goodness [0,1] 0.9989018797235321 Centerline is valid? [True, True] Translation: X:440.87, Y:-30.17, Z:-1.87 [[ 9.98076975e-01 6.19465984e-02 -2.22950396e-03 4.40874469e+02] [-6.19463191e-02 9.98079464e-01 1.94160450e-04 -3.01695100e+01] [ 2.23724970e-03 -5.56775108e-05 9.99997496e-01 -1.87325918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.940281693 meters Centerline goodness [0,1] 0.9983486121990981 Centerline is valid? [True, True] Translation: X:440.91, Y:-30.18, Z:-1.87 [[ 9.98079420e-01 6.19269846e-02 -1.58764961e-03 4.40905967e+02] [-6.19268426e-02 9.98080682e-01 1.38465940e-04 -3.01765770e+01] [ 1.59317718e-03 -3.98818772e-05 9.99998730e-01 -1.87166497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.97028169299995 meters Centerline goodness [0,1] 0.9983058843712472 Centerline is valid? [True, True] Translation: X:440.94, Y:-30.18, Z:-1.87 [[ 9.98051405e-01 6.23900398e-02 -9.35386850e-04 4.40938458e+02] [-6.23899904e-02 9.98051844e-01 8.19253704e-05 -3.01778854e+01] [ 9.38675897e-04 -2.34069545e-05 9.99999559e-01 -1.86971295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.000281693 meters Centerline goodness [0,1] 0.9984747055334293 Centerline is valid? [True, True] Translation: X:440.97, Y:-30.18, Z:-1.87 [[ 9.97976154e-01 6.35888585e-02 -2.31244622e-04 4.40970299e+02] [-6.35888555e-02 9.97976181e-01 2.05453893e-05 -3.01803144e+01] [ 2.32083083e-04 -5.79922777e-06 9.99999973e-01 -1.86944166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.03028169299995 meters Centerline goodness [0,1] 0.9985470931334358 Centerline is valid? [True, True] Translation: X:441.00, Y:-30.18, Z:-1.87 [[ 9.97794162e-01 6.63774121e-02 9.21538639e-04 4.41000161e+02] [-6.63773660e-02 9.97794587e-01 -8.05139015e-05 -3.01839709e+01] [-9.24850570e-04 1.91669934e-05 9.99999572e-01 -1.86808274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.060281693 meters Centerline goodness [0,1] 0.999067934840172 Centerline is valid? [True, True] Translation: X:441.03, Y:-30.18, Z:-1.87 [[ 9.97687546e-01 6.79586168e-02 1.08928998e-03 4.41032334e+02] [-6.79585535e-02 9.97688141e-01 -9.50366724e-05 -3.01845006e+01] [-1.09323025e-03 2.07903333e-05 9.99999402e-01 -1.86782150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.09028169299995 meters Centerline goodness [0,1] 0.9991159383682748 Centerline is valid? [True, True] Translation: X:441.06, Y:-30.19, Z:-1.87 [[ 9.97596980e-01 6.92810103e-02 6.38456812e-04 4.41063264e+02] [-6.92809888e-02 9.97597184e-01 -5.56840206e-05 -3.01871562e+01] [-6.40780563e-04 1.13172916e-05 9.99999795e-01 -1.86855881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.120281693 meters Centerline goodness [0,1] 0.9996381284856741 Centerline is valid? [True, True] Translation: X:441.10, Y:-30.19, Z:-1.87 [[ 9.97464348e-01 7.11655170e-02 -5.86146681e-04 4.41095354e+02] [-7.11654988e-02 9.97464520e-01 5.18392560e-05 -3.01887814e+01] [ 5.88349685e-04 -9.99438878e-06 9.99999827e-01 -1.87098318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.15028169299995 meters Centerline goodness [0,1] 0.9996571232641865 Centerline is valid? [True, True] Translation: X:441.13, Y:-30.19, Z:-1.87 [[ 9.97402443e-01 7.20271927e-02 -6.71010577e-04 4.41127708e+02] [-7.20271691e-02 9.97402669e-01 5.94054939e-05 -3.01924057e+01] [ 6.73546551e-04 -1.09201924e-05 9.99999773e-01 -1.87110337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.180281693 meters Centerline goodness [0,1] 0.9995970734810731 Centerline is valid? [True, True] Translation: X:441.16, Y:-30.20, Z:-1.87 [[ 9.97364274e-01 7.25564045e-02 -2.70343622e-04 4.41159003e+02] [-7.25564006e-02 9.97364311e-01 2.40137783e-05 -3.01968296e+01] [ 2.71373434e-04 -4.33532440e-06 9.99999963e-01 -1.87105472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.21028169299996 meters Centerline goodness [0,1] 0.9995973723246451 Centerline is valid? [True, True] Translation: X:441.19, Y:-30.20, Z:-1.87 [[ 9.97330568e-01 7.30184157e-02 -2.22237966e-04 4.41191596e+02] [-7.30184130e-02 9.97330593e-01 2.00097154e-05 -3.01993066e+01] [ 2.23105800e-04 -3.72883729e-06 9.99999975e-01 -1.87043391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.240281693 meters Centerline goodness [0,1] 0.999701091017785 Centerline is valid? [True, True] Translation: X:441.22, Y:-30.20, Z:-1.87 [[ 9.97344673e-01 7.28209669e-02 -8.42296137e-04 4.41224719e+02] [-7.28209296e-02 9.97345029e-01 7.49520002e-05 -3.02026768e+01] [ 8.45517942e-04 -1.34161905e-05 9.99999642e-01 -1.87153979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.27028169299996 meters Centerline goodness [0,1] 0.999701091017785 Centerline is valid? [True, True] Translation: X:441.26, Y:-30.21, Z:-1.87 [[ 9.97330553e-01 7.30141040e-02 -8.42281767e-04 4.41257082e+02] [-7.30140666e-02 9.97330908e-01 7.51137466e-05 -3.02057271e+01] [ 8.45518003e-04 -1.34148173e-05 9.99999642e-01 -1.87160824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.300281693 meters Centerline goodness [0,1] 0.9995307067130271 Centerline is valid? [True, True] Translation: X:441.29, Y:-30.21, Z:-1.87 [[ 9.97319572e-01 7.31625530e-02 -9.55393298e-04 4.41289189e+02] [-7.31625048e-02 9.97320029e-01 8.52923650e-05 -3.02113326e+01] [ 9.59073079e-04 -1.51647782e-05 9.99999540e-01 -1.87232858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.33028169299996 meters Centerline goodness [0,1] 0.9996169723794527 Centerline is valid? [True, True] Translation: X:441.32, Y:-30.22, Z:-1.87 [[ 9.97319730e-01 7.31659794e-02 -3.08228938e-04 4.41320960e+02] [-7.31659743e-02 9.97319778e-01 2.78298617e-05 -3.02205856e+01] [ 3.09439015e-04 -5.20339963e-06 9.99999952e-01 -1.87240135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36028169299993 meters Centerline goodness [0,1] 0.9995338884298396 Centerline is valid? [True, True] Translation: X:441.35, Y:-30.22, Z:-1.87 [[ 9.97276741e-01 7.37495777e-02 -3.18479104e-04 4.41352737e+02] [-7.37495723e-02 9.97276792e-01 2.87425118e-05 -3.02234882e+01] [ 3.19731568e-04 -5.17654076e-06 9.99999949e-01 -1.87224751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.39028169299996 meters Centerline goodness [0,1] 0.9997461392003385 Centerline is valid? [True, True] Translation: X:441.38, Y:-30.23, Z:-1.88 [[ 9.97170751e-01 7.51307887e-02 -2.42020380e-03 4.41383433e+02] [-7.51304843e-02 9.97173688e-01 2.16572164e-04 -3.02270676e+01] [ 2.42963479e-03 -3.41283443e-05 9.99997048e-01 -1.87645756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42028169299994 meters Centerline goodness [0,1] 0.9997226962457337 Centerline is valid? [True, True] Translation: X:441.42, Y:-30.23, Z:-1.88 [[ 9.97095213e-01 7.60864052e-02 -3.46353107e-03 4.41415812e+02] [-7.60857860e-02 9.97101227e-01 3.10388142e-04 -3.02298674e+01] [ 3.47710740e-03 -4.59610470e-05 9.99993954e-01 -1.87786213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.45028169299997 meters Centerline goodness [0,1] 0.9997247162459766 Centerline is valid? [True, True] Translation: X:441.45, Y:-30.23, Z:-1.88 [[ 9.96999448e-01 7.73222763e-02 -3.65605603e-03 4.41447425e+02] [-7.73215925e-02 9.97006150e-01 3.28204234e-04 -3.02332652e+01] [ 3.67048784e-03 -4.45273660e-05 9.99993263e-01 -1.87836042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48028169299994 meters Centerline goodness [0,1] 0.9996999699969997 Centerline is valid? [True, True] Translation: X:441.48, Y:-30.23, Z:-1.87 [[ 9.96727313e-01 8.08061369e-02 -2.24309395e-03 4.41479180e+02] [-8.08058886e-02 9.96729837e-01 2.01261010e-04 -3.02314055e+01] [ 2.25202180e-03 -1.93471461e-05 9.99997464e-01 -1.87485357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.51028169299997 meters Centerline goodness [0,1] 0.9998302279190188 Centerline is valid? [True, True] Translation: X:441.51, Y:-30.23, Z:-1.87 [[ 9.96509006e-01 8.34759517e-02 -1.25181510e-03 4.41510545e+02] [-8.34758759e-02 9.96509792e-01 1.12808422e-04 -3.02310312e+01] [ 1.25686280e-03 -7.91824587e-06 9.99999210e-01 -1.87306433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54028169299994 meters Centerline goodness [0,1] 0.9998522271479839 Centerline is valid? [True, True] Translation: X:441.54, Y:-30.23, Z:-1.87 [[ 9.96271486e-01 8.62734908e-02 9.98624419e-05 4.41542199e+02] [-8.62734904e-02 9.96271492e-01 -8.66799761e-06 -3.02301495e+01] [-1.00237922e-04 2.01974464e-08 9.99999995e-01 -1.87178341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.57028169299997 meters Centerline goodness [0,1] 0.9999784663752449 Centerline is valid? [True, True] Translation: X:441.57, Y:-30.23, Z:-1.87 [[ 9.95805685e-01 9.14651384e-02 2.27310570e-03 4.41574318e+02] [-9.14649097e-02 9.95808279e-01 -2.04606443e-04 -3.02250006e+01] [-2.28229183e-03 -4.16114899e-06 9.99997396e-01 -1.86800911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.61, Y:-30.22, Z:-1.87 [[ 9.95537360e-01 9.43345247e-02 2.52244454e-03 4.41606480e+02] [-9.43342518e-02 9.95540555e-01 -2.27177043e-04 -3.02229602e+01] [-2.53262647e-03 -1.17896844e-05 9.99996793e-01 -1.86719987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.630281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.64, Y:-30.22, Z:-1.87 [[ 9.95273676e-01 9.70893962e-02 1.98951451e-03 4.41637602e+02] [-9.70892315e-02 9.95275665e-01 -1.79439619e-04 -3.02202882e+01] [-1.99753706e-03 -1.45689051e-05 9.99998005e-01 -1.86829342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66028169299994 meters Centerline goodness [0,1] 0.9999788090697181 Centerline is valid? [True, True] Translation: X:441.67, Y:-30.22, Z:-1.87 [[ 9.95087311e-01 9.89932505e-02 1.25716122e-03 4.41668361e+02] [-9.89931860e-02 9.95088105e-01 -1.13581328e-04 -3.02180395e+01] [-1.26222996e-03 -1.14270561e-05 9.99999203e-01 -1.87012521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.690281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.70, Y:-30.21, Z:-1.87 [[ 9.94869434e-01 1.01167063e-01 1.87874736e-04 4.41699369e+02] [-1.01167062e-01 9.94869451e-01 -1.69554809e-05 -3.02117321e+01] [-1.88626172e-04 -2.13824528e-06 9.99999982e-01 -1.87318607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.73, Y:-30.21, Z:-1.87 [[ 9.94884343e-01 1.01020125e-01 2.81343471e-04 4.41729141e+02] [-1.01020121e-01 9.94884382e-01 -2.54689161e-05 -3.02121323e+01] [-2.82477099e-04 -3.08272574e-06 9.99999960e-01 -1.87285593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.750281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.76, Y:-30.21, Z:-1.87 [[ 9.94969900e-01 1.00172729e-01 5.68261686e-04 4.41759751e+02] [-1.00172716e-01 9.94970062e-01 -5.13457524e-05 -3.02144194e+01] [-5.70546809e-04 -5.83683850e-06 9.99999837e-01 -1.87212739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.79, Y:-30.22, Z:-1.88 [[ 9.95272947e-01 9.71140939e-02 -7.83906986e-04 4.41789640e+02] [-9.71140682e-02 9.95273255e-01 7.08641101e-05 -3.02163720e+01] [ 7.87083562e-04 5.59926481e-06 9.99999690e-01 -1.87501759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.810281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.82, Y:-30.22, Z:-1.88 [[ 9.95497939e-01 9.47687969e-02 -1.65157214e-03 4.41820175e+02] [-9.47686797e-02 9.95499309e-01 1.49248399e-04 -3.02211040e+01] [ 1.65828302e-03 7.94083799e-06 9.99998625e-01 -1.87657884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84028169299995 meters Centerline goodness [0,1] 0.9998941171487866 Centerline is valid? [True, True] Translation: X:441.85, Y:-30.23, Z:-1.88 [[ 9.95757771e-01 9.20053409e-02 -1.21632641e-03 4.41850338e+02] [-9.20052753e-02 9.95758514e-01 1.09955087e-04 -3.02262498e+01] [ 1.22128384e-03 2.41981438e-06 9.99999254e-01 -1.87660269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.870281693 meters Centerline goodness [0,1] 0.9997872838271894 Centerline is valid? [True, True] Translation: X:441.88, Y:-30.23, Z:-1.87 [[ 9.96013133e-01 8.92065220e-02 1.86487013e-04 4.41881320e+02] [-8.92065204e-02 9.96013151e-01 -1.68107912e-05 -3.02330302e+01] [-1.87243150e-04 1.07911267e-07 9.99999982e-01 -1.87460897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90028169299995 meters Centerline goodness [0,1] 0.9997452283391011 Centerline is valid? [True, True] Translation: X:441.91, Y:-30.24, Z:-1.87 [[ 9.96495027e-01 8.36496810e-02 6.25733450e-04 4.41911905e+02] [-8.36496621e-02 9.96495224e-01 -5.64407435e-05 -3.02446985e+01] [-6.28261644e-04 3.90052864e-06 9.99999803e-01 -1.87312579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.930281693 meters Centerline goodness [0,1] 0.9995969965638655 Centerline is valid? [True, True] Translation: X:441.94, Y:-30.25, Z:-1.88 [[ 9.96628453e-01 8.20455052e-02 -5.11533393e-04 4.41943386e+02] [-8.20454920e-02 9.96628584e-01 4.67043549e-05 -3.02504946e+01] [ 5.13640684e-04 -4.57788003e-06 9.99999868e-01 -1.87516742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96028169299996 meters Centerline goodness [0,1] 0.999681115669976 Centerline is valid? [True, True] Translation: X:441.97, Y:-30.26, Z:-1.88 [[ 9.96713981e-01 8.09881057e-02 -1.47212157e-03 4.41974329e+02] [-8.09879961e-02 9.96715068e-01 1.34011155e-04 -3.02562971e+01] [ 1.47813906e-03 -1.43466160e-05 9.99998907e-01 -1.87762648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.990281693 meters Centerline goodness [0,1] 0.9996991576413959 Centerline is valid? [True, True] Translation: X:442.01, Y:-30.26, Z:-1.88 [[ 9.96800513e-01 7.99189738e-02 -1.30183589e-03 4.42005322e+02] [-7.99188875e-02 9.96801363e-01 1.18295937e-04 -3.02609983e+01] [ 1.30712588e-03 -1.38761747e-05 9.99999146e-01 -1.87709058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02028169299996 meters Centerline goodness [0,1] 0.9997014352434369 Centerline is valid? [True, True] Translation: X:442.04, Y:-30.27, Z:-1.88 [[ 9.96812109e-01 7.97827898e-02 -5.71446825e-04 4.42036632e+02] [-7.97827731e-02 9.96812272e-01 5.19675251e-05 -3.02652996e+01] [ 5.73771322e-04 -6.21024586e-06 9.99999835e-01 -1.87606939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.050281693 meters Centerline goodness [0,1] 0.9994877267876201 Centerline is valid? [True, True] Translation: X:442.07, Y:-30.27, Z:-1.88 [[ 9.96805041e-01 7.98730894e-02 2.01991794e-05 4.42067361e+02] [-7.98730894e-02 9.96805041e-01 -1.64128695e-06 -3.02710734e+01] [-2.02657385e-05 2.26722434e-08 1.00000000e+00 -1.87560669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08028169299996 meters Centerline goodness [0,1] 0.9996808646440577 Centerline is valid? [True, True] Translation: X:442.10, Y:-30.27, Z:-1.88 [[ 9.96766637e-01 8.03509064e-02 6.11578329e-05 4.42099659e+02] [-8.03509062e-02 9.96766639e-01 -5.23100485e-06 -3.02745496e+01] [-6.13804035e-05 3.00003813e-07 9.99999998e-01 -1.87550451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.11028169299993 meters Centerline goodness [0,1] 0.9996827075621364 Centerline is valid? [True, True] Translation: X:442.13, Y:-30.28, Z:-1.88 [[ 9.96562990e-01 8.28347450e-02 -7.82487441e-04 4.42130913e+02] [-8.28347144e-02 9.96563297e-01 7.15598403e-05 -3.02791565e+01] [ 7.85725906e-04 -6.49676468e-06 9.99999691e-01 -1.87729126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14028169299996 meters Centerline goodness [0,1] 0.9998098377281948 Centerline is valid? [True, True] Translation: X:442.16, Y:-30.28, Z:-1.88 [[ 9.96396604e-01 8.48128773e-02 -7.64057997e-04 4.42162055e+02] [-8.48128488e-02 9.96396897e-01 6.97487387e-05 -3.02788553e+01] [ 7.67220608e-04 -4.69547108e-06 9.99999706e-01 -1.87667874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.17028169299994 meters Centerline goodness [0,1] 0.9999573260503126 Centerline is valid? [True, True] Translation: X:442.19, Y:-30.28, Z:-1.88 [[ 9.96170893e-01 8.74272906e-02 -1.45249837e-04 4.42193779e+02] [-8.74272896e-02 9.96170903e-01 1.33018243e-05 -3.02771444e+01] [ 1.45856604e-04 -5.52090634e-07 9.99999989e-01 -1.87539409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20028169299997 meters Centerline goodness [0,1] 0.999914528088207 Centerline is valid? [True, True] Translation: X:442.23, Y:-30.27, Z:-1.87 [[ 9.95914248e-01 9.03020555e-02 5.91870594e-04 4.42225045e+02] [-9.03020394e-02 9.95914423e-01 -5.39716970e-05 -3.02746640e+01] [-5.94326217e-04 3.04060356e-07 9.99999823e-01 -1.87392084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.23028169299994 meters Centerline goodness [0,1] 0.9999574938366063 Centerline is valid? [True, True] Translation: X:442.26, Y:-30.26, Z:-1.88 [[ 9.95367484e-01 9.61420202e-02 5.32845453e-04 4.42255735e+02] [-9.61420079e-02 9.95367627e-01 -4.86522989e-05 -3.02643349e+01] [-5.35054645e-04 -2.80191546e-06 9.99999857e-01 -1.87505771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.29, Y:-30.26, Z:-1.88 [[ 9.95099591e-01 9.88775412e-02 1.91062460e-04 4.42285467e+02] [-9.88775396e-02 9.95099609e-01 -1.74580289e-05 -3.02602679e+01] [-1.91852386e-04 -1.51930854e-06 9.99999982e-01 -1.87565804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.29028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.32, Y:-30.26, Z:-1.87 [[ 9.94863519e-01 1.01221843e-01 8.46252828e-04 4.42315067e+02] [-1.01221814e-01 9.94863879e-01 -7.72491493e-05 -3.02583817e+01] [-8.49725673e-04 -8.80688545e-06 9.99999639e-01 -1.87454859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.35, Y:-30.25, Z:-1.87 [[ 9.94600201e-01 1.03763852e-01 1.87179623e-03 4.42345579e+02] [-1.03763714e-01 9.94601962e-01 -1.70760300e-04 -3.02530367e+01] [-1.87941095e-03 -2.43863011e-05 9.99998234e-01 -1.87234992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.35028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.38, Y:-30.25, Z:-1.87 [[ 9.94603311e-01 1.03740002e-01 1.50531934e-03 4.42375021e+02] [-1.03739913e-01 9.94604450e-01 -1.37301408e-04 -3.02528903e+01] [-1.51144096e-03 -1.96012622e-05 9.99998858e-01 -1.87374455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.380281693 meters Centerline goodness [0,1] 0.9999786228863379 Centerline is valid? [True, True] Translation: X:442.40, Y:-30.25, Z:-1.88 [[ 9.94642987e-01 1.03368664e-01 4.98459463e-04 4.42404609e+02] [-1.03368654e-01 9.94643112e-01 -4.54875977e-05 -3.02542564e+01] [-5.00491264e-04 -6.28116377e-06 9.99999875e-01 -1.87603205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.41028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.43, Y:-30.25, Z:-1.88 [[ 9.94656816e-01 1.03233076e-01 -8.66296988e-04 4.42433040e+02] [-1.03233046e-01 9.94657193e-01 7.88580873e-05 -3.02537116e+01] [ 8.69809294e-04 1.09937431e-05 9.99999622e-01 -1.87847209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.440281693 meters Centerline goodness [0,1] 0.9999787645197596 Centerline is valid? [True, True] Translation: X:442.46, Y:-30.25, Z:-1.88 [[ 9.94676762e-01 1.03025836e-01 -1.95370684e-03 4.42462520e+02] [-1.03025685e-01 9.94678680e-01 1.77871608e-04 -3.02500915e+01] [ 1.96163591e-03 2.43572302e-05 9.99998076e-01 -1.88027285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.47028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.49, Y:-30.25, Z:-1.88 [[ 9.94666544e-01 1.03133237e-01 -1.41488760e-03 4.42490781e+02] [-1.03133158e-01 9.94667550e-01 1.28670910e-04 -3.02494069e+01] [ 1.42061303e-03 1.79371767e-05 9.99998991e-01 -1.87891810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.500281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.52, Y:-30.25, Z:-1.88 [[ 9.94642733e-01 1.03372145e-01 -1.80308142e-04 4.42519363e+02] [-1.03372144e-01 9.94642750e-01 1.63105531e-05 -3.02491045e+01] [ 1.81028243e-04 2.41566613e-06 9.99999984e-01 -1.87671277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.53028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.55, Y:-30.25, Z:-1.87 [[ 9.94551270e-01 1.04245289e-01 8.31646985e-04 4.42548465e+02] [-1.04245262e-01 9.94551617e-01 -7.57207079e-05 -3.02485325e+01] [-8.35009381e-04 -1.13871317e-05 9.99999651e-01 -1.87448373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.560281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.58, Y:-30.25, Z:-1.87 [[ 9.94333493e-01 1.06289592e-01 1.85145451e-03 4.42577446e+02] [-1.06289462e-01 9.94335216e-01 -1.68372807e-04 -3.02460678e+01] [-1.85886269e-03 -2.93713822e-05 9.99998272e-01 -1.87413974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.59028169299995 meters Centerline goodness [0,1] 0.9999575182140658 Centerline is valid? [True, True] Translation: X:442.61, Y:-30.25, Z:-1.87 [[ 9.94275207e-01 1.06835801e-01 1.70992374e-03 4.42605087e+02] [-1.06835692e-01 9.94276677e-01 -1.55431858e-04 -3.02456429e+01] [-1.71674298e-03 -2.81388426e-05 9.99998526e-01 -1.87455759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.620281693 meters Centerline goodness [0,1] 0.9999789189644995 Centerline is valid? [True, True] Translation: X:442.63, Y:-30.24, Z:-1.87 [[ 9.94326346e-01 1.06355820e-01 1.88580281e-03 4.42633357e+02] [-1.06355687e-01 9.94328134e-01 -1.71293416e-04 -3.02448384e+01] [-1.89332484e-03 -3.02442972e-05 9.99998207e-01 -1.87429270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.65028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.66, Y:-30.25, Z:-1.87 [[ 9.94380860e-01 1.05836684e-01 2.30229272e-03 4.42661956e+02] [-1.05836484e-01 9.94383525e-01 -2.08963225e-04 -3.02463931e+01] [-2.31147793e-03 -3.58775362e-05 9.99997328e-01 -1.87350385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.680281693 meters Centerline goodness [0,1] 0.9999149786383829 Centerline is valid? [True, True] Translation: X:442.69, Y:-30.25, Z:-1.87 [[ 9.94437899e-01 1.05303294e-01 2.11686180e-03 4.42689950e+02] [-1.05303123e-01 9.94440152e-01 -1.92040820e-04 -3.02469024e+01] [-2.12531490e-03 -3.19394900e-05 9.99997741e-01 -1.87351087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.71028169299996 meters Centerline goodness [0,1] 0.999893962208131 Centerline is valid? [True, True] Translation: X:442.72, Y:-30.25, Z:-1.87 [[ 9.94396904e-01 1.05700772e-01 1.46446164e-03 4.42718466e+02] [-1.05700691e-01 9.94397982e-01 -1.32792783e-04 -3.02469671e+01] [-1.47029400e-03 -2.27458754e-05 9.99998919e-01 -1.87492383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.740281693 meters Centerline goodness [0,1] 0.9999787120808941 Centerline is valid? [True, True] Translation: X:442.75, Y:-30.24, Z:-1.88 [[ 9.94178425e-01 1.07745930e-01 2.72536354e-04 4.42747785e+02] [-1.07745927e-01 9.94178462e-01 -2.47809088e-05 -3.02436380e+01] [-2.73619816e-04 -4.72803730e-06 9.99999963e-01 -1.87682134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.77028169299996 meters Centerline goodness [0,1] 0.9998296313648657 Centerline is valid? [True, True] Translation: X:442.78, Y:-30.24, Z:-1.88 [[ 9.94074308e-01 1.08701306e-01 5.43654317e-04 4.42776831e+02] [-1.08701296e-01 9.94074457e-01 -4.93082045e-05 -3.02424515e+01] [-5.45792736e-04 -1.00799093e-05 9.99999851e-01 -1.87650215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.800281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.80, Y:-30.24, Z:-1.88 [[ 9.94015920e-01 1.09231861e-01 8.66645819e-04 4.42804660e+02] [-1.09231834e-01 9.94016298e-01 -7.85167646e-05 -3.02403938e+01] [-8.70036601e-04 -1.66183979e-05 9.99999621e-01 -1.87570288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.83028169299996 meters Centerline goodness [0,1] 0.9999361416803253 Centerline is valid? [True, True] Translation: X:442.83, Y:-30.24, Z:-1.88 [[ 9.93980241e-01 1.09549639e-01 1.46871496e-03 4.42833426e+02] [-1.09549562e-01 9.93981326e-01 -1.32882991e-04 -3.02388387e+01] [-1.47443252e-03 -2.88140133e-05 9.99998913e-01 -1.87513592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86028169299993 meters Centerline goodness [0,1] 0.9998522396251108 Centerline is valid? [True, True] Translation: X:442.86, Y:-30.23, Z:-1.87 [[ 9.93940324e-01 1.09890573e-01 2.58723513e-03 4.42861409e+02] [-1.09890337e-01 9.93943690e-01 -2.33879390e-04 -3.02335648e+01] [-2.59726717e-03 -5.18499820e-05 9.99996626e-01 -1.87356022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.89028169299996 meters Centerline goodness [0,1] 0.9999575938765558 Centerline is valid? [True, True] Translation: X:442.89, Y:-30.23, Z:-1.87 [[ 9.93948257e-01 1.09821377e-01 2.47553597e-03 4.42889679e+02] [-1.09821160e-01 9.93951338e-01 -2.23639926e-04 -3.02319196e+01] [-2.48512274e-03 -4.95797185e-05 9.99996911e-01 -1.87417934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92028169299994 meters Centerline goodness [0,1] 0.9998308238876671 Centerline is valid? [True, True] Translation: X:442.92, Y:-30.23, Z:-1.87 [[ 9.93993552e-01 1.09422314e-01 1.89074341e-03 4.42918371e+02] [-1.09422187e-01 9.93995350e-01 -1.70714314e-04 -3.02326142e+01] [-1.89807012e-03 -3.72003524e-05 9.99998198e-01 -1.87497309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.95028169299997 meters Centerline goodness [0,1] 0.9998727762346006 Centerline is valid? [True, True] Translation: X:442.95, Y:-30.23, Z:-1.88 [[ 9.94029090e-01 1.09107049e-01 1.34886066e-03 4.42947259e+02] [-1.09106984e-01 9.94030005e-01 -1.21754550e-04 -3.02337931e+01] [-1.35409225e-03 -2.61425545e-05 9.99999083e-01 -1.87626929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98028169299994 meters Centerline goodness [0,1] 0.9999576271186441 Centerline is valid? [True, True] Translation: X:442.98, Y:-30.23, Z:-1.88 [[ 9.94109833e-01 1.08372640e-01 1.00502823e-03 4.42975728e+02] [-1.08372603e-01 9.94110341e-01 -9.07092689e-05 -3.02295800e+01] [-1.00893936e-03 -1.87425496e-05 9.99999491e-01 -1.87723228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.01028169299997 meters Centerline goodness [0,1] 0.9999576181394363 Centerline is valid? [True, True] Translation: X:443.01, Y:-30.23, Z:-1.88 [[ 9.94144996e-01 1.08053481e-01 4.15470907e-04 4.43005185e+02] [-1.08053475e-01 9.94145083e-01 -3.75062037e-05 -3.02293211e+01] [-4.17091035e-04 -7.60647047e-06 9.99999913e-01 -1.87873820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04028169299994 meters Centerline goodness [0,1] 0.9999788485130505 Centerline is valid? [True, True] Translation: X:443.03, Y:-30.23, Z:-1.88 [[ 9.94182058e-01 1.07710279e-01 -7.29004849e-04 4.43033914e+02] [-1.07710260e-01 9.94182325e-01 6.55232301e-05 -3.02252244e+01] [ 7.31821261e-04 1.33792818e-05 9.99999732e-01 -1.88151670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.07028169299997 meters Centerline goodness [0,1] 0.9999571404080233 Centerline is valid? [True, True] Translation: X:443.06, Y:-30.23, Z:-1.88 [[ 9.94238250e-01 1.07189139e-01 -8.89394146e-04 4.43062985e+02] [-1.07189110e-01 9.94238648e-01 7.99410262e-05 -3.02281748e+01] [ 8.92838842e-04 1.58529408e-05 9.99999601e-01 -1.88142518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10028169299994 meters Centerline goodness [0,1] 0.9999787500796872 Centerline is valid? [True, True] Translation: X:443.09, Y:-30.23, Z:-1.88 [[ 9.94310243e-01 1.06521668e-01 -5.24938146e-04 4.43091218e+02] [-1.06521658e-01 9.94310381e-01 4.70392312e-05 -3.02252784e+01] [ 5.26962146e-04 9.14569222e-06 9.99999861e-01 -1.88090461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.130281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.12, Y:-30.23, Z:-1.88 [[ 9.94434944e-01 1.05351311e-01 4.93779974e-04 4.43120225e+02] [-1.05351301e-01 9.94435066e-01 -4.44725229e-05 -3.02274973e+01] [-4.95717360e-04 -7.79533216e-06 9.99999877e-01 -1.87885285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16028169299994 meters Centerline goodness [0,1] 0.9999787469183031 Centerline is valid? [True, True] Translation: X:443.15, Y:-30.23, Z:-1.87 [[ 9.94795007e-01 1.01850740e-01 3.05314164e-03 4.43148823e+02] [-1.01850377e-01 9.94799691e-01 -2.74349964e-04 -3.02342750e+01] [-3.06520710e-03 -3.80416531e-05 9.99995302e-01 -1.87453135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.190281693 meters Centerline goodness [0,1] 0.9999787469183031 Centerline is valid? [True, True] Translation: X:443.18, Y:-30.24, Z:-1.87 [[ 9.94802171e-01 1.01780736e-01 3.05315653e-03 4.43176217e+02] [-1.01780373e-01 9.94806856e-01 -2.74184174e-04 -3.02365979e+01] [-3.06520771e-03 -3.79923995e-05 9.99995302e-01 -1.87458922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.20, Y:-30.24, Z:-1.87 [[ 9.95029938e-01 9.94983049e-02 3.93833353e-03 4.43204424e+02] [-9.94976854e-02 9.95037731e-01 -3.53396302e-04 -3.02417757e+01] [-3.95395279e-03 -4.02151704e-05 9.99992182e-01 -1.87339175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.250281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.23, Y:-30.25, Z:-1.87 [[ 9.95294148e-01 9.68082349e-02 4.20999945e-03 4.43231651e+02] [-9.68075040e-02 9.95303052e-01 -3.77531859e-04 -3.02469421e+01] [-4.22677349e-03 -3.18042889e-05 9.99991067e-01 -1.87294983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28028169299995 meters Centerline goodness [0,1] 0.9999356802881523 Centerline is valid? [True, True] Translation: X:443.26, Y:-30.25, Z:-1.87 [[ 9.95574479e-01 9.38801507e-02 4.23952071e-03 4.43259973e+02] [-9.38793840e-02 9.95583506e-01 -3.79942273e-04 -3.02534816e+01] [-4.25646593e-03 -1.97427619e-05 9.99990941e-01 -1.87340791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.310281693 meters Centerline goodness [0,1] 0.9999155494563496 Centerline is valid? [True, True] Translation: X:443.29, Y:-30.27, Z:-1.88 [[ 9.96140821e-01 8.77419100e-02 2.19579106e-03 4.43287061e+02] [-8.77416895e-02 9.96143241e-01 -1.96727114e-04 -3.02660405e+01] [-2.20458364e-03 3.30549191e-06 9.99997570e-01 -1.87703750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34028169299995 meters Centerline goodness [0,1] 0.9998946703180956 Centerline is valid? [True, True] Translation: X:443.31, Y:-30.28, Z:-1.88 [[ 9.96456518e-01 8.41062459e-02 7.39568077e-04 4.43314321e+02] [-8.41062199e-02 9.96456793e-01 -6.62962087e-05 -3.02767466e+01] [-7.42523559e-04 3.85901401e-06 9.99999724e-01 -1.87992305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.370281693 meters Centerline goodness [0,1] 0.9998733990251725 Centerline is valid? [True, True] Translation: X:443.34, Y:-30.29, Z:-1.88 [[ 9.96758295e-01 8.04541142e-02 -1.90335102e-04 4.43343462e+02] [-8.04541125e-02 9.96758313e-01 1.69772932e-05 -3.02857763e+01] [ 1.91083988e-04 -1.60901620e-06 9.99999982e-01 -1.88160401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40028169299995 meters Centerline goodness [0,1] 0.9996201089021147 Centerline is valid? [True, True] Translation: X:443.37, Y:-30.31, Z:-1.88 [[ 9.97223727e-01 7.44563335e-02 1.04575232e-03 4.43371015e+02] [-7.44562764e-02 9.97224275e-01 -9.35724308e-05 -3.03055471e+01] [-1.04981666e-03 1.54498244e-05 9.99999449e-01 -1.87964749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.430281693 meters Centerline goodness [0,1] 0.999595202079383 Centerline is valid? [True, True] Translation: X:443.40, Y:-30.31, Z:-1.88 [[ 9.97383991e-01 7.22464992e-02 2.37010635e-03 4.43400798e+02] [-7.22461995e-02 9.97386806e-01 -2.11959808e-04 -3.03105030e+01] [-2.37922616e-03 4.01741431e-05 9.99997169e-01 -1.87728420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46028169299996 meters Centerline goodness [0,1] 0.9995929123904613 Centerline is valid? [True, True] Translation: X:443.43, Y:-30.32, Z:-1.88 [[ 9.97505874e-01 7.05156386e-02 3.09448410e-03 4.43430490e+02] [-7.05151194e-02 9.97510672e-01 -2.76709044e-04 -3.03175252e+01] [-3.10629323e-03 5.78109809e-05 9.99995174e-01 -1.87647322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.490281693 meters Centerline goodness [0,1] 0.9995517800734227 Centerline is valid? [True, True] Translation: X:443.46, Y:-30.33, Z:-1.88 [[ 9.97580145e-01 6.94771506e-02 2.60386545e-03 4.43459029e+02] [-6.94767794e-02 9.97583542e-01 -2.32831731e-04 -3.03277798e+01] [-2.61374980e-03 5.13601262e-05 9.99996583e-01 -1.87692220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52028169299996 meters Centerline goodness [0,1] 0.99961763956156 Centerline is valid? [True, True] Translation: X:443.49, Y:-30.34, Z:-1.88 [[ 9.97593829e-01 6.93130149e-02 1.50279565e-03 4.43488711e+02] [-6.93128912e-02 9.97594960e-01 -1.34361909e-04 -3.03372715e+01] [-1.50849439e-03 2.98755000e-05 9.99998862e-01 -1.87907558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.550281693 meters Centerline goodness [0,1] 0.9997441582807437 Centerline is valid? [True, True] Translation: X:443.52, Y:-30.34, Z:-1.88 [[ 9.97518465e-01 7.03853500e-02 1.67765028e-03 4.43519108e+02] [-7.03851973e-02 9.97519875e-01 -1.49995307e-04 -3.03415696e+01] [-1.68404697e-03 3.15413422e-05 9.99998581e-01 -1.87906738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58028169299996 meters Centerline goodness [0,1] 0.9995723205884869 Centerline is valid? [True, True] Translation: X:443.55, Y:-30.35, Z:-1.88 [[ 9.97423779e-01 7.16929499e-02 2.43430186e-03 4.43548064e+02] [-7.16926322e-02 9.97426749e-01 -2.17642012e-04 -3.03463746e+01] [-2.44364119e-03 4.25598100e-05 9.99997013e-01 -1.87712233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.61028169299993 meters Centerline goodness [0,1] 0.9997445068983137 Centerline is valid? [True, True] Translation: X:443.58, Y:-30.35, Z:-1.88 [[ 9.97311868e-01 7.32116228e-02 3.01601102e-03 4.43577890e+02] [-7.32111421e-02 9.97316427e-01 -2.69619927e-04 -3.03502067e+01] [-3.02765664e-03 4.80895422e-05 9.99995415e-01 -1.87580247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64028169299996 meters Centerline goodness [0,1] 0.9996838244593398 Centerline is valid? [True, True] Translation: X:443.61, Y:-30.36, Z:-1.88 [[ 9.97122423e-01 7.57502636e-02 2.96173006e-03 4.43606490e+02] [-7.57498113e-02 9.97126820e-01 -2.64785532e-04 -3.03588475e+01] [-2.97327805e-03 3.96730983e-05 9.99995579e-01 -1.87674329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.67028169299994 meters Centerline goodness [0,1] 0.999679658302189 Centerline is valid? [True, True] Translation: X:443.64, Y:-30.36, Z:-1.88 [[ 9.97049731e-01 7.67161851e-02 2.54184700e-03 4.43637503e+02] [-7.67158549e-02 9.97052970e-01 -2.27284680e-04 -3.03573443e+01] [-2.55179251e-03 3.16141636e-05 9.99996744e-01 -1.87818281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70028169299997 meters Centerline goodness [0,1] 0.9998530553981149 Centerline is valid? [True, True] Translation: X:443.67, Y:-30.37, Z:-1.88 [[ 9.96969704e-01 7.77699863e-02 1.79932277e-03 4.43666919e+02] [-7.77698226e-02 9.96971328e-01 -1.60871726e-04 -3.03650811e+01] [-1.80638420e-03 2.04512253e-05 9.99998368e-01 -1.87928862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.73028169299994 meters Centerline goodness [0,1] 0.9998298487781015 Centerline is valid? [True, True] Translation: X:443.70, Y:-30.36, Z:-1.88 [[ 9.96811686e-01 7.97839921e-02 9.88990078e-04 4.43697681e+02] [-7.97839436e-02 9.96812176e-01 -8.84944585e-05 -3.03633685e+01] [-9.92897793e-04 9.30678177e-06 9.99999507e-01 -1.88091023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76028169299997 meters Centerline goodness [0,1] 0.9999147266990706 Centerline is valid? [True, True] Translation: X:443.73, Y:-30.37, Z:-1.88 [[ 9.96708433e-01 8.10679671e-02 5.32897685e-04 4.43727629e+02] [-8.10679532e-02 9.96708576e-01 -4.76834835e-05 -3.03656726e+01] [-5.35009295e-04 4.32560555e-06 9.99999857e-01 -1.88219566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.79028169299994 meters Centerline goodness [0,1] 0.9999361280844813 Centerline is valid? [True, True] Translation: X:443.76, Y:-30.37, Z:-1.88 [[ 9.96615903e-01 8.21993273e-02 1.08890390e-04 4.43756928e+02] [-8.21993267e-02 9.96615909e-01 -9.76662760e-06 -3.03683679e+01] [-1.09324705e-04 7.82859649e-07 9.99999994e-01 -1.88277199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82028169299997 meters Centerline goodness [0,1] 0.999935938500961 Centerline is valid? [True, True] Translation: X:443.79, Y:-30.37, Z:-1.88 [[ 9.96528359e-01 8.32540017e-02 4.09339326e-05 4.43786824e+02] [-8.32540016e-02 9.96528359e-01 -3.71008854e-06 -3.03703871e+01] [-4.11007044e-05 2.89294753e-07 9.99999999e-01 -1.88300222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.85028169299994 meters Centerline goodness [0,1] 0.9999147721219611 Centerline is valid? [True, True] Translation: X:443.82, Y:-30.37, Z:-1.88 [[ 9.96326074e-01 8.56348324e-02 1.01483386e-03 4.43816108e+02] [-8.56347843e-02 9.96326591e-01 -9.08091144e-05 -3.03688830e+01] [-1.01888238e-03 3.57040969e-06 9.99999481e-01 -1.88025635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.880281693 meters Centerline goodness [0,1] 0.9999787030135235 Centerline is valid? [True, True] Translation: X:443.84, Y:-30.37, Z:-1.88 [[ 9.96209005e-01 8.69759864e-02 1.67231576e-03 4.43844854e+02] [-8.69758579e-02 9.96210408e-01 -1.49532114e-04 -3.03686517e+01] [-1.67898407e-03 3.51414049e-06 9.99998591e-01 -1.87909626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.91028169299994 meters Centerline goodness [0,1] 0.9999575695858791 Centerline is valid? [True, True] Translation: X:443.87, Y:-30.37, Z:-1.88 [[ 9.96083995e-01 8.83967757e-02 1.63860726e-03 4.43874851e+02] [-8.83966544e-02 9.96085343e-01 -1.46472665e-04 -3.03687980e+01] [-1.64514039e-03 1.05167713e-06 9.99998647e-01 -1.87895437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.940281693 meters Centerline goodness [0,1] 0.9999574775694179 Centerline is valid? [True, True] Translation: X:443.90, Y:-30.37, Z:-1.88 [[ 9.95911449e-01 9.03275701e-02 1.14699978e-03 4.43903600e+02] [-9.03275119e-02 9.95912110e-01 -1.02544396e-04 -3.03653073e+01] [-1.15157356e-03 -1.48049779e-06 9.99999337e-01 -1.87985802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.97028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.93, Y:-30.36, Z:-1.88 [[ 9.95814652e-01 9.13917814e-02 8.48887045e-04 4.43933679e+02] [-9.13917499e-02 9.95815014e-01 -7.58675707e-05 -3.03637668e+01] [-8.52268137e-04 -2.03123400e-06 9.99999637e-01 -1.88009605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.000281693 meters Centerline goodness [0,1] 0.9999573688024896 Centerline is valid? [True, True] Translation: X:443.96, Y:-30.36, Z:-1.88 [[ 9.95749726e-01 9.20950863e-02 9.88645397e-04 4.43962731e+02] [-9.20950439e-02 9.95750217e-01 -8.83402038e-05 -3.03625273e+01] [-9.92579567e-04 -3.08460747e-06 9.99999507e-01 -1.88071797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.03028169299995 meters Centerline goodness [0,1] 0.9999577978941149 Centerline is valid? [True, True] Translation: X:443.99, Y:-30.36, Z:-1.88 [[ 9.95696098e-01 9.26695269e-02 1.28031237e-03 4.43991456e+02] [-9.26694565e-02 9.95696921e-01 -1.14346768e-04 -3.03618863e+01] [-1.28539955e-03 -4.79122058e-06 9.99999174e-01 -1.88003501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.060281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.02, Y:-30.36, Z:-1.88 [[ 9.95675293e-01 9.28684607e-02 2.48197726e-03 4.44019334e+02] [-9.28681972e-02 9.95678386e-01 -2.21465704e-04 -3.03591001e+01] [-2.49181830e-03 -9.98882384e-06 9.99996895e-01 -1.87801585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.09028169299995 meters Centerline goodness [0,1] 0.9999789624268944 Centerline is valid? [True, True] Translation: X:444.05, Y:-30.36, Z:-1.88 [[ 9.95713882e-01 9.24447724e-02 2.79824402e-03 4.44048104e+02] [-9.24444362e-02 9.95717813e-01 -2.49523099e-04 -3.03598836e+01] [-2.80932852e-03 -1.02284769e-05 9.99996054e-01 -1.87770047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.120281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.08, Y:-30.36, Z:-1.88 [[ 9.95777297e-01 9.17551714e-02 2.92628997e-03 4.44077006e+02] [-9.17548012e-02 9.95781597e-01 -2.60806606e-04 -3.03618098e+01] [-2.93787606e-03 -8.79585779e-06 9.99995684e-01 -1.87747077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.15028169299995 meters Centerline goodness [0,1] 0.9999786725814708 Centerline is valid? [True, True] Translation: X:444.10, Y:-30.36, Z:-1.88 [[ 9.95833853e-01 9.11300538e-02 3.20156809e-03 4.44104873e+02] [-9.11296080e-02 9.95839000e-01 -2.85176565e-04 -3.03635619e+01] [-3.21423452e-03 -7.76916752e-06 9.99994834e-01 -1.87725844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.180281693 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.13, Y:-30.36, Z:-1.88 [[ 9.95898174e-01 9.04277658e-02 3.10578621e-03 4.44133431e+02] [-9.04273433e-02 9.95903017e-01 -2.76483029e-04 -3.03635711e+01] [-3.11806360e-03 -5.49905192e-06 9.99995139e-01 -1.87753965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.21028169299996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.16, Y:-30.36, Z:-1.88 [[ 9.95853171e-01 9.09396867e-02 2.53658314e-03 4.44161434e+02] [-9.09394068e-02 9.95856402e-01 -2.25702480e-04 -3.03616286e+01] [-2.54659787e-03 -5.90883553e-06 9.99996757e-01 -1.87825091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.240281693 meters Centerline goodness [0,1] 0.9999788869183346 Centerline is valid? [True, True] Translation: X:444.19, Y:-30.36, Z:-1.88 [[ 9.95804017e-01 9.14915718e-02 1.91077762e-03 4.44189358e+02] [-9.14914141e-02 9.95805851e-01 -1.69934254e-04 -3.03599793e+01] [-1.91831109e-03 -5.59853359e-06 9.99998160e-01 -1.87982060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.27028169299996 meters Centerline goodness [0,1] 0.9999146976030027 Centerline is valid? [True, True] Translation: X:444.22, Y:-30.36, Z:-1.88 [[ 9.95724924e-01 9.23611970e-02 1.13371105e-03 4.44218021e+02] [-9.23611421e-02 9.95725569e-01 -1.00810550e-04 -3.03567751e+01] [-1.13817606e-03 -4.33126987e-06 9.99999352e-01 -1.88197891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.300281693 meters Centerline goodness [0,1] 0.9997889137501583 Centerline is valid? [True, True] Translation: X:444.25, Y:-30.36, Z:-1.88 [[ 9.95714637e-01 9.24639125e-02 1.66950246e-03 4.44247060e+02] [-9.24637938e-02 9.95716036e-01 -1.48305701e-04 -3.03575168e+01] [-1.67606330e-03 -6.69837445e-06 9.99998595e-01 -1.88117147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.33028169299996 meters Centerline goodness [0,1] 0.9997058576350953 Centerline is valid? [True, True] Translation: X:444.27, Y:-30.36, Z:-1.88 [[ 9.95762714e-01 9.19252884e-02 2.52165408e-03 4.44274647e+02] [-9.19250163e-02 9.95765907e-01 -2.23845315e-04 -3.03585447e+01] [-2.53155421e-03 -8.90627407e-06 9.99996796e-01 -1.87976730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36028169299993 meters Centerline goodness [0,1] 0.9998728759693207 Centerline is valid? [True, True] Translation: X:444.30, Y:-30.36, Z:-1.88 [[ 9.95949892e-01 8.98640165e-02 2.87597645e-03 4.44302980e+02] [-8.98636545e-02 9.95954044e-01 -2.55136795e-04 -3.03615322e+01] [-2.88726800e-03 -4.34229094e-06 9.99995832e-01 -1.87986106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.39028169299996 meters Centerline goodness [0,1] 0.9999152326862761 Centerline is valid? [True, True] Translation: X:444.33, Y:-30.37, Z:-1.88 [[ 9.96064654e-01 8.85943297e-02 2.49988578e-03 4.44331267e+02] [-8.85940524e-02 9.96067791e-01 -2.21675599e-04 -3.03650288e+01] [-2.50969491e-03 -6.71782935e-07 9.99996851e-01 -1.88107585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42028169299994 meters Centerline goodness [0,1] 0.9998734097094752 Centerline is valid? [True, True] Translation: X:444.36, Y:-30.37, Z:-1.88 [[ 9.96282779e-01 8.61217417e-02 1.91567057e-03 4.44360293e+02] [-8.61215744e-02 9.96284621e-01 -1.69803453e-04 -3.03691224e+01] [-1.92317689e-03 4.19169067e-06 9.99998151e-01 -1.88173613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.45028169299997 meters Centerline goodness [0,1] 0.9998295188168606 Centerline is valid? [True, True] Translation: X:444.39, Y:-30.37, Z:-1.88 [[ 9.96424584e-01 8.44519991e-02 2.43084807e-03 4.44389351e+02] [-8.44517250e-02 9.96427549e-01 -2.15327987e-04 -3.03726711e+01] [-2.44034886e-03 9.26878718e-06 9.99997022e-01 -1.88093590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48028169299994 meters Centerline goodness [0,1] 0.9998725383978077 Centerline is valid? [True, True] Translation: X:444.42, Y:-30.38, Z:-1.88 [[ 9.96529481e-01 8.31735730e-02 3.33925960e-03 4.44418460e+02] [-8.31730495e-02 9.96535075e-01 -2.95602265e-04 -3.03758992e+01] [-3.35227562e-03 1.68399671e-05 9.99994381e-01 -1.87943554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.51028169299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.45, Y:-30.38, Z:-1.88 [[ 9.96687657e-01 8.12269832e-02 3.98650525e-03 4.44446549e+02] [-8.12262221e-02 9.96695629e-01 -3.52713800e-04 -3.03810066e+01] [-4.00198223e-03 2.77367297e-05 9.99991992e-01 -1.87872268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54028169299994 meters Centerline goodness [0,1] 0.9999573533488283 Centerline is valid? [True, True] Translation: X:444.48, Y:-30.38, Z:-1.88 [[ 9.96761310e-01 8.03574159e-02 3.09469793e-03 4.44476389e+02] [-8.03569534e-02 9.96766114e-01 -2.73728559e-04 -3.03842311e+01] [-3.10668615e-03 2.41615398e-05 9.99995174e-01 -1.88033358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.57028169299997 meters Centerline goodness [0,1] 0.9999354713815577 Centerline is valid? [True, True] Translation: X:444.51, Y:-30.39, Z:-1.88 [[ 9.96833137e-01 7.95000583e-02 1.85426103e-03 4.44506075e+02] [-7.94998907e-02 9.96834861e-01 -1.63987236e-04 -3.03870202e+01] [-1.86142903e-03 1.60543613e-05 9.99998267e-01 -1.88186622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60028169299994 meters Centerline goodness [0,1] 0.9999154369794089 Centerline is valid? [True, True] Translation: X:444.53, Y:-30.39, Z:-1.88 [[ 9.96858727e-01 7.91947488e-02 9.33046220e-04 4.44534654e+02] [-7.91947063e-02 9.96859163e-01 -8.25336328e-05 -3.03930235e+01] [-9.36651904e-04 8.38205085e-06 9.99999561e-01 -1.88383940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.630281693 meters Centerline goodness [0,1] 0.9998717811732023 Centerline is valid? [True, True] Translation: X:444.56, Y:-30.40, Z:-1.88 [[ 9.96876843e-01 7.89588674e-02 1.43430138e-03 4.44563109e+02] [-7.89587667e-02 9.96877875e-01 -1.26783457e-04 -3.03977749e+01] [-1.43983399e-03 1.31368246e-05 9.99998963e-01 -1.88285849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66028169299994 meters Centerline goodness [0,1] 0.9998501359481042 Centerline is valid? [True, True] Translation: X:444.59, Y:-30.40, Z:-1.88 [[ 9.96881932e-01 7.88627560e-02 2.66084455e-03 4.44591549e+02] [-7.88624096e-02 9.96885482e-01 -2.35000461e-04 -3.03990218e+01] [-2.67109009e-03 2.44271011e-05 9.99996432e-01 -1.88039160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.690281693 meters Centerline goodness [0,1] 0.9997014989019424 Centerline is valid? [True, True] Translation: X:444.62, Y:-30.40, Z:-1.88 [[ 9.96843398e-01 7.92894674e-02 4.05207834e-03 4.44620166e+02] [-7.92886686e-02 9.96851633e-01 -3.57647705e-04 -3.04016222e+01] [-4.06767861e-03 3.52348576e-05 9.99991726e-01 -1.87807109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72028169299995 meters Centerline goodness [0,1] 0.9998078852434521 Centerline is valid? [True, True] Translation: X:444.65, Y:-30.40, Z:-1.88 [[ 9.96745265e-01 8.04921492e-02 4.45994997e-03 4.44648561e+02] [-8.04911943e-02 9.96755242e-01 -3.93482942e-04 -3.04026861e+01] [-4.47715080e-03 3.32155595e-05 9.99989977e-01 -1.87717075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.750281693 meters Centerline goodness [0,1] 0.999636775420379 Centerline is valid? [True, True] Translation: X:444.68, Y:-30.40, Z:-1.88 [[ 9.96446993e-01 8.41977790e-02 2.03092481e-03 4.44678363e+02] [-8.41975888e-02 9.96449062e-01 -1.79149349e-04 -3.03969821e+01] [-2.03879710e-03 7.51385780e-06 9.99997922e-01 -1.88079120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78028169299995 meters Centerline goodness [0,1] 0.9996574242586447 Centerline is valid? [True, True] Translation: X:444.71, Y:-30.40, Z:-1.88 [[ 9.96275008e-01 8.62238951e-02 1.24469968e-03 4.44707592e+02] [-8.62238252e-02 9.96275785e-01 -1.09791830e-04 -3.03951395e+01] [-1.24953083e-03 2.06008826e-06 9.99999219e-01 -1.88213698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.810281693 meters Centerline goodness [0,1] 0.999724091092387 Centerline is valid? [True, True] Translation: X:444.74, Y:-30.39, Z:-1.88 [[ 9.96078255e-01 8.83854176e-02 4.01605087e-03 4.44735518e+02] [-8.83847096e-02 9.96086351e-01 -3.53795411e-04 -3.03912122e+01] [-4.03160381e-03 -2.54957347e-06 9.99991873e-01 -1.87796185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84028169299995 meters Centerline goodness [0,1] 0.9997468728246883 Centerline is valid? [True, True] Translation: X:444.76, Y:-30.39, Z:-1.87 [[ 9.96078037e-01 8.82559841e-02 6.27898139e-03 4.44763324e+02] [-8.82542536e-02 9.96097827e-01 -5.52694037e-04 -3.03923604e+01] [-6.30325828e-03 -3.62042487e-06 9.99980134e-01 -1.87402585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.870281693 meters Centerline goodness [0,1] 0.9995919068688518 Centerline is valid? [True, True] Translation: X:444.79, Y:-30.39, Z:-1.87 [[ 9.96132662e-01 8.75158654e-02 7.79060951e-03 4.44792106e+02] [-8.75131821e-02 9.96163126e-01 -6.85323572e-04 -3.03948022e+01] [-7.82069461e-03 8.92165452e-07 9.99969418e-01 -1.87228366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90028169299995 meters Centerline goodness [0,1] 0.999531076818143 Centerline is valid? [True, True] Translation: X:444.82, Y:-30.40, Z:-1.87 [[ 9.96218835e-01 8.65390760e-02 7.68254994e-03 4.44820764e+02] [-8.65364398e-02 9.96248457e-01 -6.75523263e-04 -3.03975147e+01] [-7.71218769e-03 8.14847806e-06 9.99970261e-01 -1.87232053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.930281693 meters Centerline goodness [0,1] 0.9995729415784079 Centerline is valid? [True, True] Translation: X:444.85, Y:-30.40, Z:-1.88 [[ 9.96477665e-01 8.36978989e-02 5.18898766e-03 4.44850408e+02] [-8.36966584e-02 9.96491175e-01 -4.56142166e-04 -3.04020650e+01] [-5.20895855e-03 2.02345527e-05 9.99986433e-01 -1.87648818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96028169299996 meters Centerline goodness [0,1] 0.9996805928197265 Centerline is valid? [True, True] Translation: X:444.88, Y:-30.41, Z:-1.88 [[ 9.96599567e-01 8.23098954e-02 3.79264556e-03 4.44878972e+02] [-8.23092230e-02 9.96606783e-01 -3.33312514e-04 -3.04064420e+01] [-3.80721121e-03 2.00093986e-05 9.99992752e-01 -1.87866417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.990281693 meters Centerline goodness [0,1] 0.9996813595326607 Centerline is valid? [True, True] Translation: X:444.91, Y:-30.41, Z:-1.88 [[ 9.96704736e-01 8.10636807e-02 2.88953245e-03 4.44906812e+02] [-8.10632854e-02 9.96708924e-01 -2.53850770e-04 -3.04115153e+01] [-2.90060086e-03 1.87792705e-05 9.99995793e-01 -1.88055554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02028169299996 meters Centerline goodness [0,1] 0.9996827545366102 Centerline is valid? [True, True] Translation: X:444.94, Y:-30.42, Z:-1.88 [[ 9.96754356e-01 8.04696809e-02 2.32022281e-03 4.44935656e+02] [-8.04694247e-02 9.96757057e-01 -2.03722493e-04 -3.04151123e+01] [-2.32909195e-03 1.63542877e-05 9.99997288e-01 -1.88149065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.050281693 meters Centerline goodness [0,1] 0.9995553485220632 Centerline is valid? [True, True] Translation: X:444.97, Y:-30.41, Z:-1.88 [[ 9.96730249e-01 8.07523546e-02 2.80487480e-03 4.44965140e+02] [-8.07519817e-02 9.96734196e-01 -2.46128583e-04 -3.04142848e+01] [-2.81559010e-03 1.88246045e-05 9.99996036e-01 -1.88089537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08028169299996 meters Centerline goodness [0,1] 0.9995553485220632 Centerline is valid? [True, True] Translation: X:444.99, Y:-30.42, Z:-1.88 [[ 9.96734083e-01 8.07050183e-02 2.80488647e-03 4.44993367e+02] [-8.07046456e-02 9.96738030e-01 -2.45995611e-04 -3.04166722e+01] [-2.81559009e-03 1.88248413e-05 9.99996036e-01 -1.88095500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.11028169299993 meters Centerline goodness [0,1] 0.9995532770320577 Centerline is valid? [True, True] Translation: X:445.02, Y:-30.42, Z:-1.88 [[ 9.96693134e-01 8.12037796e-02 2.95698480e-03 4.45021044e+02] [-8.12033681e-02 9.96697520e-01 -2.59178036e-04 -3.04178360e+01] [-2.96826565e-03 1.82038436e-05 9.99995595e-01 -1.88088909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14028169299996 meters Centerline goodness [0,1] 0.999557223581007 Centerline is valid? [True, True] Translation: X:445.05, Y:-30.42, Z:-1.88 [[ 9.96666559e-01 8.15218045e-02 3.15681227e-03 4.45049893e+02] [-8.15213376e-02 9.96671558e-01 -2.76510306e-04 -3.04191521e+01] [-3.16884662e-03 1.82410162e-05 9.99994979e-01 -1.88019709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.17028169299994 meters Centerline goodness [0,1] 0.9995527823327726 Centerline is valid? [True, True] Translation: X:445.08, Y:-30.42, Z:-1.88 [[ 9.96800917e-01 7.98417651e-02 3.63644460e-03 4.45078411e+02] [-7.98411350e-02 9.96807550e-01 -3.18336132e-04 -3.04223383e+01] [-3.65025196e-03 2.69798842e-05 9.99993337e-01 -1.87920268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20028169299997 meters Centerline goodness [0,1] 0.9995960111415875 Centerline is valid? [True, True] Translation: X:445.11, Y:-30.43, Z:-1.88 [[ 9.96892313e-01 7.86598157e-02 4.28367738e-03 4.45106937e+02] [-7.86589313e-02 9.96901516e-01 -3.74798915e-04 -3.04258271e+01] [-4.29988609e-03 3.66846725e-05 9.99990755e-01 -1.87793684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.23028169299994 meters Centerline goodness [0,1] 0.9994087213599409 Centerline is valid? [True, True] Translation: X:445.14, Y:-30.43, Z:-1.88 [[ 9.96964911e-01 7.76866268e-02 5.07484762e-03 4.45135697e+02] [-7.76853738e-02 9.96977826e-01 -4.43844631e-04 -3.04300810e+01] [-5.09399134e-03 4.82560882e-05 9.99987024e-01 -1.87614563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26028169299997 meters Centerline goodness [0,1] 0.9993869440216472 Centerline is valid? [True, True] Translation: X:445.16, Y:-30.43, Z:-1.87 [[ 9.97025726e-01 7.68590887e-02 5.69046752e-03 4.45164633e+02] [-7.68575008e-02 9.97041964e-01 -4.97519219e-04 -3.04335227e+01] [-5.71187378e-03 5.86843493e-05 9.99983685e-01 -1.87478029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.29028169299994 meters Centerline goodness [0,1] 0.999428050924651 Centerline is valid? [True, True] Translation: X:445.19, Y:-30.44, Z:-1.88 [[ 9.97146070e-01 7.53386468e-02 4.87878727e-03 4.45194154e+02] [-7.53374620e-02 9.97158004e-01 -4.26440210e-04 -3.04351947e+01] [-4.89704921e-03 5.76677291e-05 9.99988008e-01 -1.87676770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32028169299997 meters Centerline goodness [0,1] 0.9995761275008478 Centerline is valid? [True, True] Translation: X:445.22, Y:-30.44, Z:-1.88 [[ 9.97232038e-01 7.42841635e-02 3.18209612e-03 4.45222330e+02] [-7.42836544e-02 9.97237114e-01 -2.78067777e-04 -3.04382600e+01] [-3.19396039e-03 4.09203670e-05 9.99994898e-01 -1.87958482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.35028169299994 meters Centerline goodness [0,1] 0.9995534765043589 Centerline is valid? [True, True] Translation: X:445.25, Y:-30.44, Z:-1.88 [[ 9.97291637e-01 7.35217551e-02 1.98537981e-03 4.45252221e+02] [-7.35215555e-02 9.97293613e-01 -1.73449646e-04 -3.04401036e+01] [-1.99275892e-03 2.70116701e-05 9.99998014e-01 -1.88264626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.380281693 meters Centerline goodness [0,1] 0.9994678360083443 Centerline is valid? [True, True] Translation: X:445.28, Y:-30.44, Z:-1.88 [[ 9.97323988e-01 7.31003407e-02 1.09677132e-03 4.45280638e+02] [-7.31002795e-02 9.97324591e-01 -9.58375774e-05 -3.04418402e+01] [-1.10084277e-03 1.54068248e-05 9.99999394e-01 -1.88374907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.41028169299994 meters Centerline goodness [0,1] 0.9995318650920311 Centerline is valid? [True, True] Translation: X:445.31, Y:-30.44, Z:-1.88 [[ 9.97249892e-01 7.40858588e-02 1.98471899e-03 4.45309023e+02] [-7.40856607e-02 9.97251866e-01 -1.73255645e-04 -3.04415052e+01] [-1.99210051e-03 2.57399555e-05 9.99998015e-01 -1.88214833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.440281693 meters Centerline goodness [0,1] 0.9996077833220752 Centerline is valid? [True, True] Translation: X:445.34, Y:-30.44, Z:-1.88 [[ 9.97166538e-01 7.51818547e-02 2.56596204e-03 4.45338564e+02] [-7.51815276e-02 9.97169839e-01 -2.23811966e-04 -3.04396118e+01] [-2.57552655e-03 3.02648571e-05 9.99996683e-01 -1.88120419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.47028169299995 meters Centerline goodness [0,1] 0.9996160982788406 Centerline is valid? [True, True] Translation: X:445.37, Y:-30.44, Z:-1.88 [[ 9.97005076e-01 7.72757321e-02 3.05613822e-03 4.45366657e+02] [-7.72752785e-02 9.97009759e-01 -2.66416275e-04 -3.04360902e+01] [-3.06758715e-03 2.94544458e-05 9.99995295e-01 -1.88063764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.500281693 meters Centerline goodness [0,1] 0.9995560535272604 Centerline is valid? [True, True] Translation: X:445.40, Y:-30.43, Z:-1.88 [[ 9.96941309e-01 7.80436222e-02 4.14952341e-03 4.45395573e+02] [-7.80427937e-02 9.96949944e-01 -3.61459945e-04 -3.04345084e+01] [-4.16507678e-03 3.65139517e-05 9.99991325e-01 -1.87961602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.53028169299995 meters Centerline goodness [0,1] 0.9995949172778441 Centerline is valid? [True, True] Translation: X:445.42, Y:-30.43, Z:-1.88 [[ 9.96879867e-01 7.87639062e-02 5.17469187e-03 4.45424566e+02] [-7.87626293e-02 9.96893297e-01 -4.50395969e-04 -3.04336872e+01] [-5.19409059e-03 4.14183360e-05 9.99986510e-01 -1.87800835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.560281693 meters Centerline goodness [0,1] 0.9994522048753766 Centerline is valid? [True, True] Translation: X:445.45, Y:-30.43, Z:-1.88 [[ 9.96851100e-01 7.90949370e-02 5.64582890e-03 4.45452532e+02] [-7.90934247e-02 9.96867087e-01 -4.90997126e-04 -3.04340572e+01] [-5.66697639e-03 4.29030831e-05 9.99983942e-01 -1.87737694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.59028169299995 meters Centerline goodness [0,1] 0.9996186521472002 Centerline is valid? [True, True] Translation: X:445.48, Y:-30.44, Z:-1.88 [[ 9.96965061e-01 7.77706558e-02 3.52014682e-03 4.45481082e+02] [-7.77700601e-02 9.96971275e-01 -3.05983872e-04 -3.04357055e+01] [-3.53328184e-03 3.12931999e-05 9.99993757e-01 -1.88162938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.620281693 meters Centerline goodness [0,1] 0.9995539601962575 Centerline is valid? [True, True] Translation: X:445.51, Y:-30.44, Z:-1.88 [[ 9.97110343e-01 7.59429498e-02 1.90601029e-03 4.45508583e+02] [-7.59427719e-02 9.97112164e-01 -1.65634950e-04 -3.04406281e+01] [-1.91308485e-03 2.04086169e-05 9.99998170e-01 -1.88440070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.65028169299995 meters Centerline goodness [0,1] 0.9996593570364062 Centerline is valid? [True, True] Translation: X:445.54, Y:-30.44, Z:-1.89 [[ 9.97242045e-01 7.42140383e-02 7.62343644e-04 4.45536778e+02] [-7.42140093e-02 9.97242336e-01 -6.62811765e-05 -3.04432121e+01] [-7.65160350e-04 9.52179775e-06 9.99999707e-01 -1.88673704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.680281693 meters Centerline goodness [0,1] 0.9995055039559684 Centerline is valid? [True, True] Translation: X:445.56, Y:-30.45, Z:-1.89 [[ 9.97412688e-01 7.18860929e-02 5.64803321e-04 4.45563999e+02] [-7.18860766e-02 9.97412848e-01 -4.91041161e-05 -3.04483600e+01] [-5.66871992e-04 8.37557360e-06 9.99999839e-01 -1.88724388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.71028169299996 meters Centerline goodness [0,1] 0.9994474433629447 Centerline is valid? [True, True] Translation: X:445.59, Y:-30.45, Z:-1.89 [[ 9.97434952e-01 7.15765098e-02 5.65323695e-04 4.45591272e+02] [-7.15764934e-02 9.97435112e-01 -4.91139393e-05 -3.04517017e+01] [-5.67389107e-04 8.52407198e-06 9.99999839e-01 -1.88735803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.740281693 meters Centerline goodness [0,1] 0.9992910087012569 Centerline is valid? [True, True] Translation: X:445.62, Y:-30.45, Z:-1.89 [[ 9.97427491e-01 7.16808032e-02 5.12661709e-04 4.45620205e+02] [-7.16807898e-02 9.97427623e-01 -4.44998269e-05 -3.04525905e+01] [-5.14532733e-04 7.63735445e-06 9.99999868e-01 -1.88752989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.77028169299996 meters Centerline goodness [0,1] 0.9995514928879586 Centerline is valid? [True, True] Translation: X:445.65, Y:-30.45, Z:-1.89 [[ 9.97350994e-01 7.27361044e-02 6.73091953e-04 4.45647761e+02] [-7.27360816e-02 9.97351222e-01 -5.83820837e-05 -3.04540765e+01] [-6.75555566e-04 9.26935810e-06 9.99999772e-01 -1.88717987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.800281693 meters Centerline goodness [0,1] 0.9995327202056031 Centerline is valid? [True, True] Translation: X:445.68, Y:-30.46, Z:-1.89 [[ 9.97285808e-01 7.36136418e-02 1.43165421e-03 4.45676661e+02] [-7.36135397e-02 9.97286835e-01 -1.23934022e-04 -3.04552819e+01] [-1.43689313e-03 1.82085074e-05 9.99998968e-01 -1.88645557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.83028169299996 meters Centerline goodness [0,1] 0.9996156310057656 Centerline is valid? [True, True] Translation: X:445.71, Y:-30.46, Z:-1.89 [[ 9.97215653e-01 7.45476728e-02 1.89364260e-03 4.45705341e+02] [-7.45474961e-02 9.97217451e-01 -1.63805387e-04 -3.04559201e+01] [-1.90058475e-03 2.21829824e-05 9.99998194e-01 -1.88533733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86028169299993 meters Centerline goodness [0,1] 0.9995760196726872 Centerline is valid? [True, True] Translation: X:445.73, Y:-30.45, Z:-1.89 [[ 9.97070650e-01 7.64650186e-02 1.79423002e-03 4.45733526e+02] [-7.64648632e-02 9.97072264e-01 -1.55130093e-04 -3.04539445e+01] [-1.80083902e-03 1.74801098e-05 9.99998378e-01 -1.88542157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.89028169299996 meters Centerline goodness [0,1] 0.99961229456997 Centerline is valid? [True, True] Translation: X:445.76, Y:-30.46, Z:-1.89 [[ 9.97058934e-01 7.66095954e-02 2.11003179e-03 4.45762782e+02] [-7.66093812e-02 9.97061166e-01 -1.82289353e-04 -3.04550633e+01] [-2.11779587e-03 2.01049984e-05 9.99997757e-01 -1.88545680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92028169299994 meters Centerline goodness [0,1] 0.9995113868116927 Centerline is valid? [True, True] Translation: X:445.79, Y:-30.46, Z:-1.88 [[ 9.97099734e-01 7.60653931e-02 2.48539813e-03 4.45791387e+02] [-7.60650945e-02 9.97102831e-01 -2.14584358e-04 -3.04573338e+01] [-2.49451996e-03 2.49099623e-05 9.99996888e-01 -1.88496601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.95028169299997 meters Centerline goodness [0,1] 0.9995980877437916 Centerline is valid? [True, True] Translation: X:445.82, Y:-30.46, Z:-1.88 [[ 9.97177909e-01 7.50277333e-02 2.65645829e-03 4.45818536e+02] [-7.50273889e-02 9.97181447e-01 -2.29213463e-04 -3.04611095e+01] [-2.66616829e-03 2.92594722e-05 9.99996445e-01 -1.88439512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98028169299994 meters Centerline goodness [0,1] 0.9994062639156894 Centerline is valid? [True, True] Translation: X:445.85, Y:-30.46, Z:-1.88 [[ 9.97224529e-01 7.43657424e-02 3.60222224e-03 4.45845904e+02] [-7.43651058e-02 9.97231034e-01 -3.10552483e-04 -3.04646393e+01] [-3.61534227e-03 4.18109159e-05 9.99993464e-01 -1.88200598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.01028169299997 meters Centerline goodness [0,1] 0.999383516506877 Centerline is valid? [True, True] Translation: X:445.87, Y:-30.47, Z:-1.88 [[ 9.97167091e-01 7.51136060e-02 3.96709651e-03 4.45874451e+02] [-7.51128406e-02 9.97174982e-01 -3.41791191e-04 -3.04657277e+01] [-3.98156256e-03 4.28430397e-05 9.99992073e-01 -1.88116925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04028169299994 meters Centerline goodness [0,1] 0.999530736743313 Centerline is valid? [True, True] Translation: X:445.90, Y:-30.47, Z:-1.88 [[ 9.97095943e-01 7.60388435e-02 4.21596010e-03 4.45902137e+02] [-7.60379883e-02 9.97104855e-01 -3.63004403e-04 -3.04652264e+01] [-4.23135673e-03 4.13770931e-05 9.99991047e-01 -1.88083987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.07028169299997 meters Centerline goodness [0,1] 0.9994484163183911 Centerline is valid? [True, True] Translation: X:445.93, Y:-30.46, Z:-1.88 [[ 9.96966361e-01 7.77054533e-02 4.46512100e-03 4.45930768e+02] [-7.77045117e-02 9.96976359e-01 -3.84218720e-04 -3.04630749e+01] [-4.48147596e-03 3.60930926e-05 9.99989957e-01 -1.88046342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10028169299994 meters Centerline goodness [0,1] 0.9995092809899723 Centerline is valid? [True, True] Translation: X:445.96, Y:-30.46, Z:-1.88 [[ 9.96665109e-01 8.14563448e-02 4.85018033e-03 4.45960227e+02] [-8.14552794e-02 9.96676910e-01 -4.17127007e-04 -3.04568133e+01] [-4.86804038e-03 2.06631406e-05 9.99988151e-01 -1.87977192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.130281693 meters Centerline goodness [0,1] 0.9995799378307989 Centerline is valid? [True, True] Translation: X:445.99, Y:-30.46, Z:-1.88 [[ 9.96536252e-01 8.30247962e-02 4.73097936e-03 4.45989032e+02] [-8.30238012e-02 9.96547482e-01 -4.06666197e-04 -3.04558313e+01] [-4.74840895e-03 1.24737175e-05 9.99988726e-01 -1.87978597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16028169299994 meters Centerline goodness [0,1] 0.9996593062623768 Centerline is valid? [True, True] Translation: X:446.02, Y:-30.45, Z:-1.88 [[ 9.96414268e-01 8.44989880e-02 4.30441256e-03 4.46018430e+02] [-8.44981789e-02 9.96423565e-01 -3.69815400e-04 -3.04543850e+01] [-4.32026713e-03 4.77431815e-06 9.99990668e-01 -1.88106245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.190281693 meters Centerline goodness [0,1] 0.9995522197108618 Centerline is valid? [True, True] Translation: X:446.05, Y:-30.45, Z:-1.88 [[ 9.96239158e-01 8.65647145e-02 3.75367117e-03 4.46047054e+02] [-8.65641145e-02 9.96246230e-01 -3.22324014e-04 -3.04490449e+01] [-3.76748263e-03 -3.82141616e-06 9.99992903e-01 -1.88300338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22028169299995 meters Centerline goodness [0,1] 0.9996595817110274 Centerline is valid? [True, True] Translation: X:446.08, Y:-30.45, Z:-1.88 [[ 9.96193835e-01 8.70781320e-02 3.90401729e-03 4.46075370e+02] [-8.70774879e-02 9.96201485e-01 -3.34983046e-04 -3.04488699e+01] [-3.91835752e-03 -6.24397216e-06 9.99992323e-01 -1.88353176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.250281693 meters Centerline goodness [0,1] 0.999830866807611 Centerline is valid? [True, True] Translation: X:446.10, Y:-30.45, Z:-1.88 [[ 9.96200670e-01 8.69918236e-02 4.08005603e-03 4.46103608e+02] [-8.69911205e-02 9.96209026e-01 -3.49813773e-04 -3.04491762e+01] [-4.09501958e-03 -6.44393055e-06 9.99991615e-01 -1.88348254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28028169299995 meters Centerline goodness [0,1] 0.9997240852364377 Centerline is valid? [True, True] Translation: X:446.13, Y:-30.45, Z:-1.88 [[ 9.96405819e-01 8.46162415e-02 3.94161026e-03 4.46131205e+02] [-8.46155677e-02 9.96413615e-01 -3.37702934e-04 -3.04511210e+01] [-3.95604928e-03 2.96757780e-06 9.99992175e-01 -1.88299191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.310281693 meters Centerline goodness [0,1] 0.999659342531085 Centerline is valid? [True, True] Translation: X:446.16, Y:-30.45, Z:-1.88 [[ 9.96555117e-01 8.28722207e-02 3.17721170e-03 4.46158642e+02] [-8.28717745e-02 9.96560181e-01 -2.72032980e-04 -3.04541943e+01] [-3.18882665e-03 7.79468614e-06 9.99994916e-01 -1.88457029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34028169299995 meters Centerline goodness [0,1] 0.9995946320752704 Centerline is valid? [True, True] Translation: X:446.19, Y:-30.46, Z:-1.89 [[ 9.96680454e-01 8.13789481e-02 2.35357515e-03 4.46187577e+02] [-8.13786994e-02 9.96683233e-01 -2.01397190e-04 -3.04582589e+01] [-2.36215838e-03 9.19775853e-06 9.99997210e-01 -1.88664913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.370281693 meters Centerline goodness [0,1] 0.9996204693529003 Centerline is valid? [True, True] Translation: X:446.22, Y:-30.46, Z:-1.89 [[ 9.96775955e-01 8.02180511e-02 1.66143832e-03 4.46216110e+02] [-8.02179257e-02 9.96777339e-01 -1.42086430e-04 -3.04621464e+01] [-1.66748197e-03 8.35120049e-06 9.99998610e-01 -1.88804273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40028169299995 meters Centerline goodness [0,1] 0.999596560144389 Centerline is valid? [True, True] Translation: X:446.25, Y:-30.46, Z:-1.89 [[ 9.96841786e-01 7.93962515e-02 1.64000308e-03 4.46245109e+02] [-7.93961283e-02 9.96843135e-01 -1.40184200e-04 -3.04620015e+01] [-1.64595591e-03 9.53157351e-06 9.99998645e-01 -1.88756592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.430281693 meters Centerline goodness [0,1] 0.9992046089685713 Centerline is valid? [True, True] Translation: X:446.27, Y:-30.46, Z:-1.88 [[ 9.96788940e-01 8.00614607e-02 1.40379433e-03 4.46274663e+02] [-8.00613712e-02 9.96789929e-01 -1.19947299e-04 -3.04595181e+01] [-1.40889121e-03 7.17244189e-06 9.99999007e-01 -1.88194434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46028169299996 meters Centerline goodness [0,1] 0.9996566597283321 Centerline is valid? [True, True] Translation: X:446.30, Y:-30.46, Z:-1.89 [[ 9.96715533e-01 8.09661288e-02 1.62270943e-03 4.46303703e+02] [-8.09660105e-02 9.96716853e-01 -1.38559606e-04 -3.04568983e+01] [-1.62860047e-03 6.72020337e-06 9.99998674e-01 -1.88745127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.490281693 meters Centerline goodness [0,1] 0.9996214112945631 Centerline is valid? [True, True] Translation: X:446.33, Y:-30.46, Z:-1.89 [[ 9.96692531e-01 8.12478587e-02 1.66850194e-03 4.46330395e+02] [-8.12477341e-02 9.96693928e-01 -1.42402142e-04 -3.04570248e+01] [-1.67455562e-03 6.36914915e-06 9.99998598e-01 -1.88795810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52028169299996 meters Centerline goodness [0,1] 0.999681812396589 Centerline is valid? [True, True] Translation: X:446.36, Y:-30.46, Z:-1.89 [[ 9.96745829e-01 8.05587379e-02 2.83597362e-03 4.46359031e+02] [-8.05583762e-02 9.96749863e-01 -2.41711577e-04 -3.04552390e+01] [-2.84622830e-03 1.24635761e-05 9.99995949e-01 -1.88629692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.550281693 meters Centerline goodness [0,1] 0.9996362780547294 Centerline is valid? [True, True] Translation: X:446.39, Y:-30.46, Z:-1.89 [[ 9.96860486e-01 7.91011474e-02 3.49000841e-03 4.46387844e+02] [-7.91005914e-02 9.96866595e-01 -2.97272645e-04 -3.04572423e+01] [-3.50258741e-03 2.02776244e-05 9.99993866e-01 -1.88500148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58028169299996 meters Centerline goodness [0,1] 0.9995136392471982 Centerline is valid? [True, True] Translation: X:446.42, Y:-30.46, Z:-1.88 [[ 9.96999403e-01 7.73284749e-02 3.53515468e-03 4.46415167e+02] [-7.73278940e-02 9.97005670e-01 -3.00924466e-04 -3.04611021e+01] [-3.54783929e-03 2.66554465e-05 9.99993706e-01 -1.88452337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.61028169299993 meters Centerline goodness [0,1] 0.9994507583759348 Centerline is valid? [True, True] Translation: X:446.44, Y:-30.47, Z:-1.88 [[ 9.97256305e-01 7.39285197e-02 3.79952678e-03 4.46443360e+02] [-7.39278248e-02 9.97263542e-01 -3.23204878e-04 -3.04658615e+01] [-3.81302359e-03 4.14273518e-05 9.99992730e-01 -1.88347330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64028169299996 meters Centerline goodness [0,1] 0.9994022586085435 Centerline is valid? [True, True] Translation: X:446.47, Y:-30.47, Z:-1.88 [[ 9.97349866e-01 7.26270396e-02 4.30797056e-03 4.46472547e+02] [-7.26261350e-02 9.97359168e-01 -3.66242491e-04 -3.04673032e+01] [-4.32319305e-03 5.24006475e-05 9.99990654e-01 -1.88286984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.67028169299994 meters Centerline goodness [0,1] 0.9993873196290115 Centerline is valid? [True, True] Translation: X:446.50, Y:-30.47, Z:-1.88 [[ 9.97424176e-01 7.15715026e-02 4.74699595e-03 4.46499712e+02] [-7.15703937e-02 9.97435470e-01 -4.03299790e-04 -3.04715711e+01] [-4.76368691e-03 6.25165920e-05 9.99988652e-01 -1.88163239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70028169299997 meters Centerline goodness [0,1] 0.9990855538778896 Centerline is valid? [True, True] Translation: X:446.53, Y:-30.47, Z:-1.88 [[ 9.97471603e-01 7.08797010e-02 5.14491493e-03 4.46526945e+02] [-7.08783909e-02 9.97484869e-01 -4.36768395e-04 -3.04738695e+01] [-5.16293280e-03 7.10007794e-05 9.99986669e-01 -1.88107609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.73028169299994 meters Centerline goodness [0,1] 0.9990703570673991 Centerline is valid? [True, True] Translation: X:446.56, Y:-30.48, Z:-1.88 [[ 9.97531424e-01 7.00139889e-02 5.39442324e-03 4.46556201e+02] [-7.00125375e-02 9.97546007e-01 -4.57651611e-04 -3.04750440e+01] [-5.41322738e-03 7.88446031e-05 9.99985345e-01 -1.88159987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76028169299997 meters Centerline goodness [0,1] 0.9992554933951628 Centerline is valid? [True, True] Translation: X:446.58, Y:-30.48, Z:-1.88 [[ 9.97539975e-01 6.98682447e-02 5.69435977e-03 4.46584997e+02] [-6.98666266e-02 9.97556225e-01 -4.82829746e-04 -3.04771740e+01] [-5.71417850e-03 8.37962649e-05 9.99983670e-01 -1.88155345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.79028169299994 meters Centerline goodness [0,1] 0.9991972283251648 Centerline is valid? [True, True] Translation: X:446.61, Y:-30.48, Z:-1.88 [[ 9.97539501e-01 6.98577218e-02 5.90275248e-03 4.46613048e+02] [-6.98559850e-02 9.97556961e-01 -5.00162894e-04 -3.04788494e+01] [-5.92327207e-03 8.65896555e-05 9.99982454e-01 -1.88107545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82028169299997 meters Centerline goodness [0,1] 0.9993375219045176 Centerline is valid? [True, True] Translation: X:446.64, Y:-30.48, Z:-1.88 [[ 9.97550078e-01 6.97361650e-02 5.54150203e-03 4.46641518e+02] [-6.97346340e-02 9.97565467e-01 -4.69266766e-04 -3.04785306e+01] [-5.56073592e-03 8.16824837e-05 9.99984536e-01 -1.88253789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.85028169299994 meters Centerline goodness [0,1] 0.9991754756871036 Centerline is valid? [True, True] Translation: X:446.67, Y:-30.48, Z:-1.89 [[ 9.97574028e-01 6.95033384e-02 3.91714449e-03 4.46669295e+02] [-6.95025723e-02 9.97581717e-01 -3.31526386e-04 -3.04834415e+01] [-3.93071392e-03 5.84704944e-05 9.99992273e-01 -1.88502373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.880281693 meters Centerline goodness [0,1] 0.9993184238551651 Centerline is valid? [True, True] Translation: X:446.70, Y:-30.48, Z:-1.89 [[ 9.97590767e-01 6.93008942e-02 3.16965987e-03 4.46698524e+02] [-6.93003921e-02 9.97595802e-01 -2.68105407e-04 -3.04819063e+01] [-3.18061933e-03 4.78008063e-05 9.99994941e-01 -1.88658129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.91028169299994 meters Centerline goodness [0,1] 0.9993648777389648 Centerline is valid? [True, True] Translation: X:446.73, Y:-30.48, Z:-1.89 [[ 9.97609348e-01 6.90269214e-02 3.29744126e-03 4.46726656e+02] [-6.90263770e-02 9.97614796e-01 -2.78736394e-04 -3.04849517e+01] [-3.30881651e-03 5.04596085e-05 9.99994525e-01 -1.88618959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.940281693 meters Centerline goodness [0,1] 0.9993167940561083 Centerline is valid? [True, True] Translation: X:446.76, Y:-30.48, Z:-1.89 [[ 9.97719620e-01 6.74202069e-02 3.17418626e-03 4.46755617e+02] [-6.74196949e-02 9.97724668e-01 -2.68139331e-04 -3.04848915e+01] [-3.18504194e-03 5.35252017e-05 9.99994926e-01 -1.88705493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.97028169299995 meters Centerline goodness [0,1] 0.9991246050046972 Centerline is valid? [True, True] Translation: X:446.78, Y:-30.49, Z:-1.89 [[ 9.97804389e-01 6.61790080e-02 2.59627795e-03 4.46783010e+02] [-6.61786616e-02 9.97807765e-01 -2.19210241e-04 -3.04894757e+01] [-2.60509341e-03 4.69107413e-05 9.99996606e-01 -1.88844159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.000281693 meters Centerline goodness [0,1] 0.9991246050046972 Centerline is valid? [True, True] Translation: X:446.81, Y:-30.49, Z:-1.89 [[ 9.97807364e-01 6.61341409e-02 2.59629014e-03 4.46811245e+02] [-6.61337947e-02 9.97810740e-01 -2.19065729e-04 -3.04917700e+01] [-2.60509391e-03 4.68828786e-05 9.99996606e-01 -1.88850123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.03028169299995 meters Centerline goodness [0,1] 0.99918990364117 Centerline is valid? [True, True] Translation: X:446.84, Y:-30.49, Z:-1.89 [[ 9.97866671e-01 6.52487849e-02 2.16875400e-03 4.46840298e+02] [-6.52485415e-02 9.97869027e-01 -1.82909186e-04 -3.04949889e+01] [-2.17606704e-03 4.10109452e-05 9.99997632e-01 -1.88953656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.060281693 meters Centerline goodness [0,1] 0.9989307786070184 Centerline is valid? [True, True] Translation: X:446.87, Y:-30.49, Z:-1.89 [[ 9.97907533e-01 6.46100025e-02 2.47034278e-03 4.46868937e+02] [-6.46096849e-02 9.97910590e-01 -2.08219552e-04 -3.04945185e+01] [-2.47863429e-03 4.81757902e-05 9.99996927e-01 -1.88881851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.09028169299995 meters Centerline goodness [0,1] 0.9989587317778061 Centerline is valid? [True, True] Translation: X:446.90, Y:-30.50, Z:-1.89 [[ 9.97867207e-01 6.51930651e-02 3.30164072e-03 4.46896933e+02] [-6.51925018e-02 9.97872667e-01 -2.78089191e-04 -3.04952176e+01] [-3.31274652e-03 6.22538661e-05 9.99994511e-01 -1.88712671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.120281693 meters Centerline goodness [0,1] 0.9990667486796615 Centerline is valid? [True, True] Translation: X:446.93, Y:-30.50, Z:-1.89 [[ 9.97809674e-01 6.60251500e-02 4.06612616e-03 4.46925688e+02] [-6.60243034e-02 9.97817956e-01 -3.42240607e-04 -3.04950583e+01] [-4.07985018e-03 7.30278414e-05 9.99991675e-01 -1.88621634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.15028169299995 meters Centerline goodness [0,1] 0.9992010260507559 Centerline is valid? [True, True] Translation: X:446.95, Y:-30.50, Z:-1.89 [[ 9.97768945e-01 6.65994580e-02 4.65247329e-03 4.46953283e+02] [-6.65983570e-02 9.97779788e-01 -3.91333617e-04 -3.04969520e+01] [-4.66820642e-03 8.06134533e-05 9.99989101e-01 -1.88516682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.180281693 meters Centerline goodness [0,1] 0.9991568829964378 Centerline is valid? [True, True] Translation: X:446.98, Y:-30.50, Z:-1.89 [[ 9.97797812e-01 6.61857282e-02 4.35604994e-03 4.46981184e+02] [-6.61847601e-02 9.97807318e-01 -3.66159019e-04 -3.04993252e+01] [-4.37073301e-03 7.70485482e-05 9.99990445e-01 -1.88623549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.21028169299996 meters Centerline goodness [0,1] 0.9990844830522909 Centerline is valid? [True, True] Translation: X:447.01, Y:-30.50, Z:-1.89 [[ 9.97833159e-01 6.56761986e-02 3.95262105e-03 4.47009749e+02] [-6.56753984e-02 9.97840985e-01 -3.32052422e-04 -3.04997155e+01] [-3.96589522e-03 7.17429550e-05 9.99992133e-01 -1.88772369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.240281693 meters Centerline goodness [0,1] 0.9988631976320193 Centerline is valid? [True, True] Translation: X:447.04, Y:-30.50, Z:-1.89 [[ 9.97858474e-01 6.52993530e-02 3.80280831e-03 4.47038401e+02] [-6.52986102e-02 9.97865717e-01 -3.19290866e-04 -3.05028371e+01] [-3.81554153e-03 7.02889983e-05 9.99992718e-01 -1.88865943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.27028169299996 meters Centerline goodness [0,1] 0.9991651861206842 Centerline is valid? [True, True] Translation: X:447.07, Y:-30.51, Z:-1.89 [[ 9.97891209e-01 6.47614762e-02 4.36875061e-03 4.47066785e+02] [-6.47604917e-02 9.97900769e-01 -3.66584776e-04 -3.05057844e+01] [-4.38332016e-03 8.28892873e-05 9.99990390e-01 -1.88832476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.300281693 meters Centerline goodness [0,1] 0.9989560474678825 Centerline is valid? [True, True] Translation: X:447.09, Y:-30.51, Z:-1.89 [[ 9.97961623e-01 6.35762070e-02 5.53757581e-03 4.47093897e+02] [-6.35746089e-02 9.97976980e-01 -4.64328199e-04 -3.05123580e+01] [-5.55589341e-03 1.11332506e-04 9.99984560e-01 -1.88650650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.33028169299996 meters Centerline goodness [0,1] 0.9988492274906766 Centerline is valid? [True, True] Translation: X:447.12, Y:-30.52, Z:-1.89 [[ 9.98000209e-01 6.29049409e-02 6.20889187e-03 4.47122413e+02] [-6.29029208e-02 9.98019515e-01 -5.20284637e-04 -3.05156833e+01] [-6.22932373e-03 1.28686743e-04 9.99980589e-01 -1.88581232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36028169299993 meters Centerline goodness [0,1] 0.9985348763138338 Centerline is valid? [True, True] Translation: X:447.15, Y:-30.52, Z:-1.89 [[ 9.98041692e-01 6.22558157e-02 6.08232154e-03 4.47149557e+02] [-6.22538672e-02 9.98060217e-01 -5.09348446e-04 -3.05224227e+01] [-6.10223306e-03 1.29702948e-04 9.99981373e-01 -1.88588284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.39028169299996 meters Centerline goodness [0,1] 0.998664490280457 Centerline is valid? [True, True] Translation: X:447.18, Y:-30.53, Z:-1.89 [[ 9.98129797e-01 6.09685826e-02 4.44307308e-03 4.47177894e+02] [-6.09675310e-02 9.98139681e-01 -3.71875804e-04 -3.05277749e+01] [-4.45748029e-03 1.00297125e-04 9.99990060e-01 -1.88938522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42028169299994 meters Centerline goodness [0,1] 0.9989987217724755 Centerline is valid? [True, True] Translation: X:447.21, Y:-30.53, Z:-1.89 [[ 9.98159426e-01 6.04921686e-02 4.29623839e-03 4.47206813e+02] [-6.04911818e-02 9.98168667e-01 -3.59389811e-04 -3.05326064e+01] [-4.31011081e-03 9.88437903e-05 9.99990707e-01 -1.89020333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.45028169299997 meters Centerline goodness [0,1] 0.9984983714732879 Centerline is valid? [True, True] Translation: X:447.23, Y:-30.54, Z:-1.89 [[ 9.98198906e-01 5.98137743e-02 4.61041817e-03 4.47234531e+02] [-5.98126318e-02 9.98209547e-01 -3.85420334e-04 -3.05396979e+01] [-4.62521688e-03 1.08964911e-04 9.99989298e-01 -1.88974949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48028169299994 meters Centerline goodness [0,1] 0.9983689896208431 Centerline is valid? [True, True] Translation: X:447.26, Y:-30.55, Z:-1.89 [[ 9.98219443e-01 5.94051500e-02 5.38251214e-03 4.47261499e+02] [-5.94035886e-02 9.98233946e-01 -4.49637000e-04 -3.05475442e+01] [-5.39971709e-03 1.29095859e-04 9.99985413e-01 -1.88809841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.51028169299997 meters Centerline goodness [0,1] 0.998303647158609 Centerline is valid? [True, True] Translation: X:447.29, Y:-30.55, Z:-1.89 [[ 9.98242918e-01 5.89296036e-02 6.19504568e-03 4.47290176e+02] [-5.89275277e-02 9.98262129e-01 -5.17238885e-04 -3.05546894e+01] [-6.21476018e-03 1.51271327e-04 9.99980677e-01 -1.88694434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54028169299994 meters Centerline goodness [0,1] 0.9983908873409413 Centerline is valid? [True, True] Translation: X:447.32, Y:-30.56, Z:-1.89 [[ 9.98233070e-01 5.90778689e-02 6.36733111e-03 4.47319238e+02] [-5.90756801e-02 9.98253365e-01 -5.31454789e-04 -3.05600549e+01] [-6.38760693e-03 1.54361330e-04 9.99979587e-01 -1.88647055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.57028169299997 meters Centerline goodness [0,1] 0.9984714673913043 Centerline is valid? [True, True] Translation: X:447.35, Y:-30.56, Z:-1.89 [[ 9.98212676e-01 5.94217454e-02 6.36478172e-03 4.47348512e+02] [-5.94195662e-02 9.98232955e-01 -5.31098196e-04 -3.05648189e+01] [-6.38509364e-03 1.51956382e-04 9.99979604e-01 -1.88655237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60028169299994 meters Centerline goodness [0,1] 0.9982988134223622 Centerline is valid? [True, True] Translation: X:447.38, Y:-30.57, Z:-1.89 [[ 9.98182920e-01 5.99536863e-02 6.03429874e-03 4.47377219e+02] [-5.99517381e-02 9.98201150e-01 -5.03388154e-04 -3.05696176e+01] [-6.05362392e-03 1.40706760e-04 9.99981667e-01 -1.88708374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.630281693 meters Centerline goodness [0,1] 0.9991485013623979 Centerline is valid? [True, True] Translation: X:447.41, Y:-30.57, Z:-1.89 [[ 9.98067054e-01 6.18587220e-02 5.97105009e-03 4.47406510e+02] [-6.18568496e-02 9.98084907e-01 -4.97928669e-04 -3.05711589e+01] [-5.99041621e-03 1.27615853e-04 9.99982049e-01 -1.88843242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66028169299994 meters Centerline goodness [0,1] 0.9990533888678531 Centerline is valid? [True, True] Translation: X:447.43, Y:-30.58, Z:-1.89 [[ 9.97994415e-01 6.30004629e-02 6.17166502e-03 4.47434556e+02] [-6.29984854e-02 9.98013490e-01 -5.14497071e-04 -3.05774332e+01] [-6.19181849e-03 1.24659655e-04 9.99980823e-01 -1.88794723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.690281693 meters Centerline goodness [0,1] 0.9990192524998401 Centerline is valid? [True, True] Translation: X:447.46, Y:-30.58, Z:-1.89 [[ 9.97929682e-01 6.39533552e-02 6.80572872e-03 4.47464029e+02] [-6.39509737e-02 9.97952880e-01 -5.67196548e-04 -3.05779954e+01] [-6.82807070e-03 1.30789292e-04 9.99976680e-01 -1.88809779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72028169299995 meters Centerline goodness [0,1] 0.9992128664425818 Centerline is valid? [True, True] Translation: X:447.49, Y:-30.58, Z:-1.89 [[ 9.97853784e-01 6.51170283e-02 6.89919507e-03 4.47493153e+02] [-6.51146098e-02 9.97877626e-01 -5.74822860e-04 -3.05808055e+01] [-6.92198316e-03 1.24350770e-04 9.99976035e-01 -1.88773846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.750281693 meters Centerline goodness [0,1] 0.9993796260642622 Centerline is valid? [True, True] Translation: X:447.52, Y:-30.58, Z:-1.89 [[ 9.97781210e-01 6.62572888e-02 6.52913706e-03 4.47522525e+02] [-6.62551482e-02 9.97802565e-01 -5.43838914e-04 -3.05834929e+01] [-6.55082300e-03 1.10043306e-04 9.99978537e-01 -1.88853586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78028169299995 meters Centerline goodness [0,1] 0.9996127699853713 Centerline is valid? [True, True] Translation: X:447.55, Y:-30.59, Z:-1.89 [[ 9.97595468e-01 6.90833044e-02 5.54789244e-03 4.47551341e+02] [-6.90818035e-02 9.97610892e-01 -4.61940938e-04 -3.05856447e+01] [-5.56655033e-03 7.75717706e-05 9.99984504e-01 -1.88997698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.810281693 meters Centerline goodness [0,1] 0.9994678473360438 Centerline is valid? [True, True] Translation: X:447.58, Y:-30.59, Z:-1.89 [[ 9.97493459e-01 7.05091763e-02 5.93767787e-03 4.47579115e+02] [-7.05074842e-02 9.97511128e-01 -4.94085685e-04 -3.05878654e+01] [-5.95773732e-03 7.41965104e-05 9.99982250e-01 -1.88926624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84028169299995 meters Centerline goodness [0,1] 0.9994919129477517 Centerline is valid? [True, True] Translation: X:447.61, Y:-30.59, Z:-1.89 [[ 9.97408698e-01 7.15968807e-02 7.05526013e-03 4.47608156e+02] [-7.15945216e-02 9.97433647e-01 -5.86700862e-04 -3.05898749e+01] [-7.07915980e-03 8.00625695e-05 9.99974939e-01 -1.88797844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.870281693 meters Centerline goodness [0,1] 0.9993711746457618 Centerline is valid? [True, True] Translation: X:447.64, Y:-30.60, Z:-1.89 [[ 9.97392591e-01 7.17907919e-02 7.35540909e-03 4.47635129e+02] [-7.17882362e-02 9.97419709e-01 -6.11230040e-04 -3.05962696e+01] [-7.38031068e-03 8.16044685e-05 9.99972762e-01 -1.88765905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90028169299995 meters Centerline goodness [0,1] 0.9994240245749515 Centerline is valid? [True, True] Translation: X:447.66, Y:-30.60, Z:-1.89 [[ 9.97516188e-01 7.01192150e-02 6.68962113e-03 4.47664241e+02] [-7.01170650e-02 9.97538615e-01 -5.55674915e-04 -3.06010674e+01] [-6.71211888e-03 8.52381234e-05 9.99977470e-01 -1.89053109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.930281693 meters Centerline goodness [0,1] 0.9993604366086085 Centerline is valid? [True, True] Translation: X:447.69, Y:-30.61, Z:-1.89 [[ 9.97675328e-01 6.78880720e-02 5.92864270e-03 4.47693570e+02] [-6.78863447e-02 9.97692940e-01 -4.92328663e-04 -3.06100234e+01] [-5.94838821e-03 8.87102791e-05 9.99982304e-01 -1.89193120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96028169299996 meters Centerline goodness [0,1] 0.9991088100492276 Centerline is valid? [True, True] Translation: X:447.72, Y:-30.62, Z:-1.89 [[ 9.97863531e-01 6.50785707e-02 5.75785630e-03 4.47721685e+02] [-6.50768943e-02 9.97880138e-01 -4.78217979e-04 -3.06222024e+01] [-5.77677218e-03 1.02492875e-04 9.99983309e-01 -1.89219797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.990281693 meters Centerline goodness [0,1] 0.9984184889188791 Centerline is valid? [True, True] Translation: X:447.75, Y:-30.64, Z:-1.89 [[ 9.98179258e-01 6.00267828e-02 5.91216955e-03 4.47749247e+02] [-6.00249262e-02 9.98196758e-01 -4.91142344e-04 -3.06406395e+01] [-5.93099017e-03 1.35370560e-04 9.99982402e-01 -1.89159236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02028169299996 meters Centerline goodness [0,1] 0.9980566117448246 Centerline is valid? [True, True] Translation: X:447.78, Y:-30.65, Z:-1.89 [[ 9.98239744e-01 5.89515955e-02 6.49020824e-03 4.47778206e+02] [-5.89493355e-02 9.98260830e-01 -5.39134755e-04 -3.06486438e+01] [-6.51070352e-03 1.55592276e-04 9.99978793e-01 -1.89044409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.050281693 meters Centerline goodness [0,1] 0.9981453847793648 Centerline is valid? [True, True] Translation: X:447.81, Y:-30.65, Z:-1.89 [[ 9.98227128e-01 5.91198876e-02 6.88760256e-03 4.47808412e+02] [-5.91173466e-02 9.98250876e-01 -5.72120810e-04 -3.06516088e+01] [-6.90937901e-03 1.63929726e-04 9.99976117e-01 -1.88971163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08028169299996 meters Centerline goodness [0,1] 0.998412429617713 Centerline is valid? [True, True] Translation: X:447.84, Y:-30.66, Z:-1.89 [[ 9.98021747e-01 6.23144324e-02 8.33686966e-03 4.47838217e+02] [-6.23108208e-02 9.98056553e-01 -6.92504624e-04 -3.06560268e+01] [-8.36382042e-03 1.71657483e-04 9.99965008e-01 -1.88754512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.11028169299993 meters Centerline goodness [0,1] 0.9981201816453691 Centerline is valid? [True, True] Translation: X:447.87, Y:-30.66, Z:-1.89 [[ 9.97892338e-01 6.42869710e-02 8.83558912e-03 4.47867486e+02] [-6.42829923e-02 9.97931440e-01 -7.33853689e-04 -3.06587550e+01] [-8.86448940e-03 1.64328866e-04 9.99960696e-01 -1.88611882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14028169299996 meters Centerline goodness [0,1] 0.9982272497045416 Centerline is valid? [True, True] Translation: X:447.90, Y:-30.66, Z:-1.89 [[ 9.97732560e-01 6.66837942e-02 9.11099705e-03 4.47896699e+02] [-6.66796637e-02 9.97774148e-01 -7.56703339e-04 -3.06618656e+01] [-9.14117716e-03 1.47469340e-04 9.99958208e-01 -1.88522227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.17028169299994 meters Centerline goodness [0,1] 0.9985553431060123 Centerline is valid? [True, True] Translation: X:447.93, Y:-30.66, Z:-1.89 [[ 9.97565836e-01 6.90807831e-02 9.49986424e-03 4.47927256e+02] [-6.90764011e-02 9.97611061e-01 -7.89000254e-04 -3.06622261e+01] [-9.53167439e-03 1.30863266e-04 9.99954564e-01 -1.88634148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20028169299997 meters Centerline goodness [0,1] 0.998765037794102 Centerline is valid? [True, True] Translation: X:447.96, Y:-30.66, Z:-1.89 [[ 9.97229732e-01 7.37704629e-02 9.52784458e-03 4.47957430e+02] [-7.37662699e-02 9.97275244e-01 -7.91238128e-04 -3.06635949e+01] [-9.56025353e-03 8.62126318e-05 9.99954296e-01 -1.88717847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.23028169299994 meters Centerline goodness [0,1] 0.9990251345738143 Centerline is valid? [True, True] Translation: X:447.99, Y:-30.67, Z:-1.89 [[ 9.97110556e-01 7.53794766e-02 9.40605034e-03 4.47986832e+02] [-7.53754635e-02 9.97154918e-01 -7.80930511e-04 -3.06656727e+01] [-9.43815549e-03 6.96886513e-05 9.99955457e-01 -1.88773381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26028169299997 meters Centerline goodness [0,1] 0.9988806521785043 Centerline is valid? [True, True] Translation: X:448.02, Y:-30.67, Z:-1.89 [[ 9.97052137e-01 7.61988601e-02 8.98724211e-03 4.48016069e+02] [-7.61952308e-02 9.97092639e-01 -7.46033131e-04 -3.06683676e+01] [-9.01795982e-03 5.90489408e-05 9.99959336e-01 -1.88843677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.29028169299994 meters Centerline goodness [0,1] 0.9989373459151577 Centerline is valid? [True, True] Translation: X:448.05, Y:-30.67, Z:-1.89 [[ 9.97036045e-01 7.64479711e-02 8.65059190e-03 4.48045979e+02] [-7.64446182e-02 9.97073570e-01 -7.18064358e-04 -3.06718897e+01] [-8.68017112e-03 5.46448517e-05 9.99962325e-01 -1.88933546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32028169299997 meters Centerline goodness [0,1] 0.9987503971195595 Centerline is valid? [True, True] Translation: X:448.08, Y:-30.68, Z:-1.89 [[ 9.97088991e-01 7.58328528e-02 7.93239284e-03 4.48075195e+02] [-7.58300146e-02 9.97120542e-01 -6.58381494e-04 -3.06808347e+01] [-7.95947880e-03 5.49514747e-05 9.99968321e-01 -1.89102193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.35028169299994 meters Centerline goodness [0,1] 0.9989593067708776 Centerline is valid? [True, True] Translation: X:448.10, Y:-30.69, Z:-1.89 [[ 9.97130462e-01 7.53360192e-02 7.43815303e-03 4.48104049e+02] [-7.53335105e-02 9.97158203e-01 -6.17276802e-04 -3.06877960e+01] [-7.46351848e-03 5.51633230e-05 9.99972146e-01 -1.89186027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.380281693 meters Centerline goodness [0,1] 0.9989167374681394 Centerline is valid? [True, True] Translation: X:448.13, Y:-30.69, Z:-1.89 [[ 9.97155728e-01 7.50218612e-02 7.22322722e-03 4.48133717e+02] [-7.50194873e-02 9.97181888e-01 -5.99417417e-04 -3.06943651e+01] [-7.24784077e-03 5.58297076e-05 9.99973732e-01 -1.89274823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.41028169299994 meters Centerline goodness [0,1] 0.9986774461912583 Centerline is valid? [True, True] Translation: X:448.16, Y:-30.70, Z:-1.89 [[ 9.97164719e-01 7.48964171e-02 7.28357614e-03 4.48163531e+02] [-7.48940000e-02 9.97191317e-01 -6.04425454e-04 -3.06999759e+01] [-7.30838819e-03 5.72155863e-05 9.99973292e-01 -1.89309555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.440281693 meters Centerline goodness [0,1] 0.9988944168048646 Centerline is valid? [True, True] Translation: X:448.19, Y:-30.70, Z:-1.89 [[ 9.97051046e-01 7.64298438e-02 6.90588309e-03 4.48194207e+02] [-7.64277077e-02 9.97074961e-01 -5.73082706e-04 -3.07044588e+01] [-6.92948374e-03 4.35918973e-05 9.99975990e-01 -1.89455368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.47028169299995 meters Centerline goodness [0,1] 0.9990784792764991 Centerline is valid? [True, True] Translation: X:448.22, Y:-30.71, Z:-1.89 [[ 9.96950747e-01 7.77261675e-02 6.91746683e-03 4.48224433e+02] [-7.77240554e-02 9.96974745e-01 -5.74043979e-04 -3.07072026e+01] [-6.94115797e-03 3.46399990e-05 9.99975909e-01 -1.89489374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.500281693 meters Centerline goodness [0,1] 0.9988975810383939 Centerline is valid? [True, True] Translation: X:448.25, Y:-30.71, Z:-1.89 [[ 9.96852532e-01 7.89806663e-02 6.86180959e-03 4.48253892e+02] [-7.89786182e-02 9.96876148e-01 -5.69371526e-04 -3.07101416e+01] [-6.88534366e-03 2.56432074e-05 9.99976295e-01 -1.89470302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.53028169299995 meters Centerline goodness [0,1] 0.9991165148614821 Centerline is valid? [True, True] Translation: X:448.28, Y:-30.71, Z:-1.89 [[ 9.96763290e-01 8.01196429e-02 6.61712008e-03 4.48283443e+02] [-8.01177638e-02 9.96785254e-01 -5.48994487e-04 -3.07141680e+01] [-6.63983296e-03 1.70686876e-05 9.99977956e-01 -1.89494322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.560281693 meters Centerline goodness [0,1] 0.9988196113148686 Centerline is valid? [True, True] Translation: X:448.31, Y:-30.72, Z:-1.90 [[ 9.96714863e-01 8.07974809e-02 5.59002624e-03 4.48314062e+02] [-8.07961506e-02 9.96730539e-01 -4.63760995e-04 -3.07180658e+01] [-5.60922058e-03 1.05848752e-05 9.99984268e-01 -1.89680671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.59028169299995 meters Centerline goodness [0,1] 0.9990772586192433 Centerline is valid? [True, True] Translation: X:448.34, Y:-30.72, Z:-1.90 [[ 9.96627735e-01 8.19122650e-02 4.85168007e-03 4.48342959e+02] [-8.19112763e-02 9.96639544e-01 -4.02475919e-04 -3.07241659e+01] [-4.86834393e-03 3.71135738e-06 9.99988150e-01 -1.89903115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.620281693 meters Centerline goodness [0,1] 0.9990308648477826 Centerline is valid? [True, True] Translation: X:448.37, Y:-30.73, Z:-1.90 [[ 9.96595116e-01 8.22993097e-02 4.99989520e-03 4.48372633e+02] [-8.22982645e-02 9.96607658e-01 -4.14782999e-04 -3.07293592e+01] [-5.01707020e-03 1.88801261e-06 9.99987414e-01 -1.89905651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.65028169299995 meters Centerline goodness [0,1] 0.9989742932239246 Centerline is valid? [True, True] Translation: X:448.40, Y:-30.73, Z:-1.90 [[ 9.96568650e-01 8.25851625e-02 5.53317379e-03 4.48402245e+02] [-8.25838871e-02 9.96584011e-01 -4.58975573e-04 -3.07349063e+01] [-5.55217710e-03 4.49667696e-07 9.99984587e-01 -1.89870999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.680281693 meters Centerline goodness [0,1] 0.9990126672688696 Centerline is valid? [True, True] Translation: X:448.43, Y:-30.74, Z:-1.90 [[ 9.96417556e-01 8.44032508e-02 5.30522627e-03 4.48431110e+02] [-8.44021045e-02 9.96431679e-01 -4.39987774e-04 -3.07402346e+01] [-5.32343192e-03 -9.36071998e-06 9.99985830e-01 -1.89914479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.71028169299996 meters Centerline goodness [0,1] 0.9991861212251018 Centerline is valid? [True, True] Translation: X:448.46, Y:-30.74, Z:-1.90 [[ 9.96290533e-01 8.59428445e-02 4.35903503e-03 4.48460535e+02] [-8.59420857e-02 9.96300069e-01 -3.61447164e-04 -3.07421688e+01] [-4.37397070e-03 -1.45181742e-05 9.99990434e-01 -1.90169601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.740281693 meters Centerline goodness [0,1] 0.9991741487379299 Centerline is valid? [True, True] Translation: X:448.49, Y:-30.74, Z:-1.90 [[ 9.96131333e-01 8.78102598e-02 3.42419210e-03 4.48490234e+02] [-8.78098028e-02 9.96137218e-01 -2.83865889e-04 -3.07432846e+01] [-3.43589153e-03 -1.79099265e-05 9.99994097e-01 -1.90379979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.77028169299996 meters Centerline goodness [0,1] 0.9992108181895742 Centerline is valid? [True, True] Translation: X:448.52, Y:-30.74, Z:-1.91 [[ 9.95923524e-01 9.01626953e-02 2.65019735e-03 4.48519784e+02] [-9.01624300e-02 9.95927050e-01 -2.19654244e-04 -3.07439830e+01] [-2.65920785e-03 -2.01894044e-05 9.99996464e-01 -1.90564691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.800281693 meters Centerline goodness [0,1] 0.9992251065478497 Centerline is valid? [True, True] Translation: X:448.55, Y:-30.75, Z:-1.91 [[ 9.95418895e-01 9.55683351e-02 2.81356050e-03 4.48549025e+02] [-9.55680579e-02 9.95422871e-01 -2.33119962e-04 -3.07450144e+01] [-2.82296135e-03 -3.68344978e-05 9.99996015e-01 -1.90514079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.83028169299996 meters Centerline goodness [0,1] 0.9991881729618869 Centerline is valid? [True, True] Translation: X:448.58, Y:-30.74, Z:-1.90 [[ 9.95086376e-01 9.89544470e-02 3.33478290e-03 4.48578227e+02] [-9.89540770e-02 9.95091963e-01 -2.76172923e-04 -3.07385478e+01] [-3.34574420e-03 -5.51744509e-05 9.99994401e-01 -1.90342132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86028169299993 meters Centerline goodness [0,1] 0.9988217223893787 Centerline is valid? [True, True] Translation: X:448.61, Y:-30.73, Z:-1.90 [[ 9.94711494e-01 1.02646417e-01 3.57177141e-03 4.48607758e+02] [-1.02646017e-01 9.94717904e-01 -2.95672182e-04 -3.07340225e+01] [-3.58325466e-03 -7.25195899e-05 9.99993577e-01 -1.90267617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.89028169299996 meters Centerline goodness [0,1] 0.9988217223893787 Centerline is valid? [True, True] Translation: X:448.64, Y:-30.74, Z:-1.90 [[ 9.94715835e-01 1.02604341e-01 3.57178208e-03 4.48636003e+02] [-1.02603941e-01 9.94722245e-01 -2.95543223e-04 -3.07362641e+01] [-3.58325510e-03 -7.24973925e-05 9.99993577e-01 -1.90273581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92028169299994 meters Centerline goodness [0,1] 0.997849779707823 Centerline is valid? [True, True] Translation: X:448.67, Y:-30.73, Z:-1.90 [[ 9.94336548e-01 1.06210383e-01 3.76616122e-03 4.48665576e+02] [-1.06209965e-01 9.94343676e-01 -3.11479406e-04 -3.07313764e+01] [-3.77794094e-03 -9.02884939e-05 9.99992859e-01 -1.90283108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.95028169299997 meters Centerline goodness [0,1] 0.9954778990276422 Centerline is valid? [True, True] Translation: X:448.70, Y:-30.72, Z:-1.90 [[ 9.93853875e-01 1.10621738e-01 4.16007192e-03 4.48695204e+02] [-1.10621267e-01 9.93862575e-01 -3.43940013e-04 -3.07225598e+01] [-4.17258704e-03 -1.18366311e-04 9.99991288e-01 -1.90454955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98028169299994 meters Centerline goodness [0,1] 0.9965419082762256 Centerline is valid? [True, True] Translation: X:448.72, Y:-30.73, Z:-1.91 [[ 9.93811848e-01 1.10990880e-01 4.36286394e-03 4.48724060e+02] [-1.10990366e-01 9.93821417e-01 -3.60559131e-04 -3.07289996e+01] [-4.37592640e-03 -1.25907927e-04 9.99990418e-01 -1.90523714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.01028169299997 meters Centerline goodness [0,1] 0.9983973331623822 Centerline is valid? [True, True] Translation: X:448.75, Y:-30.74, Z:-1.91 [[ 9.94036688e-01 1.08945747e-01 4.67832102e-03 4.48752599e+02] [-1.08945134e-01 9.94047689e-01 -3.86409359e-04 -3.07368996e+01] [-4.69257186e-03 -1.25575230e-04 9.99988982e-01 -1.90533142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04028169299994 meters Centerline goodness [0,1] 0.998641073551894 Centerline is valid? [True, True] Translation: X:448.78, Y:-30.74, Z:-1.90 [[ 9.94198200e-01 1.07464875e-01 4.60863263e-03 4.48781113e+02] [-1.07464265e-01 9.94208875e-01 -3.80439858e-04 -3.07405331e+01] [-4.62282739e-03 -1.17030698e-04 9.99989308e-01 -1.90476149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.07028169299997 meters Centerline goodness [0,1] 0.9987075997372825 Centerline is valid? [True, True] Translation: X:448.81, Y:-30.74, Z:-1.90 [[ 9.94385114e-01 1.05692230e-01 5.23425925e-03 4.48808513e+02] [-1.05691420e-01 9.94398882e-01 -4.31791650e-04 -3.07432338e+01] [-5.25057857e-03 -1.23849104e-04 9.99986208e-01 -1.90373720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10028169299994 meters Centerline goodness [0,1] 0.9988033676652849 Centerline is valid? [True, True] Translation: X:448.84, Y:-30.75, Z:-1.90 [[ 9.94599315e-01 1.03609264e-01 6.10917369e-03 4.48836614e+02] [-1.03608124e-01 9.94618069e-01 -5.03641313e-04 -3.07481751e+01] [-6.12847644e-03 -1.32038721e-04 9.99981212e-01 -1.90227209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.130281693 meters Centerline goodness [0,1] 0.9988702251023193 Centerline is valid? [True, True] Translation: X:448.87, Y:-30.76, Z:-1.90 [[ 9.95094969e-01 9.85346887e-02 8.77027660e-03 4.48865911e+02] [-9.85321447e-02 9.95133606e-01 -7.22731315e-04 -3.07596361e+01] [-8.79881109e-03 -1.44967868e-04 9.99961279e-01 -1.89910793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16028169299994 meters Centerline goodness [0,1] 0.9989356493603253 Centerline is valid? [True, True] Translation: X:448.90, Y:-30.76, Z:-1.90 [[ 9.95283162e-01 9.64900497e-02 1.00547152e-02 4.48895276e+02] [-9.64866042e-02 9.95333938e-01 -8.28334165e-04 -3.07648621e+01] [-1.00877253e-02 -1.45718283e-04 9.99949107e-01 -1.89728968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.190281693 meters Centerline goodness [0,1] 0.9989528124465721 Centerline is valid? [True, True] Translation: X:448.92, Y:-30.77, Z:-1.89 [[ 9.95397222e-01 9.51892552e-02 1.11074886e-02 4.48924731e+02] [-9.51849712e-02 9.95459183e-01 -9.14903436e-04 -3.07685900e+01] [-1.11441405e-02 -1.46573645e-04 9.99937891e-01 -1.89486001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22028169299995 meters Centerline goodness [0,1] 0.9988062246855681 Centerline is valid? [True, True] Translation: X:448.96, Y:-30.77, Z:-1.89 [[ 9.95437594e-01 9.46992584e-02 1.16638828e-02 4.48955187e+02] [-9.46945011e-02 9.95505916e-01 -9.60706637e-04 -3.07732484e+01] [-1.17024426e-02 -1.48182062e-04 9.99931513e-01 -1.89422457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.250281693 meters Centerline goodness [0,1] 0.9989005412719891 Centerline is valid? [True, True] Translation: X:448.99, Y:-30.78, Z:-1.90 [[ 9.95460509e-01 9.47373735e-02 9.12163402e-03 4.48985676e+02] [-9.47344649e-02 9.95502294e-01 -7.51391238e-04 -3.07763204e+01] [-9.15179242e-03 -1.16152813e-04 9.99958115e-01 -1.89798362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28028169299995 meters Centerline goodness [0,1] 0.9991760505355671 Centerline is valid? [True, True] Translation: X:449.02, Y:-30.78, Z:-1.90 [[ 9.95440736e-01 9.51004683e-02 7.32401417e-03 4.49015578e+02] [-9.50986028e-02 9.95467675e-01 -6.03331982e-04 -3.07791928e+01] [-7.34819651e-03 -9.59222823e-05 9.99972997e-01 -1.90227959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.310281693 meters Centerline goodness [0,1] 0.9991953244113163 Centerline is valid? [True, True] Translation: X:449.04, Y:-30.78, Z:-1.90 [[ 9.95425420e-01 9.53518033e-02 6.02223402e-03 4.49043969e+02] [-9.53505475e-02 9.95443633e-01 -4.95958965e-04 -3.07803052e+01] [-6.04208510e-03 -8.05331500e-05 9.99981743e-01 -1.90494993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34028169299995 meters Centerline goodness [0,1] 0.9992956393673561 Centerline is valid? [True, True] Translation: X:449.07, Y:-30.78, Z:-1.91 [[ 9.95390110e-01 9.57493059e-02 5.53164812e-03 4.49073100e+02] [-9.57482533e-02 9.95405477e-01 -4.55409713e-04 -3.07831689e+01] [-5.54983800e-03 -7.63353205e-05 9.99984597e-01 -1.90614683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.370281693 meters Centerline goodness [0,1] 0.9992203632685743 Centerline is valid? [True, True] Translation: X:449.10, Y:-30.78, Z:-1.91 [[ 9.95207155e-01 9.76105868e-02 5.90694175e-03 4.49101582e+02] [-9.76094204e-02 9.95224681e-01 -4.86121627e-04 -3.07821385e+01] [-5.92618483e-03 -9.27814388e-05 9.99982436e-01 -1.90527588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40028169299995 meters Centerline goodness [0,1] 0.9992711057754148 Centerline is valid? [True, True] Translation: X:449.13, Y:-30.78, Z:-1.90 [[ 9.95086796e-01 9.88061310e-02 6.29412986e-03 4.49130762e+02] [-9.88048320e-02 9.95106696e-01 -5.17763747e-04 -3.07833219e+01] [-6.31448901e-03 -1.06670575e-04 9.99980058e-01 -1.90490490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.430281693 meters Centerline goodness [0,1] 0.9989075954247526 Centerline is valid? [True, True] Translation: X:449.16, Y:-30.79, Z:-1.90 [[ 9.95006320e-01 9.95872251e-02 6.69392333e-03 4.49160294e+02] [-9.95857747e-02 9.95028829e-01 -5.50468858e-04 -3.07854126e+01] [-6.71546636e-03 -1.18899548e-04 9.99977444e-01 -1.90494421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46028169299996 meters Centerline goodness [0,1] 0.9987330813572922 Centerline is valid? [True, True] Translation: X:449.19, Y:-30.79, Z:-1.90 [[ 9.94970722e-01 9.99337820e-02 6.81926281e-03 4.49188541e+02] [-9.99322864e-02 9.94994082e-01 -5.60564995e-04 -3.07868440e+01] [-6.84114552e-03 -1.23718767e-04 9.99976591e-01 -1.90478332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.490281693 meters Centerline goodness [0,1] 0.9991142604074402 Centerline is valid? [True, True] Translation: X:449.22, Y:-30.79, Z:-1.91 [[ 9.95024423e-01 9.94217854e-02 6.45803154e-03 4.49217679e+02] [-9.94204344e-02 9.95045374e-01 -5.30700184e-04 -3.07934371e+01] [-6.47879757e-03 -1.14000657e-04 9.99979006e-01 -1.90616834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52028169299996 meters Centerline goodness [0,1] 0.9989574468085106 Centerline is valid? [True, True] Translation: X:449.25, Y:-30.80, Z:-1.91 [[ 9.95082111e-01 9.88624766e-02 6.14835491e-03 4.49247122e+02] [-9.88612423e-02 9.95101100e-01 -5.05108451e-04 -3.07979998e+01] [-6.16817101e-03 -1.05209621e-04 9.99980971e-01 -1.90693103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.550281693 meters Centerline goodness [0,1] 0.9991451712863035 Centerline is valid? [True, True] Translation: X:449.28, Y:-30.80, Z:-1.91 [[ 9.95143707e-01 9.82805711e-02 5.47100020e-03 4.49275329e+02] [-9.82795858e-02 9.95158742e-01 -4.49297138e-04 -3.08003510e+01] [-5.48867085e-03 -9.05724144e-05 9.99984933e-01 -1.90838076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58028169299996 meters Centerline goodness [0,1] 0.9993888561072242 Centerline is valid? [True, True] Translation: X:449.30, Y:-30.80, Z:-1.91 [[ 9.95197299e-01 9.77662368e-02 4.90909232e-03 4.49304470e+02] [-9.77654379e-02 9.95209403e-01 -4.03019096e-04 -3.08042975e+01] [-4.92497650e-03 -7.88560443e-05 9.99987869e-01 -1.90952513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.61028169299993 meters Centerline goodness [0,1] 0.9994749994749995 Centerline is valid? [True, True] Translation: X:449.33, Y:-30.81, Z:-1.91 [[ 9.95352140e-01 9.61865676e-02 4.71827615e-03 4.49332862e+02] [-9.61858126e-02 9.95363320e-01 -3.87215820e-04 -3.08109697e+01] [-4.73364398e-03 -6.84151311e-05 9.99988794e-01 -1.91018779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64028169299996 meters Centerline goodness [0,1] 0.9995975002648024 Centerline is valid? [True, True] Translation: X:449.36, Y:-30.82, Z:-1.91 [[ 9.95519694e-01 9.44211293e-02 5.01884658e-03 4.49361736e+02] [-9.44202532e-02 9.95532343e-01 -4.11737513e-04 -3.08204488e+01] [-5.03530082e-03 -6.39879617e-05 9.99987321e-01 -1.91074942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.67028169299994 meters Centerline goodness [0,1] 0.9994476077164953 Centerline is valid? [True, True] Translation: X:449.39, Y:-30.83, Z:-1.91 [[ 9.95725459e-01 9.22010841e-02 5.45629906e-03 4.49391014e+02] [-9.22000154e-02 9.95740406e-01 -4.47633759e-04 -3.08287346e+01] [-5.47432976e-03 -5.73505273e-05 9.99985014e-01 -1.91035378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70028169299997 meters Centerline goodness [0,1] 0.9993359182536792 Centerline is valid? [True, True] Translation: X:449.42, Y:-30.84, Z:-1.91 [[ 9.96026015e-01 8.89108567e-02 5.19962188e-03 4.49421223e+02] [-8.89098407e-02 9.96039587e-01 -4.26686285e-04 -3.08446018e+01] [-5.21696627e-03 -3.73069134e-05 9.99986391e-01 -1.91241736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.73028169299994 meters Centerline goodness [0,1] 0.9993478901089654 Centerline is valid? [True, True] Translation: X:449.45, Y:-30.85, Z:-1.91 [[ 9.96038968e-01 8.87787155e-02 4.97138388e-03 4.49452159e+02] [-8.87777826e-02 9.96051373e-01 -4.08448158e-04 -3.08501538e+01] [-4.98801525e-03 -3.45181564e-05 9.99987559e-01 -1.91257915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76028169299997 meters Centerline goodness [0,1] 0.99949200973648 Centerline is valid? [True, True] Translation: X:449.48, Y:-30.86, Z:-1.91 [[ 9.96013512e-01 8.90346829e-02 5.46899045e-03 4.49482694e+02] [-8.90335554e-02 9.96028526e-01 -4.49765383e-04 -3.08558306e+01] [-5.48731521e-03 -3.89512659e-05 9.99984944e-01 -1.91232622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.79028169299994 meters Centerline goodness [0,1] 0.9992845418963848 Centerline is valid? [True, True] Translation: X:449.51, Y:-30.86, Z:-1.91 [[ 9.95897254e-01 9.03142798e-02 5.65604269e-03 4.49513602e+02] [-9.03130912e-02 9.95913314e-01 -4.65727388e-04 -3.08598129e+01] [-5.67499005e-03 -4.69980724e-05 9.99983896e-01 -1.91141849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82028169299997 meters Centerline goodness [0,1] 0.9994255441373587 Centerline is valid? [True, True] Translation: X:449.54, Y:-30.86, Z:-1.91 [[ 9.95723016e-01 9.22178653e-02 5.61612108e-03 4.49544837e+02] [-9.22167215e-02 9.95738852e-01 -4.62830349e-04 -3.08627403e+01] [-5.63487119e-03 -5.70494427e-05 9.99984122e-01 -1.91135950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.85028169299994 meters Centerline goodness [0,1] 0.999425776265419 Centerline is valid? [True, True] Translation: X:449.58, Y:-30.86, Z:-1.91 [[ 9.95322890e-01 9.65044367e-02 4.38622061e-03 4.49575610e+02] [-9.65037803e-02 9.95332552e-01 -3.61536361e-04 -3.08622370e+01] [-4.40063802e-03 -6.34414548e-05 9.99990315e-01 -1.91315827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.880281693 meters Centerline goodness [0,1] 0.9993627190653213 Centerline is valid? [True, True] Translation: X:449.61, Y:-30.87, Z:-1.91 [[ 9.95209713e-01 9.76592606e-02 4.50510814e-03 4.49606202e+02] [-9.76585799e-02 9.95219907e-01 -3.71360090e-04 -3.08650475e+01] [-4.51984006e-03 -7.03812953e-05 9.99989783e-01 -1.91288398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.91028169299994 meters Centerline goodness [0,1] 0.9995100545330606 Centerline is valid? [True, True] Translation: X:449.64, Y:-30.87, Z:-1.91 [[ 9.95163640e-01 9.80988545e-02 5.09347576e-03 4.49636946e+02] [-9.80979901e-02 9.95176672e-01 -4.19859758e-04 -3.08682551e+01] [-5.11009601e-03 -8.18305694e-05 9.99986940e-01 -1.91241671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.940281693 meters Centerline goodness [0,1] 0.9992561421406104 Centerline is valid? [True, True] Translation: X:449.67, Y:-30.87, Z:-1.91 [[ 9.95161892e-01 9.80673789e-02 5.96646539e-03 4.49666908e+02] [-9.80661920e-02 9.95179773e-01 -4.91864308e-04 -3.08718779e+01] [-5.98594151e-03 -9.56239255e-05 9.99982080e-01 -1.91154256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.97028169299995 meters Centerline goodness [0,1] 0.999297767752644 Centerline is valid? [True, True] Translation: X:449.70, Y:-30.88, Z:-1.91 [[ 9.95244051e-01 9.71570817e-02 7.05555737e-03 4.49697592e+02] [-9.71553981e-02 9.95269054e-01 -5.81785142e-04 -3.08816770e+01] [-7.07870245e-03 -1.06467284e-04 9.99974940e-01 -1.91119650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.000281693 meters Centerline goodness [0,1] 0.9993207098581982 Centerline is valid? [True, True] Translation: X:449.73, Y:-30.89, Z:-1.91 [[ 9.95326715e-01 9.63137862e-02 6.95594432e-03 4.49729472e+02] [-9.63121235e-02 9.95351016e-01 -5.74396338e-04 -3.08903631e+01] [-6.97892853e-03 -9.82297474e-05 9.99975642e-01 -1.91160445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.03028169299995 meters Centerline goodness [0,1] 0.9993843802407285 Centerline is valid? [True, True] Translation: X:449.76, Y:-30.90, Z:-1.91 [[ 9.95423229e-01 9.53363744e-02 6.60075840e-03 4.49761119e+02] [-9.53348488e-02 9.95445111e-01 -5.46108588e-04 -3.08974514e+01] [-6.62275669e-03 -8.56731296e-05 9.99978066e-01 -1.91173897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.060281693 meters Centerline goodness [0,1] 0.9996591538494312 Centerline is valid? [True, True] Translation: X:449.79, Y:-30.90, Z:-1.91 [[ 9.95404270e-01 9.55654989e-02 6.12986841e-03 4.49792889e+02] [-9.55641814e-02 9.95423141e-01 -5.08155093e-04 -3.09037473e+01] [-6.15037496e-03 -7.99761070e-05 9.99981083e-01 -1.91210416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.09028169299995 meters Centerline goodness [0,1] 0.9997232806147428 Centerline is valid? [True, True] Translation: X:449.83, Y:-30.91, Z:-1.91 [[ 9.95265772e-01 9.70130571e-02 5.87454348e-03 4.49825177e+02] [-9.70118666e-02 9.95283105e-01 -4.87932288e-04 -3.09059669e+01] [-5.89416968e-03 -8.42781226e-05 9.99982626e-01 -1.91295785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.120281693 meters Centerline goodness [0,1] 0.9995166848785408 Centerline is valid? [True, True] Translation: X:449.86, Y:-30.91, Z:-1.91 [[ 9.95018959e-01 9.95433618e-02 5.32817287e-03 4.49857195e+02] [-9.95424144e-02 9.95033221e-01 -4.43362716e-04 -3.09067782e+01] [-5.34584283e-03 -8.92248840e-05 9.99985707e-01 -1.91464149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.15028169299995 meters Centerline goodness [0,1] 0.9993417280699892 Centerline is valid? [True, True] Translation: X:449.89, Y:-30.91, Z:-1.92 [[ 9.94736234e-01 1.02356753e-01 4.78737273e-03 4.49887674e+02] [-1.02356019e-01 9.94747750e-01 -3.98689867e-04 -3.09058335e+01] [-4.80303685e-03 -9.34251568e-05 9.99988461e-01 -1.91564264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.180281693 meters Centerline goodness [0,1] 0.998615754839534 Centerline is valid? [True, True] Translation: X:449.92, Y:-30.90, Z:-1.92 [[ 9.94174785e-01 1.07664004e-01 4.99596816e-03 4.49917901e+02] [-1.07663272e-01 9.94187330e-01 -4.16086090e-04 -3.09012448e+01] [-5.01172574e-03 -1.24219978e-04 9.99987434e-01 -1.91618093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.21028169299996 meters Centerline goodness [0,1] 0.9984293415969775 Centerline is valid? [True, True] Translation: X:449.95, Y:-30.91, Z:-1.92 [[ 9.93957384e-01 1.09645958e-01 5.14613889e-03 4.49948606e+02] [-1.09645207e-01 9.93970696e-01 -4.28628466e-04 -3.09060883e+01] [-5.16210864e-03 -1.38211036e-04 9.99986667e-01 -1.91640987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.240281693 meters Centerline goodness [0,1] 0.9985230848263019 Centerline is valid? [True, True] Translation: X:449.98, Y:-30.91, Z:-1.92 [[ 9.93757384e-01 1.11460384e-01 4.77966617e-03 4.49979899e+02] [-1.11459757e-01 9.93768869e-01 -3.98189981e-04 -3.09080078e+01] [-4.79426585e-03 -1.37036196e-04 9.99988498e-01 -1.91726471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.27028169299996 meters Centerline goodness [0,1] 0.9966225604412048 Centerline is valid? [True, True] Translation: X:450.01, Y:-30.90, Z:-1.92 [[ 9.93550098e-01 1.13325681e-01 3.93615689e-03 4.50010133e+02] [-1.13325270e-01 9.93557887e-01 -3.27958945e-04 -3.09025097e+01] [-3.94796590e-03 -1.20222402e-04 9.99992200e-01 -1.91810835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.300281693 meters Centerline goodness [0,1] 0.9947580387393723 Centerline is valid? [True, True] Translation: X:450.04, Y:-30.90, Z:-1.92 [[ 9.92937497e-01 1.18623840e-01 1.87392599e-03 4.50039938e+02] [-1.18623756e-01 9.92939263e-01 -1.56137670e-04 -3.08958101e+01] [-1.87921634e-03 -6.72571933e-05 9.99998232e-01 -1.92343593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.33028169299996 meters Centerline goodness [0,1] 0.9923593870387809 Centerline is valid? [True, True] Translation: X:450.07, Y:-30.89, Z:-1.92 [[ 9.92579335e-01 1.21585650e-01 1.78701141e-03 4.50070510e+02] [-1.21585579e-01 9.92580941e-01 -1.48875642e-04 -3.08929657e+01] [-1.79185461e-03 -6.95039311e-05 9.99998392e-01 -1.92376148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36028169299993 meters Centerline goodness [0,1] 0.994634260142945 Centerline is valid? [True, True] Translation: X:450.10, Y:-30.90, Z:-1.92 [[ 9.92216630e-01 1.24504995e-01 2.16010189e-03 4.50100296e+02] [-1.24504897e-01 9.92218977e-01 -1.79929636e-04 -3.08992987e+01] [-2.16569622e-03 -9.04140872e-05 9.99997651e-01 -1.92274936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.39028169299996 meters Centerline goodness [0,1] 0.9926964964663931 Centerline is valid? [True, True] Translation: X:450.13, Y:-30.89, Z:-1.92 [[ 9.91860852e-01 1.27294942e-01 2.83695936e-03 4.50130023e+02] [-1.27294786e-01 9.91864901e-01 -2.36260116e-04 -3.08949811e+01] [-2.84395514e-03 -1.26792976e-04 9.99995948e-01 -1.92146928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42028169299994 meters Centerline goodness [0,1] 0.9862976157851466 Centerline is valid? [True, True] Translation: X:450.16, Y:-30.88, Z:-1.92 [[ 9.91356436e-01 1.31118749e-01 4.50442293e-03 4.50160905e+02] [-1.31118395e-01 9.91366646e-01 -3.75016687e-04 -3.08830002e+01] [-4.51470637e-03 -2.18837499e-04 9.99989785e-01 -1.91962447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.45028169299997 meters Centerline goodness [0,1] 0.989345998331301 Centerline is valid? [True, True] Translation: X:450.19, Y:-30.89, Z:-1.92 [[ 9.91330151e-01 1.31274318e-01 5.61999433e-03 4.50189374e+02] [-1.31273771e-01 9.91346044e-01 -4.67696351e-04 -3.08892496e+01] [-5.63275566e-03 -2.74116353e-04 9.99984098e-01 -1.91828292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48028169299994 meters Centerline goodness [0,1] 0.9842486344582292 Centerline is valid? [True, True] Translation: X:450.22, Y:-30.88, Z:-1.92 [[ 9.91460414e-01 1.30238329e-01 6.65018669e-03 4.50217369e+02] [-1.30237542e-01 9.91482666e-01 -5.53058067e-04 -3.08844601e+01] [-6.66557418e-03 -3.17768788e-04 9.99977734e-01 -1.91585079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.51028169299997 meters Centerline goodness [0,1] 0.9803181166146316 Centerline is valid? [True, True] Translation: X:450.25, Y:-30.88, Z:-1.91 [[ 9.91689446e-01 1.28472012e-01 6.85452668e-03 4.50247138e+02] [-1.28471136e-01 9.91713085e-01 -5.69826003e-04 -3.08802263e+01] [-6.87093049e-03 -3.15518397e-04 9.99976345e-01 -1.91469537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54028169299994 meters Centerline goodness [0,1] 0.9880554733415078 Centerline is valid? [True, True] Translation: X:450.28, Y:-30.89, Z:-1.92 [[ 9.91979892e-01 1.26245106e-01 6.16983930e-03 4.50275719e+02] [-1.26244354e-01 9.91999042e-01 -5.12775254e-04 -3.08915892e+01] [-6.18521004e-03 -2.70244632e-04 9.99980835e-01 -1.91672146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.57028169299997 meters Centerline goodness [0,1] 0.9935080039755546 Centerline is valid? [True, True] Translation: X:450.31, Y:-30.90, Z:-1.92 [[ 9.92502070e-01 1.22125356e-01 5.00386915e-03 4.50305624e+02] [-1.22124809e-01 9.92514664e-01 -4.15828084e-04 -3.08990472e+01] [-5.01719666e-03 -1.98386330e-04 9.99987394e-01 -1.92011142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60028169299994 meters Centerline goodness [0,1] 0.9947993742336476 Centerline is valid? [True, True] Translation: X:450.33, Y:-30.90, Z:-1.92 [[ 9.92780692e-01 1.19821155e-01 5.42110120e-03 4.50334828e+02] [-1.19820480e-01 9.92795472e-01 -4.50419362e-04 -3.09032906e+01] [-5.43601450e-03 -2.02391301e-04 9.99985204e-01 -1.91959561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.630281693 meters Centerline goodness [0,1] 0.9957888945319113 Centerline is valid? [True, True] Translation: X:450.36, Y:-30.91, Z:-1.92 [[ 9.93096722e-01 1.17126204e-01 6.35235731e-03 4.50364295e+02] [-1.17125222e-01 9.93117014e-01 -5.27638765e-04 -3.09067450e+01] [-6.37043445e-03 -2.20024931e-04 9.99979684e-01 -1.91767162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66028169299994 meters Centerline goodness [0,1] 0.996724983096687 Centerline is valid? [True, True] Translation: X:450.39, Y:-30.91, Z:-1.92 [[ 9.93617174e-01 1.12623914e-01 6.38472866e-03 4.50394270e+02] [-1.12622830e-01 9.93637669e-01 -5.30219757e-04 -3.09083877e+01] [-6.40382233e-03 -1.92230751e-04 9.99979477e-01 -1.91704881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.690281693 meters Centerline goodness [0,1] 0.9982235381199112 Centerline is valid? [True, True] Translation: X:450.42, Y:-30.91, Z:-1.92 [[ 9.93897271e-01 1.10208027e-01 4.73347102e-03 4.50423651e+02] [-1.10207404e-01 9.93908534e-01 -3.93039265e-04 -3.09105165e+01] [-4.74795332e-03 -1.31022901e-04 9.99988720e-01 -1.92079803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72028169299995 meters Centerline goodness [0,1] 0.99909192659388 Centerline is valid? [True, True] Translation: X:450.45, Y:-30.91, Z:-1.93 [[ 9.94226514e-01 1.07268607e-01 2.66177063e-03 4.50452161e+02] [-1.07268400e-01 9.94230075e-01 -2.20984545e-04 -3.09143448e+01] [-2.67011711e-03 -6.58151813e-05 9.99996433e-01 -1.92550881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.750281693 meters Centerline goodness [0,1] 0.999364406779661 Centerline is valid? [True, True] Translation: X:450.48, Y:-30.92, Z:-1.93 [[ 9.94617357e-01 1.03604793e-01 1.53644650e-03 4.50480941e+02] [-1.03604719e-01 9.94618543e-01 -1.27529375e-04 -3.09201243e+01] [-1.54139084e-03 -3.23401785e-05 9.99998812e-01 -1.92810894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78028169299995 meters Centerline goodness [0,1] 0.999678470376404 Centerline is valid? [True, True] Translation: X:450.51, Y:-30.94, Z:-1.93 [[ 9.95615489e-01 9.34991712e-02 2.77526255e-03 4.50510736e+02] [-9.34988925e-02 9.95619357e-01 -2.30282257e-04 -3.09362330e+01] [-2.78463631e-03 -3.02113927e-05 9.99996122e-01 -1.92580998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.810281693 meters Centerline goodness [0,1] 0.999678470376404 Centerline is valid? [True, True] Translation: X:450.54, Y:-30.94, Z:-1.93 [[ 9.95615489e-01 9.34991712e-02 2.77525893e-03 4.50540635e+02] [-9.34988924e-02 9.95619357e-01 -2.30325844e-04 -3.09387144e+01] [-2.78463679e-03 -3.01676584e-05 9.99996122e-01 -1.92587312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84028169299995 meters Centerline goodness [0,1] 0.9996388050822249 Centerline is valid? [True, True] Translation: X:450.57, Y:-30.95, Z:-1.92 [[ 9.96167049e-01 8.73745107e-02 4.11153032e-03 4.50570183e+02] [-8.73738464e-02 9.96175534e-01 -3.41250251e-04 -3.09483633e+01] [-4.12562249e-03 -1.92979632e-05 9.99991489e-01 -1.92374710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.870281693 meters Centerline goodness [0,1] 0.9995996206932883 Centerline is valid? [True, True] Translation: X:450.60, Y:-30.96, Z:-1.92 [[ 9.96693087e-01 8.10945802e-02 5.15353908e-03 4.50600362e+02] [-8.10934500e-02 9.96706411e-01 -4.28229148e-04 -3.09600890e+01] [-5.17129250e-03 8.89476726e-06 9.99986629e-01 -1.92090557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90028169299995 meters Centerline goodness [0,1] 0.9994246137453383 Centerline is valid? [True, True] Translation: X:450.63, Y:-30.97, Z:-1.92 [[ 9.97172902e-01 7.49098882e-02 5.89176892e-03 4.50631716e+02] [-7.49082972e-02 9.97190306e-01 -4.90566132e-04 -3.09716800e+01] [-5.91196311e-03 4.78368756e-05 9.99982523e-01 -1.92064137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.930281693 meters Centerline goodness [0,1] 0.9981662978185267 Centerline is valid? [True, True] Translation: X:450.66, Y:-30.99, Z:-1.92 [[ 9.97868144e-01 6.50653031e-02 5.06694216e-03 4.50660708e+02] [-6.50639977e-02 9.97881004e-01 -4.22223651e-04 -3.09899702e+01] [-5.08367743e-03 9.16480188e-05 9.99987074e-01 -1.92287147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96028169299996 meters Centerline goodness [0,1] 0.99837707403532 Centerline is valid? [True, True] Translation: X:450.69, Y:-31.00, Z:-1.93 [[ 9.98074372e-01 6.18951426e-02 4.06683754e-03 4.50692173e+02] [-6.18942749e-02 9.98082654e-01 -3.38999935e-04 -3.09981827e+01] [-4.08002246e-03 8.66331859e-05 9.99991673e-01 -1.92539008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.990281693 meters Centerline goodness [0,1] 0.9968519574908622 Centerline is valid? [True, True] Translation: X:450.72, Y:-31.01, Z:-1.93 [[ 9.98345490e-01 5.74479187e-02 2.45342524e-03 4.50721058e+02] [-5.74475893e-02 9.98348503e-01 -2.04591133e-04 -3.10142163e+01] [-2.46112675e-03 6.33092690e-05 9.99996969e-01 -1.92779902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02028169299996 meters Centerline goodness [0,1] 0.9965851248899293 Centerline is valid? [True, True] Translation: X:450.75, Y:-31.02, Z:-1.93 [[ 9.98440842e-01 5.57665370e-02 2.44507847e-03 4.50752479e+02] [-5.57662043e-02 9.98443834e-01 -2.04068612e-04 -3.10227036e+01] [-2.45265372e-03 6.73976915e-05 9.99996990e-01 -1.92772955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.050281693 meters Centerline goodness [0,1] 0.9961609009085868 Centerline is valid? [True, True] Translation: X:450.78, Y:-31.03, Z:-1.93 [[ 9.98506735e-01 5.45489152e-02 2.95213443e-03 4.50783604e+02] [-5.45484235e-02 9.98511096e-01 -2.46869398e-04 -3.10307423e+01] [-2.96120544e-03 8.54664777e-05 9.99995612e-01 -1.92649851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08028169299996 meters Centerline goodness [0,1] 0.996061231876344 Centerline is valid? [True, True] Translation: X:450.81, Y:-31.04, Z:-1.93 [[ 9.98530269e-01 5.40914992e-02 3.37810312e-03 4.50814436e+02] [-5.40908514e-02 9.98535978e-01 -2.82895515e-04 -3.10389558e+01] [-3.38845975e-03 9.97552609e-05 9.99994254e-01 -1.92554387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.11028169299993 meters Centerline goodness [0,1] 0.9954201386680237 Centerline is valid? [True, True] Translation: X:450.84, Y:-31.05, Z:-1.93 [[ 9.98500677e-01 5.46303097e-02 3.45360409e-03 4.50844923e+02] [-5.46296343e-02 9.98506645e-01 -2.89667631e-04 -3.10483013e+01] [-3.46427126e-03 1.00564197e-04 9.99993994e-01 -1.92581885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14028169299996 meters Centerline goodness [0,1] 0.9971716305978144 Centerline is valid? [True, True] Translation: X:450.88, Y:-31.05, Z:-1.93 [[ 9.98313355e-01 5.79435723e-02 3.60372350e-03 4.50875788e+02] [-5.79428576e-02 9.98319855e-01 -3.02496016e-04 -3.10519325e+01] [-3.61519642e-03 9.31757751e-05 9.99993461e-01 -1.92639687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.17028169299994 meters Centerline goodness [0,1] 0.9982279976373302 Centerline is valid? [True, True] Translation: X:450.91, Y:-31.05, Z:-1.93 [[ 9.98155772e-01 6.05956185e-02 3.63662570e-03 4.50906972e+02] [-6.05949079e-02 9.98162394e-01 -3.05343762e-04 -3.10544374e+01] [-3.64844551e-03 8.44196392e-05 9.99993341e-01 -1.92716749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20028169299997 meters Centerline goodness [0,1] 0.9982847341337907 Centerline is valid? [True, True] Translation: X:450.94, Y:-31.06, Z:-1.93 [[ 9.97991331e-01 6.32497360e-02 3.57399178e-03 4.50937720e+02] [-6.32490658e-02 9.97997728e-01 -3.00357933e-04 -3.10592644e+01] [-3.58583324e-03 7.37029726e-05 9.99993568e-01 -1.92686584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.23028169299994 meters Centerline goodness [0,1] 0.9987009668214148 Centerline is valid? [True, True] Translation: X:450.97, Y:-31.06, Z:-1.93 [[ 9.97820902e-01 6.58674932e-02 3.86287191e-03 4.50970213e+02] [-6.58667282e-02 9.97828376e-01 -3.25083479e-04 -3.10610482e+01] [-3.87589564e-03 6.99403563e-05 9.99992486e-01 -1.92609591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26028169299997 meters Centerline goodness [0,1] 0.998976327575176 Centerline is valid? [True, True] Translation: X:451.00, Y:-31.07, Z:-1.93 [[ 9.97466611e-01 7.09980070e-02 4.43210099e-03 4.51000214e+02] [-7.09970497e-02 9.97476456e-01 -3.73156241e-04 -3.10653980e+01] [-4.44740974e-03 5.75447969e-05 9.99990109e-01 -1.92519668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.29028169299994 meters Centerline goodness [0,1] 0.9992767188563648 Centerline is valid? [True, True] Translation: X:451.03, Y:-31.07, Z:-1.93 [[ 9.97272782e-01 7.36651210e-02 4.52202587e-03 4.51032195e+02] [-7.36641499e-02 9.97283033e-01 -3.81149040e-04 -3.10695270e+01] [-4.53781706e-03 4.69983716e-05 9.99989703e-01 -1.92567603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32028169299997 meters Centerline goodness [0,1] 0.9995759477567636 Centerline is valid? [True, True] Translation: X:451.06, Y:-31.07, Z:-1.93 [[ 9.97071936e-01 7.63363550e-02 4.50736508e-03 4.51063314e+02] [-7.63354143e-02 9.97082123e-01 -3.80620113e-04 -3.10732341e+01] [-4.52326829e-03 3.54340521e-05 9.99989769e-01 -1.92581640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.35028169299994 meters Centerline goodness [0,1] 0.9996380745566413 Centerline is valid? [True, True] Translation: X:451.10, Y:-31.07, Z:-1.93 [[ 9.96816852e-01 7.96014299e-02 4.44696127e-03 4.51095785e+02] [-7.96005436e-02 9.96826771e-01 -3.76221115e-04 -3.10743001e+01] [-4.46279779e-03 2.10430130e-05 9.99990041e-01 -1.92666948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.380281693 meters Centerline goodness [0,1] 0.9997260851243153 Centerline is valid? [True, True] Translation: X:451.13, Y:-31.07, Z:-1.93 [[ 9.96506956e-01 8.33894079e-02 4.48250334e-03 4.51126988e+02] [-8.33885425e-02 9.96517038e-01 -3.79941292e-04 -3.10749306e+01] [-4.49857403e-03 4.82472015e-06 9.99989881e-01 -1.92666128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.41028169299994 meters Centerline goodness [0,1] 0.9998090469320207 Centerline is valid? [True, True] Translation: X:451.16, Y:-31.07, Z:-1.92 [[ 9.95783639e-01 9.15532591e-02 5.73977795e-03 4.51159906e+02] [-9.15519698e-02 9.95800180e-01 -4.87524984e-04 -3.10724732e+01] [-5.76030642e-03 -4.00185746e-05 9.99983408e-01 -1.92420477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.440281693 meters Centerline goodness [0,1] 0.9998718140449078 Centerline is valid? [True, True] Translation: X:451.19, Y:-31.07, Z:-1.92 [[ 9.95402014e-01 9.56163718e-02 5.68678556e-03 4.51190977e+02] [-9.56151674e-02 9.95418257e-01 -4.83917956e-04 -3.10722728e+01] [-5.70700064e-03 -6.20500444e-05 9.99983713e-01 -1.92463552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.47028169299995 meters Centerline goodness [0,1] 0.9998291839262075 Centerline is valid? [True, True] Translation: X:451.22, Y:-31.07, Z:-1.93 [[ 9.95020809e-01 9.95594767e-02 4.63681718e-03 4.51222797e+02] [-9.95587157e-02 9.95031611e-01 -3.95218547e-04 -3.10721756e+01] [-4.65312742e-03 -6.83848850e-05 9.99989172e-01 -1.92708979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.500281693 meters Centerline goodness [0,1] 0.9996590884878443 Centerline is valid? [True, True] Translation: X:451.25, Y:-31.07, Z:-1.93 [[ 9.94338843e-01 1.06197618e-01 3.51157937e-03 4.51254237e+02] [-1.06197222e-01 9.94345041e-01 -2.99588842e-04 -3.10686917e+01] [-3.52353715e-03 -7.50271499e-05 9.99993790e-01 -1.93018334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.53028169299995 meters Centerline goodness [0,1] 0.9993786823781468 Centerline is valid? [True, True] Translation: X:451.29, Y:-31.07, Z:-1.93 [[ 9.94047274e-01 1.08872597e-01 4.09571313e-03 4.51286782e+02] [-1.08872080e-01 9.94055707e-01 -3.49582657e-04 -3.10682085e+01] [-4.10942698e-03 -9.84071213e-05 9.99991551e-01 -1.92917334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.560281693 meters Centerline goodness [0,1] 0.9990026101903529 Centerline is valid? [True, True] Translation: X:451.32, Y:-31.07, Z:-1.93 [[ 9.93801484e-01 1.11044850e-01 5.25844977e-03 4.51317913e+02] [-1.11044025e-01 9.93815387e-01 -4.49425341e-04 -3.10672163e+01] [-5.27583466e-03 -1.37279857e-04 9.99986073e-01 -1.92787673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.59028169299995 meters Centerline goodness [0,1] 0.9990394057123341 Centerline is valid? [True, True] Translation: X:451.35, Y:-31.07, Z:-1.93 [[ 9.93632582e-01 1.12511681e-01 5.95100961e-03 4.51349581e+02] [-1.12510645e-01 9.93650389e-01 -5.09610512e-04 -3.10709846e+01] [-5.97056015e-03 -1.63186320e-04 9.99982163e-01 -1.92748550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.620281693 meters Centerline goodness [0,1] 0.9985919399227701 Centerline is valid? [True, True] Translation: X:451.38, Y:-31.07, Z:-1.93 [[ 9.93560079e-01 1.13144523e-01 6.05691085e-03 4.51381153e+02] [-1.13143456e-01 9.93578526e-01 -5.19637912e-04 -3.10714052e+01] [-6.07681075e-03 -1.69008343e-04 9.99981522e-01 -1.92804160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.65028169299995 meters Centerline goodness [0,1] 0.9989788754866297 Centerline is valid? [True, True] Translation: X:451.41, Y:-31.08, Z:-1.93 [[ 9.93551499e-01 1.13244452e-01 5.57791329e-03 4.51414074e+02] [-1.13243543e-01 9.93567144e-01 -4.79492416e-04 -3.10776771e+01] [-5.59633123e-03 -1.55262256e-04 9.99984328e-01 -1.92918570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.680281693 meters Centerline goodness [0,1] 0.9983412725416808 Centerline is valid? [True, True] Translation: X:451.45, Y:-31.08, Z:-1.93 [[ 9.93540050e-01 1.13369209e-01 5.05871665e-03 4.51446550e+02] [-1.13368459e-01 9.93552919e-01 -4.35737262e-04 -3.10776636e+01] [-5.07550189e-03 -1.40576489e-04 9.99987110e-01 -1.93007839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.71028169299996 meters Centerline goodness [0,1] 0.9988495952279506 Centerline is valid? [True, True] Translation: X:451.48, Y:-31.08, Z:-1.93 [[ 9.93592155e-01 1.12907968e-01 5.14009392e-03 4.51479079e+02] [-1.12907185e-01 9.93605440e-01 -4.43293454e-04 -3.10802671e+01] [-5.15727664e-03 -1.39900635e-04 9.99986691e-01 -1.92988062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.740281693 meters Centerline goodness [0,1] 0.9991502198806059 Centerline is valid? [True, True] Translation: X:451.51, Y:-31.09, Z:-1.93 [[ 9.93591485e-01 1.12926312e-01 4.85890401e-03 4.51511888e+02] [-1.12925609e-01 9.93603357e-01 -4.19667949e-04 -3.10850057e+01] [-4.87521489e-03 -1.31716192e-04 9.99988107e-01 -1.93013397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.77028169299996 meters Centerline goodness [0,1] 0.9989844064067029 Centerline is valid? [True, True] Translation: X:451.54, Y:-31.09, Z:-1.93 [[ 9.93601320e-01 1.12860595e-01 4.34774714e-03 4.51542839e+02] [-1.12860028e-01 9.93610825e-01 -3.76204773e-04 -3.10867906e+01] [-4.36242732e-03 -1.16889307e-04 9.99990478e-01 -1.93060861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80028169299993 meters Centerline goodness [0,1] 0.9993996698184001 Centerline is valid? [True, True] Translation: X:451.58, Y:-31.09, Z:-1.93 [[ 9.93661127e-01 1.12347062e-01 3.96259814e-03 4.51575092e+02] [-1.12346585e-01 9.93669023e-01 -3.43358760e-04 -3.10932539e+01] [-3.97608637e-03 -1.04002118e-04 9.99992090e-01 -1.93193487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.83028169299996 meters Centerline goodness [0,1] 0.9989485637380662 Centerline is valid? [True, True] Translation: X:451.61, Y:-31.09, Z:-1.93 [[ 9.93830428e-01 1.10829478e-01 4.23174147e-03 4.51606604e+02] [-1.10828919e-01 9.93839432e-01 -3.67242743e-04 -3.10907528e+01] [-4.24637286e-03 -1.04022320e-04 9.99990979e-01 -1.93130043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86028169299993 meters Centerline goodness [0,1] 0.999553770638108 Centerline is valid? [True, True] Translation: X:451.64, Y:-31.10, Z:-1.93 [[ 9.93873084e-01 1.10416330e-01 4.95238343e-03 4.51638422e+02] [-1.10415554e-01 9.93885416e-01 -4.30633695e-04 -3.10994564e+01] [-4.96965065e-03 -1.18824922e-04 9.99987644e-01 -1.93006455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.89028169299996 meters Centerline goodness [0,1] 0.9992607299763434 Centerline is valid? [True, True] Translation: X:451.67, Y:-31.10, Z:-1.93 [[ 9.93866877e-01 1.10409476e-01 6.19505345e-03 4.51670592e+02] [-1.10408255e-01 9.93886174e-01 -5.39846307e-04 -3.11009129e+01] [-6.21678211e-03 -1.47449676e-04 9.99980665e-01 -1.92709513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92028169299994 meters Centerline goodness [0,1] 0.9992324912056284 Centerline is valid? [True, True] Translation: X:451.70, Y:-31.10, Z:-1.93 [[ 9.93796059e-01 1.10981883e-01 7.23981719e-03 4.51702961e+02] [-1.10980221e-01 9.93822414e-01 -6.32163077e-04 -3.11014399e+01] [-7.26525124e-03 -1.75235339e-04 9.99973592e-01 -1.92523382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.95028169299997 meters Centerline goodness [0,1] 0.9992128999319265 Centerline is valid? [True, True] Translation: X:451.73, Y:-31.10, Z:-1.93 [[ 9.93684673e-01 1.11986728e-01 7.05290572e-03 4.51734909e+02] [-1.11985168e-01 9.93709687e-01 -6.16989877e-04 -3.11007167e+01] [-7.07763541e-03 -1.76727447e-04 9.99974938e-01 -1.92628003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98028169299994 meters Centerline goodness [0,1] 0.9987562713436485 Centerline is valid? [True, True] Translation: X:451.77, Y:-31.10, Z:-1.93 [[ 9.93498693e-01 1.13688550e-01 5.93808897e-03 4.51766238e+02] [-1.13687470e-01 9.93516426e-01 -5.20336599e-04 -3.10971963e+01] [-5.95874524e-03 -1.58132578e-04 9.99982234e-01 -1.92853779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.01028169299997 meters Centerline goodness [0,1] 0.9988976044095823 Centerline is valid? [True, True] Translation: X:451.80, Y:-31.09, Z:-1.93 [[ 9.93303450e-01 1.15451772e-01 4.37554854e-03 4.51798099e+02] [-1.15451200e-01 9.93313079e-01 -3.83987179e-04 -3.10948918e+01] [-4.39062159e-03 -1.23746538e-04 9.99990354e-01 -1.93200321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04028169299994 meters Centerline goodness [0,1] 0.9989324907126692 Centerline is valid? [True, True] Translation: X:451.83, Y:-31.09, Z:-1.94 [[ 9.93021197e-01 1.17931316e-01 1.05263173e-03 4.51830826e+02] [-1.17931284e-01 9.93021754e-01 -9.24016370e-05 -3.10933087e+01] [-1.05618325e-03 -3.23814274e-05 9.99999442e-01 -1.93777653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.07028169299997 meters Centerline goodness [0,1] 0.998808535988596 Centerline is valid? [True, True] Translation: X:451.86, Y:-31.09, Z:-1.94 [[ 9.92927472e-01 1.18722296e-01 -2.29580161e-04 4.51861469e+02] [-1.18722295e-01 9.92927498e-01 2.02018839e-05 -3.10898180e+01] [ 2.30354869e-04 7.19727801e-06 9.99999973e-01 -1.93973746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10028169299994 meters Centerline goodness [0,1] 0.9986829527349973 Centerline is valid? [True, True] Translation: X:451.89, Y:-31.09, Z:-1.94 [[ 9.92859514e-01 1.19287071e-01 -7.62060658e-04 4.51891701e+02] [-1.19287055e-01 9.92859806e-01 6.69425877e-05 -3.10870364e+01] [ 7.64604783e-04 2.44393862e-05 9.99999707e-01 -1.94112758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.130281693 meters Centerline goodness [0,1] 0.9988264663835962 Centerline is valid? [True, True] Translation: X:451.92, Y:-31.09, Z:-1.94 [[ 9.92855423e-01 1.19321803e-01 -6.44667318e-04 4.51921347e+02] [-1.19321792e-01 9.92855632e-01 5.65865353e-05 -3.10913031e+01] [ 6.46813585e-04 2.07406110e-05 9.99999791e-01 -1.94103683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16028169299994 meters Centerline goodness [0,1] 0.9982858231223415 Centerline is valid? [True, True] Translation: X:451.95, Y:-31.09, Z:-1.94 [[ 9.93027420e-01 1.17883160e-01 3.22596335e-04 4.51951061e+02] [-1.17883157e-01 9.93027472e-01 -2.83615409e-05 -3.10912305e+01] [-3.23690371e-04 -9.86488646e-06 9.99999948e-01 -1.94032243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.190281693 meters Centerline goodness [0,1] 0.9988478279423061 Centerline is valid? [True, True] Translation: X:451.98, Y:-31.09, Z:-1.94 [[ 9.93159827e-01 1.16758895e-01 9.58830674e-04 4.51981847e+02] [-1.16758868e-01 9.93160289e-01 -8.42115212e-05 -3.10948373e+01] [-9.62104993e-04 -2.83164844e-05 9.99999537e-01 -1.93995683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22028169299995 meters Centerline goodness [0,1] 0.9989335380940193 Centerline is valid? [True, True] Translation: X:452.01, Y:-31.10, Z:-1.94 [[ 9.93282655e-01 1.15704475e-01 1.42889969e-03 4.52011571e+02] [-1.15704414e-01 9.93283682e-01 -1.25539678e-04 -3.10956950e+01] [-1.43382824e-03 -4.06336152e-05 9.99998971e-01 -1.93978066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.250281693 meters Centerline goodness [0,1] 0.9989606312574241 Centerline is valid? [True, True] Translation: X:452.04, Y:-31.10, Z:-1.94 [[ 9.93382863e-01 1.14841018e-01 1.42442927e-03 4.52041213e+02] [-1.14840956e-01 9.93383883e-01 -1.25130715e-04 -3.10972054e+01] [-1.42937522e-03 -3.92801115e-05 9.99998978e-01 -1.94015272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28028169299995 meters Centerline goodness [0,1] 0.9994200657258844 Centerline is valid? [True, True] Translation: X:452.07, Y:-31.11, Z:-1.94 [[ 9.93436740e-01 1.14375934e-01 1.26031165e-03 4.52072427e+02] [-1.14375886e-01 9.93437539e-01 -1.10672640e-04 -3.11050349e+01] [-1.26469919e-03 -3.42029940e-05 9.99999200e-01 -1.94044125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.310281693 meters Centerline goodness [0,1] 0.9995070196120459 Centerline is valid? [True, True] Translation: X:452.10, Y:-31.11, Z:-1.94 [[ 9.93466038e-01 1.14128131e-01 -2.30649396e-05 4.52104298e+02] [-1.14128131e-01 9.93466039e-01 2.07815009e-06 -3.11057616e+01] [ 2.31514095e-05 5.67786916e-07 1.00000000e+00 -1.94255014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34028169299995 meters Centerline goodness [0,1] 0.9992125816680499 Centerline is valid? [True, True] Translation: X:452.13, Y:-31.10, Z:-1.95 [[ 9.93423092e-01 1.14494254e-01 -1.27553316e-03 4.52134602e+02] [-1.14494204e-01 9.93423910e-01 1.12050755e-04 -3.11007690e+01] [ 1.27997431e-03 3.47273463e-05 9.99999180e-01 -1.94523652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.370281693 meters Centerline goodness [0,1] 0.998793037733452 Centerline is valid? [True, True] Translation: X:452.16, Y:-31.10, Z:-1.95 [[ 9.93380964e-01 1.14846322e-01 -2.14058051e-03 4.52164183e+02] [-1.14846183e-01 9.93383269e-01 1.88228668e-04 -3.10954795e+01] [ 2.14803423e-03 5.88547252e-05 9.99997691e-01 -1.94849621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40028169299995 meters Centerline goodness [0,1] 0.9992576409951853 Centerline is valid? [True, True] Translation: X:452.19, Y:-31.10, Z:-1.95 [[ 9.93378637e-01 1.14854535e-01 -2.70562066e-03 4.52192891e+02] [-1.14854313e-01 9.93382318e-01 2.37608861e-04 -3.11000804e+01] [ 2.71500618e-03 7.47166365e-05 9.99996312e-01 -1.94922210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.430281693 meters Centerline goodness [0,1] 0.9991774234371046 Centerline is valid? [True, True] Translation: X:452.22, Y:-31.10, Z:-1.95 [[ 9.93578606e-01 1.13127145e-01 -1.94979782e-03 4.52221530e+02] [-1.13127027e-01 9.93580518e-01 1.71164087e-04 -3.11018613e+01] [ 1.95664444e-03 5.05098567e-05 9.99998084e-01 -1.94745345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46028169299996 meters Centerline goodness [0,1] 0.9993176681308371 Centerline is valid? [True, True] Translation: X:452.25, Y:-31.11, Z:-1.95 [[ 9.93764891e-01 1.11489594e-01 -1.18858214e-03 4.52250771e+02] [-1.11489549e-01 9.93765601e-01 1.04309039e-04 -3.11057997e+01] [ 1.19280142e-03 2.88558266e-05 9.99999288e-01 -1.94599615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.490281693 meters Centerline goodness [0,1] 0.9996597771540359 Centerline is valid? [True, True] Translation: X:452.28, Y:-31.11, Z:-1.94 [[ 9.93982569e-01 1.09537451e-01 -4.46128322e-04 4.52281067e+02] [-1.09537445e-01 9.93982669e-01 3.91696561e-05 -3.11126075e+01] [ 4.47734365e-04 9.93380111e-06 9.99999900e-01 -1.94453050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52028169299996 meters Centerline goodness [0,1] 0.9996205413609917 Centerline is valid? [True, True] Translation: X:452.31, Y:-31.11, Z:-1.94 [[ 9.94252328e-01 1.07062138e-01 8.56024275e-05 4.52310561e+02] [-1.07062138e-01 9.94252331e-01 -7.53968824e-06 -3.11127128e+01] [-8.59176283e-05 -1.66842632e-06 9.99999996e-01 -1.94444346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.55028169299993 meters Centerline goodness [0,1] 0.9998742612850496 Centerline is valid? [True, True] Translation: X:452.34, Y:-31.13, Z:-1.94 [[ 9.94893708e-01 1.00926258e-01 6.33264757e-04 4.52340243e+02] [-1.00926243e-01 9.94893909e-01 -5.55761609e-05 -3.11266027e+01] [-6.35640344e-04 -8.62065991e-06 9.99999798e-01 -1.94455035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58028169299996 meters Centerline goodness [0,1] 0.9999360122856411 Centerline is valid? [True, True] Translation: X:452.37, Y:-31.14, Z:-1.94 [[ 9.95269204e-01 9.71511078e-02 9.34448477e-04 4.52371308e+02] [-9.71510736e-02 9.95269643e-01 -8.19886674e-05 -3.11376990e+01] [-9.37993492e-04 -9.18187699e-06 9.99999560e-01 -1.94405851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.61028169299993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.40, Y:-31.15, Z:-1.95 [[ 9.95941061e-01 9.00075415e-02 2.11583575e-04 4.52401087e+02] [-9.00075396e-02 9.95941084e-01 -1.83001432e-05 -3.11545394e+01] [-2.12371926e-04 -8.18252960e-07 9.99999977e-01 -1.94563221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64028169299996 meters Centerline goodness [0,1] 0.9998298885770179 Centerline is valid? [True, True] Translation: X:452.43, Y:-31.17, Z:-1.95 [[ 9.96225895e-01 8.67948620e-02 -7.85792132e-04 4.52433409e+02] [-8.67948341e-02 9.96226205e-01 6.96918996e-05 -3.11657154e+01] [ 7.88875613e-04 -1.22617735e-06 9.99999689e-01 -1.94782635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.67028169299994 meters Centerline goodness [0,1] 0.9998295515074038 Centerline is valid? [True, True] Translation: X:452.46, Y:-31.18, Z:-1.95 [[ 9.96502892e-01 8.35507145e-02 -1.12444804e-03 4.52464890e+02] [-8.35506552e-02 9.96503526e-01 9.96923344e-05 -3.11775457e+01] [ 1.12884580e-03 -5.39532936e-06 9.99999363e-01 -1.94923813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70028169299997 meters Centerline goodness [0,1] 0.9998295515074038 Centerline is valid? [True, True] Translation: X:452.50, Y:-31.18, Z:-1.95 [[ 9.96487241e-01 8.37371684e-02 -1.12442507e-03 4.52497247e+02] [-8.37371089e-02 9.96487876e-01 9.99516163e-05 -3.11806035e+01] [ 1.12884562e-03 -5.44440568e-06 9.99999363e-01 -1.94930657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.73028169299994 meters Centerline goodness [0,1] 0.9995935481110684 Centerline is valid? [True, True] Translation: X:452.53, Y:-31.19, Z:-1.95 [[ 9.96721560e-01 8.09011430e-02 -1.06588075e-03 4.52528415e+02] [-8.09010878e-02 9.96722130e-01 9.48918727e-05 -3.11926693e+01] [ 1.07006379e-03 -8.34986353e-06 9.99999427e-01 -1.94913308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76028169299997 meters Centerline goodness [0,1] 0.9993984833186534 Centerline is valid? [True, True] Translation: X:452.56, Y:-31.21, Z:-1.95 [[ 9.97118385e-01 7.58611487e-02 -1.13036352e-04 4.52557409e+02] [-7.58611480e-02 9.97118391e-01 1.02078287e-05 -3.12132177e+01] [ 1.13485003e-04 -1.60334630e-06 9.99999994e-01 -1.94759930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.79028169299994 meters Centerline goodness [0,1] 0.9992296004622397 Centerline is valid? [True, True] Translation: X:452.59, Y:-31.22, Z:-1.95 [[ 9.97234051e-01 7.43250078e-02 -2.03271240e-04 4.52589065e+02] [-7.43250056e-02 9.97234071e-01 1.84205386e-05 -3.12246481e+01] [ 2.04078113e-04 -3.26145220e-06 9.99999979e-01 -1.94810250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82028169299997 meters Centerline goodness [0,1] 0.999056624000343 Centerline is valid? [True, True] Translation: X:452.62, Y:-31.24, Z:-1.95 [[ 9.97310944e-01 7.32820439e-02 -7.89528275e-04 4.52619941e+02] [-7.32820109e-02 9.97311256e-01 7.06610203e-05 -3.12352394e+01] [ 7.92583620e-04 -1.26127892e-05 9.99999686e-01 -1.95019008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.85028169299994 meters Centerline goodness [0,1] 0.999341588259032 Centerline is valid? [True, True] Translation: X:452.65, Y:-31.25, Z:-1.95 [[ 9.97338131e-01 7.28743115e-02 -2.44684434e-03 4.52650599e+02] [-7.28739949e-02 9.97341132e-01 2.18408814e-04 -3.12450659e+01] [ 2.45625490e-03 -3.95161165e-05 9.99996983e-01 -1.95363893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.880281693 meters Centerline goodness [0,1] 0.99935522696011 Centerline is valid? [True, True] Translation: X:452.68, Y:-31.26, Z:-1.96 [[ 9.97257089e-01 7.37876729e-02 -5.80324956e-03 4.52680445e+02] [-7.37859033e-02 9.97273970e-01 5.18740183e-04 -3.12590281e+01] [ 5.82570636e-03 -8.91193140e-05 9.99983026e-01 -1.96028555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.91028169299994 meters Centerline goodness [0,1] 0.9995934959349594 Centerline is valid? [True, True] Translation: X:452.71, Y:-31.27, Z:-1.96 [[ 9.97135744e-01 7.53786538e-02 -6.19402843e-03 4.52711907e+02] [-7.53766623e-02 9.97154978e-01 5.54662957e-04 -3.12654157e+01] [ 6.21821603e-03 -8.61890716e-05 9.99980663e-01 -1.96081049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.940281693 meters Centerline goodness [0,1] 0.9997450876261286 Centerline is valid? [True, True] Translation: X:452.74, Y:-31.27, Z:-1.96 [[ 9.96901080e-01 7.84545526e-02 -5.75498295e-03 4.52743988e+02] [-7.84528792e-02 9.96917689e-01 5.16286501e-04 -3.12687243e+01] [ 5.77774933e-03 -6.31915879e-05 9.99983307e-01 -1.95947132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.97028169299995 meters Centerline goodness [0,1] 0.9998514336651315 Centerline is valid? [True, True] Translation: X:452.78, Y:-31.27, Z:-1.96 [[ 9.96571342e-01 8.25974874e-02 -4.81813078e-03 4.52776233e+02] [-8.25963590e-02 9.96582989e-01 4.33053096e-04 -3.12689491e+01] [ 4.83743627e-03 -3.36082455e-05 9.99988299e-01 -1.95707964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.000281693 meters Centerline goodness [0,1] 0.9999572905099513 Centerline is valid? [True, True] Translation: X:452.81, Y:-31.26, Z:-1.96 [[ 9.95650453e-01 9.30735560e-02 -4.18192587e-03 4.52808803e+02] [-9.30727956e-02 9.95659235e-01 3.76499220e-04 -3.12588805e+01] [ 4.19881523e-03 1.43619127e-05 9.99991185e-01 -1.95609360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.03028169299995 meters Centerline goodness [0,1] 0.9999360899853007 Centerline is valid? [True, True] Translation: X:452.84, Y:-31.25, Z:-1.96 [[ 9.95164655e-01 9.80972818e-02 -4.92258094e-03 4.52839955e+02] [-9.80962907e-02 9.95176829e-01 4.42976725e-04 -3.12545258e+01] [ 4.94229331e-03 4.20521513e-05 9.99987786e-01 -1.95811115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.060281693 meters Centerline goodness [0,1] 0.9998723105407649 Centerline is valid? [True, True] Translation: X:452.87, Y:-31.25, Z:-1.96 [[ 9.94746626e-01 1.02213445e-01 -5.61803066e-03 4.52872276e+02] [-1.02212218e-01 9.94762488e-01 5.05845368e-04 -3.12518323e+01] [ 5.64031035e-03 7.10433999e-05 9.99984091e-01 -1.95988449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.09028169299995 meters Centerline goodness [0,1] 0.9997020325635841 Centerline is valid? [True, True] Translation: X:452.90, Y:-31.25, Z:-1.96 [[ 9.94140329e-01 1.07896913e-01 -6.57737372e-03 4.52903435e+02] [-1.07895355e-01 9.94162080e-01 5.92210833e-04 -3.12460271e+01] [ 6.60287326e-03 1.20927402e-04 9.99978193e-01 -1.96256537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.120281693 meters Centerline goodness [0,1] 0.9996364569522261 Centerline is valid? [True, True] Translation: X:452.94, Y:-31.25, Z:-1.96 [[ 9.93887367e-01 1.10202332e-01 -6.58385626e-03 4.52935681e+02] [-1.10200814e-01 9.93909165e-01 5.94078028e-04 -3.12450817e+01] [ 6.60922386e-03 1.35099670e-04 9.99978150e-01 -1.96312479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.15028169299995 meters Centerline goodness [0,1] 0.999677592692101 Centerline is valid? [True, True] Translation: X:452.97, Y:-31.25, Z:-1.96 [[ 9.93694552e-01 1.11950614e-01 -6.18036676e-03 4.52967729e+02] [-1.11949304e-01 9.93713762e-01 5.58678678e-04 -3.12484476e+01] [ 6.20405993e-03 1.36731797e-04 9.99980745e-01 -1.96081686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.180281693 meters Centerline goodness [0,1] 0.999278728865695 Centerline is valid? [True, True] Translation: X:453.00, Y:-31.25, Z:-1.96 [[ 9.93567002e-01 1.13124498e-01 -5.24026002e-03 4.52999697e+02] [-1.13123568e-01 9.93580814e-01 4.74482822e-04 -3.12456861e+01] [ 5.26029745e-03 1.21366436e-04 9.99986157e-01 -1.95983243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.21028169299996 meters Centerline goodness [0,1] 0.999442323366651 Centerline is valid? [True, True] Translation: X:453.03, Y:-31.25, Z:-1.95 [[ 9.93437764e-01 1.14351376e-01 -2.27399529e-03 4.53031729e+02] [-1.14351203e-01 9.93440365e-01 2.06469755e-04 -3.12494318e+01] [ 2.28268881e-03 5.49192462e-05 9.99997393e-01 -1.95281688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.240281693 meters Centerline goodness [0,1] 0.9994437669811522 Centerline is valid? [True, True] Translation: X:453.06, Y:-31.25, Z:-1.95 [[ 9.93390749e-01 1.14772789e-01 -1.42388721e-03 4.53064536e+02] [-1.14772721e-01 9.93391768e-01 1.29716542e-04 -3.12502572e+01] [ 1.42936576e-03 3.45641966e-05 9.99998978e-01 -1.95185407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.27028169299996 meters Centerline goodness [0,1] 0.9992781622861026 Centerline is valid? [True, True] Translation: X:453.10, Y:-31.25, Z:-1.95 [[ 9.93315105e-01 1.15426436e-01 -1.35656754e-03 4.53096118e+02] [-1.15426374e-01 9.93316031e-01 1.23730251e-04 -3.12504670e+01] [ 1.36178203e-03 3.36805459e-05 9.99999072e-01 -1.95222328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30028169299993 meters Centerline goodness [0,1] 0.9993851242473073 Centerline is valid? [True, True] Translation: X:453.13, Y:-31.25, Z:-1.95 [[ 9.93247836e-01 1.15999692e-01 -1.67553138e-03 4.53127491e+02] [-1.15999599e-01 9.93249248e-01 1.52992963e-04 -3.12492526e+01] [ 1.68196742e-03 4.24010388e-05 9.99998585e-01 -1.95350062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.33028169299996 meters Centerline goodness [0,1] 0.9992371265098537 Centerline is valid? [True, True] Translation: X:453.16, Y:-31.25, Z:-1.95 [[ 9.93154100e-01 1.16796682e-01 -1.86230761e-03 4.53159784e+02] [-1.16796567e-01 9.93155845e-01 1.70333187e-04 -3.12504441e+01] [ 1.86945604e-03 4.83440342e-05 9.99998251e-01 -1.95391629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36028169299993 meters Centerline goodness [0,1] 0.9993144962618624 Centerline is valid? [True, True] Translation: X:453.19, Y:-31.25, Z:-1.96 [[ 9.93005554e-01 1.18021475e-01 -3.30156655e-03 4.53192366e+02] [-1.18021121e-01 9.93011039e-01 3.02288984e-04 -3.12504317e+01] [ 3.31416862e-03 8.94799465e-05 9.99994504e-01 -1.95665191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.39028169299996 meters Centerline goodness [0,1] 0.9985736183258112 Centerline is valid? [True, True] Translation: X:453.22, Y:-31.24, Z:-1.96 [[ 9.92956774e-01 1.18393621e-01 -4.44920907e-03 4.53224179e+02] [-1.18392985e-01 9.92966734e-01 4.06970616e-04 -3.12379374e+01] [ 4.46609933e-03 1.22650913e-04 9.99990019e-01 -1.96178213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42028169299994 meters Centerline goodness [0,1] 0.9994421438839659 Centerline is valid? [True, True] Translation: X:453.25, Y:-31.25, Z:-1.96 [[ 9.93037537e-01 1.17662786e-01 -5.64969998e-03 4.53254480e+02] [-1.17661748e-01 9.93053597e-01 5.16930562e-04 -3.12492551e+01] [ 5.67127837e-03 1.51422122e-04 9.99983907e-01 -1.96139603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.45028169299997 meters Centerline goodness [0,1] 0.9993826897696795 Centerline is valid? [True, True] Translation: X:453.29, Y:-31.25, Z:-1.96 [[ 9.93176476e-01 1.16446966e-01 -6.37114585e-03 4.53286080e+02] [-1.16445620e-01 9.93196898e-01 5.83084198e-04 -3.12508531e+01] [ 6.39570068e-03 1.62786522e-04 9.99979534e-01 -1.96244123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48028169299994 meters Centerline goodness [0,1] 0.9993018532622493 Centerline is valid? [True, True] Translation: X:453.32, Y:-31.24, Z:-1.97 [[ 9.93486818e-01 1.13734936e-01 -6.95033018e-03 4.53316278e+02] [-1.13733266e-01 9.93511117e-01 6.36319130e-04 -3.12419503e+01] [ 6.97760201e-03 1.58309081e-04 9.99975644e-01 -1.96647783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.51028169299997 meters Centerline goodness [0,1] 0.9994475725061086 Centerline is valid? [True, True] Translation: X:453.35, Y:-31.25, Z:-1.96 [[ 9.93728350e-01 1.11674454e-01 -5.72569667e-03 4.53346363e+02] [-1.11673287e-01 9.93744838e-01 5.24147208e-04 -3.12497096e+01] [ 5.74841536e-03 1.18547430e-04 9.99983471e-01 -1.96303123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54028169299994 meters Centerline goodness [0,1] 0.9996802387550628 Centerline is valid? [True, True] Translation: X:453.38, Y:-31.25, Z:-1.96 [[ 9.94022902e-01 1.09120517e-01 -3.34414187e-03 4.53375702e+02] [-1.09120105e-01 9.94028525e-01 3.06073980e-04 -3.12541034e+01] [ 3.35757136e-03 6.06685652e-05 9.99994362e-01 -1.95887035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.57028169299997 meters Centerline goodness [0,1] 0.9996740901683867 Centerline is valid? [True, True] Translation: X:453.41, Y:-31.27, Z:-1.95 [[ 9.94651001e-01 1.03292574e-01 1.76502937e-04 4.53406062e+02] [-1.03292573e-01 9.94651016e-01 -1.61103424e-05 -3.12660022e+01] [-1.77222904e-04 -2.20727433e-06 9.99999984e-01 -1.95160121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60028169299994 meters Centerline goodness [0,1] 0.999956930895622 Centerline is valid? [True, True] Translation: X:453.44, Y:-31.27, Z:-1.95 [[ 9.94887976e-01 1.00984680e-01 -1.03125408e-04 4.53437602e+02] [-1.00984679e-01 9.94887981e-01 9.80419785e-06 -3.12705221e+01] [ 1.03588303e-04 6.60007756e-07 9.99999995e-01 -1.95257145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.630281693 meters Centerline goodness [0,1] 0.9999786721266023 Centerline is valid? [True, True] Translation: X:453.47, Y:-31.27, Z:-1.96 [[ 9.95044162e-01 9.94252010e-02 -1.32111242e-03 4.53468199e+02] [-9.94251270e-02 9.95045039e-01 1.21693807e-04 -3.12741285e+01] [ 1.32666579e-03 1.02610578e-05 9.99999120e-01 -1.95512667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66028169299994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.50, Y:-31.28, Z:-1.96 [[ 9.95174531e-01 9.80803877e-02 -2.80893543e-03 4.53500998e+02] [-9.80800474e-02 9.95178495e-01 2.58980472e-04 -3.12785027e+01] [ 2.82079304e-03 1.77697506e-05 9.99996021e-01 -1.95785141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.690281693 meters Centerline goodness [0,1] 0.99997854997855 Centerline is valid? [True, True] Translation: X:453.53, Y:-31.28, Z:-1.96 [[ 9.95443727e-01 9.51943443e-02 -5.46099614e-03 4.53532809e+02] [-9.51930115e-02 9.95458707e-01 5.04056429e-04 -3.12840196e+01] [ 5.48417948e-03 1.80888577e-05 9.99984962e-01 -1.96288024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72028169299995 meters Centerline goodness [0,1] 0.9999573041863246 Centerline is valid? [True, True] Translation: X:453.56, Y:-31.29, Z:-1.96 [[ 9.95520863e-01 9.43266885e-02 -6.37870158e-03 4.53564853e+02] [-9.43248463e-02 9.95541298e-01 5.89702770e-04 -3.12873796e+01] [ 6.40588556e-03 1.46086352e-05 9.99979482e-01 -1.96439817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.750281693 meters Centerline goodness [0,1] 0.9999139470343996 Centerline is valid? [True, True] Translation: X:453.60, Y:-31.29, Z:-1.97 [[ 9.95563971e-01 9.38134167e-02 -7.17099848e-03 4.53596258e+02] [-9.38110763e-02 9.95589796e-01 6.62782238e-04 -3.12897482e+01] [ 7.20155078e-03 1.28769691e-05 9.99974068e-01 -1.96594827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78028169299995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.63, Y:-31.29, Z:-1.97 [[ 9.95567771e-01 9.37497064e-02 -7.47028816e-03 4.53626738e+02] [-9.37471612e-02 9.95595798e-01 6.90922509e-04 -3.12919178e+01] [ 7.50216128e-03 1.24581257e-05 9.99971858e-01 -1.96618788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.810281693 meters Centerline goodness [0,1] 0.9999786137428088 Centerline is valid? [True, True] Translation: X:453.66, Y:-31.29, Z:-1.96 [[ 9.95593349e-01 9.35577241e-02 -6.39034923e-03 4.53658415e+02] [-9.35558570e-02 9.95613857e-01 5.91134256e-04 -3.12943205e+01] [ 6.41762542e-03 9.32526562e-06 9.99979407e-01 -1.96330716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84028169299995 meters Centerline goodness [0,1] 0.9999786930304903 Centerline is valid? [True, True] Translation: X:453.69, Y:-31.30, Z:-1.96 [[ 9.95559755e-01 9.39839437e-02 -5.27183423e-03 4.53689863e+02] [-9.39826783e-02 9.95573713e-01 4.87794921e-04 -3.12957927e+01] [ 5.29434447e-03 9.83210867e-06 9.99985985e-01 -1.96148483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.870281693 meters Centerline goodness [0,1] 0.999892449989245 Centerline is valid? [True, True] Translation: X:453.72, Y:-31.30, Z:-1.96 [[ 9.95477238e-01 9.48920019e-02 -4.53616253e-03 4.53721549e+02] [-9.48910739e-02 9.95487573e-01 4.19844943e-04 -3.12970295e+01] [ 4.55553335e-03 1.24952497e-05 9.99989623e-01 -1.95897795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90028169299995 meters Centerline goodness [0,1] 0.9999570215966477 Centerline is valid? [True, True] Translation: X:453.75, Y:-31.30, Z:-1.96 [[ 9.95382431e-01 9.58603106e-02 -4.96150784e-03 4.53752483e+02] [-9.58592119e-02 9.95394796e-01 4.59329957e-04 -3.12981898e+01] [ 4.98269060e-03 1.83972623e-05 9.99987586e-01 -1.95935987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.930281693 meters Centerline goodness [0,1] 0.999935746412508 Centerline is valid? [True, True] Translation: X:453.78, Y:-31.30, Z:-1.96 [[ 9.95076646e-01 9.88795098e-02 -6.73141391e-03 4.53783931e+02] [-9.88775554e-02 9.95099412e-01 6.23331572e-04 -3.12978675e+01] [ 6.76006074e-03 4.53230617e-05 9.99977150e-01 -1.96304910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96028169299996 meters Centerline goodness [0,1] 0.9998715368475143 Centerline is valid? [True, True] Translation: X:453.81, Y:-31.30, Z:-1.97 [[ 9.94859925e-01 1.00921544e-01 -8.28080660e-03 4.53813848e+02] [-1.00918659e-01 9.94894385e-01 7.66617006e-04 -3.12970012e+01] [ 8.31589616e-03 7.30113612e-05 9.99965420e-01 -1.96573011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.990281693 meters Centerline goodness [0,1] 0.9997226429988693 Centerline is valid? [True, True] Translation: X:453.84, Y:-31.29, Z:-1.97 [[ 9.94575107e-01 1.03615718e-01 -9.17276055e-03 4.53843071e+02] [-1.03612295e-01 9.94617400e-01 8.48850138e-04 -3.12932160e+01] [ 9.21134146e-03 1.06165556e-04 9.99957569e-01 -1.96899175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02028169299996 meters Centerline goodness [0,1] 0.9997441855507472 Centerline is valid? [True, True] Translation: X:453.87, Y:-31.29, Z:-1.97 [[ 9.94288699e-01 1.06339853e-01 -9.04533674e-03 4.53872922e+02] [-1.06336639e-01 9.94329834e-01 8.36870985e-04 -3.12901267e+01] [ 9.08304091e-03 1.29759343e-04 9.99958740e-01 -1.96848928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.05028169299993 meters Centerline goodness [0,1] 0.9997650727206715 Centerline is valid? [True, True] Translation: X:453.90, Y:-31.29, Z:-1.97 [[ 9.93991094e-01 1.09147123e-01 -8.28310835e-03 4.53902720e+02] [-1.09144527e-01 9.94025596e-01 7.66151025e-04 -3.12879993e+01] [ 8.31724489e-03 1.42508648e-04 9.99965401e-01 -1.96611638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08028169299996 meters Centerline goodness [0,1] 0.9993645548706869 Centerline is valid? [True, True] Translation: X:453.93, Y:-31.28, Z:-1.97 [[ 9.93399218e-01 1.14451772e-01 -7.66713680e-03 4.53933155e+02] [-1.14449706e-01 9.93428791e-01 7.09196910e-04 -3.12767375e+01] [ 7.69792328e-03 1.72985892e-04 9.99970356e-01 -1.96538421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.11028169299993 meters Centerline goodness [0,1] 0.9997011293042717 Centerline is valid? [True, True] Translation: X:453.96, Y:-31.28, Z:-1.96 [[ 9.93094698e-01 1.17092956e-01 -7.22215348e-03 4.53962875e+02] [-1.17091194e-01 9.93120942e-01 6.67820346e-04 -3.12768619e+01] [ 7.25066893e-03 1.82441726e-04 9.99973697e-01 -1.96417577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14028169299996 meters Centerline goodness [0,1] 0.9993117391491375 Centerline is valid? [True, True] Translation: X:453.99, Y:-31.27, Z:-1.96 [[ 9.92819216e-01 1.19414138e-01 -7.09000953e-03 4.53991628e+02] [-1.19412501e-01 9.92844512e-01 6.55215894e-04 -3.12735387e+01] [ 7.11751909e-03 1.96124841e-04 9.99974651e-01 -1.96486110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.17028169299994 meters Centerline goodness [0,1] 0.9981580284552846 Centerline is valid? [True, True] Translation: X:454.02, Y:-31.27, Z:-1.97 [[ 9.92610729e-01 1.21128328e-01 -7.20197136e-03 4.54021045e+02] [-1.21126686e-01 9.92636834e-01 6.65338399e-04 -3.12653568e+01] [ 7.22953338e-03 2.11928891e-04 9.99973844e-01 -1.96782376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20028169299997 meters Centerline goodness [0,1] 0.9983551577553244 Centerline is valid? [True, True] Translation: X:454.05, Y:-31.26, Z:-1.97 [[ 9.92296056e-01 1.23714869e-01 -6.57023084e-03 4.54051092e+02] [-1.23713560e-01 9.92317785e-01 6.06848776e-04 -3.12641267e+01] [ 6.59483313e-03 2.10652998e-04 9.99978232e-01 -1.96510104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.23028169299994 meters Centerline goodness [0,1] 0.9984682154710237 Centerline is valid? [True, True] Translation: X:454.08, Y:-31.27, Z:-1.96 [[ 9.92167085e-01 1.24750457e-01 -6.46527951e-03 4.54080008e+02] [-1.24749214e-01 9.92188126e-01 5.96805338e-04 -3.12652069e+01] [ 6.48922530e-03 2.14407923e-04 9.99978922e-01 -1.96358464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26028169299997 meters Centerline goodness [0,1] 0.9985477532889117 Centerline is valid? [True, True] Translation: X:454.11, Y:-31.26, Z:-1.96 [[ 9.92014029e-01 1.25965718e-01 -6.38784399e-03 4.54108388e+02] [-1.25964532e-01 9.92034571e-01 5.89251546e-04 -3.12649445e+01] [ 6.41118756e-03 2.20095979e-04 9.99979424e-01 -1.96234045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.29028169299994 meters Centerline goodness [0,1] 0.997628711813715 Centerline is valid? [True, True] Translation: X:454.14, Y:-31.26, Z:-1.96 [[ 9.91655909e-01 1.28737937e-01 -6.71583201e-03 4.54137538e+02] [-1.28736691e-01 9.91678618e-01 6.19258846e-04 -3.12558303e+01] [ 6.73966911e-03 2.50482296e-04 9.99977257e-01 -1.96365194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32028169299997 meters Centerline goodness [0,1] 0.9978503777801426 Centerline is valid? [True, True] Translation: X:454.17, Y:-31.26, Z:-1.97 [[ 9.91544449e-01 1.29523893e-01 -7.94778288e-03 4.54166591e+02] [-1.29522177e-01 9.91576255e-01 7.32488069e-04 -3.12550394e+01] [ 7.97570748e-03 3.03119660e-04 9.99968148e-01 -1.96626442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.35028169299994 meters Centerline goodness [0,1] 0.9970425531914894 Centerline is valid? [True, True] Translation: X:454.19, Y:-31.25, Z:-1.97 [[ 9.91527303e-01 1.29518543e-01 -9.92746338e-03 4.54194857e+02] [-1.29515870e-01 9.91576928e-01 9.14359119e-04 -3.12531978e+01] [ 9.96227010e-03 3.79152028e-04 9.99950303e-01 -1.97026263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.380281693 meters Centerline goodness [0,1] 0.9970107187086305 Centerline is valid? [True, True] Translation: X:454.22, Y:-31.25, Z:-1.97 [[ 9.91615790e-01 1.28730103e-01 -1.12554658e-02 4.54223992e+02] [-1.28726623e-01 9.91679577e-01 1.03618567e-03 -3.12539992e+01] [ 1.12952039e-02 4.21380032e-04 9.99936118e-01 -1.97232391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.41028169299994 meters Centerline goodness [0,1] 0.9985213757634201 Centerline is valid? [True, True] Translation: X:454.25, Y:-31.26, Z:-1.97 [[ 9.92049857e-01 1.25411519e-01 -1.04418150e-02 4.54254292e+02] [-1.25408340e-01 9.92104745e-01 9.61224023e-04 -3.12553137e+01] [ 1.04799227e-02 3.55908530e-04 9.99945021e-01 -1.96976709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.440281693 meters Centerline goodness [0,1] 0.9988866050017129 Centerline is valid? [True, True] Translation: X:454.28, Y:-31.26, Z:-1.97 [[ 9.92410657e-01 1.22657270e-01 -8.73395930e-03 4.54284133e+02] [-1.22654941e-01 9.92449051e-01 8.03899970e-04 -3.12581471e+01] [ 8.76661379e-03 2.73464362e-04 9.99961535e-01 -1.96754194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.47028169299995 meters Centerline goodness [0,1] 0.9989968625274795 Centerline is valid? [True, True] Translation: X:454.31, Y:-31.26, Z:-1.97 [[ 9.92842561e-01 1.19222022e-01 -7.05395129e-03 4.54313390e+02] [-1.19220417e-01 9.92867600e-01 6.49072020e-04 -3.12580403e+01] [ 7.08102337e-03 1.96548691e-04 9.99974910e-01 -1.96696846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.500281693 meters Centerline goodness [0,1] 0.9996333915593798 Centerline is valid? [True, True] Translation: X:454.34, Y:-31.27, Z:-1.96 [[ 9.93248544e-01 1.15845474e-01 -6.09562558e-03 4.54342620e+02] [-1.15844212e-01 9.93267237e-01 5.60836583e-04 -3.12685170e+01] [ 6.11955556e-03 1.49092823e-04 9.99981264e-01 -1.96405822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.53028169299995 meters Centerline goodness [0,1] 0.9996327262514313 Centerline is valid? [True, True] Translation: X:454.37, Y:-31.28, Z:-1.97 [[ 9.93829914e-01 1.10684433e-01 -7.14546207e-03 4.54370764e+02] [-1.10682568e-01 9.93855592e-01 6.57130520e-04 -3.12760573e+01] [ 7.17429155e-03 1.37802123e-04 9.99974255e-01 -1.96626140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.560281693 meters Centerline goodness [0,1] 0.9997860047078965 Centerline is valid? [True, True] Translation: X:454.40, Y:-31.28, Z:-1.97 [[ 9.94084074e-01 1.08282117e-01 -8.47571480e-03 4.54399202e+02] [-1.08279409e-01 9.94120195e-01 7.79048926e-04 -3.12810969e+01] [ 8.51023632e-03 1.43305260e-04 9.99963777e-01 -1.96779070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.59028169299995 meters Centerline goodness [0,1] 0.9997841012133512 Centerline is valid? [True, True] Translation: X:454.43, Y:-31.28, Z:-1.97 [[ 9.94341233e-01 1.05824422e-01 -9.31150445e-03 4.54427703e+02] [-1.05821050e-01 9.94384822e-01 8.55425675e-04 -3.12847948e+01] [ 9.34974362e-03 1.34768157e-04 9.99956281e-01 -1.96851262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.620281693 meters Centerline goodness [0,1] 0.9997841012133512 Centerline is valid? [True, True] Translation: X:454.46, Y:-31.29, Z:-1.97 [[ 9.94346347e-01 1.05776352e-01 -9.31154581e-03 4.54455927e+02] [-1.05772982e-01 9.94389936e-01 8.54975415e-04 -3.12872988e+01] [ 9.34974362e-03 1.34768287e-04 9.99956281e-01 -1.96857225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.65028169299995 meters Centerline goodness [0,1] 0.9998290671338832 Centerline is valid? [True, True] Translation: X:454.48, Y:-31.29, Z:-1.97 [[ 9.94743142e-01 1.01902466e-01 -1.00979537e-02 4.54483211e+02] [-1.01898310e-01 9.94794389e-01 9.26554091e-04 -3.12899579e+01] [ 1.01398058e-02 1.07281091e-04 9.99948585e-01 -1.97117831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.680281693 meters Centerline goodness [0,1] 0.9997848814696898 Centerline is valid? [True, True] Translation: X:454.51, Y:-31.29, Z:-1.97 [[ 9.94909377e-01 1.00229382e-01 -1.04595895e-02 4.54511443e+02] [-1.00224836e-01 9.94964352e-01 9.59256677e-04 -3.12945247e+01] [ 1.05030644e-02 9.39371731e-05 9.99944837e-01 -1.97052183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.71028169299996 meters Centerline goodness [0,1] 0.9999144933732365 Centerline is valid? [True, True] Translation: X:454.54, Y:-31.30, Z:-1.97 [[ 9.95026295e-01 9.89552233e-02 -1.14252610e-02 4.54538862e+02] [-9.89497227e-02 9.95091883e-01 1.04711226e-03 -3.12970297e+01] [ 1.14728017e-02 8.86221775e-05 9.99934181e-01 -1.97237217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.740281693 meters Centerline goodness [0,1] 0.9998924361070476 Centerline is valid? [True, True] Translation: X:454.57, Y:-31.30, Z:-1.97 [[ 9.95090024e-01 9.82245223e-02 -1.21567849e-02 4.54568057e+02] [-9.82182473e-02 9.95164276e-01 1.11358339e-03 -3.12994660e+01] [ 1.22073792e-02 8.59023860e-05 9.99925483e-01 -1.97195153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.77028169299996 meters Centerline goodness [0,1] 0.9998497660643001 Centerline is valid? [True, True] Translation: X:454.60, Y:-31.30, Z:-1.97 [[ 9.95102136e-01 9.80950734e-02 -1.22104932e-02 4.54597128e+02] [-9.80887404e-02 9.95177044e-01 1.11789736e-03 -3.12992335e+01] [ 1.22612627e-02 8.52898454e-05 9.99924824e-01 -1.97163981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80028169299993 meters Centerline goodness [0,1] 0.9999150003187488 Centerline is valid? [True, True] Translation: X:454.63, Y:-31.29, Z:-1.97 [[ 9.95035380e-01 9.90199424e-02 -9.98216330e-03 4.54625854e+02] [-9.90157632e-02 9.95085446e-01 9.13229283e-04 -3.12936152e+01] [ 1.00235333e-02 7.96960705e-05 9.99949760e-01 -1.96886025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.83028169299996 meters Centerline goodness [0,1] 0.9998707230888564 Centerline is valid? [True, True] Translation: X:454.66, Y:-31.29, Z:-1.97 [[ 9.94954075e-01 9.99707976e-02 -8.49869463e-03 4.54655052e+02] [-9.99678063e-02 9.94990369e-01 7.77115160e-04 -3.12928148e+01] [ 8.53380813e-03 7.64019638e-05 9.99963583e-01 -1.96583372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86028169299993 meters Centerline goodness [0,1] 0.9998067632850242 Centerline is valid? [True, True] Translation: X:454.68, Y:-31.29, Z:-1.96 [[ 9.94875069e-01 1.00801895e-01 -7.91047584e-03 4.54684314e+02] [-1.00799333e-01 9.94906514e-01 7.22934332e-04 -3.12927762e+01] [ 7.94305710e-03 7.81413460e-05 9.99968450e-01 -1.96440632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.89028169299996 meters Centerline goodness [0,1] 0.9997439945385501 Centerline is valid? [True, True] Translation: X:454.71, Y:-31.29, Z:-1.97 [[ 9.94854393e-01 1.00968001e-01 -8.37856112e-03 4.54712489e+02] [-1.00965137e-01 9.94889670e-01 7.65185953e-04 -3.12911870e+01] [ 8.41300320e-03 8.46939641e-05 9.99964606e-01 -1.96653762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92028169299994 meters Centerline goodness [0,1] 0.9999361457579499 Centerline is valid? [True, True] Translation: X:454.74, Y:-31.29, Z:-1.97 [[ 9.94846979e-01 1.00929972e-01 -9.62439568e-03 4.54741710e+02] [-1.00926195e-01 9.94893528e-01 8.78557502e-04 -3.12891349e+01] [ 9.66392175e-03 9.73233618e-05 9.99953298e-01 -1.96865601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.95028169299997 meters Centerline goodness [0,1] 0.9999141096390458 Centerline is valid? [True, True] Translation: X:454.77, Y:-31.29, Z:-1.97 [[ 9.94840780e-01 1.01002629e-01 -9.50217439e-03 4.54770262e+02] [-1.00998958e-01 9.94886154e-01 8.66661715e-04 -3.12892838e+01] [ 9.54111684e-03 9.75192966e-05 9.99954478e-01 -1.96748463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98028169299994 meters Centerline goodness [0,1] 0.9998922204737988 Centerline is valid? [True, True] Translation: X:454.80, Y:-31.29, Z:-1.97 [[ 9.94804512e-01 1.01422638e-01 -8.79949582e-03 4.54799204e+02] [-1.01419509e-01 9.94843425e-01 8.02188406e-04 -3.12888131e+01] [ 8.83548062e-03 9.44199008e-05 9.99960962e-01 -1.96640392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.01028169299997 meters Centerline goodness [0,1] 0.9998501551964037 Centerline is valid? [True, True] Translation: X:454.83, Y:-31.29, Z:-1.96 [[ 9.94739946e-01 1.02086889e-01 -8.40875557e-03 4.54827930e+02] [-1.02084059e-01 9.94775481e-01 7.66157811e-04 -3.12886752e+01] [ 8.44303853e-03 9.62721202e-05 9.99964352e-01 -1.96467524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04028169299994 meters Centerline goodness [0,1] 0.9997208383439271 Centerline is valid? [True, True] Translation: X:454.86, Y:-31.29, Z:-1.97 [[ 9.94559316e-01 1.03695260e-01 -9.95293373e-03 4.54856249e+02] [-1.03691382e-01 9.94609107e-01 9.06253855e-04 -3.12850356e+01] [ 9.99325276e-03 1.30710238e-04 9.99950058e-01 -1.96642765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.07028169299997 meters Centerline goodness [0,1] 0.999786233433091 Centerline is valid? [True, True] Translation: X:454.88, Y:-31.28, Z:-1.97 [[ 9.94442250e-01 1.04726301e-01 -1.08172974e-02 4.54884873e+02] [-1.04721788e-01 9.94501070e-01 9.84329969e-04 -3.12832255e+01] [ 1.08608991e-02 1.53947414e-04 9.99941007e-01 -1.96844909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10028169299994 meters Centerline goodness [0,1] 0.999788140081778 Centerline is valid? [True, True] Translation: X:454.91, Y:-31.28, Z:-1.97 [[ 9.94313806e-01 1.05929733e-01 -1.09063042e-02 4.54913655e+02] [-1.05925223e-01 9.94373603e-01 9.91939408e-04 -3.12813180e+01] [ 1.09500169e-02 1.68953652e-04 9.99940032e-01 -1.96853705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.130281693 meters Centerline goodness [0,1] 0.9996405311680623 Centerline is valid? [True, True] Translation: X:454.94, Y:-31.28, Z:-1.97 [[ 9.94210067e-01 1.06952166e-01 -1.03719222e-02 4.54941509e+02] [-1.06948150e-01 9.94264152e-01 9.42699177e-04 -3.12772953e+01] [ 1.04132542e-02 1.72016885e-04 9.99945766e-01 -1.96946688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16028169299994 meters Centerline goodness [0,1] 0.9995765313684389 Centerline is valid? [True, True] Translation: X:454.97, Y:-31.27, Z:-1.97 [[ 9.94003633e-01 1.09046527e-01 -8.10135041e-03 4.54970396e+02] [-1.09044150e-01 9.94036635e-01 7.35954236e-04 -3.12740498e+01] [ 8.13329235e-03 1.51863682e-04 9.99966913e-01 -1.96502423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.190281693 meters Centerline goodness [0,1] 0.9996412139631083 Centerline is valid? [True, True] Translation: X:455.00, Y:-31.27, Z:-1.96 [[ 9.93906242e-01 1.09971839e-01 -7.52171903e-03 4.54999856e+02] [-1.09969818e-01 9.93934692e-01 6.82944943e-04 -3.12729872e+01] [ 7.55120221e-03 1.48378832e-04 9.99971478e-01 -1.96397497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22028169299995 meters Centerline goodness [0,1] 0.9996554620039191 Centerline is valid? [True, True] Translation: X:455.03, Y:-31.27, Z:-1.96 [[ 9.93889595e-01 1.10135182e-01 -7.32905979e-03 4.55028586e+02] [-1.10133270e-01 9.93916606e-01 6.65109780e-04 -3.12720872e+01] [ 7.35772622e-03 1.46127632e-04 9.99972921e-01 -1.96355433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.250281693 meters Centerline goodness [0,1] 0.9995489884455135 Centerline is valid? [True, True] Translation: X:455.06, Y:-31.27, Z:-1.96 [[ 9.93918505e-01 1.09836724e-01 -7.86759129e-03 4.55056166e+02] [-1.09834517e-01 9.93949632e-01 7.13281941e-04 -3.12705179e+01] [ 7.89833402e-03 1.55188969e-04 9.99968796e-01 -1.96468665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28028169299995 meters Centerline goodness [0,1] 0.999638028318961 Centerline is valid? [True, True] Translation: X:455.09, Y:-31.27, Z:-1.97 [[ 9.94119099e-01 1.07851863e-01 -9.75665474e-03 4.55085215e+02] [-1.07848377e-01 9.94166961e-01 8.84211520e-04 -3.12690878e+01] [ 9.79510765e-03 1.73227822e-04 9.99952012e-01 -1.96803411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.310281693 meters Centerline goodness [0,1] 0.9996373178588953 Centerline is valid? [True, True] Translation: X:455.11, Y:-31.27, Z:-1.97 [[ 9.94334581e-01 1.05773052e-01 -1.05262781e-02 4.55113698e+02] [-1.05768883e-01 9.94390283e-01 9.53486788e-04 -3.12716671e+01] [ 1.05680819e-02 1.65267795e-04 9.99944143e-01 -1.96999725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34028169299995 meters Centerline goodness [0,1] 0.9998094229751191 Centerline is valid? [True, True] Translation: X:455.14, Y:-31.28, Z:-1.97 [[ 9.94660313e-01 1.02656522e-01 -1.06065930e-02 4.55142399e+02] [-1.02652118e-01 9.94716854e-01 9.60276991e-04 -3.12763262e+01] [ 1.06491355e-02 1.33639820e-04 9.99943287e-01 -1.97057547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.370281693 meters Centerline goodness [0,1] 0.9999573778876482 Centerline is valid? [True, True] Translation: X:455.17, Y:-31.28, Z:-1.97 [[ 9.95051579e-01 9.88177345e-02 -1.03639238e-02 4.55170923e+02] [-9.88133262e-02 9.95105546e-01 9.37808339e-04 -3.12835496e+01] [ 1.04058702e-02 9.09261186e-05 9.99945853e-01 -1.96925799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40028169299995 meters Centerline goodness [0,1] 0.999766622820045 Centerline is valid? [True, True] Translation: X:455.20, Y:-31.30, Z:-1.97 [[ 9.95931782e-01 8.95619748e-02 -9.92669135e-03 4.55197394e+02] [-8.95574766e-02 9.95981251e-01 8.97630054e-04 -3.12983222e+01] [ 9.96719199e-03 -4.96886980e-06 9.99950326e-01 -1.96883479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.430281693 meters Centerline goodness [0,1] 0.9994461250053257 Centerline is valid? [True, True] Translation: X:455.23, Y:-31.31, Z:-1.97 [[ 9.96331300e-01 8.50111559e-02 -9.85105137e-03 4.55225561e+02] [-8.50065079e-02 9.96379998e-01 8.90347792e-04 -3.13080396e+01] [ 9.89108005e-03 -4.96778972e-05 9.99951081e-01 -1.96786680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46028169299996 meters Centerline goodness [0,1] 0.9990535395469896 Centerline is valid? [True, True] Translation: X:455.25, Y:-31.32, Z:-1.97 [[ 9.96674025e-01 8.08801002e-02 -9.96484409e-03 4.55253701e+02] [-8.08751424e-02 9.96723834e-01 9.00156699e-04 -3.13171128e+01] [ 1.00050024e-02 -9.12546154e-05 9.99949945e-01 -1.96736605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.490281693 meters Centerline goodness [0,1] 0.9987781350482315 Centerline is valid? [True, True] Translation: X:455.28, Y:-31.33, Z:-1.97 [[ 9.96920711e-01 7.76869483e-02 -1.06693058e-02 4.55280572e+02] [-7.76810888e-02 9.96977794e-01 9.63142163e-04 -3.13253173e+01] [ 1.07118846e-02 -1.31373077e-04 9.99942617e-01 -1.96850396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52028169299996 meters Centerline goodness [0,1] 0.9988125530110263 Centerline is valid? [True, True] Translation: X:455.31, Y:-31.34, Z:-1.97 [[ 9.97157312e-01 7.43203355e-02 -1.24008858e-02 4.55308511e+02] [-7.43121638e-02 9.97234401e-01 1.11909064e-03 -3.13367783e+01] [ 1.24497611e-02 -1.94372759e-04 9.99922480e-01 -1.97216845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.55028169299993 meters Centerline goodness [0,1] 0.9988871054039593 Centerline is valid? [True, True] Translation: X:455.34, Y:-31.34, Z:-1.97 [[ 9.97215266e-01 7.34316465e-02 -1.30194874e-02 4.55337321e+02] [-7.34225717e-02 9.97300229e-01 1.17428093e-03 -3.13405513e+01] [ 1.30705672e-02 -2.15086622e-04 9.99914553e-01 -1.97108671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58028169299996 meters Centerline goodness [0,1] 0.9986528386613921 Centerline is valid? [True, True] Translation: X:455.37, Y:-31.35, Z:-1.97 [[ 9.97266481e-01 7.26905500e-02 -1.32532912e-02 4.55365389e+02] [-7.26810892e-02 9.97354517e-01 1.19474575e-03 -3.13457130e+01] [ 1.33050766e-02 -2.28216247e-04 9.99911458e-01 -1.97113474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.61028169299993 meters Centerline goodness [0,1] 0.9988168989846842 Centerline is valid? [True, True] Translation: X:455.39, Y:-31.35, Z:-1.97 [[ 9.97293787e-01 7.24402995e-02 -1.25500948e-02 4.55394409e+02] [-7.24318037e-02 9.97372726e-01 1.13075802e-03 -3.13500114e+01] [ 1.25990347e-02 -2.18671950e-04 9.99920605e-01 -1.97027875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64028169299996 meters Centerline goodness [0,1] 0.9988853400784549 Centerline is valid? [True, True] Translation: X:455.42, Y:-31.36, Z:-1.97 [[ 9.97261462e-01 7.28511716e-02 -1.27390266e-02 4.55422963e+02] [-7.28424594e-02 9.97342800e-01 1.14717830e-03 -3.13553248e+01] [ 1.27887497e-02 -2.16094679e-04 9.99918197e-01 -1.97052093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.67028169299994 meters Centerline goodness [0,1] 0.9990749306197965 Centerline is valid? [True, True] Translation: X:455.45, Y:-31.36, Z:-1.97 [[ 9.97206149e-01 7.34935423e-02 -1.33639386e-02 4.55451368e+02] [-7.34840205e-02 9.97295669e-01 1.20281614e-03 -3.13583809e+01] [ 1.34161973e-02 -2.17419718e-04 9.99909975e-01 -1.97053186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70028169299997 meters Centerline goodness [0,1] 0.99914451312103 Centerline is valid? [True, True] Translation: X:455.48, Y:-31.36, Z:-1.97 [[ 9.97117470e-01 7.45920101e-02 -1.38846161e-02 4.55479095e+02] [-7.45818501e-02 9.97214113e-01 1.24883009e-03 -3.13607475e+01] [ 1.39390879e-02 -2.09689948e-04 9.99902824e-01 -1.97135870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.73028169299994 meters Centerline goodness [0,1] 0.9993547693300355 Centerline is valid? [True, True] Translation: X:455.51, Y:-31.36, Z:-1.97 [[ 9.96850391e-01 7.83587400e-02 -1.22150153e-02 4.55507071e+02] [-7.83511694e-02 9.96925217e-01 1.09783463e-03 -3.13571411e+01] [ 1.22634817e-02 -1.37316150e-04 9.99924791e-01 -1.96969259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76028169299997 meters Centerline goodness [0,1] 0.9995233659033299 Centerline is valid? [True, True] Translation: X:455.54, Y:-31.35, Z:-1.97 [[ 9.96654980e-01 8.09352170e-02 -1.13288103e-02 4.55536797e+02] [-8.09288753e-02 9.96719359e-01 1.01785039e-03 -3.13544618e+01] [ 1.13740245e-02 -9.76177787e-05 9.99935309e-01 -1.96842461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.79028169299994 meters Centerline goodness [0,1] 0.9996794049756348 Centerline is valid? [True, True] Translation: X:455.57, Y:-31.35, Z:-1.97 [[ 9.96420349e-01 8.38469808e-02 -1.07783203e-02 4.55565994e+02] [-8.38414164e-02 9.96478640e-01 9.67869764e-04 -3.13511840e+01] [ 1.08215189e-02 -6.07354838e-05 9.99941444e-01 -1.96777182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82028169299997 meters Centerline goodness [0,1] 0.9996760469084076 Centerline is valid? [True, True] Translation: X:455.60, Y:-31.35, Z:-1.96 [[ 9.96154760e-01 8.68528629e-02 -1.15010769e-02 4.55595652e+02] [-8.68467338e-02 9.96221150e-01 1.03222796e-03 -3.13481706e+01] [ 1.15472680e-02 -2.94278372e-05 9.99933328e-01 -1.96345776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.85028169299994 meters Centerline goodness [0,1] 0.999893696183693 Centerline is valid? [True, True] Translation: X:455.62, Y:-31.34, Z:-1.97 [[ 9.95705602e-01 9.15591473e-02 -1.36849056e-02 4.55624570e+02] [-9.15509250e-02 9.95799639e-01 1.22741125e-03 -3.13406220e+01] [ 1.37398048e-02 3.07255085e-05 9.99905604e-01 -1.97136471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.880281693 meters Centerline goodness [0,1] 0.9998712694973074 Centerline is valid? [True, True] Translation: X:455.65, Y:-31.34, Z:-1.97 [[ 9.95530628e-01 9.33452542e-02 -1.43329287e-02 4.55653961e+02] [-9.33364291e-02 9.95633798e-01 1.28488365e-03 -3.13387069e+01] [ 1.43902860e-02 5.86433513e-05 9.99896453e-01 -1.97216070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.91028169299994 meters Centerline goodness [0,1] 0.9998923782259627 Centerline is valid? [True, True] Translation: X:455.68, Y:-31.34, Z:-1.97 [[ 9.95350824e-01 9.52010943e-02 -1.46112512e-02 4.55682974e+02] [-9.51921336e-02 9.95458057e-01 1.30910781e-03 -3.13373694e+01] [ 1.46695162e-02 8.78546413e-05 9.99892393e-01 -1.97068026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.940281693 meters Centerline goodness [0,1] 0.9998711672249421 Centerline is valid? [True, True] Translation: X:455.71, Y:-31.33, Z:-1.97 [[ 9.95031156e-01 9.84061875e-02 -1.51400112e-02 4.55711603e+02] [-9.83969519e-02 9.95146322e-01 1.35552910e-03 -3.13306147e+01] [ 1.51999189e-02 1.40937263e-04 9.99884465e-01 -1.97299610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.97028169299995 meters Centerline goodness [0,1] 0.9998499431927801 Centerline is valid? [True, True] Translation: X:455.74, Y:-31.33, Z:-1.97 [[ 9.94920490e-01 9.95560947e-02 -1.48930637e-02 4.55740128e+02] [-9.95473071e-02 9.95031939e-01 1.33205344e-03 -3.13287676e+01] [ 1.49516881e-02 1.57277126e-04 9.99888205e-01 -1.97228755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.000281693 meters Centerline goodness [0,1] 0.9999150761130337 Centerline is valid? [True, True] Translation: X:455.77, Y:-31.33, Z:-1.97 [[ 9.94885555e-01 1.00048954e-01 -1.38902798e-02 4.55768519e+02] [-1.00041369e-01 9.94982504e-01 1.24159675e-03 -3.13262466e+01] [ 1.39448058e-02 1.54355930e-04 9.99902755e-01 -1.97202790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.03028169299995 meters Centerline goodness [0,1] 0.999978471474704 Centerline is valid? [True, True] Translation: X:455.80, Y:-31.33, Z:-1.97 [[ 9.94891986e-01 1.00132998e-01 -1.27796580e-02 4.55797310e+02] [-1.00126593e-01 9.94974051e-01 1.14170699e-03 -3.13277343e+01] [ 1.28297507e-02 1.43708483e-04 9.99917685e-01 -1.96662674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.060281693 meters Centerline goodness [0,1] 0.999894276108515 Centerline is valid? [True, True] Translation: X:455.83, Y:-31.32, Z:-1.97 [[ 9.94959787e-01 9.96204177e-02 -1.14365438e-02 4.55825681e+02] [-9.96152663e-02 9.95025506e-01 1.02061884e-03 -3.13237162e+01] [ 1.14813272e-02 1.23779652e-04 9.99934080e-01 -1.96885770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.09028169299995 meters Centerline goodness [0,1] 0.9997853478438191 Centerline is valid? [True, True] Translation: X:455.85, Y:-31.33, Z:-1.97 [[ 9.95033996e-01 9.87768392e-02 -1.22671594e-02 4.55854124e+02] [-9.87708543e-02 9.95109602e-01 1.09425557e-03 -3.13279861e+01] [ 1.23152553e-02 1.22816326e-04 9.99924157e-01 -1.96688859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.120281693 meters Centerline goodness [0,1] 0.9998501391564976 Centerline is valid? [True, True] Translation: X:455.88, Y:-31.33, Z:-1.97 [[ 9.95164863e-01 9.73643098e-02 -1.29261717e-02 4.55883297e+02] [-9.73575533e-02 9.95248802e-01 1.15242898e-03 -3.13297988e+01] [ 1.29769623e-02 1.11603623e-04 9.99915789e-01 -1.96895023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.15028169299995 meters Centerline goodness [0,1] 0.999914889995319 Centerline is valid? [True, True] Translation: X:455.91, Y:-31.33, Z:-1.97 [[ 9.95326533e-01 9.57697424e-02 -1.23793536e-02 4.55911385e+02] [-9.57634316e-02 9.95403511e-01 1.10291604e-03 -3.13297416e+01] [ 1.24280780e-02 8.77277837e-05 9.99922765e-01 -1.97133976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.180281693 meters Centerline goodness [0,1] 0.9997249841337 Centerline is valid? [True, True] Translation: X:455.94, Y:-31.33, Z:-1.96 [[ 9.95629297e-01 9.30250516e-02 -8.28507007e-03 4.55940286e+02] [-9.30221333e-02 9.95663768e-01 7.37735636e-04 -3.13319572e+01] [ 8.31777197e-03 3.61836793e-05 9.99965406e-01 -1.96080056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.21028169299996 meters Centerline goodness [0,1] 0.9998495012039904 Centerline is valid? [True, True] Translation: X:455.97, Y:-31.34, Z:-1.96 [[ 9.95793227e-01 9.13331742e-02 -7.35525564e-03 4.55968537e+02] [-9.13308307e-02 9.95820391e-01 6.54583398e-04 -3.13352702e+01] [ 7.38429872e-03 1.99318930e-05 9.99972735e-01 -1.95852561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.240281693 meters Centerline goodness [0,1] 0.9997196342305038 Centerline is valid? [True, True] Translation: X:456.00, Y:-31.34, Z:-1.96 [[ 9.95999020e-01 8.90377202e-02 -7.63122419e-03 4.55995696e+02] [-8.90351355e-02 9.96028255e-01 6.78449275e-04 -3.13396417e+01] [ 7.66132249e-03 3.71226607e-06 9.99970652e-01 -1.95902719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.27028169299996 meters Centerline goodness [0,1] 0.9996165480806101 Centerline is valid? [True, True] Translation: X:456.02, Y:-31.35, Z:-1.96 [[ 9.96446974e-01 8.37398240e-02 -9.00385686e-03 4.56022602e+02] [-8.37360133e-02 9.96487652e-01 8.00042268e-04 -3.13479617e+01] [ 9.03922758e-03 -4.32526190e-05 9.99959144e-01 -1.96237276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30028169299993 meters Centerline goodness [0,1] 0.9992514489809012 Centerline is valid? [True, True] Translation: X:456.05, Y:-31.36, Z:-1.96 [[ 9.96731853e-01 8.02521464e-02 -9.23074216e-03 4.56050251e+02] [-8.02479965e-02 9.96774592e-01 8.19677039e-04 -3.13553399e+01] [ 9.26675010e-03 -7.62496492e-05 9.99957060e-01 -1.96314334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.33028169299996 meters Centerline goodness [0,1] 0.9992724938482935 Centerline is valid? [True, True] Translation: X:456.08, Y:-31.36, Z:-1.96 [[ 9.97020224e-01 7.65951960e-02 -9.15691184e-03 4.56077917e+02] [-7.65909628e-02 9.97062267e-01 8.12599282e-04 -3.13632682e+01] [ 9.19225248e-03 -1.08841224e-04 9.99957744e-01 -1.96343792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36028169299993 meters Centerline goodness [0,1] 0.9988290647420749 Centerline is valid? [True, True] Translation: X:456.11, Y:-31.37, Z:-1.96 [[ 9.97281273e-01 7.31962424e-02 -8.50718841e-03 4.56105317e+02] [-7.31924691e-02 9.97317549e-01 7.54451153e-04 -3.13716966e+01] [ 8.53959128e-03 -1.29737882e-04 9.99963529e-01 -1.96315219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.39028169299996 meters Centerline goodness [0,1] 0.998331202184608 Centerline is valid? [True, True] Translation: X:456.14, Y:-31.38, Z:-1.96 [[ 9.97710731e-01 6.70871626e-02 -8.52108430e-03 4.56135040e+02] [-6.70831531e-02 9.97747102e-01 7.55802621e-04 -3.13843490e+01] [ 8.55259182e-03 -1.82451183e-04 9.99963409e-01 -1.96138484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42028169299994 meters Centerline goodness [0,1] 0.9981629168557782 Centerline is valid? [True, True] Translation: X:456.16, Y:-31.39, Z:-1.96 [[ 9.97865973e-01 6.46395707e-02 -9.23173953e-03 4.56164715e+02] [-6.46347624e-02 9.97908652e-01 8.18558784e-04 -3.13882885e+01] [ 9.26534403e-03 -2.20120667e-04 9.99957052e-01 -1.96041687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.45028169299997 meters Centerline goodness [0,1] 0.997367801579319 Centerline is valid? [True, True] Translation: X:456.19, Y:-31.40, Z:-1.96 [[ 9.98010771e-01 6.22591251e-02 -9.91479405e-03 4.56192672e+02] [-6.22534653e-02 9.98059985e-01 8.78741513e-04 -3.13975401e+01] [ 9.95026888e-03 -2.59763206e-04 9.99950461e-01 -1.96201657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48028169299994 meters Centerline goodness [0,1] 0.9974638927097662 Centerline is valid? [True, True] Translation: X:456.22, Y:-31.40, Z:-1.96 [[ 9.98103628e-01 6.06954320e-02 -1.02573338e-02 4.56221212e+02] [-6.06892971e-02 9.98156292e-01 9.08595639e-04 -3.14049810e+01] [ 1.02935699e-02 -2.84362224e-04 9.99946979e-01 -1.96309954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.51028169299997 meters Centerline goodness [0,1] 0.9974638927097662 Centerline is valid? [True, True] Translation: X:456.25, Y:-31.41, Z:-1.96 [[ 9.98106488e-01 6.06483697e-02 -1.02573767e-02 4.56249451e+02] [-6.06422372e-02 9.98159153e-01 9.08111488e-04 -3.14073950e+01] [ 1.02935699e-02 -2.84361697e-04 9.99946979e-01 -1.96315920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54028169299994 meters Centerline goodness [0,1] 0.9971173615379724 Centerline is valid? [True, True] Translation: X:456.28, Y:-31.42, Z:-1.96 [[ 9.98157221e-01 5.97361041e-02 -1.06658442e-02 4.56276060e+02] [-5.97294280e-02 9.98214158e-01 9.43670664e-04 -3.14169582e+01] [ 1.07031679e-02 -3.04866915e-04 9.99942673e-01 -1.96480709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.57028169299997 meters Centerline goodness [0,1] 0.9971092737050183 Centerline is valid? [True, True] Translation: X:456.30, Y:-31.42, Z:-1.96 [[ 9.98202866e-01 5.91645526e-02 -9.51809769e-03 4.56304344e+02] [-5.91592142e-02 9.98248205e-01 8.41690056e-04 -3.14243915e+01] [ 9.55122215e-03 -2.77094247e-04 9.99954348e-01 -1.96135270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60028169299994 meters Centerline goodness [0,1] 0.9968729531576834 Centerline is valid? [True, True] Translation: X:456.33, Y:-31.43, Z:-1.96 [[ 9.98228521e-01 5.88653432e-02 -8.64240261e-03 4.56331936e+02] [-5.88609354e-02 9.98265900e-01 7.63722114e-04 -3.14326205e+01] [ 8.67237259e-03 -2.53669295e-04 9.99962362e-01 -1.96080429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.630281693 meters Centerline goodness [0,1] 0.9971536798852911 Centerline is valid? [True, True] Translation: X:456.36, Y:-31.44, Z:-1.96 [[ 9.98228019e-01 5.88424272e-02 -8.85384586e-03 4.56360723e+02] [-5.88378034e-02 9.98267249e-01 7.82035501e-04 -3.14362191e+01] [ 8.88452122e-03 -2.59708908e-04 9.99960498e-01 -1.96020341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66028169299994 meters Centerline goodness [0,1] 0.9971254042400287 Centerline is valid? [True, True] Translation: X:456.39, Y:-31.44, Z:-1.96 [[ 9.98172260e-01 5.96568313e-02 -9.65415360e-03 4.56387845e+02] [-5.96513775e-02 9.98218907e-01 8.52140193e-04 -3.14419957e+01] [ 9.68779465e-03 -2.74699141e-04 9.99953034e-01 -1.96163334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.690281693 meters Centerline goodness [0,1] 0.9979474021808852 Centerline is valid? [True, True] Translation: X:456.42, Y:-31.44, Z:-1.96 [[ 9.98050898e-01 6.16863618e-02 -9.44449973e-03 4.56416481e+02] [-6.16812372e-02 9.98095552e-01 8.33203394e-04 -3.14439982e+01] [ 9.47791046e-03 -2.49030967e-04 9.99955053e-01 -1.95969243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72028169299995 meters Centerline goodness [0,1] 0.9979675666424201 Centerline is valid? [True, True] Translation: X:456.44, Y:-31.45, Z:-1.96 [[ 9.97960884e-01 6.32835877e-02 -8.32229504e-03 4.56444570e+02] [-6.32796675e-02 9.97995564e-01 7.33792620e-04 -3.14484746e+01] [ 8.35205056e-03 -2.05664270e-04 9.99965100e-01 -1.95705329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.750281693 meters Centerline goodness [0,1] 0.998192258613356 Centerline is valid? [True, True] Translation: X:456.47, Y:-31.46, Z:-1.96 [[ 9.97879454e-01 6.46807772e-02 -7.27954483e-03 4.56471828e+02] [-6.46778185e-02 9.97905992e-01 6.41381560e-04 -3.14555843e+01] [ 7.30578646e-03 -1.69196401e-04 9.99973298e-01 -1.95625566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78028169299995 meters Centerline goodness [0,1] 0.9982634794726123 Centerline is valid? [True, True] Translation: X:456.50, Y:-31.46, Z:-1.95 [[ 9.97817444e-01 6.56740720e-02 -6.87488853e-03 4.56500501e+02] [-6.56714587e-02 9.97841116e-01 6.05427157e-04 -3.14575330e+01] [ 6.89980731e-03 -1.52621820e-04 9.99976184e-01 -1.95499941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.810281693 meters Centerline goodness [0,1] 0.9981348483224354 Centerline is valid? [True, True] Translation: X:456.53, Y:-31.47, Z:-1.96 [[ 9.97776660e-01 6.61218940e-02 -8.34453540e-03 4.56528666e+02] [-6.61180627e-02 9.97811536e-01 7.34482665e-04 -3.14661899e+01] [ 8.37483907e-03 -1.81125146e-04 9.99964914e-01 -1.95818562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84028169299995 meters Centerline goodness [0,1] 0.9980844542823089 Centerline is valid? [True, True] Translation: X:456.56, Y:-31.47, Z:-1.96 [[ 9.97770353e-01 6.60444371e-02 -9.61538561e-03 4.56557244e+02] [-6.60393505e-02 9.97816661e-01 8.45908270e-04 -3.14719939e+01] [ 9.65025950e-03 -2.09028372e-04 9.99953413e-01 -1.96056433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.870281693 meters Centerline goodness [0,1] 0.998308314953211 Centerline is valid? [True, True] Translation: X:456.59, Y:-31.48, Z:-1.96 [[ 9.97743202e-01 6.62607265e-02 -1.08636649e-02 4.56585701e+02] [-6.62542515e-02 9.97802316e-01 9.55224641e-04 -3.14768738e+01] [ 1.09030839e-02 -2.33304905e-04 9.99940532e-01 -1.96256426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90028169299995 meters Centerline goodness [0,1] 0.9985030260259619 Centerline is valid? [True, True] Translation: X:456.61, Y:-31.48, Z:-1.97 [[ 9.97592071e-01 6.81972174e-02 -1.26173934e-02 4.56613047e+02] [-6.81886474e-02 9.97671829e-01 1.10868014e-03 -3.14836794e+01] [ 1.26636269e-02 -2.45647523e-04 9.99919783e-01 -1.96613483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.930281693 meters Centerline goodness [0,1] 0.9983819459229295 Centerline is valid? [True, True] Translation: X:456.64, Y:-31.49, Z:-1.97 [[ 9.97543924e-01 6.89158870e-02 -1.25187938e-02 4.56640543e+02] [-6.89075162e-02 9.97622447e-01 1.09928863e-03 -3.14880755e+01] [ 1.25647881e-02 -2.33949709e-04 9.99921033e-01 -1.96591505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96028169299996 meters Centerline goodness [0,1] 0.9987711544680392 Centerline is valid? [True, True] Translation: X:456.67, Y:-31.49, Z:-1.96 [[ 9.97516587e-01 6.93291382e-02 -1.24149127e-02 4.56669057e+02] [-6.93209447e-02 9.97593815e-01 1.08960564e-03 -3.14909262e+01] [ 1.24605815e-02 -2.26286226e-04 9.99922338e-01 -1.96482575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.990281693 meters Centerline goodness [0,1] 0.9985434293670343 Centerline is valid? [True, True] Translation: X:456.70, Y:-31.49, Z:-1.96 [[ 9.97437992e-01 7.05059646e-02 -1.20979407e-02 4.56697167e+02] [-7.04982775e-02 9.97511337e-01 1.06121731e-03 -3.14946698e+01] [ 1.21426552e-02 -2.05614483e-04 9.99926254e-01 -1.96360161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02028169299996 meters Centerline goodness [0,1] 0.9984695178981379 Centerline is valid? [True, True] Translation: X:456.73, Y:-31.50, Z:-1.96 [[ 9.97393090e-01 7.12249550e-02 -1.15770985e-02 4.56725076e+02] [-7.12179724e-02 9.97460260e-01 1.01481142e-03 -3.14978111e+01] [ 1.16199755e-02 -1.87668420e-04 9.99932468e-01 -1.96367960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.05028169299993 meters Centerline goodness [0,1] 0.9986499807140102 Centerline is valid? [True, True] Translation: X:456.75, Y:-31.50, Z:-1.96 [[ 9.97345050e-01 7.18861238e-02 -1.16291180e-02 4.56753771e+02] [-7.18791291e-02 9.97412830e-01 1.01886545e-03 -3.15008474e+01] [ 1.16722737e-02 -1.80269540e-04 9.99931860e-01 -1.96349996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08028169299996 meters Centerline goodness [0,1] 0.9987961649254052 Centerline is valid? [True, True] Translation: X:456.78, Y:-31.50, Z:-1.96 [[ 9.97276943e-01 7.27916715e-02 -1.18351970e-02 4.56781691e+02] [-7.27844988e-02 9.97347153e-01 1.03622131e-03 -3.15031780e+01] [ 1.18792283e-02 -1.71980736e-04 9.99929425e-01 -1.96335802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.11028169299993 meters Centerline goodness [0,1] 0.9991874438694778 Centerline is valid? [True, True] Translation: X:456.81, Y:-31.50, Z:-1.96 [[ 9.97142494e-01 7.46785776e-02 -1.13998194e-02 4.56810258e+02] [-7.46720519e-02 9.97207646e-01 9.97602412e-04 -3.15028270e+01] [ 1.14424866e-02 -1.43503855e-04 9.99934522e-01 -1.96279983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14028169299996 meters Centerline goodness [0,1] 0.9990546782683425 Centerline is valid? [True, True] Translation: X:456.84, Y:-31.50, Z:-1.96 [[ 9.97101089e-01 7.53300750e-02 -1.07143765e-02 4.56839080e+02] [-7.53243533e-02 9.97158645e-01 9.37128625e-04 -3.15045940e+01] [ 1.07545271e-02 -1.27358491e-04 9.99942160e-01 -1.96173114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.17028169299994 meters Centerline goodness [0,1] 0.9987886773206393 Centerline is valid? [True, True] Translation: X:456.87, Y:-31.51, Z:-1.96 [[ 9.97078793e-01 7.57354433e-02 -9.90061823e-03 4.56866823e+02] [-7.57305837e-02 9.97127941e-01 8.65365348e-04 -3.15070230e+01] [ 9.93772190e-03 -1.13057839e-04 9.99950613e-01 -1.96015434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20028169299997 meters Centerline goodness [0,1] 0.9991467030740022 Centerline is valid? [True, True] Translation: X:456.89, Y:-31.51, Z:-1.96 [[ 9.97071554e-01 7.58613208e-02 -9.66311274e-03 4.56894800e+02] [-7.58567014e-02 9.97118372e-01 8.44196008e-04 -3.15119548e+01] [ 9.69930907e-03 -1.08711968e-04 9.99952955e-01 -1.96071250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.23028169299994 meters Centerline goodness [0,1] 0.9992664192629671 Centerline is valid? [True, True] Translation: X:456.92, Y:-31.52, Z:-1.96 [[ 9.97087688e-01 7.55112627e-02 -1.06860039e-02 4.56923798e+02] [-7.55055985e-02 9.97144941e-01 9.33085495e-04 -3.15155502e+01] [ 1.07259532e-02 -1.23514936e-04 9.99942468e-01 -1.96248592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26028169299997 meters Centerline goodness [0,1] 0.9992719641977688 Centerline is valid? [True, True] Translation: X:456.95, Y:-31.52, Z:-1.96 [[ 9.97071472e-01 7.55771856e-02 -1.16862478e-02 4.56951931e+02] [-7.55704237e-02 9.97139946e-01 1.01975844e-03 -3.15189279e+01] [ 1.17298949e-02 -1.33637357e-04 9.99931193e-01 -1.96451346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.29028169299994 meters Centerline goodness [0,1] 0.9992288248147038 Centerline is valid? [True, True] Translation: X:456.98, Y:-31.52, Z:-1.96 [[ 9.97035385e-01 7.61077982e-02 -1.13156255e-02 4.56980342e+02] [-7.61014981e-02 9.97099588e-01 9.86930412e-04 -3.15202998e+01] [ 1.13579186e-02 -1.22868493e-04 9.99935489e-01 -1.96366421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32028169299997 meters Centerline goodness [0,1] 0.9993168669811925 Centerline is valid? [True, True] Translation: X:457.01, Y:-31.52, Z:-1.96 [[ 9.96863474e-01 7.87441960e-02 -7.90984669e-03 4.57009010e+02] [-7.87412036e-02 9.96894853e-01 6.89503486e-04 -3.15168784e+01] [ 7.93957985e-03 -6.45099917e-05 9.99968479e-01 -1.95656692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.35028169299994 meters Centerline goodness [0,1] 0.9994038621218251 Centerline is valid? [True, True] Translation: X:457.04, Y:-31.51, Z:-1.95 [[ 9.96712588e-01 8.07432264e-02 -6.67440121e-03 4.57038023e+02] [-8.07411426e-02 9.96734935e-01 5.81505212e-04 -3.15147579e+01] [ 6.69956146e-03 -4.06947847e-05 9.99977557e-01 -1.95363197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.380281693 meters Centerline goodness [0,1] 0.9994636459204909 Centerline is valid? [True, True] Translation: X:457.07, Y:-31.51, Z:-1.95 [[ 9.96540152e-01 8.27942597e-02 -7.26879707e-03 4.57067398e+02] [-8.27918453e-02 9.96566661e-01 6.32951710e-04 -3.15120634e+01] [ 7.29624560e-03 -2.89646702e-05 9.99973382e-01 -1.95249478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.41028169299994 meters Centerline goodness [0,1] 0.9996576148595151 Centerline is valid? [True, True] Translation: X:457.10, Y:-31.51, Z:-1.96 [[ 9.96395001e-01 8.43395964e-02 -9.15616004e-03 4.57095683e+02] [-8.43358356e-02 9.96437069e-01 7.96764955e-04 -3.15104356e+01] [ 9.19073610e-03 -2.17002111e-05 9.99957764e-01 -1.95649492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.440281693 meters Centerline goodness [0,1] 0.9997401416228155 Centerline is valid? [True, True] Translation: X:457.12, Y:-31.51, Z:-1.96 [[ 9.96284274e-01 8.52738747e-02 -1.20835093e-02 4.57124946e+02] [-8.52673995e-02 9.96357549e-01 1.05097932e-03 -3.15064582e+01] [ 1.21291168e-02 -1.67447519e-05 9.99926439e-01 -1.96110509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.47028169299995 meters Centerline goodness [0,1] 0.9998069415247329 Centerline is valid? [True, True] Translation: X:457.15, Y:-31.51, Z:-1.96 [[ 9.96337388e-01 8.47395085e-02 -1.14466285e-02 4.57153262e+02] [-8.47336691e-02 9.96403139e-01 9.95029169e-04 -3.15076692e+01] [ 1.14897749e-02 -2.14699298e-05 9.99933990e-01 -1.96398023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.500281693 meters Centerline goodness [0,1] 0.9996829355936503 Centerline is valid? [True, True] Translation: X:457.18, Y:-31.51, Z:-1.96 [[ 9.96435037e-01 8.37909411e-02 -9.81299588e-03 4.57180680e+02] [-8.37866090e-02 9.96483355e-01 8.52467783e-04 -3.15101677e+01] [ 9.84991614e-03 -2.72311180e-05 9.99951488e-01 -1.96047743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.53028169299995 meters Centerline goodness [0,1] 0.9995065436601588 Centerline is valid? [True, True] Translation: X:457.21, Y:-31.51, Z:-1.95 [[ 9.96589413e-01 8.20420664e-02 -8.86797587e-03 4.57209146e+02] [-8.20384631e-02 9.96628867e-01 7.69946624e-04 -3.15123859e+01] [ 8.90124875e-03 -3.98055432e-05 9.99960382e-01 -1.95373707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.560281693 meters Centerline goodness [0,1] 0.9993138053780504 Centerline is valid? [True, True] Translation: X:457.24, Y:-31.52, Z:-1.96 [[ 9.96959359e-01 7.74242619e-02 -8.80452153e-03 4.57237224e+02] [-7.74205324e-02 9.96998233e-01 7.64147585e-04 -3.15186078e+01] [ 8.83725597e-03 -8.01733421e-05 9.99960947e-01 -1.95566974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.59028169299995 meters Centerline goodness [0,1] 0.998947888261439 Centerline is valid? [True, True] Translation: X:457.27, Y:-31.52, Z:-1.96 [[ 9.97145634e-01 7.49706097e-02 -8.94383864e-03 4.57265450e+02] [-7.49666663e-02 9.97185738e-01 7.75815432e-04 -3.15235751e+01] [ 8.97683170e-03 -1.03111204e-04 9.99959702e-01 -1.95680864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.620281693 meters Centerline goodness [0,1] 0.999088558226292 Centerline is valid? [True, True] Translation: X:457.29, Y:-31.53, Z:-1.96 [[ 9.97319299e-01 7.26176513e-02 -8.99399580e-03 4.57294111e+02] [-7.26135716e-02 9.97359845e-01 7.79760224e-04 -3.15289235e+01] [ 9.02687462e-03 -1.24583762e-04 9.99959249e-01 -1.95723841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.65028169299995 meters Centerline goodness [0,1] 0.9986938181195264 Centerline is valid? [True, True] Translation: X:457.32, Y:-31.53, Z:-1.96 [[ 9.97455482e-01 7.06699453e-02 -9.39788867e-03 4.57321892e+02] [-7.06654096e-02 9.97499743e-01 8.14231813e-04 -3.15342815e+01] [ 9.43193325e-03 -1.48054333e-04 9.99955507e-01 -1.95822285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.680281693 meters Centerline goodness [0,1] 0.9990020807677609 Centerline is valid? [True, True] Translation: X:457.35, Y:-31.54, Z:-1.96 [[ 9.97581603e-01 6.86733958e-02 -1.07196524e-02 4.57350815e+02] [-6.86673841e-02 9.97639178e-01 9.28293926e-04 -3.15352131e+01] [ 1.07580943e-02 -1.89958456e-04 9.99942112e-01 -1.95853697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.71028169299996 meters Centerline goodness [0,1] 0.9985901954501762 Centerline is valid? [True, True] Translation: X:457.38, Y:-31.54, Z:-1.96 [[ 9.97592053e-01 6.84753949e-02 -1.10097850e-02 4.57380039e+02] [-6.84690470e-02 9.97652786e-01 9.52904808e-04 -3.15350628e+01] [ 1.10491932e-02 -1.96780777e-04 9.99938936e-01 -1.95759531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.740281693 meters Centerline goodness [0,1] 0.9989466443097296 Centerline is valid? [True, True] Translation: X:457.41, Y:-31.54, Z:-1.96 [[ 9.97577754e-01 6.86937517e-02 -1.09449914e-02 4.57409327e+02] [-6.86874971e-02 9.97637776e-01 9.46783802e-04 -3.15358596e+01] [ 1.09841751e-02 -1.92706391e-04 9.99939654e-01 -1.95661138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.77028169299996 meters Centerline goodness [0,1] 0.9987244355627365 Centerline is valid? [True, True] Translation: X:457.44, Y:-31.54, Z:-1.96 [[ 9.97535735e-01 6.94415858e-02 -1.00161477e-02 4.57437135e+02] [-6.94363917e-02 9.97586005e-01 8.65820170e-04 -3.15389120e+01] [ 1.00520927e-02 -1.68201403e-04 9.99949462e-01 -1.95686994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80028169299993 meters Centerline goodness [0,1] 0.9992104813929669 Centerline is valid? [True, True] Translation: X:457.47, Y:-31.54, Z:-1.95 [[ 9.97440138e-01 7.08809938e-02 -9.43692854e-03 4.57466081e+02] [-7.08764514e-02 9.97484769e-01 8.15328320e-04 -3.15354925e+01] [ 9.47098377e-03 -1.44385185e-04 9.99955139e-01 -1.95475739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.83028169299996 meters Centerline goodness [0,1] 0.9990664120517717 Centerline is valid? [True, True] Translation: X:457.50, Y:-31.54, Z:-1.95 [[ 9.97417577e-01 7.12269091e-02 -9.21432163e-03 4.57495225e+02] [-7.12225973e-02 9.97460129e-01 7.95664955e-04 -3.15367647e+01] [ 9.24759120e-03 -1.37342293e-04 9.99957231e-01 -1.95480917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86028169299993 meters Centerline goodness [0,1] 0.9993556562640951 Centerline is valid? [True, True] Translation: X:457.52, Y:-31.54, Z:-1.95 [[ 9.97368354e-01 7.19027201e-02 -9.29333287e-03 4.57524077e+02] [-7.18983675e-02 9.97411641e-01 8.02041993e-04 -3.15369868e+01] [ 9.32694739e-03 -1.31755841e-04 9.99956494e-01 -1.95333822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.89028169299996 meters Centerline goodness [0,1] 0.9992061448678339 Centerline is valid? [True, True] Translation: X:457.55, Y:-31.54, Z:-1.95 [[ 9.97330759e-01 7.24698836e-02 -8.91473305e-03 4.57551865e+02] [-7.24659060e-02 9.97370594e-01 7.68810341e-04 -3.15389687e+01] [ 8.94700819e-03 -1.20743993e-04 9.99959967e-01 -1.95258884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92028169299994 meters Centerline goodness [0,1] 0.9991662034463591 Centerline is valid? [True, True] Translation: X:457.58, Y:-31.54, Z:-1.95 [[ 9.97372043e-01 7.21311642e-02 -6.78988808e-03 4.57579186e+02] [-7.21288518e-02 9.97395151e-01 5.85134439e-04 -3.15443544e+01] [ 6.81440787e-03 -9.38499004e-05 9.99976777e-01 -1.94925477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.95028169299997 meters Centerline goodness [0,1] 0.9990504526175856 Centerline is valid? [True, True] Translation: X:457.61, Y:-31.55, Z:-1.95 [[ 9.97470697e-01 7.08443613e-02 -5.76940874e-03 4.57606672e+02] [-7.08426713e-02 9.97487378e-01 4.97022752e-04 -3.15545661e+01] [ 5.79012366e-03 -8.70453037e-05 9.99983233e-01 -1.95027668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98028169299994 meters Centerline goodness [0,1] 0.9989827060020345 Centerline is valid? [True, True] Translation: X:457.64, Y:-31.56, Z:-1.95 [[ 9.97574501e-01 6.93686236e-02 -5.75395635e-03 4.57636550e+02] [-6.93669187e-02 9.97591091e-01 4.95582644e-04 -3.15584236e+01] [ 5.77447348e-03 -9.52463862e-05 9.99983323e-01 -1.94863999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.01028169299997 meters Centerline goodness [0,1] 0.9990080862533692 Centerline is valid? [True, True] Translation: X:457.67, Y:-31.57, Z:-1.95 [[ 9.97664701e-01 6.79940145e-02 -6.47751967e-03 4.57665463e+02] [-6.79918258e-02 9.97685722e-01 5.57758679e-04 -3.15666198e+01] [ 6.50045314e-03 -1.16037757e-04 9.99978865e-01 -1.95023517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04028169299994 meters Centerline goodness [0,1] 0.9988733232711889 Centerline is valid? [True, True] Translation: X:457.69, Y:-31.58, Z:-1.95 [[ 9.97676564e-01 6.75972038e-02 -8.49065836e-03 4.57693557e+02] [-6.75934314e-02 9.97712681e-01 7.30800568e-04 -3.15757654e+01] [ 8.52063759e-03 -1.55189866e-04 9.99963687e-01 -1.95352984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.07028169299997 meters Centerline goodness [0,1] 0.9990597286034832 Centerline is valid? [True, True] Translation: X:457.72, Y:-31.58, Z:-1.96 [[ 9.97567640e-01 6.89408649e-02 -1.02937542e-02 4.57721975e+02] [-6.89353967e-02 9.97620733e-01 8.85512719e-04 -3.15783687e+01] [ 1.03303106e-02 -1.73754806e-04 9.99946626e-01 -1.95600172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10028169299994 meters Centerline goodness [0,1] 0.9993309015561935 Centerline is valid? [True, True] Translation: X:457.75, Y:-31.58, Z:-1.96 [[ 9.97371148e-01 7.15065193e-02 -1.17307834e-02 4.57750838e+02] [-7.14996014e-02 9.97440118e-01 1.00859057e-03 -3.15775436e+01] [ 1.17728748e-02 -1.67192799e-04 9.99930683e-01 -1.95698086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.130281693 meters Centerline goodness [0,1] 0.9997044605349265 Centerline is valid? [True, True] Translation: X:457.78, Y:-31.57, Z:-1.96 [[ 9.96644507e-01 8.09586415e-02 -1.20592450e-02 4.57780420e+02] [-8.09520249e-02 9.96717460e-01 1.03660015e-03 -3.15683418e+01] [ 1.21035818e-02 -5.69015438e-05 9.99926747e-01 -1.95758924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16028169299994 meters Centerline goodness [0,1] 0.9996820619343352 Centerline is valid? [True, True] Translation: X:457.81, Y:-31.56, Z:-1.96 [[ 9.96153279e-01 8.69373877e-02 -1.09788648e-02 4.57809602e+02] [-8.69322727e-02 9.96213777e-01 9.43175914e-04 -3.15600249e+01] [ 1.10192936e-02 1.48698857e-05 9.99939286e-01 -1.95543800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.190281693 meters Centerline goodness [0,1] 0.9995951417004049 Centerline is valid? [True, True] Translation: X:457.84, Y:-31.55, Z:-1.95 [[ 9.95618049e-01 9.29686956e-02 -1.00758187e-02 4.57839292e+02] [-9.29647009e-02 9.95669029e-01 8.65117361e-04 -3.15507947e+01] [ 1.01126095e-02 7.53690126e-05 9.99948863e-01 -1.95270028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22028169299995 meters Centerline goodness [0,1] 0.9995495012335085 Centerline is valid? [True, True] Translation: X:457.87, Y:-31.54, Z:-1.95 [[ 9.95107078e-01 9.82724371e-02 -1.02191225e-02 4.57869885e+02] [-9.82686095e-02 9.95159540e-01 8.77225842e-04 -3.15428347e+01] [ 1.02558643e-02 1.31285310e-04 9.99947399e-01 -1.95222284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.250281693 meters Centerline goodness [0,1] 0.9994893291061132 Centerline is valid? [True, True] Translation: X:457.90, Y:-31.53, Z:-1.96 [[ 9.94697081e-01 1.02207705e-01 -1.14586809e-02 4.57899480e+02] [-1.02203161e-01 9.94763061e-01 9.83012867e-04 -3.15347913e+01] [ 1.14991439e-02 1.93313372e-04 9.99933864e-01 -1.95683940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28028169299995 meters Centerline goodness [0,1] 0.9994087463310598 Centerline is valid? [True, True] Translation: X:457.93, Y:-31.53, Z:-1.96 [[ 9.94506537e-01 1.03725803e-01 -1.40607966e-02 4.57928399e+02] [-1.03719117e-01 9.94605897e-01 1.20581741e-03 -3.15310801e+01] [ 1.41100256e-02 2.59180122e-04 9.99900415e-01 -1.96225046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.310281693 meters Centerline goodness [0,1] 0.9995928774989822 Centerline is valid? [True, True] Translation: X:457.96, Y:-31.54, Z:-1.96 [[ 9.94668942e-01 1.02198219e-01 -1.37557183e-02 4.57957357e+02] [-1.02191682e-01 9.94764027e-01 1.17914950e-03 -3.15369703e+01] [ 1.38042007e-02 2.32856600e-04 9.99904690e-01 -1.95817591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34028169299995 meters Centerline goodness [0,1] 0.9996134269699117 Centerline is valid? [True, True] Translation: X:457.99, Y:-31.54, Z:-1.95 [[ 9.95338613e-01 9.58988273e-02 -1.02205607e-02 4.57987133e+02] [-9.58948871e-02 9.95391081e-01 8.76019140e-04 -3.15445013e+01] [ 1.02574641e-02 1.08163837e-04 9.99947385e-01 -1.95177431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.370281693 meters Centerline goodness [0,1] 0.9996782772820865 Centerline is valid? [True, True] Translation: X:458.01, Y:-31.55, Z:-1.95 [[ 9.95787403e-01 9.12967838e-02 -8.50555677e-03 4.58014106e+02] [-9.12938924e-02 9.95823727e-01 7.28396016e-04 -3.15529343e+01] [ 8.53653546e-03 5.11778078e-05 9.99963562e-01 -1.94902616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40028169299995 meters Centerline goodness [0,1] 0.9997018993271442 Centerline is valid? [True, True] Translation: X:458.04, Y:-31.56, Z:-1.95 [[ 9.96232936e-01 8.63986293e-02 -7.43059411e-03 4.58042387e+02] [-8.63962888e-02 9.96260647e-01 6.35996714e-04 -3.15644714e+01] [ 7.45775774e-03 8.37488118e-06 9.99972191e-01 -1.94662137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.430281693 meters Centerline goodness [0,1] 0.9997018993271442 Centerline is valid? [True, True] Translation: X:458.07, Y:-31.57, Z:-1.95 [[ 9.96237002e-01 8.63517376e-02 -7.43062400e-03 4.58070621e+02] [-8.63493985e-02 9.96264712e-01 6.35647502e-04 -3.15667967e+01] [ 7.45775775e-03 8.37435057e-06 9.99972191e-01 -1.94668100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46028169299996 meters Centerline goodness [0,1] 0.9997245003920572 Centerline is valid? [True, True] Translation: X:458.10, Y:-31.58, Z:-1.95 [[ 9.96636341e-01 8.16502348e-02 -7.01732397e-03 4.58098499e+02] [-8.16480344e-02 9.96661045e-01 5.99953687e-04 -3.15784296e+01] [ 7.04287980e-03 -2.49849392e-05 9.99975198e-01 -1.94508296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.490281693 meters Centerline goodness [0,1] 0.9993775755494505 Centerline is valid? [True, True] Translation: X:458.13, Y:-31.60, Z:-1.95 [[ 9.97258555e-01 7.34975791e-02 -8.57202138e-03 4.58127038e+02] [-7.34939955e-02 9.97295390e-01 7.32739516e-04 -3.15956314e+01] [ 8.60269199e-03 -1.00738651e-04 9.99962991e-01 -1.94548311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52028169299996 meters Centerline goodness [0,1] 0.9992989165073295 Centerline is valid? [True, True] Translation: X:458.15, Y:-31.60, Z:-1.95 [[ 9.97466228e-01 7.06198236e-02 -8.60022482e-03 4.58154726e+02] [-7.06161123e-02 9.97503296e-01 7.34818319e-04 -3.16040230e+01] [ 8.63064535e-03 -1.25642015e-04 9.99962747e-01 -1.94516222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.55028169299993 meters Centerline goodness [0,1] 0.9991437073191617 Centerline is valid? [True, True] Translation: X:458.18, Y:-31.61, Z:-1.94 [[ 9.97623108e-01 6.83582789e-02 -8.67646341e-03 4.58183424e+02] [-6.83544175e-02 9.97660826e-01 7.41151487e-04 -3.16127115e+01] [ 8.70683150e-03 -1.46315247e-04 9.99962084e-01 -1.94456037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58028169299996 meters Centerline goodness [0,1] 0.999188519689075 Centerline is valid? [True, True] Translation: X:458.21, Y:-31.62, Z:-1.95 [[ 9.97686535e-01 6.73600705e-02 -9.17598725e-03 4.58212382e+02] [-6.73557115e-02 9.97728718e-01 7.83605875e-04 -3.16208470e+01] [ 9.20792974e-03 -1.63737881e-04 9.99957593e-01 -1.94516186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.61028169299993 meters Centerline goodness [0,1] 0.9992747749669383 Centerline is valid? [True, True] Translation: X:458.24, Y:-31.63, Z:-1.95 [[ 9.97526289e-01 6.95331965e-02 -1.03168611e-02 4.58240144e+02] [-6.95278078e-02 9.97579625e-01 8.80502024e-04 -3.16288109e+01] [ 1.03531145e-02 -1.61015181e-04 9.99946392e-01 -1.94752916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64028169299996 meters Centerline goodness [0,1] 0.9994693496349125 Centerline is valid? [True, True] Translation: X:458.27, Y:-31.63, Z:-1.95 [[ 9.97342424e-01 7.20988224e-02 -1.04808736e-02 4.58267767e+02] [-7.20934093e-02 9.97397484e-01 8.93860402e-04 -3.16308103e+01] [ 1.05180433e-02 -1.35882989e-04 9.99944675e-01 -1.94740575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.67028169299994 meters Centerline goodness [0,1] 0.9996192973921871 Centerline is valid? [True, True] Translation: X:458.30, Y:-31.63, Z:-1.95 [[ 9.97045689e-01 7.61833953e-02 -9.79718053e-03 4.58295369e+02] [-7.61788682e-02 9.97093818e-01 8.34973847e-04 -3.16303248e+01] [ 9.83231929e-03 -8.61689493e-05 9.99951658e-01 -1.94645502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70028169299997 meters Centerline goodness [0,1] 0.9996577247251102 Centerline is valid? [True, True] Translation: X:458.33, Y:-31.62, Z:-1.94 [[ 9.96080968e-01 8.79172687e-02 -9.65709778e-03 4.58325547e+02] [-8.79134238e-02 9.96127779e-01 8.22747161e-04 -3.16164335e+01] [ 9.69203705e-03 2.94657413e-05 9.99953031e-01 -1.94316936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.73028169299994 meters Centerline goodness [0,1] 0.9996989312057806 Centerline is valid? [True, True] Translation: X:458.36, Y:-31.61, Z:-1.94 [[ 9.95549948e-01 9.36716599e-02 -1.02917966e-02 4.58355247e+02] [-9.36676055e-02 9.95603140e-01 8.76320586e-04 -3.16097458e+01] [ 1.03286314e-02 9.15870292e-05 9.99946654e-01 -1.94446797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76028169299997 meters Centerline goodness [0,1] 0.9994523202662566 Centerline is valid? [True, True] Translation: X:458.38, Y:-31.60, Z:-1.95 [[ 9.95024165e-01 9.90566189e-02 -1.07096835e-02 4.58384826e+02] [-9.90525440e-02 9.95081787e-01 9.11558822e-04 -3.16019748e+01] [ 1.07473069e-02 1.53798336e-04 9.99942234e-01 -1.94663601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.79028169299994 meters Centerline goodness [0,1] 0.9995526584867076 Centerline is valid? [True, True] Translation: X:458.41, Y:-31.60, Z:-1.95 [[ 9.94513917e-01 1.04058410e-01 -1.06731626e-02 4.58414879e+02] [-1.04054654e-01 9.94571166e-01 9.08083477e-04 -3.15950561e+01] [ 1.07097135e-02 2.07490586e-04 9.99942628e-01 -1.94654962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82028169299997 meters Centerline goodness [0,1] 0.9989772436716953 Centerline is valid? [True, True] Translation: X:458.45, Y:-31.58, Z:-1.94 [[ 9.93497395e-01 1.13552844e-01 -8.28724575e-03 4.58445857e+02] [-1.13550909e-01 9.93531929e-01 7.05134005e-04 -3.15797243e+01] [ 8.31371323e-03 2.40475492e-04 9.99965412e-01 -1.94172847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.85028169299994 meters Centerline goodness [0,1] 0.9987482496711504 Centerline is valid? [True, True] Translation: X:458.48, Y:-31.58, Z:-1.94 [[ 9.93119861e-01 1.16782303e-01 -8.65070680e-03 4.58475983e+02] [-1.16780319e-01 9.93157498e-01 7.35816238e-04 -3.15777973e+01] [ 8.67744463e-03 2.79478579e-04 9.99962311e-01 -1.94067979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.880281693 meters Centerline goodness [0,1] 0.9980732177263969 Centerline is valid? [True, True] Translation: X:458.51, Y:-31.57, Z:-1.94 [[ 9.92885052e-01 1.18727497e-01 -9.11341449e-03 4.58505441e+02] [-1.18725380e-01 9.92926827e-01 7.74835662e-04 -3.15722873e+01] [ 9.14094803e-03 3.12670854e-04 9.99958172e-01 -1.94207783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.91028169299994 meters Centerline goodness [0,1] 0.9982987048890968 Centerline is valid? [True, True] Translation: X:458.53, Y:-31.57, Z:-1.94 [[ 9.92788990e-01 1.19370946e-01 -1.09817663e-02 4.58534436e+02] [-1.19367918e-01 9.92849651e-01 9.33155928e-04 -3.15717015e+01] [ 1.10146345e-02 3.84443644e-04 9.99939263e-01 -1.94434028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.940281693 meters Centerline goodness [0,1] 0.9977415678162861 Centerline is valid? [True, True] Translation: X:458.56, Y:-31.57, Z:-1.95 [[ 9.92968188e-01 1.17818282e-01 -1.15338433e-02 4.58563149e+02] [-1.17814843e-01 9.93035097e-01 9.79533493e-04 -3.15672654e+01] [ 1.15689182e-02 3.86212341e-04 9.99933003e-01 -1.94803972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.97028169299995 meters Centerline goodness [0,1] 0.9992744035170088 Centerline is valid? [True, True] Translation: X:458.59, Y:-31.58, Z:-1.95 [[ 9.93448974e-01 1.13700871e-01 -1.14563071e-02 4.58592125e+02] [-1.13697207e-01 9.93514972e-01 9.72723612e-04 -3.15770844e+01] [ 1.14926121e-02 3.36198845e-04 9.99933901e-01 -1.94505308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.000281693 meters Centerline goodness [0,1] 0.9992327692766719 Centerline is valid? [True, True] Translation: X:458.62, Y:-31.58, Z:-1.95 [[ 9.93728756e-01 1.11265271e-01 -1.10995047e-02 4.58619899e+02] [-1.11261691e-01 9.93790697e-01 9.41407051e-04 -3.15751913e+01] [ 1.11353304e-02 2.99446409e-04 9.99937955e-01 -1.94710259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.03028169299995 meters Centerline goodness [0,1] 0.9991667378856508 Centerline is valid? [True, True] Translation: X:458.65, Y:-31.58, Z:-1.94 [[ 9.93910942e-01 1.09646969e-01 -1.08895523e-02 4.58647956e+02] [-1.09643431e-01 9.93970556e-01 9.23150305e-04 -3.15824197e+01] [ 1.09251150e-02 2.76438696e-04 9.99940281e-01 -1.94440714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.060281693 meters Centerline goodness [0,1] 0.9993639620921407 Centerline is valid? [True, True] Translation: X:458.68, Y:-31.58, Z:-1.94 [[ 9.94085826e-01 1.08072242e-01 -1.06658490e-02 4.58675978e+02] [-1.08068765e-01 9.94143011e-01 9.03530417e-04 -3.15809499e+01] [ 1.07010257e-02 2.54458342e-04 9.99942710e-01 -1.94405561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.09028169299995 meters Centerline goodness [0,1] 0.9993384126171116 Centerline is valid? [True, True] Translation: X:458.70, Y:-31.58, Z:-1.94 [[ 9.94061842e-01 1.08219324e-01 -1.13856096e-02 4.58704716e+02] [-1.08215377e-01 9.94127005e-01 9.63997619e-04 -3.15809331e+01] [ 1.14230652e-02 2.73824788e-04 9.99934717e-01 -1.94464842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.120281693 meters Centerline goodness [0,1] 0.9995281501340483 Centerline is valid? [True, True] Translation: X:458.73, Y:-31.58, Z:-1.95 [[ 9.94035297e-01 1.08355403e-01 -1.23666882e-02 4.58733234e+02] [-1.08350764e-01 9.94112175e-01 1.04647872e-03 -3.15806050e+01] [ 1.24072669e-02 2.99703328e-04 9.99922982e-01 -1.94527933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.15028169299995 meters Centerline goodness [0,1] 0.9992744964151588 Centerline is valid? [True, True] Translation: X:458.76, Y:-31.58, Z:-1.95 [[ 9.94039475e-01 1.08242967e-01 -1.29993193e-02 4.58761346e+02] [-1.08237847e-01 9.94124419e-01 1.09879372e-03 -3.15767276e+01] [ 1.30418774e-02 3.14773998e-04 9.99914902e-01 -1.94704866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.180281693 meters Centerline goodness [0,1] 0.9995079266596778 Centerline is valid? [True, True] Translation: X:458.79, Y:-31.58, Z:-1.95 [[ 9.94102222e-01 1.07568653e-01 -1.37752331e-02 4.58789202e+02] [-1.07562852e-01 9.94197606e-01 1.16344547e-03 -3.15778833e+01] [ 1.38204540e-02 3.25119637e-04 9.99904440e-01 -1.94798539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.21028169299996 meters Centerline goodness [0,1] 0.9995758488325239 Centerline is valid? [True, True] Translation: X:458.82, Y:-31.58, Z:-1.96 [[ 9.94335037e-01 1.05043748e-01 -1.62371455e-02 4.58816846e+02] [-1.05035367e-01 9.94467543e-01 1.37046905e-03 -3.15769837e+01] [ 1.62912734e-02 3.42769144e-04 9.99867230e-01 -1.95572528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.240281693 meters Centerline goodness [0,1] 0.9995323725715257 Centerline is valid? [True, True] Translation: X:458.85, Y:-31.58, Z:-1.95 [[ 9.94567165e-01 1.02723678e-01 -1.68522809e-02 4.58845274e+02] [-1.02714330e-01 9.94709880e-01 1.42161975e-03 -3.15832294e+01] [ 1.69091643e-02 3.17074414e-04 9.99856980e-01 -1.95490482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.27028169299996 meters Centerline goodness [0,1] 0.9995746762222742 Centerline is valid? [True, True] Translation: X:458.87, Y:-31.59, Z:-1.96 [[ 9.94842476e-01 1.00145402e-01 -1.61042131e-02 4.58873394e+02] [-1.00136539e-01 9.94972779e-01 1.35775198e-03 -3.15867967e+01] [ 1.61592262e-02 2.61870827e-04 9.99869397e-01 -1.95563623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30028169299993 meters Centerline goodness [0,1] 0.9998063099901003 Centerline is valid? [True, True] Translation: X:458.90, Y:-31.60, Z:-1.94 [[ 9.95428990e-01 9.46522599e-02 -1.27308904e-02 4.58902485e+02] [-9.46462737e-02 9.95510387e-01 1.07323955e-03 -3.15986939e+01] [ 1.27753182e-02 1.36597573e-04 9.99918383e-01 -1.94468881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.33028169299996 meters Centerline goodness [0,1] 0.999744838291267 Centerline is valid? [True, True] Translation: X:458.93, Y:-31.60, Z:-1.95 [[ 9.95727010e-01 9.15805891e-02 -1.18624253e-02 4.58929857e+02] [-9.15751863e-02 9.95797664e-01 9.98978654e-04 -3.16022818e+01] [ 1.19040624e-02 9.15937777e-05 9.99929140e-01 -1.94622218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36028169299993 meters Centerline goodness [0,1] 0.9998503090049826 Centerline is valid? [True, True] Translation: X:458.96, Y:-31.61, Z:-1.95 [[ 9.96184226e-01 8.62485306e-02 -1.33483401e-02 4.58957034e+02] [-8.62412200e-02 9.96273652e-01 1.12340359e-03 -3.16120291e+01] [ 1.33954915e-02 3.20602028e-05 9.99910276e-01 -1.94905598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.39028169299996 meters Centerline goodness [0,1] 0.9999575875816439 Centerline is valid? [True, True] Translation: X:458.99, Y:-31.62, Z:-1.95 [[ 9.96400312e-01 8.36045259e-02 -1.40250493e-02 4.58985005e+02] [-8.35962018e-02 9.96499013e-01 1.17974924e-03 -3.16187227e+01] [ 1.40745801e-02 -3.06166380e-06 9.99900948e-01 -1.95084952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42028169299994 meters Centerline goodness [0,1] 0.9998718113062428 Centerline is valid? [True, True] Translation: X:459.01, Y:-31.63, Z:-1.95 [[ 9.96617621e-01 8.09228508e-02 -1.43111957e-02 4.59013840e+02] [-8.09139163e-02 9.96720367e-01 1.20317050e-03 -3.16253537e+01] [ 1.43616243e-02 -4.11260240e-05 9.99896866e-01 -1.95143359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.45028169299997 meters Centerline goodness [0,1] 0.9999571376524292 Centerline is valid? [True, True] Translation: X:459.04, Y:-31.63, Z:-1.95 [[ 9.97019536e-01 7.59511472e-02 -1.35450623e-02 4.59041616e+02] [-7.59426941e-02 9.97111534e-01 1.13807264e-03 -3.16348656e+01] [ 1.35923758e-02 -1.06032128e-04 9.99907614e-01 -1.94622416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48028169299994 meters Centerline goodness [0,1] 0.9998302567366858 Centerline is valid? [True, True] Translation: X:459.07, Y:-31.64, Z:-1.95 [[ 9.97203850e-01 7.36057737e-02 -1.29101725e-02 4.59068306e+02] [-7.35979055e-02 9.97287407e-01 1.08415249e-03 -3.16435966e+01] [ 1.29549524e-02 -1.30959377e-04 9.99916073e-01 -1.94740912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.51028169299997 meters Centerline goodness [0,1] 0.9998076594289622 Centerline is valid? [True, True] Translation: X:459.10, Y:-31.66, Z:-1.95 [[ 9.97524844e-01 6.92371051e-02 -1.22641383e-02 4.59095910e+02] [-6.92296817e-02 9.97600216e-01 1.02931553e-03 -3.16563294e+01] [ 1.23059738e-02 -1.77725428e-04 9.99924263e-01 -1.94543224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54028169299994 meters Centerline goodness [0,1] 0.9996555658407422 Centerline is valid? [True, True] Translation: X:459.12, Y:-31.66, Z:-1.94 [[ 9.97704819e-01 6.65285961e-02 -1.26110693e-02 4.59123947e+02] [-6.65205403e-02 9.97784495e-01 1.05764376e-03 -3.16624750e+01] [ 1.26534929e-02 -2.16321131e-04 9.99919918e-01 -1.94399134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.57028169299997 meters Centerline goodness [0,1] 0.9996605998896949 Centerline is valid? [True, True] Translation: X:459.15, Y:-31.67, Z:-1.94 [[ 9.97874923e-01 6.40384655e-02 -1.20296751e-02 4.59150899e+02] [-6.40309633e-02 9.97947403e-01 1.00815530e-03 -3.16710166e+01] [ 1.20695437e-02 -2.35741215e-04 9.99927133e-01 -1.94385664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60028169299994 meters Centerline goodness [0,1] 0.9994240245749515 Centerline is valid? [True, True] Translation: X:459.18, Y:-31.68, Z:-1.94 [[ 9.98042291e-01 6.14611639e-02 -1.15806202e-02 4.59177764e+02] [-6.14540459e-02 9.98109443e-01 9.69837661e-04 -3.16835373e+01] [ 1.16183337e-02 -2.56263035e-04 9.99932472e-01 -1.94389791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.630281693 meters Centerline goodness [0,1] 0.9993399761539772 Centerline is valid? [True, True] Translation: X:459.21, Y:-31.69, Z:-1.94 [[ 9.98066232e-01 6.10585740e-02 -1.16467325e-02 4.59206641e+02] [-6.10513532e-02 9.98134150e-01 9.74850305e-04 -3.16890373e+01] [ 1.16845244e-02 -2.61916392e-04 9.99931699e-01 -1.94309734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66028169299994 meters Centerline goodness [0,1] 0.999491158885638 Centerline is valid? [True, True] Translation: X:459.23, Y:-31.69, Z:-1.94 [[ 9.97991886e-01 6.23739410e-02 -1.10311660e-02 4.59234635e+02] [-6.23675494e-02 9.98052823e-01 9.22804694e-04 -3.16946969e+01] [ 1.10672454e-02 -2.32964806e-04 9.99938729e-01 -1.94150326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.690281693 meters Centerline goodness [0,1] 0.9995037542073013 Centerline is valid? [True, True] Translation: X:459.26, Y:-31.69, Z:-1.94 [[ 9.97888996e-01 6.39409801e-02 -1.13623540e-02 4.59263779e+02] [-6.39343067e-02 9.97953657e-01 9.49964823e-04 -3.16949908e+01] [ 1.13998444e-02 -2.21515218e-04 9.99934995e-01 -1.94065124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72028169299995 meters Centerline goodness [0,1] 0.9997659723847414 Centerline is valid? [True, True] Translation: X:459.29, Y:-31.70, Z:-1.94 [[ 9.97789601e-01 6.54708424e-02 -1.13789268e-02 4.59291244e+02] [-6.54642570e-02 9.97854462e-01 9.50647335e-04 -3.16977815e+01] [ 1.14167525e-02 -2.03633040e-04 9.99934806e-01 -1.94085159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.750281693 meters Centerline goodness [0,1] 0.9998100744930044 Centerline is valid? [True, True] Translation: X:459.32, Y:-31.70, Z:-1.94 [[ 9.97508470e-01 6.95766650e-02 -1.16593385e-02 4.59318760e+02] [-6.95700385e-02 9.97576595e-01 9.73458145e-04 -3.17011042e+01] [ 1.16988132e-02 -1.59892115e-04 9.99931554e-01 -1.94295981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78028169299995 meters Centerline goodness [0,1] 0.9999364985288826 Centerline is valid? [True, True] Translation: X:459.35, Y:-31.70, Z:-1.94 [[ 9.97353435e-01 7.17137769e-02 -1.19691431e-02 4.59347737e+02] [-7.17069540e-02 9.97425243e-01 9.98777675e-04 -3.17006267e+01] [ 1.20099516e-02 -1.37863553e-04 9.99927868e-01 -1.94237494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.810281693 meters Centerline goodness [0,1] 0.9998932923575986 Centerline is valid? [True, True] Translation: X:459.38, Y:-31.70, Z:-1.94 [[ 9.97162875e-01 7.41184470e-02 -1.31398516e-02 4.59376256e+02] [-7.41104407e-02 9.97249438e-01 1.09585763e-03 -3.17024210e+01] [ 1.31849329e-02 -1.18948350e-04 9.99913068e-01 -1.94457617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84028169299995 meters Centerline goodness [0,1] 0.9999362448198916 Centerline is valid? [True, True] Translation: X:459.40, Y:-31.71, Z:-1.95 [[ 9.97131620e-01 7.45145065e-02 -1.32710366e-02 4.59404640e+02] [-7.45063830e-02 9.97219923e-01 1.10617445e-03 -3.17057074e+01] [ 1.33165681e-02 -1.14224590e-04 9.99911324e-01 -1.94540537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.870281693 meters Centerline goodness [0,1] 0.9998724815098189 Centerline is valid? [True, True] Translation: X:459.43, Y:-31.71, Z:-1.94 [[ 9.97104309e-01 7.49203407e-02 -1.30360860e-02 4.59432971e+02] [-7.49125451e-02 9.97189516e-01 1.08597335e-03 -3.17103181e+01] [ 1.30808097e-02 -1.06262331e-04 9.99914437e-01 -1.94434884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90028169299995 meters Centerline goodness [0,1] 0.9999361674964892 Centerline is valid? [True, True] Translation: X:459.46, Y:-31.71, Z:-1.94 [[ 9.97102507e-01 7.49725655e-02 -1.28726483e-02 4.59461425e+02] [-7.49649762e-02 9.97185591e-01 1.07175424e-03 -3.17139256e+01] [ 1.29167716e-02 -1.03651068e-04 9.99916570e-01 -1.94442597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.930281693 meters Centerline goodness [0,1] 0.9998927130718394 Centerline is valid? [True, True] Translation: X:459.49, Y:-31.72, Z:-1.94 [[ 9.97104180e-01 7.48422689e-02 -1.34865971e-02 4.59489774e+02] [-7.48339354e-02 9.97195378e-01 1.12221643e-03 -3.17174851e+01] [ 1.35327615e-02 -1.09711556e-04 9.99908422e-01 -1.94392235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96028169299996 meters Centerline goodness [0,1] 0.9999362691989039 Centerline is valid? [True, True] Translation: X:459.52, Y:-31.72, Z:-1.95 [[ 9.97086831e-01 7.49613559e-02 -1.40942336e-02 4.59516796e+02] [-7.49522787e-02 9.97186433e-01 1.17190357e-03 -3.17230334e+01] [ 1.41424260e-02 -1.12094692e-04 9.99899985e-01 -1.94809179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.990281693 meters Centerline goodness [0,1] 0.9999575010624734 Centerline is valid? [True, True] Translation: X:459.55, Y:-31.72, Z:-1.95 [[ 9.96992203e-01 7.62611241e-02 -1.38126344e-02 4.59545137e+02] [-7.62525392e-02 9.97087876e-01 1.14788529e-03 -3.17247975e+01] [ 1.38599494e-02 -9.11842355e-05 9.99903942e-01 -1.94684967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02028169299996 meters Centerline goodness [0,1] 0.9999568658744366 Centerline is valid? [True, True] Translation: X:459.57, Y:-31.72, Z:-1.94 [[ 9.96733951e-01 7.98263023e-02 -1.22144436e-02 4.59574011e+02] [-7.98198644e-02 9.96808788e-01 1.01444461e-03 -3.17217351e+01] [ 1.22564441e-02 -3.61761552e-05 9.99924886e-01 -1.93946776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.05028169299993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.60, Y:-31.72, Z:-1.94 [[ 9.96565690e-01 8.19430284e-02 -1.19233357e-02 4.59601655e+02] [-8.19370543e-02 9.96637015e-01 9.89503988e-04 -3.17211880e+01] [ 1.19643207e-02 -9.14271857e-06 9.99928425e-01 -1.94207662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08028169299996 meters Centerline goodness [0,1] 0.99995773635941 Centerline is valid? [True, True] Translation: X:459.63, Y:-31.72, Z:-1.94 [[ 9.96410815e-01 8.37888899e-02 -1.20378040e-02 4.59629602e+02] [-8.37829434e-02 9.96483528e-01 9.98325905e-04 -3.17204834e+01] [ 1.20791221e-02 1.38199251e-05 9.99927045e-01 -1.94351041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.11028169299993 meters Centerline goodness [0,1] 0.9999147357875215 Centerline is valid? [True, True] Translation: X:459.66, Y:-31.72, Z:-1.94 [[ 9.96265613e-01 8.53927013e-02 -1.27638238e-02 4.59658344e+02] [-8.53861545e-02 9.96347372e-01 1.05798630e-03 -3.17200371e+01] [ 1.28075466e-02 3.58184609e-05 9.99917979e-01 -1.94497163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14028169299996 meters Centerline goodness [0,1] 0.9998301305871111 Centerline is valid? [True, True] Translation: X:459.69, Y:-31.72, Z:-1.94 [[ 9.95979153e-01 8.85949754e-02 -1.32837515e-02 4.59687762e+02] [-8.85881775e-02 9.96067731e-01 1.10045234e-03 -3.17165948e+01] [ 1.33290108e-02 8.07557477e-05 9.99911162e-01 -1.94324512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.17028169299994 meters Centerline goodness [0,1] 0.9998514620379408 Centerline is valid? [True, True] Translation: X:459.72, Y:-31.71, Z:-1.94 [[ 9.95786403e-01 9.07813931e-02 -1.29683937e-02 4.59716900e+02] [-9.07751075e-02 9.95870839e-01 1.07370615e-03 -3.17144329e+01] [ 1.30123176e-02 1.08025343e-04 9.99915330e-01 -1.94197720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20028169299997 meters Centerline goodness [0,1] 0.9996836844436009 Centerline is valid? [True, True] Translation: X:459.75, Y:-31.70, Z:-1.94 [[ 9.95324777e-01 9.57675484e-02 -1.25365808e-02 4.59745152e+02] [-9.57620811e-02 9.95403711e-01 1.03705685e-03 -3.17039646e+01] [ 1.25782755e-02 1.68320687e-04 9.99920876e-01 -1.94228108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.23028169299994 meters Centerline goodness [0,1] 0.9997210779265362 Centerline is valid? [True, True] Translation: X:459.77, Y:-31.70, Z:-1.94 [[ 9.95093200e-01 9.81771695e-02 -1.22786994e-02 4.59773838e+02] [-9.81721171e-02 9.95168933e-01 1.01500299e-03 -3.17019390e+01] [ 1.23190303e-02 1.95403337e-04 9.99924099e-01 -1.93966702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26028169299997 meters Centerline goodness [0,1] 0.9996192410204341 Centerline is valid? [True, True] Translation: X:459.80, Y:-31.69, Z:-1.94 [[ 9.94908886e-01 1.00105718e-01 -1.16255838e-02 4.59802834e+02] [-1.00101329e-01 9.94976785e-01 9.60316898e-04 -3.16931156e+01] [ 1.16633192e-02 2.08308572e-04 9.99931959e-01 -1.94329897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.29028169299994 meters Centerline goodness [0,1] 0.9997225956511534 Centerline is valid? [True, True] Translation: X:459.83, Y:-31.69, Z:-1.94 [[ 9.94622807e-01 1.03073138e-01 -1.00697768e-02 4.59832042e+02] [-1.03070000e-01 9.94673757e-01 8.31478567e-04 -3.16892127e+01] [ 1.01018458e-02 2.10884348e-04 9.99948953e-01 -1.93759917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32028169299997 meters Centerline goodness [0,1] 0.9997225956511534 Centerline is valid? [True, True] Translation: X:459.86, Y:-31.69, Z:-1.94 [[ 9.94630094e-01 1.03002784e-01 -1.00698417e-02 4.59859460e+02] [-1.02999651e-01 9.94681045e-01 8.30691741e-04 -3.16913362e+01] [ 1.01018442e-02 2.10959175e-04 9.99948953e-01 -1.93765705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.35028169299994 meters Centerline goodness [0,1] 0.9995730418632454 Centerline is valid? [True, True] Translation: X:459.89, Y:-31.69, Z:-1.94 [[ 9.94599295e-01 1.03314010e-01 -9.92254973e-03 4.59888147e+02] [-1.03310987e-01 9.94648768e-01 8.18114631e-04 -3.16925188e+01] [ 9.95397456e-03 2.11412167e-04 9.99950436e-01 -1.93625015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.380281693 meters Centerline goodness [0,1] 0.999320118129475 Centerline is valid? [True, True] Translation: X:459.92, Y:-31.69, Z:-1.94 [[ 9.94650972e-01 1.02704142e-01 -1.10137589e-02 4.59917050e+02] [-1.02700386e-01 9.94711922e-01 9.07585704e-04 -3.16909335e+01] [ 1.10487301e-02 2.28386290e-04 9.99938935e-01 -1.93726647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.41028169299994 meters Centerline goodness [0,1] 0.9990601905250117 Centerline is valid? [True, True] Translation: X:459.95, Y:-31.69, Z:-1.94 [[ 9.94801334e-01 1.01170856e-01 -1.16087466e-02 4.59945875e+02] [-1.01166585e-01 9.94869041e-01 9.56079812e-04 -3.16928866e+01] [ 1.16459100e-02 2.23307775e-04 9.99932159e-01 -1.93777078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.440281693 meters Centerline goodness [0,1] 0.9983689896208431 Centerline is valid? [True, True] Translation: X:459.97, Y:-31.70, Z:-1.94 [[ 9.95372651e-01 9.55860344e-02 -9.82833857e-03 4.59974280e+02] [-9.55827025e-02 9.95421163e-01 8.09253456e-04 -3.16990722e+01] [ 9.86068954e-03 1.33910404e-04 9.99951373e-01 -1.93579225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.47028169299995 meters Centerline goodness [0,1] 0.9977376043979279 Centerline is valid? [True, True] Translation: X:460.00, Y:-31.71, Z:-1.93 [[ 9.95719934e-01 9.20638560e-02 -8.12770439e-03 4.60002475e+02] [-9.20614635e-02 9.95753102e-01 6.68803916e-04 -3.17072798e+01] [ 8.15475953e-03 8.23069703e-05 9.99966746e-01 -1.93151772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.500281693 meters Centerline goodness [0,1] 0.9972605671482075 Centerline is valid? [True, True] Translation: X:460.03, Y:-31.72, Z:-1.93 [[ 9.95994390e-01 8.91167007e-02 -7.30679575e-03 4.60030531e+02] [-8.91146904e-02 9.96021190e-01 6.00897244e-04 -3.17150885e+01] [ 7.33127338e-03 5.26525574e-05 9.99973124e-01 -1.92848899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.53028169299995 meters Centerline goodness [0,1] 0.9958792381928431 Centerline is valid? [True, True] Translation: X:460.06, Y:-31.72, Z:-1.93 [[ 9.96388484e-01 8.44620925e-02 -8.72608777e-03 4.60057446e+02] [-8.44590512e-02 9.96426693e-01 7.17103778e-04 -3.17241722e+01] [ 8.75547486e-03 2.24831472e-05 9.99961670e-01 -1.93059175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.560281693 meters Centerline goodness [0,1] 0.9948084266529369 Centerline is valid? [True, True] Translation: X:460.09, Y:-31.73, Z:-1.93 [[ 9.96542301e-01 8.25658360e-02 -9.29116511e-03 4.60085442e+02] [-8.25623094e-02 9.96585612e-01 7.63134743e-04 -3.17299051e+01] [ 9.32245033e-03 6.60399642e-06 9.99956545e-01 -1.93048133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.59028169299995 meters Centerline goodness [0,1] 0.9925415707071774 Centerline is valid? [True, True] Translation: X:460.11, Y:-31.74, Z:-1.93 [[ 9.96843303e-01 7.90472577e-02 -7.41348529e-03 4.60112256e+02] [-7.90449188e-02 9.96870870e-01 6.08432398e-04 -3.17400539e+01] [ 7.43838244e-03 -2.05134193e-05 9.99972335e-01 -1.92686129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.620281693 meters Centerline goodness [0,1] 0.9912962056564023 Centerline is valid? [True, True] Translation: X:460.14, Y:-31.75, Z:-1.93 [[ 9.97002616e-01 7.70591114e-02 -6.90488256e-03 4.60140219e+02] [-7.70570367e-02 9.97026525e-01 5.66390029e-04 -3.17464555e+01] [ 6.92799658e-03 -3.26225512e-05 9.99976001e-01 -1.92575173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.65028169299995 meters Centerline goodness [0,1] 0.9903397164032044 Centerline is valid? [True, True] Translation: X:460.17, Y:-31.75, Z:-1.93 [[ 9.97141426e-01 7.51677583e-02 -7.66711415e-03 4.60168614e+02] [-7.51651471e-02 9.97170901e-01 6.28572689e-04 -3.17527008e+01] [ 7.69267153e-03 -5.04761040e-05 9.99970410e-01 -1.92688705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.680281693 meters Centerline goodness [0,1] 0.9882810829305847 Centerline is valid? [True, True] Translation: X:460.20, Y:-31.76, Z:-1.93 [[ 9.97322621e-01 7.24229230e-02 -1.01246915e-02 4.60197358e+02] [-7.24182295e-02 9.97374008e-01 8.29894982e-04 -3.17612545e+01] [ 1.01582076e-02 -9.44608061e-05 9.99948400e-01 -1.93117984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.71028169299996 meters Centerline goodness [0,1] 0.9870305845915602 Centerline is valid? [True, True] Translation: X:460.23, Y:-31.77, Z:-1.93 [[ 9.97373373e-01 7.16902664e-02 -1.03373837e-02 4.60226085e+02] [-7.16853399e-02 9.97426937e-01 8.46793133e-04 -3.17663257e+01] [ 1.03714918e-02 -1.03530056e-04 9.99946209e-01 -1.93071472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.740281693 meters Centerline goodness [0,1] 0.9846668525229997 Centerline is valid? [True, True] Translation: X:460.25, Y:-31.77, Z:-1.93 [[ 9.97426475e-01 7.11076604e-02 -9.17214914e-03 4.60253315e+02] [-7.11037626e-02 9.97468642e-01 7.50771033e-04 -3.17740361e+01] [ 9.20231672e-03 -9.66645897e-05 9.99957653e-01 -1.92911854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.77028169299996 meters Centerline goodness [0,1] 0.9837172609656043 Centerline is valid? [True, True] Translation: X:460.28, Y:-31.78, Z:-1.93 [[ 9.97401468e-01 7.14873723e-02 -8.93689887e-03 4.60281021e+02] [-7.14836918e-02 9.97441501e-01 7.30999563e-04 -3.17792061e+01] [ 8.96629106e-03 -9.02575131e-05 9.99959798e-01 -1.92942640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80028169299993 meters Centerline goodness [0,1] 0.9825244785014899 Centerline is valid? [True, True] Translation: X:460.31, Y:-31.78, Z:-1.93 [[ 9.97330834e-01 7.25231812e-02 -8.46141509e-03 4.60310035e+02] [-7.25199223e-02 9.97366724e-01 6.91734154e-04 -3.17813751e+01] [ 8.48930061e-03 -7.62666364e-05 9.99963962e-01 -1.92790170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.83028169299996 meters Centerline goodness [0,1] 0.9812367012702302 Centerline is valid? [True, True] Translation: X:460.34, Y:-31.78, Z:-1.93 [[ 9.97203294e-01 7.42348315e-02 -8.64760883e-03 4.60339087e+02] [-7.42314954e-02 9.97240786e-01 7.06551312e-04 -3.17818029e+01] [ 8.67619895e-03 -6.26503593e-05 9.99962359e-01 -1.92751835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86028169299993 meters Centerline goodness [0,1] 0.9795974869555958 Centerline is valid? [True, True] Translation: X:460.37, Y:-31.78, Z:-1.93 [[ 9.96801877e-01 7.93531059e-02 -9.43939852e-03 4.60367472e+02] [-7.93493657e-02 9.96846570e-01 7.70679610e-04 -3.17751448e+01] [ 9.47078786e-03 -1.92045964e-05 9.99955151e-01 -1.92922894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.89028169299996 meters Centerline goodness [0,1] 0.9765254201051866 Centerline is valid? [True, True] Translation: X:460.40, Y:-31.76, Z:-1.93 [[ 9.96255910e-01 8.60521220e-02 -8.31825284e-03 4.60397525e+02] [-8.60494540e-02 9.96290636e-01 6.78778558e-04 -3.17643484e+01] [ 8.34580774e-03 3.95439650e-05 9.99965172e-01 -1.92769873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92028169299994 meters Centerline goodness [0,1] 0.9754023233507407 Centerline is valid? [True, True] Translation: X:460.43, Y:-31.76, Z:-1.93 [[ 9.95988909e-01 8.91334286e-02 -7.83101468e-03 4.60426858e+02] [-8.91311621e-02 9.96019693e-01 6.38653222e-04 -3.17601643e+01] [ 7.85677018e-03 6.18959123e-05 9.99969133e-01 -1.92716021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.95028169299997 meters Centerline goodness [0,1] 0.9724932884476073 Centerline is valid? [True, True] Translation: X:460.45, Y:-31.76, Z:-1.93 [[ 9.95751792e-01 9.17699845e-02 -7.52586059e-03 4.60454902e+02] [-9.17679699e-02 9.95780229e-01 6.13308301e-04 -3.17550312e+01] [ 7.55038647e-03 7.99301082e-05 9.99971492e-01 -1.92835954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98028169299994 meters Centerline goodness [0,1] 0.9708296905985457 Centerline is valid? [True, True] Translation: X:460.48, Y:-31.75, Z:-1.93 [[ 9.95615296e-01 9.31964882e-02 -8.03723009e-03 4.60483537e+02] [-9.31942397e-02 9.95647731e-01 6.54640465e-04 -3.17537467e+01] [ 8.06326009e-03 9.72534872e-05 9.99967487e-01 -1.92799275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.01028169299997 meters Centerline goodness [0,1] 0.9658883076006975 Centerline is valid? [True, True] Translation: X:460.51, Y:-31.75, Z:-1.93 [[ 9.95577062e-01 9.35910231e-02 -8.18739824e-03 4.60512358e+02] [-9.35887072e-02 9.95610722e-01 6.66377641e-04 -3.17484940e+01] [ 8.21382844e-03 1.02817723e-04 9.99966261e-01 -1.93006402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04028169299994 meters Centerline goodness [0,1] 0.9642780931244932 Centerline is valid? [True, True] Translation: X:460.54, Y:-31.75, Z:-1.93 [[ 9.95733848e-01 9.20398836e-02 -6.53935736e-03 4.60541163e+02] [-9.20383747e-02 9.95755319e-01 5.31949130e-04 -3.17514210e+01] [ 6.56056041e-03 7.21920687e-05 9.99978477e-01 -1.92707806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.07028169299997 meters Centerline goodness [0,1] 0.9606065704791149 Centerline is valid? [True, True] Translation: X:460.57, Y:-31.76, Z:-1.92 [[ 9.96124770e-01 8.78387954e-02 -4.44845197e-03 4.60568536e+02] [-8.78380566e-02 9.96134702e-01 3.61560018e-04 -3.17559343e+01] [ 4.46301637e-03 3.05844856e-05 9.99990040e-01 -1.92325984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10028169299994 meters Centerline goodness [0,1] 0.9570065719737121 Centerline is valid? [True, True] Translation: X:460.60, Y:-31.75, Z:-1.93 [[ 9.96236301e-01 8.56392505e-02 -1.33847476e-02 4.60599409e+02] [-8.57809479e-02 9.96259777e-01 -1.03964344e-02 -3.17512162e+01] [ 1.24443428e-02 1.15054617e-02 9.99856371e-01 -1.93330462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.130281693 meters Centerline goodness [0,1] 0.9546653271380133 Centerline is valid? [True, True] Translation: X:460.63, Y:-31.76, Z:-1.93 [[ 9.96510491e-01 8.22540092e-02 -1.41816669e-02 4.60628925e+02] [-8.22776761e-02 9.96608845e-01 -1.09255916e-03 -3.17627227e+01] [ 1.40437073e-02 2.25558126e-03 9.99898838e-01 -1.93302024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16028169299994 meters Centerline goodness [0,1] 0.9494097098002904 Centerline is valid? [True, False] Translation: X:460.63, Y:-31.76, Z:-1.93 [[ 9.96867363e-01 7.77058879e-02 -1.47396072e-02 4.60630944e+02] [-7.77968983e-02 9.96952910e-01 -5.70420145e-03 -3.17611662e+01] [ 1.42514443e-02 6.83302798e-03 9.99875095e-01 -1.93451433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.190281693 meters Centerline goodness [0,1] 0.9472851871375857 Centerline is valid? [False, False] Translation: X:460.63, Y:-31.76, Z:-1.94 [[ 9.97190196e-01 7.33859966e-02 -1.50402181e-02 4.60631741e+02] [-7.35501649e-02 9.97234452e-01 -1.06686726e-02 -3.17568710e+01] [ 1.42156925e-02 1.17449062e-02 9.99829971e-01 -1.93532184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22028169299995 meters Centerline goodness [0,1] 0.9419194070540126 Centerline is valid? [False, False] Translation: X:460.63, Y:-31.76, Z:-1.94 [[ 9.97189077e-01 7.33838013e-02 -1.51248959e-02 4.60632550e+02] [-7.35517882e-02 9.97232200e-01 -1.08662002e-02 -3.17559919e+01] [ 1.42856302e-02 1.19481193e-02 9.99826567e-01 -1.93555806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.250281693 meters Centerline goodness [0,1] 0.9387750746905676 Centerline is valid? [False, False] Translation: X:460.63, Y:-31.75, Z:-1.94 [[ 9.97188049e-01 7.34132009e-02 -1.50497857e-02 4.60632605e+02] [-7.35838077e-02 9.97227109e-01 -1.11137532e-02 -3.17546265e+01] [ 1.41921581e-02 1.21899225e-02 9.99824979e-01 -1.93566368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28028169299995 meters Centerline goodness [0,1] 0.9368578447078928 Centerline is valid? [False, False] Translation: X:460.63, Y:-31.75, Z:-1.94 [[ 9.97150013e-01 7.39182602e-02 -1.50977337e-02 4.60633122e+02] [-7.40958841e-02 9.97184064e-01 -1.15646985e-02 -3.17515924e+01] [ 1.42003771e-02 1.26504192e-02 9.99819142e-01 -1.93510958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.310281693 meters Centerline goodness [0,1] 0.9348698032724263 Centerline is valid? [False, False] Translation: X:460.63, Y:-31.75, Z:-1.94 [[ 9.97139352e-01 7.40410792e-02 -1.51997080e-02 4.60633813e+02] [-7.42258632e-02 9.97169552e-01 -1.19751852e-02 -3.17492707e+01] [ 1.42700304e-02 1.30691398e-02 9.99812764e-01 -1.93513162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34028169299995 meters Centerline goodness [0,1] 0.17923055537734434 Centerline is valid? [False, False] Translation: X:460.63, Y:-31.75, Z:-1.94 [[ 9.97143268e-01 7.40095332e-02 -1.50961205e-02 4.60633714e+02] [-7.41991562e-02 9.97166189e-01 -1.24127826e-02 -3.17468602e+01] [ 1.41346767e-02 1.34974420e-02 9.99808997e-01 -1.93514579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.370281693 meters Centerline goodness [0,1] 0.17526321386791455 Centerline is valid? [False, False] Translation: X:460.63, Y:-31.74, Z:-1.94 [[ 9.97152113e-01 7.39198919e-02 -1.49503771e-02 4.60633782e+02] [-7.41137265e-02 9.97166940e-01 -1.28549588e-02 -3.17445044e+01] [ 1.39577846e-02 1.39263775e-02 9.99805599e-01 -1.93547277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40028169299995 meters Centerline goodness [0,1] 0.1659212975841482 Centerline is valid? [False, False] Translation: X:460.63, Y:-31.74, Z:-1.94 [[ 9.97168880e-01 7.37218370e-02 -1.48092741e-02 4.60633841e+02] [-7.39253035e-02 9.97169729e-01 -1.36960096e-02 -3.17401365e+01] [ 1.37576649e-02 1.47520147e-02 9.99796532e-01 -1.93534000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.430281693 meters Centerline goodness [0,1] 0.1543906638607232 Centerline is valid? [False, False] Translation: X:460.63, Y:-31.74, Z:-1.94 [[ 9.97180221e-01 7.35735337e-02 -1.47831638e-02 4.60634560e+02] [-7.37830293e-02 9.97173735e-01 -1.41635513e-02 -3.17376682e+01] [ 1.36993201e-02 1.52143599e-02 9.99790404e-01 -1.93613929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46028169299996 meters Centerline goodness [0,1] 0.17925209049620106 Centerline is valid? [False, False] Translation: X:460.64, Y:-31.73, Z:-1.94 [[ 9.97196073e-01 7.32848051e-02 -1.51436327e-02 4.60637740e+02] [-7.35140878e-02 9.97178603e-01 -1.51826248e-02 -3.17322575e+01] [ 1.39882508e-02 1.62533242e-02 9.99770053e-01 -1.93805769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.490281693 meters Centerline goodness [0,1] 0.15690372152914112 Centerline is valid? [False, False] Translation: X:460.64, Y:-31.73, Z:-1.94 [[ 9.97206342e-01 7.31471541e-02 -1.51329173e-02 4.60638538e+02] [-7.33836081e-02 9.97180069e-01 -1.57084912e-02 -3.17294909e+01] [ 1.39412121e-02 1.67751151e-02 9.99762091e-01 -1.93878525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52028169299996 meters Centerline goodness [0,1] 0.1533010862186015 Centerline is valid? [False, False] Translation: X:460.64, Y:-31.73, Z:-1.94 [[ 9.97220420e-01 7.30129145e-02 -1.48508346e-02 4.60637979e+02] [-7.32547671e-02 9.97177571e-01 -1.64508527e-02 -3.17257506e+01] [ 1.36077945e-02 1.74930207e-02 9.99754381e-01 -1.93828889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.55028169299993 meters Centerline goodness [0,1] 0.1791640592969812 Centerline is valid? [False, False] Translation: X:460.64, Y:-31.72, Z:-1.94 [[ 9.97230621e-01 7.29199272e-02 -1.46209719e-02 4.60637613e+02] [-7.31604499e-02 9.97181163e-01 -1.66516288e-02 -3.17248327e+01] [ 1.33655222e-02 1.76751910e-02 9.99754445e-01 -1.93852557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58028169299996 meters Centerline goodness [0,1] 0.15968423536478105 Centerline is valid? [False, False] Translation: X:460.64, Y:-31.72, Z:-1.94 [[ 9.97239943e-01 7.28162364e-02 -1.45014444e-02 4.60638254e+02] [-7.30572917e-02 9.97185378e-01 -1.68509546e-02 -3.17236610e+01] [ 1.32336052e-02 1.78638813e-02 9.99752846e-01 -1.93965425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.61028169299993 meters Centerline goodness [0,1] 0.18492693739643185 Centerline is valid? [False, False] Translation: X:460.64, Y:-31.72, Z:-1.94 [[ 9.97248085e-01 7.27106626e-02 -1.44712319e-02 4.60639189e+02] [-7.29537334e-02 9.97189677e-01 -1.70440802e-02 -3.17226160e+01] [ 1.31912767e-02 1.80529067e-02 9.99750010e-01 -1.94085490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64028169299996 meters Centerline goodness [0,1] 0.17186705104290312 Centerline is valid? [False, False] Translation: X:460.67, Y:-31.73, Z:-1.95 [[ 9.97431140e-01 7.10097792e-02 -9.41975367e-03 4.60668336e+02] [-7.11091247e-02 9.97411498e-01 -1.06674857e-02 -3.17284304e+01] [ 8.63787482e-03 1.13099129e-02 9.99898731e-01 -1.94931194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.67028169299994 meters Centerline goodness [0,1] 0.1818046456223943 Centerline is valid? [False, False] Translation: X:460.67, Y:-31.72, Z:-1.95 [[ 9.97716097e-01 6.68703489e-02 -9.53660911e-03 4.60668536e+02] [-6.70135442e-02 9.97630385e-01 -1.55820469e-02 -3.17237220e+01] [ 8.47203410e-03 1.61855410e-02 9.99833113e-01 -1.94974522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70028169299997 meters Centerline goodness [0,1] 0.18531296205027104 Centerline is valid? [False, False] Translation: X:460.67, Y:-31.72, Z:-1.95 [[ 9.97728545e-01 6.66897188e-02 -9.49899470e-03 4.60669908e+02] [-6.68343085e-02 9.97638699e-01 -1.58177885e-02 -3.17226360e+01] [ 8.42168084e-03 1.64167179e-02 9.99829769e-01 -1.95070690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.73028169299994 meters Centerline goodness [0,1] 0.1864789452384502 Centerline is valid? [False, False] Translation: X:460.67, Y:-31.72, Z:-1.95 [[ 9.97737183e-01 6.65498439e-02 -9.57241516e-03 4.60671333e+02] [-6.66990728e-02 9.97641275e-01 -1.62209776e-02 -3.17205461e+01] [ 8.47033294e-03 1.68227437e-02 9.99822609e-01 -1.95183103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76028169299997 meters Centerline goodness [0,1] 0.1864867758860692 Centerline is valid? [False, False] Translation: X:460.67, Y:-31.72, Z:-1.95 [[ 9.97741880e-01 6.64838119e-02 -9.54165021e-03 4.60672255e+02] [-6.66364898e-02 9.97637705e-01 -1.66909444e-02 -3.17178076e+01] [ 8.40943241e-03 1.72890764e-02 9.99815168e-01 -1.95284516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.79028169299994 meters Centerline goodness [0,1] 0.18874158069741664 Centerline is valid? [False, False] Translation: X:460.67, Y:-31.71, Z:-1.95 [[ 9.97733347e-01 6.66776649e-02 -9.06962615e-03 4.60672481e+02] [-6.68304791e-02 9.97606576e-01 -1.77428124e-02 -3.17112619e+01] [ 7.86486938e-03 1.83087231e-02 9.99801448e-01 -1.95310407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82028169299997 meters Centerline goodness [0,1] 0.18703343243994786 Centerline is valid? [False, False] Translation: X:460.67, Y:-31.71, Z:-1.95 [[ 9.97748510e-01 6.64847227e-02 -8.81434070e-03 4.60672008e+02] [-6.66385840e-02 9.97605788e-01 -1.84930191e-02 -3.17069473e+01] [ 7.56373405e-03 1.90387574e-02 9.99790136e-01 -1.95294963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.85028169299994 meters Centerline goodness [0,1] 0.19068812790320844 Centerline is valid? [False, False] Translation: X:460.67, Y:-31.70, Z:-1.95 [[ 9.97769003e-01 6.62108384e-02 -8.55229632e-03 4.60672858e+02] [-6.63689148e-02 9.97599596e-01 -1.97537971e-02 -3.16998008e+01] [ 7.22385189e-03 2.02773331e-02 9.99768296e-01 -1.95358933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.880281693 meters Centerline goodness [0,1] 0.18951017525839375 Centerline is valid? [False, False] Translation: X:460.67, Y:-31.70, Z:-1.95 [[ 9.97781730e-01 6.60161580e-02 -8.57237821e-03 4.60674049e+02] [-6.61781447e-02 9.97602656e-01 -2.02335044e-02 -3.16974671e+01] [ 7.21608904e-03 2.07559251e-02 9.99758531e-01 -1.95468938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.91028169299994 meters Centerline goodness [0,1] 0.18941706333112762 Centerline is valid? [False, False] Translation: X:460.68, Y:-31.70, Z:-1.96 [[ 9.97801280e-01 6.57244224e-02 -8.53855031e-03 4.60675032e+02] [-6.58887148e-02 9.97613376e-01 -2.06453119e-02 -3.16952036e+01] [ 7.16127080e-03 2.11625128e-02 9.99750401e-01 -1.95584371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.940281693 meters Centerline goodness [0,1] 0.06497031382527563 Centerline is valid? [False, False] Translation: X:460.70, Y:-31.69, Z:-1.96 [[ 9.98092385e-01 6.16434700e-02 -3.41674871e-03 4.60699850e+02] [-6.16885068e-02 9.97979934e-01 -1.51848131e-02 -3.16930957e+01] [ 2.47380208e-03 1.53666205e-02 9.99878866e-01 -1.96219478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.97028169299995 meters Centerline goodness [0,1] 0.8236656445006755 Centerline is valid? [False, False] Translation: X:460.70, Y:-31.69, Z:-1.96 [[ 9.98354536e-01 5.72312019e-02 -3.57914974e-03 4.60700449e+02] [-5.72920410e-02 9.98153342e-01 -2.01873426e-02 -3.16869072e+01] [ 2.41719439e-03 2.03591818e-02 9.99789808e-01 -1.96264496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.000281693 meters Centerline goodness [0,1] 0.8172646218164754 Centerline is valid? [False, False] Translation: X:460.70, Y:-31.69, Z:-1.96 [[ 9.98368299e-01 5.69966963e-02 -3.48085988e-03 4.60701330e+02] [-5.70558760e-02 9.98164297e-01 -2.03141052e-02 -3.16865538e+01] [ 2.31663317e-03 2.04795621e-02 9.99787588e-01 -1.96379401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.03028169299995 meters Centerline goodness [0,1] 0.8087173314993122 Centerline is valid? [False, False] Translation: X:460.70, Y:-31.68, Z:-1.97 [[ 9.98384815e-01 5.67074174e-02 -3.46832138e-03 4.60703436e+02] [-5.67674788e-02 9.98171067e-01 -2.07839926e-02 -3.16844165e+01] [ 2.28337151e-03 2.09473105e-02 9.99777974e-01 -1.96510286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.060281693 meters Centerline goodness [0,1] 0.8059264363855629 Centerline is valid? [False, False] Translation: X:460.70, Y:-31.68, Z:-1.97 [[ 9.98392512e-01 5.65724583e-02 -3.45670225e-03 4.60704113e+02] [-5.66331015e-02 9.98171319e-01 -2.11355172e-02 -3.16825338e+01] [ 2.25469288e-03 2.12973059e-02 9.99770644e-01 -1.96552047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.09028169299995 meters Centerline goodness [0,1] 0.7990309578938342 Centerline is valid? [False, False] Translation: X:460.70, Y:-31.68, Z:-1.97 [[ 9.98398476e-01 5.64731048e-02 -3.35743842e-03 4.60704694e+02] [-5.65324614e-02 9.98169015e-01 -2.15104086e-02 -3.16805582e+01] [ 2.13653145e-03 2.16657634e-02 9.99762987e-01 -1.96624854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.120281693 meters Centerline goodness [0,1] 0.7522499134648668 Centerline is valid? [False, False] Translation: X:460.71, Y:-31.68, Z:-1.97 [[ 9.98407210e-01 5.63257800e-02 -3.23255684e-03 4.60706291e+02] [-5.63836902e-02 9.98164031e-01 -2.21234236e-02 -3.16766870e+01] [ 1.98050288e-03 2.22704491e-02 9.99750021e-01 -1.96707040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.15028169299995 meters Centerline goodness [0,1] 0.7870508255098737 Centerline is valid? [False, False] Translation: X:460.71, Y:-31.67, Z:-1.97 [[ 9.98411467e-01 5.62532761e-02 -3.17995259e-03 4.60707315e+02] [-5.63106269e-02 9.98161252e-01 -2.24327680e-02 -3.16745754e+01] [ 1.91218877e-03 2.25761979e-02 9.99743296e-01 -1.96802815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.180281693 meters Centerline goodness [0,1] 0.789773831896831 Centerline is valid? [False, False] Translation: X:460.71, Y:-31.67, Z:-1.97 [[ 9.98313822e-01 5.79490343e-02 -3.37971394e-03 4.60713494e+02] [-5.80082970e-02 9.98086729e-01 -2.13990408e-02 -3.16729549e+01] [ 2.13319389e-03 2.15590097e-02 9.99765302e-01 -1.97223488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.21028169299996 meters Centerline goodness [0,1] 0.7650560678876044 Centerline is valid? [False, False] Translation: X:460.71, Y:-31.67, Z:-1.97 [[ 9.98311349e-01 5.79952604e-02 -3.31662740e-03 4.60714287e+02] [-5.80538289e-02 9.98076990e-01 -2.17272797e-02 -3.16713767e+01] [ 2.05017025e-03 2.18831328e-02 9.99758433e-01 -1.97293010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.240281693 meters Centerline goodness [0,1] 0.7650560678876044 Centerline is valid? [False, False] Translation: X:460.71, Y:-31.67, Z:-1.97 [[ 9.98311349e-01 5.79952604e-02 -3.31662740e-03 4.60714287e+02] [-5.80538289e-02 9.98076990e-01 -2.17272797e-02 -3.16713767e+01] [ 2.05017025e-03 2.18831328e-02 9.99758433e-01 -1.97293010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.27028169299996 meters Centerline goodness [0,1] 0.7546492240605361 Centerline is valid? [False, False] Translation: X:460.72, Y:-31.67, Z:-1.97 [[ 9.98305905e-01 5.80987579e-02 -3.13919813e-03 4.60715004e+02] [-5.81539173e-02 9.98065322e-01 -2.19939895e-02 -3.16701815e+01] [ 1.85530132e-03 2.21392863e-02 9.99753174e-01 -1.97388520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30028169299993 meters Centerline goodness [0,1] 0.7664277696226578 Centerline is valid? [False, False] Translation: X:460.71, Y:-31.67, Z:-1.97 [[ 9.98308151e-01 5.80715004e-02 -2.92157116e-03 4.60714924e+02] [-5.81222185e-02 9.98062163e-01 -2.22199616e-02 -3.16691798e+01] [ 1.62556312e-03 2.23521770e-02 9.99748837e-01 -1.97425384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.33028169299996 meters Centerline goodness [0,1] 0.7519614022124183 Centerline is valid? [False, False] Translation: X:460.74, Y:-31.67, Z:-1.98 [[ 9.98497795e-01 5.45576162e-02 5.06161625e-03 4.60741182e+02] [-5.44547304e-02 9.98342561e-01 -1.86229163e-02 -3.16726935e+01] [-6.06924885e-03 1.83193119e-02 9.99813766e-01 -1.98411481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36028169299993 meters Centerline goodness [0,1] 0.6689491872520159 Centerline is valid? [False, False] Translation: X:460.74, Y:-31.67, Z:-1.99 [[ 9.98508095e-01 5.43773512e-02 4.96861188e-03 4.60743013e+02] [-5.42776484e-02 9.98356710e-01 -1.83797934e-02 -3.16741154e+01] [-5.95989149e-03 1.80826880e-02 9.99818732e-01 -1.98560606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.39028169299996 meters Centerline goodness [0,1] 0.7487039326695732 Centerline is valid? [False, False] Translation: X:460.75, Y:-31.67, Z:-1.99 [[ 9.98669382e-01 5.13958770e-02 4.23439527e-03 4.60750959e+02] [-5.12950590e-02 9.98458196e-01 -2.12143160e-02 -3.16749681e+01] [-5.31819504e-03 2.09688843e-02 9.99765984e-01 -1.99147718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42028169299994 meters Centerline goodness [0,1] 0.7307216763193857 Centerline is valid? [False, False] Translation: X:460.75, Y:-31.68, Z:-1.99 [[ 9.98664332e-01 5.14978458e-02 4.18617510e-03 4.60752587e+02] [-5.13995343e-02 9.98458902e-01 -2.09262621e-02 -3.16768233e+01] [-5.25738121e-03 2.06831441e-02 9.99772258e-01 -1.99325456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.45028169299997 meters Centerline goodness [0,1] 0.7401210549070472 Centerline is valid? [False, False] Translation: X:460.75, Y:-31.68, Z:-1.99 [[ 9.98660003e-01 5.15803154e-02 4.20349253e-03 4.60753970e+02] [-5.14826138e-02 9.98458520e-01 -2.07394503e-02 -3.16783118e+01] [-5.26676031e-03 2.04952527e-02 9.99776078e-01 -1.99487277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48028169299994 meters Centerline goodness [0,1] 0.7326294641903011 Centerline is valid? [False, False] Translation: X:460.76, Y:-31.68, Z:-2.00 [[ 9.98657002e-01 5.16320168e-02 4.28110296e-03 4.60756636e+02] [-5.15344533e-02 9.98462559e-01 -2.04136723e-02 -3.16808000e+01] [-5.32852009e-03 2.01656325e-02 9.99782453e-01 -1.99633390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.51028169299997 meters Centerline goodness [0,1] 0.7517376146381543 Centerline is valid? [False, False] Translation: X:460.76, Y:-31.68, Z:-2.00 [[ 9.98653111e-01 5.17026751e-02 4.33561805e-03 4.60757483e+02] [-5.16046327e-02 9.98461336e-01 -2.02958674e-02 -3.16816610e+01] [-5.37829763e-03 2.00447931e-02 9.99784617e-01 -1.99764177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54028169299994 meters Centerline goodness [0,1] 0.5588247854123073 Centerline is valid? [False, False] Translation: X:460.80, Y:-31.69, Z:-2.00 [[ 9.98609727e-01 5.19923330e-02 8.68391522e-03 4.60799843e+02] [-5.18157130e-02 9.98467111e-01 -1.94566027e-02 -3.16853830e+01] [-9.68219791e-03 1.89795895e-02 9.99772989e-01 -1.99974196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.57028169299997 meters Centerline goodness [0,1] 0.6927588347353325 Centerline is valid? [False, False] Translation: X:460.80, Y:-31.68, Z:-2.00 [[ 9.98601602e-01 5.21141164e-02 8.88585158e-03 4.60799958e+02] [-5.19323518e-02 9.98458491e-01 -1.95875710e-02 -3.16845164e+01] [-9.89294291e-03 1.90987166e-02 9.99768658e-01 -2.00019042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60028169299994 meters Centerline goodness [0,1] 0.7152783735094792 Centerline is valid? [False, False] Translation: X:460.80, Y:-31.68, Z:-2.00 [[ 9.98595726e-01 5.22086815e-02 8.99049856e-03 4.60800788e+02] [-5.20219562e-02 9.98448003e-01 -1.98821731e-02 -3.16826305e+01] [-1.00145674e-02 1.93865497e-02 9.99761907e-01 -2.00113063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.630281693 meters Centerline goodness [0,1] 0.6973867260235858 Centerline is valid? [False, False] Translation: X:460.80, Y:-31.68, Z:-2.00 [[ 9.98588359e-01 5.23582838e-02 8.93859761e-03 4.60802417e+02] [-5.21699145e-02 9.98435002e-01 -2.01456508e-02 -3.16807716e+01] [-9.97940042e-03 1.96508865e-02 9.99757098e-01 -2.00244079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66028169299994 meters Centerline goodness [0,1] 0.6818525969671404 Centerline is valid? [False, False] Translation: X:460.80, Y:-31.68, Z:-2.00 [[ 9.98571816e-01 5.26231542e-02 9.22673335e-03 4.60803853e+02] [-5.24281504e-02 9.98419637e-01 -2.02365362e-02 -3.16797356e+01] [-1.02770621e-02 1.97238942e-02 9.99752644e-01 -2.00306134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.690281693 meters Centerline goodness [0,1] 0.6226349060524532 Centerline is valid? [False, False] Translation: X:460.80, Y:-31.68, Z:-2.00 [[ 9.98563960e-01 5.27489946e-02 9.35738054e-03 4.60804448e+02] [-5.25523144e-02 9.98414895e-01 -2.01482300e-02 -3.16806561e+01] [-1.04053470e-02 1.96275444e-02 9.99753214e-01 -2.00385178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72028169299995 meters Centerline goodness [0,1] 0.6559968897816367 Centerline is valid? [False, False] Translation: X:460.81, Y:-31.68, Z:-2.01 [[ 9.98541954e-01 5.30530477e-02 9.96695035e-03 4.60805796e+02] [-5.28462167e-02 9.98402753e-01 -1.99804743e-02 -3.16836734e+01] [-1.10110557e-02 1.94246263e-02 9.99750689e-01 -2.00510494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.750281693 meters Centerline goodness [0,1] 0.6595652550446003 Centerline is valid? [False, False] Translation: X:460.81, Y:-31.68, Z:-2.01 [[ 9.98538223e-01 5.31073675e-02 1.00511275e-02 4.60806901e+02] [-5.28995796e-02 9.98401162e-01 -1.99186818e-02 -3.16840096e+01] [-1.10928861e-02 1.93578647e-02 9.99751079e-01 -2.00638231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78028169299995 meters Centerline goodness [0,1] 0.6204217296527312 Centerline is valid? [False, False] Translation: X:460.81, Y:-31.68, Z:-2.01 [[ 9.98534888e-01 5.31528651e-02 1.01415572e-02 4.60808352e+02] [-5.29429119e-02 9.98398136e-01 -1.99552021e-02 -3.16833479e+01] [-1.11859880e-02 1.93890419e-02 9.99749438e-01 -2.00784929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.810281693 meters Centerline goodness [0,1] 0.6344907506759947 Centerline is valid? [False, False] Translation: X:460.81, Y:-31.68, Z:-2.01 [[ 9.98462105e-01 5.44954259e-02 1.01819709e-02 4.60814113e+02] [-5.42939092e-02 9.98341961e-01 -1.91180567e-02 -3.16847418e+01] [-1.12069355e-02 1.85358361e-02 9.99765386e-01 -2.01169207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84028169299995 meters Centerline goodness [0,1] 0.5540085579617281 Centerline is valid? [False, False] Translation: X:460.81, Y:-31.68, Z:-2.01 [[ 9.98451034e-01 5.46706579e-02 1.03272675e-02 4.60814921e+02] [-5.44649006e-02 9.98330065e-01 -1.92524404e-02 -3.16846741e+01] [-1.13625653e-02 1.86601455e-02 9.99761317e-01 -2.01225779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.870281693 meters Centerline goodness [0,1] 0.5133584052520597 Centerline is valid? [False, False] Translation: X:460.82, Y:-31.68, Z:-2.01 [[ 9.98441341e-01 5.48317736e-02 1.04098163e-02 4.60816176e+02] [-5.46222525e-02 9.98317739e-01 -1.94448366e-02 -3.16838218e+01] [-1.14584992e-02 1.88459211e-02 9.99756737e-01 -2.01326381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90028169299995 meters Centerline goodness [0,1] 0.5239397490992751 Centerline is valid? [False, False] Translation: X:460.82, Y:-31.68, Z:-2.02 [[ 9.98360693e-01 5.63758181e-02 9.88401071e-03 4.60824915e+02] [-5.61855165e-02 9.98247517e-01 -1.85763962e-02 -3.16841219e+01] [-1.09139487e-02 1.79906056e-02 9.99778587e-01 -2.01872150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.930281693 meters Centerline goodness [0,1] 0.5136448435940821 Centerline is valid? [False, False] Translation: X:460.83, Y:-31.68, Z:-2.02 [[ 9.98360346e-01 5.64316006e-02 9.59652147e-03 4.60828205e+02] [-5.62466183e-02 9.98244340e-01 -1.85622049e-02 -3.16843248e+01] [-1.06271682e-02 1.79919974e-02 9.99781652e-01 -2.02164480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96028169299996 meters Centerline goodness [0,1] 0.5135146842242051 Centerline is valid? [False, False] Translation: X:460.84, Y:-31.69, Z:-2.03 [[ 9.98416388e-01 5.55679718e-02 8.77016722e-03 4.60839077e+02] [-5.53933513e-02 9.98283149e-01 -1.90349921e-02 -3.16852080e+01] [-9.81284605e-03 1.85190391e-02 9.99780352e-01 -2.02895326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.990281693 meters Centerline goodness [0,1] 0.4951620969320084 Centerline is valid? [False, False] Translation: X:460.84, Y:-31.69, Z:-2.03 [[ 9.98423536e-01 5.54669252e-02 8.59431542e-03 4.60841333e+02] [-5.52970987e-02 9.98291486e-01 -1.88769403e-02 -3.16862678e+01] [-9.62667775e-03 1.83719407e-02 9.99784876e-01 -2.03083629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02028169299996 meters Centerline goodness [0,1] 0.55790128669526 Centerline is valid? [False, False] Translation: X:460.84, Y:-31.69, Z:-2.03 [[ 9.98429879e-01 5.53752684e-02 8.44722267e-03 4.60843305e+02] [-5.52097745e-02 9.98299532e-01 -1.87062768e-02 -3.16874728e+01] [-9.46872354e-03 1.82105364e-02 9.99789338e-01 -2.03250450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.05028169299993 meters Centerline goodness [0,1] 0.5412848040499258 Centerline is valid? [False, False] Translation: X:460.85, Y:-31.69, Z:-2.03 [[ 9.98434279e-01 5.52961701e-02 8.44539175e-03 4.60845059e+02] [-5.51318208e-02 9.98306013e-01 -1.85899421e-02 -3.16882353e+01] [-9.45903797e-03 1.80952256e-02 9.99791523e-01 -2.03405792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08028169299996 meters Centerline goodness [0,1] 0.41620087144051754 Centerline is valid? [False, False] Translation: X:460.85, Y:-31.69, Z:-2.04 [[ 9.98443874e-01 5.51127877e-02 8.50946272e-03 4.60848366e+02] [-5.49468458e-02 9.98315317e-01 -1.86379020e-02 -3.16886951e+01] [-9.52231370e-03 1.81413309e-02 9.99790087e-01 -2.03563296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.11028169299993 meters Centerline goodness [0,1] 0.5117432941890194 Centerline is valid? [False, False] Translation: X:460.85, Y:-31.69, Z:-2.04 [[ 9.98450306e-01 5.50021041e-02 8.47079857e-03 4.60850030e+02] [-5.48366521e-02 9.98320931e-01 -1.86617232e-02 -3.16887456e+01] [-9.48300956e-03 1.81682930e-02 9.99789971e-01 -2.03719542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14028169299996 meters Centerline goodness [0,1] 0.3589760151573871 Centerline is valid? [False, False] Translation: X:460.86, Y:-31.69, Z:-2.04 [[ 9.98550517e-01 5.32285891e-02 7.97380447e-03 4.60857710e+02] [-5.30628791e-02 9.98396386e-01 -1.97227801e-02 -3.16891807e+01] [-9.01083332e-03 1.92710792e-02 9.99773690e-01 -2.04134350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.17028169299994 meters Centerline goodness [0,1] 0.584853195542224 Centerline is valid? [False, False] Translation: X:460.86, Y:-31.69, Z:-2.05 [[ 9.98641824e-01 5.16016709e-02 7.19542734e-03 4.60864260e+02] [-5.14434454e-02 9.98461977e-01 -2.06700960e-02 -3.16898668e+01] [-8.25097210e-03 2.02718648e-02 9.99760458e-01 -2.04604950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20028169299997 meters Centerline goodness [0,1] 0.548993259498472 Centerline is valid? [False, False] Translation: X:460.89, Y:-31.69, Z:-2.05 [[ 9.99066159e-01 4.23405218e-02 8.60758075e-03 4.60889799e+02] [-4.21776857e-02 9.98942653e-01 -1.82925767e-02 -3.16943236e+01] [-9.37299680e-03 1.79124465e-02 9.99795625e-01 -2.04876362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.23028169299994 meters Centerline goodness [0,1] 0.5487601154188271 Centerline is valid? [False, False] Translation: X:460.90, Y:-31.70, Z:-2.05 [[ 9.99141326e-01 4.07204680e-02 7.64558175e-03 4.60897628e+02] [-4.05690181e-02 9.98995759e-01 -1.90165178e-02 -3.16967669e+01] [-8.41226525e-03 1.86900151e-02 9.99789937e-01 -2.05417652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26028169299997 meters Centerline goodness [0,1] 0.5128015165711546 Centerline is valid? [False, False] Translation: X:460.91, Y:-31.70, Z:-2.06 [[ 9.99206077e-01 3.92761660e-02 6.67820127e-03 4.60905656e+02] [-3.91377099e-02 9.99038958e-01 -1.97332173e-02 -3.16991428e+01] [-7.44682836e-03 1.94561811e-02 9.99782977e-01 -2.05969662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.29028169299994 meters Centerline goodness [0,1] 0.5194904514268235 Centerline is valid? [False, False] Translation: X:460.91, Y:-31.70, Z:-2.06 [[ 9.99252568e-01 3.81930097e-02 5.96650414e-03 4.60912362e+02] [-3.80653964e-02 9.99070874e-01 -2.02092399e-02 -3.17015137e+01] [-6.73281221e-03 1.99670175e-02 9.99777969e-01 -2.06475491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7660.59 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%| | 0/15743 [00:00